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 receiving (201) machine data related to one or more second machines operating in the mining environment. The machine data comprise positioning data related to the respective one or more second machines. The method comprises estimating (202), based on the positioning data, a respective current position of the one or more second machines. The method comprises selecting (204), based on the respective estimated positions, an operating mode out of a set of operating modes for the first machine.

Description

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

[0002] TECHNICAL FIELD

[0003] Embodiments herein relate to a method and a control unit for operating a machine in a mining and / or delimited environment. Embodiments, herein further relate to a machine configured to operate a mining and / or delimited environment.

[0004] BACKGROUND

[0005] 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.

[0006] Hence there is a strive to improve safety and productivity.

[0007] SUMMARY

[0008] An object of embodiments herein is to provide a mechanism that improves safety and productivity in a delimited environment, , such as a mining environment. The object is achieved by the independent claims.

[0009] According to a first aspect, a method for operating a first machine in a mining environment is provided.

[0010] The method comprises receiving machine data related to one or more second machines operating in the mining environment. The machine data comprise positioning data related to the respective one or more second machines.

[0011] The method comprises estimating, based on the positioning data, a respective current position of the one or more second machines. The method comprises selecting, based on the respective estimated positions, an operating mode out of a set of operating modes for the first machine.

[0012] In this way, it is possible to improve productivity in the mining environment by allowing the first machine to operate at different operating modes based on the estimated position of one or more second machines.

[0013] In some exemplary embodiments, the method further comprises evaluating the respective estimated current position of the one or more second machines in relation to a current position of the first machine.

[0014] In this way, further improved productivity while maintaining safety is achieved. This is since the evaluation may enable a more suitable operating mode to be selected.

[0015] In some exemplary embodiments, the evaluating comprises estimating a distance between the first machine and the respective one or more second machines. The operating mode may further be selected based on the determined distance.

[0016] In this way, further improved productivity while maintaining safety is achieved. This is since taking the distance into account when selecting the operating mode may enable a more suitable operating mode to be selected. In other words, the operating mode of the first machine may be selected based on whether the first machine is at risk of operating close to the second machine.

[0017] In some exemplary embodiments, the evaluation is based on one or more first operation parameters related to the first machine. The one or more operational parameters comprise any one or more out of a velocity of the first machine, a route associated with the first machine, a mission performed by the first machine, and a type of machine of the first machine.

[0018] In this way, further improved productivity while maintaining safety is achieved. This is since the evaluation may enable a more suitable operating mode to be selected when taking the one or more first parameters into account. 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.

[0019] In some exemplary embodiments, the machine data may further comprise a first time stamp associated with the positioning data. The respective position may further be estimated based on the first time stamp.

[0020] In this way, further improved productivity while maintaining safety is achieved. This is since the first time stamp may enable a more accurate position estimation. In particular, the more accurate estimation may enable are more suitable operating mode to be selected. In some exemplary embodiments, receiving the machine data may further comprise associating the machine data with a second time stamp. The second time stamp may indicate a time when the machine data was received. The respective position may further be estimated based on the second time stamp.

[0021] In this way, further improved productivity while maintaining safety is achieved. This is since the second time stamp may enable a more accurate position estimation. In particular, the more accurate estimation may enable are more suitable operating mode to be selected.

[0022] In some exemplary embodiments, the machine data may further comprise a respective set of one or more second operational parameters associated with the one or more second machines. The respective position may further be estimated based on the respective set of second operation parameters.

[0023] In this way, further improved productivity while maintaining safety is achieved. This is since the set of one or more second operational parameters may enable a more accurate position estimation. In particular, the more accurate estimation may enable are more suitable operating mode to be selected.

[0024] In some exemplary embodiments, the set of second operational parameters may comprise one or more parameters related to any one or more out of a velocity of the second machine, a route associated with the second machine, a mission performed by the second machine, and a type of machine of the second machine.

[0025] In some exemplary embodiments, the respective current position of the one or more second machines may further be estimated based on a spatial representation of the mining environment 100.

[0026] In this way, further improved productivity while maintaining safety is achieved. This is since the spatial representation may enable a second machine to be excluded from the selection of the operating mode. In particular, the exclusion of one or more second machines from the selection may enable are more suitable operating mode to be selected.

[0027] In some exemplary embodiments, after a first time period, when no further machine data has been received for at least one of the one or more second machines, the method may comprise repeating the steps of estimating, selecting, and optionally evaluating. The steps may be repeated for the at least one of the one or more second machines based on the last received machine data associated with the at least one of the one or more second machines. In this way, further improved productivity while maintaining safety is achieved. This is since the position may be estimated even though machine data for a second machine has not been received. This may allow a more suitable operating mode to be selected.

[0028] In some exemplary embodiments, the operating modes in the set of operating modes may be related to different respective safety levels for operating the first machine. The operating modes of the set of operating modes may comprise one or more third operational parameters relating to any one or more out of a maximum speed of the first machine, a safety system of the first machine, sensors of the first machine, and allowed operations of the first machine. In this way, it is possible to improve productivity while maintaining safety in the mining environment by allowing the first machine to operate at operating modes related different safety levels. The different safety levels may be related to different levels of operational restrictions, thus a more suitable operating mode may be selected since the granularity is increased.

[0029] In some exemplary embodiments, the steps in the method, such as any one or more out of receiving machine data, estimating the respective current position of the one or more second machines, evaluate the respective estimated current position and selecting the operating mode, may be performed by e.g., a control unit comprised in the first machine or by the first machine itself.

[0030] According to a second aspect, a control unit in a first machine configured to operate the first machine in a mining environment is provided.

[0031] The control unit is further configured to receive machine data related to one or more second machines configured to operate in the mining environment. The machine data is adapted to comprise positioning data related to the respective one or more second machines.

[0032] The control unit is further configured to estimate, based on the positioning data, a respective current position of the one or more second machines.

[0033] The control unit is further configured to select, based on the respective estimated positions, an operating mode out of a set of operating modes for the first machine.

[0034] 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.

[0035] 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. 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0042] BRIEF DESCRIPTIONS OF DRAWINGS

[0043] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0044] Fig. 1 shows an example of a mining environment according to embodiments herein.

[0045] Fig. 2 shows a flowchart depicting a method according to embodiments herein. Fig. 3 is a schematic block diagram illustrating exemplary embodiments herein.

[0046] Fig. 4 is a schematic block diagram illustrating exemplary embodiments herein.

[0047] Fig. 5 is a schematic block diagram illustrating exemplary embodiments herein.

[0048] Fig. 6 shows an example of a first machine.

[0049] Fig. 7 shows schematic block diagrams illustrating embodiments of a control unit.

[0050] DETAILED DESCRIPTION

[0051] An object of embodiments herein is to provide a mechanism that improves safety and productivity in a delimited environment, such as mining environment. The object is achieved by the independent claims.

[0052] Embodiments herein bring the advantage of increased operational safety. This may be achieved by making it possible to operate machines according to an operating mode selected based on an estimated position of another machine. Further, embodiments herein may bring the advantage of an improved productivity in the mining environment. This by avoiding to completely stop operations of the machine in case a position of another machine in the mining environment cannot be determined or another machine in mining environment is considered to interfere with the machine based on the position of the other machine.

[0053] Fig. 1 shows a schematic illustration of a mining environment 100 according to 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.

[0054] The mining environment 100 may comprise various passages and paths surrounded by rock foundation. Due to being underground and / or due to the rock foundation, 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 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.

[0055] The mining environment 100 comprises one or more machines, such as a first machine 1 and one or more second machines 2.

[0056] Each machine, 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.

[0057] For example, the first machine 1 and / or the second machine 2, may respectively be any type of fixed or mobile machine.

[0058] Additionally or alternatively, the first machine 1 and / or the second machine 2, may respectively be any type of light vehicle, heavy vehicle, or unmanned aerial vehicle.

[0059] As an example, the first machine 1 and / or the one or more second machines 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.

[0060] The first machine 1 and / or the one or more second machines 2, may respectively be autonomous or at least partly autonomous.

[0061] The first machine 1 and / or the one or more second machines 2, may respectively be remote controlled.

[0062] The first machine 1 and / or the one or more second machines 2, respectively may or may not have an operator present within the machine.

[0063] The first machine 1 and / or the one or more second machines 2, may respectively comprise any suitable sensors and / or communication devices for positioning the respective vehicle. The first machine 1 and / or the one or more second machines 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,

[0064] 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 three-dimensional (3d) cameras, and / or using one or more infrared (IR) cameras, and

[0065] Radar detection and ranging (Radar) based positioning.

[0066] Satellite based positioning, such as Global Navigation Satellite System (GNSS), Global Positioning System (GPS), etc.

[0067] 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 one or more second machines 2, with defined features or entities of a respective map.

[0068] The first machine 1 and / or the one or more second machines 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 data, e.g., as part of transmitted machine data. The positioning data and / or the machine data, may be transmitted periodically and / or aperiodically, e.g., based on triggering events.

[0069] The first machine 1 and one or more second machines 2 operate in the mining environment 100. In order to keep track of the one or more second machines 2, the first machine 1 may, periodically or aperiodically, receive machine data related to the one or more second machines 2. The machine data may comprise positioning data related the one or more second machines 2. In some examples, the machine data may further comprise a time stamp related to the positioning data and / or operational parameters related to the respective one or more second machines 2. The first machine estimates a current position of the respective one or more second machines 2, e.g., based on the positioning data in the machine data. This enables the first machine 1 to gain knowledge of the current position of the one or more second machines 2. The respective estimated positions is used to select an operating mode for the first machine 1. The operating mode may be selected from a set of different operating modes.

[0070] Fig. 2 shows an example embodiment of a method performed for operating the first machine 1 in the mining environment 100. The method may e.g., be performed by the control unit 10 in the first machine 1 , or by the first machine 1. 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 , the method may also be applied for any one or more of the one or more second machines 1.

[0071] Action 201

[0072] Machine data related to one or more second machines 2 operating in the mining environment 100 is received. The machine data comprise positioning data related to each of the respective one or more second machines 2. The machine data may e.g., be received from the respective one or more second machines 2. Alternatively, the machine data may e.g., be received from a central unit 20.

[0073] In some embodiments, the machine data may further comprise a first time stamp associated with the positioning data. The first time stamp may e.g., indicate the time at which the positioning data was created. This may e.g., enable the first machine 1 to determine the relevance of the positioning data, i.e. , the older the positioning data is, the less relevant it may be in relation to a current positioning of the associated second machine 2. Further, the first time stamp may be used when estimating the position of the one or more second machines 2, as explained further below.

[0074] In some embodiments, receiving the machine data may further comprise associating the machine data with a second time stamp. The second time stamp indicates a time when the machine data was received. The second time stamp may be used when estimating the position of the one or more second machines 2, as explained further below.

[0075] In some embodiments, the machine data further may comprise a respective set of one or more second operational parameters associated with the one or more second machines 2. The set of operational parameters may e.g., be used when estimating the current position of the second machine 2, as explained further below.

[0076] The set of second operational parameters may comprise one or more parameters related to any one or more out of:

[0077] - a velocity of the second machine 2,

[0078] - a route associated with the second machine 2,

[0079] - a mission performed by the second machine 2, and - a type of machine of the second machine 2.

[0080] The velocity of the second machine 2 may, e.g., comprise the velocity at the time creating the positioning data. The route associated with the second machine 2 may e.g., indicate the route the second machine is driving. This may e.g., comprise the how the second machine 2 is planned to move from the time the machine data was created until the route is completed. Alternatively, it may comprise e.g., comprise the how the second machine 2 is planned to move during a time period starting when the time the machine data was created. The mission performed by the second machine 2 may e.g., drilling, loading, tramming, dumping, leveling, fueling and / or charging. The set of second parameters may further indicate whether the second machine is moving or not, a reason for not moving, such as waiting, queueing, and / or an estimated time until the second machine 2 will start moving.

[0081] Action 202

[0082] A respective current position of the one or more second machines 2 is estimated based on the positioning data. In other words, the positioning data is used to estimate a respecting current position of the one or more second machines 2. In some examples, the mining environment 100 may be divided into a plurality of safety zones, which may also be referred to as operational zones. The current position of the one or more second machines 2 may e.g., be estimated for machines operating in a same safety zone as the first machine 1. Thus, estimating the respective current position of the one or more second machines 2 may comprise determining, e.g., based on the position data, whether the respective one or more second machines 2 operates in the same safety zone as the first machine 1. Machine data related to any machine operating outside said safety zone may be discarded.

[0083] In some embodiments, the respective current position is further estimated based on the first time stamp. This may mean that the first stamp is taken into account when current position of a second machine 2. E.g., the first time stamp may be compared with a current time, and the difference between the first time stamp and the current time is taken into account during the estimation. Since the second machine 2 may have moved during the time between the first stamp and the current time, this may enable possible movement of the second machine 2 to be taken into account for the estimation.

[0084] In some embodiments, the respective position is further estimated based on the second time stamp. This may mean that the second stamp is taken into account when current position of a second machine 2. E.g., the second time stamp may be compared with a current time, and the difference between the second time stamp and the current time is taken into account during the estimation. Since the second machine 2 may have moved during the time between the second stamp and the current time, this may enable possible movement of the second machine 2 to be taken into account for the estimation.

[0085] In another example, the second time stamp is compared to first time stamp in order to handle situations when the clocks in the first machine 1 and a second machine 2 is not calibrated. If the difference between the first time stamp and the second time stamp e.g., exceeds a time threshold, it may be determined that the clocks are not calibrated and the second time stamp may be used instead of the first time stamp. Thus, in some embodiments, the respective position is estimated based on the second time stamp when the difference between the first time stamp and the second time stamp exceeds the time threshold.

[0086] In some embodiments, the respective position is further estimated based on the respective set of second operation parameters. By taking the respective set of second operational parameters into account when estimating the respective current position, the accuracy of the estimation may be increased. E.g., the velocity of the second machine 2 may be used to estimate how far the second machine 2 has moved since the position data was created. This may provide an indication of a distance between a current position and the position the second machine 2 was located at when the positioning data was created. The route of the second machine 2 may indicate future movements of the second machine 2. Thus, when estimating the current position taking the route of the second machine 2 into account, the estimation may e.g., result in an estimated current position along said route. The mission performed by the second machine 2 may also be used. E.g., if the mission is drilling, this may indicate that the second machine 2 is stationary, and thus not likely to move. If the mission is e.g., tramming, this may indicate that the second machine 2 is currently moving, and likely to continue moving, at least until it has reached its destination. Said destination may also be indicated by the mission.

[0087] In some embodiments, the respective current position of the one or more second machines 2 is further estimated based on a spatial representation of the mining environment 100. The spatial representation may e.g., comprise a map of the mining environment 100. The spatial representation may be a two-dimensional representation or a three-dimensional representation of the mining environment 100. By taking the spatial representation of the mining environment 100 into account, the current position of a second machine 2 may be more accurately determined. E.g., possible movements of the second machine 2 may be determined based on the spatial representation, and the current position may be estimated taking the possible movements of the into account. Further, by combining the spatial representation with the set of second operational parameters, the accuracy of estimation may be even further increased.

[0088] Action 203

[0089] In some embodiments, the respective estimated current position of the one or more second machines 2 is evaluated in relation to a current position of the first machine 1. The evaluation may e.g., comprise comparing the respective estimated current position of the one or more second machines 2 with the current position of the first machine 1. By evaluating the respective estimated current position of the on or more second machines 2, it may e.g., be determined whether the operations of the first machine 1 needs to be adapted.

[0090] The evaluation may e.g., be based on one or more one or more first operational parameters related to the first machine 1. The one or more first operational parameters comprises any one or more out of:

[0091] - a velocity of the first machine 1 ,

[0092] - a route associated with the first machine 1,

[0093] - a mission performed by the first machine 1, and

[0094] - a type of machine of the first machine 1.

[0095] The velocity of the first machine 1 may, e.g., comprise the current velocity of the first machine 1. The route associated with the first machine 1 may e.g., indicate the route the first machine 1 is driving. This may e.g., comprise the how the first machine 1 is planned to move from current time until the route is completed. Alternatively, it may e.g., comprise the how the first machine 1 is planned to move during a time period starting at the current time. The mission performed by the first machine 1 may e.g., drilling, loading, tramming, dumping, leveling, fueling and / or charging. The one or more first parameters may further indicate whether the first machine 1 is moving or not and / or an estimated time until the first machine 1 will start moving.

[0096] E.g., by using the one or more first operational parameters when evaluating, it may be determined whether or not the first machine 1 and one of the one or more second machines 2 may meet, e.g., withing a predetermined time period. Alternatively, or additionally, a probability that the first machine 1 and one of the one or more second machines 2 may meet, e.g., within the predetermined time period, may be determined.

[0097] In some embodiments, evaluating the respective estimated current position comprises estimating a distance between the first machine 1 and the respective one or more second machines 2. The estimating the distance may e.g., comprise taking the spatial representation of the mining environment 100. The estimated distance may be the actual distance along an available path in the mining environment 100. Thus, the distance may be estimated by calculating the distance between the current position of the first machine 1 and the respective second machine 2 along the possible paths between said positions. When more than one path is possible, the estimated distance may comprise the distance along the path resulting in the shortest distance.

[0098] Action 204

[0099] An operating mode out of a set of operating modes is selected for the first machine 1 based on the respective estimated positions. E.g., the operating mode may be selected based on whether a respective estimated position is located within an area of the mining environment 100 surrounding the first machine 1. The area may be determined based on the spatial representation of the mining environment 100. This may mean that the area may follow available paths in the mining environment 100. The area may be directed in the direction of movement of the first machine 1 , or it may be directed in all directions from the first machine 1.

[0100] In some embodiments, the operating mode is further selected based on the estimated distance. E.g., a longer estimated distance may result in selecting a less restrictive operating mode compared to a shorter estimated distance. When more than one distance has been estimated, i.e., a current position has been estimated for more than one second machine 2, the shortest estimated distance may be used for selecting the operating mode. Further, the operating mode may be selected taking one or more distance thresholds into account. E.g., if the distance is below a first threshold, a more operating mode may be selected compared to of the distance is above the first threshold. Similarly, if the distance is above the first threshold but below a second threshold, the selected operating mode may be less restrictive compared to a operating mode selected when the distance is below the first threshold, and more restrictive than if the distance is above the second threshold. If the distance e.g., is above the second threshold, a operating mode no restrictions other than the constraints of the mining environment 100.

[0101] In the examples above, only one or two thresholds were mentioned. However, any number of thresholds may be defined and used.

[0102] In some embodiments, the operating mode is selected based on the one or more first operational parameters related to the first machine 1. The one or more first operational parameters may, as mentioned above, comprises any one or more out of a velocity of the first machine 1, a route associated with the first machine 1, a mission performed by the first machine 1, and a type of machine of the first machine 1. E.g., the operating mode may be selected based on the route associated with the first machine 1. If the route of the first machine 1 will not pass the respective estimated position of the one or more second machines 2, a less restrictive operating mode may be selected compared to if the route of the first machine 1 will pass one or more of the respective estimated positions. Thus, the operating mode of the first machine 1 may be selected such that the negative impact on productivity is minimized while not decreasing the safety in the mining environment.

[0103] In some embodiments, the operating modes of the set of operating modes is related to different respective safety levels for operating the first machine 1. The operating modes of the set of operating modes comprises one or more third operational parameters related to any one or more out of:

[0104] - a maximum speed of the first machine 1,

[0105] - a safety system of the first machine 1 ,

[0106] - sensors of the first machine 1 , and

[0107] - allowed operations of the first machine 1.

[0108] E.g., a safety level may restrict the maximum speed the first machine 1 is allowed to move at. In another example, a safety level may indicate one or more safety systems in the first machine 1 to be activated. In another example, a safety level may indicate one or more sensors to be activated. In another example, a safety level may indicate one or more allowed operations in the first machine 1. A safety level may comprise any one or more of the above examples. The different safety levels may relate to different operational restrictions. A higher safety level may relate to stricter operational restrictions than a lower safety level.

[0109] Selecting the operating mode may further be based on a type of the second machine 2. In other words, the first machine 1 may select 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 select with an operating mode allowing the first machine 1 to drive with a speed higher than if the second machine 2 is a machine hosting an operator.

[0110] In some embodiments, after a first time period, when no further machine data has been received for at least one of the one or more second machines 2, the steps of estimating, selecting, and optionally evaluating, may be repeated. The steps are repeated for the at least one of the one or more second machines 2 based on the last received machine data associated with the at least one of the one or more second machines 2.

[0111] This way, the position of a second machine 2 may be estimated even if a transmission of machine data related to the second machine 2 has failed, e.g., due to loss of network connection in either of the first machine 1 or the second machine 2. If the estimated position of the at least one of the one or more second machines 2 is outside the safety area the first machine 1 is operating in, the steps of selecting, and optionally evaluating, may be ignored and further repetition of the method may be stopped, unless new machine data for the at least one of the one or more second machines 2 is received.

[0112] In some embodiments, following the selection of the operating mode, the first machine 1 is operated according to the selected operating mode. This may e.g., comprise operating the first machine according to the one or more third parameters associated with the selected operating mode.

[0113] 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. In this example scenario, the first machine 1 receives machine data, comprising positioning data, from the second machine 2, e.g., as described in Action 201. The first machine 1 estimates the current position of the second machine 2 using the position data and the first time stamp associated with the positioning data, e.g., as described in Action 202. The estimated current position is shown as the dashed circle 2a. In this example, the first machine 1 has no information of mission, machine type, velocity or route of the second machine 2, such as the set of second operational parameters. Thus it is estimated that position of the second machine 2 is anywhere inside the area 2a. based on the estimated current, the first machine 1 selects an operating mode from the set of operating modes, e.g., as described in Action 204. In order or increase safety in the mining environment 100, while avoiding stopping operations, an operating mode associated with a high safety level may be selected due to the inaccuracy of the estimation.

[0114] Fig.4 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. In this example scenario, the first machine 1 receives machine data, comprising positioning data, from the second machine 2, e.g., as described in Action 201. The first machine 1 estimates the current position of the second machine 2 using the position data and the first time stamp associated with the positioning data, e.g., as described in Action 202. In this example, the estimation is further based on the set of second operational parameters. Said parameter indicates, in this example the route and velocity of the second machine 2. Thus, compared to the example in Fig. 3, the estimation may result in a more accurate estimated position. The estimated current position is shown as the dashed box 2. The estimated position is evaluated, e.g., as described in Action

[0115] 203. In this example, the evaluation takes the set of second operational parameters into account. Thus it may be determined the second machine 2 moves away from the first machine 1. The first machine 1 selects an operating mode based on the estimated current position and the evaluation of said estimated current position, e.g., as described in Action

[0116] 204. Since the evaluation determined that the second machine 2 is moving away from the first machine 1, the selected operating mode may be associated with a low safety level, or at least a lower safety level compared to the example in Fig.3.

[0117] Fig.5 illustrates an example scenario according to one or more example embodiments herein. In the mining environment 100, the first machine 1 and two second machines, second machine 2 and second machine 2’, operate. In this example scenario, the first machine 1 receives machine data, comprising positioning data, from the second machines 2, 2’, e.g., as described in Action 201. The first machine 1 estimates the current position of the second machine 2 using the position data and the first time stamp associated with the positioning data, e.g., as described in Action 202. In this example, the estimation is further based on the set of second operational parameters. Said parameter indicates, in this example the route and velocity of the second machine 2. Thus, compared to the example in Fig. 3, the estimation may result in a more accurate estimated position. The estimated current position is shown as the dashed boxes 2, 2’. The estimated current positions are evaluated, e.g., as described in Action 203. In this example, the evaluation takes the set of second operational parameters and the spatial representation of the mining environment 100 into account. Thus it may be determined the second machine 2 moves away from the first machine 1. It may further be determined using the spatial representation of the mining environment 100, that the second machine 2 is located in a different tunnel from the first machine 1, and that the tunnels are not connected. This may mean that the when selecting the operating mode, the estimated current position of the second machine 2’ may be ignored. The first machine 1 selects an operating mode based on the estimated current position of only the second machine 2 and the evaluation of said estimated current position, e.g., as described in Action 204. Since the evaluation determined that the second machine 2 is moving away from the first machine 1, the selected operating mode may be associated with a low safety level, or at least a lower safety level compared to the example in Fig.3. Fig. 6 depicts a schematic view of the first machine 1 according to example of embodiments of the present invention. In Fig. 6, the first machine 1 is depicted as a LHD machine. This should not be seen as limiting to the scope, but is merely shown as an example of a first machine 1. The first machine 1 may be any other type of machine. The first machine 1 may be configured to operate in the mining environment 100 according to embodiments herein. Fig. 6 further shows the control unit 10 comprised in the machine 1. The control unit 10 may be configured to operate the first machine 1 in the mining environment 100 according to embodiments herein.

[0118] The control unit 10 may comprise an arrangement depicted in Fig. 7. To perform embodiments herein, e.g. the method according to actions 201-204 above, the control unit 10 is configured to operate the first machine 1 in the mining environment 100.

[0119] The control unit 10 may comprise an input and output interface 700 e g. configured to communicate with each other. The input and output interface 700 may comprise a wireless or wired receiver not shown, a transceiver, one or more antennas, and / or a wired or wireless transmitter not shown. The input and output interface 700 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.

[0120] The embodiments herein may be implemented through a respective processor or one or more processors, such as at least one processor 760 of a processing circuitry in the control unit 10 depicted in Figure 7, together with computer program code for performing the functions and actions of the embodiments herein. The program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code for performing the embodiments herein when being loaded into the control unit 10. One such carrier may be in the form of a CD ROM disc. It is however feasible with other data carriers such as a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the control unit 10.

[0121] The control unit 10 and / or the processor 760 is further configured to receive machine data related to one or more second machines 2 configured to operate in the mining environment 100. The machine data is adapted to comprise positioning data related to the respective one or more second machines 2.

[0122] The control unit 10 and / or the processor 760 is further configured to estimate, based on the positioning data, a respective current position of the one or more second machines 2. The control unit 10 and / or the processor 760 is further configured to select, based on the respective estimated positions, an operating mode out of a set of operating modes for the first machine 1.

[0123] In some exemplary embodiments, the control unit 10 and / or the processor 760 is further configured to:

[0124] Evaluate the respective estimated current position of the one or more second machines 2 in relation to a current position of the first machine 1.

[0125] In some exemplary embodiments, to evaluate the respective estimated current position is adapted to comprise to estimate a distance between the first machine 1 and the respective one or more second machines 2. The operating mode may further be adapted to be selected based on the determined distance.

[0126] In some exemplary embodiments, to evaluate the respective estimated current position is adapted to be based on one or more first operation parameters related to the first machine 1. The one or more operational parameters is adapted to comprise any one or more out of:

[0127] - A velocity of the first machine 1 ,

[0128] - a route associated with the first machine 1,

[0129] - a mission performed by the first machine 1, and

[0130] - a type of machine of the first machine 1.

[0131] In some exemplary embodiments, the machine data is further adapted to comprise a first time stamp associated with the positioning data, the control unit 10 and / or the processor 760 may further be configured to estimate the respective position based on the first time stamp.

[0132] In some exemplary embodiments, to receive the machine data is further adapted to comprise to associate the machine data with a second time stamp. The second time stamp may be adapted to indicate a time when the machine data was received. The control unit 10 and / or the processor 760 may further be configured to estimate the respective position based on the second time stamp.

[0133] In some exemplary embodiments, the machine data is further adapted to comprise a respective set of one or more second operational parameters associated with the one or more second machines 2. The control unit 10 and / or the processor 760 may further be configured to estimate the respective position based on the respective set of second operation parameters.

[0134] In some exemplary embodiments, the set of second operational parameters is adapted to comprise one or more parameters related to any one or more out of: - A velocity of the second machine 2,

[0135] - a route associated with the second machine 2,

[0136] - a mission performed by the second machine 2, and

[0137] - a type of machine of the second machine 2.

[0138] In some exemplary embodiments, the control unit 10 and / or the processor 760 is further configured to estimate the respective estimated current position based on a spatial representation of the mining environment 100.

[0139] In some exemplary embodiments, the control unit 10 and / or the processor 760 is further configured to: After a first time period, when no further machine data has been received for at least one of the one or more second machines 2, repeat the steps of estimate, select, and optionally evaluate. The steps are repeated for the at least one of the one or more second machines 2 based on the last received machine data associated with the at least one of the one or more second machines 2.

[0140] In some exemplary embodiments, the operating modes in the set of operating modes are adapted to be related to different respective safety levels for operating the first machine 1. The operating modes of the set of operating modes are adapted to comprise one or more third operational parameters related to any one or more out of:

[0141] - A maximum speed of the first machine 1,

[0142] - a safety system of the first machine 1 ,

[0143] - sensors of the first machine 1 , and

[0144] - allowed operations of the first machine 1.

[0145] The control unit 10 may further comprise a memory 770 comprising one or more memory units. The memory 770 comprises instructions executable by the processor 760 in the control unit 10. The memory 770 is arranged to be used to store e.g. information, indications, machine data, position data, operating modes, operational parameters, positions, estimation, evaluations, spatial arrangements, data, configurations, and applications to perform the methods herein when being executed in the control unit 10.

[0146] In some embodiments, a computer program 780 comprises instructions, which when executed by the respective at least one processor 760, cause the at least one processor 760 of the control unit 10 to perform the actions above.

[0147] In some embodiments, a respective carrier 790 comprises the respective computer program 780, wherein the carrier 790 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium. Thus, embodiments herein may disclose the control unit 10 configured to operate the first machine 1 in the mining environment 100. The control unit 10 comprises the processor 760 and the memory 770, said memory 770 comprising instructions executable by said processor 760 whereby said control unit 10 is operative to perform any of the methods herein.

[0148] As will be readily understood by those familiar with communications design, that functions means or modules may be implemented using digital logic and / or one or more microcontrollers, microprocessors, or other digital hardware. In some embodiments, several or all of the various functions may be implemented together, such as in a single application-specific integrated circuit (ASIC), or in two or more separate devices with appropriate hardware and / or software interfaces between them. Several of the functions may be implemented on a processor shared with other functional components of a base station, for example.

[0149] Alternatively, several of the functional elements of the processing means discussed may be provided through the use of dedicated hardware, while others are provided with hardware for executing software, in association with the appropriate software or firmware. Thus, the term “processor” or “controller” as used herein does not exclusively refer to hardware capable of executing software and may implicitly include, without limitation, digital signal processor (DSP) hardware, read-only memory (ROM) for storing software, random-access memory for storing software and / or program or application data, and non-volatile memory. Other hardware, conventional and / or custom, may also be included. Designers of communications receivers will appreciate the cost, performance, and maintenance trade-offs inherent in these design choices.

[0150] Any appropriate steps, methods, features, functions, or benefits disclosed herein may be performed through one or more functional units or modules of one or more virtual apparatuses. Each virtual apparatus may comprise a number of these functional units. These functional units may be implemented via processing circuitry, which may include one or more microprocessor or microcontrollers, as well as other digital hardware, which may include digital signal processors (DSPs), special-purpose digital logic, and the like. The processing circuitry may be configured to execute program code stored in memory, which may include one or several types of memory such as read-only memory (ROM), random-access memory (RAM), cache memory, flash memory devices, optical storage devices, etc. Program code stored in memory includes program instructions for executing one or more telecommunications and / or data communications protocols as well as instructions for carrying out one or more of the techniques described herein. In some implementations, the processing circuitry may be used to cause the respective functional unit to perform corresponding functions according one or more embodiments of the present disclosure. 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: receiving (201) machine data related to one or more second machines (2) operating in the mining environment (100), wherein the machine data comprise positioning data related to the respective one or more second machines (2), estimating (202), based on the positioning data, a respective current position of the one or more second machines (2), and selecting (204), based on the respective estimated positions, an operating mode out of a set of operating modes for the first machine (1).

2. The method according to claim 1, wherein the method further comprises: evaluating (203) the respective estimated current position of the one or more second machines (2) in relation to a current position of the first machine (1).

3. The method according to claim 2, wherein the evaluating (203) comprises estimating a distance between the first machine (1) and the respective one or more second machines (2), and wherein the operating mode is further selected based on the determined distance.

4. The method according to any of claims 2-3, wherein the evaluation (203) is based on one or more first operation parameters related to the first machine (1), which one or more operational parameters comprise any one or more out of:- a velocity of the first machine (1),- a route associated with the first machine (1),- a mission performed by the first machine (1), and- a type of machine of the first machine (1).

5. The method according to any of claims 1-4, wherein the machine data further comprises a first time stamp associated with the positioning data, and wherein the respective position is further estimated (202) based on the first time stamp.

6. The method according to any of claims 1-5, wherein receiving (201) the machine data further comprises associating the machine data with a second time stamp, whichsecond time stamp indicates a time when the machine data was received, and wherein the respective position is further estimated (202) based on the second time stamp.

7. The method according to any of claims 1-6, wherein the machine data further comprises a respective set of one or more second operational parameters associated with the one or more second machines (2), and wherein the respective position is further estimated (202) based on the respective set of second operation parameters.

8. The method according to claim 7, wherein the set of second operational parameters comprises one or more parameters related to any one or more out of:- a velocity of the second machine (2),- a route associated with the second machine (2),- a mission performed by the second machine (2), and- a type of machine of the second machine (2).

9. The method according to any of claims 1-8, wherein the respective current position of the one or more second machines (2) is further estimated based on a spatial representation of the mining environment (100).

10. The method according to any of claims 1-9, further comprising: after a first time period, when no further machine data has been received for at least one of the one or more second machines (2), repeating the steps of estimating (202), selecting (204), and optionally evaluating (203), wherein the steps are repeated for the at least one of the one or more second machines (2) based on the last received machine data associated with the at least one of the one or more second machines (2).

11. The method according to any one of claims 1-10, wherein the operating modes in the set of operating modes is related to different respective safety levels for operating the first machine (1), and wherein the operating modes of the set of operating modes comprises one or more third operational parameters relating to any one or more out of:- a maximum speed of the first machine (1),- a safety system of the first machine (1),- sensors of the first machine (1), and- allowed operations of the first machine (1).

12. A control unit (10) in a first machine (1) configured to operate the first machine (1) in a mining environment (100), the control unit (10) further being configured to: receive machine data related to one or more second machines (2) configured to operate in the mining environment (100), wherein the machine data is adapted to comprise positioning data related to the respective one or more second machines (2), estimate, based on the positioning data, a respective current position of the one or more second machines (2), and select, based on the respective estimated positions, an operating mode out of a set of operating modes for the first machine (1).

13. The control unit (10) according to claim 12, wherein the control unit (10) is further configured to: evaluate the respective estimated current position of the one or more second machines (2) in relation to a current position of the first machine (1).

14. The control unit (10) according to claim 13, wherein to evaluate the respective estimated current position is adapted to comprise to estimate a distance between the first machine (1) and the respective one or more second machines (2), and wherein the operating mode is further adapted to be selected based on the determined distance.

15. The control unit (10) according to any of claims 13-14, wherein to evaluate the respective estimated current position is adapted to be based on one or more first operation parameters related to the first machine (1), which one or more operational parameters is adapted to comprise any one or more out of:- a velocity of the first machine (1),- a route associated with the first machine (1),- a mission performed by the first machine (1), and- a type of machine of the first machine (1).

16. The control unit (10) according to any of claims 12-15, wherein the machine data is further adapted to comprise a first time stamp associated with the positioning data, and wherein control unit (10) is further configured to estimate the respective position based on the first time stamp.

17. The control unit (10) according to any of claims 12-16, wherein to receive the machine data is further adapted to comprise to associate the machine data with a second time stamp, which second time stamp is adapted to indicate a time when the machine data was received, and wherein the control unit (10) is further configured to estimate the respective position based on the second time stamp.

18. The control unit (10) according to any of claims 12-17, wherein the machine data is further adapted to comprise a respective set of one or more second operational parameters associated with the one or more second machines (2), and wherein the control unit (10) is further configured to estimate the respective position based on the respective set of second operation parameters.

19. The control unit (10) according to claim 18, wherein the set of second operational parameters is adapted to comprise one or more parameters related to any one or more out of:- a velocity of the second machine (2),- a route associated with the second machine (2),- a mission performed by the second machine (2), and- a type of machine of the second machine (2).

20. The control unit (10) according to any of claims 12-19, wherein the control unit (10) is further configured to estimate the respective estimated current position based on a spatial representation of the mining environment (100).

21. The control unit (10) according to any of claims 12-20, further further being configured to: after a first time period, when no further machine data has been received for at least one of the one or more second machines (2), repeat the steps of estimate, select, and optionally evaluate, wherein the steps are repeated for the at least one of the one or more second machines (2) based on the last received machine data associated with the at least one of the one or more second machines (2).

22. The control unit (10) according to any one of claims 12-21 , wherein the operating modes in the set of operating modes are adapted to be related to different respective safety levels for operating the first machine (1), and wherein the operating modes of theset of operating modes are adapted to comprise one or more third operational parameters related to any one or more out of:- a maximum speed of the first machine (1),- a safety system of the first machine (1),- sensors of the first machine (1), and- allowed operations of the first machine (1).

23. A first machine (1) configured to operate in a mining environment (100), and wherein the first machine (1) comprises the control unit (10) according to any of claims 12-22.

24. A computer program (780) comprising instructions, which when executed by a processor (760), causes the processor (760) to perform actions according to any of the claims 1-11.

25. A carrier (790) comprising the computer program (780) of claim 24, wherein the carrier (790) is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer- readable storage medium.

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