Method and control unit for operating a first machine in a mining environment

Abstract

A method for operating a first machine in a mining environment is provided. The method comprises obtaining (201) one or more positioning reports for a set of machines comprising the first machine and a second machine. Each positioning report is indicative of an estimated position of a respective machine out of the set of machines. The method comprises, based on the one or more positioning reports, estimating (206) a distance between the first machine and the second machine in the set of machines. The method comprises, based on the estimated distance, selecting (207) an operating mode out of a set of operating modes for the first machine. The set of operating modes relating to respective safety levels for operating the first machine in the mining environment.

Description

[0001] METHOD AND CONTROL UNIT FOR OPERATING A FIRST MACHINE IN A MINING

[0002] ENVIRONMENT

[0003] TECHNICAL FIELD

[0004] Embodiments herein relate to a method and a control unit for operating a first machine in a mining environment. Furthermore, a first machine, a computer program and a carrier are also provided herein.

[0005] BACKGROUND

[0006] In mining environments, knowing the position of an assets is an essential part of planning work and operations. With increasing usage of autonomous machines, a central systems are increasingly needed for controlling the machines. These central systems need to know where autonomous machines are located in order to plan their route operations, etc. Identifying and communicating a position can however be problematic in a mining environment. Not only can network infrastructure be lacking, but machines may be obstructing radio signals in tunnels. Therefore, positions of the autonomous machines may sometimes be difficult to determine. In these situations, operations in the mining operations need to stop to ensure there are no accidents, thereby reducing productivity.

[0007] Hence there is a strive to improve safety and productivity.

[0008] SUMMARY

[0009] An object of embodiments herein is to improve safety and productivity in a mining environment.

[0010] According to a first aspect, a method for operating a first machine in a mining environment is provided.

[0011] The method comprises obtaining one or more positioning reports for a set of machines comprising the first machine and a second machine. Each positioning report is indicative of an estimated position of a respective machine out of the set of machines. The method comprises, based on the one or more positioning reports, estimating a distance between the first machine and the second machine in the set of machines. The method comprises, based on the estimated distance, selecting an operating mode out of a set of operating modes for the first machine. The set of operating modes relate to respective safety levels for operating the first machine in the mining environment. In this way, it is possible to improve productivity in the mining environment by allowing the first machine to operate at different operating modes relating to different safety levels based on the estimated distance. When the distance is estimated to be short, a safer operating mode may be selected, and when the distance is estimated to be long, a more efficient operating mode, e.g., a high maximum speed, may be selected.

[0012] Further example embodiments as presented below may further improve productivity and / or in other ways improve the first aspect.

[0013] In some exemplary embodiments, the method comprises, based on the one or more positioning reports, detecting a positioning anomaly associated with the second machine. In these exemplary embodiments, the method further comprises, based on a previous position of the second machine, as reported from a previous positioning report, establishing an area comprising possible positions of the second machine. In these exemplary embodiments, the method further comprises, estimating the distance between the first machine and the second machine by estimating the distance between the first machine and the established area.

[0014] In this way, further improved productivity while maintaining safety is achieved. This is since it is possible to select more efficient operation modes for the first machine even when detecting the positioning anomaly. In particular, this is since the distance is estimated between the first machine and the established area. In other words, the operating mode of the first machine may be selected based on whether or not the first machine is at risk of operating close to the second machine, e.g., close or within the established area.

[0015] In some exemplary embodiments, detecting the positioning anomaly associated with the second machine comprises, based on the one or more positioning reports, determining that a position accuracy of a position of the second machine is below a threshold.

[0016] In this way, further improved productivity while maintaining safety is achieved. This is since it is possible to select more efficient operation modes for the first machine even when the position accuracy of the position of the second machine is below a threshold. In particular, this is since the distance is estimated between the first machine and the established area. In other words, the operating mode of the first machine may be selected based on whether or not the first machine is at risk of operating close to the second machine, e.g., close or within the established area. In some exemplary embodiments, detecting the positioning anomaly associated with the second machine comprises determining that an expected positioning report of the second machine is absent.

[0017] In this way, further improved productivity while maintaining safety is achieved. This is since it is possible to select more efficient operation modes for the first machine even when the expected positioning report of the second machine is absent. In particular, this is since the distance is estimated between the first machine and the established area. In other words, the operating mode of the first machine may be selected based on whether or not the first machine is at risk of operating close to the second machine, e.g., close or within the established area.

[0018] In some exemplary embodiments, wherein detecting the positioning anomaly associated with the second machine comprises determining that a time period since receiving a previous positioning report for the second machine exceeds a threshold.

[0019] In this way, further improved productivity while maintaining safety is achieved. This is since it is possible to assume a positioning anomaly when the time period is exceeded and instead estimate the distance is estimated between the first machine and the established area based on the previous positioning report. In other words, the operating mode of the first machine may be selected by establishing the area as a basis for estimating the distance, instead of waiting for an updated positioning report.

[0020] In some exemplary embodiments, the method further comprises obtaining a time period since obtaining the previous positioning report. In these exemplary embodiments, establishing the area is based on said time period. In this way, improved productivity while maintaining safety is achieved. This is since the area may be more accurately estimated as a function of time, based on where the second machine may have travelled during this time. In other words, the operating mode of the first machine may be selected based on a more accurate estimated distance.

[0021] In some exemplary embodiments, the method further comprises obtaining characteristics of the mining environment. In these exemplary embodiments, establishing the area is based on said characteristics of the mining environment.

[0022] In this way, further improved productivity while maintaining safety is achieved. This is since the area may be more accurately estimated as a function of the characteristics of the mining environment such as to consider in practice where the second machine could have travelled since the previous positioning report by considering the geometry of the mining environment. In other words, the operating mode of the first machine may be selected based on a more accurate model of where the second machine may be present. In some exemplary embodiments, estimating the distance between the first machine and the second machine comprises estimating a distance of a drivable path between the first machine and the second machine based on the obtained characteristics of the mining environment.

[0023] In this way, further improved productivity while maintaining safety is achieved. This is since the distance may be more accurately estimated as a distance of a drivable path, typically the shortest drivable path, between the first and / or second machine. In other words, the operating mode of the first machine may be selected based on a more accurate estimated distance.

[0024] In some exemplary embodiments, the characteristics is indicative of any one or more out of:

[0025] - a spatial arrangement of one or more sections of the mining environment,

[0026] - one or more drivable surfaces of the one or more sections of the mining environment,

[0027] - any one or more out of width, length, and / or height of one or more passageways in the mining environment,

[0028] - positions of barriers and their corresponding status in the mining environment, and

[0029] - positions of obstacles in the mining environment.

[0030] In some exemplary embodiments said barriers may be physical barriers and / or barriers as part of a safety system for limiting movement, e.g., represented as a virtual barrier hindering unauthorized vehicles to traverse a position and / or area of said virtual barrier.

[0031] In this way, further improved productivity while maintaining safety is achieved. This is since the distance may be more accurately estimated and / or the area of the second vehicle may be more accurately estimated. In other words, the operating mode of the first machine may be selected based on a more accurate estimated distance.

[0032] In some exemplary embodiments, estimating the distance of the drivable path between the first machine and the second machine based on the characteristics of the mining environment further comprises establishing the drivable path based on dimensions of the first machine and / or the second machine and the characteristics of the mining environment.

[0033] In this way, further improved productivity while maintaining safety is achieved. This is since the distance may be more accurately estimated by considering the dimensions of the first machine and / or the second machine such that the drivable path is enabled to be estimated as a path considering where the first machine and / or the second machine may travel, e.g., such that the fit through tunnels. In other words, the operating mode of the first machine may be selected based on a more accurate estimated distance.

[0034] In some exemplary embodiments, selecting the operation mode is further based on a type of the second machine.

[0035] In this way, further improved productivity while maintaining safety is achieved. This is since different machines may require different safety precautions based on the estimated distance.

[0036] In some exemplary embodiments, the operation modes of the set of operating modes comprises operational parameters relating to any one or more out of:

[0037] - a maximum allowed speed of the first machine,

[0038] - perform a controlled stop of the first machine,

[0039] - activated sensors of the first machine, and

[0040] - allowed operations of the first machine.

[0041] In this way, further improved productivity while maintaining safety is achieved. This is since the operational parameters may flexibly be set as part of selecting the operating mode based on the estimated distance.

[0042] According to a second aspect, a control unit configured to operate a first machine in a mining environment is provided. The control unit is further configured to obtain one or more positioning reports for a set of machines comprising the first machine and a second machine. Each positioning report is indicative of an estimated position of a respective machine out of the set of machines. The control unit is further configured to, based on the one or more positioning reports, estimate a distance between the first machine and the second machine in the set of machines. The control unit is further configured to, based on the estimated distance, select an operating mode out of a set of operating modes for the first machine, the set of operating modes relating to respective safety levels.

[0043] Advantages and effects of the control unit are analogous to the advantages and effects of the method of the first aspect. Further, all embodiments of the control unit are applicable to and combinable with all embodiments of the method of the first aspect, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0044] According to a third aspect, a first machine is provided. The first machine is configured to operate in a mining environment. The first machine comprises the control unit according to the second aspect. As an alternative, the first machine is configured to perform actions according to the first aspect.

[0045] Advantages and effects of the first machine are analogous to the advantages and effects of the method of the first aspect and / or of the control unit of the second aspect. Further, all embodiments of the computer program are applicable to and combinable with all embodiments of the method of the first aspect and / or of the control unit of the second aspect, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0046] According to a fourth aspect, a computer program comprising instructions, which when executed by a processor, causes the processor to perform actions according to the first aspect and / or of the control unit of the second aspect.

[0047] Advantages and effects of the computer program are analogous to the advantages and effects of the method of the first aspect and / or of the control unit of the second aspect. Further, all embodiments of the computer program are applicable to and combinable with all embodiments of the method of the first aspect and / or of the control unit of the second aspect, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0048] According to a fifth aspect, a carrier comprising the computer program according to the fourth aspect, wherein 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.

[0049] Advantages and effects of the carrier are analogous to the advantages and effects of the method of the first aspect and / or the control unit of the second aspect. Further, all embodiments of the carrier are applicable to and combinable with all embodiments of the method of the first aspect and / or the control unit of the second aspect, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0050] Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0051] BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0053] Fig. 1 is a schematic block diagram illustrating a scenario according to exemplary embodiments herein.

[0054] Fig. 2 is a flowchart depicting a method according to an exemplary embodiments herein.

[0055] Fig. 3 is a schematic block diagram illustrating exemplary embodiments herein.

[0056] Fig. 4 is a schematic block diagram illustrating exemplary embodiments herein.

[0057] Fig. 5 is a schematic block diagram illustrating exemplary embodiments herein. Fig. 6 is a schematic block diagram illustrating exemplary embodiments of a control unit.

[0058] DETAILED DESCRIPTION

[0059] Fig. 1 is a schematic overview depicting an mining environment 100 of exemplary embodiments herein. The mining environment 100 may be any one or more out of a pit, a quarry, or a underground environment. The mining environment 100 may be any suitable environment for performing mining operations, e.g., for drilling, preparing to drill, prospecting, transporting materials, etc.

[0060] The mining environment 100 may comprise various passages and paths surrounded by rock foundation 8. Due to being underground and / or due to the rock foundation 8, special conditions for use of sensors and / or communications using wireless network connections are present. This is since radio waves may not easily travel through the rock foundation 8 in the mining environment 100, as these are typically very dense and unsuitable for radio propagation. Radio signals in the mining environment 100 may instead bounce in the mining environment 100 in a manner much different from normal environments for wireless communications, and hence, normal approaches for network communication or positioning thereof may not apply as signals may be easily distorted or lost. Furthermore, the mining environment 100 may be dark and / or dusty, making some sensors used for positioning more prone to error. The effects of errors relating to positioning in the mining environment 100 may however at least partly be resolved by embodiments herein.

[0061] The mining environment 100 comprises one or more machines as part of set of machines, such as a first machine 1 , a second machine 2, and optionally one or more third machines 3.

[0062] Each machine out of the set of machines, e.g., the first machine 1 and / or the second machine 2, may respectively be any suitable machine for performing tasks in the mining environment 100, such as a vehicle or a mining machine, e.g., any suitable machine suitable to perform operations in the mining environment 100.

[0063] For example, each machine out of the set of machines, e.g., the first machine 1 and / or the second machine 2, may respectively be any type of fixed or mobile machine.

[0064] Additionally or alternatively, each machine out of the set of machines, e.g., the first machine 1 and / or the second machine 2, may respectively be any type of light vehicle, heavy vehicle, or unmanned aerial vehicle. As an example, each machine out of the set of machines, e.g., the first machine 1 and / or the second machine 2, may respectively be any one out of: a transporting vehicle, e.g., a truck, a Load-Haul-Dump (LHD) vehicle, a mine truck, a drill rig, a light vehicle, and an unmanned aerial vehicle.

[0065] Each machine out of the set of machines 1 , 2, 3, e.g., the first machine 1 and / or the second machine 2, may respectively be autonomous or at least partly autonomous.

[0066] Each machine out of the set of machines 1 , 2, 3, e.g., the first machine 1 and / or the second machine 2, may respectively be remote controlled.

[0067] Each machine out of the set of machines 1 , 2, 3, e.g., the first machine 1 and / or the second machine 2, respectively may or may not have an operator present within the machine.

[0068] Each machine out of the set of machines 1 , 2, 3, e.g., the first machine 1 and / or the second machine 2, may respectively comprise any suitable sensors and / or communication devices for positioning the respective vehicle.

[0069] Each machine out of the set of machines, e.g., the first machine 1 and / or the second machine 2, may respectively be perform any suitable positioning method, e.g., using any one or more out of: radio based positioning, e.g., triangulation / trilateration using radio access points, dead reckoning,

[0070] Light detection and ranging (Lidar) based positioning, camera based positioning, e.g., using one or more two-dimensional (2d) cameras and / or using one or more two-dimensional (3d) cameras, and / or using one or more infrared (IR) cameras, and

[0071] Radar detection and ranging (Radar) based positioning.

[0072] Each suitable positioning method used herein may comprise establishing a position of the respective machine using one or more maps of the mining environment 100, e.g., by comparing sensor inputs measured by or measured in relation to the respective machine, e.g., the first machine 1 and / or the second machine 2, with defined features or entities of a respective map.

[0073] Each machine out of the set of machines, e.g., the first machine 1 and / or the second machine 2, may respectively report its position, e.g., by using a wireless communications network in the mining environment 100, to any suitable device or entity in need of the position of the respective machine, e.g., by unicast, broadcast, or multicast. Positions of each respective machine may be reported by the respective machine transmitting one or more positioning reports, e.g., periodically and / or based on triggering events.

[0074] Each machine out of the set of machines, e.g., the first machine 1 and / or the second machine 2, may respectively report its position, e.g., by using a wireless communications network in the mining environment 100, to any suitable device or entity in need of the position of the respective machine, e.g., by unicast, broadcast, or multicast. Positions of each respective machine may be reported by the respective machine transmitting one or more positioning reports, e.g., periodically and / or based on triggering events.

[0075] The first machine 1 may be stationary or may be a moving machine, e.g., a vehicle.

[0076] Based on positioning reports, e.g., from the first machine 1 and / or the second machine 2, a distance d between the first machine 1 and the second machine 2 may be estimated.

[0077] Embodiments herein may relate to selecting an operating mode out of a set of operating modes for the first machine, the set of operating modes relate to respective safety levels for operating the first machine 1 in the mining environment. The operating mode may be selected based on the distance d.

[0078] The set of operating modes may comprise a first, e.g., relaxed, operating mode e.g., with a maximum allowed speed set to a first speed above a threshold, and / or a second, e.g., strict, operating mode, e.g., with a maximum allowed speed set to a second speed less than the first speed.

[0079] The set of operating modes may comprise any one or more modes with respective operational parameters relating to any one or more out of:

[0080] - a maximum allowed speed of the first machine 1, e.g., based on the distance d between the first machine 1 and the second machine 2,

[0081] - various level of safety features and operational parameters, e.g. higher or lower speed, activation of sensor systems, or limitation of operational features.

[0082] - activated sensors of the first machine 1, e.g., for detecting the second machine 2 if the distance d is below a threshold, and

[0083] - allowed operations of the first machine 1, e.g., where some operations may be allowed only when distance d is above a threshold. 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 position. For example, the control unit 70 may be located in the mining environment 100, e.g., in the first machine 1 or as part of the infrastructure, or at a remote location, e.g. above ground. The control unit 70 may be part of a server but may also be part of the first machine 1. The control unit 70 may be capable of obtaining, e.g., receiving, one or more positioning reports from the second machine 2 and the first machine 1. The control unit 70 may be capable of communicating with, and / or controlling any suitable entity of the mining environment 100.

[0084] Additionally or alternatively, embodiments herein may be performed by the first machine 1.

[0085] A number of exemplary embodiments will now be described, which exemplary embodiments may be performed in any suitable combination.

[0086] Fig. 2 illustrates an exemplary embodiment of a method for operating the first machine 1 in the mining environment 100. The method comprises one or more out of the following actions, which actions may be taken in any suitable order. While the method primarily relates to the first machine 1 and the second machine 2, the method may be applied for any one or more machines out of the set of machines 1, 2, 3.

[0087] Action 201. The method comprises obtaining one or more positioning reports for a set of machines 1 , 2, 3 comprising the first machine 1 and the second machine 2. These one or more positioning reports may be for positioning the respective machines. The set of machines may further optionally comprise the one or more third machines 3. Each positioning report is indicative of an estimated position of a respective machine out of the set of machines 1 , 2, 3, e.g., of the first machine 1 and / or the second machine 2.

[0088] The one or more positioning reports may be transmitted / received via a wireless communications network in the mining environment 100, e.g., over broadcast, multicast, unicast, or any in any other suitable manner. The one or more positioning reports may be transmitted to be received by the control unit 70, e.g., by each respective vehicle in the set of machines 1 , 2, 3, e.g., the first machine 1 and / or the second machine 2.

[0089] The one or more positioning reports of each respective machine out of the set of machines 1, 2, 3, e.g., the first machine 1 and / or the second machine 2, may be obtained by each respective machine producing the respective one or more positioning reports using any suitable positioning method. For example, the one or more positioning reports may be produced by using any one or more out of: using radio based positioning, using sensors of the respective machine for measuring its surroundings relative to a map, using dead reckoning, and / or using any other suitable positioning mechanism for a machine in the mining environment 100.

[0090] The one or more positioning reports of each respective machine out of the set of machines 1, 2, 3, e.g., the first machine 1 and / or the second machine 2, may indicate a position of the respective machine, e.g., with respect to a certain time period, e.g., by being sent periodically and / or by comprising a time stamp.

[0091] Each respective positioning report may indicate an accuracy of the respective reported position of the respective machine.

[0092] Each respective machine out of the set of machines 1 , 2, 3, e.g., the first machine 1 and / or the second machine 2, may be configured to transmit a respective positioning report, e.g., to the control unit 70, periodically. When a timer or time period of a respective positioning report expires, the respective positioning report may be regarded as lost and a previous positioning report may be used for positioning a respective machine with a previously reported position.

[0093] Action 202. In some exemplary embodiments, the method comprises detecting a positioning anomaly associated with the second machine 2, based on the one or more positioning reports.

[0094] In some exemplary embodiments, detecting the positioning anomaly associated with the second machine 2 comprises, based on the one or more positioning reports, determining that a position accuracy of a position of the second machine 2 is below a threshold. For example, the positioning anomaly may comprise that a reported position of a respective position report has too low accuracy to use for positioning the second machine 2.

[0095] In some exemplary embodiments, detecting the positioning anomaly associated with the second machine 2 comprises determining that an expected positioning report of the second machine 2 is absent. In other words, the positions of the second machine 2, may be transmitted such that the control unit 70, does not have a too old version, i.e. , such that the position of the second machine 2 is valid. If the positioning report is absent, there may be no current valid position of the second machine 2 which means that it cannot be known where the machine is located in the mining environment 100, at least not with an accuracy above a threshold.

[0096] In some exemplary embodiments, detecting the positioning anomaly associated with the second machine 2 comprises determining that a time period since receiving a previous positioning report for the second machine 2 exceeds a threshold. In other words, when the time period has exceeded the threshold, i.e., elapsed, there is no current valid position for the second machine.

[0097] The time period may be based on a periodicity for when the second machine 2 is configured to transmit positioning reports.

[0098] The time period may be a timer which started when a previous position report was detected.

[0099] Action 203. In some exemplary embodiments, the method comprises, obtaining a time period since obtaining the previous positioning report.

[0100] The time period may be the time period as used in Action 202.

[0101] The time period may be measured, and / or may be a timer initiated when obtaining the previous positioning report.

[0102] Action 204. In some exemplary embodiments, the method comprises obtaining characteristics of the mining environment 100.

[0103] The characteristics of the mining environment 100 may describe how the mining environment looks like, its geometries, paths, etc. In other words, characteristics of the mining environment 100 may be used to derive how respective machines out of the set of machines 1, 2, 3, may be able to travel in the mining environment 100.

[0104] In some exemplary embodiments, the characteristics is indicative of any one or more out of:

[0105] - a spatial arrangement of one or more sections of the mining environment 100,

[0106] - one or more drivable surfaces of the one or more sections of the mining environment 100,

[0107] - any one or more out of width, length, and / or height of one or more passageways in the mining environment 100,

[0108] - positions of barriers and their corresponding status in the mining environment 100, and

[0109] - positions of obstacles in the mining environment 100.

[0110] The characteristics may be represented in any suitable manner, e.g., as part of one or more maps of the mining environment 100.

[0111] Action 205. In some exemplary embodiments, the method comprises, based on a previous position of the second machine 2, as reported from a previous positioning report, establishing an area comprising possible positions of the second machine 2.

[0112] In other words, using the previous positioning report, e.g., indicative of a previous position of the second machine 2, it may be possible to establish the area of possible positions of the second machine 2, e.g., by estimating how far, and where, the second machine could have travelled since obtaining the previous positioning report.

[0113] The previous positioning report may have been received as transmitted from the second machine 2, at an earlier time period, e.g., as obtained in actions 203.

[0114] In some exemplary embodiments, establishing the area is based on said time period.

[0115] In other words, during the time period, a size of the area may indicate the furthest the second machine 2 could have travelled since the time period. For example, the established area may be a circle with a radius based on the time period and a centre position in the previous position. The size of the established area may further be based on a maximum allowed speed of the second machines 2 and / or of the previous position of the second machine 2.

[0116] In some exemplary embodiments establishing the area is based on said characteristics of the mining environment 100.

[0117] For example, the area may be limited to where the second machine 2 is able to travel during the time period. This means that establishing the area may account for that the second machine 2 may be too large or too heavy to not travel through some areas, e.g., the second machine 2 may be too wide to travel through a tunnel. Furthermore establishing the area may account for barriers and / or obstacles restricting access to certain areas.

[0118] Action 206. The method comprises, based on the one or more positioning reports, estimating a distance between the first machine 1 and the second machine 2 in the set of machines 1 , 2, 3.

[0119] The distance between the first machine 1 and the second machine 2 may be the estimated shortest distance.

[0120] In other words, the distance may be estimated based on the one or more positioning reports, and wherein there has been a positioning anomaly for the second machine 2 meaning that there is at least some uncertainty to the position of the second machine 2.

[0121] In some exemplary embodiments, estimating the distance between the first machine 1 and the second machine 2 comprises estimating the distance between the first machine 1 and the established area.

[0122] The distance between the first machine 1 and the established area may be the estimated shortest distance.

[0123] In other words, the established area may represent the area where the second machine 2 may have travelled, given a worst case scenario. The distance between the first machine 1 and the second machine 2 is in other words the closest distance that the first machine 1 and the second machine 2 can have.

[0124] In some exemplary embodiments, estimating the distance between the first machine 1 and the second machine 2 comprises estimating a distance of a drivable path between the first machine 1 and the second machine 2 based on the obtained characteristics of the mining environment 100. In other words, the distance between the first machine 1 and the second machine 2 may be a shortest distance which can be travelled by the second machine 2, when using roads, drivable surfaces and / or paths of the mining environment 100.

[0125] In some exemplary embodiments, estimating the distance of the drivable path between the first machine 1 and the second machine 2 based on the characteristics of the mining environment 100 comprises establishing the drivable path based on dimensions of the first machine 1 and / or the second machine 2 and the characteristics of the mining environment 100.

[0126] In other words, the distance between the first machine 1 and the second machine 2 may be a shortest distance which can be travelled by the second machine 2 when also considering limitations of where the second machine 2 actually can travel due to its size and / or due to restrictions / limitations with respect to barriers and / or obstacles in the mining environment 100.

[0127] Action 207. The method comprises, based on the estimated distance, selecting an operating mode out of a set of operating modes for the first machine 1. The set of operating modes relating to respective safety levels for operating the first machine 1 in the mining environment 100.

[0128] In other words, when travelling at different distances from the second machine 2, the first machine 1 may need to use different modes, e.g., as part of the set of operating modes. The different safety levels for operating the first machine 1 in the mining environment 100 may relate to certain constraints for the first machine 1 when being at respective distances from the second machine 2.

[0129] The operation modes of the set of operating modes may comprise operational parameters relating to any one or more out of:

[0130] - a maximum allowed speed of the first machine 1,

[0131] - activated sensors of the first machine 1, e.g., whether or not to detect sensors used for detecting other machines and / or operators,

[0132] - perform a controlled stop of the first machine 1, and - allowed and / or restricted operations of the first machine 1, e.g., any one or more out of drilling, turning, loading, usage of one or more equipment of the first machine 1 , e.g., a bucket or boom, etc.

[0133] For example, when travelling at a first distance from the second machine 2, e.g., sufficiently far from the second machine 2 such that the first machine 1 cannot reach the second machine 2 during a first time period, e.g., a duration of a first task such as during travelling and / or operating in the mining environment 100, the first machine 1 may, as part of an operating mode out of the set of operating modes, be operating using a first mode, e.g., a highly efficient mode, e.g., only restricted by constraints of the mining environment 100.

[0134] For example, when travelling at a second distance from the second machine 2, e.g., such that the first machine 1 and the second machine 2 may coexist in a same area of the mining environment 100, i.e. , within a set predefined distance from the mining machine 2, the first machine 1 may, as part of an operating mode out of the set of operating modes, be restricted to lower its speed to below a first threshold and / or to activate one or more predefined safety features, e.g., as there may be a risk of meeting the second machine 2 during travelling and / or operating in the mining environment 100.

[0135] For example, when travelling at a third distance from the second machine 2, e.g., such that the second mining machine 2 is in a direct vicinity of the first machine 1 , i.e., within a set predefined distance from the mining machine 2, the first machine 1 may, as part of an operating mode out of the set of operating modes, be restricted to lower its speed to below a second threshold, the second threshold being lower than the first threshold, and / or to activate sensors for detecting the second machine 2, e.g., as there may be an increased risk of meeting the second machine 2 during travelling and / or operating in the mining environment 100.

[0136] Selecting the operation mode may further be based on a type of the second machine 2. In other words, the first machine 1 may have different operating modes depending on what machine the second machine 2 is. For example, if the second machine 2 is a fully autonomous machine without passengers, the first machine 1 may be configured with a mode allowing the first machine 1 to drive with a speed higher than if the second machine is a machine hosting an operator.

[0137] Fig. 3 illustrates an example scenario according to one or more example embodiments herein. In the mining environment 100, the first machine 1 and the second machine 2 operate, e.g., as part of the set of machines 1 , 2, 3. The one or more third machines 3 may optionally also operate in the mining environment 100. In this example scenario, the first machine 1 transmits a first positioning report 301 to the control unit 70 indicating its position, e.g., as part of the one or more positioning reports of action 201. In this example scenario, the second machine 2 transmits a second positioning report 302 to the control unit 70 indicating its position, however, the second positioning report 302 is not received by the control unit 70, e.g., as in action 201. This may be since the second positioning report 302 is transmitted over radio, and the thick rock foundation 8 and / or disturbances from other machines, e.g., out of the set of machines 1, 2, 3, may have caused the radio signal(s) of the second positioning report 302 to be distorted such that it could not be received by the control unit 70. Accordingly, a positioning anomaly is detected, e.g., as in action 202. This means that the position of the first machine 1 is indicated by the first positioning report 301, and may be estimated with high accuracy, e.g., above a threshold, but the position of the second machine 2 is not known, and may only be estimated using a previously obtained positioning report of the second machine 2 (not illustrated in Fig. 3). Therefore, the position of the second machine may be established as an established area 20 of possible positions the second machine 2 such by using the previous position of the previous positioning report and estimating how far the second machine could have travelled in a worst case scenario. The operating mode of the first machine 1, may then be selected based on a distance d from the first machine 1 to the area 20, i.e. , the shortest distance to the area 20.

[0138] Fig. 4 illustrates another example scenario of establishing the area 20. In the mining environment 100, the first machine 1 and the second machine 2 operate, e.g., as part of the set of machines 1, 2, 3. The one or more third machines 3 may optionally also operate in the mining environment 100. In this example scenario, the first machine 1 transmits a first positioning report 401 to the control unit 70 indicating its position, e.g., as part of the one or more positioning reports of action 201. In this example scenario, the second machine 2 transmits a second positioning report 402 to the control unit 70 indicating its position, however, the second positioning report 402 is not received by the control unit 70, e.g., as in action 201. This may be since the second positioning report 402 is transmitted over radio, and the thick rock foundation 8 and / or disturbances from other machines, e.g., out of the set of machines 1, 2, 3, may have caused the radio signal(s) of the second positioning report 302 to be distorted such that it could not be received by the control unit 70. Accordingly, a positioning anomaly is detected, e.g., as in action 202. This means that the position of the first machine 1 is indicated by the first positioning report 401, and may be estimated with high accuracy, e.g., above a threshold, but the position of the second machine 2 is not known, and may only be estimated using a previously obtained positioning report of the second machine 2 (not illustrated in Fig. 4). In this example scenario, characteristics of the mining environment 100 is obtained, e.g., as in action 204. This means that the area 20 is established based on the characteristics of the mining environment 100. This means that the area 20 may be established as an area 20 of where the second machine 2 actually can travel considering the geometry of the mining environment 100. Between the area 20 and the first machine 20, a drivable path 403 may be established, e.g., as in action 206. The drivable path 403 may be the shortest drivable path between the second machine to the first machine 1. The operating mode of the first machine 1, may then be selected based on a distance from the first machine 1 to the area 20, i.e., the distance of the drivable path 403.

[0139] Fig. 5 illustrates another example scenario of establishing the area 20. In the mining environment 100, the first machine 1 and the second machine 2 operate, e.g., as part of the set of machines 1, 2, 3. The one or more third machines 3 may optionally also operate in the mining environment 100. In this example scenario, the first machine 1 transmits a first positioning report 501 to the control unit 70 indicating its position, e.g., as part of the one or more positioning reports of action 201. In this example scenario, the second machine 2 transmits a second positioning report 502 to the control unit 70 indicating its position. However, in this example, the second positioning report 502 is not received by the control unit 70, e.g., as in action 201. This may be since the second positioning report 502 is transmitted over radio, and the thick rock foundation 8 and / or disturbances from other machines, e.g., out of the set of machines 1, 2, 3, may have caused the radio signal(s) of the second positioning report 502 to be distorted such that it could not be received by the control unit 70. Accordingly, a positioning anomaly is detected, e.g., as in action 202. This means that the position of the first machine 1 is indicated by the first positioning report 501, and may be estimated with high accuracy, e.g., above a threshold, but the position of the second machine 2 is not known, and may only be estimated using a previously obtained positioning report of the second machine 2 (not illustrated in Fig. 5). In this example scenario, characteristics of the mining environment 100 is obtained, e.g., as in action 204. This means that the area 20 is established based on the characteristics of the mining environment 100, including a first tunnel 510, a second tunnel 520, and one or more barriers 505. The one or more barriers 505 may respectively restrict access to the second machine 2 in the mining environment 100.

[0140] The second machine 2 may not be able to travel through the second tunnel 520, e.g., due to the size of the machine 2 such that the second machine 2 is wider than the width of the second tunnel 520. The second machine 2 may be able to travel through the first tunnel 510.

[0141] The first machine 1 may be able to travel through the first tunnel 510 and / or the second tunnel 520.

[0142] This means that the area 20 may be established as an area 20 of where the second machine 2 actually can travel considering the geometry of the mining environment 100, and that that the second machine 2 cannot travel passed the one or more barriers 505, cannot travel via the second tunnel 520, but can travel through the first tunnel 510.

[0143] In this example, since the previously obtained positioning report of the second machine 2, the second machine 2 may have travelled at least part of the first tunnel 510.

[0144] Between the area 20 and the first machine 20, two drivable paths may be candidate for the shortest drivable path between the area 20 and the first machine 20, a first drivable path 511 , and a second drivable path 521. The first drivable path 511 may be a path when the distance to the second machine 2 is estimated to be to the area and via the first tunnel 510. The second drivable path 521 may be a path when the distance to the second machine 2 is estimated to be to the area and via the second tunnel 520.

[0145] The first drivable path 511 or the second drivable path 512 may be the shortest drivable path between the second machine to the first machine 1, e.g., the distance of the two may be compared and the shortest path may be selected as the shorted drivable path. The operating mode of the first machine 1, may then be selected based on a distance from the first machine 1 to the area 20, i.e., the distance of the first drivable path 511 or the distance of the second drivable path 521.

[0146] The control unit 70 may comprise an arrangement depicted in Fig. 6.

[0147] To perform embodiments herein, e.g. the method according to actions 201-207 above, the control unit 70 is configured to operate the first machine 1 in the mining environment 10. The control unit 70 is further configured to obtain one or more positioning reports for the set of machines 1, 2, 3 comprising the first machine 1 and the second machine 2. Each positioning report is arranged to be indicative of an estimated position of a respective machine out of the set of machines 1, 2, 3. The control unit 70 is further configured to estimate a distance between the first machine 1 and the second machine 2 in the set of machines 1 , 2, 3, based on the one or more positioning reports.

[0148] The control unit 70 is further configured to, based on the estimated distance, select an operating mode out of a set of operating modes for the first machine 1. The set of operating modes are arranged to relate to respective safety levels for operating the first machine 1 in the mining environment 100. Further, all embodiments of the control unit 70 are applicable to and combinable with all exemplary embodiments of any one or more actions 201-207 above.

[0149] The control unit 70 may comprise an input and output interface 600 e.g. for communicating with the set of sensors 20 The input and output interface 600 may comprise a wireless or wired receiver not shown, a transceiver, one or more antennas, and / or a wired or wireless transmitter not shown. The input and output interface 600 may be arranged for receiving the one or more positioning reports, e.g., as transmitted from the first machine 1 and / or the second machine 2, respectively.

[0150] In some exemplary embodiments, the control unit 70 is configured to:

[0151] - based on the one or more positioning reports, detect a positioning anomaly associated with the second machine 2, and

[0152] - based on a previous position of the second machine 2, as reported from a previous positioning report, establish an area, e.g., the area 20, comprising possible positions of the second machine 2, and

[0153] - estimate the distance between the first machine 1 and the second machine 2 by estimating the distance between the first machine 1 and the established area, e.g., the area 20.

[0154] In some exemplary embodiments, the control unit 70 is configured to: detect the positioning anomaly associated with the second machine 2 by: based on the one or more positioning reports, determining that a position accuracy of a position of the second machine 2 is below a threshold.

[0155] In some exemplary embodiments, the control unit 70 is configured to: detect the positioning anomaly associated with the second machine 2 by determining that an expected positioning report of the second machine 2 is absent.

[0156] In some exemplary embodiments, the control unit 70 is configured to: detect the positioning anomaly associated with the second machine 2 by determining that a time period since receiving a previous positioning report for the second machine 2 exceeds a threshold.

[0157] In some exemplary embodiments, the control unit 70 is configured to: obtain a time period since obtaining the previous positioning report, and further configured to establish the area, e.g., the area 20, based on said time period.

[0158] In some exemplary embodiments, the control unit 70 is configured to: obtain characteristics of the mining environment 100, and further configured to establish the area, e.g., the area 20, based on said characteristics of the mining environment 100. In some exemplary embodiments, the control unit 70 is configured to: estimate the distance between the first machine 1 and the second machine 2 by estimating a distance of a drivable path between the first machine 1 and the second machine 2 based on the obtained characteristics of the mining environment 100.

[0159] In some exemplary embodiments, the characteristics are arranged to be indicative of any one or more out of:

[0160] - a spatial arrangement of one or more sections of the mining environment 100,

[0161] - one or more drivable surfaces of the one or more sections of the mining environment 100,

[0162] - any one or more out of width, length, and / or height of one or more passageways in the mining environment 100,

[0163] - positions of barriers and their corresponding status in the mining environment 100, and

[0164] - positions of obstacles in the mining environment 100.

[0165] In some exemplary embodiments, the control unit 70 is configured to: estimate the distance of the drivable path between the first machine 1 and the second machine 2 based on the characteristics of the mining environment 100 further by establishing the drivable path based on dimensions of the first machine 1 and / or the second machine 2 and the characteristics of the mining environment 100.

[0166] In some exemplary embodiments, the control unit 70 is configured to: select the operation mode based on a type of the second machine 2.

[0167] In some exemplary embodiments, the operation modes of the set of operating modes are adapted to comprise operational parameters relating to any one or more out of:

[0168] - a maximum allowed speed of the first machine 1,

[0169] - activated sensors of the first machine 1, and

[0170] - allowed operations of the first machine 1.

[0171] The embodiments herein may be implemented through one or more processors, such as a processor 610 of a processing circuitry in the control unit 70, depicted in Fig. 6, together with a computer program 630 comprising instructions, which when executed by a processor, causes the processor to perform the functions and actions of the embodiments herein.

[0172] In some embodiments, a respective carrier 640 comprises the respective computer program 630, wherein the carrier 640 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 630 may furthermore be provided as pure program code on a server and downloaded to the control unit 70.

[0173] The control unit 70 may further comprise a memory 620 comprising one or more memory units. The memory 620 comprises instructions executable by the processor in the control unit 70. The memory 620 is arranged to be used to store e.g. information, indications, data, configurations, position estimations, quality indicators, and applications to perform the embodiments herein when being executed in the control unit 70.

[0174] 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.

[0175] When using the word "comprise" or “comprising” it shall be interpreted as nonlimiting, i.e. meaning "consist at least of".

[0176] 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 embodiments herein are limited only by the following claims and their legal equivalents.

Claims

CLAIMS1. A method for operating a first machine (1) in a mining environment (100), the method comprising:- obtaining (201) one or more positioning reports for a set of machines (1 , 2, 3) comprising the first machine (1) and a second machine (2), wherein each positioning report is indicative of an estimated position of a respective machine out of the set of machines (1 , 2, 3), and- based on the one or more positioning reports, estimating (206) a distance between the first machine (1) and the second machine (2) in the set of machines (1 , 2, 3), and- based on the estimated distance, selecting (207) an operating mode out of a set of operating modes for the first machine (1), the set of operating modes relating to respective safety levels for operating the first machine (1) in the mining environment (100).

2. The method according to claim 1 , further comprising:- based on the one or more positioning reports, detecting (202) a positioning anomaly associated with the second machine (2), and- based on a previous position of the second machine (2), as reported from a previous positioning report, establishing (205) an area (20) comprising possible positions of the second machine (2), and- estimating (206) the distance between the first machine (1) and the second machine (2) by estimating the distance between the first machine (1) and the established area (20).

3. The method according to claim 2, wherein detecting (202) the positioning anomaly associated with the second machine (2) comprises, based on the one or more positioning reports, determining that a position accuracy of a position of the second machine (2) is below a threshold.

4. The method according to any of claims 2-3, wherein detecting (202) the positioning anomaly associated with the second machine (2) comprises determining that an expected positioning report of the second machine (2) is absent.

5. The method according to any of claims 2-4, wherein detecting (202) the positioning anomaly associated with the second machine (2) comprises determining that a time period since receiving a previous positioning report for the second machine (2) exceeds a threshold.

6. The method according to claim 2-5, further comprising obtaining (203) a time period since obtaining the previous positioning report, and wherein establishing (205) the area (20) is based on said time period.

7. The method according to any one of claims 2 -6, further comprising obtaining (204) characteristics of the mining environment (100), and wherein establishing (205) the area (20) is based on said characteristics of the mining environment (100).

8. The method according to claim 7, wherein estimating (206) the distance between the first machine (1) and the second machine (2) comprises estimating a distance of a drivable path between the first machine (1) and the second machine (2) based on the obtained characteristics of the mining environment (100).

9. The method according to any one of claims 7-8, wherein the characteristics is indicative of any one or more out of:- a spatial arrangement of one or more sections of the mining environment (100),- one or more drivable surfaces of the one or more sections of the mining environment (100),- any one or more out of width, length, and / or height of one or more passageways in the mining environment (100),- positions of barriers and their corresponding status in the mining environment (100), and- positions of obstacles in the mining environment (100).

10. The method according to any one of claims 8-9, wherein estimating (206) the distance of the drivable path between the first machine (1) and the second machine (2) based on the characteristics of the mining environment (100) further comprises establishing thedrivable path based on dimensions of the first machine (1) and / or the second machine (2) and the characteristics of the mining environment (100).

11. The method according to any one of claims 1-10, wherein selecting (207) the operation mode is further based on a type of the second machine (2).

12. The method according to any one of claims 1-11, wherein the operation modes of the set of operating modes comprises operational parameters relating to any one or more out of:- a maximum allowed speed of the first machine (1),- activated sensors of the first machine (1), and- allowed operations of the first machine (1).

13. A control unit (70) configured to operate a first machine (1) in a mining environment (100), the control unit (70) further being configured to:- obtain one or more positioning reports for a set of machines (1 , 2, 3) comprising the first machine (1) and a second machine (2), wherein each positioning report is arranged to be indicative of an estimated position of a respective machine out of the set of machines (1, 2, 3), and- based on the one or more positioning reports, estimate a distance between the first machine (1) and the second machine (2) in the set of machines (1,2, 3), and- based on the estimated distance, select an operating mode out of a set of operating modes for the first machine (1), wherein the set of operating modes are arranged to relate to respective safety levels for operating the first machine (1) in the mining environment (100).

14. The control unit (70) according to claim 13, further configured to:- based on the one or more positioning reports, detect a positioning anomaly associated with the second machine (2), and- based on a previous position of the second machine (2), as reported from a previous positioning report, establish an area (20) comprising possible positions of the second machine (2), and- estimate the distance between the first machine (1) and the second machine (2) by estimating the distance between the first machine (1) and the established area (20).

15. The control unit (70) according to claim 14, further configured to: detect the positioning anomaly associated with the second machine (2) by: based on the one or more positioning reports, determining that a position accuracy of a position of the second machine (2) is below a threshold.

16. The control unit (70) according to any of claims 14-15, further configured to: detect the positioning anomaly associated with the second machine (2) by determining that an expected positioning report of the second machine (2) is absent.

17. The control unit (70) according to any of claims 14-16, further configured to: detect the positioning anomaly associated with the second machine (2) by determining that a time period since receiving a previous positioning report for the second machine (2) exceeds a threshold.

18. The control unit (70) according to claim 14-17, further configured to: obtain a time period since obtaining the previous positioning report, and further configured to establish the area (20) based on said time period.

19. The control unit (70) according to any one of claims 14-18, further configured to: obtain characteristics of the mining environment (100), and further configured to establish the area (20) based on said characteristics of the mining environment (100).

20. The control unit (70) according to claim 19, further configured to: estimate the distance between the first machine (1) and the second machine (2) by estimating a distance of a drivable path between the first machine (1) and the second machine (2) based on the obtained characteristics of the mining environment (100).

21. The control unit (70) according to any one of claims 19-20, wherein the characteristics are arranged to be indicative of any one or more out of:- a spatial arrangement of one or more sections of the mining environment (100),- one or more drivable surfaces of the one or more sections of the mining environment (100),- any one or more out of width, length, and / or height of one or more passageways in the mining environment (100),- positions of barriers and their corresponding status in the mining environment (100), and- positions of obstacles in the mining environment (100).

22. The control unit (70) according to any one of claims 20-21 , further configured to: estimate the distance of the drivable path between the first machine (1) and the second machine (2) based on the characteristics of the mining environment (100) further by establishing the drivable path based on dimensions of the first machine (1) and / or the second machine (2) and the characteristics of the mining environment (100).

23. The control unit (70) according to any one of claims 13-22, further configured to: select the operation mode based on a type of the second machine (2).

24. The control unit (70) according to any one of claims 13-23, wherein the operation modes of the set of operating modes are adapted to comprise operational parameters relating to any one or more out of:- a maximum allowed speed of the first machine (1),- activated sensors of the first machine (1), and- allowed operations of the first machine (1).

25. A first machine (1) configured to operate in a mining environment (100), and wherein the first machine (1) comprises the control unit (70) according to any of claims 13-24.

26. A computer program (630) comprising instructions, which when executed by a processor (610), causes the processor to perform actions according to any of the claims 1-12.

27. A carrier (640) comprising the computer program of claim 26, wherein 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.

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