Method, system, traffic management unit and machine for RAMP evacuation in a mining environment

Abstract

A system comprising one or more machines operating in a mining environment and a traffic controller unit configured to control operations of the one or more machines is provided. upon detecting a triggering event, which event triggers an action requiring one or more machines operating in an area of the mining environment to park at a respective evacuation location, the traffic controller activates a parking operation in the one or more machines. The parking operation parks the one or more machines at a respective evacuation location, allowing a moving object to pass the one or more parked machines.

Description

[0001] METHOD, SYSTEM, TRAFFIC MANAGEMENT UNIT AND MACHINE FOR RAMP EVACUATION IN A MINING ENVIRONMENT

[0002] TECHNICAL FIELD

[0003] Embodiments herein relate to a system, a method and a traffic management unit for handling 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, planning work and operations is an essential part. Many machines operate in the mining environment at the same time. To ensure a high productivity and continuous operations, operations and driving routes needs to planned to avoid stops and queues to build up. With increasing usage of autonomous machines, central systems are increasingly needed for controlling the machines. These central systems may e.g., keep track of the location of the machines, schedule operations and plan driving routes to optimize the work. In various situations, machines may need to perform safety stops, e.g., due the events occurring in the mining environment. Machines stopping in the mining environment may reduce the productivity in the mining environment, and may further result in unsafe situations. This results in a reduced productivity and safety in the mining environment.

[0006] Hence there is a need to improve the handling of safety stops of machines operating in the mining environment.

[0007] SUMMARY

[0008] As mentioned above, machines stopping in the mining environment may reduce the productivity in the mining environment, and may further result in unsafe situations. This results in a reduced productivity and safety in the mining environment. One way to solve this problem is to plan the operations in the mining environment to avoid stops, e.g., separating machines in different zones, where only one machine operates in each zone. However, there will always be situations where stops cannot be avoided, or situations where queuing will occur, and due to limited space of tunnels, machines and / or vehicles may be unable to pass each other. 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 handling one or more machines operating in a mining environment is provided.

[0010] A triggering event is detected. The event triggers an action requiring one or more machines operating in an area of the mining environment to park at a respective evacuation location.

[0011] A parking operation is activated in the one or more machines operating in the area of the mining environment.

[0012] The one or more machines operating in the area parks at a respective evacuation location. This allows a moving object to pass the one or more parked machines.

[0013] In this way, it is possible to increase the safety in the mining environment by parking machines at evacuation locations in a controlled manner when an action is triggered by a triggering event. Further, productivity may be increased since by parking the machines and allowing the action to be performed, the machines may return to normal operations in quick and efficient manner.

[0014] In some exemplary embodiments, an evacuation location is a location designated for parking a machine.

[0015] In some exemplary embodiments, parking the one or more machines comprises that the one or more machines parks at a respective explicitly indicated evacuation location, and / or at a nearest evacuation location.

[0016] In this way, further improved productivity while maintaining safety is achieved. This is since it is possible to control the evacuation location for the machines.

[0017] In some exemplary embodiments, the nearest evacuation location is located along a route followed by the respective machine.

[0018] In some exemplary embodiments, the area comprises any one out of a sub-area of the mining environment, or the complete mining environment.

[0019] In this way, further improved productivity while maintaining safety is achieved. This is enabled since the size of the area is flexible and allows machines not operating in the area to continue normal operations.

[0020] In some exemplary embodiments, the area is determined. The area is determined taking the detected triggering event into account. In this way, further improved productivity while maintaining safety is achieved. This is enabled since the size of the area is flexible and allows machines not operating in the area to continue normal operations.

[0021] In some exemplary embodiments, the one or more machines operating in the area is determined based on the area and / or a respective location of the one or more machines.

[0022] In this way, further improved productivity while maintaining safety is achieved. This is enabled since the size of the area is flexible and allows machines not operating in the area to continue normal operations.

[0023] In some exemplary embodiments, the triggering event comprises any one or more out of an accident, an incident, a localization deviation, failure of a system, and / or an unknown object.

[0024] In this way, further improved productivity while maintaining safety. This is since the triggering event allows the action to be performed.

[0025] In some exemplary embodiments, the action comprises any one or more out of: clearing a path between two locations in the mining environment, evacuating a ramp, and / or a traffic reprioritization.

[0026] In this way, further improved productivity while maintaining safety. This is since by parking the machines, the action may by performed in an efficient manner.

[0027] In some exemplary embodiments, the respective evacuation location for the one or more machines is determined. An evacuation location for a machine is determined based on any one or more out of a location of the machine, a direction of movement of the machine, a gradient of the location of the machine, a capability of the machine, a geometry of the machine, the geometry of the mining environment, and the action.

[0028] In this way, further improved productivity while maintaining safety. This is since the evacuation location for the machines may be determined in an efficient and flexible manner, allowing the most suitable evacuation location to be determined for each machine.

[0029] In some exemplary embodiments, the respective evacuation location for the one or more machines are determined periodically.

[0030] In this way, further improved productivity while maintaining safety. This is enabled by always having an evacuation location associated with each machine, allowing a more efficient performance of the action. In some exemplary embodiments, activating the parking operation comprises instructing the one or more machines operating in the area to park at the respective evacuation location.

[0031] In this way, further improved productivity while maintaining safety. This is enabled by an efficient mechanism to park the machines at their respective evacuation location, resulting in the action being performed in an efficient manner.

[0032] According to a second aspect, a system is provided. The system comprises one or more machines operating in a mining environment. The system further comprises a traffic controller unit configured to control operations of the one or more machines.

[0033] Upon detecting a triggering event, which event triggers an action requiring one or more machines operating in an area of the mining environment to park at a respective evacuation location, the traffic controller activates a parking operation in the one or more machines. The parking operation parks the one or more machines at a respective evacuation location. Parking the one or more machines allows a moving object to pass the one or more parked machines.

[0034] In this way, it is possible to increase the safety in the mining environment by parking machines at evacuation locations in a controlled manner when an action is triggered by a triggering event. Further, productivity may be increased since by parking the machines and allowing the action to be performed, the machines may return to normal operations in quick and efficient manner.

[0035] In some exemplary embodiments, an evacuation location is a location designated for parking a machine.

[0036] In some exemplary embodiments, the one or more machines parks at a respective explicitly indicated evacuation location, and / or at a nearest evacuation location.

[0037] In this way, further improved productivity while maintaining safety is achieved. This is since it is possible to control the evacuation location for the machines.

[0038] In some exemplary embodiments, the nearest evacuation location is located along a route followed by the respective machine.

[0039] In some exemplary embodiments, the area comprises any one out of a sub-area of the mining environment, or the complete mining environment.

[0040] In this way, further improved productivity while maintaining safety is achieved. This is enabled since the size of the area is flexible and allows machines not operating in the area to continue normal operations. In some exemplary embodiments, the area is determined taking the detected triggering event into account.

[0041] In this way, further improved productivity while maintaining safety is achieved. This is enabled since the size of the area is flexible and allows machines not operating in the area to continue normal operations.

[0042] In some exemplary embodiments, the one or more machines operating in the area is determined based on the area and / or a respective location of the one or more machines.

[0043] In this way, further improved productivity while maintaining safety is achieved. This is enabled since the size of the area is flexible and allows machines not operating in the area to continue normal operations.

[0044] In some exemplary embodiments, the triggering event comprises any one or more out of an accident, an incident, a localization deviation, failure of a system, and / or an unknown object.

[0045] In this way, further improved productivity while maintaining safety. This is since the triggering event allows the action to be performed.

[0046] In some exemplary embodiments, the action comprises any one or more out of clearing a path between two locations in the mining environment, evacuating a ramp, and / or a traffic reprioritization.

[0047] In this way, further improved productivity while maintaining safety. This is since by parking the machines, the action may be performed in an efficient manner.

[0048] In some exemplary embodiments, an evacuation location for a machine is determined based on any one or more out of a location of the machine, a direction of movement of the machine, a gradient of the location of the machine, a capability of the machine, a geometry of the machine, the geometry of the mining environment, and / or the action.

[0049] In this way, further improved productivity while maintaining safety. This is since the evacuation location for the machines may be determined in an efficient and flexible manner, allowing the most suitable evacuation location to be determined for each machine.

[0050] In some exemplary embodiments, the respective evacuation location (3) for the one or more machines are determined periodically and / or in response to the triggering event. In this way, further improved productivity while maintaining safety. This is enabled by an efficient mechanism to park the machines at their respective evacuation location, resulting in the action being performed in an efficient manner.

[0051] According to a third aspect, a machine configured to operate in an area in a mining environment is provided. The machine may comprise a control unit.

[0052] The machine and / or control unit is configured to, in response to a triggering event, activate a parking operation in the machine.

[0053] The machine and / or control unit is configured to park at an evacuation location, allowing a moving object to pass the one or more machines.

[0054] Advantages and effects of the machine and / or control unit are analogous to the advantages and effects of the method of the first aspect and / or the system of the second aspect. Further, all embodiments of the machine and / or control unit are applicable to and combinable with all embodiments of the method of the first aspect and the system of the second aspect, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0055] According to a fourth aspect, a traffic management unit configured to control operations of one or more machines operating in a mining environment is provided.

[0056] The traffic management unit is configured to detect a triggering event. The event triggers an action requiring one or more machines operating in an area of the mining environment to park at a respective evacuation location.

[0057] The traffic management unit is configured to activate a parking operation in the one or more machines operating in the area of the mining environment. The parking operation parks the machine at an evacuation location, allowing a moving object to pass the parked machines.

[0058] Advantages and effects of the traffic management unit are analogous to the advantages and effects of the method of the first aspect, the system of the second aspect and / or the machine and / or control unit of the third aspect. Further, all embodiments of the traffic management unit are applicable to and combinable with all embodiments of the method of the first aspect, the system of the second aspect and / or the machine and / or control unit of the third aspect, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0059] According to a fifth aspect, a computer program comprising instructions, which when executed by a processor, causes the processor to perform actions according to any of the aspects above. Advantages and effects of the computer program are analogous to the advantages and effects of any of the aspects above. Further, all embodiments of the computer program are applicable to and combinable with all embodiments of the aspects above, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0060] According to a sixth aspect, a computer-readable medium comprising instructions, which when executed by a processor, causes the processor to perform actions according to any of the aspects above.

[0061] Advantages and effects of the computer-readable medium are analogous to the advantages and effects of any of the aspects above. Further, all embodiments of the computer-readable medium are applicable to and combinable with all embodiments of the aspects above, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0062] Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0063] BRIEF DESCRIPTIONS OF DRAWINGS

[0064] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0065] Fig. 1a shows an example of a system according to embodiments herein.

[0066] Fig. 1b shows an example according to embodiments herein.

[0067] Fig. 2 shows a flowchart depicting a method according to embodiments herein.

[0068] Fig. 3 shows an example according to embodiments herein, herein.

[0069] Fig. 4 shows an example according to embodiments herein, herein.

[0070] Fig. 5 shows an example according to embodiments herein, herein.

[0071] Fig. 6 shows an example of a machine.

[0072] Fig. 7 shows schematic block diagrams illustrating embodiments of a traffic management unit. Fig. 8 shows schematic block diagrams illustrating embodiments of a machine and / or control unit.

[0073] DETAILED DESCRIPTION

[0074] 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.

[0075] Embodiments herein bring the advantage of increased operational safety. This may be achieved by making it possible to park a machine at an evacuation location in response to a detected triggering event. Further, embodiments herein may bring the advantage of an improved productivity in the mining environment. This by avoiding traffic queuing or blocking that may occur due to limited spaces in the mining environment.

[0076] Fig. 1a shows an example of embodiments herein. Fig 1a shows a system comprising one or more machines 10 operating in a mining environment 1 and a traffic controller 30 configured to control operations of the one or more machines 10. Upon detecting a triggering event, the traffic controller 30 activates a parking operation in the one or more machines 10. The event triggers an action requiring one or more machines 10 operating in an area 2 of the mining environment 1 to park at a respective evacuation location 3. The parking operation parks the one or more machines 1 at a respective evacuation location 3, allowing a moving object 20 to pass the one or more parked machines 10. Further details regarding the system are provided below together with Figs. 1b-7.

[0077] Fig. 1b shows an example according to embodiments herein. Fig. 1 b shows a mining environment 1 comprising a number driving paths, such as roads and / or tunnels, separated from each other, e.g., by rock or other obstacles (depicted by the striped areas). A machine 10 is shown to operate in the mining environment 1. The mining environment 1 comprises a number of evacuation locations 3. An evacuation location may e.g., comprise a location where it is possible for two machines 10 to pass each other. The evacuation locations 3 may further comprise a location designating for parking a machine 10. Fig. 1 further shows an area 2, which comprises a subarea 2 of the mining environment 1. According to examples of embodiments herein, a triggering event may require an action to be performed in the mining environment 1. The action may require one or more machines 10 to park at a respective evacuation location 3. The may not have impact on the complete mining environment 1 , but rather a subarea of the mining environment 1, such as the area 2, and only machines 10 operating in the area 2 may be required to park at a respective evacuation location 3. In response to the triggering event, a parking operation may be activated in the one or more machines 10 operating in the area 2. The one or more machine 10 operating in the area 2 then parks at their respective evacuation location 3, thus allowing a moving object to pass the one or more parked machine 10. Applying this example to Fig.1 , one machine 10 operates in the area 2. In response to the triggering event, a parking operation is activated in the machine 10, resulting in that the machine 10 parks at an evacuation location 3. Which evacuation location the machine 10 parks at may depend on several parameters, thus it may be an evacuation location 3 located in the area 2, or it may be an evacuation location 3 located outside of the area 2.

[0078] Fig. 2 shows an example embodiment of a method for handling one or more machines 10 operating in a mining environment 1. The method may e.g., be performed by the system, the traffic controller unit 30, the one or more machines 10 and / or a combination thereof. The method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 2.

[0079] Action 201

[0080] In some embodiments, a respective evacuation location 3 for the one or more machines 10 is determined. As mentioned above, an evacuation location 3 may e.g., comprise a location where it is possible for two machines 10 to pass each other, or where a another moving object 20 may pass a machine 10 parked at the evacuation location. The evacuation locations 3 may further comprise a location designating for parking a machine 10. Thus, an evacuation location may also be referred to as e.g., a parking location, a meeting point, an overtaking location etc.

[0081] An evacuation location for a machine 10 may be determined based on any one or more out of a location of the machine 10, a direction of movement of the machine 10, a gradient of the location of the machine 10, a capability of the machine 10, a geometry of the machine 10 and / or the geometry of the mining environment 1. Further, the location of evacuation locations 3 in the mining environment 1 may be taking into account when determining the evacuation location for the machine 10. In other words, the evacuation location 3 for a machine 10 may be determined based on one or more parameters, such as the ones mentioned above. The parameters above may be used by themselves, or in any combination to determine the evacuation location for the machine 10.

[0082] As an example, the location of a machine 10 and the direction of movement of said machine 10 may together be used as a basis for determining the evacuation location 3. A machine 10 may e.g., be located between two evacuation locations 3, i.e., it has already passed a first evacuation location 3 and a second evacuation location 3 is ahead of the machine 10, and the machine 3 is moving in the direction of the second evacuation location 3. It may then be determined that the evacuation location for the machine 10 is the second evacuation location 3, e.g., since it is moving in that direction. Thus, determining the evacuation location 3 for a machine 10 may comprise obtaining the location of the machine 10. The location may be obtained from the machine 10 or estimated based on a previous known location of the machine 10 an e.g., an operation performed by the machine 10, a velocity of the machine 10, a route followed by the machine 10 etc. Changing direction of a machine in a mining environment 1 may be cumbersome and it may sometimes not be possible to turn the machine 10 around, resulting in that the machine 10 may have to reverse if it has already passed its determined evacuation location.

[0083] As another example, the geometry of the mining environment 1, and / or the geometry of the machine 10, may be taken into account when determining the evacuation location 3 for the machine 10. E.g., when determining the evacuation location 3, it may be evaluated whether or not an evacuation location 3 is large enough for the machine 10. When it is not, another evacuation location 3 has to be used for the machine 10.

[0084] In some examples, determining the respective evacuation location for the one or more machines 10 comprises determining that the respective evacuation location 3 comprises the nearest available evacuation location 3. The nearest available evacuation location 3 may e.g., comprise the nearest available evacuation location 3 located along a route followed by the respective machine 10.

[0085] In some embodiments, the respective evacuation location 3 for the one or more machines 10 is determined periodically. The period may e.g., be associated with time, distance and / or location. E.g., an evacuation location for a machine 10 may be determined at certain time intervals. Alternatively, or additionally, an evacuation location 3 may be determined for a machine 10 at certain distance intervals, such after the machine 10 has moved a certain distance. Alternatively, or additionally, an evacuation location 3 may be determined for a machine 10 at certain locations, such as when the machine 10 arrives at, or passes, said locations. Action 202

[0086] A triggering event is detected. The event triggers an action requiring one or more machines 10 operating in an area 2 of the mining environment 1 to park at a respective evacuation location 3. The triggering event may, e.g., comprise any type of occurrence that requires an action to be performed in mining environment 1 where a moving object 20 needs to pass one or more machines 10 operating in the mining environment 1. The reason for performing the action may comprise allowing the moving object 20 to pass the one or more machines 10. Examples of the action is presented below. The action may e.g., comprise an unplanned or unscheduled action. An unplanned or unscheduled action may e.g., mean an action or operation that needs to be performed due to events that is outside of normal operations, i.e., it is not part of the normal operations of the mining environment.

[0087] As mentioned above, an evacuation location 3 may comprise a location designated for parking a machine. As mentioned above, an evacuation location 3 may e.g., comprise a location where it is possible for two machines 10 to pass each other, or where a another moving object 20 may pass a machine 10 parked at the evacuation location. The evacuation locations 3 may further comprise a location designating for parking a machine 10. Thus, an evacuation location may also be referred to as e.g., a parking location, a meeting point, an overtaking location etc.

[0088] In some embodiments, the area 2 comprises any one out of a sub-area of the mining environment 1 , or the complete mining environment 1. Thus, the area 2 is not a predetermined area, but rather an area that may differ depending on the situation, as will be explained further down under Action 203.

[0089] In some embodiments, the triggering event comprises any one or more out of an accident, an incident, a localization deviation, failure of a system, and / or an unknown object. A localization deviation may e.g., comprise that a machine operating in the mining environment 1 has lost its localization, or that it is located at a position where it should not be. A system failure may e.g., comprise a failure of an electrical grid, a ventilation system, a warning system, an accident detection system, a sprinkler system etc. An unknown object may, e.g., comprise an un unknown machine or person being detected in the mining environment 1. An accident may e.g., comprise a fire, a machine 10 colliding with a wall or another object in the mining environment 1, a person being sick or injured etc. an incident may e.g., comprise a machine stopping, an incident prohibiting a machine to move, etc. The examples listed above comprise a non-exhaustive list of examples of triggering events. The triggering event may, as mentioned above, comprise any type of occurrence that requires an action to be performed in mining environment 1 where a moving object 20 needs to pass one or more machines 10 operating in the mining environment 1.

[0090] In some embodiments, the action comprises any one or more out of clearing a path between two locations in the mining environment 1, evacuating a ramp, and / or a traffic reprioritization. The reason for performing the action may comprise allowing the moving object 20 to pass the one or more machines 10.

[0091] Action 203

[0092] In some embodiments, the area 2 is determined, the area 2 is determined by taking the detected triggering event into account. This may comprise determining an area of the mining environment 1 that is affected by triggering event. The area 2 may be in addition be determined based on the action to be performed. E.g., the action comprises clearing a path between two locations in the mining environment 1 , where one of the two locations is located in the area affected by the triggering event. The area 2 may then comprise the path between the two locations.

[0093] Action 204

[0094] In some embodiments, the one or more machines 10 operating in the area 2 is determined. The one or more machines 10 is determined based on the area 2 and / or a respective location of the one or more machines 10. This may e.g., comprise obtaining the location of machines 10 operating in the mining environment 1, and comparing the obtained locations with the determined area 2. The location may be obtained from the machine 10 or estimated based on a previous known location of the machine 10 an e.g., an operation performed by the machine 10, a velocity of the machine 10, a route followed by the machine 10 etc. In this way any machine 10 operating in the area 2 may be determined, while machines 10 operating outside of the area 2 may be discarded, i.e. , they will not be affected by the action required as a result of the triggering event. In some examples, also an operation performed by the machines 10 may be obtained. This may allow some machines 10 the currently operating in the area 2 to be discarded, while some machines 10 that operate outside the area 2 to be included in the determined one or more machines 10. An example of this may e.g., comprise a machine 10 located in the area 2 where the operation performed by said machine 10 indicates that it is moving out of the area 2, e.g., within a preconfigured amount of time. This machine 10 may be discarded from the one or more machines 10 determined to operating in the area 2. Another example may comprise a machine 10 located outside of the area 2 where the operation performed by said machine 10 indicates that the machine 10 will enter the area 2 withing a preconfigured amount of time. This machine 10 may be determined to operate in the area 2, even though at the moment it is located outside of said area 2.

[0095] Action 205

[0096] In some embodiments, the respective evacuation location 3 for the one or more machines 10 is determined. This determination of the respective evacuation location for the one or more machines 10 is performed in response to the detected triggering event. In some examples of embodiments, determining the respective evacuation location 3 is response to detecting the triggering event is always performed, while in other examples it is only performed under certain conditions.

[0097] As mentioned above, an evacuation location 3 may e.g., comprise a location where it is possible for two machines 10 to pass each other, or where a another moving object 20 may pass a machine 10 parked at the evacuation location. The evacuation locations 3 may further comprise a location designating for parking a machine 10. Thus, an evacuation location may also be referred to as e.g., a parking location, a meeting point, an overtaking location etc.

[0098] An evacuation location for a machine 10 may be determined based on any one or more out of a location of the machine 10, a direction of movement of the machine 10, a gradient of the location of the machine 10, a capability of the machine 10, a geometry of the machine 10 and / or the geometry of the mining environment 1. Further, the location of evacuation locations 3 in the mining environment 1 may be taking into account when determining the evacuation location for the machine 10. In other words, the evacuation location 3 for a machine 10 may be determined based on one or more parameters, such as the ones mentioned above. The parameters above may be used by themselves, or in any combination to determine the evacuation location for the machine 10.

[0099] As an example, the location of a machine 10 and the direction of movement of said machine 10 may together be used as a basis for determining the evacuation location 3. A machine 10 may e.g., be located between two evacuation locations 3, i.e., it has already passed a first evacuation location 3 and a second evacuation location 3 is ahead of the machine 10, and the machine 3 is moving in the direction of the second evacuation location. It may then be determined that the evacuation location for the machine 10 is the second evacuation location 3, e.g., since it is moving in that direction. Thus, determining the evacuation location 3 for a machine 10 may comprise obtaining the location of the machine 10. Alternatively, or additionally, the location may have been obtained when determining the one or more machines 10 operating in the area 2. The location may be obtained from the machine 10 or estimated based on a previous known location of the machine 10 an e.g., an operation performed by the machine 10, a velocity of the machine 10, a route followed by the machine 10 etc.

[0100] Changing direction of a machine in a mining environment 1 may be cumbersome and it may sometimes not be possible to turn the machine 10 around, resulting in that the machine 10 may have to reverse if it has already passed its determined evacuation location.

[0101] As another example, the geometry of the mining environment 1, and / or the geometry of the machine 10, may be taken into account when determining the evacuation location 3 for the machine 10. E.g., when determining the evacuation location 3, it may be evaluated whether or not an evacuation location 3 is large enough for the machine 10. When it is not, another evacuation location 3 has to be used for the machine 10.

[0102] In some examples, determining the respective evacuation location for the one or more machines 10 comprises determining that the respective evacuation location 3 comprises the nearest available evacuation location 3. The nearest available evacuation location 3 may e.g., comprise the nearest available evacuation location 3 located along a route followed by the respective machine 10.

[0103] Action 206

[0104] A parking operation is activated in the one or more machines 10 operating in the area 2 of the mining environment 1.

[0105] In some embodiments, activating the parking operation comprises instructing the one or more machines operating in the area 2 to park at the respective evacuation location 3. This may e.g., comprise sending a message comprising the instruction to the one or more machines 10. The instruction may instruct the one or more machines 10 to activate the parking operation and park at the respective evacuation location 3. The instruction may in some examples explicitly indicate a respective evacuation location 3 for the one or more machines 10. Alternatively, the instruction may, explicitly or implicitly, indicate to the one or more machines 10 to park at the nearest available evacuation location 3. An implicit indication may e.g., comprise that the instruction does not comprise any data regarding the evacuation location 3 to park at. In some examples, the parking operation, and / or the instruction to activate the parking operation, may comprise a drive plan and / or a route to the evacuation location 3. The drive plan and / or route may e.g., comprise an updated drive plan and / or route the machine 10 is following, using and / or operating against. This may mean that the drive plan and / or route the machine 10 is following, using and / or operating against is updated to include parking at the evacuation location 3 before resuming the drive plan and / or route the machine 10 is following, using and / or operating against. Alternatively, or additionally, the drive plan and / or route may comprise separate drive plan and / or route from a drive plan and / or route the machine 10 is following, using and / or operating against. This may mean that the drive plan and / or route included in the parking operation and / or instruction comprises a drive plan and / or route for driving to the evacuation location 3, parking at the evacuation location 3, and driving to point along the drive plan and / or route the machine 10 is following, using and / or operating against and resume the drive plan and / or route the machine 10 was following, using and / or operating against before the parking operation was activated.

[0106] Action 207

[0107] The one or more machines 10 operating in the area 2 parks at a respective evacuation location 3. Parking the one or more machines 10 allows a moving object 20 to pass the one or more parked machines 10. Further, parking the one or more machines 10 allows the action to be performed. As mentioned above, comprises any one or more out of clearing a path between two locations in the mining environment 1 , evacuating a ramp, and / or a traffic reprioritization. The reason for performing the action may comprise allowing the moving object 20 to pass the one or more machines 10.

[0108] In some embodiments, parking the one or more machines 10 comprises that the one or more machines 10 parks at a respective explicitly indicated evacuation location, and / or parking at a nearest evacuation location. As mentioned above, the explicitly indicated evacuation location 3 may comprise a specific determined evacuation location 3. The nearest available evacuation location 3 may e.g., comprise the nearest available evacuation location 3 located along a route followed by the respective machine 10.

[0109] Fig. 3 shows an example according to embodiments herein. Fig.3 shows an example of an area 2 affected by an action required in response to a detected triggering event. The area 2 comprises a machine 10 and two evacuation locations 3, evacuation location 3a and evacuation location 3b. As mentioned above, the action may e.g., comprise clearing a path between two locations in the mining environment 1, evacuating a ramp, and / or a traffic reprioritization. Regardless of which, it requires the machine 10 to park at an evacuation location 3. A parking operation is activated in the machine 10, which proceeds to park at one of the evacuation locations 3a or 3b. Which of the evacuation locations 3a, 3b the machine parks at may, as mentioned above, depend on one or more parameters, such as a location of the machine 10, a gradient of the location of the machine, a capability of the machine, a geometry of the machine 10, the geometry of the mining environment 1, and the action. Alternatively, or additionally, the machine 10 may park at an explicitly indicated location 3 or at the nearest evacuation location 3.

[0110] The machine 10 moves in the downward direction of Fig. 3, as indicated by the dashed arrow. In an example, the evacuation location 3 the machine 10 is to park at is the evacuation location 3b, which is the nearest evacuation location 3, in the movement direction of the machine 10, along the route the machine 10 follows. The machine 10 parks at the evacuation location 3b. In another example, it may be more beneficial for the machine 10 park at the evacuation location 3a. This may e.g., be due to the fact that the evacuation location 3b is already occupied or that the geometry of the mining environment 1 at the evacuation location 3b is unsuitable for parking the machine 10. In this example, the machine 10, in which the parking operation is activated, changes it direction of movement and parks at the evacuation location 3a.

[0111] According to both these examples, by parking the machine 10 at an evacuation location 3, the action triggered by triggering event may be performed by allowing a moving object to pass the machine 10 in the mining environment 1.

[0112] Fig. 4 shows an example according to embodiments herein. Fig. 4 shows an example of an area 2 affected by an action required in response to a detected triggering event. The area 2 comprises two machines 10, machine 10a and machine 10b and two evacuation locations 3, evacuation location 3a and evacuation location 3b. As mentioned above, the action may e.g., comprise clearing a path between two locations in the mining environment 1, evacuating a ramp, and / or a traffic reprioritization. Regardless of which, it requires the machines 10a, 10b to park at a respective evacuation location 3. A parking operation is activated in the machines 10a, 10b, which proceed to park at one of the evacuation locations 3a or 3b. Which of the evacuation locations 3a, 3b the machines 10a, 10b park at may, as mentioned above, depend on one or more parameters, such as a location of the machine 10, a gradient of the location of the machine, a capability of the machine, a geometry of the machine 10, the geometry of the mining environment 1 , and the action. Alternatively, or additionally, the machine 10 may park at an explicitly indicated location 3 or at the nearest evacuation location 3. The machines 10a, 10b both moves in an upward direction of Fig. 4, as indicated by the dashed arrows. In an example, the evacuation location 3 the machine 10a is to park at is the evacuation location 3a and the machine 10b is to park at the evacuation location 3b. The evacuation location 3a is the nearest evacuation location 3, in the movement direction of the machine 10a, along the route the machine 10a follows. Likewise, the evacuation location 3b is the nearest evacuation location 3, in the movement direction of the machine 10a, along the route the machine 10b follows. The machine 10a parks at the evacuation location 3a and the machine 10b parks at the evacuation location 3b. In another example, it may be more beneficial for the machine 10a park at the evacuation location 3b. This may e.g., be due to the fact that the evacuation location 3a the geometry of the mining environment 1 at the evacuation location 3a is unsuitable for parking the machine 10a. In this example, the machine 10a, in which the parking operation is activated, changes it direction of movement and parks at the evacuation location 3b. Following from this, the machine 10b now needs to park at evacuation location 3a, since the evacuation location 3b is occupied. Alternatively, the machine 10b may also park at the evacuation location 3b, if there is enough space for both machine 10a and machine 10b to park there.

[0113] According to both these examples, by parking the machines 10a, 10b at a respective evacuation location 3, the action triggered by triggering event may be performed by allowing a moving object to pass the machines 10a, 10b in the mining environment 1.

[0114] Fig. 5 shows an example according to embodiments herein. Fig. 5 shows a section of the mining environment 1. The depicted section comprises an example of the area 2 affected by an action required in response to a detected triggering event. The mining environment 1 comprises three machines 10, machine 10a, machine 10b and machine 10c. Machine 10a and machine 10b are located in the area 2. Further the mining environment 1 comprises five evacuation locations 3, evacuation locations 3a, 3b, 3c, 3d and 3e. evacuation locations 3a, 3b and 3c are located in the area 2. As mentioned above, the action may e.g., comprise clearing a path between two locations in the mining environment 1, evacuating a ramp, and / or a traffic reprioritization. Regardless of which, it requires the machines 10a, 10b, which operate in the area 2, are to park at a respective evacuation location 3. A parking operation is activated in the machines 10a, 10b, which proceed to park at one of the evacuation locations 3a-e. Which of the evacuation locations 3a-e the machines 10a, 10b park at may, as mentioned above, depend on one or more parameters, such as a location of the machine 10, a gradient of the location of the machine, a capability of the machine, a geometry of the machine 10, the geometry of the mining environment 1 , and the action. Alternatively, or additionally, the machine 10 may park at an explicitly indicated location 3 or at the nearest evacuation location 3. The machines 10a-c move in the direction indicated by the dashed arrows. In an example, the evacuation location 3 the machine 10a is to park at is the evacuation location 3a and the machine 10b is to park at the evacuation location 3b. The evacuation location 3a is the nearest evacuation location 3, in the movement direction of the machine 10a, along the route the machine 10a follows. As seen in Fig. 5, evacuation location 3c is closer to the machine 10b. However, since the machine 10b is moving the direction of the evacuation location 3b, it may be more beneficial for the machine 10b to park at the evacuation location 3b. However, if the machine 10b is unable to park at the evacuation location 3b, e.g., due to the evacuation location 3b being occupied or the geometry of the machine 10b or the evacuation location 3b being unsuitable for the machine 10b, the machine 10b may instead park at the evacuation location 3c. The machine 10c operates outside the area 2, and thus, the activating operation is not activated in the machine 10c. Further, the machine 10c moves away from the area 2, and will thus not enter the area 2. If, however, the machine 10c had been moving in a direction such that it would enter the area 2 while the action is being performed, the parking operation may be activated also in the machine 10c, the machine 10c would park in an evacuation location 3. Alternatively, the machine 10c may stop outside the area 2 until the action has been performed, this since any part of the mining environment 1 outside the area 2 may be considered as an evacuation location 3.

[0115] According to this example, by parking the machines 10a, 10b at a respective evacuation location 3, the action triggered by triggering event may be performed by allowing a moving object to pass the machines 10a, 10b in the mining environment 1.

[0116] Fig. 6 shows an example of a machine 10 operating in the mining environment 1. The machine 10 may e.g., operate in the area 2 in the mining environment 1. The machine 1 activates, in response to a triggering event, a parking operation. The machine 10 parks at an evacuation location 3 in the mining environment 1. By parking at the evacuation location 3, a moving object 20 is able to pass the machine 10. Further, the machine 10 may comprise a control unit 11 configured to perform the above actions. The machine 10 and / or control unit 11 may be configured to perform any of the actions and / or examples described above together with Figs. 1-5.

[0117] The traffic management unit 30 may comprise an arrangement depicted in Fig. 7. To perform embodiments herein, e.g. the method according to actions 201-207 above, the traffic management unit 30 is configured to control operations of one or more machines 10 operating in a mining environment 1. The traffic management unit 30 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.

[0118] The embodiments herein may be implemented through a respective processor or one or more processors, such as at least one processor 710 of a processing circuitry in the traffic management unit 30 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 traffic management unit 30. 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 traffic management unit 30.

[0119] The traffic management unit (30) and / or processor 710 is configured to control operations of one or more machines (10) operating in a mining environment (1).

[0120] The traffic management unit (30) and / or processor 710 is configured to detect a triggering event. The event triggers an action requiring one or more machines (10) operating in an area (2) of the mining environment (1) to park at a respective evacuation location (3).

[0121] The traffic management unit (30) and / or processor 710 is configured to activate a parking operation in the one or more machines (10) operating in the area (2) of the mining environment (1). The parking operation parks the machine (10) at an evacuation location (3), allowing a moving object (20) to pass the parked machines (10).

[0122] The traffic management unit 30 may further comprise a memory 720 comprising one or more memory units. The memory 720 comprises instructions executable by the processor 710 in the traffic management unit 30. The memory 720 is arranged to be used to store e.g. information, configurations, criteria, measurements, estimation, and applications to perform the methods herein when being executed in the traffic management unit 30.

[0123] In some embodiments, a computer program 730 comprises instructions, which when executed by the respective at least one processor 710, cause the at least one processor 710 of the traffic management unit 30 to perform the actions above. In some embodiments, a computer readable medium 740 comprises instructions, which when executed by the respective at least one processor 710, cause the at least one processor 710 of the traffic management unit 30 to perform the actions above.

[0124] In some embodiments, a respective carrier 750 comprises the respective computer program 730 and / or computer readable medium 740, wherein the carrier 750 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.

[0125] Thus, embodiments herein may disclose the traffic management unit 30 configured to control operations of one or more machines 10 operating in a mining environment 1. The traffic management unit 30 comprises the processor 710 and the memory 720, said memory 720 comprising instructions executable by said processor 710 whereby said traffic management unit 30 is operative to perform any of the methods herein.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] The machine 10 and / or control unit 11 may comprise an arrangement depicted in Fig. 8. To perform embodiments herein, e.g. the method according to actions 201-207 above, the machine 10 and / or control unit 11 is configured to operate in an area 2 in a mining environment 1.

[0130] The machine 10 and / or control unit 11 may comprise an input and output interface 800 e.g. configured to communicate with each other. The input and output interface 800 may comprise a wireless or wired receiver not shown, a transceiver, one or more antennas, and / or a wired or wireless transmitter not shown.

[0131] The embodiments herein may be implemented through a respective processor or one or more processors, such as at least one processor 810 of a processing circuitry in the machine 10 and / or control unit 11 depicted in Figure 8, 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 machine 10 and / or control unit 11. 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 machine 10 and / or control unit 11.

[0132] A machine 10, control unit 11 and / or processor 810 is configured to operate in an area (2) in a mining environment (1). The machine 10, control unit 11 and / or processor 810 is configured to, in response to a triggering event, activate a parking operation in the machine (10).

[0133] A machine 10, control unit 11 and / or processor 810 is configured to park at an evacuation location (3), allowing a moving object (20) to pass the one or more machines (10).

[0134] The machine 10 and / or control unit 11 may further comprise a memory 820 comprising one or more memory units. The memory 820 comprises instructions executable by the processor 810 in the machine 10 and / or control unit 11. The memory 820 is arranged to be used to store e.g. information, configurations, criteria, measurements, estimation, and applications to perform the methods herein when being executed in the machine 10 and / or control unit 11.

[0135] In some embodiments, a computer program 830 comprises instructions, which when executed by the respective at least one processor 810, cause the at least one processor 810 of the machine 10 and / or control unit 11 to perform the actions above.

[0136] In some embodiments, a computer readable medium 840 comprises instructions, which when executed by the respective at least one processor 810, cause the at least one processor 810 of the machine 10 and / or control unit 11 to perform the actions above.

[0137] In some embodiments, a respective carrier 850 comprises the respective computer program 830 and / or computer readable medium 840, wherein the carrier 850 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.

[0138] Thus, embodiments herein may disclose the machine 10 and / or control unit 11 configured to operate in an area (2) in a mining environment (1). The machine 10 and / or control unit 11 comprises the processor 810 and the memory 820, said memory 820 comprising instructions executable by said processor 810 whereby said machine 10 and / or control unit 11 is operative to perform any of the methods herein.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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 handling one or more machines (10) operating in a mining environment (1), the method comprising: detecting (202) a triggering event, which event triggers an action requiring one or more machines (10) operating in an area (2) of the mining environment (1) to park at a respective evacuation location (3), activating (206) a parking operation in the one or more machines (10) operating in the area (2) of the mining environment (1), parking (207) the one or more machines (10) operating in the area (2) at a respective evacuation location (3), allowing a moving object (20) to pass the one or more parked machines (10).

2. The method according to claim 1, wherein an evacuation location is a location designated for parking a machine, and wherein parking (205) the one or more machines (10) comprises that the one or more machines (10) parks at a respective explicitly indicated evacuation location, and / or at a nearest evacuation location.

3. The method according to any of claims 1-2, wherein the area (2) comprises any one out of:- a sub-area of the mining environment (1), or- the complete mining environment (1).

4. The method according to any of claims 1-3, the method further comprising: determining (203) the area (2), wherein the area (2) is determined taking the detected triggering event into account.

5. The method according to any of claims 1-4, the method further comprising: determining (204) the one or more machines (10) operating in the area (2) based on the area (2) and / or a respective location of the one or more machines (10).

6. The method according to any of claims 1-5, wherein the triggering event comprises any one or more out of:- an accident,- an incident,- a localization deviation- failure of a system, and- an unknown object.

7. The method according to any of claims 1-6, wherein action comprises any one or more out of:- clearing a path between two locations in the mining environment (1),- evacuating a ramp, and- a traffic reprioritization.

8. The method according to any of claims 1-7, the method further comprising: determining (201 , 205) the respective evacuation location for the one or more machines (1), wherein an evacuation location for a machine (10) is determined based on any one or more out of:- a location of the machine (10),- a direction of movement of the machine (10),- a gradient of the location of the machine (10),- a capability of the machine (10),- a geometry of the machine (10),- the geometry of the mining environment (1), and- the action.

9. The method according to any of claims 1-8, wherein activating (204) the parking operation comprises instructing the one or more machines operating in the area (2) to park at the respective evacuation location (3).

10. A system comprising: one or more machines (10) operating in a mining environment (1), a traffic controller unit (30) configured to control operations of the one or more machines (10), wherein upon detecting a triggering event, which event triggers an action requiring one or more machines (10) operating in an area (2) of the mining environment (1) to park at a respective evacuation location (3), the traffic controller (30) activates a parking operation in the one or more machines (10), which parking operation parks the one or more machines (10) at a respective evacuation location (3), allowing a moving object (20) to pass the one or more parked machines (10).

11. The system according to claim 10, wherein an evacuation location is a location designated for parking a machine, and wherein the one or more machines (10) parks at a respective explicitly indicated evacuation location, and / or at a nearest evacuation location.

12. The system according to any of claims 10-11, wherein the area (2) comprises any one out of:- a sub-area of the mining environment (1), or- the complete mining environment (1).

13. The system according to any of claims 10-12, wherein the area (2) is determined taking the detected triggering event into account.

14. The system according to any of claims 10-13, wherein the one or more machines (10) operating in the area (2) is determined based on the area (2) and / or a respective location of the one or more machines (10).

15. The system according to any of claims 10-14, wherein the triggering event comprises any one or more out of:- an accident,- an incident,- a localization deviation- failure of a system, and- an unknown object.

16. The system according to any of claims 10-15, wherein the action comprises any one or more out of:- clearing a path between two locations in the mining environment (1),- evacuating a ramp, and- a traffic reprioritization.

17. The system according to any of claims 10-16, wherein an evacuation location for a machine (10) is determined based on any one or more out of:- a location of the machine (10),- a direction of movement of the machine (10),- a gradient of the location of the machine (10),- a capability of the machine (10),- a geometry of the machine (10),- the geometry of the mining environment (1), and- the action.

18. A machine (10) configured to operate in an area (2) in a mining environment (1), the machine (10) further being configured to: in response to a triggering event, activate a parking operation in the machine (10), park at an evacuation location (3), allowing a moving object (20) to pass the one or more machines (10).

19. A traffic management unit (30) configured to control operations of one or more machines (10) operating in a mining environment (1), the traffic management unit (10) further being configured to: detect a triggering event, which event triggers an action requiring one or more machines (10) operating in an area (2) of the mining environment (1) to park at a respective evacuation location (3), activate a parking operation in the one or more machines (10) operating in the area (2) of the mining environment (1), which parking operation parks the machine (10) at an evacuation location (3), allowing a moving object (20) to pass the parked machines (10).

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