Method and control unit for autonomously navigating a mining and / or construction machine

Abstract

A method for navigating a machine (1) between a departure position (41) and a destination position (42) is provided. The method comprising generating (305) a mission comprising a traversable path from the departure position (41) to the destination position (42). The path comprises a combination of one or more prerecorded routes (10) for the machine (1) to follow, and a first (21) and a second position (22). The machine (1) is arranged to navigate autonomously between the first (21) and the second position (22). The method further comprises establishing (306) a transition condition for transitioning the machine (1) from following a first prerecorded route (11) or navigating autonomously between the first (21) and the second position (22), to following a second prerecorded route (12) or navigating autonomously between a third (21, 23) and a fourth position (22, 24).

Description

[0001] METHOD AND CONTROL UNIT FOR AUTONOMOUSLY NAVIGATING A MINING AND / OR CONSTRUCTION MACHINE

[0002] TECHNICAL FIELD

[0003] Embodiments herein relate to a method and a control unit for navigating a mining machine and / or construction machine. Furthermore, a mining machine and / or construction machine, a computer program, and a carrier are also provided herein.

[0004] BACKGROUND

[0005] Autonomous machines may operate and travel in work sites such as mining environments by being configured to follow prerecorded routes. If prerecorded routes are not available, the machines may instead be remotely controlled by an operator. To record, generate and commission long prerecorded routes is complex and time-consuming. Recording routes may further occupy areas or vehicles which otherwise may be used for productivity. As a result, prerecorded routes may only be available between certain locations which makes travelling certain routes inefficient as manual operators need control the machine. Furthermore, it may be difficult for multiple machines to use prerecorded routes overlaying each other as meetings may be difficult to handle and may require delicate time planning for when each machine shall be at which position such that there are not any collision hazards.

[0006] Hence there is a strive to improve handling of autonomous machines.

[0007] SUMMARY

[0008] As a part of developing embodiments herein one or more issues have been identified and will first be discussed.

[0009] Long routes may be difficult to handle. For example, an update may require a recording of a long route which takes time and reduces productivity. This means that it may be desirable to, instead of using the long route, utilize several shorter routes that can be combined to cover long tramming distances. This means that shorter routes can be recorded.

[0010] In underground mining environments, autonomous machines often tram along prerecorded routes. Tramming as used herein may for a machine to operate autonomously to follow one or more prerecorded route, in particular when transporting materials or travelling to a location where to load materials. A prerecorded route is typically recorded with a machine travelling and operating along a route, and operated by a manual operator, either a driver or remote operator. The prerecorded route may after recording be processed e.g., modified and optimized according to certain needs for the route or application in a separate tool and / or by specialist knowledge. When the processing is performed an autonomous machine may then test to travel the prerecorded route to verify that the route is safe to be used by the machine. The testing and verification may be repeated in steps with higher and higher speed until a target speed is reached and verified to be safe. The recording and processing is time-consuming and may delay production in the areas of the route and the machine used for recording will not be available for performing work tasks. Hence, it can be concluded that recording and using prerecorded routes may be inefficient at least in some circumstances such as when they are only used rarely. Furthermore, when traffic is dense and machines need to pass each other, there is a need to define prerecorded routes or areas for handling traffic meetings in case of traffic. To utilize these areas, prerecorded routes into and out from the meeting areas may need to be recorded which, as discussed above, may reduce productivity of related areas and machines.

[0011] As another related problem, machine tramming requiring manual intervention where prerecorded routes are missing requires more, not to say constant, focus from an operator. If this is the case it is hard for the operator to take responsibility for, and control more than one machine at a time.

[0012] An object of embodiments herein is to improve navigation of autonomous machines.

[0013] According to a first aspect, a method for navigating a machine between a departure position and a destination position is provided. The method comprises obtaining the departure position and the destination position. The method comprises generating a mission comprising a traversable path from the departure position to the destination position. The path comprises a combination of:

[0014] - one or more prerecorded routes for the machine to follow, and

[0015] - a first and a second position wherein the machine is arranged to navigate autonomously between the first and the second position.

[0016] Navigating autonomously as used herein may mean that the machine may be arranged to navigate autonomously without the machine having a prerecorded route to follow. Such navigation may also be referred to as routeless navigation. Instead, the machine may navigate based on sensor data measured by the machine and by map information of an environment in which the machine operates. Additionally, the machine may be updated with information of the environment in which the machine operates by any suitable entity, e.g., as measured by traffic control systems or detected by other machines in the environment.

[0017] At least one of the first and the second position respectively coincide with any of the one or more prerecorded routes. The departure position and the destination position respectively coincide with any of the first position, the second position, or any of the one or more prerecorded routes.

[0018] The method further comprises establishing a transition condition for transitioning the machine from following a first prerecorded route or navigating autonomously between the first and the second position, to following a second prerecorded route or navigating autonomously between a third and a fourth position. The third and fourth positions may be different or same positions as the first and second positions. In other words, the mission may have a transition condition for transitioning between travelling by following prerecorded routes and navigating without following prerecorded routes such that the machine can seamlessly travel the entire path in an autonomous manner.

[0019] Since the mission is generated for the machine to navigate the path from the departure position to the destination position using the combination of following the one or more prerecorded routes, and to navigate autonomously between the first and the second position, an improved handling of navigating autonomous machines is achieved. In particular, the machine will thus be able to travel autonomously the entire path which may be in contrast to previous solutions where an operator may have been needed to take over when no prerecorded routes were available for the machine - even only for operating the machine a short distance to the next prerecorded route.

[0020] In other words, the machine can flexibly navigate from the departure position to the destination position regardless of how many prerecorded routes have been set up between the positions, and can seamlessly navigate autonomously between the first and second position which may coincide with the one or more prerecorded routes, thereby bridging any gap of where autonomous navigation previously were not possible.

[0021] This allows areas with a lot of traffic to set up prerecorded routes, where it is efficient to do so due to the high usage, and for an area with low traffic or rare usage, where the use of prerecorded routes may not be efficient, the vehicle may instead autonomously navigate between the first and second position.

[0022] This allows for improved efficiency in navigating the machine and for improved efficiency in all aspects affected by autonomous navigation. While examples herein discuss the first and second position, any number of such positions which may relate to the machine navigating to or from any of the one or more prerecorded routes, may apply to examples herein.

[0023] Examples herein may further allow the machine to navigate autonomously to areas for avoiding meeting traffic in areas of the one or more prerecorded routes, e.g., where the machine may wait or be parked for a set time, until a new mission is provided, or until the mission is updated.

[0024] Some of the benefits described above may be enabled by establishing the transition condition which allows the vehicle to transition between following the one or more prerecorded routes and navigation of autonomously navigating between the first and second position. In other words, the one or more transition conditions allows the machine to be able to autonomously transition between travelling the one or more prerecorded routes, and autonomously navigating between the first and second position, thereby allowing the vehicle to reach the destination position. The transition condition may typically relate to a constraint of position, orientation, and / or type of the machine, but any suitable condition(s) may apply.

[0025] The examples herein may provide particular benefits to the mining industry and in corresponding manners for associated industrial aspects. For example, the machine can efficiently tram autonomously in a mine, quarry, and / or underground environment without having to have an operator operating the machine such as guiding the machine between prerecorded routes. This may allow the operator to supervise more or other aspects of a mining environment or mining operations. Furthermore, since less prerecorded routes may be needed due to the machine’s ability to autonomously travel without following such prerecorded routes, areas and vehicles of associated areas may be less prone to be occupied due to recording routes, and thereby more areas and vehicles will be available for use in a mining environment.

[0026] In some examples, the method further comprises transmitting an indication of the mission to the machine, thereby triggering the machine to initiate travelling the path of the mission.

[0027] The indication may typically comprise all of the mission, or an indication for how the machine shall obtain the mission.

[0028] In some examples, the method further comprises detecting a traffic condition associated with the mission.

[0029] In some examples, the method further comprises establishing or updating the mission based on the detection of traffic condition. This means that the prerecorded routes, or the first and second positions may be selected such that the machine shall not encounter any meeting traffic. Alternatively, the machine may be navigated to a meeting area, e.g., as part of the second position and / or the departure position, where the machine may park and / or wait for its turn to travel.

[0030] In some examples, the traffic condition is associated with a detected or predicted presence of a second machine in the path of the mission or within a set distance of the machine. The traffic condition may indicate that the machine may need to navigate to avoid traffic, such as to a meeting area. Accordingly, the departure position may be set to a meeting area, and / or the machine may be navigated to the meeting area for waiting / parking and later continuing the mission.

[0031] In some examples, the method further comprises updating the mission by adding to the path of the mission, at least one of: one or more additional prerecorded route for the machine to follow, and / or one or more additional positions to which the machine is arranged to autonomously navigate.

[0032] The one or more additional positions may relate to that the machine autonomously travels to the respective additional position without following a prerecorded route.

[0033] The one or more additional positions may be received as respective positions and or may be determined by obtaining as positions coinciding with the one or more prerecorded routes such that machine can seamlessly travel between different prerecorded routes using the one or more additional positions.

[0034] In some examples, establishing the transition condition comprises establishing a first transition condition for the machine to follow the second prerecorded route only when the machine is located within an area comprising the second prerecorded route and only when the machine is aligned with an allowed travel direction of the second prerecorded route.

[0035] In some examples, establishing the transition condition comprises establishing a second transition condition for the machine to initiate navigating autonomously between the third and the fourth position only when the machine is located within a predetermined distance from the third or the fourth position.

[0036] In some examples, the machine is configured for navigating autonomously between the first and the second position at least partly by navigating autonomously to an intermediate position arranged between the first and the second position. The intermediate position may be any suitable position which may simplify the navigation between the first and second positions, such as by setting waypoints with respect to a map such that the machine may navigate more accurately.

[0037] In some examples, the method further comprises determining the intermediate position. Determining the intermediate position may comprise determining a position between the first and second position on a map. The intermediate position may be determined based on a traffic situation and / or with respect to locations of the one or more prerecorded routes to avoid traffic and / or to travel a shortest distance.

[0038] In some examples, the method comprises receiving information, and generating the mission based on the received information. The information may comprise the one or more prerecorded routes. Similarly, the method may comprise receiving information of the first and second positions, or any other positions to which the machine is to travel autonomously, and further generating the mission based on the received information. Accordingly, in some examples, the method comprises determining the first and the second position based on the received information and a global map relevant to the mission. The information may indicate the first and the second position with respect to the global map relevant to the mission. The information may further indicate the intermediate position arranged between the first and the second position .

[0039] In other words, the received information may comprise any suitable information for positions or prerecorded routes for how the machine shall navigate.

[0040] The information may be received from a central route planning system. This means that the information can be efficiently planned with accurate and complete knowledge of an environment such as a mining environment and any relevant routes therein.

[0041] According to a second aspect, a control unit for navigating a machine between a departure position and a destination position is provided.

[0042] The control unit is configured to: obtain the departure position and the destination position, generate a mission comprising a traversable path from the departure position to the destination position.

[0043] The path comprises a combination of: one or more prerecorded routes for the machine to follow, and a first and a second position, wherein the machine is arranged to navigate autonomously between the first and the second position.

[0044] At least one of the first and the second position respectively coincide with any of the one or more prerecorded routes. The departure position and the destination position respectively coincide with any of the first position, the second position, or any of the one or more prerecorded routes.

[0045] The control unit is further configured to establish a transition condition for transitioning the machine from following a first prerecorded route or navigating autonomously between the first and the second position, to following a second prerecorded route or navigating autonomously between a third and a fourth position .

[0046] The control unit may further be configured to perform the method according to the first aspect.

[0047] According to a third aspect, a mining and / or construction machine configured to perform a mission for navigating the machine between a departure position and a destination position is provided.

[0048] The mission comprises a traversable path from the departure position to the destination position.

[0049] The path comprises a combination of: one or more prerecorded routes for the machine to follow, and a first and a second position wherein the machine is arranged to navigate autonomously between the first and second position.

[0050] At least one of the first and the second position respectively coincide with any of the one or more prerecorded routes.

[0051] The departure position and the destination position respectively coincide with any of the first position, the second position, or any of the one or more prerecorded routes.

[0052] A transition condition is established for transitioning the machine from following a first prerecorded route or navigating autonomously between the first and the second position, to following a second prerecorded route or navigating autonomously between a third and a fourth position.

[0053] The mission may comprise transporting materials from the departure position to the destination position, or to collect materials at the destination position .

[0054] The mining and / or construction machine may comprises the control unit according to the second aspect and / or may be configured to perform the method according to the first aspect.

[0055] According to a fourth aspect, a computer program is provided. The computer program comprises instructions, which when executed by a processor, causes the processor to perform the method according to the first aspect.

[0056] According to a fifth aspect, a carrier comprising the computer program according to the fourth aspect is provided. The carrier may be 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.

[0057] The advantages of any one or more out of the second, third, fourth, and / or fifth aspect corresponds to the advantages of the first aspect. All embodiments, examples and / or options related to and / or applying to any of the listed aspects above and / or their further descriptions in the detailed description below, apply to all other aspects in a corresponding manner.

[0058] Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0059] BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0061] Fig. 1 is a schematic block diagram illustrating a scenario according to exemplary embodiments herein.

[0062] Fig. 2 is a schematic block diagram illustrating a scenario according to exemplary embodiments herein.

[0063] Fig. 3 is a flowchart depicting a method according to exemplary embodiments herein.

[0064] Fig. 4 is a schematic block diagram illustrating a scenario according to exemplary embodiments herein.

[0065] Figs. 5a-c are a schematic block diagrams illustrating scenarios according to exemplary embodiments herein.

[0066] Fig. 6 is a schematic block diagram illustrating exemplary embodiments of a control unit.

[0067] DETAILED DESCRIPTION

[0068] Producing prerecorded routes may be time-consuming, in particular when needing to record and verify multiple prerecorded routes for use when meeting traffic or when needing to record long routes between areas not often travelled. Furthermore, efficiency of areas and machines used for recording the routes may be greatly reduced since operations with respect to the areas or machines used for recording need to be deferred until the recording and verification has finished. To overcome at least some of these issues, embodiments herein may relate to combining the use of prerecorded routes and autonomously travel without following prerecorded routes, to or from a prerecorded route to reach a target destination.

[0069] Fig. 1 illustrates an example scenario of example herein. A machine 1 may navigate as part of examples herein. Navigating the machine 1 may as part of examples herein may mean that the machine is either autonomously travelling by following a prerecorded route or autonomously navigating as will be discussed in the following examples.

[0070] The machine 1 may be a construction machine and / or a mining machine. The machine 1 may be autonomous such that it can operate without explicit control input from a user, e.g., by determining its own steering and motion, etc.

[0071] The machine 1 may be used for underground mining and / or construction work.

[0072] The machine 1 may also be possible to operate by a user or remote, e.g., when deemed necessary such as when the machine cannot travel on its own for any reason, or when there is an emergency.

[0073] The machine 1 may operate in a mining environment 100. The mining environment 100 may be any environment in which mining or related operations may take place such as tramming of materials. The machine 1 may for example operate in tunnels encompassed by rock walls 8.

[0074] The machine 1 may be arranged to navigate autonomously based on a generated mission comprising a traversable path from a departure position 41 to a destination position 42.

[0075] The path comprises a combination of: one or more prerecorded routes 10 for the machine 1 to follow, and a first position 21 and a second position 22 wherein the machine 1 is arranged to navigate autonomously between the first 21 and the second position 22. Navigating autonomously may mean to navigate without following a prerecorded route.

[0076] In some examples, an intermediate position 31 may be used for the machine 1 to have more accurate navigation from the first position 21 to the second position 22. In order to reach the second position 22, the machine 1 may first navigate to the intermediate position 31. In some examples, one or more intermediate positions are used for the same purpose, e.g., as indicated by a second intermediate position 32. The one or more intermediate positions may be ordered such that the machine 1 navigate to each intermediate position at a time to reach the second position 22.

[0077] The reason for the usefulness of intermediate positions such as the intermediate position 31 may be to ensure that a suitable path is chosen by the machine 1. For example, if the intermediate position 31 is not used, the machine 1 may instead be free to navigate along any of the indicated alternative paths 99. It may be predetermined or dynamically determined that the paths 99 or areas where they pass through are not optimal for the machine 1 to travel through, hence, the intermediate position 31 may efficiently guide the machine 1 to take a more suitable path.

[0078] In Fig. 1 , a first prerecorded route 11, as part of the one or more prerecorded routes 10 are illustrated. The first prerecorded route 11 may be along a well trafficked path of the mining environment 100, and the dashed lines may represent paths where the machine 1 may want to navigate autonomously without following a prerecorded route, e.g., for tramming purposes, such as by autonomously navigating between the first position 21 and the second position 22.

[0079] To clarify that the mission may comprise any one or more pairs of positions where the machine 1 may be arranged to navigate autonomously without following a prerecorded route, a third position 23 and fourth position 24 are illustrated as part of examples herein. The third position 23 and the fourth position 24 may be illustrated in particular to emphasis a transition condition between autonomously following a prerecorded route and navigating autonomously without following a prerecorded route. While the third position 23 and fourth position 24 may be distinct from the first position 21 and the second position 22, they may also be the same position pair as illustrated in Fig. 1 , e.g., if there is only one distance where the machine 1 is to travel autonomously without following a prerecorded route.

[0080] To further clarify that the mission may comprise following any one or more prerecorded routes, a second prerecorded route 12 is illustrated as part of the one or more prerecorded routes 10. When discussing transitioning between travelling autonomously to following the second prerecorded route 12, the second prerecorded route 12 may be the same route as the first prerecorded route 11 , in particular for situations when there are only one prerecorded route in the one or more prerecorded routes 10. When there are multiple prerecorded routes, the second prerecorded route 12 may be distinct from the first prerecorded route 11.

[0081] At least one of the first position 21 and the second position 22 respectively coincide with any of the one or more prerecorded routes 10. In the example of Fig.1 , the first position 21 coincides with the first prerecorded route 11 such that the machine 1 may navigate along the first prerecorded route 11 and transition to navigating autonomously between the first position 21 and the second position 22. The departure position 41 and the destination position 42 respectively coincide with any of the first position 21 , the second position 22, or any of the one or more prerecorded routes 10. In the example of Fig. 1, it is illustrated that the departure position coincides with the first prerecorded route 11 , i.e., travelling is initiated by following a prerecorded route. Furthermore in the example of Fig. 1 , it is illustrated that the destination position coincides with second position 22, also being the fourth position 24 of the example according to Fig. 1.

[0082] In the example of Fig. 1 , a transition condition for transitioning the navigation of the machine 1 may have been established such that there is a transition condition from following the first prerecorded route 11 and navigating autonomously between the third position 23 and the fourth position 24. The transition condition may be that the machine is within a set distance from the third position 23.

[0083] Fig. 2 illustrates another example of the mission of the traversable path from the departure position 41 to the destination position 42, in this scenario, the departure position 41 coincides with the first prerecorded route 11, and as such, the machine 1 may be arranged to first follow the first prerecorded route 11. As the machine 1 follows the first prerecorded route 11 , the machine 1 may be arranged to transition according to a first transition condition T1 to autonomously navigate from the third position 23 to the fourth position 24, e.g., when the machine 1 follows the first prerecorded route 11 and detects that it is within a distance of the third position 23. As the machine is autonomously navigating towards the fourth position 24, e.g., using sensor and map data of the mining environment 100, the machine 1 may be arranged to transition according to a second transition condition T2 to autonomously travel by following the second prerecorded route 12, e.g., wherein the second transition condition T2 may relate to the machine 1 being within a set distance of the second prerecorded route 12 and having an allowed orientation of the second prerecorded route. According to the second transition condition T2, the machine 1 may further need to be of a specific type, similar or same to a vehicle type of the vehicle which recorded the second prerecorded route 12. As the machine 1 is following the second prerecorded route 12, the machine 1 may further transition according to a third transition condition T3 to autonomously navigate from the first position 21 to the second position 22. The third transition condition T3 may be that the machine 1 is within a set distance of the first position 21. The second position 22 may be the destination position 22.

[0084] Examples herein may be performed by any suitable entity such as by a control unit 70. The control unit 70 may comprise processor and / or a communication interface for performing the examples herein. The control unit 70 may be able to communicate with, and / or control, any suitable aspect of the machine 1. The control unit 70 may be comprised in the machine 1 , or remote to the machine 1, e.g., in a server node. The control unit 70 may be a distributed unit. The control unit 70 may in particular be configured to generate a mission for the machine to navigate and travel from the departure position 41 to the destination position 42, e.g. by following the one or more prerecorded routes 10, and by navigating autonomously between the first position 21 and second position 22, and transitioning between the two different navigation methods.

[0085] Following a prerecorded route as in Examples herein may mean that the machine 1 autonomously travels by following the prerecorded route, e.g., as it has been recorded.

[0086] The control unit 70 may be able to obtain any suitable information for generating the mission. For example, the control unit may receive information from a central route planning system 90, e.g., wherein the information may comprise the one or more prerecorded routes 10, and optionally the first position 21 and second position 22, and if part of the mission any other suitable positions such as the third position 23 and fourth position 24, if applicable. The central route planning system 90 may further provide map data for the machine 1, e.g., of the mining environment 100. The central route planning system 90 may be, or may be part of, any suitable central system for assisting in navigating the machine 1 and / or handling traffic in the mining environment 100.

[0087] Fig. 3 illustrates a flowchart depicting a method for navigating the machine 1 between the departure position 41 and the destination position 42.

[0088] The method comprises the following actions, which may be taken in any suitable order. Dashed boxes in Fig. 3 may indicate optional actions. The following actions may be performed by the control unit 70.

[0089] Action 301

[0090] The method comprises obtaining the departure position 41 and the destination position 42. The departure position 41 and the destination position 42 may be obtained by input from a user or control system such as the central route planning system 90. The departure position may in some examples be obtained by obtaining a current position of the machine 1.

[0091] Action 302

[0092] The method may comprise receiving information for generating the mission for the machine which will be discussed in further actions. The mission comprises a traversable path from the departure position 41 to the destination position 42. The information received may be received from the central route planning system 90 and may comprise any suitable information which may improve generating the mission. Some specific examples of received information are discussed below.

[0093] Action 302a

[0094] The method may comprise receiving information of the one or more prerecorded routes 10. The information may indicate all suitable information of the one or more prerecorded routes 10, e.g., trajectories, operations, coordinated in the mining environment 100, etc.

[0095] Action 302b

[0096] The method may comprise receiving information of the first position 21 and the second position 22. The information may indicate the first 21 and the second position 22 with respect to a global map relevant to the mission. The first position 21 and the second position 22 may be received as coordinates in the global map.

[0097] The method may further comprise receiving information of the third position 23 and the fourth position 24.

[0098] The method may further comprise receiving information of any one or more additional positions where the machine 1 may be able to autonomously navigate as part of the mission.

[0099] The method may further comprise receiving information of the intermediate position 31, between the first position 21 and the second position 22. The method may further comprise receiving information of any other one or more intermediate positions between the first position 21 and the second position 22, or between other positions where the machine 1 is to autonomously navigate, e.g., the third position 23 and the fourth position 24.

[0100] The information received in action 302 may further comprise the global map relevant to the mission of examples herein, e.g., of the mining environment 100. Examples herein may, where applicable, be positioned in respective coordinates of the global map, and any suitable information or indication of prerecorded routes or positions of examples herein may be represented at least partly with respect to coordinates in said global map.

[0101] Action 303

[0102] The method may comprise determining the first position 21 and the second position 22 based on the received information and a global map relevant to the mission. The global map may, as discussed above, be received as part of the received information of action 302. The first position 21 and the second position 22 may be determined as coordinates in the global map. The first position 21 and the second position 22, if not received as inputs, may be determined by positions between the one or more prerecorded routes 10, such as that the first position 21 is a position coinciding with the first prerecorded route 11, and the second position is a position coinciding with the second prerecorded route 12. Any of the first 21 and second position 22 may also coincide with the departure position 41 or destination position 42, where the other position of the first 21 and second position 22 coincide with a prerecorded route of the one or more prerecorded routes 10. The same apply correspondingly for any positions, such as the third 23 and fourth position 24, where the machine 1 is arranged to autonomously between positions without following a prerecorded route, if any such positions are part of the mission.

[0103] Action 304

[0104] The method may further comprise determining the intermediate position 31 between the first position 21 and the second position 22, e.g., when the intermediate position 31 is not received as input. Determining the intermediate position 31 may be based on the global map data, such as by determining the intermediate position 31 to be in an intersection or in an area with low traffic, or in any suitable part for the machine 1 to travel towards the second position 22. Determining the intermediate position 31 may use any suitable heuristics and / or account for any traffic condition.

[0105] Similarly, any one or more other intermediate positions between the first position 21 and the second position 22, or between other positions where the machine 1 is to autonomously navigate, e.g., the third position 23 and the fourth position 24, may be determined in a same corresponding manner.

[0106] Action 305

[0107] The method comprises generating a mission comprising a traversable path from the departure position 41 to the destination position 42. The mission may be arranged for the machine 1 to execute.

[0108] The path comprises a combination of:

[0109] - one or more prerecorded routes 10 for the machine 1 to follow, and

[0110] - a first 21 and a second position 22 wherein the machine 1 is arranged to navigate autonomously between the first 21 and the second position 22.

[0111] At least one of the first 21 and the second position 22 respectively coincide with any of the one or more prerecorded routes 10. This means that the mission has at least some overlap between having the machine 1 autonomously travelling and navigating without following a prerecorded route, and having the machine 1 follow the one or more prerecorded routes 10. The departure position 41 and the destination position 42 respectively coincide with any of the first position 21 , the second position 22, or any of the one or more prerecorded routes 10. In other words, the path starts and ends with autonomously navigating and / or travelling either by following a prerecorded route, or autonomously navigating, i.e., without following a prerecorded route.

[0112] The number of prerecorded routes in the path may be any suitable number, but the path may comprise at least one prerecorded route such as the first prerecorded route 11.

[0113] Besides the first position 21 and the second position 22, the path may further comprise any other suitable number of positions where the machine 1 may be arranged to navigating autonomously.

[0114] Navigating autonomously from the first position 21 to the second position 22 as used herein may comprise any one or more of the following actions:

[0115] - Action 305-1. obtaining a representation of the surroundings of the machine 1. The representation may be the global map data, e.g., representing the mining environment 100.

[0116] - Action 305-2. obtaining a set of waypoints comprising positions defined by coordinates in the representation of the surroundings of the machine. The waypoints may comprise the second position 22, and optionally the intermediate position 31 or any other one or more intermediate positions. Accordingly, the first position 21 and the second position 22, may both respectively be coordinates in the representation of the surroundings of the machine 1.

[0117] - Action 305-3. determining a current position of the machine in the representation of the surroundings of the machine. This may be performed by mapping sensor data of the machine 1 to data indicated by the representation and / or by any suitable localization method, e.g., using any suitable sensors of the machine 1 or other machines or infrastructure. The current position may also be provided by input. It may also be assumed or derived that the machine 1 is located in the first position 21, in particular if it can be determined by examples herein where in the path the machine 1 has previously travelled.

[0118] - Action 305-4. determining control signals for effectuating maneuvering the machine from the first position to the second position by traversing the set of waypoints.

[0119] Navigating autonomously from the first position 21 to the second position 22 as used herein may comprise navigating without the use of a prerecorded route. Navigating autonomously from the first position 21 to the second position 22 as used herein may comprise navigating using a degraded mode, e.g., where the machine may be set to act and navigate more cautiously such as by using a set speed profile lower than max speed or by using other systems for quicker detection of any issues. The set speed profile or the max speed may relate to a lower max speed than what may be allowed when travelling autonomously by following a prerecorded route. This is since the machine 1 may need to navigate solely based on sensor readings and continuous calculations and evaluations. Such navigation may therefore need to be performed with more caution such that the machine 1 has sufficient amount of time to act if any issues arise. The same may apply for navigating autonomously between any positions without following a prerecorded route.

[0120] Navigating autonomously between any other positions may be performed in a corresponding manner as from the first position 21 to the second position 22.

[0121] As hinted above, navigating autonomously between the first 21 and the second position 22 may be performed at least partly by navigating autonomously to the intermediate position 31, e.g., as part of the set of waypoints discussed above. The intermediate position is arranged between the first 21 and the second position 22.

[0122] Travelling by following a prerecorded route such as the first prerecorded route 11 as used herein may comprise mimicking or replaying operations as recorded by a machine.

[0123] Travelling by following a prerecorded route such as the first prerecorded route 11 as used herein may be performed autonomously.

[0124] Travelling by following a prerecorded route such as the first prerecorded route 11 as used herein may be seen as a form of indirect navigation, since it may be predetermined where the machine 1 will travel.

[0125] Following a prerecorded route may comprise any of: autonomously following a recorded trajectory as recorded in the prerecorded route, using a set speed profile as recorded in the prerecorded route, and operating the machine 1 as recorded in the prerecorded route, e.g., by moving any equipment or movable parts of the machine 1 as recorded in the prerecorded route.

[0126] The machine 1 may need to be the same or similar to the machine recording a prerecorded route may need to be of a same or similar to the machine 1 , i.e., the machine 1 may need to share at least a number of set characteristics with the machine recording the respective prerecorded route. Generating the mission may be based on any received information, e.g., as received in action 302. For example the mission may be based on the received information of the one or more prerecorded routes 10. While the first position 21 and the second position 22 may be received in the information, these positions, and any other positions where the machine 1 need to navigate autonomously without a prerecorded route may be determined with respect to the information of the one or more prerecorded routes 10, the departure position, and the destination position. The first position 21 and the second position 22, as well as any other position where the machine 1 need to navigate autonomously without a prerecorded route may established as part of generating the mission as to bridge any gap between the one or more prerecorded routes 10, the departure position, and the destination position. The first position 21 and the second position 22 may be set to be shortest distances between two respective prerecorded routes, e.g., the first prerecorded route 11 and the second prerecorded route 12, or based on any suitable heuristics.

[0127] Generating the mission may account for a traffic condition of the mining environment 100 and / or other surroundings of the machine 1 , e.g., by receiving information of the presence or operations machines, manual operators, or other events in the path or in the mining environment 100 which may be of relevance, and generating the mission accordingly. Such accounting may further be performed for updating the mission, e.g., as will be discussed with respect to actions 308-309 below.

[0128] Generating the mission may account for the traffic condition by generating the path such that the machine 1 temporarily is navigated to a meeting area where the machine 1 may wait or park, e.g., by having a meeting area for waiting as part of the path, or such that the machine 1 is navigated to said meeting area by arranging the destination position 42 to be at a meeting area. The meeting area may be an area which is reached by autonomous navigation without following a prerecorded route.

[0129] The path may be generated to be represented as an sequential order of prerecorded routes and / or positions for autonomous navigation, e.g., as a list or other suitable data structure, wherein the machine 1 may be configured to autonomously travel by following the one or more prerecorded routes 10, and by autonomously navigating between the first 21 and second position 22, according to said order.

[0130] In example herein, the mission may be generated in a remote control center or on board of the machine, e.g., in the control unit 70.

[0131] Action 306 The method comprises establishing a transition condition for transitioning the machine 1 from following a first prerecorded route 11 or navigating autonomously between the first 21 and the second position 22, to following a second prerecorded route 12 or navigating autonomously between the third position 23 and the fourth position 24.

[0132] The transition condition may particularly relate to how to transition to following a prerecorded route, and / or how to transition into autonomously navigating between the third position 23 and the fourth position 24. In some examples, the third position 23 and the fourth position 24 may represent the first position 21 and the second position 22, e.g., when transitioning from the first prerecorded route 11. In some examples, the second prerecorded route 12 may represent the first prerecorded route 11 , e.g., when transitioning from autonomously navigating between the first position 21 and the second position 22.

[0133] In some examples establishing the transition condition comprises establishing a transition condition for the machine 1 to follow the second prerecorded route 12 only when the machine 1 is located within an area comprising the second prerecorded route 12 and only when the machine 1 is aligned with an allowed travel direction of the second prerecorded route 12. A corresponding transition condition may apply for transitioning to any prerecorded route in a corresponding manner. Transitioning to following a respective prerecorded route may further comprise positioning the machine 1 within a set distance of the respective prerecorded route. Transitioning to following a respective prerecorded route may further comprise aligning the machine 1 with the allowed travel direction of the respective prerecorded route. Aligning the machine 1 with the allowed travel direction of the respective prerecorded route may comprise steering the machine 1 to have a certain orientation allowed for initiating following the respective prerecorded route.

[0134] Transitioning to following a respective prerecorded route may further comprise adjusting a motion of the machine 1 to adhere to a speed profile of the respective prerecorded route. Adjusting said motion may comprise increasing or decreasing the speed of the machine to meet the speed profile of the respective prerecorded route.

[0135] In some examples establishing the transition condition comprises establishing a transition condition for the machine 1 to initiate navigating autonomously between the third and the fourth position only when the machine 1 is located within a predetermined distance from the third or the fourth position. A corresponding transition condition may apply for transitioning to autonomous travel between any positions where the machine 1 shall not (or cannot) follow a prerecorded route. Transitioning to initiate autonomous navigation between respective positions such as the third position 23 and the fourth position 24 may further comprise disengage the machine 1 from following a respective prerecorded route.

[0136] Transitioning to initiate autonomous navigation between respective positions such as the third position 23 and the fourth position 24 may further comprise configuring the machine 1 in a degraded mode and / or adjusting a motion of the vehicle to a set speed profile for autonomous navigation between the respective positions. Such speed profile may relate to a lower max speed than when navigating by following a prerecorded route. Lowering the speed may be performed such that the machine shall have sufficient time to process sensor data to evaluate a situation, and to have sufficient time to react to such situation.

[0137] In some examples, transitioning to following a respective prerecorded route may further comprise adjusting a steering angle of the machine 1 to adhere to a steering angle of a machine recording the respective prerecorded route had during a respective part of the respective prerecorded route.

[0138] Action 307

[0139] The method may comprise transmitting an indication of the mission to the machine 1 , thereby triggering the machine 1 to initiate travelling the path of the mission. Transmitting the indication may comprise any suitable way for ensuring that the machine 1 has access to the mission and can initiate travelling the path of the mission.

[0140] Action 308

[0141] The method may comprise detecting a traffic condition associated with the mission. Detecting the traffic condition may comprise receiving information of machines or other events in the path or in the mining environment.

[0142] The traffic condition may be associated with a detected or predicted presence of a second machine in the path of the mission or within a distance of the machine 1.

[0143] Action 309

[0144] The method may comprise updating the mission. The mission may be updated by any suitable reason, one reason may be traffic. Hence, the mission may be updated based on the detection of traffic condition. For example, when traffic is detected, the machine 1 may be navigated to a meeting area, e.g., as a part of the path where the machine 1 may wait, or by setting the destination position 42 at a meeting area such that the machine 1 can avoid traffic and later receive a new mission.

[0145] Additionally or alternatively, updating the mission may comprise adding to the path of the mission: one or more additional prerecorded routes for the machine 1 to follow, and / or one or more additional positions to which the machine 1 is arranged to autonomously navigate.

[0146] Adding as used herein may mean to add to the sequential order of the path as described in action 305, or by replacing a prerecorded route or one or more positions of the path. This means that the path may be extended and / or adjusted based on the update.

[0147] Fig. 4 illustrates an example scenario where the mission is generated such that the machine 1 is to autonomously navigate between the first position 21 and the second position 22 which may be a distance between a first production area 401, and a second production area 402. In the first and second production areas 401, 402 all routes needed for production may be prerecorded and there may be connecting tunnels used for transfers or specially equipped utility machine. Mixing prerecorded routes with route-less tramming according to examples herein will allow an operator to create a complete mission to the destination position 42 from the departure position 41, and then again focus on other tasks. The vehicle 1 may therefore initially start at the departure position 41 , autonomously travel by following the first prerecorded route 11, and transition to autonomous navigation between the first and second positions 21 , 22 when a first transition condition T1 is fulfilled, and to further transition to following the second prerecorded route 12 when a second transition condition T2 is fulfilled, and then following the second prerecorded route to the destination position 42, e.g., for loading or offloading materials.

[0148] Figs. 5a-c illustrate example scenarios for how the machine 1 may be navigated by the mission as generated by examples herein

[0149] Fig. 5a illustrates a scenario where it is illustrated that the mission may be generated by mixing prerecorded routes with autonomous navigation, i.e., route-less tramming, to use one or more meeting areas 501, 502, 503, such as when the traffic pattern is flexible or not well predicted. In this scenario, a lot of time and resources may be spared on not recording meeting areas 501, 502, 503, and if needed, the mission may be generated, e.g., as in action 305, such that the mission comprises the machine navigating autonomously in an intersection 504 towards a position 505, and may then transition to travel along a prerecorded route 506 of the one or more prerecorded routes.

[0150] The position 505 may be any position as discussed above. The prerecorded route 506 may be any prerecorded route as discussed above. The mission may further be generated, e.g., as in action 305, or updated, e.g., as in action 309, such that the machine 1 is to transition from following the prerecorded route 506, to autonomously navigating into the one or more meeting areas 501 , 502, 503, e.g., such as between the first or second positions 21, 22 or between the third or fourth positions 23, 24. In these situations, the autonomous navigation of route-less tramming is slower than following a prerecorded route, but the machine 1 may however be arranged to park or wain in its meeting area, and hence, there is no loss of efficiency if autonomous navigation is needed in this scenario.

[0151] Fig. 5b illustrates a scenario where the mission is generated, e.g., as in action 305, such that the machine 1 is to navigate autonomously between positions 521, 522, and to transition into following a prerecorded route 520 of the one or more prerecorded routes 10. As seen in Fig. 5b, in examples herein, transitioning to a prerecorded route may comprise transitioning into any section of the prerecorded route, and there is no need to transition with respect to a starting position of the prerecorded route.

[0152] However, when coming from a route-less part of the path the machine 1 may be given a route switch coordinate a bit later than when actually reaching the prerecorded route 520. This may be to ensure that the machine 1 can align to the prerecorded route 520 and thereby fulfilling a respective transition condition.

[0153] The positions 521 , 522 may be any positions as discussed above. The prerecorded route 520 may be any prerecorded route as discussed above.

[0154] Fig. 5c illustrates a scenario where the mission is generated, e.g., as in action 305, such that the machine 1 is to autonomously travel by following a prerecorded route 530 of the one or more prerecorded routes 10. The mission may further be generated such that the machine 1 is to transition from following the prerecorded route 530, to autonomously travelling between positions 531 and 532. When transitioning to autonomously navigating between the positions 531 and 532, there may be no position, direction or angle conditions to meet (except possibly for being sufficiently close to the position 531), and the machine 1 may simply aim for the given coordinate of position 532, but with a lower speed than when following the prerecorded route 530.

[0155] The mission may further be generated such that the machine 1 is to transition to follow said another prerecorded route 531.

[0156] The positions 521 , 522 may be any positions as discussed above. The prerecorded route 520 may be any prerecorded route as discussed above.

[0157] Further examples and variations Examples herein may in some examples relate to a faster set-up of mining environments for autonomous traffic and increased flexibility for traffic control of machines.

[0158] In an underground mine environment such as the mining environment 100, machines often tram along prerecorded routes, e.g., the one or more prerecorded routes 10, which may be recorded with a real machine, driving the intended path. The one or more prerecorded routes 10 may then modified and optimized according to current needs in a separate tool. When the needed one or more prerecorded routes 10 are ready, a traffic controlling system, e.g., the central route planning system 90 and / or the control unit 70, may stitch different prerecorded routes together to one single route and send it to the machine 1 for tramming to wanted position. When the traffic is dense and machines need to pass each other, there is a need to define areas for the meetings. To utilize these areas, of course, short routes into and out from the meeting areas may need to be recorded as well. Lots of meeting areas means lots of work. Examples herein may therefore relate to shortening the time to set up meeting areas.

[0159] Some machines such as the machine 1 , may have the capability to tram without a prerecorded route. This is done by executing a so-called routeless tramming task, e.g., as discussed above as autonomously navigating between positions without the use of a prerecorded route. With this type of tramming, the speed of the machine 1 may be limited, but that may not be any disadvantage in for example a parking or meeting scenario where the machine 1 may need to wait or park regardless of the navigation or autonomous travelling technique used.

[0160] To minimize and / or eliminate a need for recording a lot of short meeting routes into and out from meeting areas, e.g., to connect the area to the long prerecorded “transportation routes” outside the meeting area, examples herein make it possible to generate the mission by stitching a prerecorded route with a routeless tramming task to an arbitrary point. Then the machine 1 could be positioned at any position in any tunnel without prerecorded routes and, in spite of the absence of prerecorded routes, be ordered to autonomously tram to a predefined point such as the first, second, third, or fourth positions 21 , 22, 23, 24. First by running a routeless task and when reaching a prerecorded route of the one or more prerecorded routes 10 such as the first prerecorded route 11 , the machine 1 may transition to that route and may continue tramming with a highest allowed speed. In the same way, the machine 1 could start tramming with full speed on a prerecorded route and then of the one or more prerecorded routes 10 such as the first prerecorded route 11 , and where this route ends, the machine 1 may seamlessly continue to tram, with reduced speed, routeless to the second position 22 and / or the destination position 42.

[0161] With this functionality, parts of a mine lacking prerecorded routes may be “bridged” to enable autonomous tramming between production areas, where prerecorded routes exist as part of the one or more prerecorded routes 10. This would for instance make it possible to start a Load and Dump mission for a machine anywhere in the mine, such as for the machine 1, irrespectively where the machine is currently located.

[0162] Examples herein may make route recordings superfluous for meeting scenarios and other scenarios, where high speed is not the top priority. Time needed for preparing an area may decrease and the flexibility may increase considerably.

[0163] For examples herein, a machine operator of a work site may create assignments for machines to autonomously tram between different Points of Interest (Pols) in a work area, e.g., as part of the positions or information used when generating the mission of action 305. These Pols may be defined in the global map of a traffic controlling software application. When the assignment is created, a check may be performed, e.g., as part of generating the mission, whether there are prerecorded route(s) available to reach, or at least “reasonably close” to, any of the Pols. A prerecorded route of examples herein may comprise of route indexes, e.g., with 0.5 meters in between given some error margin or variation. Each route index may comprise a pose, which in turn may comprise of coordinates to identify the respective index location, e.g., in the mining environment 100 and / or with respect to the global map. The pose may further comprise an articulation angle of the machine 1 , if articulated steering is used, at a specific route index and finally an angle describing where the machine is headed at the specific index. A transition condition of examples herein may comprise to align such pose for positioning within a route index when transitioning to a prerecorded route.

[0164] Examples herein may combine different prerecorded routes if needed to reach the destination position 42. When generating the mission of examples herein, when a possible path along the one or more prerecorded routes 10 has been identified, the needed prerecorded routes may be compiled to one single route and a mission is created and sent to the machine. The machine 1 may then replays, also referred to as playback, the requested routes in specified order to reach the destination position 42, either by load and playback of each route one by one, meaning a short stop in between the routes, or seamlessly stitching all planned routes together and perform one single playback of the combined path without any stops. A big advantage with prerecorded routes is that they can be trimmed and optimized for maximum speed. In an area where assignments always are performed along the same route it may be worth spending time on recording and optimizing routes to reach highest possible speed. On the other hand, it is quite time and resource consuming to record and prepare the routes, which means that these routes are probably not recorded in areas used seldom or for unexpected paths.

[0165] With the examples herein, it is further possible to combine the speed of prerecorded routes with the flexibility of route-less autonomous tramming. There would not be any need for manual intervention or monitoring as soon as the mission has generated and initiated by the machine 1. Instead of only using prerecorded routes, where possible, there may be several both recorded and route-less parts included in the path to reach the destination position 42.

[0166] This method of examples herein may be used in the following scenarios:

[0167] • Check-in of the machine 1 at one end of a working area and send it to the other end, where it is planned to work. This increases the flexibility.

[0168] • Along a long tunnel, where machines are expected to meet, there may be several meeting areas defined. During a meeting, one of the machine, e.g., the machine 1 parks while the other passes. The parking machine already reduce its speed to park, and it could first tram along a prerecorded route, and then tram route-less into the meeting area, saving a lot of time when not needing to record this route.

[0169] • When a machine breaks down and another free machine such as the machine 1 in the area shall replace it. Since this is outside of the planned working scenarios, there is no routes recorded to the new target, the mission may be generated for the machine 1 to follow the prerecorded routes which are available such that the machine 1 may travel by as much as possible follow the one or more prerecorded routes 10, and autonomously navigate to the remaining distances, e.g., between the first and second positions 21 , 22.

[0170] • In constantly changing work areas, routes may be recorded only in the persistent busy “highways”, while recording routes in the flexible working places is considered too expensive. Examples herein may therefore be used to reduce time spent on tramming. At the same time a stress level of an operator and cognitive burden is reduced since there is more time between manual interaction and less machines to monitor or control.

[0171] In short, unusual or unpredicted tramming tasks are possible to perform autonomously by combining prerecorded routes with route-less autonomous tramming. In the above examples, the machine 1 may tram with full speed, where routes exist, and reduce to route-less speed where there are gaps in the recordings. When starting a route-less path, there may be no or few relaxed requirements on transition conditions such as angles, directions or coordinates. This means there are no issues going from a prerecorded route to route-less tramming. The other way, going from route-less tramming to joining a prerecorded route, requires that more strict transition conditions are fulfilled, e.g., with respect to a pose, articulation, and position. This is typically accomplished by simply giving the coordinates for where to transition to a prerecorded route, a bit longer than the intended start of the prerecorded route to overlap the prerecorded route and the autonomous navigation without using the prerecorded route, before transitioning to said prerecorded route. In this way, the machine 1 may have time to properly align with the prerecorded route and transition conditions may easily be met.

[0172] As part of some examples herein, the mission may be generated, e.g., as in action 305, with respect to a predefined or obtained number of Point of Interests (Pol) and the one or more prerecorded routes 10, and potentially any other prerecorded route which is not used when the mission has been generated, i.e. , some routes may be discarded if they are not used for the mission. When the mission is generated, e.g., as part of action 305, the path from the departure position 41 to the destination position 42 may be generated to comprise the one or more prerecorded routes 10 such that a combination of the one or more prerecorded routes 10, and the first and second positions 21,22 are sufficiently close to the Pols, if needed more positions may also be added such that the combination of following the one or more prerecorded routes, and navigating autonomously allows the machine 1 to reach all of the Pols of the obtained or predefined number of Pols, or at least travel within a distance from each Pol of the obtained or predefined number of Pols .

[0173] Fig. 6 illustrates an example of a control unit. To perform exemplary embodiments herein, e.g. the method according to any of actions 301-309 above, the control unit 70 may be utilized. The control unit 70 may be arranged in a remote location, e.g. as part of a server, control station, or a cloud service, or may be located in the mining environment 100, e.g. comprised in the machine 1.

[0174] The control unit 70 may comprise an arrangement depicted in Fig.6. The control unit 70 may comprise an input and output interface 600 e.g. for communicating with network entities, e.g., a server controlling the control unit 70, the machine 1 when the control unit 70 is arranged remote from the machine 1 , and / or with the central route planning system 90. The control unit 70 may be able to control any suitable aspects of the machine 1 and may be able to obtain any suitable information using sensors of the machine 1 , or by obtaining information from any other suitable entity.

[0175] 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.

[0176] The control unit 70 may be arranged for navigating the machine 1 between the departure position 41 and the destination position 42.

[0177] The control unit 70 is configured to: obtain the departure position 41 and the destination position 42, generate a mission comprising a traversable path from the departure position 41 to the destination position 42, which path comprises a combination of: the one or more prerecorded routes 10 for the machine 1 to follow, and the first position 21 and the second position 22.

[0178] The machine 1 is arranged to navigate autonomously between the first 21 and the second position 22. The autonomous navigation may be controlled by the control unit 70.

[0179] The control unit 70 is configured to establish a transition condition for transitioning the machine 1 from following a first prerecorded route 11 or navigating autonomously between the first position 21 and the second position 22, to following the second prerecorded route 12 or navigating autonomously between the third position 23 and the fourth position 24.

[0180] The control unit 70 may further be configured to perform any of the actions of the method below, or to perform any suitable features described in the examples herein.

[0181] The exemplary embodiments herein may be implemented through a processor 660 in the control unit 70, depicted in Fig. 6, together with a computer program 680 comprising instructions, which when executed by the processor 660, causes the processor 660 to perform the functions and actions of the examples herein

[0182] In some examples, a respective carrier 690 comprises the respective computer program 680, wherein the carrier 690 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 memory stick. The computer program 680 may furthermore be provided as pure program code on a server and downloaded to the control unit 70.

[0183] The control unit 70 may further comprise a memory 670 comprising one or more memory units. The memory 670 comprises instructions executable by the processor 660 control unit 70. The memory 670 is arranged to be used to store e.g. information, indications, data, configurations, measurements, and applications to perform the exemplary embodiments herein when being executed in the control unit 70.

[0184] 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 processor 660. The processor 660 may comprise one or more processors and / or other digital hardware, e.g., an Application-Specific Integrated Circuitry (ASIC), which may be distributed among several separate components or assembled into a system-on-a-chip (SoC). 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.

Claims

CLAIMS1. A method for navigating a machine (1) between a departure position (41) and a destination position (42), the method comprising: obtaining (301) the departure position (41) and the destination position (42), generating (305) a mission comprising a traversable path from the departure position (41) to the destination position (42), which path comprises a combination of: o one or more prerecorded routes (10) for the machine (1) to follow, and o a first (21) and a second position (22) wherein the machine (1) is arranged to navigate autonomously between the first (21) and the second position (22); and- wherein at least one of the first (21) and the second position (22) respectively coincide with any of the one or more prerecorded routes (10), and wherein the departure position (41) and the destination position (42) respectively coincide with any of the first position (21), the second position (22), or any of the one or more prerecorded routes (10), and- wherein the method further comprises establishing (306) a transition condition for transitioning the machine (1) from following a first prerecorded route (11) or navigating autonomously between the first (21) and the second position (22), to following a second prerecorded route (12) or navigating autonomously between a third (21, 23) and a fourth position (22, 24).

2. The method of claim 1 further comprising transmitting (307) an indication of the mission to the machine (1), thereby triggering the machine (1) to initiate travelling the path of the mission.

3. The method of any of claims 1-2 wherein the method comprises: detecting (308) a traffic condition associated with the mission, and updating (309) the mission based on the detection of traffic condition.

4. The method of any of claims 1-3, further comprising updating the mission by adding to the path of the mission: one or more additional prerecorded route(s) for the machine (1) to follow, and / or one or more additional positions(s) to which the machine (1) is arranged to autonomously navigate.

5. The method of any of claims 3-4, wherein the traffic condition is associated with a detected or predicted presence of a second machine in the path of the mission or within a distance of the machine (1).

6. The method of any of claims 1-5, wherein establishing (306) the transition condition comprises establishing a transition condition for the machine (1) to follow the second prerecorded route (12) only when the machine (1) is located within an area comprising the second prerecorded route (12) and only when the machine (1) is aligned with an allowed travel direction of the second prerecorded route (12).

7. The method of any of claims 1-6, wherein establishing (306) the transition condition comprises establishing a transition condition for the machine (1) to initiate navigating autonomously between the third and the fourth position only when the machine (1) is located within a predetermined distance from the third or the fourth position.

8. The method of any of claims 1-7, wherein the machine (1) is configured for navigating autonomously between the first (21) and the second position (22) at least partly by navigating autonomously to an intermediate position arranged between the first (21) and the second position (22).

9. The method of any of claims 8, wherein the method further comprises determining (304) the intermediate position.

10. The method of any of claims 1-9, further comprising: receiving (302a) information of the one or more prerecorded routes (10), and generating (305) the mission based on the received information.

11. The method of claim 10, further comprising determining (303) the first (21) and the second position (22) based on the received information and a global map relevant to the mission.

12. The method of any of claims 10-11, wherein the information indicates the first (21) and the second position (22) with respect to the global map relevant to the mission.

13. The method of any of claims 10-12, wherein the information indicates an intermediate position arranged between the first (21) and the second position (22).

14. The method of any of claims 10-13, wherein the information is received from a central route planning system (90).

15. A control unit (70) for navigating a machine (1) between a departure position (41) and a destination position (42), the control unit being configured to: obtain the departure position (41) and the destination position (42), generate a mission comprising a traversable path from the departure position (41) to the destination position (42), which path comprises a combination of: o one or more prerecorded routes (10) for the machine (1) to follow, and o a first (21) and a second position (22) wherein the machine (1) is arranged to navigate autonomously between the first (21) and the second position (22); and- wherein at least one of the first (21) and the second position (22) respectively coincide with any of the one or more prerecorded routes (10), and wherein the departure position (41) and the destination position (42) respectively coincide with any of the first position (21), the second position (22), or any of the one or more prerecorded routes (10), and establish a transition condition for transitioning the machine (1) from following a first prerecorded route (11) or navigating autonomously between the first (21) and the second position (22), to following a second prerecorded route (12) or navigating autonomously between a third and a fourth position.

16. A mining and / or construction machine (1) configured to perform a mission for navigating the machine (1) between a departure position (41) and a destination position (42), the mission comprising a traversable path from the departure position (41) to the destination position (42), which path comprises a combination of: o one or more prerecorded routes (10) for the machine (1) to follow, and o a first (21) and a second position (22) wherein the machine (1) is arranged to navigate autonomously between the first and second position (22); and- wherein at least one of the first (21) and the second position (22) respectively coincide with any of the one or more prerecorded routes (10), and wherein the departure position (41) and the destination position (42) respectively coincide with any of the first position (21), the second position (22), or any of the one or more prerecorded routes (10), and- wherein a transition condition is established for transitioning the machine (1) from following a first prerecorded route (11) or navigating autonomously between the first (21) and the second position (22), to following a second prerecorded route (12) or navigating autonomously between a third and a fourth position.

17. The mining and / or construction machine (1) of claim 16, wherein the mission comprises transporting materials from the departure position (41) to the destination position (42), or to collect materials at the destination position (42).

18. The mining and / or construction machine (1) of claim 16 or 17 wherein the machine (1) comprises the control unit according to claim 15.

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

20. A carrier comprising the computer program of claim 19, 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.

Images