Method for determining and tracking the position of a person in a mining or construction environment

Abstract

A method for positioning of a person in an environment, the environment being a mining and / or construction environment, wherein a machine (100) operates in the environment, the machine (100) being a mining and / or construction machine (100), the machine (100) comprising a collision avoidance system (CAS) for detecting people, and a means for positioning of the machine (100), the method comprising: detecting a person within a detection range of the CAS, determining a relative position of the person relative the machine (100), assigning the person a position based on the relative position of the person and the position of the machine (100).

Description

113499PC1POSITIONING OF PEOPLETechnical field

[0001] The present invention relates generally to the field of mining operations, specifically focusing on the safety and supervision aspects within a mining environment. Even more specifically it relates to positioning and tracking of people in a mining environment.Background art

[0002] In the mining industry, the safety of personnel is of paramount importance. One of the key aspects of ensuring safety is the ability to accurately track and position personnel within the mining environment. Current systems for tracking personnel in mining environments, however, have several limitations.

[0003] One common method of tracking personnel is using tags carried by the personnel communicating with a Wi-Fi or LTE network within the mine. However, the accuracy of such systems is coarse, sometimes with a precision as low as 300-500 meters. This precision is in large determined by the distance between fixed access points, or “anchors”, throughout the mine. This means that a person must pass by such an access point to be detected and receive a position. This requirement can further limit the accuracy and reliability of these systems, as it may not always be possible for personnel to pass by an access point, particularly in large or complex mining environments. Some parts of a mine may even completely lack access points and Wi-Fi connection. Furthermore, the rough environment entails that access points can be damaged or obstructed, for example by falling rocks, leading to even greater distances between access points and thus positioning with even less precision. It is also costly to cover a mine with Wi-Fi or LTE. This coarse precision can lead to safety risks, as it can be difficult to determine if a person is in the path of a mining vehicle or other potential hazards. Furthermore, in the event of an emergency, such as a need for evacuation, the inability to accurately locate personnel can delay rescue operations and increase the risk of harm.113499PC2

[0004] Another method of tracking personnel is through the use of GPS technology. While GPS can provide more precise positioning than Wi-Fi tags, it is not suitable for use in underground mining environments due to signal obstruction by the earth. Even in surface mines where GPS could be used, GPS trackers rely on battery power, making them impractical for continuous use by personnel.

[0005] In summary, the prior art in personnel tracking systems for mining environments suffers from several significant limitations, including coarse precision, unsuitability for underground use, high power consumption and weight, and reliance on fixed access points. These limitations can lead to safety risks and operational inefficiencies, highlighting the need for improved solutions in this field.Summary of invention

[0006] An object of the present invention is to overcome at least some of the problems outlined above.

[0007] According to a first aspect of the disclosure there is provided a method for positioning of a person in an environment, the environment being a mining and / or construction environment, wherein a machine operates in the environment, the machine being a mining and / or construction machine, the machine comprising a collision avoidance system (CAS) for detecting people, and a means for positioning of the machine, the method comprising: detecting a person within a detection range of the CAS, determining a relative position of the person relative the machine, assigning the person a position based on the relative position of the person and the position of the machine.

[0008] Since the CAS is capable of determining where the person is relative the machine, and the position of the machine is well known and determined with high precision, the present method provides that a position of the person can be provided with high precision. As such, assigning the person a position based on the relative position of the person and the position of the machine comprises adding the relative position to the machine position. Especially machines which113499PC3 are capable of autonomous operation incorporate very high precision positioning systems for positioning of the machine.

[0009] In prior art, the CAS is only utilized to detect persons near the machine, for example for avoiding collision with the persons. Additionally, in prior art, a person needs another form of tracker or device for determination of their position in the environment. Thus, in prior art, at least two different systems are required. According to the present disclosure on the other hand, the CAS detects the person near the machine and this information is then utilized to determine the position of the person.

[0010] The method provides an improved precision compared to existing technologies for detection of persons, such as Wi-Fi, Bluetooth, triangulation with “anchors” in the environment. The method is robust since it utilizes the positioning of the machine and does not rely on auxiliary systems for positioning of people. It is a cost-efficient method, since it utilizes existing systems of the machine for positioning of people.

[0011] In some embodiments, detecting a person within a detection range of the CAS comprises the CAS detecting a transmitted signal from a device carried by the person. In some embodiments, detecting a person within a detection range of the CAS comprises the CAS scanning the area around the machine, for example electromagnetic field detection, Al vision and Time-of-flight technologies or using radar or ultrasonic radiation such as laser or LIDAR.

[0012] In some embodiments, the environment is a mining environment. In some embodiments, the environment is an underground mining environment. In some embodiments, the environment is a surface mine environment.

[0013] In some embodiments, the method comprises detecting an identity of the person. In some embodiments, the method comprises detecting a tag-ID carried by the person.

[0014] By detecting the identity, for example by detecting a tag-ID, the CAS not only detects a person, but also who the person is, and the position can thus be113499PC4 linked to a specific individual. This has many advantages. For example, when the person moves through the environment, various detected positions can be determined and linked to the same individual. One advantage of this is that a movement path for a person can be determined. Another advantage that the person can be tracked using several complementary systems in the mine. As such, the position of the person can be determined by different systems and linked to the same individual. A determination can also be made which system’s determined position is more reliable at each instance. The reliability can for example be determined based on the precision of the system itself, or which system the person is closest to.

[0015] Furthermore, when the identity in known, it is possible to contact this person for example if he / she is a dangerous situation / area. For example, during evacuations it is possible to know who is in the area to be evacuated.

[0016] In some embodiments, the tag-ID transmits a signal for detection by the CAS.

[0017] In some embodiments, the tag-ID transmits a signal via Bluetooth. In some embodiments, the tag-ID transmits a signal via Wi-Fi. In some embodiments, the tag-ID transmits a signal via LTE. In some embodiments, the tag-ID transmits a signal via ultra-wideband technology. In some embodiments, the tag-ID transmits a signal in the form of a magnetic field.

[0018] In some embodiments, determining the relative position of the person comprises determining: a distance between the person and the machine.

[0019] By determining the distance, it is possible to know how far the person is from the machine position. The machine position may be extended by this distance. In some embodiments, the distance is determined by detecting a transmitted signal from a device carried by the person, such as a tag-ID. In some embodiments, the distance is determined by the CAS scanning the area around the machine, for example electromagnetic field detection, Al vision and Time-of- flight technologies or using radar or ultrasonic radiation such as laser or LIDAR.113499PC5

[0020] In some embodiments, determining the relative position of the person comprises determining: a distance between the person and the machine, and a direction of the person relative the machine.

[0021] In some embodiments, the distance and direction are determined by detecting, by the CAS, a transmitted signal from a device carried by the person. In some embodiments, the device is a tag-ID. In some embodiments, the distance and direction are determined by the CAS scanning the area around the machine, for example electromagnetic field detection, Al vision and Time-of-flight technologies or using radar or ultrasonic radiation such as laser or LIDAR.

[0022] In some embodiments, determining the relative position of the person comprises determining a distance and a direction of the person relative the machine by means of trilateration, utilizing sensors of the CAS arranged on the machine.

[0023] In some embodiments, determining the relative position of the person comprises determining a distance between the person and the machine, and utilizing a mapping of the environment to determine a direction of the person relative the machine. In some embodiments, the mapping comprises a geometry of an underground tunnel in the environment.

[0024] By determining the distance and direction, it is possible to know how far the person is from the machine position and in what direction the person is relative the machine position.

[0025] In some embodiments, the direction is in front of or behind the machine. In some embodiments, an x-coordinate of the relative position of the person is determined based on a distance and a direction of the person relative the machine, wherein the machine position is in the origin. In some embodiments, a y- coordinate of the relative position of the person is determined based on a distance and a direction of the person relative the machine, wherein the machine position is in the origin. In some embodiments, an z-coordinate of the relative position of the113499PC6 person is determined based on a distance and a direction of the person relative the machine, wherein the machine position is in the origin.

[0026] In some embodiments, an x-coordinate and a y-coordinate of the relative position of the person are determined based on a distance and a direction of the person relative the machine, and a z-coordinate of the relative position of the person is assigned the z-coordinate of the machine position.

[0027] Knowing at what height the person is relative the machine may sometimes not be crucial information. Assigning the machine position z-coordinate to the position of the person saves time and processing power.

[0028] In some embodiments, the method comprises: determining whether the person is inside the machine, and if it is determined that the person is inside the machine, assigning the position of the machine to the person.

[0029] When the person is inside the machine, such as when the person is driving the machine, the relative position of the person is equal to the machine position and thus inherits the machine position. As such, when the machine moves, the position of the person is updated based on the movement of the machine. One advantage is that the person can be marked as being out of harms way as long as he / she is inside the machine. Another advantage is saving processing power as the relative position of the person can be set to the machine position.

[0030] In some embodiments, determining whether the person is inside the machine is based on the relative position of the person.

[0031] In some embodiments, determining whether the person is inside the machine is performed by the CAS during the step of detecting the person.

[0032] In some embodiments, determining whether the person is inside the machine comprises the CAS detecting a signal from inside the machine.

[0033] In some embodiments, determining whether the person is inside the machine comprises the CAS detecting a signal from a tag-ID of the person.113499PC7

[0034] In some embodiments, the method comprises communicating the position of the person to an overhead system of the environment.

[0035] In some embodiments, the method comprises transmitting the position of the person, by the overhead system, to other machines in the environment.

[0036] In some embodiments, the method comprises processing, by the overhead system of the environment, the position of the person.

[0037] Processing may comprise applying statistic models to refine the position of the person.

[0038] In some embodiments, the method comprises displaying the position of the person on a map of the environment. In some embodiments, the method comprises displaying the ID of the person on a map of the environment.

[0039] The map may for example be stored in the overhead system, in the machine, in another machine in the environment, or in a portable device carried by a person in the environment.

[0040] According to a second aspect of the disclosure there is provided a machine for operating in an environment, the environment being a mining and / or construction environment, the machine comprising: a collision avoidance system (CAS) for detecting people, and a means for positioning of the machine, wherein the machine is operative for: detecting a person within a detection range of the CAS, determining a relative position of the person relative the machine, assigning the person a position based on the relative position of the person and the position of the machine.

[0041] According to a third aspect of the disclosure there is provided a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to the disclosure.

[0042] According to a fourth aspect of the disclosure there is provided a computer-readable medium comprising instructions which, when executed by a computer, cause a computer to carry out the method according to the disclosure.113499PC8Brief description of drawings

[0043] The invention is now described, by way of example, with reference to the accompanying drawings, in which:Fig. 1 displays a machine travelling in an environment,Figs. 2a and 2b display a machine operating a CAS of the machine,Fig. 3 displays a coordinate system of the machine,Fig. 4 displays a coordinate system of the machine.Description of embodiments

[0044] In the following, a detailed description of a method and a mining and / or construction machine is provided. All examples herein should be seen as part of the general description and are therefore possible to combine in any way in general terms. Individual features of the various embodiments may be combined or exchanged unless such combination or exchange is clearly contradictory to the overall function. In the figures, like reference numerals designate identical or corresponding elements throughout the figures. It will be appreciated that these figures are for illustration only and do not in any way restrict the scope of the present disclosure.

[0045] The present disclosure relates to a method for positioning of a person 200. The method generally comprises the following steps: i) detecting a person 200, ii) determining a relative position of the person 200 relative a machine 100, iii) assigning the person 200 a position based on the relative position of the person 200 and the position of the machine 100.

[0046] With reference to Fig. 1 the machine 100 is displayed, travelling in an environment, here represented by a tunnel in an underground mine. Fig. 1 furthermore displays a person 200 in the environment. The machine 100 may for example be a mining machine or a construction machine. When reference is made113499PC9 to a mining machine, this will be understood as a machine arranged to travel and operate in a mining environment. Thus, the mining machine may for example perform operations specifically related to mining, such as drilling, or other operations necessary for the operations in a mining environment, such as related to transport of material such as blasted rock or related to construction. When reference is made to a construction machine, this will be understood as a machine 100 arranged to travel and operate on a construction site, for example for construction of roads or powerplants. The environment may for example be a mining environment such as an underground mine, a surface mine, an open-pit mine or the environment may for example be a construction environment, such as a construction site. The environment may be an area adjacent to or in connection to a mine or construction site. As such, the environment could be seen as any area where the machine 100 may normally travel during operation. In some embodiments, the machine 100 is an autonomously operated machine. In some embodiments, the machine 100 is a teleoperated machine. In some embodiments, the machine 100 is an electrical machine.

[0047] The method comprises the step of detecting the person 200. The detection is performed by a collision avoidance system, CAS. To this end, the machine 100 comprises a CAS. The CAS may be comprised in or communicatively connected to an onboard control system of the machine 100. The CAS is operative for detecting an object near the machine 100. In the context of the present disclosure, the CAS is specifically operative for detecting the person 200 near the machine 100. Near the machine should be understood as within the detection range of the CAS. With refence to Fig. 2a and Fig. 2b the machine 100 is displayed, and examples of when the CAS is utilized for detecting the person 200.

[0048] In Fig. 2a, the CAS scans the area around the machine 100 to detect the person 200 near the machine 100. The scanning comprises the CAS transmitting a signal for detecting the person 200, which returns to the CAS as a reflected signal after being reflected on the person 200.113499PC10

[0049] In Fig. 2b, the CAS detects a signal from the person 200, such as a signal transmitted from a device carried by the person 200. In some embodiments, the signal transmitted from the device is triggered by the CAS, for example by the CAS transmitting a signal.

[0050] In some embodiments, the CAS comprises sensors, arranged on the machine 100. In some embodiments, the sensors detect a signal from the person 200, such as a signal transmitted from a device carried by the person 200. In some embodiments, the sensors detect a reflected signal from the CAS scanning the environment. In some embodiments, the sensors are arranged on a front and back side of the machine 100. In some embodiments, the sensors are arranged on left and right sides of the machine 100. In some embodiments, the sensors are arranged at different heights on the machine 100.

[0051] In one example, the machine 100 comprises a front sensor and a back sensor. As such the machine 100 is capable of determining a distance to the person 200 within its detection range.

[0052] In one example, the machine 100 comprises a plurality of sensors arranged on a front, a back and on the lateral sides of the machine 100. As such the machine 100 is capable of determining a distance and a direction to the person 200 relative the machine by means of trilateration.

[0053] The method comprises the step of determining a relative position of the person 200 relative the machine 100. The relative position may be determined in different manners.

[0054] In the embodiment displayed in Fig. 3, there is displayed a coordinate system of the machine in which the machine 100 is in the origin. The coordinate system is a representation of how the relative position of the person 200 relative the machine 100 may be determined. In this embodiment, the relative position of the person 200 comprises a distance and an angle, to represent the direction. The relative position is thus expressed in terms of a distance from the machine 100 and an angle. The angel may be an angle from a central axis of the machine 100,113499PC11 such as an axis extending back to front, or in other words corresponding to a normal direction of a machine front. The angel may be an angle from an axis corresponding to a travel direction of the machine 100. The angel may be an angle from the ground.

[0055] With reference to Fig. 4, there is displayed a coordinate system of the machine in which the machine 100 is in the origin. The coordinate system is a representation of how the relative position of the person 200 relative the machine 100 may be determined. In this embodiment, the relative position of the person 200 comprises an x-coordinate and a y-coordinate in the coordinate system of the machine 100. As such, the relative coordinates can be added to the actual position coordinates of the machine 100 to determine the position of the person 200 in a subsequent step.

[0056] The method comprises assigning the person 200 a position based on the relative position of the person 200 and the position of the machine 100. To this end, the position of the machine must be determined. When the position of the machine 100 is determined, and the relative position of the person 200 is determined, the person 200 is assigned a position based on the relative position of the person 200 and the position of the machine 100.

[0057] The position of the machine 100 is determined when the person 200 is detected by the CAS. As such, the position of the machine 100 is determined at the time at which the person 200 was detected. A position of the machine 100 may be a real time position of the machine 100. The position may be a last known position of the machine 100. The position may be an extrapolated position from a last known position if the machine 100. The position may be obtained from an overhead system of the environment. An overhead system may for example be a system handling and controlling tasks of the machines in the environment. The position may be obtained from the onboard control system of the machine 100.

[0058] The machine 100 comprises means for positioning. The means for positioning may be comprised in the onboard control system of the machine 100. In some embodiments, positioning relates to autonomous positioning, wherein the113499PC12 machine 100 regularly and / or continuously determines its position in the mining environment without an explicit action being taken by an operator.

[0059] The means for positioning may be communicatively connected to a high precision positioning system. In some embodiments, the high precision positioning system is comprised in the overhead system of the environment.

[0060] In some embodiments the high precision positioning system comprises access points arranged in the environment. The access points may communicate with the overhead system of the environment. The access points may communicate with the machine 100 to determine a position of the machine 100. The position determination may be by means of triangulation or trilateration, wherein the distance between at least two of the access points is known, and the distance between each of the at least two access points and the machine 100 is measured. The distance between each of the access points and the machine 100 may be determined by measuring the signal strength from the machine 100 to the access point.

[0061] In some embodiments, the means for positioning is operative for determining a movement path of the machine 100. Determining a movement path may for example be performed by means of a gyroscope and / or an accelerometer comprised in the machine 100. The determined movement path may be in 2D or 3D. The high precision positioning system may be operative for comparing the determined movement path to possible movement paths in the environment to determine the position of the machine 100. The comparison may for example be performed by the overhead system. Determining the movement path of the machine 100 may be done in real time. Comparing with possible movement paths may be done in real time. Comparing with possible movement paths may comprise selecting a number of possible movement paths, wherein the selection is made by determining a latest known position of the machine 100, for example by means of access points in the environment.

[0062] In some embodiments, the environment comprises a plurality of different high precision positioning systems. The machine 100 may be positioned by means113499PC13 of one or several of the plurality of high precision positioning systems. Furthermore, different machines in the environment may be positioned by the same or different high precision positioning systems.

[0063] Preferred embodiments of a method and a machine have been disclosed above. However, a person skilled in the art realizes that this can be varied within the scope of the appended claims without departing from the inventive idea.

[0064] All the described alternative embodiments above or parts of an embodiment can be freely combined or employed separately from each other without departing from the inventive idea as long as the combination is not contradictory.

Claims

113499PC14CLAIMS1 . A method for positioning of a person in an environment, the environment being a mining and / or construction environment, wherein a machine (100) operates in the environment, the machine (100) being a mining and / or construction machine (100), the machine (100) comprising a collision avoidance system (CAS) for detecting people, and a means for positioning of the machine (100), the method comprising: detecting a person within a detection range of the CAS, determining a relative position of the person relative the machine (100), assigning the person a position based on the relative position of the person and the position of the machine (100).

2. The method according to claim 1 , comprising detecting an identity of the person.

3. The method according to claim 1 or 2, comprising detecting a tag-ID carried by the person.

4. The method according to claim 3, wherein the tag-ID transmits a signal for detection by the CAS.

5. The method according to any one of the preceding claims, wherein determining the relative position of the person comprises determining: a distance between the person and the machine (100), and a direction of the person relative the machine (100).

6. The method according to any one of the preceding claims, wherein an x- coordinate and a y-coordinate of the relative position of the person are determined based on a distance and a direction of the person relative the machine (100), and a z-coordinate of the relative position of the person is assigned the z-coordinate of the machine (100).113499PC157. The method according to any one of the preceding claims, further comprising: determining whether the person is inside the machine (100), and if it is determined that the person is inside the machine (100), assigning the position of the machine (100) to the person.

8. The method according to any one of the preceding claims, further comprising communicating the position of the person to an overhead system of the environment.

9. The method according to any one of the preceding claims, further comprising displaying the position of the person on a map of the environment.

10. A machine (100) for operating in an environment, the environment being a mining and / or construction environment, the machine (100) comprising: a collision avoidance system (CAS) for detecting people, and a means for positioning of the machine (100), wherein the machine (100) is operative for: detecting a person within a detection range of the CAS, determining a relative position of the person relative the machine (100), assigning the person a position based on the relative position of the person and the position of the machine (100).

11. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to any one of claims 1-9.

12. Computer-readable medium comprising instructions which, when executed by a computer, cause a computer to carry out the method according to any one of the claims 1-9.

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