Method, control device and system for operating a construction and / or mining machine

Abstract

The present disclosure relates to a computer-implemented method for operating a mining and / or construction machine, said machine being adapted to communicate with a server being remote from said machine. The method comprises determining a current communication rate indicative of the current rate of communication between the server and said machine. In response to determining that the current communication rate is below a first communication rate threshold but equal to or above a second communication rate threshold, the method comprises controlling said machine to autonomously travel to a predetermined recovery position. The disclosure also relates to a control device, a mining and / or construction machine, and a computer program product.

Description

[0001] METHOD, CONTROL DEVICE AND SYSTEM FOR OPERATING A CONSTRUCTION

[0002] AND / OR MINING MACHINE

[0003] TECHNICAL FIELD

[0004] The present disclosure generally relates to autonomous or remotely controlled construction and / or mining machines. In particular, the disclosure relates to a method, a control device and a system for operating a construction and / or mining machine. Although the disclosure may be described with respect to a particular mining and / or construction machine, the disclosure is not restricted to any particular such machine.

[0005] BACKGROUND OF THE INVENTION

[0006] Mining operations often require work in harsh environments, such as underground environments which may be hazardous or dangerous for persons. Hence, there is an ongoing development to operate construction machines autonomously or remotely controlled. This allows for operation in areas where people are not allowed to visit due to e.g. high or low temperatures, emissions of toxic gases or high risks of accidents.

[0007] A problem when operating autonomous or remote-controlled mining and / or construction machines is that in case of failures, in particular communication failures, the machines must be recovered manually by one or more operators. The operator(s) have to enter the dangerous area and recover the machine by driving or towing the machine. Thus, additional work and time is needed to recover the machine. Moreover, there is an increased risk for injuries or damages to the operator.

[0008] Consequently, there is a need for an improved method, control device and system for operating a mining and / or construction machine.

[0009] SUMMARY OF THE INVENTION

[0010] A primary object of embodiments described herein is to overcome or alleviate at least one of the disadvantages of the prior art, or to provide a useful alternative. In particular, it is an object to provide at least one of a method, a control device and a system for operating a mining and / or construction machine that at least mitigates, preferably eliminates, the need for manual recovery of the machine in case of an insufficient communication capability, such as due to limited bandwidth.

[0011] According to a first aspect of the disclosure, at least the primary object is achieved by a computer-implemented method for operating a mining and / or construction machine. The machine may be adapted to communicate with a server being remote from the machine. The method comprises determining a current communication rate indicative of the current rate of communication between the server and the machine. In response to determining that the current communication rate is below a first communication rate threshold but equal to or above a second communication rate threshold, controlling the machine to autonomously travel to a predetermined recovery position.

[0012] The first aspect may seek to provide a convenient recovery of the machine in case of limited communication rates. The communication rate herein refers to a speed of communication, such as a transmission speed for data measured in megabits per second (Mbps). The first communication rate threshold herein corresponds to a communication rate which is sufficient for the normal intended operations of the machine. The second communication threshold herein corresponds to a communication rate which is sufficient for autonomous recovery of the machine. Technical benefits of the first aspect may include avoidance of manual recovery of the machine in case where the communication rate is sufficient for an autonomous recovery by the machine itself, even though the communication rate is too low for normal operation of the machine, i.e. for fulfilling its intended operations and / or for supervising the machine remotely. By avoiding the need to recover the machine manually, an appropriately safe operation of the machine is provided, since manual recovery may be associated with risks for an operator. Further, a more convenient and cost-efficient operation of the machine may be provided.

[0013] In embodiments, the method may further comprise to control the machine to stop in response to determining that the current communication rate is below the second communication rate threshold. Thereby, an uncontrolled operation of the machine in case of too low communication rate is avoided.

[0014] In embodiments, the predetermined recovery position may be a parking position and / or a charging station and / or a buffer zone. Thereby, a convenient return to a desired position facilitating a charging of the machine is provided. In embodiments, the server comprises a safety system or the server communicates with a safety system. The method may comprise to continuously or intermittently receive status information from the safety system about an operation area, the operation area being an area where the machine is currently operated. The safety system may ensure that no unwanted persons or object enter the operation area. The safety system may be in communication with the machine to transmit information about the safety status of the operation area. By receiving the status information continuously or intermittently at the machine, it may be ensured that the operation area is safe to operate on.

[0015] In embodiments, the method may further comprise controlling the machine to stop when no status information is received within a predetermined time period. Thereby, it may be ensured that the machine stops operation in case of lost contact with the safety system.

[0016] In embodiments, the status information about the operation area comprises information about a dangerous situation in the operating area, such as an unexpected presence of persons or objects in the operation area, a fire or an accident. Thereby, the machine may be stopped or allowed to take countermeasures in case of detected dangers in the operation area, which increases the safety of the machine operation.

[0017] In embodiments, the method may further comprise controlling the machine to stop when the status information is indicative of a dangerous situation in the operation area. Thereby, a safe operation of the machine may be achieved.

[0018] In embodiments, the machine may be an excavator, a truck, a bulldozer, a loader, a crusher or a drill rig. Thereby, the machine may be adapted for mining and / or construction tasks.

[0019] In embodiments, the method comprises the machine communicating with the server via a wireless data communication link, such as Wi-Fi or a mobile wireless broadband network. Thereby, communication between the server and the machine may be facilitated.

[0020] In embodiments, the method comprises communicating data between the machine and the server, such as video data obtained by a camera, remote control data for controlling the machine remotely and / or sensor data obtained by sensors of the machine. Thereby, the machine may be remotely controlled and / or supervised by an operator who is remote from the machine, i.e. outside of the operation area. Hence, a safe and convenient operation of the machine may be provided.

[0021] In embodiments, the method further comprise disabling communication of data not necessary for the recovery operation, in particular transmission of video data from the machine to the server, in response to determining that the current communication rate is below the first communication rate threshold but equal to or above the second communication rate threshold. Thereby, communication resources may be freed for the recovery operation. Hence, a more reliable recovery of the machine may be provided.

[0022] In embodiments, the method further comprises verifying, if the machine has enough electrical power to travel to the predetermined recovery position before controlling the machine to travel to the predetermined recovery position. The method may also comprise verifying if the machine has enough fuel to travel to the predetermined recovery position or verifying a status of an engine of the machine, before controlling the machine to travel to the predetermined recovery position. These steps of verifying may be performed independently or in any suitable combination. Thereby, it may be ensured that the machine is capable of performing the recovery operation.

[0023] In embodiments, the machine comprises one or more distance sensors, such as one or more of a lidar, a radar or an ultrasound sensor and the claimed method comprises controlling the machine to travel to the predetermined recovery position using the one or more distance sensors. Thereby, a reliable and safe autonomous recovery may be achieved.

[0024] In embodiments, the method further comprises obtaining a current position of the machine and determining a path from the current position to the predetermined recovery position. Further, controlling the machine to autonomously travel to the predetermined recovery position may comprise controlling the machine to travel along the determined path. Thereby a reliable and safe autonomous recovery may be achieved.

[0025] It should be noted that the method in accordance with the above may be carried out such that the path is determined and that the machine is thereafter controlled to travel along the determined path. However, it is also envisaged that the method in accordance with the above may be carried out such that the machine is controlled to begin travelling before the complete path is determined. Purely by way of examples, embodiments of the method may comprise determining a plurality of sub paths together forming the path.

[0026] In embodiments, the current position may be determined by at least one of the following: tracking of machine movements with respect to a predetermined map of at least a portion of the operation area, and / or triangulation of Wi-Fi signals, and / or mapping of distance measurements to the predetermined map. Thereby, an accurate determination of the machine’s position may be provided which may be needed for a reliable and safe recovery operation.

[0027] According to a second aspect of the disclosure, at least the primary object is achieved by a control device for a mining and / or construction machine, the control device being adapted to communicate with a server being remote from the machine. The control device is configured to determine a current communication rate indicative of the current rate of communication between the server and the machine; and, in response to determining that the current communication rate is below a first communication rate threshold but equal to or above a second communication rate threshold, control the machine to autonomously travel to a predetermined recovery position.

[0028] Advantages and advantageous embodiments of the second aspect largely correspond to those of the first aspect.

[0029] According to a third aspect of the disclosure, at least the primary object is achieved by a mining and / or construction machine comprising the control device of the second aspect.

[0030] Advantages and advantageous embodiments of the third aspect largely correspond to those of the first aspect.

[0031] According to a fourth aspect, at least the primary object is achieved by a system comprising a server and at least one mining and / or construction machine according to the third aspect, wherein the server is configured for communication with the machine.

[0032] Advantages and advantageous embodiments of the fourth aspect largely correspond to those of the first aspect. According to a fifth aspect at least the primary object is achieved by a computer program product comprising program code for performing, when executed by processing circuitry, the method according to the first aspect.

[0033] Advantages and advantageous embodiments of the fifth aspect largely correspond to those of the first aspect.

[0034] According to a sixth aspect at least the primary object is achieved by a non-transitory computer-readable storage medium comprising instructions, which when executed by processing circuitry, cause the processing circuitry to perform the method according to the first aspect.

[0035] Advantages and advantageous embodiments of the sixth aspect largely correspond to those of the first aspect.

[0036] BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In the following, the technology disclosed will be described in detail, with reference to exemplifying embodiments and to the enclosed drawings. In the drawings:

[0038] Fig. 1 schematically illustrates a system for operating a construction and / or mining machine according to an embodiment of the disclosure,

[0039] Fig. 2 schematically illustrates a system for operating a construction and / or mining machine according to another embodiment of the disclosure,

[0040] Fig. 3 is a flow-chart illustrating steps of a method according to embodiments of the disclosure,

[0041] Fig. 4 is another flow-chart illustrating steps of a method according to embodiments of the disclosure.

[0042] The drawings show diagrammatic, exemplifying embodiments of the present disclosure and are thus not necessarily drawn to scale. It shall be understood that the embodiments shown and described are exemplifying and that the disclosure is not limited to these embodiments. It shall also be noted that some details in the drawings may be exaggerated in order to better describe and illustrate the disclosure. Like reference characters refer to like elements throughout the description, unless expressed otherwise. DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0043] The following detailed description illustrates embodiments of the present disclosure and ways in which they can be implemented. Although some modes of carrying out the present disclosure have been disclosed, those skilled in the art would recognize that other embodiments for carrying out or practicing the present disclosure are also possible.

[0044] Fig. 1 schematically illustrates a system 500 for operating a mining and / or construction machine 1. The machine 1 is illustrated as an excavator but may be any type of machine or equipment used in construction and / or mining, such as a bulldozer, a truck, a loader, a crusher or a drill rig. The machine 1 may be adapted to communicate with a server 200. The communication with the server 200 may be wireless as is indicated by the “wireless”- symbol in Fig. 1. The communication may be performed via a wireless data communication link, such as Wi-Fi or a mobile wireless broadband network, such as 3G, 4G, 5G or6G. The machine 1 comprises a control device 100. The control device 100 may be configured to receive data from the server 200 and / or to submit data to the server 200. The machine 1 may be operated autonomously or remotely controlled. Hence, the control device 100 may be configured to control the machine 100 autonomously or via remote control, i.e. by a remote operator. For this purpose, the control device 100 may be configured to receive control data and / or information about its surroundings, such as maps, from the server 200. Further, the control device 100 may be configured to receive safety information from the server 200. The safety information may comprise or indicate a safety status of an area where the machine 1 is operated. In case of communication failures or other emergencies, the machine 1 may be controlled by the control device 100 to travel to a recovery position 50, schematically illustrated in Fig.1.

[0045] Fig. 2 shows another embodiment of a system 500 for operating a mining and / or construction machine 1. Here, the server 200 comprises a safety system 250. Note that the safety system 250 does not necessarily have to be comprised in the server 200 but could be situated in another server or a cloud server. The safety system 250 may be configured to monitor the status of an operation area 300. The operation area 300 may be an area where the machine 1 is operated. The status of the operation area 300 may comprise the presence of persons, unexpected objects or animals in the operation area 300. Further, the status may comprise emergency conditions such as fires, toxic gas emissions or the like. For the purpose of monitoring the presence of persons or objects in the operation area 300, the safety system 250 may be in communication with detectors 251 at entrances of the operation area 300. The detectors 251 may for example comprise one or more light barriers or one or more cameras. Hence, the safety system 250 may be configured to detect trespassing of an entrance by a person, an object or an animal. In such a case, the operation area 300 may not be safe for operation, since there may a risk for the persons in the operation area 300 to be injured by the machine. Optionally, the safety system may also be in communication with detectors positioned inside the operation area 300 to detect emergency conditions, such as presence of persons, fires or toxic gas emissions.

[0046] The machine 1 may be configured to continuously or intermittently (e.g. every 0,5s or every 1s) receive status information from the safety system 250. The status information may indicate that the operation area 300 is safe for operation. If no status information is received within a predetermined time period (e.g. 1s), it may be concluded that the operation area 300 is not safe and the machine 1 may be stopped. Additionally, or alternatively, the status information may comprise information about a dangerous situation such as presence of persons or fires in the operation area 300, which may trigger a stop of the machine 1 .

[0047] For performing the autonomous recovery operation, the machine 1 may further comprise one or more distance sensors 110. Non limiting examples of distances sensors may comprise a lidar, a radar or an ultrasound sensor. The distance sensors 110 may be used to determine the machine’s position and / or orientation with respect to the surroundings of the machine 1 or to detect obstacles. Still further, the machine 1 may comprise means 120 to determine its current position, such as a GPS. Alternatively, or additionally, the control device 1 may be configured to track the machine’s movements with respect to a map of at least a portion of the operation area 300 and thereby determine the current position of the machine 1 . In case of an underground environment, such as a mine, the map may comprise pathways, such as shafts, in the underground environment. Further, the current position of the machine 1 may be determined by triangulation of Wi-fi or radio signals from nearby hotspots or base stations. In another non-limiting example, the control device 100 may be configured to map distance measurements measured by the one or more distance sensors 110 to a map of at least a portion of the operation area 300.

[0048] With reference to Fig. 3, a method for operating a construction and / or mining machine 1 is introduced. As explained with reference to anyone of the figures 1 or 2, the machine 1 may be adapted to communicate with a server 200. The server may be remote from the machine 1 , e.g. in a control room or elsewhere in the form of a cloud server. The method comprises the following actions:

[0049] Action S1 : determining a current communication rate, CCR, indicative of the current rate of communication between the server 200 and the machine 1 .

[0050] The current communication rate, CCR, may be determined by conventional bandwidth or data transmission speed measurements. The communication rate may for instance be measured in Mbit / s or kbit / s. The CCR may be determined continuously or intermittently at predetermined time intervals. Alternatively, the determination of the CCR may be triggered by other information indicating a degraded communication quality or speed. For example, a signal-to-noise ratio may be determined to be below a threshold, which in turn may trigger the determination of the communication rate.

[0051] Action S2: in response to determining that the current communication rate CCR is below a first communication rate threshold CRT 1 but equal to or above a second communication rate threshold CRT2, controlling the machine to autonomously travel to a predetermined recovery position 50.

[0052] The purpose of action S2 is to determine if the CCR is sufficient for the machine’s intended operation and, if not, to determine if the CCR is sufficient for a recovery operation of the machine. Hence, CRT1 corresponds to a communication rate necessary for the intended operation of the machine. For example, the intended operation may require submission of video and / or audio data from the machine 1 to the server 200. Furthermore, the intended operation may require receiving control data at the machine 1 and safety information as mentioned earlier. Purely as an example, the first communication threshold CRT 1 may be 5Mbit / s. The CCR necessary for the intended operation may be significantly higher than for an autonomous recovery operation. Next, it is checked if the CCR is above a second communication rate threshold CRT2 corresponding to a CCR sufficient for an autonomous recovery operation. The autonomous recovery operation, i.e. the machine 1 travelling to the predetermined recovery position 50, may only require receiving safety information for ensuring a safe recovery. Thus, if it is determined that the CCR is above CRT2, the machine can be controlled to autonomously travel to the predetermined position 50. The predetermined position 50 may be position within the or outside of the operation area 300. The predetermined position 50 may further be a parking spot, a charging station or a buffer zone. Alternatively, the predetermined position 50 may be a safe spot, such as a shelter in an underground environment. As such, recovery of the machine 1 to the predetermined position 50 may allow for parking the machine 1 , charging or refuelling the machine 1 and / or preparing the machine 1 for another mission.

[0053] Controlling S2 the machine to autonomously travel to the predetermined recovery position 50 may be performed by controlling the machine to travel along a determined path from the current position of the machine 1 to the recovery position 50. Hence, the method may comprise obtaining a current position of the machine 1 by any of the means described in connection with Fig. 2 and determining a path from the current position to the recovery position 50.

[0054] Fig. 4 shows a flow-chart illustrating a method according to embodiments. In addition to the already elaborated actions S1 and S2, the method may comprise any of the following optional actions:

[0055] Action S2a: in response to determining that the current communication rate CCR is below the first communication rate threshold CRT 1 but equal to or above the second communication rate threshold CRT2, disabling communication of data not necessary for the recovery operation, in particular transmission of video data from the machine to the server.

[0056] Thus, communication resources, such as bandwidth, are freed for the recovery operation which would otherwise be occupied by data communication, such as video data.

[0057] Before controlling the machine 1 to travel to the predetermined recovery position 50, the following optional actions for assessing if the machine 1 will be capable of performing the recovery operation may be performed:

[0058] Action S2b: verifying that the machine 1 has enough electrical power to travel to the predetermined recovery position 50.

[0059] By verifying that the state of charge of the machine 1 is sufficient, it may be assessed if the machine 1 is able to reach the predetermined recovery position 50.

[0060] Action S2c: verifying that the machine 1 has enough fuel to travel to the predetermined recovery position 50. Analogously, by verifying that the remaining amount of fuel of the machine 1 is sufficient, it may be assessed if the machine 1 is able to reach the predetermined recovery position 50.

[0061] Action S2d: verifying that a status of an engine of the machine 1 allows travel to the predetermined recovery position 50.

[0062] The status of an engine of the machine 1 may indicate if the engine is operating within preset operation limits, such as temperature limits, or if any deviations from normal engine operation occur. Thus, the status of the engine may indicate if the machine 1 is capable of traveling to the predetermined recovery position 50.

[0063] Action S3: in response to determining that the current communication rate CCR is below the second communication rate threshold CRT2, controlling said machine 1 to stop.

[0064] If it is determined that the CCR is below CRT2, it may be concluded that the CCR is not sufficient for communication of necessary data to perform the recovery operation 50. In particular, it may be concluded that the CCR is insufficient for transmitting safety information to the machine 1. Hence, a safe operation of the machine 1 may not be ensured. Consequently, the machine 1 may be stopped. Stopping the machine may comprise stopping the machine’s current working task, e.g. drilling or digging, and / or the machine’s travelling movements. As mentioned before, the machine 1 may also be controlled to stop if no safety information is received at the machine 1 within a predetermined time period or if the safety information indicates a dangerous situation or an emergency in the operation area 300.

[0065] If the CCR is above the first communication threshold the operation of the machine may be continued as intended.

[0066] It is to be understood that the present disclosure is not limited to the examples described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims.

Claims

CLAIMS1 . A computer-implemented method for operating a mining and / or construction machine (1), said machine (1) being adapted to communicate with a server (200) being remote from said machine (1), the method comprising:- determining (S1) a current communication rate (CCR) indicative of the current rate of communication (CCR) between the server (200) and said machine (1); and- in response to determining that the current communication rate (CCR) is below a first communication rate threshold (CRT1) but equal to or above a second communication rate threshold (CRT2), controlling (S2) said machine (1) to autonomously travel to a predetermined recovery position (50).

2. The method of claim 1 , further comprising:- in response to determining that the current communication rate (CCR) is below the second communication rate threshold (CRT2), controlling (S3) said machine (1) to stop.

3. The method of any preceding claim, wherein the predetermined recovery position (50) is a parking position and / or a charging station and / or a buffer zone.

4. The method of any preceding claim, wherein the server (200) comprises a safety system (250) or communicates with a safety system (250), the method comprising:- continuously or intermittently receiving status information from the safety system (250) about an operation area (300), the operation area (300) being an area where said machine (1) is currently operated on.

5. The method of claim 4, further comprising:- controlling said machine (1) to stop when no status information is received within a predetermined time period.

6. The method of claims 4-5, wherein the status information about the operation area (300) comprises information about a dangerous situation in the operating area (300), such as an unexpected presence of persons or objects in the operation area (300), a fire or an accident.

7. The method of claims 4-6, further comprising:controlling said machine (1) to stop when the status information is indicative of a dangerous situation in the operation area (300).

8. The method of any preceding claim, wherein said machine (1) is an excavator, a bulldozer, a loader, a truck, a crusher or a drill rig.

9. The method of any preceding claim, wherein the method further comprises said machine (1) communicating with the server (200) via a wireless data communication link, such as Wi-Fi or a mobile wireless broadband network.

10. The method of any preceding claim, wherein the method further comprises communicating data between said machine (1) and the server (200), such as video data obtained by a camera, remote control data for controlling said machine (1) remotely and / or sensor data obtained by sensors of said machine (1).

11. The method of claim 10, further comprising: in response to determining that the current communication rate (CCR) is below the first communication rate threshold (CRT1) but equal to or above the second communication rate threshold (CRT2), disabling (S2a) communication of data not necessary for the recovery operation, in particular transmission of video data from said machine (1) to said server (200).

12. The method of any preceding claim, further comprising: before controlling said machine (1) to travel to the predetermined recovery position (50),- verifying (S2b) that said machine (1) has enough electrical power to travel to the predetermined recovery position (50), and / or- verifying (S2c) that said machine (1) has enough fuel to travel to the predetermined recovery position (50), and / or- verifying (S2d) that a status of an engine of said machine (1) allows travel to the predetermined recovery position (50).

13. The method of any preceding claim, wherein said machine (1) comprises one or more distance sensors, such as one or more of a lidar, a radar or an ultrasound sensor, and wherein the method further comprises:- controlling said machine (1) to travel to the predetermined recovery position (50) using the one or more distance sensors.

14. The method of any preceding claim, further comprising:- obtaining a current position of said machine (1), and- determining a path from the current position to the predetermined recovery position (50), wherein controlling (S2) said machine (1) to autonomously travel to the predetermined recovery position (50) comprises controlling said machine (1) to travel along the determined path.

15. The method of claim 14, wherein the current position is determined by at least one of the following:- tracking of machine movements with respect to a predetermined map of at least a portion of the operation area (300),- triangulation of Wi-Fi signals, and / or- mapping of distance measurements to the predetermined map.

16. A control device (100) for a mining and / or construction machine (1), said control device (100) being adapted to communicate with a server (200) being remote from said machine (1), the control device (100) being configured to:- determine a current communication rate (CCR) indicative of the current rate of communication between the server (200) and said machine (1);- in response to determining that the current communication rate (CCR) is below a first communication rate threshold (CRT1) but equal to or above a second communication rate threshold (CRT2), control said machine to autonomously travel to a predetermined recovery position.

17. A mining and / or construction machine (1) comprising the control device (100) of claim 16.

18. A computer program product comprising program code for performing, when executed by processing circuitry, the method of any of claims 1-15.

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