Method, and control unit for handling a loader vehicle in an underground environment

Abstract

A method for handling a loader vehicle (1) in an underground environment (100) is provided. The loader vehicle (1) comprises a boom (2) and a bucket (3). The underground environment (100) comprising at least one height constraint (5, 6). The method comprises triggering the loader vehicle (1) to perform an operation. Triggering the loader vehicle (1) to perform the operation comprises triggering the boom (2) and / or the bucket (3) to operate within one or more tolerance zones (21, 22, 23). The one or more tolerance zones define respective zones in the underground environment (100) based on the at least one height constraint (5, 6).

Description

[0001] METHOD, AND CONTROL UNIT FOR HANDLING A LOADER VEHICLE IN AN UNDERGROUND ENVIRONMENT

[0002] TECHNICAL FIELD

[0003] Embodiments herein relate to a method and a control unit for handling a loader vehicle in an underground environment. The loader vehicle comprises a boom and a bucket. The underground environment comprises at least one height constraint. Furthermore, a loader vehicle, a computer program, and a carrier are also provided herein.

[0004] BACKGROUND

[0005] In underground environments, materials such as ores need to be transported. Mine trucks are typically preferred for longer transports due to their high load capacity and speed. A loader vehicle operating in underground environments such as mines have low transporting capacity, and can therefore be used to transport the materials a short distance and load a mine truck with said materials. The mine truck will then transport the materials a longer distance to a desired location. To improve efficiency, autonomous loaders can be used to load the mine truck which reduces a need for operators in an underground environment as well as allowing continuous productivity. However, controlling loaders in underground environments is difficult due to their typical complex geography and area characteristics.

[0006] SUMMARY

[0007] An object of embodiments herein is to improve efficiency of material transportation in underground environment.

[0008] According to a first aspect, a method for handling a loader vehicle in an underground environment is provided. The loader vehicle comprises a boom and a bucket. The underground environment comprises at least one height constraint. The method comprises triggering the loader vehicle to perform an operation. The triggering of the loader vehicle to perform the operation comprises triggering the boom and / or the bucket to operate within one or more tolerance zones. The one or more tolerance zones define respective zones in the underground environment based on the at least one height constraint. Since the boom and / or the bucket is triggered to operate within one or more tolerance zones, when the loader vehicle is triggered to perform the operation, and since the one or more tolerance zones define respective zones in the underground environment based on the at least one height constraint, the loader vehicle is enabled to perform the operation efficiently using the boom and / or the bucket, within the one or more tolerance zones, in a safe manner, adhering to the at least one height constraint. This means that the loader vehicle is enabled to perform the operation using the boom and / or the bucket, in height constrained underground environments, and thereby improving efficiency of material transport.

[0009] As an example, the one or more tolerance zones are further defined based on an at least partly predefined trajectory of the boom and / or the bucket, for when the loader vehicle is performing the operation.

[0010] In this way, efficiency is further improved as the boom and / or the bucket is enabled to follow the predefined trajectory to perform the operation, while also meeting the at least one height constraint. Due to meeting the at least one height constraint, the boom and / or bucket will not collide with a ceiling and / or another machine.

[0011] In some examples, the method further comprises obtaining the one or more tolerance zones.

[0012] The one or more tolerance zones may be determined or predetermined based on the at least one height constraint and / or the operation to be performed by the loader vehicle.

[0013] In some examples, obtaining the one or more tolerance zones comprises establishing at least one of the one or more tolerance zones based on the at least one height constraint.

[0014] The one or more tolerance zones may be relative to the vehicle. The one or more tolerance zones may relate to, e.g., be relative to, a pre-configured path of the boom and the bucket..

[0015] In this way, when performing the operation, the vehicle may control the boom and / or the bucket to be inside the tolerance zones, which thereby adheres to the at least one height constraint.

[0016] In some examples, at least one of the one or more tolerance zones are predefined.

[0017] One or more dynamically established tolerance zones out of the one or more tolerance zones may be established based at least partly on the at least one predefined tolerance zone out of the one or more tolerance zones, e.g., a start zone in combination with the at least one height constraint and a trajectory of the boom and / or the bucket. In some examples, the loader vehicle is an autonomous loader vehicle. In these exemplary embodiments, the one or more tolerance zones define respective zones in the underground environment where the loader vehicle is allowed to autonomously maneuver the boom and / or the bucket.

[0018] In this way, the loader vehicle is enabled to perform a cycle of operations in an efficient manner without the use of a driver or operator.

[0019] In some examples, the operation is an unloading operation for unloading materials comprised in the bucket into a container of a transport vehicle.

[0020] In this way, the loader vehicle is enabled to perform an unloading into the container of the transport vehicle without the use of a driver or operator.

[0021] In some examples, triggering the loader vehicle to perform the operation, further comprises triggering the loader vehicle to perform the operation based on a height of the transport vehicle.

[0022] In this way, the triggering the operation efficiently manages to control the boom and / or bucket to operate above the height of the transport vehicle and below the respective height above the transport vehicle based on the at least one height constraint.

[0023] In some examples, the method further comprises obtaining height measurement data of the underground environment, and determining the at least one height constraint based on the obtained height measurement data.

[0024] In this way, the at least one height constraint is enabled to be dynamically determined as the underground environment changes over time.

[0025] In some examples, the method further comprises detecting or predicting whether or not the boom and / or the bucket is within the one or more tolerance zones when performing the operation.

[0026] In this way it may be possible to improve control of the boom and / or the bucket to keep within the one or more tolerance zones.

[0027] In some examples, the method further comprises: upon detecting or predicting that the boom and / or the bucket is not within the one or more tolerance zones when performing the operation, triggering a preventive action and / or an alert. In this way it may be possible to maintain safety, even if the at least one height constraint is at risk of being violated, i.e. the boom and / or bucket may be at risk of colliding with a ceiling of the underground environment, and then the preventive action and / or alert may be triggered to avoid a collision. In some examples, the method further comprises: upon detecting or predicting that the boom and / or the bucket is within the one or more tolerance zones when performing the operation, allowing the operation to be performed.

[0028] In this way, operating the boom and / or bucket is allowed within an error margin, thereby allowing the vehicle to perform the operation as efficiently as possible, as long as the boom and / or bucket is within the one or more tolerance zones.

[0029] In some examples, the at least one height constraint is associated with at least one location in the underground environment wherein the operation is at least partly to be performed.

[0030] In this way, it is ensured that when performing at least part of the operation at the at least one location meets the at least one height constraint, i.e. the boom and / or bucket will not collide with a ceiling of the underground environment at the at least one location, and / or the boom and / or bucket will not collide with another machine.

[0031] In some examples, the at least one height constraint is associated with a maximum allowed height for operating the boom and / or the bucket in the underground environment.

[0032] In this way, it is ensured that when performing the operation the boom and / or bucket will not collide with a ceiling of the underground environment at the at least one location, and thereby it is enabled to automate performing the operation as the boom and / or bucket will not collide with said ceiling..

[0033] According to a second aspect, a control unit configured handling a loader vehicle comprising a boom and a bucket in an underground environment is provided. The underground environment comprises at least one height constraint. The control unit is configured to trigger the loader vehicle to perform an operation, by triggering the boom and / or the bucket to operate within one or more tolerance zones. The one or more tolerance zones define respective zones in the underground environment based on the at least one height constraint.

[0034] In some examples, the control unit is further configured to perform the method of the first aspects. In some examples, the control unit is further configured to perform the method of the first aspects and any one or more out of the optional embodiments and / or examples listed above.

[0035] According to a third aspect, a computer program is provided. The computer program comprises instructions, which when executed by a processor, causes the processor to perform the method according to the first aspect.

[0036] According to a fourth aspect a carrier is provided. The carrier comprises the computer program of the third aspect. The carrier is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.

[0037] According to a fifth aspect, a loader vehicle is provided. The loader vehicle comprises a boom and a bucket arranged to operate in an underground environment. The underground environment comprises at least one height constraint. The loader vehicle further comprises a control unit according to the second aspect.

[0038] The advantages of any one or more out of the second, third, fourth, and / or fifth aspect corresponds to the advantages of the first aspect. All embodiments, examples and / or options related to and / or applying to any of the listed aspects above and / or their further descriptions in the detailed description below, applies to all other aspects in a corresponding manner.

[0039] Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0040] BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0042] Fig. 1 is a schematic block diagram illustrating a scenario according to exemplary embodiments herein.

[0043] Fig. 2 is a flowchart depicting a method according to exemplary embodiments herein.

[0044] Fig. 3 is a schematic block diagram illustrating exemplary embodiments herein.

[0045] Fig. 4 is a schematic block diagram illustrating exemplary embodiments herein.

[0046] Fig. 5 is a schematic block diagram illustrating exemplary embodiments herein.

[0047] Fig. 6 is a schematic block diagram illustrating exemplary embodiments herein.

[0048] Fig. 7 is a schematic block diagram illustrating exemplary embodiments of a control unit.

[0049] DETAILED DESCRIPTION

[0050] Fig. 1 illustrates a scenario in underground environment 100 according to exemplary embodiments herein. The underground environment 100 may be a set of tunnels, a mine, and / or any other natural and / or man-made cavities below ground. The underground environment 100 may comprise various passages and paths surrounded by rock walls 80. In the underground environment 100, loader vehicles may operate such as a loader vehicle 1.

[0051] The loader vehicle 1 comprises a boom 2 and a bucket 3. The bucket 3 may be arranged for loading, transporting, and / or dumping materials, e.g., any one or more out of ores, rocks, minerals, raw materials, stone, fragmented rock, waste rock, mud, metal bars, and waste material, in the underground environment 100. The bucket 3 may be attached to the boom 2. The boom 2, may be any suitable single boom, or any one or more multiple booms, for use when moving and / or operating the bucket 3.

[0052] The loader vehicle 1 comprises rear wheels 4r, and front wheels 4f.

[0053] The loader vehicle 1 may be a Load Haul Dump LHD vehicle, or any other suitable vehicle for transporting materials using a boom and bucket configuration, e.g., any one out of: a tractor, a wheel loader, a scoop, a skid loader, a loader, and a mine truck.

[0054] The loader vehicle 1 is configured to perform an operation, e.g., to move the boom 2 and / or the bucket 3 in the underground environment.

[0055] The loader vehicle 1 may comprise a power train, e.g., for controlling the loader vehicle 1.

[0056] In the underground environment 100, transport vehicles may operate such as a transport vehicle 7.

[0057] The loader vehicle 1 is in the example scenario of Fig. 1 , illustrated to transport materials in the bucket 3, and to further dump, i.e. unload, said materials in a container 8 of the transport vehicle 7.

[0058] The underground environment 100 comprises at least one height constraint, e.g., on height constraint or at least two height constraint. The at least one height constraint is at least related to the height of a ceiling 10. Each respective height constraint may relate to a position or area of the underground environment 100.

[0059] In Fig. 1 , a first height constraint 5 is represented as a first height from a drivable surface 20 to the ceiling 10. In other words, the bucket 3 and / or boom 2 is constrained such that it needs to operate within the first height, e.g., when the loader vehicle 1 travels towards the transport vehicle 7.

[0060] In Fig. 1, a second height constraint 6 is represented as a second height from a top of the transport vehicle 7, to the ceiling 10. In other words, the bucket 3 and / or boom 2 is constrained such that it needs to operate within the second height, e.g., when dumping materials in the container 8.

[0061] In the underground environment 100, one or more tolerance zones 21, 22, 23 may be used to restrict an operation of the loader vehicle 1 , the boom 2 and / or the bucker 3, e.g., to avoid a collision with the ceiling 10 and / or the container s of the transport vehicle 7. Many applications of the tolerance zones 21 , 22, 23 apply, and Fig. 1 is only one example. While three tolerance zones are illustrated in Fig. 1 , any number applies, e.g., one, two, three, or four tolerance zones.

[0062] Each of the one or more tolerance zones may respectively be based on, e.g., limited by, any one or more out of the at least one height constraint 5, 6.

[0063] In Fig. 1 , a first tolerance zone 21 is illustrated to be based on the first height constraint 5.

[0064] In Fig. 1 , a second tolerance zone 22 is illustrated to be based on the first height constraint 5 and the second height constraint 6.

[0065] In Fig. 1 , a third tolerance zone 23 is illustrated to be based on the second height constraint 6.

[0066] The transport vehicle 7 may be standstill at a predefined unloading position in the underground environment 100. This means that the operation of the loader vehicle 1 , and a trajectory thereof for the loader vehicle 1 to follow, may be established in advance for a static location of the transport vehicle 7. The trajectory for the operation may also be established dynamically based e.g., on a position of the loader vehicle 1 and / or a position of the boom 2 and / or the bucket 3, and based on the position of the transport vehicle 7 and / or the corresponding container 8, as well as based on the one or more tolerance zones 21, 22, 23 and / or the at least one height constraint 5, 6.

[0067] In some examples herein, the one or more tolerance zones 21, 22, 23, may be defined based on the trajectory of the operation of the loader vehicle 1 and the at least one height constraint 5, 6.

[0068] The one or more tolerance zones 21, 22, 23, may relate to, e.g., be relative to, a pre-configured path of the boom 2 and / or the bucket 3. Additionally or alternatively the one or more tolerance zones 21 , 22, 23 may relate to, e.g., be relative to, a calculated movement to be performed by the loader vehicle 1 and the boom 2 and / or the bucket 3.

[0069] Exemplary embodiments herein may be performed by any suitable control unit such as a control unit 70. The control unit 70 may be located in any suitable location. For example, the control unit 70 may be located in the underground environment 100, or at a remote location, e.g. above ground. The control unit 70 may be part of a server or control station, but may also be part of the loader vehicle 1 , e.g. comprised in the loader vehicle 1.

[0070] The control unit 70 may be able to control the loader vehicle 1 , e.g., any one or more out of the front wheels 4f, the rear wheels 4r, the boom 2 and, the bucket 3. A number of exemplary embodiments will now be described, which exemplary embodiments may be used in any suitable combination.

[0071] Fig. 2 illustrates an example embodiment of a for handling the loader vehicle 1 in the underground environment 100. The loader vehicle 1 comprises the boom 2 and the bucket 3. The underground environment 100 comprises at least one height constraint 5, 6. In some exemplary embodiments herein, the loader vehicle 1 is an autonomous loader vehicle

[0072] The method comprises the following actions, which actions may be performed in any suitable order.

[0073] Action 201. The method may comprise obtaining height measurement data of the underground environment 100.

[0074] The height measurement data may be predefined, e.g., stored in the loader vehicle 1 and / or in a server.

[0075] The height measurement data may be obtained e.g., dynamically, from one or more vehicles, e.g., the loader vehicle 1 and / or the transport vehicle 7, e.g., as measured when they respectively are operating and / or travelling in the underground environment 100, e.g., by the one or more vehicles respectively scanning the height of the underground environment 100 at one or more locations using one or more respective sensors, e.g., using infrared sensors, Lidar sensors, camera sensors, and / or any other suitable sensor for detecting height.

[0076] Action 202. The method may comprise determining the at least one height constraint 5, 6 based on the obtained height measurement data. Alternatively, the at least one height constraint 5, 6 may be predefined.

[0077] The at least one height constraint 5, 6 may be associated with at least one location in the underground environment 100 wherein the operation is at least partly to be performed.

[0078] The at least one height constraint 5, 6 may be associated with a maximum allowed height for operating the boom 2 and / or the bucket 3 in the underground environment 100.

[0079] For example, the at least one height constraint 5, 6, may relate to limiting the boom and / or the bucket from colliding with the ceiling of the underground environment 100.

[0080] Action 203. The method may comprise obtaining one or more tolerance zones. The one or more tolerance zones may be based on the at least one height constraint 5, 6, e.g., limited by the at least one height constraint 5, 6. The one or more tolerance zones may be zones arranged to limit operations of the loader vehicle 1 and / or limit how the loader vehicle 1 is allowed to operate the boom 2 and / or the bucket 3, with respect to the at least one height constraint 5, 6, i.e., such that the boom 2 and / or the bucket 3 it does not violate the at least one height constraint, 5, 6. Violating the at least one height constraint 5, 6, may risk collision with the ceiling of the underground environment 100.

[0081] The one or more tolerance zones may be relative to the loader vehicle 1 and / or one or more three-dimensional areas in the underground environment 100.

[0082] Obtaining the one or more tolerance zones may comprise establishing at least one of the one or more tolerance zones 21, 22, 23 based on the at least one height constraint 5, 6.

[0083] Alternatively, the one or more tolerance zones 21, 22, 23 may be predefined.

[0084] Alternatively, at least one of the one or more tolerance zones may be predefined. In other words, a first tolerance zone may be predefined, and other tolerance zones in the one or more tolerance zones may be established dynamically, e.g., based on a trajectory of an operation to be performed.

[0085] When the loader vehicle 1 is an autonomous loader vehicle, the one or more tolerance zones 21, 22, 23 may define respective zones in the underground environment 100 where the loader vehicle 1 is allowed to autonomously maneuver the boom 2 and / or the bucket 3, e.g., to perform the operation presented below in Action 204.

[0086] Action 204. The method comprise triggering the loader vehicle 1 to perform an operation. The operation may be an unloading operation, e.g., for unloading materials in the bucket 3 into a mine truck, such as the container 8 of the transport vehicle 7. The operation may be triggered by any one or more out of: the loader vehicle 1 completing performing a predefined operation, e.g., travelling to a predefined location, receiving an instruction or request, e.g., from a control station or other controlling entity, receiving an instruction or request from a user associated with the loader vehicle 1 , detecting that the loader vehicle 1 is driven, e.g., by remote control and / or by a user, to a specific location and / or operated to have the boom 2 and / or the bucket 3 at a specific location or position, determining that the underground environment 100 has a sufficient height to perform the operation, e.g., based on the at least one height constraint 5, 6, and / or based on an obtained map of the underground environment 100, determining that the loader vehicle 1 and / or the transport vehicle 1 is within a set safety area, e.g., the loader vehicle 1 and the transport vehicle 1 being within the same set safety area, determining that a size of the bucket 3 is compliant in size with an obtained size, or predefined size, of the container 8 of the transport vehicle 7, periodically, e.g., wherein the loader vehicle 1 is iterating a cyclic behavior, completing loading the bucket 3, e.g., by detecting using sensors on the loader vehicle 1 , that the bucket 3 has been filled by at least a set amount / volume, detecting a triggering event.

[0087] The unloading operation may comprise unloading the materials into the container 8 of the transport vehicle 7 from a side or from a rear of the transport vehicle 7.

[0088] The unloading operation may comprise different unloading positions in relation to the transport vehicle 7 based on how much materials have been unloaded into the container 8 and / or how many iterations of unloading operations have been triggered, e.g., by the loader vehicle 1 or in total also considering other loader vehicles performing unloading operations into the container 8.

[0089] The operation may additionally or alternatively, e.g., after the unloading operation, to comprise a compression operation. The compression operation comprises pressing the bucket down into materials stored in the container 8 of the transport vehicle, sometimes iteratively in an up and down manner. The compression operation may also need to be limited by the one or more tolerance zones 21, 22, 23 to avoid collision with the ceiling 10 and / or the container 8.

[0090] Triggering the loader vehicle 1 to perform the operation comprises triggering the boom 2 and / or the bucket 3 to operate within one or more tolerance zones 21, 22, 23.

[0091] The one or more tolerance zones 21, 22, 23 define respective zones, e.g., three- dimensional areas, in the underground environment 100 based on the at least one height constraint 5, 6.

[0092] The one or more tolerance zones 21, 22, 23 may restrict where it is allowed to operate the boom 2 and / or the bucket 3, e.g., relative to the loader vehicle 1.

[0093] The one or more tolerance zones 21, 22, 23 may further be defined, e.g., established, based on an at least partly predefined trajectory of the boom 2 and / or the bucket 3, for when the loader vehicle 1 is performing the operation. The operation may be an unloading operation for unloading materials comprised in the bucket 3 into a container 8 of the transport vehicle 7.

[0094] Triggering the loader vehicle 1 to perform the operation, may further comprise triggering the loader vehicle 1 to perform the operation based on a height of the transport vehicle 7. This may mean that the operation need to adhere to a height of the transport as part of the at least one height constraint 5, 6, e.g., as to not hit the side and / or container 8 of the transport vehicle 7 with the bucket 3 when performing the operation.

[0095] Action 205. The method may comprise detecting or predicting whether or not the boom 2 and / or the bucket 3 is within the one or more tolerance zones 21, 22, 23 when performing the operation.

[0096] Detecting or predicting whether or not the boom 2 and / or the bucket 3 is within the one or more tolerance zones 21 , 22, 23 may comprise measuring a speed and / or location of the boom 2 and / or the bucket 3.

[0097] Action 206. The method may comprise upon detecting or predicting that the boom 2 and / or the bucket 3 is not within the one or more tolerance zones 21 , 22, 23 when performing the operation, triggering a preventive action and / or an alert.

[0098] The preventive action may be to stop the operation and / or to perform a halt of the loader vehicle 1.

[0099] Triggering the alert may comprise triggering an alarm and / or may comprise alerting a user of that that the boom 2 and / or the bucket 3 is not within the one or more tolerance zones 21 , 22, 23.

[0100] In other words, the method may comprise continuously or periodically measuring the position and / or speed of the boom 2 and / or the bucket 3, and when they are, or risk to be outside the one or more tolerance zones 21 , 22, 23, the alert and / or preventive action will be triggered.

[0101] Action 207. The method may comprise upon detecting or predicting that the boom 2 and / or the bucket 3 is within the one or more tolerance zones 21 , 22, 23 when performing the operation, allowing the operation to be performed.

[0102] In other words, the method may comprise continuously or periodically measuring the position and / or speed of the boom 2 and / or the bucket 3, and when they safely within the one or more tolerance zones 21 , 22, 23, the alert and / or preventive action of action 206 will not be triggered, and the operation can be allowed to continue. Examples, aspects, and / or embodiments above will now be further described and exemplified. The text below is applicable to, and / or may be combined with any one or more suitable examples, aspects, and / or embodiments described above.

[0103] Fig. 3 illustrates an example scenario of performing the operation. The example scenario merely illustrates a trajectory 300 and corresponding boom and bucket positions and tolerance zones 21, 22, 23 for performing the operation. The operation of the example scenario of Fig. 3 is an unloading operation.

[0104] The X-axle 301 indicates a movement of the loader vehicle 1 , e.g., a longitudinal movement of the loader vehicle 1 , e.g., travelling in the underground environment 100.

[0105] The Y-axle 302 indicates a movement of the boom 2 and / or the bucket 3, e.g., at least partially a vertical movement of the boom 2 and / or the bucket 3., e.g., when performing the operation in the underground environment 100.

[0106] The operation, e.g., triggered by action 204, may be defined at least partly by the trajectory 300. The operation may be arranged to, e.g., relative to the loader vehicle 1, follow the trajectory 300 with the boom 2 and / or the bucket 3, to perform the operation, e.g., triggered by action 204. Following the trajectory 300 may, e.g., as part of action 204, require the loader vehicle 1 to be triggered to travel longitudinally while also operating the boom 2 and / or the bucket 3 to operate / travel through multiple boom and bucket positions 311, 312, 313, 314, defined by the operation, e.g., relative to the trajectory 300 and / or the loader vehicle 1. Travelling through the multiple boom and bucket positions 311 , 312, 313, 314, may be, at least partly, to perform the operation, e.g., as triggered by action 204.

[0107] To exemplify, the boom 2 and / or the bucket 3 may be triggered, e.g., as in action 204, to travel through a first boom and bucket position 311 , and from there, be triggered to rise to a second boom and bucket position 312, e.g., as part of action 204, and while being restricted in its operation by the first tolerance zone 21.

[0108] From the second boom and bucket position 312, the boom 2 and / or the bucket 3 may be triggered, e.g., as in action 204, to travel to a third boom and bucket position 313, while being restricted in its operation by the second tolerance zone 22.

[0109] From the third boom and bucket position 313, the boom 2 and / or the bucket 3 may be triggered, e.g., as in action 204, to travel to a fourth boom and bucket position 314, while being restricted in its operation by the third tolerance zone 23. While travelling to the fourth boom and bucket position 314, the bucket 3 may be triggered, e.g., as part of action 204, to rotate such as to dump materials transported in the bucket 3.

[0110] As illustrated by the example scenarios of Fig. 3, by turning or rotating the bucket 3 as part of the operation or trajectory of the bucket 3, e.g., as part of action 204 and / or with reference to the boom and bucket position 314, the available space above the bucket 3 is made available such that the boom 2 is allowed to further move upward, e.g., in at least partly a vertical direction.

[0111] Fig. 4 illustrates an example scenario of the operation illustrated by Fig. 3, but in a scenario of dumping the materials into the container 8 of the transport vehicle 7.

[0112] In the example scenario of Fig. 4, wheel positions are illustrated as to be relative to the boom 2 and / or bucket 3. In other words, the loader vehicle 1 needs to move to have its wheel in locations relative to the trajectory 300 to perform the operation.

[0113] In Fig. 4 a first wheel position 401 may be associated with the position of the first boom and bucket position 311. The first wheel position 401 may be at a set position relative to the first boom and bucket position 311.

[0114] In Fig. 4 a second wheel position 402 may be associated with the position of the second boom and bucket position 312. The second wheel position 402 may be at a set position relative to the second boom and bucket position 312.

[0115] In Fig. 4 a third wheel position 403 may be associated with the position of the third boom and bucket position 313. The third wheel position 403 may be at a set position relative to the third boom and bucket position 313.

[0116] In Fig. 4 a fourth wheel position 404 may be associated with the position of the fourth boom and bucket position 314. The fourth wheel position 404 may be at a set position relative to the fourth boom and bucket position 314.

[0117] The first, second, third, and / ort fourth wheel position 404, may relate to a position of the front wheel 4f, or the rear wheel 4r, of the loader vehicle 1 in the underground environment 100.

[0118] Subsequently, e.g., when at the fourth wheel position 404, as an option, a compression operation may be performed e.g., to trigger the boom 2 and / or the bucket 3 to compress the materials in the container 8 by pressing the bucket 3 down towards the container 8. The compression operation may further need to operate within a tolerance zone to avoid collision with the ceiling 10 and / or the container 8.

[0119] In Fig. 4, the tolerance zones 21, 23, 23, may be based on a height constraint 401 indicating the space between the ceiling of the underground environment 100 and the top of the transport vehicle 7

[0120] Fig. 5 illustrates an example scenario of dumping the materials into the container 8 of the transport vehicle 7 in a slightly different manner than in the example of Figs 3-4. The loader vehicle 1 may perform the operation, e.g., as in action 204, by at least partly following the trajectory 500 and maintaining the boom 2 and / or the bucket 3 within the one or more tolerance zones 21, 22, 24.

[0121] The loader vehicle 1 may control a longitudinal motion of the loader vehicle 1 , e.g., as part of actions 204, as well as the position and / or speed of the boom 2 and / or bucket 3 to follow the trajectory 500, e.g., such that a front wheel 4f and / or a rear wheel 4r of the loader vehicle 1 is in a first wheel position 501 when the boom 2 and / or the bucket 3 is positioned in a first boom and bucket position 511.

[0122] The loader vehicle 1 may subsequently, e.g., as part of action 204, move longitudinally forward, and the boom 2 and / or the bucket 3 upwards, e.g., to operate the boom 2 and / or the bucket 3 in the first tolerance zone 21 to the second boom and bucket position 512, wherein the front wheel 4f and / or a rear wheel 4r of the loader vehicle 1 is simultaneously moved into a second wheel position 502.

[0123] The loader vehicle 1 may subsequently, e.g., as part of action 204, move longitudinally forward, e.g., to operate the boom 2 and / or the bucket 3 in the second tolerance zone 22 to the third boom and bucket position 513, wherein the front wheel 4f and / or a rear wheel 4r of the loader vehicle 1 is simultaneously moved into a third wheel position 503.

[0124] The loader vehicle 1 may subsequently, e.g., as part of action 204, move longitudinally forward, e.g., to operate the boom 2 and / or the bucket 3 in the third tolerance zone 23 to the fourth boom and bucket position 514, wherein the front wheel 4f and / or a rear wheel 4r of the loader vehicle 1 is simultaneously moved into a fourth wheel position 503.

[0125] To unload materials in the bucket 3, the bucket may, in place, be triggered to, e.g., as part of action 204, to rotate the bucket 3 to pour the material into the container of the transport vehicle 7.

[0126] As an option, a compression operation may subsequently be performed e.g., to trigger the boom 2 and / or the bucket 3 to compress the materials in the container 8 by pressing the bucket 3 down towards the container 8. The compression operation may further need to operate within a tolerance zone, to avoid collision with the ceiling 10 and / or the container 8.

[0127] In Fig. 5, the tolerance zones 21, 23, 23, may be based on a height constraint 501 indicating the space between the ceiling of the underground environment 100 and the top of the transport vehicle 7 Fig. 6 illustrates an example of the container 8 of the transport vehicle 7. The transport vehicle 7 and / or the container 8 may be associated with a first height constraint 601 relating to the height from the top of the container 8 to the ceiling 10 of the underground environment 100.

[0128] Based on the first height constraint 601, a tolerance zone 602 is established or alternatively predefined. The tolerance zone 602 may be part of the one or more tolerance zones 21 , 22, 23 above. The tolerance zone 602 may define or limit how the bucket 3 may operate above the container 8, e.g., with respect to rotating the bucket to pour / unload materials into the container 8, e.g., a shake operation, by a rotating motion 603. The rotating motion 603 may be limited in a lowest and highest allowed position by the tolerance zone 602. The tolerance zone 602 may additionally or alternatively define or limit how the bucket 3 may operate above the container 8,, e.g., with respect to a compressing operation for pressing the material down into the 8 by a pressing motion 604. The pressing motion 604 may be limited in a lowest and highest allowed position by the tolerance zone 602.

[0129] Furthermore, a tolerance zone 606 may be established or predefined based on a height constraint 605. The height constraint 605 indicating a height of the transport vehicle 7 and / or the container 8. The tolerance zone 606 may define and / or limit a movement of the boom 2 such that the boom 2 does not collide with the ceiling 10 of the under ground environment or such that the boom 2 does not collide with the transport vehicle and / or the container 8.

[0130] To perform exemplary embodiments herein, e.g. the method according to actions 201-206 above, may be performed by the control unit 70. The control unit 70 may be arranged in a centralized location, e.g. as part of a server, control station, or a cloud service, or may be located in the underground environment 100, e.g. co-located with the loader vehicle 1 , e.g., comprised in the loader vehicle 1.

[0131] The control unit 70 may comprise an arrangement depicted in Fig.7. The control unit 70 may comprise an input and output interface 700 e.g. for communicating with network entities, e.g., a server controlling the control unit 70, and / or the loader vehicle 1 when being arranged remote from the loader vehicle 1. The control unit 70 may be able to control the motion and / or operations of the loader vehicle 1. The control unit 70 may be able to control the motion and / or operations of the boom 2. The control unit 70 may be able to control the motion and / or operations of the bucket 3. The input and output interface 700 may comprise a wireless or wired receiver not shown, a transceiver, one or more antennas, and / or a wired or wireless transmitter not shown.

[0132] The control unit 70 is configured to handle the loader vehicle 1 in the underground environment 100. The loader vehicle 1 comprises the boom 2 and the bucket 3. The underground environment 100 comprises the at least one height constraint 5, 6.

[0133] The control unit 70 is further configured to trigger the loader vehicle 1 to perform an operation. Triggering the loader vehicle 1 to perform the operation comprises triggering the boom 2 and / or the bucket 3 to operate within the one or more tolerance zones 21 , 22, 23. The one or more tolerance zones 21 , 22, 23 define respective zones in the underground environment 100 based on the at least one height constraint 5, 6.

[0134] The one or more tolerance zones 21, 22, 23 may further be defined based on an at least partly predefined trajectory of the boom 2 and / or the bucket 3, for when the loader vehicle 1 is performing the operation.

[0135] The control unit 70 may further be configured to obtain the one or more tolerance zones 21 , 22, 23.

[0136] The control unit 70 is further configured to obtain the one or more tolerance zones by establishing at least one of the one or more tolerance zones 21, 22, 23 based on the at least one height constraint 5, 6.

[0137] In some examples, at least one of the one or more tolerance zones are predefined.

[0138] The loader vehicle 1 may be an autonomous loader vehicle. The one or more tolerance zones 21 , 22, 23 may define respective zones in the underground environment 100 where the loader vehicle 1 is allowed to autonomously maneuver the boom 2 and / or the bucket 3.

[0139] The operation may be an unloading operation for unloading materials comprised in the bucket 3 into a container of a transport vehicle 7.

[0140] The control unit 70 is further configured to trigger the loader vehicle 1 to perform the operation, by triggering the loader vehicle 1 to perform the operation based on a height of the transport vehicle 7.

[0141] The control unit 70 is further configured to obtain height measurement data of the underground environment 100.

[0142] The control unit 70 is further configured to determine the at least one height constraint 5, 6 based on the obtained height measurement data. The control unit 70 is further configured to detect or predict whether or not the boom 2 and / or the bucket 3 is within the one or more tolerance zones 21 , 22, 23 when performing the operation.

[0143] The control unit 70 is further configured to, upon detecting or predicting that the boom 2 and / or the bucket 3 is not within the one or more tolerance zones 21 , 22, 23 when performing the operation, trigger a preventive action and / or an alert.

[0144] The control unit 70 is further configured to, upon detecting or predicting that the boom 2 and / or the bucket 3 is within the one or more tolerance zones 21, 22, 23 when performing the operation, allow the operation to be performed.

[0145] The at least one height constraint 5, 6 may be associated with at least one location in the underground environment 100 wherein the operation is at least partly to be performed.

[0146] The at least one height constraint 5, 6 may be associated with a maximum allowed height for operating the boom 2 and / or the bucket 3 in the underground environment 100.

[0147] The exemplary embodiments herein may be implemented through one or more processors, such as a processor 760 of a processing circuitry in the control unit 70, depicted in Fig. 7, together with a computer program 780 comprising instructions, which when executed by a processor, causes the processor to perform the functions and actions of the exemplary embodiments herein.

[0148] In some exemplary embodiments, a respective carrier 790 comprises the respective computer program 780, wherein the carrier 790 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium. For example, one such carrier may be in the form of a CD ROM disc or a memory stick. The computer program 780 may furthermore be provided as pure program code on a server and downloaded to the control unit 70.

[0149] The control unit 70 may further comprise a memory 770 comprising one or more memory units. The memory 770 comprises instructions executable by the processor in the control unit 70. The memory 770 is arranged to be used to store e.g. information, indications, data, configurations, measurements, and applications to perform the exemplary embodiments herein when being executed in the control unit 70.

[0150] Those skilled in the art will appreciate that the units in the control unit 70 described above may refer to a combination of analog and digital circuits, and / or one or more processors configured with software and / or firmware, e.g. stored in the control unit 70, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry ASIC, or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip SoC.

[0151] When using the word "comprise" or “comprising” it shall be interpreted as nonlimiting, i.e. meaning "consist at least of".

[0152] It will be appreciated that the foregoing description and the accompanying drawings represent non-limiting examples of the methods and apparatus taught herein. As such, the apparatus and techniques taught herein are not limited by the foregoing description and accompanying drawings. Instead, the exemplary embodiments herein are limited only by the following claims and their legal equivalents.

Claims

CLAIMS1. A method for handling a loader vehicle (1) comprising a boom (2) and a bucket (3) in an underground environment (100), the underground environment (100) comprising at least one height constraint (5, 6), the method comprising: triggering (204) the loader vehicle (1) to perform an operation, wherein triggering the loader vehicle (1) to perform the operation comprises triggering the boom (2) and / or the bucket (3) to operate within one or more tolerance zones (21, 22, 23), wherein the one or more tolerance zones define respective zones in the underground environment (100) based on the at least one height constraint (5, 6).

2. The method according to claim 1, wherein the one or more tolerance zones (21, 22, 23) are further defined based on an at least partly predefined trajectory of the boom (2) and / or the bucket (3), for when the loader vehicle (1) is performing the operation.

3. The method according to any of claims 1-2, wherein the method further comprises obtaining (203) the one or more tolerance zones (21, 22, 23).

4. The method according to claim 3, wherein obtaining (203) the one or more tolerance zones comprises establishing at least one of the one or more tolerance zones (21, 22, 23) based on the at least one height constraint (5, 6).

5. The method according to any of claims 1-4, wherein at least one of the one or more tolerance zones (21, 22, 23) are predefined.

6. The method according to any of claims 1-5, wherein the loader vehicle (1) is an autonomous loader vehicle and wherein the one or more tolerance zones (21, 22, 23) define respective zones in the underground environment (100) where the loader vehicle (1) is allowed to autonomously maneuver the boom (2) and / or the bucket (3).

7. The method according to any of claims 1-6, wherein the operation is an unloading operation for unloading materials comprised in the bucket (3) into a container of a transport vehicle (7).

8. The method according to claim 7, wherein triggering (204) the loader vehicle (1) to perform the operation, further comprises triggering the loader vehicle (1) to perform the operation based on a height of the transport vehicle (7).

9. The method according to claim 8, wherein the method further comprises obtaining (201) height measurement data of the underground environment (100), and determining (202) the at least one height constraint (5, 6) based on the obtained height measurement data.

10. The method according to any of claims 1-9, wherein the method further comprises detecting or predicting (205) whether or not the boom (2) and / or the bucket (3) is within the one or more tolerance zones (21, 22, 23) when performing the operation.

11. The method according to any of claims 1-10, wherein the method further comprises: upon detecting or predicting (205) that the boom (2) and / or the bucket (3) is not within the one or more tolerance zones (21, 22, 23) when performing the operation, triggering (206) a preventive action and / or an alert.

12. The method according to any of claims 1-11 , wherein the method further comprises: upon detecting or predicting (205) that the boom (2) and / or the bucket (3) is within the one or more tolerance zones (21, 22, 23) when performing the operation, allowing (207) the operation to be performed.

13. The method according to any of claims 1-12, wherein the at least one height constraint (5, 6) is associated with at least one location in the underground environment (100) wherein the operation is at least partly to be performed.

14. The method according to any of claims 1-13, wherein the at least one height constraint (5, 6) is associated with a maximum allowed height for operating the boom (2) and / or the bucket (3) in the underground environment (100).

15. A control unit 70 configured handling a loader vehicle (1) comprising a boom (2) and a bucket (3) in an underground environment (100), the underground environment (100) comprising at least one height constraint (5, 6), the control unit 70 further being configured to trigger the loader vehicle (1) to perform an operation, by triggering the boom (2) and / or the bucket (3) to operate within one or more tolerance zones (21 , 22, 23), wherein the one or more tolerance zones define respective zones in the underground environment (100) based on the at least one height constraint (5, 6).

16. The control unit (70) according to claim 15, wherein the control unit (70) is further configured to perform any one out of claims 2-14.

17. A computer program (780) comprising instructions, which when executed by a processor (760), causes the processor to perform actions according to any of the claims 1-14.

18. A carrier (790) comprising the computer program (780) of claim 17, wherein the carrier (790) is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer- readable storage medium.

19. A loader vehicle (1) comprising a boom (2) and a bucket (3) arranged to operate in an underground environment (100) comprising at least one height constraint (5, 6), wherein the loader vehicle (1) further comprises a control unit (70) according to claim 15.

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