Method for establishing a safe volume around a machine

Abstract

Disclosed is a method, machine (10) and computer program (103) for establishing a safe volume (V) around the machine (10). The machine (10) comprises a body (11) and an arm (12) having a first end (12a) pivotally arranged at the body (11) and a second end (12b), arranged for carrying a tool. The method comprising: - determining the body (11) of the machine (10) as a first volume (V1), - receiving position information of the arm (12) during a movement maneuver outside the first volume (V1), the position information comprising information on a plurality of positions (P1, P2, …Pn) for the arm (12); - determining a safe volume (V) for the arm (12) based on at least one of the plurality of positions (P1, P2, …Pn) during the movement maneuver and based on the first volume (V1), and - allowing the arm (12) to move autonomously within the safe volume (V).

Description

METHOD FOR ESTABLISHING A SAFE VOLUME AROUND A MACHINETechnical field

[0001] The present disclosure relates generally to method for establishing a safe working volume around a machine, preferably around a machine for underground use in mining industry.Background

[0002] Working sites for working machines underground, for example within mining industry, typically are rough environments with uneven surfaces of ground, walls, ceiling etc. This of course due to that mining activities like detonations, drilling etc. leads to uneven and irregular surfaces in mine shafts, corridors and mine rooms. Machines for work underground typically comprises some kind of mobile platform (chassis / machine body) on which different kinds of tools may be arranged. It is common that these tools are positioned on different kinds of arms to facilitate access to area in which the tool is intended to be used. It is further common that the arms have several different working positions, for example a first where drilling takes place, but also a second where a new tool or a new drill is retrieved from the platform. The movement between the positions of the arm usually is automated, which means that the working machine itself can perform things such as changing drills or fetching a tool, plugs etc. from a magazine, and then returning to the working position. When the machine performs these automatic movements, it is advantageous if the arm or the tool does not strike surrounding walls. To ensure that the machine performs the automated movements without hitting surrounding walls, for example in known art, the surrounding volume is scanned with a radar, lidar, or the like. However, this requires additional equipment and adaptations of the working machine as well as the system, which means extra cost for expensive surveillance equipment and scanning systems as well as a risk that the added equipment might be damaged in the rough environment. Such solutions may be found in for example W02004 / 086084 A1 and WO2011 / 141629 A1 .

[0003] Thus, there is a need for a simple and robust alternative for providing automatic motions of an arm attach to a working machine.Summary

[0004] It is an object of the disclosure to address at least some of the problems and issues outlined above. An object of aspects of the present disclosure is to provide a method for establishing a safe volume around a machine when positioned at a working site, within which safe volume an arm can move autonomously and safe without hitting surfaces of the mine or hitting the working machine. The method solves the problem without need of any extra equipment.

[0005] According to one aspect, a method for establishing a safe volume around a machine when positioned at a working site, is disclosed. The machine comprises a body and an arm having a first end and an opposite second end. The first end of the arm is pivotally arranged at the body of the machine and the second end is a free end which is arranged for carrying a tool, of any kind. The method comprises:- determining the body of the machine as a first volume,- receiving position information of the arm during a movement maneuver of the arm outside the first volume in a determined number of directions relative the first volume, the position information comprising information on a plurality of positions for the arm,- determining a safe volume for the arm based on at least one of the plurality of positions during the movement maneuver and based on the first volume, and- allowing the arm to move autonomously within the safe volume.

[0006] By such a method, no extra equipment is needed. Instead, one records the motion of the arm when moving the arm at the mine site, for example during manual motions (or automatic) for example when drilling holes for securing bolts or the like. Typically, the machine or vehicle has been driven / moved to the site, manual or autonomously in known manner. Thus, the actual machine “volume” (the first volume according to the method) is per se, a volume which is not interfered by any other object, like rock surfaces, and thus “safe” in that manner. But the arm, which is pivotally attached to the machine, may normally not beallowed to interfere with the machine, wherein the first volume (the machine volume) should not be a part of the safe volume. Of course, the arm may move with or without a tool, in a close vicinity of the machine, for example to collect tools or refill parts (like an extra set of bolts), but of course may not be allowed to collide with the machine. At the working site, typically some manual or automatic motions are performed, for example moving a drill tool to the rock surface and start drilling. By the method, the arm motion when moving it or the tool close to the rock surface is logged, and by that, this motion is safe to be used again. By using position information of the arm during movement maneuvers of the arm outside the first volume in a determined number of directions relative the first volume, a safe volume is built up. The position information comprising information on a plurality of positions for the arm and by also having information of the volume of the machine, a safe volume may be established by “connecting” the volume of the machine (the first volume) and the safe positions received by moving the arm around the machine. The positions may either be positions of just the outermost second free end of the arm or several positions along the arm and its arm parts, since the arm may have one or several linked arm parts which positions all may be logged / recorded as safe postures of the arm and its motion. After the one or several safe volumes are established, the arm may move automatically within the safe volume, and this with no added extra equipment like radar, lidar or the like, which known art use to provide automatic motions around the machine. The method may be performed by a control unit of the machine.

[0007] According to a disclosure, the determining of the safe volume comprises that the safe volume is limited by the first volume and one or more of the plurality of positions of the arm during the movement maneuver, which one or more positions are determined to be positioned farthest away from the first volume of the plurality of positions. By that, the safe volume may directly be established and simplified by using only the most distant position / positions from the machine (first volume) as the marker for an allowed volume from the first volume of the machine up to the one or more positions farthest away from the first volume.

[0008] According to a disclosure, the determining of the safe volume comprises that the safe volume is determined as a six-sided box volume, which extends from the first volume in a first direction. This means that the box-volume is arranged at one side of the machine, for example the left side, the right side, in front of, behind or above the machine. Of course, several six-sided box volumes may be arranged in different directions relative the machine (the first volume). The six-sided box volume comprises a first plane, which is arranged at an outermost point of the first volume in the first direction, for example as a vertical plane at the side of the machine, at a position of a protruding part of the machine / the first volume, or a horizontal plane above the machine etc. The six-sided box volume extends from the first plane to a second plane, which is a projection plane of the first plane, arranged parallel with the first plane in the first direction, for example a second vertical plane as a horizontal projection of a first vertical plane but more distant from the machine / first volume compared to the first plane. The second plane is determined to be positioned based on at least one position of the received position information of the arm during the movement maneuver, which at least one position is determined to be positioned farthest away from the first volume in the first direction relative the first volume of the plurality of positions. This is a simplification of the safe volume which could be good enough to extrapolate the safe volume out from the machine body (the first volume), for example at the sides of the machine / mining vehicle.

[0009] According to a disclosure, the determining of the safe volume comprises that the safe volume is determined as a tent-like volume, which extends from the first volume in the first direction, to a projection line which is positioned based on two positions of the received plurality of positions of the arm during the movement maneuver, which two positions are determined to be positioned farthest away from the first volume in the first direction relative the first volume of the plurality of positions. The two positions constitute the “roof-top” of the tent and the safe volume extends from the borders of the first volume up to the projection line (rooftop) and the arm is allowed to move in the tent-like volume autonomously.

[0010] According to a disclosure, the determining of the safe volume comprises that the safe volume is determined as a pyramid-like volume, which extends from the first volume in the first direction, to an outermost position of the received plurality of positions of the arm during the movement maneuver. This outermost position is determined to be positioned farthest away from the first volume in the first direction relative the first volume of the plurality of positions and the safe volume is a “pyramid-looking” safe volume, in which volume the arm may be allowed to move autonomously.

[0011] According to a disclosure, the method further comprises:- repeating the step of determining a safe volume in a determined number of directions relative the first volume until a determined number of safe volumes are determined around the machine. By such a method, large volume around the machine is covered by safe volumes in which the arm can move autonomously. The different safe volumes may further be coupled with each other to form one large or number of safe volumes in which the arm may be allowed to move or further that the arm may move between the safe volumes autonomously for example if the distance between adjacent volumes are within a certain and allowed range, where the method can allow motions also between adjacent volumes.

[0012] According to a disclosure, the method is computer-implemented.

[0013] According to one aspect, a machine for mining operation is disclosed. The machine comprises a body and an arm having a first end and an opposite second end, wherein the first end of the arm is pivotally arranged at the body and the second end is a free end which is arranged for carrying a tool. The machine further comprises a processing circuitry and a memory, wherein said memory containing instructions executable by said processing circuitry, whereby the machine is operative for:- determining the body of the machine as a first volume,- receiving position information of the arm during a movement maneuver of the arm outside the first volume, in a determined number of directions relative the first volume, the position information comprising information on a plurality of positionsfor the arm,- determining a safe volume for the arm based on at least one of the plurality of positions during the movement maneuver and based on the first volume, and- allowing the arm to move autonomously within the safe volume.Such a machine, with computer-implementational means for execute the inventive method, i.e. the processing circuitry and memory, wherein said memory containing instructions executable by said processing circuitry, do not need any extra sensor means or detecting means such as radar, lidar, obstacle sensors or the like, wherein a simple and cost-efficient machine, which provides autonomous motion of one or several arms, is achieved. The part of the machine that has the processing circuitry and the memory may be a control unit of the machine.

[0014] According to a disclosure, the machine is further operative for the determining of the safe volume by limiting the safe volume by the first volume and one or more of the plurality of positions of the arm during the movement maneuver, which one or more positions are determined to be positioned farthest away from the first volume of the plurality of positions.

[0015] According to a disclosure, the machine is further operative for the determining of the safe volume by determining the safe volume as a six-sided box volume, which extends from the first volume in a first direction. The six-sided box volume comprises a first plane arranged at an outermost point of the first volume in the first direction, and the six-sided box volume extends from the first plane to a second plane, which is a projection plane of the first plane, arranged parallel with the first plane in the first direction. The second plane is determined to be positioned based on at least one position of the received position information of the arm during the movement maneuver, which at least one position is determined to be positioned farthest away from the first volume in the first direction relative the first volume of the plurality of positions.

[0016] According to a disclosure, the machine is further operative for the determining of the safe volume by determining the safe volume as a tent-like volume, which extends from the first volume in the first direction, to a projection line which is positioned based on two positions of the received plurality of positionsof the arm during the movement maneuver. The two positions are determined to be positioned farthest away from the first volume in the first direction relative the first volume of the plurality of positions.

[0017] According to a disclosure, the machine is further operative for the determining of the safe volume by determining the safe volume as a pyramid-like volume, which extends from the first volume in the first direction, to an outermost position of the received plurality of positions of the arm during the movement maneuver. The outermost position is determined to be positioned farthest away from the first volume in the first direction relative the first volume of the plurality of positions.

[0018] According to a disclosure, the machine is further operative for:- repeating the step of determining a safe volume in a determined number of directions relative the first volume until a determined number of safe volumes are determined around the machine.

[0019] According to one aspect, a computer program is disclosed. The computer program comprises instructions, which, when executed by at least one processing circuitry of a machine for mining operation, which machine comprises a body and an arm having a first end and an opposite second end, wherein the first end of the arm is pivotally arranged at the body and the second end is a free end which is arranged for carrying a tool, causes the machine to perform the following steps:- determining the body of the machine as a first volume,- receiving position information of the arm during a movement maneuver of the arm outside the first volume, in a determined number of directions relative the first volume, the position information comprising information on a plurality of positions for the arm,- determining a safe volume for the arm based on at least one of the plurality of positions during the movement maneuver and based on the first volume, and- allowing the arm to move autonomously within the safe volume.

[0020] Further possible features and benefits of this solution will become apparent from the detailed description below.Brief description of drawings

[0021] The invention is now described, by way of example, with reference to the accompanying drawings, in which:

[0022] Fig. 1 shows a perspective view of a mining machine 10 during work in a mine tunnel, where a safe volume is established based on arm motions of an arm of the mining machine. The safe volume is symbolized by a dash-dotted line.

[0023] Fig. 2 shows a top view of the mining machine of Fig. 1 with its safe volume established in front of the machine.

[0024] Fig. 3 shows a view from behind of the mining machine of Fig. 1 , where a safe volume is simplified to a box-like volume, which is visualized by dash-dotted lines at one side of the machine.

[0025] Fig. 4 shows a view from behind of the mining machine of Fig. 1 , where a safe volume is simplified to a pyramid-like or tent-like volume, which is visualized by dash-dotted lines above the machine.

[0026] Fig. 5 shows a perspective view of the mining machine of Fig. 1 , where a safe volume is simplified to a tent-like volume, which is visualized by dash-dotted lines above the machine.

[0027] Fig. 6 shows a schematic figure of the machine configured to be operative for performing any of the embodiments of the method for establishing a safe volume V around the machine, according to the disclosure.Detailed description

[0028] In the following, different examples of a how a safe volume are achieved around a mining machine / vehicle at a work site in a mine, according to the present disclosed method. The method disclosed herein may be realized in many different forms and should not be construed as being limited to the examples set forth herein. Like numbers in the drawings refer to like elements throughout.

[0029] Like explained in the background, it is common that mining machines has one or several arms which moves between several different working positions, for example a first position, where drilling takes place, but also a second where a new tool or a new drill is retrieved from a working machine / platform / vehicle. The movement between the positions of the arm usually is automated, which means that the working machine itself can perform things such as changing drills or fetching a tool, plugs etc. from a magazine, and then returning to the working position. When the machine performs these automatic movements, it is advantageous if the arm or the tool does not strike surrounding walls. To ensure that the machine performs the automated movements without hitting surrounding walls, for example in known art, the surrounding volume is scanned with a radar, lidar, or the like.

[0030] Figs. 1 shows a perspective view of a mining machine 10 / mining vehicle during work in a mine tunnel. The machine / the mining vehicle 10 comprises a body 11 and an arm 12, which arm 12 is pivotally attached with a first end 12a to the body 11 of the machine 10. The arm 12 further comprises a relative the first end 12a, opposite second end 12b, which is a free end, and which is arranged for carrying some kind of tool. In Fig. 1 this tool is simplified for illustrative purposes, and which in the figure is a drill hammer or the like. The machine 10 may comprise means for determining position information, such as sensors, or for communication with an external supervising system, such as a receiver for receiving the position information. According to the disclosed method, which is described above and, in the claims, the body 11 of the machine 10 is determined as a first volume Vi, which so to speak is a volume which is not to be allowed for the arm 12 to move within, since this would cause a collision between the arm 12 or the tool attached to the arm 12. Normally, in a mine tunnel, mine shaft or the like, the machine 10 or vehicle 10 is driven or transported to a drill “site” and by that, the first volume Vi might be considered a “safe volume” for the arm 12 to move within, in some cases, since the machine 10 has already “passed” a certain volume by being transported to the site. For example, the arm 12 might be possible to operate autonomous behind the machine 10 in Fig. 1 , since the volume of the machine 10, the first volume Vi, already has passed that section of the tunnel.

[0031] The disclosed method is directed to establish a safe volume V for allowing the arm 12 to move autonomously in the safe volume V, and outside the first volume Vi. This, without the need of extra sensors or equipment like radar, lidar or the like, by using the motion of the arm 12 and “recording” the motion during, normally manual working tasks, like drilling in a number of locations outside the machine 10, which then might be followed by autonomous work tasks within the safe volume V. These initial working tasks may of course be automatic, for some applications. During such initial working tasks, like for example drilling as well as securing of the interior surfaces of the tunnel / mine site, the arm 12 is moved between different positions Pi, P2, ... Pn, where some kind of initial operation is performed. The position information of the arm 12 during the movement maneuver of the arm 12 outside the first volume Vi in a determined number of directions relative the first volume Vi, is stored for example in a memory of a computer program, locally at the machine and / or in a system for handling machine operation of the mine. The position information comprising information on the plurality of positions Pi , P2, ... Pn for the arm 12. The plurality of positions Pi , P2, ... Pn, may include outermost positions of the arm or tool held by the arm, as well as information of the complete arm, like all arm parts and their positions and possible motions or posture during the movement maneuver of the arm 12. The determining of the safe volume V for the arm 12 is thus based on at least one of the plurality of positions Pi, P2, ... Pn during the movement maneuver and based on the first volume Vi of the machine body 11 . The determining of the safe volume V may further comprise that the safe volume V is limited by the first volume Vi and one or more of the plurality of positions Pi, P2, ... Pn of the arm 12, is / are determined to be positioned farthest away from the first volume Vi of the plurality of positions Pi, P2, ... Pn. One may also consider recording positions which are at a certain safety distance from surrounding walls of the mine site / tunnel to assure a safe motion, if applicable. In Fig. 1 the safe volume V is determined by motions of the arm 12 above and in front of the machine 10, which is visualized by dash- dotted lines from the machine body 11 to outermost positions of the arm 12, where some initial drill holes are drilled. According to the method the arm 12 is then allowed to move autonomously within the safe volume V and there is no risk ofhitting any mine surfaces of machine parts, when drilling the holes deeper or securing the mine by inserting securing means in the drill holes etc., operations which might need changing drill bits, loading new tools, changing magazines etc. These operations may be performed complete autonomous after the initial recording, according to the method. In this embodiment and the most embodiments below, the safe volume V connects to borders of the first volume Vi, which “faces” the safe volume V. It may for some applications be “good enough” to simplify the borders of the body 11 of the machine 10, to the chassis with a certain “clearance” distance to the safe volume, to cause a safety distance to the body 11 , such that smaller details like handles, hoses which are clamped to the body 11 etc. may be accommodated within this clearance distance.

[0032] Fig. 2 shows a top view of the mining machine 10 of Fig. 1 with its safe volume established in front of the machine 10. The arm 12 is as mentioned pivotally attached to the machine 10, and in the symbolic figure this position is at a front end of the machine 10, in the middle of the front. Other locations like at one side may of course also be at hand, and the machine 10 may comprise more than one arm 12. If the rock surface of the mine is very uneven it might be good to have a higher number of positions Pi, P2, ... Pnwhen performing the movement maneuver of the arm 12, to secure a safe volume V, but in some cases, depending on the working tasks to perform automatically, one position or posture of the arm 12 might be enough to record and save for the operation to establish a safe volume. As can be understood, the plurality of positions Pi, P2, ... Pn may be located in any direction X, Y, Z, n, in which the arm 12 is movable relative the machine body 11 . The mining machine 10 / the mining vehicle (or working platform etc.) may comprise holders, magazines etc. for drill bits, tools, and the like, wherein the arm 12 may move in such a way that it may change the equipment without collide with the body 11 of the machine 10. Thus, it is understood that the first volume Vi of the body 11 of the machine 10 may be quite complicated and include holders for tools etc. but it is understood that in some cases, where applicable, the first volume Vi may be simplified at a certain level, for example like a six-sided box volume or the like. But the motion of the arm 12 which is “recorded”, of course do not allow collisions with the body 11 of the machine 10.

[0033] Fig. 3 shows a view from behind of the mining machine 10 in a mine tunnel, where the safe volume V is simplified to a six-sided box-like volume V, which is visualized by dash-dotted lines at one side of the machine 10, in this case in the X-direction of the figure. It is understood that this simplification could be applicable above the machine 10, in the Z-direction of the figure, behind or in front of the machine as well, in the Y-direction of the mine tunnel (see Fig. 2). The determining of the safe volume V comprises that the safe volume V is determined as the six-sided box volume V extends from the first volume Vi (the body 11 of the machine 10, or a part of the body 11 of the machine 10) in the first direction X such that the six-sided box volume V comprises a first plane Vawhich is arranged at an outermost point Pvi of the first volume Vi in the first direction X. The outermost point may be the side of the body 11 or any projecting details in the direction of which the safe volume V is to be established, since no parts of the machine body 11 should interfere with the safe volume V. The six-sided box volume V extends in the first direction X, from the first plane Vato a second plane Vb, which is a projection plane of the first plane Va, arranged parallel with the first plane Vain the first direction X. The second plane Vb is determined to be positioned based on at least one position Pi of the received position information of the arm 12 during the movement maneuver. This at least one position Pi is determined to be positioned farthest away from the first volume Vi in the first direction X relative the first volume V1 , of course a position which normally is a position of the rock surface, which is closest to the body 11 of the machine 10, to ensure that the safe volume V doesn’t have any obstacles inside it. The arm 12 may then move autonomously within the safe six-sided box-like volume V.

[0034] Fig. 4 also shows a view from behind of the mining machine 10 in a mine tunnel, where the safe volume V is simplified to a pyramid-like or tent-like volume V, which is visualized by dash-dotted lines at one side of the machine 10, in this case in the Z-direction of the figure. It is understood that this simplification could be applicable at any side of the machine 10, behind or in front of the machine 10 as well. The determining of the safe volume V as a pyramid-like volume comprises that the safe volume V is determined as the pyramid-like volume V, which extends from the first volume Vi in a first direction Z, which in this case is upwards relativethe body 11 of the machine 10, to an outermost position Pout of the received plurality of positions Pi , P2, ... Pn of the arm 12 during the movement maneuver. The outermost position Pout is determined to be positioned farthest away from the first volume Vi in the first direction Z, relative the first volume Vi, of the plurality of positions Pi , P2, ... Pn. The arm 12 may then move autonomously within the safe pyramid-like volume V.

[0035] Fig. 5 shows a perspective view of the mining machine 10 in a mine tunnel, where the safe volume V is simplified to a to a tent-like volume V, which is visualized by dash-dotted lines above the machine 10, in this case in the Z- direction of the figure. It is understood that this simplification could be applicable at any side of the machine 10, behind or in front of the machine 10, etc. The determining of the safe volume V as a tent-like volume comprises that the safe volume V is determined as a tent-like volume V, which extends from the first volume Vi in the upwards direction, Z relative the body 11 , to a projection line p-p, which extends between two positions Pi, P2 of the received plurality of positions Pi, P2, ... Pn of the arm 12 during the movement maneuver. The two positions Pi, P2 are determined to be positioned farthest away from the first volume Vi in the upwards direction Z relative the first volume Vi, of the plurality of positions Pi, P2, ... Pn. As seen in the figure, the “tent” extends from the borders of the first volume Vi, which faces the projection line p-p and the two points Pi, P2 are positions farthest away where the arm 12 has been moved without hitting the rock surface of the mining tunnel / site. In the figure, yet another safe volume V could be established in front of the machine 10 since the arm 12 has put its free end 12b to a drilling position Pnwhich is the next operation of the machine 10 at the mining site. The next safe volume V, in front of the machine may be any of the types described above, depending on what is most appropriate for the next operation. The method may further connect a plurality of safe volumes V if possible, to achieve a large safe volume V around the machine 10, wherein the arm 12 may move autonomously around the machine in many directions X, Y, Z, n.

[0036] Fig. 6 shows the machine 10 for mining operation according to the disclosure, from a communication and processing view. The machine 10comprises processing circuitry 101. The machine 10 further comprises a memory 102. The memory 102 contains instructions executable by the processing circuitry 101 , whereby the machine 10 is operative for performing any of the embodiments of the method for establishing a safe volume V around the machine 10, which is described in this disclosure.

[0037] According to other embodiments, the machine 10 may further comprise a communication unit 104. The communication unit 104 may be considered to comprise conventional means for communication with means for determining position information, such as sensors, or for communication with an external supervising system, such as a receiver for receiving the position information. The instructions executable by the processing circuitry 101 may be arranged as a computer program 103 stored in said memory 102. The processing circuitry 101 may comprise one or more programmable processor, application-specific integrated circuits, field programmable gate arrays or combinations of these adapted to execute instructions.

[0038] The computer program 103 may be arranged such that when its instructions are run in the processing circuitry, they cause the machine 10 to perform the steps described in any of the described embodiments of the method for establishing a safe volume V around a machine 10 for mining operation at a mine site below ground. The computer program 103 may be carried by a computer program product connectable to the processing circuitry 101 . The computer program product may be the memory 102, or at least arranged in the memory. The memory 102 may be realized as for example a Random-access memory (RAM), Read-Only Memory (ROM) or an Electrical Erasable Programmable ROM (EEPROM). The processing circuitry 101 and the memory 102 and possibly also the communication unit 104 may be arranged in a control unit of the machine, for controlling actions of the machine.

[0039] Although the description above contains a plurality of specificities, these should not be construed as limiting the scope of the concept described herein but as merely providing illustrations of some exemplifying embodiments of the described concept. It will be appreciated that the scope of the presently describedconcept fully encompasses other embodiments which may become obvious to those skilled in the art, and that the scope of the presently described concept is accordingly not to be limited. Reference to an element in the singular is not intended to mean "one and only one" unless explicitly so stated, but rather "one or more." All structural and functional equivalents to the elements of the abovedescribed embodiments that are known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed hereby. Moreover, it is not necessary for an apparatus or method to address each and every problem sought to be solved by the presently described concept, for it to be encompassed hereby. In the figures, a broken line generally signifies that the feature within the broken line is optional.

Claims

CLAIMS1 . Method for establishing a safe volume (V) around a machine (10) when positioned at a working site, wherein the machine (10) comprises a body (11 ) and an arm (12) having a first end (12a) and an opposite second end (12b), wherein the first end (12a) of the arm (12) is pivotally arranged at the body (11) and the second end (12b) is a free end which is arranged for carrying a tool, the method comprising:- determining the body (11 ) of the machine (10) as a first volume (Vi),- receiving position information of the arm (12) during a movement maneuver of the arm (12) outside the first volume (Vi) in a determined number of directions relative the first volume (Vi), the position information comprising information on a plurality of positions (Pi, P2, ... Pn) for the arm (12);- determining a safe volume (V) for the arm (12) based on at least one of the plurality of positions (Pi, P2, ... Pn) during the movement maneuver and based on the first volume (Vi), and- allowing the arm (12) to move autonomously within the safe volume (V).

2. Method according to claim 1 , wherein the determining of the safe volume (V) comprises that the safe volume (V) is limited by the first volume (Vi) and one or more of the plurality of positions (Pi, P2, ... Pn) of the arm (12) during the movement maneuver, which one or more positions (Pi, P2, ... Pn) are determined to be positioned farthest away from the first volume (Vi) of the plurality of positions (Pi, P2, ... Pn).

3. Method according to claim 1 or 2, wherein the determining of the safe volume (V) comprises that the safe volume (V) is determined as a six-sided box volume (V), which extends from the first volume (Vi) in a first direction (X, Y, Z, n), wherein the six-sided box volume (V) comprises a first plane (Va) arranged at an outermost point (Pvi) of the first volume (Vi) in the first direction (X, Y, Z, n), wherein the six-sided box volume (V) extends from the first plane (Va) to a second plane (Vb), which is a projection plane of the first plane (Va), arranged parallel with the first plane (Va) in the first direction (X, Y, Z, n), and which second plane (Vb) is determined to be positioned based on at least one position of the received positioninformation of the arm (12) during the movement maneuver, which at least one position is determined to be positioned farthest away from the first volume (Vi) in the first direction (X, Y, Z, n) relative the first volume (Vi), of the plurality of positions (Pi, P2, ... Pn).

4. Method according to any of claims 1 - 2, wherein the determining of the safe volume (V) comprises that the safe volume (V) is determined as a tent-like volume (V), which extends from the first volume (Vi) in the first direction (X, Y, Z, n), to a projection line (p-p) which extends between two positions of the received plurality of positions (Pi, P2, ... Pn) of the arm (12) during the movement maneuver, which two positions are determined to be positioned farthest away from the first volume (Vi) in the first direction (X, Y, Z, n) relative the first volume (Vi), of the plurality of positions (Pi, P2, ... Pn).

5. Method according to any of claims 1 - 2, wherein the determining of the safe volume (V) comprises that the safe volume (V) is determined as a pyramidlike volume (V), which extends from the first volume (Vi) in the first direction (X, Y, Z, n), to an outermost position (Pout) of the received plurality of positions (Pi, P2, ... Pn) of the arm (12) during the movement maneuver, which outermost position (Pout) is determined to be positioned farthest away from the first volume in the first direction (X, Y, Z, n) relative the first volume (Vi) of the plurality of positions (Pi, P2, ... Pn).

6. Method according to any of the preceding claims, wherein the method further comprises:- repeating the step of determining a safe volume (V) in a determined number of directions (X, Y, Z, n) relative the first volume (Vi) until a determined number of safe volumes (V) are determined around the machine (10).

7. Method according to any of the preceding claims, wherein the method is computer-implemented.

8. A machine (10) for mining operation, which machine (10) comprises a body (11 ) and an arm (12) having a first end (12a) and an opposite second end (12b), wherein the first end (12a) of the arm (12) is pivotally arranged at the body (11 ) and the second end (12b) is a free end which is arranged for carrying a tool, wherein the machine (10) further comprises a processing circuitry (101) and a memory (102), said memory (102) containing instructions executable by said processing circuitry (101 ), whereby the machine (10) is operative for:- determining the body (11 ) of the machine (10) as a first volume (Vi),- receiving position information of the arm (12) during a movement maneuver of the arm (12) outside the first volume (Vi), in a determined number of directions relative the first volume (Vi), the position information comprising information on a plurality of positions (Pi, P2, ... Pn) for the arm (12),- determining a safe volume (V) for the arm (12) based on at least one of the plurality of positions (Pi, P2, ... Pn) during the movement maneuver and based on the first volume (Vi), and- allowing the arm (12) to move autonomously within the safe volume (V).

9. Machine (10) according to claim 8, operative for the determining of the safe volume (V) by limiting the safe volume (V) by the first volume (Vi) and one or more of the plurality of positions (Pi, P2, ... Pn) of the arm (12) during the movement maneuver, which one or more positions (Pi, P2, ... Pn) are determined to be positioned farthest away from the first volume (Vi) of the plurality of positions (Pi, P2, ... Pn).

10. Machine (10) according to claim 8 or 9, operative for the determining of the safe volume (V) by determining the safe volume (V) as a six-sided box volume (V), which extends from the first volume (Vi) in a first direction (X), wherein the sixsided box volume (V) comprises a first plane (Va) arranged at an outermost point (Pvi) of the first volume (Vi) in the first direction (X), wherein the six-sided box volume (V) extends from the first plane (Va) to a second plane (Vb), which is a projection plane of the first plane (Va), arranged parallel with the first plane (Va) in the first direction (X), and which second plane (Vb) is determined to be positioned based on at least one position of the received position information of the arm (12)during the movement maneuver, which at least one position is determined to be positioned farthest away from the first volume (Vi) in the first direction (X) relative the first volume (Vi), of the plurality of positions (Pi, P2, ... Pn).11 . Machine (10) according to claim 8 or 9, operative for the determining of the safe volume (V) by determining the safe volume (V) as a tent-like volume (V), which extends from the first volume (Vi) in the first direction (X), to a projection line (p-p) which is positioned based on two positions of the received plurality of positions (Pi, P2, ... Pn) of the arm (12) during the movement maneuver, which two positions are determined to be positioned farthest away from the first volume (Vi) in the first direction (X) relative the first volume (Vi), of the plurality of positions (Pi, P2, ... Pn).

12. Machine (10) according to claim 8 or 9, operative for the determining of the safe volume (V) by determining the safe volume (V) as a pyramid-like volume (V), which extends from the first volume (Vi) in the first direction (X), to an outermost position (Pout) of the received plurality of positions (Pi, P2, ... Pn) of the arm (12) during the movement maneuver, which outermost position (Pout) is determined to be positioned farthest away from the first volume in the first direction (X) relative the first volume (Vi) of the plurality of positions (Pi, P2, ... Pn).

13. Machine (10) according to any of claims 8-12, further operative for:- repeating the step of determining a safe volume (V) in a determined number of directions (X, Y, Z) relative the first volume (Vi) until a determined number of safe volumes (V) are determined around the machine (10).

14. A computer program (103) comprising instructions, which, when executed by at least one processing circuitry (101 ) of a machine (10) for mining operation, which machine (10) comprises a body (11 ) and an arm (12) having a first end (12a) and an opposite second end (12b), wherein the first end (12a) of the arm (12) is pivotally arranged at the body (11 ) and the second end (12b) is a free end which is arranged for carrying a tool, causes the machine (10) to perform thefollowing steps:- determining the body (11 ) of the machine (10) as a first volume (V1 ),- receiving position information of the arm (12) during a movement maneuver of the arm (12) outside the first volume (Vi) in a determined number of directions (X, Y, Z) relative the first volume (Vi), the position information comprising information on a plurality of positions (Pi, P2, ... Pn) for the arm (12),- determining a safe volume (V) for the arm (12) based on at least one of the plurality of positions (Pi, P2, ... Pn) during the movement maneuver and based on the first volume (V1 ), and- allowing the arm (12) to move autonomously within the safe volume (V).

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