Method, system, traffic control unit and machine for handling meetings in a mining environment

Abstract

A system comprising a plurality of autonomous machines and a traffic control unit configured coordinate movements of one or more autonomous machines out of the plurality of autonomous machines is provided. A respective priority is assigned to one or more autonomous machines by the traffic control unit. A first autonomous machine is assigned a first priority and a second autonomous machine is assigned a second priority. An autonomous machine of the first autonomous machine and the second autonomous machine is prioritized, by the traffic control unit, to move past a meeting zone located in a meeting area based the respective assigned priorities. The traffic control unit controls the movement of the first autonomous machine and the second autonomous machine based on the prioritization.

Description

[0001] METHOD, SYSTEM, TRAFFIC CONTROL UNIT AND MACHINE FOR HANDLING MEETINGS 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 need to be 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.

[0006] Autonomous operation of multiple vehicles presents certain challenges related to the requirement to accurately control operation of the vehicles, e.g., in a manner that does not create conflicts in vehicle movements. In certain worksites, multiple machines may be traveling common areas where deadlocks may occur, e.g., when vehicles are facing each other and thereby prevent each other from further movements. For example, in environments where LHD machines are employed, multiple machines may be traveling a commonly shared area on the way to and from the dump locations. In use, in such shared areas, situations may occur when machines lock each other such that further operation is not possible. Thus, a driver intervention may be required, which and wastes time and resources, and thus costs.

[0007] 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. Hence there is a need to improve the control of movements of machines operating in the mining environment.

[0008] SUMMARY

[0009] As mentioned above, machines stopping in the mining environment may reduce the efficiency in the mining environment. This results in a reduced productivity 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.

[0010] An object of embodiments herein is to provide a mechanism that improves productivity in a delimited environment, such as a mining environment. The object is achieved by the independent claims.

[0011] According to a first aspect, a method for coordinating movements of one or more autonomous machines out of a plurality of autonomous machines operating in a mining environment comprising one or more meeting zones is provided.

[0012] Based on one or more rules, a respective priority is assigned to the one or more autonomous machines. A first autonomous machine is assigned a first priority and a second autonomous machine is assigned a second priority.

[0013] An autonomous machine of the first autonomous machine and the second autonomous machine is prioritized to move past a meeting zone located in a meeting area based on the respective assigned priorities.

[0014] Movement of the first autonomous machine and the second autonomous machine is controlled based on the prioritization.

[0015] In this way, it is possible to increase the productivity in the mining environment by allowing machines to pass one another in a controlled manner based on assigned priorities. Further, productivity may be increased since by allowing machines to pass one another and avoiding deadlocks in the mining environment.

[0016] In some exemplary embodiments, responsive to the second autonomous machine being assigned a higher priority than the first autonomous machine, the method comprises prioritizing the second autonomous machine over the first autonomous machine. Further, the method comprises controlling the movement of the first autonomous machine and the second autonomous machine by instructing the first autonomous machine to move towards the meeting zone, and instructing the second autonomous machine towards a target point and move past the first autonomous machine in the meeting area, which first autonomous machine is located in the meeting zone.

[0017] In this way, further improved productivity and efficiency is achieved. This is since the machine with highest priority is allowed to move past the machine lowest priority in the meeting area, while the machine with lowest priority is located in the meeting zone. Thus, the movements of the machines is controlled and coordinated efficiently, avoiding unnecessary stops and deadlocks.

[0018] In some exemplary embodiments, responsive to the first autonomous machine being assigned a higher priority than the second autonomous machine, the method comprises prioritizing the first autonomous machine over the second autonomous machine. Further, the method comprises controlling the movement of the first autonomous machine and the second autonomous machine by instructing the second autonomous machine to move towards the meeting zone, and instructing the first autonomous machine towards a target point and move past the second autonomous machine in the meeting area, which second autonomous machine is located in the meeting zone.

[0019] In this way, further improved productivity and efficiency is achieved. This is since the machine with highest priority is allowed to move past the machine lowest priority in the meeting area, while the machine with lowest priority is located in the meeting zone. Thus, the movements of the machines is controlled and coordinated efficiently, avoiding unnecessary stops and deadlocks.

[0020] In some exemplary embodiments, when the first autonomous machine and the second autonomous machine are assigned the same priority, the method comprises reassigning a priority to the first autonomous machine and / or the second autonomous machine such that one of the first autonomous machine and the second autonomous machine has a higher priority than the other.

[0021] In this way, further improved productivity and efficiency is achieved. This is since the priorities may be reassigned responsive to the machines have the same priority.

[0022] In some exemplary embodiments, the prioritization comprises prioritizing the autonomous machine assigned a higher priority.

[0023] In this way, the machine assigned to the highest priority is allowed to move passed the machine with the lowest priority without stopping. This way, further improved productivity and efficiency is achieved. In some exemplary embodiments, the respective priorities are assigned responsive to determining an impending meeting of the first autonomous machine and the second autonomous machine.

[0024] In this way, the priorities may be efficiently assigned, based on the current situation in the mining environment. This way, further improved productivity and efficiency is achieved.

[0025] In some exemplary embodiments, the respective priorities are assigned responsive to the autonomous machines initiates tramming along a tramming path from a start point to an end point.

[0026] In this way, the priorities may be efficiently assigned, resulting in a quick prioritization. This is since once an impending meeting is determined, the priorities are already assigned. This way, further improved productivity and efficiency is achieved.

[0027] In some exemplary embodiments, the start point comprises a loading point or a dumping point, and wherein the end point comprises a loading point or a dumping point.

[0028] In some exemplary embodiments, an autonomous machine initiating tramming from a loading point is assigned a higher priority than an autonomous machine initiating tramming from a dumping point.

[0029] In this way, a machine carrying load towards a dumping point may pe prioritized over a machine returning from the dumping point. This way, further improved productivity and efficiency is achieved.

[0030] In some exemplary embodiments, an impending meeting of the first autonomous machine and the second autonomous machine is determined. Determining the impending meeting is based on a respective route and / or position of the first autonomous machine and the second autonomous machine.

[0031] In this way, further improved productivity and efficiency is achieved. This is since the impending meeting may be handled and the machines movements controlled and coordinated efficiently.

[0032] In some exemplary embodiments, determining the impending meeting comprises any one or more out of determining that the first autonomous machine is about to enter a zone currently occupied by the second autonomous machine, determining that the first autonomous machine is about to enter a zone the second autonomous machine is about to enter, determining that the second autonomous machine is about to enter a zone currently occupied by the first autonomous machine, determining that the second autonomous machine is about to enter a zone the first autonomous machine is about to enter, or determining that a path between the first autonomous machine and the second autonomous machine comprises at least one meeting zone and that the distance between the first autonomous machine and the second autonomous machine along path is below a threshold.

[0033] In some exemplary embodiments, the one or more rules are related to any one or more out of a loading state, a vehicle type, a path inclination, and an arrival time at a meeting zone.

[0034] According to a second aspect, a system comprising a plurality of autonomous machines and a traffic control unit configured coordinate movements of one or more autonomous machines out of the plurality of autonomous machines is provided.

[0035] A respective priority is assigned to one or more autonomous machines by the traffic control unit, A first autonomous machine is assigned a first priority and a second autonomous machine is assigned a second priority. An autonomous machine of the first autonomous machine and the second autonomous machine is prioritized, by the traffic control unit, to move past a meeting zone located in a meeting area based on the respective assigned priorities. The traffic control unit controls the movement of the first autonomous machine and the second autonomous machine based on the prioritization.

[0036] In this way, it is possible to increase the productivity and efficiency in the mining environment by allowing machines to pass one another in a controlled manner based on assigned priorities. Further, productivity may be increased since by allowing machines to pass one another and avoiding deadlocks in the mining environment.

[0037] According to a third aspect, a traffic control unit configured coordinate movements of one or more autonomous machines out of a plurality of autonomous machines operating in a mining environment comprising one or more meeting zones, is provided.

[0038] The traffic control unit is configured to assign, based on one or more rules, a respective priority to the one or more autonomous machines. A first autonomous machine is assigned a first priority and a second autonomous machine is assigned a second priority.

[0039] The traffic control unit is configured to prioritize an autonomous machine of the first autonomous machine and the second autonomous machine to move past a meeting zone located in a meeting area based on the respective assigned priorities.

[0040] The traffic control unit is configured to control movement of the first autonomous machine and the second autonomous machine based on the prioritization.

[0041] Advantages and effects of the traffic 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 traffic 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.

[0042] According to a third aspect, an autonomous machine and / or control unit configured to be controlled by a traffic control unit is provided.

[0043] Responsive to an impending meeting with a second autonomous machine, the autonomous machine and / or control unit is configured to obtain a command related to further actions of the autonomous machine.

[0044] Responsive to the autonomous machine being assigned a higher priority than the second autonomous machine, the further action comprises to move towards a target point, and move past the second autonomous machine in a meeting area, which second autonomous machine is located in a meeting zone in the meeting area.

[0045] Responsive the autonomous machine being assigned a lower priority than the second autonomous machine, the further action comprises to move towards the meeting zone in the meeting area, allowing the second autonomous machine to move past the autonomous machine in the meeting area.

[0046] Advantages and effects of the autonomous machine and / or or control unit are analogous to the advantages and effects of the method of the first aspect, the system of the second aspect and / or the traffic control unit of the third aspect. Further, all embodiments of the autonomous machine and / or or control 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 traffic control unit of the third aspect, such as any one or more out of the above-mentioned exemplary embodiments, and vice versa.

[0047] Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0048] BRIEF DESCRIPTIONS OF DRAWINGS

[0049] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0050] Fig. 1 shows an example of a system according to embodiments herein.

[0051] Fig. 2 shows an example according to embodiments herein.

[0052] Fig. 3 shows a flowchart depicting a method according to embodiments herein. Figs. 4a-b shows an example according to embodiments herein, herein.

[0053] Figs. 5a-b shows an example according to embodiments herein, herein.

[0054] Fig. 6 shows an example of a machine.

[0055] Fig. 7 shows schematic block diagrams illustrating embodiments of a traffic control unit.

[0056] Fig. 8 shows schematic block diagrams illustrating embodiments of an autonomous machine and / or control unit.

[0057] DETAILED DESCRIPTION

[0058] An object of embodiments herein is to provide a mechanism that improves efficiency and productivity, and enable further automation, in a delimited environment, such as mining environment. The object is achieved by the independent claims.

[0059] Embodiments herein bring the advantage of increased operational productivity. This may be achieved by making it possible to park a machine at a meeting zone in response to meeting with another machine. Further, embodiments herein may bring the advantage of an improved productivity and efficiency in the mining environment. This by avoiding traffic queuing or blocking that may occur due to limited spaces in the mining environment.

[0060] Fig. 1 shows a system 200 comprising a plurality of autonomous machines 10 operating in a mining environment 1, and a traffic controller unit 20 configured to control movements of one or more autonomous machines 10 out of the plurality of autonomous machines 10.

[0061] A respective priority is assigned to one or more autonomous machines 10 by the traffic control unit 20. A first autonomous machine 10 is assigned a first priority and a second autonomous machine 10 is assigned a second priority. An autonomous machine 10 of the first autonomous machine 10 and the second autonomous machine 10 is prioritized, by the traffic control unit 20, to move past a meeting zone 2 located in a meeting area 3 in the mining environment 1 based the respective assigned priorities. The traffic control unit 20 controls the movement of the first autonomous machine 10 and the second autonomous machine 10 based on the prioritization. A meeting zone, such as the meeting zone 3 as used herein, may e.g., mean zone of the mining environment 1 where an autonomous machine 10 may “hide” from other machines. Hiding may e.g., mean that a machine moves into the meeting zone and stops there. When an autonomous machine 10 is “hiding” in a meeting zone 3, other machines may move past the autonomous machine 10, which would otherwise not be possible. This way queueing and deadlocks may be avoided in the mining environment 1 , and the productivity may be improved. A meeting area, such as the meeting area 2, as used herein, is an area of the mining environment 1 that comprises a meeting zone 3 and also an adjoining area where a machine may move past the meeting zone 3. Thus, a meeting area may be defined as an area where two machines may meet without creating a deadlock, or an area one may machine may overtake another machine “hiding” in the meeting zone in the meeting area.

[0062] In an example, in view of Figure 1, two autonomous machines 10 are present. They are, as indicated by the arrows beside the machines, moving towards each other. The traffic control unit 20, which tracks the location and routes of the autonomous machines 10, may determine that a meeting of the autonomous machines 10 is impending. As mentioned above, a priority is assigned to each of the machines, either before or after the impending meeting is determined, and based on the priorities one of the autonomous machines is prioritized. The traffic control unit 20 then controls the movement of the autonomous machines 10 based on the prioritization. Controlling the movement may e.g., comprise instructing one of the machines, e.g., the first autonomous machine 10, to move towards the meeting zone 3. This may e.g., mean that the first autonomous machine 10is instructed to move into the meeting zone 3, stop there until the other machine, e.g., the second autonomous machine 10, has passed, and then continue its previous route. Correspondingly, controlling the movement of the second autonomous machine 10 may then e.g., comprise instructing the second autonomous machine 10 to move passed the first autonomous machine 10 when the first autonomous machine 10 is located in the meeting zone 3. The example described above is a simple example of how the system 200 operates. Further details regarding the system and method performed by the system are provided below together with Figs. 2-8.

[0063] Fig. 2 shows an example according to embodiments herein. Fig. 2 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 first autonomous machine 10 and a second autonomous machine 10 are shown to operate in the mining environment 1. The mining environment 1 comprises a number of meeting areas 2. A meeting area may e.g., comprise a location where it is possible for two autonomous machines 10 to pass each other. Each meeting area comprises a meeting zone 3. The meeting zone 3 may comprise a location where e.g., a first autonomous machine 10a may stop while allowing e.g., a second autonomous machine 10b to move past the first autonomous machine 10a in a meeting area 2 while the first autonomous machine 10a is located in a meeting zone 3.

[0064] According to examples of embodiments herein, the first autonomous machine 10a and the second autonomous machine 10b may be assigned a respective priority. Based the respective assigned priorities, the first autonomous machine 10 or the second autonomous machine 10 may be prioritized over the other. The movement of the first autonomous machine 10a and the second autonomous machine 10b are controlled based on the prioritization.

[0065] Applying this example to Fig.2, each of the first and second autonomous machines 10a, b are assigned a respective priority. For example, the first autonomous machine 10a is assigned a higher priority than the second autonomous machine 10b. The first autonomous machine 10a is then prioritized over the second autonomous machine 10b. This since the priority is higher for the first autonomous machine 10a than for the second autonomous machine 10b. The movement of the first and second autonomous machines 10a, b are than controlled based on the priority. This may mean that, since the first autonomous machine 10a is prioritized over the second autonomous machine 10b, the second autonomous machine 10b may be instructed to move towards the meeting zone 3a in the meeting area 2a, and the first autonomous machine 10a may be instructed to move past the second machine 10b when the second autonomous machine 10b is located in the meeting zone 3a.

[0066] As may be seen in Fig. 2, there is also a meeting area 2b comprising the meeting zone 3b located between the first autonomous machine 10a and the second autonomous machine 10b. According to some examples, the second autonomous machine 10b may have been instructed to move towards the meeting zone 3b instead of the meeting zone 3a. This may e.g., depend on locations of the first and second autonomous machines 10a, b, the inclination, the vehicle types, and / or loading state. E.g., if the second autonomous machine 10b may reach the meeting area 2a before the first autonomous machine 10a, the second autonomous machine 10b may be instructed to move towards the meeting zone 3a. On the other hand, if the first autonomous machine 10a may arrive at the meeting area 2a before the second autonomous machine 10b, it may more beneficial to instruct the second autonomous machine 10b to move towards the meeting zone 3b instead. This allows the first autonomous machine 10a to avoid stopping and waiting for second autonomous machine 10b.

[0067] Fig. 3 shows an example embodiment of a method for coordinating movements of one or more autonomous machines 10 out of a plurality of autonomous machines 10 operating in the mining environment 1 comprising one or more meeting zones. A meeting zone may e.g., be located in a meeting area. A meeting zone may e.g., be a part of the meeting area where an autonomous machine may stop and wait while allowing another autonomous machine to move past. The method may e.g., be performed by the system 200, the traffic control unit 20, the one or more autonomous machines 10, a control unit 11 comprised in an autonomous machine 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. 3.

[0068] Action 301

[0069] In some embodiments, an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 is determined. The impending meeting is determined based on a respective route and / or position of the first autonomous machine 10 and the second autonomous machine 10. An impending meeting may e.g., mean that two machines, such as the first autonomous machine 10 and the second autonomous machine 10 about to meet. To meet may e.g., comprise that the two machines are following a respective route and that the machines will eventually end up head to head. Alternatively, the respective routes of the two machines will cross or merge, meaning that that the two machines will meet where the respective routes cross and / or merge.

[0070] E.g., the first autonomous machine 10 follows a first route and the second machine 10 follows a second route. The first route and the second route will, at some point occupy the same tunnel in the mining environment. In a first example, this means that the first autonomous machine 10 and the second autonomous machine 10 will move in the same tunnel in opposite directions and meet. Thus, an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 may be determined. In a second example, the first route and the second route will cross at an intersection in the mining environment 1 , at which point the first route and the second route will occupy the same tunnel. This means that the first autonomous machine 10 cross the route followed by the second autonomous machine 10, and vice versa. Thus, an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 may be determined. In a third example, the first route and second route will merge, resulting in the first route and the second route occupying the same tunnel in the mining environment 1. This means that the first autonomous machine 10 and the second autonomous machine 10 will move in the same tunnel. Thus, an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 may be determined.

[0071] In some embodiments, determining the impending meeting comprises any one or more out of determining that the first autonomous machine 10 is about to enter a zone currently occupied by the second autonomous machine 10, determining that the first autonomous machine 10 is about to enter a zone the second autonomous machine 10 is about to enter, determining that the second autonomous machine 10 is about to enter a zone currently occupied by the first autonomous machine 10, determining that the second autonomous machine 10 is about to enter a zone the first autonomous machine 10 is about to enter, or determining that a path between the first autonomous machine 10 and the second autonomous machine 10 comprises at least one meeting zone and that the distance between the first autonomous machine 10 and the second autonomous machine 10 along path is below a threshold.

[0072] The mining environment may be divided into a plurality of zones, e.g., referred to as traffic zones, traffic control zones, safety zones and / or work zones . When a zone is occupied by an autonomous machine, other machines may be prohibited to enter the zone.

[0073] Determining that the first autonomous machine 10 is about to enter a zone currently occupied by the second autonomous machine 10 may e.g., be based on information indicating the second autonomous machine 10 occupies the zone and a position and / or route followed by the first autonomous machine 10.

[0074] Determining that the first autonomous machine 10 is about to enter a zone the second autonomous machine 10 is about to enter may e.g., be based on information indicating the second autonomous machine 10 occupies the zone and a position and / or route followed by the first autonomous machine 10.

[0075] Action 302

[0076] A respective priority is assigned to the one or more autonomous machines (10) based on one or more rules. The first autonomous machine 10 is assigned a first priority and the second autonomous machine 10 is assigned a second priority. Thus, each of the first autonomous machine 10 and the second autonomous machine 10 is assigned a respective priority. The assigned priorities enable controlling the movement of the machines, e.g., by prioritizing the machines based on the assigned priorities. E.g., the priority may be represented by a number in a set of numbers. Each number in the set of numbers corresponds to priority level. The number of priority levels may be configurable, and comprise any number of priority levels. In some examples, a higher number represents a higher priority than a lower number. In other examples, a lower number represents a higher priority than a higher number. Alternatively, the priority may be represented by a number of code words, such as e.g., ‘high’, ‘medium’ and ‘low’, or similar. Each code word represents a priority level. In this example three priority levels were exemplified, but there may be any number of priority levels.

[0077] In some embodiments, the one or more rules are related to any one or more out of a loading state, a vehicle type, a path inclination, and an arrival time at a meeting zone.

[0078] A rule related to a loading state may e.g., comprise that loaded machine is assigned a higher priority than an unloaded machine.

[0079] A rule related to vehicle type may e.g., comprise that a heavier machine is assigned a higher priority than a lighter vehicle.

[0080] A rule related to a path inclination may e.g., comprise that a machine that moves uphill is assigned a higher priority than a machine moving downhill.

[0081] A rule related to an arrival time at a meeting zone, or meeting area, may e.g., comprise that a machine arriving later to the meeting zone, or meeting area, is assigned a higher priority than a machine that arrive earlier.

[0082] The one or more rules may be evaluated in a predefined order when assigning the priorities. In an example, where all four rules are used, the rules may be evaluated in the following order: 1) loading state, 2) vehicle type, 3) path inclination, 4) arrival time. This order of evaluation is just an example and should not be seen as limiting. The rules may be evaluated in any suitable order. The evaluation order may e.g., be predefined, configurable, and / or adaptable depending on the situation and / or needs. Further, not all four rules need to be used. The use of all four rules here is only intended as an example. Any number of rules may be used, and the four presented here are only examples and not intended to be limiting.

[0083] Thus, with the example of the first autonomous machine 10 and the second autonomous machine 10, first the loading state of the machines are evaluated. This may mean that whether the machines are loaded or unloaded is checked. If e.g., the first autonomous machine 10 is loaded and the second autonomous machine 10 is unloaded, the first autonomous machine 10 will be assigned a higher priority than the second autonomous machine 10. If the machines are loaded, or both machines are unloaded, the next rule, the vehicle type, is evaluated.

[0084] This may mean that whether the machine types of the two machines are the same or different is checked. If they are different, and e.g., the first autonomous machine 10 is of a vehicle type that is heavier than the vehicle type of the second autonomous machine 10, the first autonomous machine 10 is assigned a higher priority than the second autonomous machine 10. If the machines are of the same type, the next rule, the path inclination, is evaluated.

[0085] This may mean that whether the path inclination of the routes followed by the machines are the same or different is checked. If they are different, and e.g., the first autonomous machine 10 is moving uphill and the second autonomous machine 10 is driving downhill, the first autonomous machine 10 is assigned a higher priority than the second autonomous machine 10. If the path inclination is the same, the next rule, the arrival time, is evaluated.

[0086] This may mean that whether the arrival time to the meeting zone, or meeting area, of the machines are the same or different is checked. If they are different, and e.g., the first autonomous machine 10 will arrive later than the second autonomous machine 10, the first autonomous machine 10 is assigned a higher priority than the second autonomous machine 10.

[0087] In some embodiments, the respective priorities are assigned responsive to that an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 has been determined. This may e.g., mean that when it has been determined that a meeting between the first autonomous machine 10 and the second autonomous machine 10 is going to happen, the first autonomous machine 10 and the second autonomous machine 10 are assigned a respective priority.

[0088] In some embodiments, the respective priorities are assigned responsive to the autonomous machines initiates tramming along a tramming path from a start point to an end point. This may mean that once an autonomous machine 10 initiates a tramming operation, the autonomous machine 10 is assigned a priority.

[0089] In some embodiments, the start point comprises a loading point or a dumping point, and wherein the end point comprises a loading point or a dumping point. A loading point may e.g., comprise a location in the mining environment 1 where an autonomous machine 10 is loaded with material that is to be transported to a dumping point. Hence, a dumping point may e.g., comprise a location in the mining environment 1 where material loaded at a loading point is dumped. In some embodiments, an autonomous machine initiating tramming from a loading point is assigned a higher priority than an autonomous machine 10 initiating tramming from a dumping point. This may be because an autonomous machine 10 initiating tramming from a loading point is loaded with material to be dumped, and thus being heavier than an autonomous machine 10 that has just dumped material at the dumping point. It may be more difficult to and less energy efficient to start and stop a heavier autonomous machine 10 loaded with material than a lighter and empty autonomous machine 10. Thus, it may be beneficial to prioritize a machine that is leaving a loading point over a machine leaving a dumping point.

[0090] If the priority is assigned to the first autonomous machine 10 and the second autonomous machine 10 in response to determining an impending meeting, e.g., as explained above in Action 301 , the method continues at Action 304. Otherwise, the method continues at Action 303.

[0091] Action 303

[0092] In some embodiments, an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 is determined. The impending meeting is determined based on a respective route and / or position of the first autonomous machine 10 and the second autonomous machine 10. As mentioned above, an impending meeting may e.g., mean that two machines, such as the first autonomous machine 10 and the second autonomous machine 10 about to meet. To meet may e.g., comprise that the two machines are following a respective route and that the machines will eventually end up head to head. Alternatively, the respective routes of the two machines will cross or merge, meaning that the two machines will meet where the respective routes cross and / or merge.

[0093] E.g., the first autonomous machine 10 follows a first route and the second machine 10 follows a second route. The first route and the second route will, at some point occupy the same tunnel in the mining environment. In a first example, this means that the first autonomous machine 10 and the second autonomous machine 10 will move in the same tunnel in opposite directions and meet. Thus, an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 may be determined. In a second example, the first route and the second route will cross at an intersection in the mining environment 1 , at which point the first route and the second route will occupy the same tunnel. This means that the first autonomous machine 10 cross the route followed by the second autonomous machine 10, and vice versa. Thus, an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 may be determined. In a third example, the first route and second route will merge, resulting in the first route and the second route occupying the same tunnel in the mining environment 1. This means that the first autonomous machine 10 and the second autonomous machine 10 will move in the same tunnel. Thus, an impending meeting of the first autonomous machine 10 and the second autonomous machine 10 may be determined.

[0094] In some embodiments, determining the impending meeting comprises any one or more out of determining that the first autonomous machine 10 is about to enter a zone currently occupied by the second autonomous machine 10, determining that the first autonomous machine 10 is about to enter a zone the second autonomous machine 10 is about to enter, determining that the second autonomous machine 10 is about to enter a zone currently occupied by the first autonomous machine 10, determining that the second autonomous machine 10 is about to enter a zone the first autonomous machine 10 is about to enter, or determining that a path between the first autonomous machine 10 and the second autonomous machine 10 comprises at least one meeting zone and that the distance between the first autonomous machine 10 and the second autonomous machine 10 along path is below a threshold.

[0095] The mining environment may be divided into a plurality of zones, e.g., referred to as traffic zones, traffic control zones, safety zones and / or work zones. When a zone is occupied by an autonomous machine, other machines may be prohibited to enter the zone.

[0096] Determining that the first autonomous machine 10 is about to enter a zone currently occupied by the second autonomous machine 10 may e.g., be based on information indicating the second autonomous machine 10 occupies the zone and a position and / or route followed by the first autonomous machine 10.

[0097] Determining that the first autonomous machine 10 is about to enter a zone the second autonomous machine 10 is about to enter may e.g., be based on information indicating the second autonomous machine 10 occupies the zone and a position and / or route followed by the first autonomous machine 10.

[0098] Action 304

[0099] An autonomous machine 10 of the first autonomous machine 10 and the second autonomous machine 10 is prioritized to move past a meeting zone located in a meeting area based on the respective assigned priorities. This may e.g., mean that the prioritized machine 10 is allowed to move past the meeting zone, while the machine 10 that is not prioritized will have to move into the meeting zone to allow the prioritized machine to pass. The autonomous machine 10 that has been assigned a higher priority is prioritized over the autonomous machine 10 that has been assigned a lower priority. E.g., the priority assigned, to the first autonomous machine 10, such as the first priority or the third priority, may be higher than the priority assigned to the second autonomous machine 10, such as the second priority or the fourth priority. This may mean that the first autonomous machine 10 is prioritized over the second autonomous machine 10. Correspondingly, the priority assigned, to the second autonomous machine 10, such as the second priority or the fourth priority, may be higher than the priority assigned to the first autonomous machine 10, such as the first priority or the third priority. This may mean that the second autonomous machine 10 is prioritized over the first autonomous machine 10.

[0100] In some embodiments, the second autonomous machine 10 is prioritized over the first autonomous machine 10. In other embodiments, the second autonomous machine 10 is prioritized over the first autonomous machine 10.

[0101] As mentioned above, the second autonomous machine 10 may be prioritized over the first autonomous machine 10 when the second autonomous machine 10 has been assigned a higher priority than the first autonomous machine 10. Correspondingly, the first autonomous machine 10 may be prioritized over the second autonomous machine 10 when the first autonomous machine 10 has been assigned a higher priority than the second autonomous machine 10.

[0102] Thus, in some embodiments, the prioritization may comprise an evaluation of the respective priority assigned to the first autonomous machine 10 and the second autonomous machine 10. The evaluation may comprise to determine which autonomous machine 10 has been assigned the highest priority.

[0103] If the priority assigned to the first autonomous machine 10, such as the first priority, and the priority assigned to the second autonomous machine 10, such as the second priority, are equal, i.e. , the two autonomous machines have been assigned the same priority, the method continues at Action 305. Otherwise, the method continues at Action 306

[0104] Action 305

[0105] Situations may arise where two autonomous machines are assigned the same priority. This may mean that the first priority assigned to the first autonomous machine 10 and the second priority assigned to the second autonomous machine 10 are the same.

[0106] Therefore, in some embodiments, the priority assigned to the first autonomous machine 10 and / or the second autonomous machine 10 is reassigned. The reassigned priorities are different, such as the first autonomous machine 10 is reassigned a priority than a priority reassigned to the second autonomous machine 10, or vice versa. This may e.g., mean that the first autonomous machine 10 is reassigned a priority, such as the third priority. Further, the second autonomous machine 10 is reassigned a priority, such as a fourth priority. The third priority and the fourth priority are different. E.g., the third priority may be higher than the fourth priority, or the fourth priority may be higher than the third priority.

[0107] Reassigning the priority may be performed as explained above, in Action 302, with the proviso that the priorities cannot be the same.

[0108] Action 306

[0109] Movement of the first autonomous machine 10 and the second autonomous machine 10 is controlled based the prioritization. This may e.g., mean that the prioritized machine 10 is allowed to move past the meeting zone, while the machine 10 that is not prioritized, will have to move into the meeting zone to allow the prioritized machine to pass. Once the prioritized machine 10 has moved past the meeting zone, the machine 10 that has moved into the meeting zone, may continue moving toward its target location.

[0110] In some embodiments, the movement of the first autonomous machine 10 and the second autonomous machine 10 is controlled by instructing the first autonomous machine 10 and the second autonomous machine 10. The first autonomous machine 10 may be instructed to move towards the meeting zone. The second autonomous machine 10 may be instructed to move towards a target point and move past the first autonomous machine 10 in the meeting area while the first autonomous machine 10 is located in the meeting zone. This may e.g., happen when the second autonomous machine 10 is assigned a higher priority than the first autonomous machine 10, i.e. , the second machine 10 is prioritized over the first autonomous machine 10. Instructing the first autonomous machine 10 to move towards the meeting zone may e.g., mean that the first autonomous machine 10 is instructed to move into the meeting zone and wait until the second autonomous machine 10 has passed. Instructing the second autonomous machine 10 to move towards the target point may e.g., mean that the second autonomous machine 10 is instructed to keep moving according to e.g., a drive plan associated with the second autonomous machine 10. In some examples, the instruction may further comprise an estimated time of arrival of the first autonomous machine 10 to the meeting zone, and further an indication for the second autonomous machine 10 to adapt its velocity to allow the first machine 10 to arrive at the meeting zone before the second autonomous machine 10 arrives at the meeting area.

[0111] In some embodiments, the movement of the first autonomous machine 10 and the second autonomous machine 10 is controlled by instructing the first autonomous machine 10 and the second autonomous machine 10. The second autonomous machine 10 may be instructed to move towards the meeting zone. The first autonomous machine 10 may be instructed to move towards a target point moving past the second autonomous machine 10 in the meeting area while the second autonomous machine 10 is located in the meeting zone. This may e.g., happen when the first autonomous machine 10 is assigned a higher priority than the second autonomous machine 10, i.e., the first machine 10 is prioritized over the second autonomous machine 10. Instructing the second autonomous machine 10 to move towards the meeting zone may e.g., mean that the second autonomous machine 10 is instructed to move into the meeting zone and wait until the first autonomous machine 10 has passed. Instructing the first autonomous machine 10 to move towards the target point may e.g., mean that the first autonomous machine 10 is instructed to keep moving according to e.g., a drive plan associated with the second autonomous machine 10. In some examples, the instruction may further comprise an estimated time of arrival of the second autonomous machine 10 to the meeting zone, and further an indication for the first autonomous machine 10 to adapt its velocity to allow the second autonomous machine 10 to arrive at the meeting zone before the first autonomous machine 10 arrives at the meeting area.

[0112] Figs. 4a and 4b shows an example according to embodiments herein. Fig. 4a shows an example of an area in the mining environment 1. The area comprises two autonomous machines 10, first machine 10a and second machine 10b, and a meeting area 2 comprising a meeting zone 3. The first machine 10a and second machine 10b are moving towards each other, with the meeting area 2 located between them. Thus, the first machine 10a and second machine 10b will meet and need to pass each other, and an impending meeting may be determined. In some examples, the first machine 10a and the second machine 10b have been assigned a priority based on the one or more rules. In other examples, the first machine 10a and the second machine 10b have not yet been assigned a priority. In this case, a respective priority is assigned to the first machine 10a and the second machine 10b based on the one or more rules. In this example the priorities are assigned to the first machine 10a and the second machine 10b in response to the impending meeting being determined. The first machine 10a is assigned higher priority than the second machine 10b. This may e.g., be because the first machine 10a is loaded while the second machine 10b is unloaded. Based on the assigned priorities, the first machine 10a is prioritized over the second machine 10b, since the first machine 10a has a higher priority than the second machine 10b. The prioritization impacts how the movement of the first machine 10a and the second machine 10b is controlled. Since the first machine 10a is the prioritized machine, the first machine 10a will be instructed to move past the second machine 10b in the meeting area 2 when the second machine 10b is located in the meeting zone 3. Correspondingly, the second machine 10b will be instructed to move towards the meeting zone 3 in the meeting area 2, and wait in the meeting zone 3 until the first machine 10a has moved passed.

[0113] In another example, the priorities were assigned to the first machine 10a and the second machine 10b upon initiating a tramming operation. The first machine 10a was assigned a higher priority than the second machine 10b. The first machine 10a initiated the tramming operation upon leaving a loading point in the mining environment 1 , i.e., after being loaded and initiating the tramming towards a dumping point in the mining environment 1. The second machine 10b initiated the tramming operation upon leaving a dumping point in the mining environment 1, i.e., after dumping a load and initiating the tramming towards a loading point in the mining environment 1. A machine tramming from a loading point to a dumping point is considered to have a higher priority than a machine tramming from a dumping point to a loading point.

[0114] Fig. 4b shows the result of the example explained above. The movements of the second machine 10b has been controlled by instructing the second machine 10b to move towards the meeting zone 3, and the movements of the first machine 10a has been controlled by instructing the first machine 10a to move past the second machine 10b in the meeting area 2 when the second machine 10b is located in the meeting zone 3. As can be seen in Fig. 4b, the second machine 10b has moved into the meeting zone 3, allowing the first machine 10a to move past. This way a deadlock situation is avoided.

[0115] Figs. 5a-b shows an example according to embodiments herein. Fig. 4 shows an example of an area in the mining environment 1. The area comprises two autonomous machines 10, first machine 10a and second machine 10b, and a meeting area 2 comprising two meeting zones 3a, 3b. The first machine 10a is moving along a path that will merge into the same path the second machine 10b is moving along. Thus, one of the first machine 10a and second machine 10b will have to stop and let the other machine move past. In this example, both first machine 10a and the second machine 10b has been assigned a priority upon initiating a tramming operation from a loading point. Further, both the first machine 10a and the second machine 10b are moving towards the same dumping point. The first machine 10a and the second machine 10b has been assigned the same priority. Thus, when prioritizing one of the first machine 10a and the second machine 10b, it is realized, e.g., by evaluating the respective priorities, that the two machines 10 have the same priority. This results in that the respective priorities of the first machine 10a and the second machine 10b need to be reassigned. Based on the one or more rules, the priorities are reassigned. As mentioned above, the first machine 10a and the second machine 10b have the same loading state, i.e. , both being loaded. Further, both machines 10a, 10b are of the same vehicle type. However, the path inclination of the path followed by the first machine 10a and the second machine 10b is different. The path followed by the second machine 10b is steeper than the path followed by the first machine 10a. Thus, the second machine 10b is reassigned a priority that is higher than a priority that is reassigned to the first machine 10a.

[0116] Based on the reassigned priorities, the second machine 10b is prioritized over the first machine 10a, since the second machine 10a has a higher priority than the first machine 10a. The prioritization impacts how the movement of the first machine 10a and the second machine 10b is controlled. Since the second machine 10b is the prioritized machine, the second machine 10b will be instructed to move through the meeting area 2 while the first machine 10a is located in the meeting zone 3a, or at least on its way there. Correspondingly, the first machine 10a will be instructed to move towards the meeting zone 3a in the meeting area 2, and wait in the meeting zone 3a until the second machine 10b has moved passed.

[0117] Fig. 5b shows the result of the example explained above. The movements of the first machine 10a has been controlled by instructing the first machine 10a to move towards the meeting zone 3a, and the movements of the second machine 10b has been controlled by instructing the second machine 10b to move past the first machine 10a in the meeting area 2 when the first machine 10a is located in the meeting zone 3a. As can be seen in Fig. 5b, the first machine 10a has moved into the meeting zone 3a, allowing the second machine 10b to move past. This way the machine that drives along a path with highest inclination may be prioritized.

[0118] Fig. 6 shows an example of an autonomous machine 10 operating in the mining environment 1. The autonomous machine 10 obtains a command, such as instructions, related to further actions of the autonomous machine 10. The command, or instructions, may be obtained responsive to an impending meeting with another autonomous machine 10. The autonomous machine 10 has been assigned a priority based on the one or more rules. Responsive to the autonomous machine 10 being assigned a higher priority than the other autonomous machine 10, the further action comprises moving towards a target point, and move past the second autonomous machine 10 in a meeting area, the second autonomous machine 10 is located in a meeting zone in the meeting area. Alternatively, responsive to the autonomous machine 10 being assigned a lower priority than the second autonomous machine 10, the further action comprises to move towards the meeting zone in the meeting area, allowing the second autonomous machine 10 to move past the autonomous machine 10 in the meeting area. The autonomous machine 10 may comprise a control unit 11 configured to perform the steps explained above.

[0119] The traffic control unit 20 may comprise an arrangement depicted in Fig. 7. To perform embodiments herein, e.g. the method according to actions 301-306 above, the traffic control unit 20 is configured to control movements of one or more machines 10 operating in the mining environment 1.

[0120] The traffic control unit 20 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.

[0121] 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 control unit 20 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 control unit 20. 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 control unit 20.

[0122] The traffic control unit 20 and / or processor 710 is configured to coordinate movements of one or more autonomous machines 10 out of a plurality of autonomous machines 10 operating in a mining environment 1. The mining environment 1 comprises one or more meeting zones.

[0123] The traffic control unit 20 and / or processor 710 is configured to assign, based on one or more rules, a respective priority to the one or more autonomous machines 10, wherein a first autonomous machine 10 is assigned a first priority and a second autonomous machine 10 is assigned a second priority. The traffic control unit 20 and / or processor 710 is configured to prioritize an autonomous machine 10 of the first autonomous machine 10 and the second autonomous machine 10 to move past a meeting zone located in a meeting area based on the respective assigned priorities.

[0124] The traffic control unit 20 and / or processor 710 is configured to control movement of the first autonomous machine 10 and the second autonomous machine 10 based on the prioritization.

[0125] The traffic control unit 20 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 control unit 20. 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 control unit 20.

[0126] 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 control unit 20 to perform the actions above.

[0127] 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 control unit 20 to perform the actions above.

[0128] 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.

[0129] Thus, embodiments herein may disclose the traffic control unit 20 configured to coordinate movements of one or more autonomous machines 10 operating in a mining environment 1. The traffic control unit 20 comprises the processor 710 and the memory 720, said memory 720 comprising instructions executable by said processor 710 whereby said traffic control unit 20 is operative to perform any of the methods herein.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] The autonomous 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 autonomous machine 10 and / or control unit 11 is configured to operate in the mining environment 1.

[0134] The autonomous 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.

[0135] 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 autonomous 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 autonomous 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 autonomous machine 10 and / or control unit 11.

[0136] The autonomous machine 10, control unit 11 and / or processor 810 is configured to be controlled by a traffic control unit 20.

[0137] Responsive to an impending meeting with a second autonomous machine 10, the autonomous machine 10, control unit 11 and / or processor 810 is configured to obtain a command related to further actions of the autonomous machine 10.

[0138] Responsive the autonomous machine 10 being assigned a higher priority than the second autonomous machine 10, the further action comprises to move towards a target point, and move past the second autonomous machine 10 in a meeting area, which second autonomous machine 10 is located in a meeting zone in the meeting area.

[0139] Responsive the autonomous machine 10 being assigned a lower priority than the second autonomous machine 10, the further action comprises to move towards the meeting zone in the meeting area, allowing the second autonomous machine 10 to move past the autonomous machine 10 in the meeting area.

[0140] The autonomous 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 autonomous 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 autonomous machine 10 and / or control unit 11.

[0141] 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 autonomous machine 10 and / or control unit 11 to perform the actions above.

[0142] 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 autonomous machine 10 and / or control unit 11 to perform the actions above.

[0143] 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.

[0144] Thus, embodiments herein may disclose the autonomous machine 10 and / or control unit 11 configured to be controlled by the traffic control unit 20. The autonomous 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 autonomous machine 10 and / or control unit 11 is operative to perform any of the methods herein.

[0145] 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.

[0146] 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. 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.

[0147] 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 coordinating movements of one or more autonomous machines (10) out of a plurality of autonomous machines (10) operating in a mining environment (1) comprising one or more meeting zones, the method comprising: assigning (302), based on one or more rules, a respective priority to the one or more autonomous machines (10), wherein a first autonomous machine (10) is assigned a first priority and a second autonomous machine (10) is assigned a second priority, prioritizing (304) an autonomous machine (10) of the first autonomous machine (10) and the second autonomous machine (10) to move past a meeting zone located in a meeting area based on the respective assigned priorities, and controlling (306) movement of the first autonomous machine (10) and the second autonomous machine (10) based on the prioritization.

2. The method according to claim 1, wherein responsive to the second autonomous machine (10) being assigned a higher priority than the first autonomous machine (10), the method comprises: prioritizing (304) the second autonomous machine (10) over the first autonomous machine (10), and controlling (306) the movement of the first autonomous machine (10) and the second autonomous machine (10) by instructing the first autonomous machine (10) to move towards the meeting zone, and instructing the second autonomous machine (10) towards a target point and move past the first autonomous machine (10) in the meeting area, which first autonomous machine (10) is located in the meeting zone.

3. The method according to any of claims 1 , wherein responsive to the first autonomous machine (10) being assigned a higher priority than the second autonomous machine (10), the method comprises: prioritizing (304) prioritizing the first autonomous machine (10) over the second autonomous machine (10), and controlling (306) the movement of the first autonomous machine (10) and the second autonomous machine (10) by instructing the second autonomous machine (10) to move towards the meeting zone, and instructing the first autonomous machine (10) towards a target point and move past the second autonomous machine (10) in the meeting area, which second autonomous machine (10) is located in the meeting zone.

4. The method according to any one of claims 1-3, wherein when the first autonomous machine (10) and the second autonomous machine (10) are assigned the same priority, the method comprises: reassigning (305) a priority to the first autonomous machine (10) and / or the second autonomous machine (10) such that one of the first autonomous machine (10) and the second autonomous machine (10) has a higher priority than the other.

5. The method according to any one of claims 1-4, wherein the prioritization (304) comprises prioritizing the autonomous machine assigned a higher priority.

6. The method according to any of claims 1-5, wherein the respective priorities are assigned (302) responsive to determining (301) an impending meeting of the first autonomous machine (10) and the second autonomous machine (10).

7. The method according to any of claims 1-5, wherein the respective priorities are assigned (302) responsive to the autonomous machines (10) initiates tramming along a tramming path from a start point to an end point.

8. The method according to claim 7, wherein the start point comprises a loading point or a dumping point, and wherein the end point comprises a loading point or a dumping point.

9. The method according to claim 8, wherein an autonomous machine (10) initiating tramming from a loading point is assigned a higher priority than an autonomous machine (10) initiating tramming from a dumping point.

10. The method according to any of claims 1-9, wherein the method further comprises: determining (301 , 303) an impending meeting of the first autonomous machine(10) and the second autonomous machine (10), wherein determining the impending meeting is based on a respective route and / or position of the first autonomous machine (10) and the second autonomous machine (10).

11. The method according to claim 10, wherein determining (301 ,303) the impending meeting comprises any one or more out of:- determining that the first autonomous machine (10) is about to enter a zone currently occupied by the second autonomous machine (10),- determining that the first autonomous machine (10) is about to enter a zone the second autonomous machine (10) is about to enter,- determining that the second autonomous machine (10) is about to enter a zone currently occupied by the first autonomous machine (10),- determining that the second autonomous machine (10) is about to enter a zone the first autonomous machine (10) is about to enter, or- determining that a path between the first autonomous machine (10) and the second autonomous machine (10) comprises at least one meeting zone and that the distance between the first autonomous machine (10) and the second autonomous machine (10) along path is below a threshold.

12. The method according to any of claims 1-11 , wherein the one or more rules are related to any one or more out of:- a loading state,- a vehicle type,- a path inclination, and- an arrival time at a meeting zone.

13. A system (200) comprising: a plurality of autonomous machines (10), a traffic control unit (20) configured coordinate movements of one or more autonomous machines (10) out of the plurality of autonomous machines (10), wherein a respective priority is assigned to one or more autonomous machines (10) by the traffic control unit (20), wherein a first autonomous machine (10) is assigned a first priority and a second autonomous machine (10) is assigned a second priority, an autonomous machine (10) of the first autonomous machine (10) and the second autonomous machine (10) is prioritized, by the traffic control unit (20), to move past a meeting zone located in a meeting area based the respective assigned priorities, and the traffic control unit (20) controls the movement of the first autonomous machine (10) and the second autonomous machine (10) based on the prioritization.

14. The system (200) according to claim 13, wherein the system is configured to perform the methods according to any of claims 1-12.

15. A traffic control unit (20) configured coordinate movements of one or more autonomous machines (10) out of a plurality of autonomous machines (10) operating in a mining environment (1) comprising one or more meeting zones, the traffic control unit 20 further being configured to: assign, based on one or more rules, a respective priority to the one or more autonomous machines (10), wherein a first autonomous machine (10) is assigned a first priority and a second autonomous machine (10) is assigned a second priority, prioritize an autonomous machine (10) of the first autonomous machine (10) and the second autonomous machine (10) to move past a meeting zone located in a meeting area based on the respective assigned priorities, and control movement of the first autonomous machine (10) and the second autonomous machine (10) based on the prioritization.

16. An autonomous machine (10) configured to be controlled by a traffic control unit (20), the autonomous machine (10) further being configured to: responsive to an impending meeting with a second autonomous machine (10), obtain a command related to further actions of the autonomous machine (10), responsive the autonomous machine (10) being assigned a higher priority than the second autonomous machine (10), the further action comprises to move towards a target point, and move past the second autonomous machine (10) in a meeting area, which second autonomous machine (10) is located in a meeting zone in the meeting area, or responsive the autonomous machine (10) being assigned a lower priority than the second autonomous machine (10), the further action comprises to move towards the meeting zone in the meeting area, allowing the second autonomous machine (10) to move past the autonomous machine (10) in the meeting area.

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