Attachment of a mining machine to an operation zone

Abstract

Example embodiments relate to controlling of a mining machine. An apparatus may comprise: at least one processor; and at least one memory including program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

Description

TECHNICAL FIELD

[0001] Various example embodiments generally relate to the field of mining machines. Some example embodiments relate to attachment of mining machines to operation zones of a mine.BACKGROUND

[0002] In various applications, such as for example underground mining, it may be desired to automate operations of mining machines such as drill rigs, mobile bolter machines, loaders, dumpers, or other mining vehicles. In mining automation systems, there may be one or more mining machines autonomously operating on a worksite. Mining worksites, such as hard rock or soft rock mines, or construction worksites, may comprise a variety of operation zones intended to be accessed by different types of mining machines, for example mobile work machines.SUMMARY

[0003] The invention is defined by the features of the independent claims. Some specific embodiments are defined in the dependent claims. This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] According to a first aspect, an apparatus for controlling a mining machine. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

[0005] According to a second aspect, a method for controlling a mining machine is disclosed. The method may comprise: receiving an indication of a position of the mining machine; determining that the position of the mining machine is within an operation zone; determining a reliability rating for the position of the mining machine; attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and controlling operation of the mining machine based on the mining machine being attached to the operation zone.

[0006] According to a third aspect, an apparatus for controlling a mining machine is disclosed. The apparatus may comprise: means for receiving an indication of a position of the mining machine; means for determining that the position of the mining machine is within an operation zone; means for determining a reliability rating for the position of the mining machine; means for attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and means for controlling operation of the mining machine based on the mining machine being attached to the operation zone.

[0007] According to a fourth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium for controlling a mining machine is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

[0008] According to some aspects, there is provided the subject matter of the independent claims. Some further aspects are defined in the dependent claims. Many of the attendant features will be more readily appreciated as they become better understood by reference to the following description considered in connection with the accompanying drawings.LIST OF DRAWINGS

[0009] The accompanying drawings, which are included to provide a further understanding of the example embodiments and constitute a part of this specification, illustrate example embodiments and, together with the description, help to explain the example embodiments. In the drawings: FIG. 1 illustrates an example of a mining machine; FIG. 2 illustrates an example of a mining machine communicatively coupled to an access control system; FIG. 3 illustrates an example of an underground mine with mining machines and two operation zones; FIG. 4 illustrates an example of a flow chart for attaching a mining machine to an operation zone and controlling the mining machine; FIG. 5 illustrates an example of a user interface of an access control system for requesting a user to confirm attachment of a mining machine to an operation zone; FIG. 6 illustrates an example of a user interface of an access control system with a map view of a mine with two operation zones; FIG. 7 illustrates an example of an apparatus configured to practise one or more example embodiments; and FIG. 8 illustrates an example of a method for controlling a mining machine.

[0010] Like references are used to designate like parts in the accompanying drawings.DESCRIPTION

[0011] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0012] Autonomous mining machines may be configured to operate at isolated areas called operation zones or safety zones. An operation zone may comprise an area of a worksite, such as a mine, which is allocated to autonomous operation of mining machine(s). An operation zone may for example comprise an area where mining machine(s) are permitted to operate autonomously, for example an area at which a carrier of a mining machine is allowed to move. An operation zone may be defined by boundaries, which may include physical boundaries such as walls of the mine or safety gates. Alternatively, an operation zone may be defined as an area of the worksite without physical safety gates, for example as an area on a map of the worksite. An operation zone may for example comprise a continuous or noncontinuous area of a mine comprising one or more sections (e.g., tunnels) of the mine.

[0013] A safety gate may comprise a physical access barrier for restricting access by mining machines to an operation zone and preventing unauthorized personnel from entering the operating zone when one or more mobile mining machines are operating within the operating zone. A safety gate may further comprise at least one detection device for detecting people and / or machines entering and / or exiting the operation zone. A detection device may comprise, for example, a light curtain, or some other suitable detection device. At least some of the operation zones may be isolated by their respective separating safety gates, enabling autonomous operation of one or more mining machines within the operation zone.

[0014] Example embodiments of the present disclosure provide methods for automatically or semi-automatically attaching a mining machine to an operation zone based on detected position of the mining machine and information on reliability of the detected position. Attaching a mining machine to an operation zone may comprise logically associating, linking, or mapping the mining machine to the operation zone such that the mining machine is considered by the mining automation system to be located at the operation zone and therefore configured to be controlled according to rules associated with that operation zone, as will be further described below.

[0015] FIG. 1 illustrates an example of a mining machine. Example embodiments disclosed herein may relate to various mining machines, represented throughout the description by loader 100. However, it is appreciated that the example embodiments may be applied to other types of mining machines, such as drill rigs, mobile bolter machines, loaders, dumpers, or the like.

[0016] Loader 100 may be an automated mining machine, for example an automated vehicle, e.g., a mining vehicle. Loader 100 may be equipped with tools configured for loading and transporting mining materials. An automated mining machine such as an automated loader machine operating in an automatic mode may be configured to, for example, receive a task to be performed, perceive (portions) of the environment of the automated vehicle, and autonomously perform the task while taking the environment into account. An automated mining machine operating in an automatic mode may be configured to operate independently but may be taken under external control at certain operation areas or conditions, such as during states of emergencies. Example embodiments of the present disclosure may be however applied also in non-autonomous or semi-autonomous mining machines, for example remote-controllable mining machines.

[0017] Loader 100 may comprise a movable carrier 110 and at least one boom 120 connected to movable carrier 110. Loader 100 may comprise a bucket 122, for example coupled to boom 120. Movable carrier 110 may comprise equipment for moving loader 100, such as for example a motor and wheels. Movable carrier 110 may be configured to move autonomously or it may be configured to be controlled by a human operator, either remotely or locally at loader 100. Boom 120 and bucket 122 may be configured to be controlled with, for example, mechanical switches or manual controllers installed at a user interface of loader 100 or a remote operator station, or by a controller 112 (e.g., a control apparatus) configured to control operation of loader 100. Controller 112 may be also configured to control other aspects of loader 100, such as parts of movable carrier 110 like the motor and wheels.

[0018] Loader 100 may comprise an identifier unit 114, for example a short-range radio device, which may be configured to transmit signals, e.g., beacon signals, that enable presence of loader 100 at a particular part of a mine to be detected. Identifier unit may be also called an identifier device. Identifier unit 114 may be for example a wireless local area network (WLAN) device, e.g., Wi-Fi device, a Bluetooth ®< device, or a radio frequency identifier (RFID) tag. Corresponding reader devices may be distributed within the worksite to detect position of identifier unit 114, and thereby the position of loader 100, and to transmit an indication of the detected position of loader 100 to an access control system 200 (see FIG. 2).

[0019] Alternatively, or additionally, loader 100 may comprise a positioning device configured to determine the position of loader 100, for example a satellite positioning device such as a global positioning system (GPS) receiver or another global navigation satellite system (GNSS) receiver. Satellite-based positioning may be used for example when operating in an opencast mine. Loader 100 may comprise a communication interface for transmitting an indication of its position to access control system 200. Examples of suitable communication interfaces for providing this information will be described with reference to FIG. 7.

[0020] As already noted above, loader 100 may comprise a controller (C) 112. Controller 112 may be for example provided as a software application residing on a memory and being executable by a processor. An example of an apparatus suitable for implementing controller 112 is provided in FIG. 7. Controller 112 may comprise, or be communicatively coupled to, various functions, blocks, or applications for implementing functionality of controller 112. Controller 112 may comprise a navigation application configured to control, or enable a human operator or access control system 200 to control, navigation of loader 100, for example to enable movement of carrier 110, to move loader 100 to a loading position or dumping position, to move bucket 122 by controlling boom 120, or the like.

[0021] Loader 100 may be configured to be controlled by a remote control device (not illustrated in FIG. 1), which may be external to loader 100. The remote control device may be for example a server located remote from loader 100, for example outside the mine. Functionality of controller 112 may be distributed between loader 100, for example a local controller of loader 100, and the remote control device. Information may be exchanged between the remote control device and loader 100 over a communication interface including any suitable wireless and / or wired connection. Examples of suitable communication interfaces are described with reference to FIG. 7.

[0022] FIG. 2 illustrates an example of a mining machine communicatively coupled to an access control system. Access control system (ACS) 200 may be responsible of controlling operation zone(s) of the mine, for example operations of various mining machines operating at the mine. For example, access control system 200 may be configured to control operation of loader 100 by providing loader 100 a permission to move within an operation zone or to enter or leave a particular operation zone.

[0023] Access control system 200 may comprise controller 212, e.g., a control apparatus or control circuitry, which may be structurally similar to controller 112. For example, controller 212 may be provided as a software application residing on a memory and being executable by a processor. An example of an apparatus suitable for implementing controller 212 is provided in FIG. 7. Controller 212 may comprise, or be communicatively coupled to, various functions, blocks, or applications for implementing functionality of controller 212, e.g., within access control system 200. For example, controller 212 may comprise or be communicatively coupled to a data management server, which may be configured to store information such as a map of the mine. Example embodiments of the present disclosure may be implemented be controller 212, or access control system 200 in general. Information may be exchanged between access control system 200 and loader 100 over a communication interface including any suitable wireless and / or wired connection. Examples of suitable communication interfaces are described with reference to FIG. 7.

[0024] FIG. 3 illustrates an example of an underground mine with mining machines and two operation zones. The underground mine may be equipped with a passage control system configured to control entry to and leaving from operation zones 4a and 4b. The passage control system may comprise passage control units (PCU) 2a, 2b, which may define operation zones 4a, 4b together with physical boundaries of the underground mine. In the example of FIG. 3, loaders 100, 102 are located at operation zone 4a, while loader 104 is located outside both operation zones 4a, 4b.

[0025] At least some of the operation zones may be isolated by their respective separating PCUs 2a, 2b, thereby enabling autonomous operation of one or more mining machines within the isolated zone. For example, loader 100 may be configured to autonomously travel a route 302 in zone 4a. The route may for example comprise a dump point 304 at the end of one branch of the mine.

[0026] Mining machines, e.g., loader 100, or other mobile objects such as people, or fixed objects at the working site may be provided with identifier units 114 such as wireless tags. The identifier units 114 may be detected by reader device(s) 5a-h of the mining automation system, such as wireless tag reader device(s). In some example embodiments, identifier unit 114 may comprise a transmitter, and identifier unit 114may be detected and identified by a reader device 5a-h based on a signal emitted by the transmitter.

[0027] Reader device(s) 5a-h may comprise short-range radio devices and they may be distributed at various locations inside and / or outside the mine, for example in proximity of PCUs 2a, 2b as reader devices 5a-d, deep within a respective operation zone 4a, 4b as reader devices 5e, 5f, or at a route away from the isolated area(s) as reader devices 5g, 5h. Reader devices 5a-h may belong to a position tracking system. In general, a positioning tracking system may comprise any devices configured to detect position of identifier unit(s) 114 and to deliver this information to access control system 200.

[0028] Reader device(s) 5a-h may be configured to detect identifier unit 114, in response to receiving a signal from identifier unit 114. Reader device(s) 5a-h may be therefore configured to detect a logical position of identifier unit 114, and thereby a logical position of the associated object such as loader 100. A logical position may comprise a position that is associated with a reader device. For example, the logical position may indicate that identifier unit 114 is within the range of the reader device. A logical position might however not indicate any particular position or area of the mine. For example, a logical position of identifier unit 114 may comprise the identifier of the reader device 5a-h that has detected the identifier unit. The position of identifier unit 114 may be therefore tracked by listing identifier(s) of reader device(s) 5a-h that have detected identifier unit 114.

[0029] Alternatively, or additionally, the position of identifier unit 114 may comprise a physical position, e.g., coordinates defining a position or area within the mine. Reader device(s) 5a-h may be configured to store characteristics associated with the detection, for example characteristics of the detected signal such as received signal strength and / or angle of arrival of the signal. Reader device(s) 5a-h may be configured to determine the physical position of identifier unit 114, for example based on the received signal strength and the angle of arrival. Reader device(s) 5a-h may be configured to transmit an indication of the detection of identifier unit 114, the logical or physical position of identifier unit 114, and / or the characteristics of the detected signal to access control system 200. Reader device(s) 5a-h therefore enable access control system 200 to track position of identifier unit(s) 114 and to determine whether a particular identifier unit 114 is within an operation zone or not.

[0030] Alternatively, or additionally, reader device(s) 5a-h may comprise visual detector(s) such as a camera configured to capture visual data (e.g., image or video data). Access control system 200 may be configured to determine a position of mining machine(s), e.g., loader 100, or other objects based on the visual data received from reader device(s) 5a-h. For example, loader 100 may be configured with a visual identifier (e.g., a QR-code) and access control system 200 may be configured to detect the position of loader 100 based on detection of the visual identifier in the visual data. For example, access control system 200 may be configured to associate loader 100 with a logical position comprising the identifier of the reader device that has captured visual data that includes the visual identifier of loader 100. Reader device(s) 5a-h may be associated with an operation zone. For example, reader devices 5a, 5e may be associated with operation zone 4a. Accordingly, reader devices 5a, 5e may be configured to detect whether a mining machine is within operation zone 4a.

[0031] Different reader devices may have different reliability not only due to their technology (e.g., Wi-Fi vs. Bluetooth) but also in terms of their position within the mine. For example, detection of loader 102 by reader device 5e may be considered to be a reliable indication of loader 102 being within operation zone 4a, whereas detection by reader 5a, which is closer to PCU 2a, may be considered as a less reliable indication of loader 102 being within operation zone 4a.

[0032] It is therefore understood that various technologies may be used to determine the position of loader 100, or other mining machines, in the mine. Different technologies may have different reliability and accuracy and also the location of a particular reader device may affect the reliability of detecting the position of loader 100. Example embodiments of the present disclosure improve the mining automation system by enabling automated attachment of mining machines to operation zones, while avoiding incorrect attachment of mining machines due to unreliable positioning.

[0033] Attachment of a mining machine to an operation zone may comprise associating, by access control system 200, the mining machine with the operation zone, for example such that access control system 200 is thereafter configured to consider the mining machine to be physically located within the operation zone. When a mining machine is attached to an operation zone, access control system 200 may be for example configured to control operation of the mining machine based on the assumption that the mining machine is located at the operation zone, for example by applying permissions and / or restrictions associated with that operation zone to the attached mining machine. Attachment may comprise the action of associating, mapping, or linking an identifier of the mining machine to an identifier of the operation zone, for example in the memory of access control system 200, e.g., controller 212.

[0034] FIG. 4 illustrates an example of a flow chart for attaching a mining machine to an operation zone and controlling the mining machine. Even though operations of FIG. 4 have been described to be performed by controller 212, it is understood that similar functionality may be implemented by any suitable component of a mining automation system. Even though operations of FIG. 4 have been described using loader 100 as an example of a mining machine, similar functionality may be provided for other types of mining machines. Furthermore, operations of FIG. 4 may be performed simultaneously or sequentially for multiple mining machines and operation zones.

[0035] At operation 401, controller 212 may be configured to monitor the position of loader 100. Controller 212 may be for example configured to receive indication(s) of the position of loader 100. Controller 212 may be configured to receive the indication of the position of loader 100 from positioning tracking devices, for example one or more of reader devices 5a-h. An indication of the position of loader 100 may comprise a logical position of loader 100, e.g., identifier(s) of reader device(s) that have detected loader 100. For example, controller 212 may be configured to determine the logical position of loader 100 as "5a", in response to receiving an indication that reader device 5a has detected loader 100.

[0036] Alternatively, or additionally, controller 212 may be configured to determine a physical location of loader 100, for example based on the received signal strength and the angle or arrival of the signal, as indicated by the respective reader device, and a position of this reader device in the mine. Controller 212 may be configured to receive an indication of the physical location of loader 100 from the reader device, which may have determined the physical location of loader 100 based on the received signal strength, the angle or arrival of the signal, and its own position in the mine. As noted above, example embodiments of the present disclosure may be also applied in case of satellite-based positioning. In this case, controller 212 may be configured to receive the indication of the position from loader 100 itself.

[0037] Controller 212 may be configured to determine the logical or physical position of loader 100 based on the latest detection, e.g., as a logical position comprising the identifier of the latest reader device that has detected loader 100, or as the physical position determined by, or based on information provided by, the latest reader device that has detected loader 100.

[0038] At operation 402, controller 212 may be configured to determine whether the position of loader 100 is within an operation zone. Controller 212 may be configured with a mapping between reader device(s) and operation zone(s). The mapping may be indicative of whether a particular reader device is located within a particular operation zone, or in general whether detection of identifier unit 114 by a particular reader device is to be interpreted as an indication of identifier unit 114 being within the operation zone. In the example of FIG. 3, reader devices 5a, 5e may be mapped to operation zone 4a. Reader devices 5b, 5c may be mapped to operation zone 4b.

[0039] Controller 212 may be configured to determine that loader 100 is in a particular operation zone, in response to determining that the logical position (e.g., identifier of a reader device) is associated with the operation zone. Controller 212 may be configured to determine this based on detecting that the logical position of loader 100 is mapped to the operation zone. For example, controller 212 may be configured to determine that loader 100 is in operation zone 4a, in response to receiving an indication of the logical position of loader 100 being "5a" and determining that reader device 5a is mapped to operation zone 4a.

[0040] Alternatively, or additionally, controller 212 may be configured with a map of the mine, where different positions on the map may be allocated or not allocated to certain operation zone. For example, positions towards left from PCU 2a may be allocated to operation zone 4a. Controller 212 may be configured to determine that loader 100 is within zone 4a, in response to determining that the physical position of loader 100 is within the area allocated to operation zone 4a.

[0041] Controller 212 may be configured to move back to execution of operation 401 to continue monitoring the position of loader 100, in response to determining that the position of loader 100 is not within any operation zone. Controller 212 may be configured to move to execution of operation 403, in response to determining that the position of loader 100 is within the operation zone.

[0042] At operation 403, controller 212 may be configured to determine a reliability rating for the position of loader 100. The reliability rating may be also referred to as safety rating and it may be configured to indicate how trustworthy and / or accurate the indicated position of loader 100 is. The reliability rating may be defined according to any type of rating scheme suitable for determining whether the indicated position is reliable enough for automatically attaching loader 100 to the operation zone.

[0043] For example, controller 212 may be configured to determine the reliability rating based on the type of the positioning tracking system, e.g., the type of the reader device that has detected loader 100. For example, a Wi-Fi based positioning tracking system might be configured to have lower reliability (e.g., `Not reliable' or 'Not safety-rated') than a Bluetooth ®< based system (e.g., 'Reliable' or 'Safety-rated').

[0044] As another example, controller 212 may be configured to determine the reliability rating of the indicated position based on position of the reader device that has detected loader 100. For example, the reliability rating might be proportional to the distance of the reader device that has detected loader 100 from PCU 2a, 2b. A high reliability rating might be configured for reader devices located beyond a threshold distance from PCU 2a, 2b. A low reliability rating might be configured for reader devices located within the threshold distance from the PCU 2a, 2b.

[0045] As a further example, controller 212 may be configured to determine the reliability rating based on the number of reader devices that have detected loader 100 to be within the operation zone. For example, a lower reliability rating might be given to a position which has been detected by a single reader device. A higher reliability rating might be given to a position that has been detected by more than one reader device. In one example, the reliability rating may be equal to the number of reader devices that have detected loader 100. Detection of loader 100 may comprise detection of loader 100 within a predetermined period of time, which may be configured such that is it short enough (e.g., a few seconds) to consider the detected position as the current position of loader 100. The predetermined period of time may comprise a past period of time ending at the present time.

[0046] The reliability rating may therefore comprise a binary rating (e.g., a flag) indicative of whether the indicated position is reliable enough for automatically attaching loader 100 to the operation zone. For example, value '0' of the binary rating may be indicative of the position not being reliable enough. Value '1'of the binary rating may be indicative of the position being reliable enough. Alternatively, controller 212 may be configured to determine the reliability rating on a multi-level scale, which may be dependent on, for example, the number of reader devices that have detected loader 100 or the distance(s) of such reader devices from the closest PCU 2a, 2b.

[0047] At operation 404, controller 212 may be configured to determine whether the reliability rating meets a condition. The condition may be for example a numerical threshold (e.g., greater or equal to one) or a particular enumerated value (e.g., 'Reliable' or 'Safety-rated') indicative of the position being reliable enough for automatically attaching loader 100 to the operation zone.

[0048] Controller 212 may be configured to move to execution of operation 407 to automatically attach loader 100 to the operation zone, in response to determining that the reliability rating meets the condition. Controller 212 may be configured to move to execution of operation 405 to request a user to confirm the attachment of loader 100 with the operation zone, in response to determining that the reliability rating does not meet the condition. Note that determining the position of loader 100 to be within the operation zone provides the benefit of enabling to automate attachment of loader 100 with the operation zone, or at least to simplify the attachment process by proposing nearby mining machines to the user, for example instead of full list of mining machines operated in the mine.

[0049] At operation 405, controller 212 may be configured to request, e.g., via user interface 210, a confirmation of the attachment of loader 100 to the operation zone. Considering operation 404, this may be in response to determining that the reliability rating does not meet the condition. Requesting the confirmation provides the benefit of increasing reliability of the attachment process, because the user is enabled to intervene in the process when the position of loader 100 has not been detected with sufficient reliability. The request may or may not include an explicit query via user interface 210. The request may be provided for example by providing a user interface (UI) element for accepting, triggering, or confirming attachment of loader 100 to the operation zone.

[0050] In the example of FIG. 5, a query is provided via user interface 210 to request the confirmation of the attachment of loader 100 to zone 4a. The query may comprise a first UI element 214 (`zone 4a'), which may be configured to indicate the identifier of the operation zone. The operation zone may comprise the operation zone at which loader 100 was detected to be located (cf., operation 402). The query may comprise a second UI element 216, which may be configured to indicate the identifier of loader 100, in this example simply `loader 100'. Second UI element 216 may be provided in association with first UI element 214, e.g., within the same sentence as illustrated in FIG. 5. The query may comprise a third UI element 218 ("Yes") for provision of the confirmation of the attachment of loader 100 to operation zone 4a. Third UI element 218 may be configured to enable the user to confirm the proposed attachment of loader 100 to operation zone 4a. In general, third UI element 218 may comprise a control element configured to enable operation of the mining machine, e.g., at the particular operation zone. The query may further comprise a fourth UI element 222 ("No") for rejecting the attachment of loader 100 to operation zone 4a.

[0051] In the example of FIG. 6, a map comprising one or more operation zones may be provided on user interface 210. User interface 210 may for example comprise a map view section 602 (e.g., on the left as in FIG. 6) and an information section 604 (e.g., on the right as in FIG. 6). Map view section 602 may comprise a map of the worksite, e.g., a mine, with illustration of different operation zones. In FIG. 6, different operation zones 1 and 2 have been illustrated with dotted boxes, but any other suitable illustration (e.g., by different colours) may be used. Information section 604 may comprise user interface elements 214, 216, 218, for example as a dropdown tree structure as illustrated in FIG. 6. For example, first UI element 214 indicative of the identifier ("Zone 1") of the operation zone may be provided as a textual UI element. Second UI element 216 indicative of the identifier of loader 100 ("ID") may be provided in association with first UI element 214, e.g., as another textual UI element. Second UI element 216 may be associated with first UI element 214 for example by being provided at an indented position with respect to first UI element 214 and / or by being connected to first UI element 214 by visual indicator(s) such as a line(s). Third UI element 218 may be provided as a virtual button for providing the confirmation of attachment of the identified mining machine ("ID") to the associated operation zone ("Zone 1"). Provision of third UI element 218 may be considered as requesting the confirmation of the attachment, regardless of whether third UI element 218 is associated with an explicit question (cf., FIG. 5) or not (cf., FIG. 6). Controller 212 may be configured to attach loader 100 to the operation zone, in response to detecting a user input at third UI element 218.

[0052] Information section 604 may comprise a fifth UI element 224 configured for adding (e.g., attaching) another mining machine to the operation zone ("Zone 1"). Controller 212 may be therefore configured to attach another mining machine to the operation zone, in response to detecting a user input at fifth UI element 224. Pressing fifth UE element 224 may be configured to cause controller 212 to provide a query for requesting the identifier of the other mining machine to be added. This UI element provides the benefit of enabling the user to add mining machines for which position information is not available from the position tracking system. Flexibility of managing mining automation system is therefore improved.

[0053] Information section 604 may comprise further UI element(s), for example sixth UI element(s) 226 indicative of a number of identifier units 114 (e.g., tags) detected at a particular operation zone. Controller 212 may be configured to receive, from reader device(s) 5a-h, information about identifier units 114 detected by each reader device. As described above, controller 212 may be configured to determine, based on this information, the identifier units 114 located at different operation zone(s), for example Zone 1. Controller 212 may be further configured with a mapping between identifier units 114 and mining machines. The mapping may indicate which identifier units 114 are coupled to which mining machines. Controller 212 may be configured to provide second UI element 216 based on filtering the detected identifier units 114 and providing a separate instance of first UI element 214 for each identifier unit 114 that is determined, based on the mapping, to be coupled to a mining machine. Controller 212 may be configured to count detected identifier units 114 that are not coupled to any mining machine and indicate the number of them by sixth UI element(s) 226 (e.g., per operation zone as in FIG. 6).

[0054] Controller 212 may be configured to emphasize, on user interface 210, a particular operation zone upon preliminary selection of the identifier of that zone, a mining machine associated with that zone, or the UI element configured for attaching the mining machine to that operating zone. Preliminary selection of a UI element may comprise identification of the UI element by the user (e.g., by pointing) before actually selecting the UI element (e.g., by pressing it). Similar preliminary selection functionality may be configured for any type of UI element configured with at least two user input actions (e.g., pointing and pressing, short press and long press, or the like).

[0055] For example, controller 212 may be configured to highlight Zone 1, e.g., by a different colour, in response to detecting the user to preliminarily select second UI element 216 or third UI element 218 by moving a mouse pointer, a finger, or other pointer above the respective UI element. For example, in case of third UI element 218 controller 212 might be configured to emphasize Zone 1 upon the preliminary selection (e.g., pointing) of third UI element 218 and add the respective mining machine to Zone 1 upon actual selection (e.g., pressing) of third UI element 218. Emphasizing the operation zone provides the benefit of reducing the likelihood of a mining machine being attached to an incorrect zone, because the user is enabled to more easily identify the operation zone to which the mining machine is about to be attached.

[0056] Providing a UI element may comprise displaying, or causing display of, the UI element. Providing the UI element may comprise determining information that is to be indicated by the UI element, for example identifier(s) of operation zone(s), identifier(s) of mining machine(s), or the number of identifier units 114 detected at operation zone(s). Determining information may comprise retrieving the information from a memory or deriving the information based on information stored in the memory. For example, in case of third UI element 218, provision of the UI element may comprise retrieving information on the identifier ("ID") of the mining machine detected at Zone 1 and displaying third UI element 218 in association with first and second UI elements 214, 216.

[0057] UI element(s) associated with a particular operation zone may be provided in proximity of the respective first UI element indicative of the identifier of that zone, for example as a set of UI elements next to (e.g., after) the respective UI element. Even though a particular arrangement is illustrated in FIG. 6, it is noted that the map and / or the other UI elements may be provided at any suitable arrangement on user interface 210.

[0058] At operation 406, controller 212 may be configured to determine whether a confirmation of the attachment of loader 100 to the operation zone has been received via user interface 210. For example, controller 212 may be configured to determine whether the user has pressed third UI element 218. If yes, controller 212 may be configured to move to execution of operation 407 to attach loader 100 to the operation zone. If not, controller 212 may be configured to move back to execution of operation 401 to monitor the position of loader 100.

[0059] At operation 407, controller 212 may be configured to attach loader 100 to the operation zone. When arriving from operation 404, controller 212 may be configured to attach loader 100 to the operation zone without requesting (e.g., via user interface 210) a confirmation of the attachment of loader 100 to the operation zone. Controller 212 may be configured to perform this in response to determining at operation 404 that the reliability rating meets the condition. When arriving from operation 406, controller 212 may configured to attach loader 100 to the operation zone, in response to receiving (e.g., via user interface 210), the confirmation of the attachment of loader 100 to the operation zone.

[0060] At operation 408, controller 212 may be configured to control operation of loader 100 at the operation zone. Controller 212 may be configured to control operation of loader 100 at the operation zone based on the information that loader 100 is attached to the operation zone. For example, controller 212 may be configured to provide a permission for loader 100 to move within the operation zone or deny a permission to leave the operation zone. Controller 212 may be configured to provide or deny the permission(s) based on detecting that loader 100 is attached to the operation zone.

[0061] Controller 212 may be configured to control operation of loader 100 by transmitting control instructions to loader 100. The control instructions may comprise a permission to move within the operation zone. Alternatively, or additionally, controller 212 may be configured to control operation of a loader, in this example loader 102, by transmitting control instructions to PCU(s) 2a, 2b, for example to configure PCU 2b to allow loader 102 enter operation zone 4b. As another example, controller 212 might be configured to transmit control instructions to PCU 2a in order to prevent loader 100 from leaving operation zone 4a. In general, controller 212 may be configured to control operation of a mining machine by transmitting, to the mining machine, control instructions that cause the mining machine to operate according to rule(s) associated with the operation zone, or transmit control instructions to another device (e.g., PCU 2a, 2b) to cause the other device to control the mining machine to operate according to the rule(s). This provides the benefit of improving safety of the mining automation system, because autonomous mining machines may be configured with safety-related and operation zone specific rules.

[0062] FIG. 7 illustrates an example of an apparatus 700 configured to practise one or more example embodiments. Apparatus 700 may be or comprise a control device, such as for example a server, communicatively coupled to loader 100, a control apparatus located at loader 100, controller 112, loader 100 itself, controller 212, access control system 200, or in general any apparatus or system configured to implement the functionality described herein. Although apparatus 700 is illustrated as a single device, it is appreciated that, wherever applicable, functions of apparatus 700 may be distributed to a plurality of physically separate apparatuses, for example different components or subsystems of access control system 200.

[0063] Apparatus 700 may comprise at least one processor 702. The at least one processor 702 may comprise, for example, one or more of various processing devices, such as for example a co-processor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, or the like.

[0064] Apparatus 700 may further comprise at least one memory 704. The at least one memory 704 may be configured to store, for example, computer program code or the like, for example operating system software and application software. The at least one memory 704 may comprise one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination thereof. For example, the memory may be embodied as magnetic storage devices (such as hard disk drives, etc.), optical magnetic storage devices, or semiconductor memories (such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). Memory 704 is provided as an example of a (non-transitory) computer readable medium. The term "non-transitory," as used herein, is a limitation of the medium itself (i.e., tangible, not a signal) as opposed to a limitation on data storage persistency (e.g., RAM vs. ROM). The at least one memory 704 may be also embodied separate from apparatus 700, for example as a computer readable (storage) medium, examples of which include memory sticks, compact discs (CD), or the like.

[0065] When apparatus 700 is configured to implement some functionality, some component and / or components of apparatus 700, such as for example the at least one processor 702 and / or the at least one memory 704, may be configured to implement this functionality. Furthermore, when the at least one processor 702 is configured to implement some functionality, this functionality may be implemented using program code 706 comprised, for example, in the at least one memory 704.

[0066] The functionality described herein may be performed, at least in part, by one or more computer program product components such as software components. According to an example embodiment, apparatus 700 comprises a processor or processor circuitry, such as for example a microcontroller, configured by the program code 706, when executed, to execute the embodiments of the operations and functionality described herein. Program code 706 is provided as an example of instructions which, when executed by the at least one processor 702, cause performance of apparatus 700.

[0067] For example, controller 212 may be at least partially implemented as program code 706 configured to cause apparatus 700 to perform functionality of controller 212. Similarly, transmission or reception of data (e.g., indication(s) of the position(s) of mining machine(s) or control instructions) over an internal or external communication interface of access control system 200 may be controlled by software.

[0068] Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing unit (NPU), tensor processing unit (TPU), or the like.

[0069] Apparatus 700 may comprise a communication interface 708 configured to enable apparatus 700 to transmit and / or receive information. Communication interface 708 may comprise an internal or external communication interface, such as for example a radio interface between loader 100 and access control system 200. Apparatus 700 may further comprise other components and / or functions such as for example user interface 710 comprising at least one input device and / or at least one output device. In case of access control device 200, user interface 710 may be similar to user interface 210. The input device may take various forms such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may for example comprise a display, a speaker, or the like. User interface 710 may enable a user, e.g., a human operator, to monitor various functions and data, and to control the mining automation system, for example by attaching mining devices to operation zones upon a request to do so.

[0070] Apparatus 700 may be configured to perform or cause performance of any aspect of the method(s) described herein. Further, a computer program or a computer program product may comprise instructions for causing, when executed by apparatus 700, apparatus 700 to perform any aspect of the method(s) described herein. Further, apparatus 700 may comprise means for performing any aspect of the method(s) described herein. In one example, the means comprises the at least one processor 702, the at least one memory 704 including program code 706 (instructions) configured to, when executed by the at least one processor 702, cause apparatus 700 to perform the method(s). In general, computer program instructions may be executed on means providing generic processing functions. Such means may be embedded for example in a computer, a server, or the like. The method(s) may be thus computer-implemented, for example based algorithm(s) executable by the generic processing functions, an example of which is the at least one processor 702. Apparatus 700 may comprise means for transmitting or receiving information, for example one or more wired of wireless (e.g., radio) transmitters or receivers, which may be coupled or be configured to be coupled to one or more antennas, or transmitter(s) or receiver(s) of a wired communication interface.

[0071] According to a first aspect of the present disclosure, apparatus may be configured to control a mining machine. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

[0072] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: request, via the user interface, the confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating does not meet the condition, and attach the mining machine to the operation zone, in response to receiving, via the user interface, the confirmation of the attachment of the mining machine to the operation zone.

[0073] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: provide, on the user interface, a first user interface element indicative of an identifier of the operation zone; provide, in association with the first user interface element, a second user interface element indicative of an identifier of the mining machine; and provide, on the user interface, a third user interface element for provision of the confirmation of the attachment of the mining machine to the operation zone.

[0074] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: provide, on the user interface, a map comprising the operation zone and at least one other operation zone; and emphasise the operation zone on the map upon a preliminary selection of the second user interface element or the third user interface element by a user.

[0075] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: receive the indication of the position of the mining machine from a position tracking system associated with the operation zone.

[0076] According to an example embodiment of the first aspect, the position tracking system comprises at least one short range radio device configured to detect presence and / or position of the mining machine.

[0077] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine the reliability rating based on a type of the positioning tracking system.

[0078] According to an example embodiment of the first aspect, controlling the operation of the mining machine comprises providing a permission for the mining machine to move within the operation zone.

[0079] FIG. 8 illustrates an example of a method for controlling a mining machine, according to a second aspect of the present disclosure. The method may comprise a computer-implemented method performed by, for example, apparatus 700 such as controller 212 or access control system 200.

[0080] At 801, the method may comprise receiving an indication of a position of the mining machine.

[0081] At 802, the method may comprise determining that the position of the mining machine is within an operation zone.

[0082] At 803, the method may comprise determining a reliability rating for the position of the mining machine.

[0083] At 804, the method may comprise attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition.

[0084] At 805, the method may comprise controlling operation of the mining machine based on the mining machine being attached to the operation zone.

[0085] According to an example embodiment of the second aspect, the method comprises: requesting, via the user interface, the confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating does not meet the condition, and attaching the mining machine to the operation zone, in response to receiving, via the user interface, the confirmation of the attachment of the mining machine to the operation zone.

[0086] According to an example embodiment of the second aspect, the method comprises: providing, on the user interface, a first user interface element indicative of an identifier of the operation zone; providing, in association with the first user interface element, a second user interface element indicative of an identifier of the mining machine; and providing, on the user interface, a third user interface element for provision of the confirmation of the attachment of the mining machine to the operation zone.

[0087] According to an example embodiment of the second aspect, the method comprises: providing, on the user interface, a map comprising the operation zone and at least one other operation zone; and emphasising the operation zone on the map upon a preliminary selection of the second user interface element or the third user interface element by a user.

[0088] According to an example embodiment of the second aspect, the method comprises: receiving the indication of the position of the mining machine from a position tracking system associated with the operation zone.

[0089] According to an example embodiment of the second aspect, the position tracking system comprises at least one short range radio device configured to detect presence and / or position of the mining machine.

[0090] According to an example embodiment of the second aspect, the method comprises: determining the reliability rating based on a type of the positioning tracking system.

[0091] According to an example embodiment of the second aspect, controlling the operation of the mining machine comprises providing a permission for the mining machine to move within the operation zone.

[0092] The method may be performed by controller 212 or access control system 200, for example based on program code 706, when executed by processor 702. Various examples of the methods are explained above with regard to functionalities of controller 212 or access control system 200 and are therefore not repeated here. It should be understood that example embodiments described may be combined in different ways unless explicitly disallowed.

[0093] According to a third aspect, an apparatus may comprise: means for receiving an indication of a position of the mining machine; means for determining that the position of the mining machine is within an operation zone; means for determining a reliability rating for the position of the mining machine; means for attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and means for controlling operation of the mining machine based on the mining machine being attached to the operation zone. The apparatus may comprise means for performing any example embodiment of the method of the second aspect.

[0094] According to a fourth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone. The computer program, the computer program product, or the (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus to perform any example embodiment of the method of the second aspect.

[0095] Although the subject matter has been described in language specific to structural features and / or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as examples of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.

[0096] It will be understood that the benefits and advantages described above may relate to one embodiment or may relate to several embodiments. The embodiments are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages. It will further be understood that reference to 'an' item may refer to one or more of those items.

[0097] The steps or operations of the methods described herein may be carried out in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the example embodiments described above may be combined with aspects of any of the other example embodiments described to form further example embodiments without losing the effect sought.

[0098] The term 'comprising' is used herein to mean including the method, blocks, or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.

[0099] As used herein, "at least one of the following: " and "at least one of " and similar wording, where the list of two or more elements are joined by "and" or "or", mean at least any one of the elements, or at least any two or more of the elements, or at least all the elements. Term "or" may be understood to also cover a case where both of the items separated by "or" are included. Hence, "or" may be understood as an inclusive "or" rather than an exclusive "or".

[0100] Although subjects may be referred to as 'first' or 'second' subjects, this does not necessarily indicate any order or importance of the subjects. Instead, such attributes may be used solely for the purpose of making a difference between subjects.

[0101] It will be understood that the above description is given by way of example only and that various modifications may be made by those skilled in the art. The above specification, examples and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above with a certain degree of particularity, or with reference to one or more individual embodiments, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from scope of this specification.

Examples

Embodiment Construction

[0011]Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0012]Autonomous mining machines may be configured to operate at isolated areas called operation zones or safety zones. An operation zone may comprise an area of a worksite, such as a mine, which is allocated to autonomous operation of mining machine(s). An operation zone may for example comprise an area where mining machine(s) are permitted to operate autonomously, for example an area at which a carrier of a mining machin...

TECHNICAL FIELD

[0001] Various example embodiments generally relate to the field of mining machines. Some example embodiments relate to attachment of mining machines to operation zones of a mine.BACKGROUND

[0002] In various applications, such as for example underground mining, it may be desired to automate operations of mining machines such as drill rigs, mobile bolter machines, loaders, dumpers, or other mining vehicles. In mining automation systems, there may be one or more mining machines autonomously operating on a worksite. Mining worksites, such as hard rock or soft rock mines, or construction worksites, may comprise a variety of operation zones intended to be accessed by different types of mining machines, for example mobile work machines.SUMMARY

[0003] The invention is defined by the features of the independent claims. Some specific embodiments are defined in the dependent claims. This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] According to a first aspect, an apparatus for controlling a mining machine. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

[0005] According to a second aspect, a method for controlling a mining machine is disclosed. The method may comprise: receiving an indication of a position of the mining machine; determining that the position of the mining machine is within an operation zone; determining a reliability rating for the position of the mining machine; attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and controlling operation of the mining machine based on the mining machine being attached to the operation zone.

[0006] According to a third aspect, an apparatus for controlling a mining machine is disclosed. The apparatus may comprise: means for receiving an indication of a position of the mining machine; means for determining that the position of the mining machine is within an operation zone; means for determining a reliability rating for the position of the mining machine; means for attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and means for controlling operation of the mining machine based on the mining machine being attached to the operation zone.

[0007] According to a fourth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium for controlling a mining machine is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

[0008] According to some aspects, there is provided the subject matter of the independent claims. Some further aspects are defined in the dependent claims. Many of the attendant features will be more readily appreciated as they become better understood by reference to the following description considered in connection with the accompanying drawings.LIST OF DRAWINGS

[0009] The accompanying drawings, which are included to provide a further understanding of the example embodiments and constitute a part of this specification, illustrate example embodiments and, together with the description, help to explain the example embodiments. In the drawings: FIG. 1 illustrates an example of a mining machine; FIG. 2 illustrates an example of a mining machine communicatively coupled to an access control system; FIG. 3 illustrates an example of an underground mine with mining machines and two operation zones; FIG. 4 illustrates an example of a flow chart for attaching a mining machine to an operation zone and controlling the mining machine; FIG. 5 illustrates an example of a user interface of an access control system for requesting a user to confirm attachment of a mining machine to an operation zone; FIG. 6 illustrates an example of a user interface of an access control system with a map view of a mine with two operation zones; FIG. 7 illustrates an example of an apparatus configured to practise one or more example embodiments; and FIG. 8 illustrates an example of a method for controlling a mining machine.

[0010] Like references are used to designate like parts in the accompanying drawings.DESCRIPTION

[0011] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0012] Autonomous mining machines may be configured to operate at isolated areas called operation zones or safety zones. An operation zone may comprise an area of a worksite, such as a mine, which is allocated to autonomous operation of mining machine(s). An operation zone may for example comprise an area where mining machine(s) are permitted to operate autonomously, for example an area at which a carrier of a mining machine is allowed to move. An operation zone may be defined by boundaries, which may include physical boundaries such as walls of the mine or safety gates. Alternatively, an operation zone may be defined as an area of the worksite without physical safety gates, for example as an area on a map of the worksite. An operation zone may for example comprise a continuous or noncontinuous area of a mine comprising one or more sections (e.g., tunnels) of the mine.

[0013] A safety gate may comprise a physical access barrier for restricting access by mining machines to an operation zone and preventing unauthorized personnel from entering the operating zone when one or more mobile mining machines are operating within the operating zone. A safety gate may further comprise at least one detection device for detecting people and / or machines entering and / or exiting the operation zone. A detection device may comprise, for example, a light curtain, or some other suitable detection device. At least some of the operation zones may be isolated by their respective separating safety gates, enabling autonomous operation of one or more mining machines within the operation zone.

[0014] Example embodiments of the present disclosure provide methods for automatically or semi-automatically attaching a mining machine to an operation zone based on detected position of the mining machine and information on reliability of the detected position. Attaching a mining machine to an operation zone may comprise logically associating, linking, or mapping the mining machine to the operation zone such that the mining machine is considered by the mining automation system to be located at the operation zone and therefore configured to be controlled according to rules associated with that operation zone, as will be further described below.

[0015] FIG. 1 illustrates an example of a mining machine. Example embodiments disclosed herein may relate to various mining machines, represented throughout the description by loader 100. However, it is appreciated that the example embodiments may be applied to other types of mining machines, such as drill rigs, mobile bolter machines, loaders, dumpers, or the like.

[0016] Loader 100 may be an automated mining machine, for example an automated vehicle, e.g., a mining vehicle. Loader 100 may be equipped with tools configured for loading and transporting mining materials. An automated mining machine such as an automated loader machine operating in an automatic mode may be configured to, for example, receive a task to be performed, perceive (portions) of the environment of the automated vehicle, and autonomously perform the task while taking the environment into account. An automated mining machine operating in an automatic mode may be configured to operate independently but may be taken under external control at certain operation areas or conditions, such as during states of emergencies. Example embodiments of the present disclosure may be however applied also in non-autonomous or semi-autonomous mining machines, for example remote-controllable mining machines.

[0017] Loader 100 may comprise a movable carrier 110 and at least one boom 120 connected to movable carrier 110. Loader 100 may comprise a bucket 122, for example coupled to boom 120. Movable carrier 110 may comprise equipment for moving loader 100, such as for example a motor and wheels. Movable carrier 110 may be configured to move autonomously or it may be configured to be controlled by a human operator, either remotely or locally at loader 100. Boom 120 and bucket 122 may be configured to be controlled with, for example, mechanical switches or manual controllers installed at a user interface of loader 100 or a remote operator station, or by a controller 112 (e.g., a control apparatus) configured to control operation of loader 100. Controller 112 may be also configured to control other aspects of loader 100, such as parts of movable carrier 110 like the motor and wheels.

[0018] Loader 100 may comprise an identifier unit 114, for example a short-range radio device, which may be configured to transmit signals, e.g., beacon signals, that enable presence of loader 100 at a particular part of a mine to be detected. Identifier unit may be also called an identifier device. Identifier unit 114 may be for example a wireless local area network (WLAN) device, e.g., Wi-Fi device, a Bluetooth ®< device, or a radio frequency identifier (RFID) tag. Corresponding reader devices may be distributed within the worksite to detect position of identifier unit 114, and thereby the position of loader 100, and to transmit an indication of the detected position of loader 100 to an access control system 200 (see FIG. 2).

[0019] Alternatively, or additionally, loader 100 may comprise a positioning device configured to determine the position of loader 100, for example a satellite positioning device such as a global positioning system (GPS) receiver or another global navigation satellite system (GNSS) receiver. Satellite-based positioning may be used for example when operating in an opencast mine. Loader 100 may comprise a communication interface for transmitting an indication of its position to access control system 200. Examples of suitable communication interfaces for providing this information will be described with reference to FIG. 7.

[0020] As already noted above, loader 100 may comprise a controller (C) 112. Controller 112 may be for example provided as a software application residing on a memory and being executable by a processor. An example of an apparatus suitable for implementing controller 112 is provided in FIG. 7. Controller 112 may comprise, or be communicatively coupled to, various functions, blocks, or applications for implementing functionality of controller 112. Controller 112 may comprise a navigation application configured to control, or enable a human operator or access control system 200 to control, navigation of loader 100, for example to enable movement of carrier 110, to move loader 100 to a loading position or dumping position, to move bucket 122 by controlling boom 120, or the like.

[0021] Loader 100 may be configured to be controlled by a remote control device (not illustrated in FIG. 1), which may be external to loader 100. The remote control device may be for example a server located remote from loader 100, for example outside the mine. Functionality of controller 112 may be distributed between loader 100, for example a local controller of loader 100, and the remote control device. Information may be exchanged between the remote control device and loader 100 over a communication interface including any suitable wireless and / or wired connection. Examples of suitable communication interfaces are described with reference to FIG. 7.

[0022] FIG. 2 illustrates an example of a mining machine communicatively coupled to an access control system. Access control system (ACS) 200 may be responsible of controlling operation zone(s) of the mine, for example operations of various mining machines operating at the mine. For example, access control system 200 may be configured to control operation of loader 100 by providing loader 100 a permission to move within an operation zone or to enter or leave a particular operation zone.

[0023] Access control system 200 may comprise controller 212, e.g., a control apparatus or control circuitry, which may be structurally similar to controller 112. For example, controller 212 may be provided as a software application residing on a memory and being executable by a processor. An example of an apparatus suitable for implementing controller 212 is provided in FIG. 7. Controller 212 may comprise, or be communicatively coupled to, various functions, blocks, or applications for implementing functionality of controller 212, e.g., within access control system 200. For example, controller 212 may comprise or be communicatively coupled to a data management server, which may be configured to store information such as a map of the mine. Example embodiments of the present disclosure may be implemented be controller 212, or access control system 200 in general. Information may be exchanged between access control system 200 and loader 100 over a communication interface including any suitable wireless and / or wired connection. Examples of suitable communication interfaces are described with reference to FIG. 7.

[0024] FIG. 3 illustrates an example of an underground mine with mining machines and two operation zones. The underground mine may be equipped with a passage control system configured to control entry to and leaving from operation zones 4a and 4b. The passage control system may comprise passage control units (PCU) 2a, 2b, which may define operation zones 4a, 4b together with physical boundaries of the underground mine. In the example of FIG. 3, loaders 100, 102 are located at operation zone 4a, while loader 104 is located outside both operation zones 4a, 4b.

[0025] At least some of the operation zones may be isolated by their respective separating PCUs 2a, 2b, thereby enabling autonomous operation of one or more mining machines within the isolated zone. For example, loader 100 may be configured to autonomously travel a route 302 in zone 4a. The route may for example comprise a dump point 304 at the end of one branch of the mine.

[0026] Mining machines, e.g., loader 100, or other mobile objects such as people, or fixed objects at the working site may be provided with identifier units 114 such as wireless tags. The identifier units 114 may be detected by reader device(s) 5a-h of the mining automation system, such as wireless tag reader device(s). In some example embodiments, identifier unit 114 may comprise a transmitter, and identifier unit 114may be detected and identified by a reader device 5a-h based on a signal emitted by the transmitter.

[0027] Reader device(s) 5a-h may comprise short-range radio devices and they may be distributed at various locations inside and / or outside the mine, for example in proximity of PCUs 2a, 2b as reader devices 5a-d, deep within a respective operation zone 4a, 4b as reader devices 5e, 5f, or at a route away from the isolated area(s) as reader devices 5g, 5h. Reader devices 5a-h may belong to a position tracking system. In general, a positioning tracking system may comprise any devices configured to detect position of identifier unit(s) 114 and to deliver this information to access control system 200.

[0028] Reader device(s) 5a-h may be configured to detect identifier unit 114, in response to receiving a signal from identifier unit 114. Reader device(s) 5a-h may be therefore configured to detect a logical position of identifier unit 114, and thereby a logical position of the associated object such as loader 100. A logical position may comprise a position that is associated with a reader device. For example, the logical position may indicate that identifier unit 114 is within the range of the reader device. A logical position might however not indicate any particular position or area of the mine. For example, a logical position of identifier unit 114 may comprise the identifier of the reader device 5a-h that has detected the identifier unit. The position of identifier unit 114 may be therefore tracked by listing identifier(s) of reader device(s) 5a-h that have detected identifier unit 114.

[0029] Alternatively, or additionally, the position of identifier unit 114 may comprise a physical position, e.g., coordinates defining a position or area within the mine. Reader device(s) 5a-h may be configured to store characteristics associated with the detection, for example characteristics of the detected signal such as received signal strength and / or angle of arrival of the signal. Reader device(s) 5a-h may be configured to determine the physical position of identifier unit 114, for example based on the received signal strength and the angle of arrival. Reader device(s) 5a-h may be configured to transmit an indication of the detection of identifier unit 114, the logical or physical position of identifier unit 114, and / or the characteristics of the detected signal to access control system 200. Reader device(s) 5a-h therefore enable access control system 200 to track position of identifier unit(s) 114 and to determine whether a particular identifier unit 114 is within an operation zone or not.

[0030] Alternatively, or additionally, reader device(s) 5a-h may comprise visual detector(s) such as a camera configured to capture visual data (e.g., image or video data). Access control system 200 may be configured to determine a position of mining machine(s), e.g., loader 100, or other objects based on the visual data received from reader device(s) 5a-h. For example, loader 100 may be configured with a visual identifier (e.g., a QR-code) and access control system 200 may be configured to detect the position of loader 100 based on detection of the visual identifier in the visual data. For example, access control system 200 may be configured to associate loader 100 with a logical position comprising the identifier of the reader device that has captured visual data that includes the visual identifier of loader 100. Reader device(s) 5a-h may be associated with an operation zone. For example, reader devices 5a, 5e may be associated with operation zone 4a. Accordingly, reader devices 5a, 5e may be configured to detect whether a mining machine is within operation zone 4a.

[0031] Different reader devices may have different reliability not only due to their technology (e.g., Wi-Fi vs. Bluetooth) but also in terms of their position within the mine. For example, detection of loader 102 by reader device 5e may be considered to be a reliable indication of loader 102 being within operation zone 4a, whereas detection by reader 5a, which is closer to PCU 2a, may be considered as a less reliable indication of loader 102 being within operation zone 4a.

[0032] It is therefore understood that various technologies may be used to determine the position of loader 100, or other mining machines, in the mine. Different technologies may have different reliability and accuracy and also the location of a particular reader device may affect the reliability of detecting the position of loader 100. Example embodiments of the present disclosure improve the mining automation system by enabling automated attachment of mining machines to operation zones, while avoiding incorrect attachment of mining machines due to unreliable positioning.

[0033] Attachment of a mining machine to an operation zone may comprise associating, by access control system 200, the mining machine with the operation zone, for example such that access control system 200 is thereafter configured to consider the mining machine to be physically located within the operation zone. When a mining machine is attached to an operation zone, access control system 200 may be for example configured to control operation of the mining machine based on the assumption that the mining machine is located at the operation zone, for example by applying permissions and / or restrictions associated with that operation zone to the attached mining machine. Attachment may comprise the action of associating, mapping, or linking an identifier of the mining machine to an identifier of the operation zone, for example in the memory of access control system 200, e.g., controller 212.

[0034] FIG. 4 illustrates an example of a flow chart for attaching a mining machine to an operation zone and controlling the mining machine. Even though operations of FIG. 4 have been described to be performed by controller 212, it is understood that similar functionality may be implemented by any suitable component of a mining automation system. Even though operations of FIG. 4 have been described using loader 100 as an example of a mining machine, similar functionality may be provided for other types of mining machines. Furthermore, operations of FIG. 4 may be performed simultaneously or sequentially for multiple mining machines and operation zones.

[0035] At operation 401, controller 212 may be configured to monitor the position of loader 100. Controller 212 may be for example configured to receive indication(s) of the position of loader 100. Controller 212 may be configured to receive the indication of the position of loader 100 from positioning tracking devices, for example one or more of reader devices 5a-h. An indication of the position of loader 100 may comprise a logical position of loader 100, e.g., identifier(s) of reader device(s) that have detected loader 100. For example, controller 212 may be configured to determine the logical position of loader 100 as "5a", in response to receiving an indication that reader device 5a has detected loader 100.

[0036] Alternatively, or additionally, controller 212 may be configured to determine a physical location of loader 100, for example based on the received signal strength and the angle or arrival of the signal, as indicated by the respective reader device, and a position of this reader device in the mine. Controller 212 may be configured to receive an indication of the physical location of loader 100 from the reader device, which may have determined the physical location of loader 100 based on the received signal strength, the angle or arrival of the signal, and its own position in the mine. As noted above, example embodiments of the present disclosure may be also applied in case of satellite-based positioning. In this case, controller 212 may be configured to receive the indication of the position from loader 100 itself.

[0037] Controller 212 may be configured to determine the logical or physical position of loader 100 based on the latest detection, e.g., as a logical position comprising the identifier of the latest reader device that has detected loader 100, or as the physical position determined by, or based on information provided by, the latest reader device that has detected loader 100.

[0038] At operation 402, controller 212 may be configured to determine whether the position of loader 100 is within an operation zone. Controller 212 may be configured with a mapping between reader device(s) and operation zone(s). The mapping may be indicative of whether a particular reader device is located within a particular operation zone, or in general whether detection of identifier unit 114 by a particular reader device is to be interpreted as an indication of identifier unit 114 being within the operation zone. In the example of FIG. 3, reader devices 5a, 5e may be mapped to operation zone 4a. Reader devices 5b, 5c may be mapped to operation zone 4b.

[0039] Controller 212 may be configured to determine that loader 100 is in a particular operation zone, in response to determining that the logical position (e.g., identifier of a reader device) is associated with the operation zone. Controller 212 may be configured to determine this based on detecting that the logical position of loader 100 is mapped to the operation zone. For example, controller 212 may be configured to determine that loader 100 is in operation zone 4a, in response to receiving an indication of the logical position of loader 100 being "5a" and determining that reader device 5a is mapped to operation zone 4a.

[0040] Alternatively, or additionally, controller 212 may be configured with a map of the mine, where different positions on the map may be allocated or not allocated to certain operation zone. For example, positions towards left from PCU 2a may be allocated to operation zone 4a. Controller 212 may be configured to determine that loader 100 is within zone 4a, in response to determining that the physical position of loader 100 is within the area allocated to operation zone 4a.

[0041] Controller 212 may be configured to move back to execution of operation 401 to continue monitoring the position of loader 100, in response to determining that the position of loader 100 is not within any operation zone. Controller 212 may be configured to move to execution of operation 403, in response to determining that the position of loader 100 is within the operation zone.

[0042] At operation 403, controller 212 may be configured to determine a reliability rating for the position of loader 100. The reliability rating may be also referred to as safety rating and it may be configured to indicate how trustworthy and / or accurate the indicated position of loader 100 is. The reliability rating may be defined according to any type of rating scheme suitable for determining whether the indicated position is reliable enough for automatically attaching loader 100 to the operation zone.

[0043] For example, controller 212 may be configured to determine the reliability rating based on the type of the positioning tracking system, e.g., the type of the reader device that has detected loader 100. For example, a Wi-Fi based positioning tracking system might be configured to have lower reliability (e.g., `Not reliable' or 'Not safety-rated') than a Bluetooth ®< based system (e.g., 'Reliable' or 'Safety-rated').

[0044] As another example, controller 212 may be configured to determine the reliability rating of the indicated position based on position of the reader device that has detected loader 100. For example, the reliability rating might be proportional to the distance of the reader device that has detected loader 100 from PCU 2a, 2b. A high reliability rating might be configured for reader devices located beyond a threshold distance from PCU 2a, 2b. A low reliability rating might be configured for reader devices located within the threshold distance from the PCU 2a, 2b.

[0045] As a further example, controller 212 may be configured to determine the reliability rating based on the number of reader devices that have detected loader 100 to be within the operation zone. For example, a lower reliability rating might be given to a position which has been detected by a single reader device. A higher reliability rating might be given to a position that has been detected by more than one reader device. In one example, the reliability rating may be equal to the number of reader devices that have detected loader 100. Detection of loader 100 may comprise detection of loader 100 within a predetermined period of time, which may be configured such that is it short enough (e.g., a few seconds) to consider the detected position as the current position of loader 100. The predetermined period of time may comprise a past period of time ending at the present time.

[0046] The reliability rating may therefore comprise a binary rating (e.g., a flag) indicative of whether the indicated position is reliable enough for automatically attaching loader 100 to the operation zone. For example, value '0' of the binary rating may be indicative of the position not being reliable enough. Value '1'of the binary rating may be indicative of the position being reliable enough. Alternatively, controller 212 may be configured to determine the reliability rating on a multi-level scale, which may be dependent on, for example, the number of reader devices that have detected loader 100 or the distance(s) of such reader devices from the closest PCU 2a, 2b.

[0047] At operation 404, controller 212 may be configured to determine whether the reliability rating meets a condition. The condition may be for example a numerical threshold (e.g., greater or equal to one) or a particular enumerated value (e.g., 'Reliable' or 'Safety-rated') indicative of the position being reliable enough for automatically attaching loader 100 to the operation zone.

[0048] Controller 212 may be configured to move to execution of operation 407 to automatically attach loader 100 to the operation zone, in response to determining that the reliability rating meets the condition. Controller 212 may be configured to move to execution of operation 405 to request a user to confirm the attachment of loader 100 with the operation zone, in response to determining that the reliability rating does not meet the condition. Note that determining the position of loader 100 to be within the operation zone provides the benefit of enabling to automate attachment of loader 100 with the operation zone, or at least to simplify the attachment process by proposing nearby mining machines to the user, for example instead of full list of mining machines operated in the mine.

[0049] At operation 405, controller 212 may be configured to request, e.g., via user interface 210, a confirmation of the attachment of loader 100 to the operation zone. Considering operation 404, this may be in response to determining that the reliability rating does not meet the condition. Requesting the confirmation provides the benefit of increasing reliability of the attachment process, because the user is enabled to intervene in the process when the position of loader 100 has not been detected with sufficient reliability. The request may or may not include an explicit query via user interface 210. The request may be provided for example by providing a user interface (UI) element for accepting, triggering, or confirming attachment of loader 100 to the operation zone.

[0050] In the example of FIG. 5, a query is provided via user interface 210 to request the confirmation of the attachment of loader 100 to zone 4a. The query may comprise a first UI element 214 (`zone 4a'), which may be configured to indicate the identifier of the operation zone. The operation zone may comprise the operation zone at which loader 100 was detected to be located (cf., operation 402). The query may comprise a second UI element 216, which may be configured to indicate the identifier of loader 100, in this example simply `loader 100'. Second UI element 216 may be provided in association with first UI element 214, e.g., within the same sentence as illustrated in FIG. 5. The query may comprise a third UI element 218 ("Yes") for provision of the confirmation of the attachment of loader 100 to operation zone 4a. Third UI element 218 may be configured to enable the user to confirm the proposed attachment of loader 100 to operation zone 4a. In general, third UI element 218 may comprise a control element configured to enable operation of the mining machine, e.g., at the particular operation zone. The query may further comprise a fourth UI element 222 ("No") for rejecting the attachment of loader 100 to operation zone 4a.

[0051] In the example of FIG. 6, a map comprising one or more operation zones may be provided on user interface 210. User interface 210 may for example comprise a map view section 602 (e.g., on the left as in FIG. 6) and an information section 604 (e.g., on the right as in FIG. 6). Map view section 602 may comprise a map of the worksite, e.g., a mine, with illustration of different operation zones. In FIG. 6, different operation zones 1 and 2 have been illustrated with dotted boxes, but any other suitable illustration (e.g., by different colours) may be used. Information section 604 may comprise user interface elements 214, 216, 218, for example as a dropdown tree structure as illustrated in FIG. 6. For example, first UI element 214 indicative of the identifier ("Zone 1") of the operation zone may be provided as a textual UI element. Second UI element 216 indicative of the identifier of loader 100 ("ID") may be provided in association with first UI element 214, e.g., as another textual UI element. Second UI element 216 may be associated with first UI element 214 for example by being provided at an indented position with respect to first UI element 214 and / or by being connected to first UI element 214 by visual indicator(s) such as a line(s). Third UI element 218 may be provided as a virtual button for providing the confirmation of attachment of the identified mining machine ("ID") to the associated operation zone ("Zone 1"). Provision of third UI element 218 may be considered as requesting the confirmation of the attachment, regardless of whether third UI element 218 is associated with an explicit question (cf., FIG. 5) or not (cf., FIG. 6). Controller 212 may be configured to attach loader 100 to the operation zone, in response to detecting a user input at third UI element 218.

[0052] Information section 604 may comprise a fifth UI element 224 configured for adding (e.g., attaching) another mining machine to the operation zone ("Zone 1"). Controller 212 may be therefore configured to attach another mining machine to the operation zone, in response to detecting a user input at fifth UI element 224. Pressing fifth UE element 224 may be configured to cause controller 212 to provide a query for requesting the identifier of the other mining machine to be added. This UI element provides the benefit of enabling the user to add mining machines for which position information is not available from the position tracking system. Flexibility of managing mining automation system is therefore improved.

[0053] Information section 604 may comprise further UI element(s), for example sixth UI element(s) 226 indicative of a number of identifier units 114 (e.g., tags) detected at a particular operation zone. Controller 212 may be configured to receive, from reader device(s) 5a-h, information about identifier units 114 detected by each reader device. As described above, controller 212 may be configured to determine, based on this information, the identifier units 114 located at different operation zone(s), for example Zone 1. Controller 212 may be further configured with a mapping between identifier units 114 and mining machines. The mapping may indicate which identifier units 114 are coupled to which mining machines. Controller 212 may be configured to provide second UI element 216 based on filtering the detected identifier units 114 and providing a separate instance of first UI element 214 for each identifier unit 114 that is determined, based on the mapping, to be coupled to a mining machine. Controller 212 may be configured to count detected identifier units 114 that are not coupled to any mining machine and indicate the number of them by sixth UI element(s) 226 (e.g., per operation zone as in FIG. 6).

[0054] Controller 212 may be configured to emphasize, on user interface 210, a particular operation zone upon preliminary selection of the identifier of that zone, a mining machine associated with that zone, or the UI element configured for attaching the mining machine to that operating zone. Preliminary selection of a UI element may comprise identification of the UI element by the user (e.g., by pointing) before actually selecting the UI element (e.g., by pressing it). Similar preliminary selection functionality may be configured for any type of UI element configured with at least two user input actions (e.g., pointing and pressing, short press and long press, or the like).

[0055] For example, controller 212 may be configured to highlight Zone 1, e.g., by a different colour, in response to detecting the user to preliminarily select second UI element 216 or third UI element 218 by moving a mouse pointer, a finger, or other pointer above the respective UI element. For example, in case of third UI element 218 controller 212 might be configured to emphasize Zone 1 upon the preliminary selection (e.g., pointing) of third UI element 218 and add the respective mining machine to Zone 1 upon actual selection (e.g., pressing) of third UI element 218. Emphasizing the operation zone provides the benefit of reducing the likelihood of a mining machine being attached to an incorrect zone, because the user is enabled to more easily identify the operation zone to which the mining machine is about to be attached.

[0056] Providing a UI element may comprise displaying, or causing display of, the UI element. Providing the UI element may comprise determining information that is to be indicated by the UI element, for example identifier(s) of operation zone(s), identifier(s) of mining machine(s), or the number of identifier units 114 detected at operation zone(s). Determining information may comprise retrieving the information from a memory or deriving the information based on information stored in the memory. For example, in case of third UI element 218, provision of the UI element may comprise retrieving information on the identifier ("ID") of the mining machine detected at Zone 1 and displaying third UI element 218 in association with first and second UI elements 214, 216.

[0057] UI element(s) associated with a particular operation zone may be provided in proximity of the respective first UI element indicative of the identifier of that zone, for example as a set of UI elements next to (e.g., after) the respective UI element. Even though a particular arrangement is illustrated in FIG. 6, it is noted that the map and / or the other UI elements may be provided at any suitable arrangement on user interface 210.

[0058] At operation 406, controller 212 may be configured to determine whether a confirmation of the attachment of loader 100 to the operation zone has been received via user interface 210. For example, controller 212 may be configured to determine whether the user has pressed third UI element 218. If yes, controller 212 may be configured to move to execution of operation 407 to attach loader 100 to the operation zone. If not, controller 212 may be configured to move back to execution of operation 401 to monitor the position of loader 100.

[0059] At operation 407, controller 212 may be configured to attach loader 100 to the operation zone. When arriving from operation 404, controller 212 may be configured to attach loader 100 to the operation zone without requesting (e.g., via user interface 210) a confirmation of the attachment of loader 100 to the operation zone. Controller 212 may be configured to perform this in response to determining at operation 404 that the reliability rating meets the condition. When arriving from operation 406, controller 212 may configured to attach loader 100 to the operation zone, in response to receiving (e.g., via user interface 210), the confirmation of the attachment of loader 100 to the operation zone.

[0060] At operation 408, controller 212 may be configured to control operation of loader 100 at the operation zone. Controller 212 may be configured to control operation of loader 100 at the operation zone based on the information that loader 100 is attached to the operation zone. For example, controller 212 may be configured to provide a permission for loader 100 to move within the operation zone or deny a permission to leave the operation zone. Controller 212 may be configured to provide or deny the permission(s) based on detecting that loader 100 is attached to the operation zone.

[0061] Controller 212 may be configured to control operation of loader 100 by transmitting control instructions to loader 100. The control instructions may comprise a permission to move within the operation zone. Alternatively, or additionally, controller 212 may be configured to control operation of a loader, in this example loader 102, by transmitting control instructions to PCU(s) 2a, 2b, for example to configure PCU 2b to allow loader 102 enter operation zone 4b. As another example, controller 212 might be configured to transmit control instructions to PCU 2a in order to prevent loader 100 from leaving operation zone 4a. In general, controller 212 may be configured to control operation of a mining machine by transmitting, to the mining machine, control instructions that cause the mining machine to operate according to rule(s) associated with the operation zone, or transmit control instructions to another device (e.g., PCU 2a, 2b) to cause the other device to control the mining machine to operate according to the rule(s). This provides the benefit of improving safety of the mining automation system, because autonomous mining machines may be configured with safety-related and operation zone specific rules.

[0062] FIG. 7 illustrates an example of an apparatus 700 configured to practise one or more example embodiments. Apparatus 700 may be or comprise a control device, such as for example a server, communicatively coupled to loader 100, a control apparatus located at loader 100, controller 112, loader 100 itself, controller 212, access control system 200, or in general any apparatus or system configured to implement the functionality described herein. Although apparatus 700 is illustrated as a single device, it is appreciated that, wherever applicable, functions of apparatus 700 may be distributed to a plurality of physically separate apparatuses, for example different components or subsystems of access control system 200.

[0063] Apparatus 700 may comprise at least one processor 702. The at least one processor 702 may comprise, for example, one or more of various processing devices, such as for example a co-processor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, or the like.

[0064] Apparatus 700 may further comprise at least one memory 704. The at least one memory 704 may be configured to store, for example, computer program code or the like, for example operating system software and application software. The at least one memory 704 may comprise one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination thereof. For example, the memory may be embodied as magnetic storage devices (such as hard disk drives, etc.), optical magnetic storage devices, or semiconductor memories (such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). Memory 704 is provided as an example of a (non-transitory) computer readable medium. The term "non-transitory," as used herein, is a limitation of the medium itself (i.e., tangible, not a signal) as opposed to a limitation on data storage persistency (e.g., RAM vs. ROM). The at least one memory 704 may be also embodied separate from apparatus 700, for example as a computer readable (storage) medium, examples of which include memory sticks, compact discs (CD), or the like.

[0065] When apparatus 700 is configured to implement some functionality, some component and / or components of apparatus 700, such as for example the at least one processor 702 and / or the at least one memory 704, may be configured to implement this functionality. Furthermore, when the at least one processor 702 is configured to implement some functionality, this functionality may be implemented using program code 706 comprised, for example, in the at least one memory 704.

[0066] The functionality described herein may be performed, at least in part, by one or more computer program product components such as software components. According to an example embodiment, apparatus 700 comprises a processor or processor circuitry, such as for example a microcontroller, configured by the program code 706, when executed, to execute the embodiments of the operations and functionality described herein. Program code 706 is provided as an example of instructions which, when executed by the at least one processor 702, cause performance of apparatus 700.

[0067] For example, controller 212 may be at least partially implemented as program code 706 configured to cause apparatus 700 to perform functionality of controller 212. Similarly, transmission or reception of data (e.g., indication(s) of the position(s) of mining machine(s) or control instructions) over an internal or external communication interface of access control system 200 may be controlled by software.

[0068] Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing unit (NPU), tensor processing unit (TPU), or the like.

[0069] Apparatus 700 may comprise a communication interface 708 configured to enable apparatus 700 to transmit and / or receive information. Communication interface 708 may comprise an internal or external communication interface, such as for example a radio interface between loader 100 and access control system 200. Apparatus 700 may further comprise other components and / or functions such as for example user interface 710 comprising at least one input device and / or at least one output device. In case of access control device 200, user interface 710 may be similar to user interface 210. The input device may take various forms such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may for example comprise a display, a speaker, or the like. User interface 710 may enable a user, e.g., a human operator, to monitor various functions and data, and to control the mining automation system, for example by attaching mining devices to operation zones upon a request to do so.

[0070] Apparatus 700 may be configured to perform or cause performance of any aspect of the method(s) described herein. Further, a computer program or a computer program product may comprise instructions for causing, when executed by apparatus 700, apparatus 700 to perform any aspect of the method(s) described herein. Further, apparatus 700 may comprise means for performing any aspect of the method(s) described herein. In one example, the means comprises the at least one processor 702, the at least one memory 704 including program code 706 (instructions) configured to, when executed by the at least one processor 702, cause apparatus 700 to perform the method(s). In general, computer program instructions may be executed on means providing generic processing functions. Such means may be embedded for example in a computer, a server, or the like. The method(s) may be thus computer-implemented, for example based algorithm(s) executable by the generic processing functions, an example of which is the at least one processor 702. Apparatus 700 may comprise means for transmitting or receiving information, for example one or more wired of wireless (e.g., radio) transmitters or receivers, which may be coupled or be configured to be coupled to one or more antennas, or transmitter(s) or receiver(s) of a wired communication interface.

[0071] According to a first aspect of the present disclosure, apparatus may be configured to control a mining machine. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

[0072] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: request, via the user interface, the confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating does not meet the condition, and attach the mining machine to the operation zone, in response to receiving, via the user interface, the confirmation of the attachment of the mining machine to the operation zone.

[0073] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: provide, on the user interface, a first user interface element indicative of an identifier of the operation zone; provide, in association with the first user interface element, a second user interface element indicative of an identifier of the mining machine; and provide, on the user interface, a third user interface element for provision of the confirmation of the attachment of the mining machine to the operation zone.

[0074] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: provide, on the user interface, a map comprising the operation zone and at least one other operation zone; and emphasise the operation zone on the map upon a preliminary selection of the second user interface element or the third user interface element by a user.

[0075] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: receive the indication of the position of the mining machine from a position tracking system associated with the operation zone.

[0076] According to an example embodiment of the first aspect, the position tracking system comprises at least one short range radio device configured to detect presence and / or position of the mining machine.

[0077] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine the reliability rating based on a type of the positioning tracking system.

[0078] According to an example embodiment of the first aspect, controlling the operation of the mining machine comprises providing a permission for the mining machine to move within the operation zone.

[0079] FIG. 8 illustrates an example of a method for controlling a mining machine, according to a second aspect of the present disclosure. The method may comprise a computer-implemented method performed by, for example, apparatus 700 such as controller 212 or access control system 200.

[0080] At 801, the method may comprise receiving an indication of a position of the mining machine.

[0081] At 802, the method may comprise determining that the position of the mining machine is within an operation zone.

[0082] At 803, the method may comprise determining a reliability rating for the position of the mining machine.

[0083] At 804, the method may comprise attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition.

[0084] At 805, the method may comprise controlling operation of the mining machine based on the mining machine being attached to the operation zone.

[0085] According to an example embodiment of the second aspect, the method comprises: requesting, via the user interface, the confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating does not meet the condition, and attaching the mining machine to the operation zone, in response to receiving, via the user interface, the confirmation of the attachment of the mining machine to the operation zone.

[0086] According to an example embodiment of the second aspect, the method comprises: providing, on the user interface, a first user interface element indicative of an identifier of the operation zone; providing, in association with the first user interface element, a second user interface element indicative of an identifier of the mining machine; and providing, on the user interface, a third user interface element for provision of the confirmation of the attachment of the mining machine to the operation zone.

[0087] According to an example embodiment of the second aspect, the method comprises: providing, on the user interface, a map comprising the operation zone and at least one other operation zone; and emphasising the operation zone on the map upon a preliminary selection of the second user interface element or the third user interface element by a user.

[0088] According to an example embodiment of the second aspect, the method comprises: receiving the indication of the position of the mining machine from a position tracking system associated with the operation zone.

[0089] According to an example embodiment of the second aspect, the position tracking system comprises at least one short range radio device configured to detect presence and / or position of the mining machine.

[0090] According to an example embodiment of the second aspect, the method comprises: determining the reliability rating based on a type of the positioning tracking system.

[0091] According to an example embodiment of the second aspect, controlling the operation of the mining machine comprises providing a permission for the mining machine to move within the operation zone.

[0092] The method may be performed by controller 212 or access control system 200, for example based on program code 706, when executed by processor 702. Various examples of the methods are explained above with regard to functionalities of controller 212 or access control system 200 and are therefore not repeated here. It should be understood that example embodiments described may be combined in different ways unless explicitly disallowed.

[0093] According to a third aspect, an apparatus may comprise: means for receiving an indication of a position of the mining machine; means for determining that the position of the mining machine is within an operation zone; means for determining a reliability rating for the position of the mining machine; means for attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and means for controlling operation of the mining machine based on the mining machine being attached to the operation zone. The apparatus may comprise means for performing any example embodiment of the method of the second aspect.

[0094] According to a fourth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone. The computer program, the computer program product, or the (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus to perform any example embodiment of the method of the second aspect.

[0095] Although the subject matter has been described in language specific to structural features and / or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as examples of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.

[0096] It will be understood that the benefits and advantages described above may relate to one embodiment or may relate to several embodiments. The embodiments are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages. It will further be understood that reference to 'an' item may refer to one or more of those items.

[0097] The steps or operations of the methods described herein may be carried out in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the example embodiments described above may be combined with aspects of any of the other example embodiments described to form further example embodiments without losing the effect sought.

[0098] The term 'comprising' is used herein to mean including the method, blocks, or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.

[0099] As used herein, "at least one of the following: " and "at least one of " and similar wording, where the list of two or more elements are joined by "and" or "or", mean at least any one of the elements, or at least any two or more of the elements, or at least all the elements. Term "or" may be understood to also cover a case where both of the items separated by "or" are included. Hence, "or" may be understood as an inclusive "or" rather than an exclusive "or".

[0100] Although subjects may be referred to as 'first' or 'second' subjects, this does not necessarily indicate any order or importance of the subjects. Instead, such attributes may be used solely for the purpose of making a difference between subjects.

[0101] It will be understood that the above description is given by way of example only and that various modifications may be made by those skilled in the art. The above specification, examples and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above with a certain degree of particularity, or with reference to one or more individual embodiments, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from scope of this specification.

Examples

Embodiment Construction

[0011]Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0012]Autonomous mining machines may be configured to operate at isolated areas called operation zones or safety zones. An operation zone may comprise an area of a worksite, such as a mine, which is allocated to autonomous operation of mining machine(s). An operation zone may for example comprise an area where mining machine(s) are permitted to operate autonomously, for example an area at which a carrier of a mining machin...

Claims

1. An apparatus for controlling a mining machine, the apparatus comprising: at least one processor; and at least one memory including program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

2. The apparatus according to claim 1, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: request, via the user interface, the confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating does not meet the condition; and attach the mining machine to the operation zone, in response to receiving, via the user interface, the confirmation of the attachment of the mining machine to the operation zone.

3. The apparatus according to claim 1 or 2, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: provide, on the user interface, a first user interface element indicative of an identifier of the operation zone; provide, in association with the first user interface element, a second user interface element indicative of an identifier of the mining machine; and provide, on the user interface, a third user interface element for provision of the confirmation of the attachment of the mining machine to the operation zone.

4. The apparatus according to claim 3, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: provide, on the user interface, a map comprising the operation zone and at least one other operation zone; and emphasise the operation zone on the map upon a preliminary selection of the second user interface element or the third user interface element by a user.

5. The apparatus according to any of claims 1 to 4, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: receive the indication of the position of the mining machine from a position tracking system associated with the operation zone.

6. The apparatus according to claim 1, wherein the position tracking system comprises at least one short range radio device configured to detect presence and / or position of the mining machine.

7. The apparatus according to claim 6, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: determine the reliability rating based on a type of the positioning tracking system.

8. The apparatus according to any of claims 1 to 7, wherein controlling the operation of the mining machine comprises providing a permission for the mining machine to move within the operation zone.

9. A method for controlling a mining machine, the method comprising: receiving an indication of a position of the mining machine; determining that the position of the mining machine is within an operation zone; determining a reliability rating for the position of the mining machine; attaching the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and controlling operation of the mining machine based on the mining machine being attached to the operation zone.

10. The method according to claim 9, further comprising: requesting, via the user interface, the confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating does not meet the condition; and attaching the mining machine to the operation zone, in response to receiving, via the user interface, the confirmation of the attachment of the mining machine to the operation zone.

11. The method according to claim 9 or 10, further comprising: providing, on the user interface, a first user interface element indicative of an identifier of the operation zone; providing, in association with the first user interface element, a second user interface element indicative of an identifier of the mining machine; and providing, on the user interface, a third user interface element for provision of the confirmation of the attachment of the mining machine to the operation zone.

12. The method according to claim 11, further comprising: providing, on the user interface, a map comprising the operation zone and at least one other operation zone; and emphasising the operation zone on the map upon a preliminary selection of the second user interface element or the third user interface element by a user.

13. The apparatus according to any of claims 9 to 12, further comprising: receiving the indication of the position of the mining machine from a position tracking system associated with the operation zone.

14. The apparatus according to claim 13, wherein the position tracking system comprises at least one short range radio device configured to detect presence and / or position of the mining machine.

15. A computer program comprising instructions which, when executed by an apparatus, cause the apparatus at least to: receive an indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.

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