SE538029C2 - Security system for automated operation of mining vehicles and the procedure for such a safety system - Google Patents

Abstract

SUMMARY The invention relates to a safety system for automated operation of at least one mining vehicle (1) within a working area (10), comprising at least one remote control unit (1101-1z), a main control unit (120), a plurality of barrier control units (1301-1y) for control of barriers (135 ', 135 ") and a vehicle control unit (1401-140,) arranged at the mining vehicle (1), the at least one remote control unit (1101-110,), the barrier control units (130-1y) and the vehicle control unit (1401-140) The safety system (100) is configured so that safety zones (S1-S) for automated operation of mining vehicles (1) can be defined within the working area (10) via a branch section (160), each security zone (S1-S) is associated with barrier control units (1301-1300 arranged at true entrances (200 ', 200 ") to each security zone (S1-S) and an identification key (250), with which the mining vehicle (1) can be checked in for automated operation in res respective security zone (S1-S) and / or checked out of the respective security zone (S1-S), without reconfiguring the security system (100). The invention also relates to a mining vehicle (1), a method for a security system (100), a computer program and a computer program product associated with such a security system (100).

Description

TECHNICAL FIELD The present invention relates to a security system for automated operation of mining vehicles within a work area. The invention also relates to a method for such a security system, a mining vehicle, a computer program associated with such a security system as a computer program product.

BACKGROUND Wag is used remotely controlled or completely autonomous vehicles in certain work areas in mining applications, among other things to avoid exposing operators to particularly risky environments. Mining environments are dark and black accessible and it is therefore black to detect if an operator or a manually driven vehicle is among the unmanned vehicles, whereby accidents can occur. It is therefore important that the areas in which vehicles are driven remotely or autonomously are separated and secured.

Today, it is an edge to use safety systems with barriers to create safe areas within which vehicles are driven remotely or autonomously. Such security systems include separate programs for each secure area and are configured so that each vehicle is connected to a specific area. When a barrier that borders a safe area is passed, all vehicles connected to that area are stopped. In cases where the safe area is large and / or a large number of vehicles are connected to the area, this can cause major interruptions in production, which leads to production losses. These security systems also mean that vehicles cannot be moved to different safe areas without reconfiguring the security system or without a new program being downloaded to the security system, so that the vehicle is connected to the next safe area. This is time consuming and has a negative effect on the accessibility of the vehicles. Document EP 1616077 discloses a system and method for the passage of unmanned vehicles between a large work area in which the vehicles are driven unmanned and a manual area outside the work area. An access station is formed between two physical gates, to which access station the vehicle is driven. A gate halls always closed. Sacred sections within the work area can also be formed by gates, in which sacred sections manual work is performed. The unmanned vehicles are prevented from entering the safe sections through the gates. The gates that delimit the sacred sections can be controlled remotely. Despite well-known solutions in the field, there is a need to provide a safety system for automated operation of vehicles, which is flexible, medical & high availability, high efficiency, high production and which minimizes the risk of accidents. SUMMARY OF THE INVENTION An object of the present invention is to provide a safety system for automated operation of mining vehicles which is safe and which minimizes the risk of accidents with automated mining vehicles involved.

Another object of the invention is to provide a safety system for automated operation of mining vehicles, which is flexible and user-friendly. A further object of the invention is to provide a safety system for automated operation of mining vehicles, which has a high availability of mining vehicles and high production. A further object of the invention is to provide a new and advantageous method for a safety system for automated operation of mining vehicles.

A further object of the invention is to provide a method for a safety system for automated operation of mining vehicles, which is flexible, efficient and user-friendly. Some of these objects are achieved with a safety system for automated operation of mining vehicles according to claim 1. Other objects are achieved with a mining vehicle according to claim 13. Other objects are achieved with a method according to claim 14. Advantageous embodiments are stated in the dependent claims.

According to one aspect of the invention, there is provided a security system for automated operation of at least one mining vehicle within a working area, comprising at least one remote control unit, a main control unit, a plurality of barrier control units for controlling barriers and a vehicle control unit arranged at the mining vehicle. are arranged in signal connection with the main control unit. Furthermore, the security system is configured so that security zones for automated operation of mining vehicles can be defined within the work area via an interface, whereby the usual security zone is associated with 25 barrier control devices arranged at all entrances to each security zone and an identification key with which at least one mining vehicle can be checked. in each security zone and / or checked out of each security zone, without reconfiguring the security system.

By designing the security system so that security zones can be defined through a cross-section, whereby only barrier control units are connected to the respective 3 defined security zone, a flexible and user-friendly security system is achieved. The security system is intended for a vehicle fleet comprising x mining vehicles, where x is an arbitrary number. At each mining vehicle, a vehicle control unit is provided, the safety system comprising as many vehicle control units as the mining vehicle. Thus, the lamp similarity security system includes vehicle control units.

The vehicle control units of the mining vehicles are then identically configured and the mining vehicles are thus not connected in advance to any specific safety zone. This means that all mining vehicles can be used in all 10 security zones without the security system needing to be reconfigured and without new programs needing to be installed at the security system. In this way, a safety system is achieved for automated operation of mining vehicles, such as medical & high availability of mining vehicles and high production. When checking in with a mining vehicle, the identification key connects the mining vehicle to the current security zone. Preferably, n security zones can be defined within the work area, where n is an arbitrary number.

The mining vehicle can be, for example, a truck, a dumper, a rock drilling rig, a transport vehicle or a flag other form of vehicle for mining operations.

The work area can consist of an area in a mine below or above ground level. Alternatively, the working area may consist of a plurality of areas in a mine, which areas have a network connection with each other.

By automated operation is meant hari remote control operation, autonomous operation or unmanned operation. Thus, an automated mining vehicle is a mining vehicle that is operated remotely, autonomously or unmanned.

The designated entrances to each security zone also constitute exits. At each entrance, a barrier control unit is provided to control at least one barrier. Preferably, the security system y comprises 4 barrier control units, where y is an arbitrary number. The barriers of each safety zone delimit each safety zone from a manual zone and are arranged in order to prevent automated mining vehicles from leaving a safety zone and unauthorized traders entering a safety zone. A safety zone is activated when all barriers at all entrances to the safety zone are activated. The barrier control units are preferably arranged in control cabinets, the zone in turn is arranged at the usual entrance at the respective safety zone. The barrier control units are connected to the main control unit via a network.

According to one aspect of the present invention, the barriers controlled by the barrier controllers are electronic barriers. The barriers are thus of a non-physical nature. For example, the barriers may be light gates, rotating lasers, no-sensors or any other form of sensor sonn 'canner of an object breaking the barrier. By using non-physical barriers, barriers can easily be added and / or removed to the security system.

According to one aspect of the present invention, the safety system is arranged to immediately affect the operation of all mining vehicles in a safety zone, when at least one barrier in said safety zone is passed. The mining vehicles are conveniently placed in a safety zone in a safe condition when at least one barrier in the safety zone is crossed. When a barrier is passed, the barrier control unit connected to said barrier reacts and sends a signal to the main control unit. The main control unit then forwards commands to the vehicle control units which are connected by check-in to the specific security zone, which vehicle control units control the respective mining vehicles so that they are continued in a safe state. A safe condition may, for example, mean that the mining vehicle is stopped, that the mining vehicle's engine is switched off or that moving components of the mining vehicle are stopped. That the mining vehicles in a safety zone are continued in a safe condition may thus mean that their progress is stopped, but that they can still carry out the work by drilling or bolting. Due to the fact that only the mining vehicles that are in a specific safety zone are affected when a barrier at the said safety zone is crossed, the production losses are limited by as many mining vehicles as possible in operation.

According to one aspect of the present invention, each barrier control unit is arranged to control an outer barrier and an inner barrier at each entrance to the respective security zone. The outer barrier scrutinizes the manual zone and the inner barrier scrutinizes the safety zone. Alternatively, three or more barriers are provided at each entrance to a security zone. The outer barrier and the inner barrier are suitably arranged, so that a mining vehicle fits between them. The gap between the outer barrier and the inner barrier thus acts as an extra security in cases where a barrier is passed. If a mining vehicle passes the inner barrier in the direction of the safety zone medic & the space that the mining vehicle has time to stop before the outer barrier is passed and damned stacks that an autonomized mining vehicle is not driven in the manual zone. In the same way, all automated mining vehicles inside the safety zone are continued in a safe condition if an unauthorized object passes the outer barrier in the direction of the safety zone. This ensures that the automated mining vehicles do not pose any risk when the unauthorized object passes the inner barrier 20 and is inside the safety zone.

A security zone may also include passive barriers that can be activated if necessary to, for example, divide a security zone into smaller sub-zones. For example, it may be advantageous if there is a need to perform manual work within a safety zone. The passive barriers can then be activated and delimit a protected manual area and thus ensure that unmanned mining vehicles are not driven among people and / or manually driven vehicles. The passive barriers can be activated / deactivated via the interface.

According to an aspect of the present invention, the security system is arranged that upon check-in and / or check-out of a mining vehicle in a security zone, 6 does not affect the operation of other mining vehicles in said security zone. In this way, production is not affected unnecessarily and production losses are minimized. Alternatively, the security system is arranged to, at check-in and / or check-out of a mining vehicle in a security zone, control the mining vehicles in the security zone so that they are driven at a slow speed.

According to one aspect of the present invention, each security zone has at least one primary entrance, at which a barrier control unit is arranged outside the barriers controlled by the barrier control unit and thus outside the security zone. At the primary entrance, check-in and check-out of mining vehicles are carried out to the respective security zone. Lamply, a control cabinet comprising a barrier control unit associated with the respective safety zone is arranged outside the barriers controlled by the barrier control unit and down in the nanual zone, at the primary entrance of the respective safety zone. The other entrances to a safety zone suitably each have a barrier control unit arranged inside the barriers in the safety zone controlled by the barrier control unit. These inputs are secondary inputs. Preferably, the primary entrance has an outer and an inner barrier. The secondary inputs may have one or more barriers. In order to activate a security zone, all barriers at the secondary inputs must first be activated, then the barriers at the primary entrance can be activated. This is conveniently done by an operator going through the deactivated safety zone and successively activating the barriers at the secondary inputs, where the control cabinets with the barrier control units are arranged on the inside of the barriers. The operator then exits through the primary entrance, out of the security zone, to the barrier control unit arranged outside the security zone and activates the barriers at the primary entrance. If a barrier at a secondary input is not activated, the barrier at the primary input cannot be activated. In such a case that no unauthorized objects are present in the security zone when it is activated. 7 The barriers are preferably activated and deactivated manually by controls connected to the respective barrier control unit of the control cabinets. A barrier can also be deactivated by passing / breaking the barrier.

According to one aspect of the invention, the identification key comprises a binary code.

The identification key is preferably a contact, the different pins of the contact forming the binary code. Alternatively, the identification key consists of an electronic card that can be read by a laser in the mining vehicle. The identification key is suitably located in a control cabinet comprising the barrier control unit, arranged at the primary entrance of the security zone. The identification key is suitably arranged so that the barrier control unit can detect when the identification key is removed from its position.

According to one aspect of the present invention, the at least one remote control unit is arranged off the working area and is handled by a remote operator. Lamply, the remote control unit is arranged in a control room above ground. The work area is apparently underground. The security system may comprise a plurality of remote control units arranged in one and the same control room, or a plurality of remote control units arranged in different control rooms. Preferably, the security system z comprises remote control units, where z is an arbitrary number. By using a number of remote control units, a number of remote operators can monitor and influence the security system from different locations. The remote control units are connected via a network to the main control unit. A interface through which security zones can be defined, namely a graphical interface, is provided in connection with the respective remote control unit in the respective control room. The interface can be presented on a panel or display. An emergency stop unit is arranged in connection with the respective remote control unit and armed in connection with the main control unit. The node stop unit can consist of a central control, which via the main control unit is connected to all 30 safety zones and mining vehicles within the work area. A remote operator can thus in a simple way stop real vehicles within the working area in cases where a risky situation is identified. Alternatively, the node stop unit may consist of 8 a number of individual node stop controls, connected to each safety zone, whereby a remote operator can easily stop all mining vehicles within a certain safety zone at risk of danger. Alternatively, the emergency stop unit consists of both a central control and individual emergency stop controls connected to the safety zones. A reset control is also arranged in connection with the respective remote control unit, for resetting the safety system after an emergency stop unit has been used.

According to one aspect of the present invention, the safety zones consist of tunnels. Alternatively, a safety zone consists of a part of a tunnel, or several tunnels.

According to one aspect of the present invention, the main control unit is arranged in the working sun row and is handled by an operator in the working sun row.

The main control unit is suitably arranged in a main cabinet, which in turn is arranged in the manual zone of the work area. A branch section, through which the security zones can be defined, is suitably provided in connection with the main control unit in the main cabinet. The interface can be presented on by a panel or display.

According to one aspect of the present invention, the vehicle control unit is arranged to control functions such as braking action, start / stop of engine, fuel supply, steering, drilling, bolting, loading and unloading. In such a safe way that the mining vehicles can be continued in a safe condition when a barrier is passed.

According to one aspect of the present invention there is provided a method of security system for automated operation of at least one mining vehicle within a working area, comprising at least one remote control unit, a main control unit, a plurality of barrier control units for controlling barriers and a vehicle control unit arranged at the vehicle, the remote control unit , the barrier control units and the vehicle control unit are arranged in signal connection with the main control unit, the method used in the method comprises the steps of: defining atm instone a safety zone via an interface of the safety system; and - check in at least one mining vehicle for automated operation in said security zone by means of an identification key, without reconfiguring the security system.

With a safety system according to the present invention, a hardware base is obtained comprising one or more remote control units, a main control unit, a plurality of barrier control units and vehicle control units arranged at the mining vehicles. By defining at least one security zone in a security zone, in which mining vehicles can be driven in an automated manner, and then checking in current mining vehicles in the said security zone without reconfiguring the security system, a flexible and user-friendly procedure is achieved. The at least one security zone is suitably defined by associating in the system the security zone with barrier control units arranged at all entrances to the security zone. In order for the safety system to work and know which 20 mining vehicles are to be affected, for example when a barrier at a safety zone is crossed, the mining vehicles must in some way be associated with the safety zone in which they operate. At check-in, the identification key connects the mining vehicle to the security zone and the mining vehicle can be operated automatically.

According to one aspect of the present invention, the step of checking in the mining vehicle comprises the steps of: applying the identification key of the mining vehicle; deactivate an external barrier in the security zone; - manually propel the mining vehicle to a position between the outer barrier and an inner barrier of the safety zone; set the mining vehicle to automation mode and remove the identification key Than the mining vehicle; activate the outer barrier; verify the mining vehicle's access to the safety zone; - activate the mining vehicle for automated operation; deactivate the internal barrier and drive the mining vehicle automatically into the safety zone; and activate the internal barrier. At check-in, an operator in front of the mining vehicle, which is to be checked in manually, arrives at the primary entrance of the relevant security zone. The operator conveniently stops the mining vehicle in front of the outer barrier at the primary entrance. At the entrance it can be visualized to the operator that the outer barrier and the inner barrier are activated. Furthermore, it can be visualized for the operator that the mining vehicle is not allowed to cross the outer and the inner barrier, for example through a red traffic light. The operator then takes the identification key which is located in a control cabinet, in which the barrier control unit is arranged. Furthermore, the identification key is applied in the mining vehicle, whereby the mining vehicle and its vehicle control unit are connected to the security zone and the check-in process is started. Preferably, the operator has a certain time required that the identification key be removed from the control cabinet until it is applied in the mining vehicle. If the time is exceeded, the operator must return the identification key to the control cabinet, hold down a recovery control and start over. When the identification key is applied in the mining vehicle, the outer barrier is deactivated and the operator can manually advance the mining vehicle to a position between the outer barrier and an inner barrier, and shut down the engine. The fact that the outer barrier is deactivated and that it is permitted to drive the mining vehicle can be visualized for the operator by means of a clear traffic light. The operator then installs the mining vehicle in an automated position and removes the identification key from the mining vehicle and returns it to the control cabinet and the barrier control unit. Darrned activates the outer barrier. In order to achieve automated operation of the mining vehicle, a verification 11 is required that the mining vehicle is authorized for operation in the safety zone. This is conveniently achieved by a remote operator verifying via the interface that the mining vehicle is to be driven in the specific safety zone. The remote operator can then activate the mining vehicle for automated operation by starting the mining vehicle's engine. When the mining vehicle is started, the operator in the manual zone of the work area deactivates the inner barrier, whereby the remote operator can remotely control the mining vehicle into the safety zone. To light, the operator deactivates the internal barrier by turning a knob or control in the control cabinet. As long as the knob is rotated, the inner barrier is deactivated. Finally, the inner barrier is activated, preferably by the operator releasing the knob. The mining vehicle is thus checked in for automated operation in the safety zone, without the need for the safety system to be reconfigured. If the operator were to release the knob so that the inner barrier is activated before the mining vehicle has had time to cross the inner barrier, all mining vehicles at the safety zone will continue in a safe condition.

According to one aspect of the present invention, the method further comprises the step of passing at least one barrier of the safety zone: controlling the vehicle control unit of all mining vehicles in the safety zone, so that the operation of the mining vehicles is affected.

According to one aspect of the present invention, the method further comprises the step of: checking out at least one mining vehicle from said security zone.

According to one aspect of the present invention, the step of checking out the mining vehicle comprises the steps of: inactivating an internal barrier of the security zone; driving the mining vehicle to a position between the inner barrier and an outer barrier of the safety zone; activate the internal barrier; deactivate the external barrier; 12 set up the mining vehicle manually and drive the mining vehicle out of the safety zone; and activate the outer barrier.

At check-out, the remote operator remotely controls the mining vehicle up to the inner barrier at the primary entrance, after which the operator in the manual zone deactivates the inner barrier. Preferably, the inner barrier is deactivated by the operator turning a knob in the control cabinet, in which the barrier control unit at the primary entrance to the safety zone is arranged.

The mining vehicle is then automatically driven to a position between the inner barrier and the outer barrier. The operator then activates the inner barrier, conveniently by loosening the knob. Should the operator release the knob before the mining vehicle has passed the inner barrier, the inner barrier is activated and the mining vehicle is kept in a safe condition. When the mining vehicle is positioned between the inner and the outer, the remote operator can also verify the check-out via the interface. This shuts down the mining vehicle, checks it out in the safety system and is no longer connected to the safety zone. When this is done, the operator deactivates the outer barrier by turning another knob, which means that the outer barrier is kept inactivated for a predetermined period of time. Lamply, the outer barrier is kept inactivated for 45-85 seconds, preferably 60 seconds. During this time, the operator can pass the outer barrier into the mining vehicle, set the mining vehicle to manual mode and manually drive the mining vehicle out of the safety zone. After the predetermined period of time has elapsed, the outer barrier is activated and the safety zone is activated. Alternatively, the outer barrier is kept activated for an indefinite period of time, until the operator has advanced the mining vehicle out of the safety zone and manually activates the outer barrier.

Should a barrier at a security zone be passed at check-in / check-out, the vehicle control units of all mining vehicles in the security zone are controlled, so that the mining vehicles in the security zone are continued in a safe condition. 13 The check-in / check-out process is thus interrupted. To continue the process, the operator and / or remote operator must operate a reset control.

According to one aspect of the present invention, computer programs are provided in a security system, said computer program comprising program code for causing an electronic controller or another computer connected to the electronic controller to perform the steps of any of claims 1418.

According to one aspect of the present invention, computer programs are provided in a security system, said computer program comprising program code for causing an electronic controller or other computer connected to the electronic control unit to perform the steps of any of claims 1418, when said program code. The invention provides computer programs in a security system, wherein said computer program comprises program code stored on a computer readable medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps of any of claims 14-18.

According to one aspect of the present invention, computer programs are provided in a security system, said computer program comprising program code stored on a computer readable medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps of any of claims 14. According to one aspect of the present invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 14 14-18, when said computer program is run on an electronic control unit or another computer connected to the electronic control unit.

According to one aspect of the present invention, there is provided a computer program product comprising a program code non-volatile stored on a computer readable medium for performing the process steps of any of claims 14-18, when said program code is crossed on an electronic control unit or another computer connected to the electronic control unit. Additional objects, advantages, and novel features of the present invention will become apparent to those skilled in the art from the following details, as well as through the practice of the invention. While the invention has been described below, it is to be understood that the invention is not limited to the specific details described. Those skilled in the art have access to the art of recognizing additional applications, modifications, and incorporations within other fields which are within the scope of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS For a more complete understanding of the present invention and further objects and advantages thereof, reference is now made to the following detailed description which is to be read in conjunction with the accompanying drawings in which like reference numerals refer to like parts in the various figures, and in which: 1 schematically illustrates a security system according to an embodiment of the invention; Figure 2 schematically illustrates a work area with a safety system according to an embodiment of the invention; Figure 3a schematically illustrates a flow chart of a method, according to an embodiment of the invention; Figure 3b schematically illustrates in further detail a flow chart of a process, according to an embodiment of the invention; and Figure 4 schematically illustrates a computer, according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE FIGURES Figure 1 schematically illustrates a security system 100 for automated operation 10 of at least one mining vehicle 1 within a work area 10 according to an embodiment of the present invention. The working area 10 may comprise several areas in a mine, as long as there is a network connection between the areas. The safety system 100 comprises at least one remote control unit 1101-110, a main control unit 120, a plurality of barrier control units 1301-1y for controlling barriers 135 ', 135 "and a vehicle control unit 1401-1x arranged at the mining vehicle 1. The safety system 100 is suitably intended for automated operation of a vehicle fleet comprising x pieces of mining vehicle 1, the safety system 100 comprising x pieces of vehicle control units 1401-1x, where x is an arbitrary number.The safety system 100 includes approximately y pieces of barrier control units 1301-1y, where y is an arbitrary number. Remote control units 1101-110, arranged either in a control room or in different control rooms, where z is an arbitrary number. 110, and the barrier controllers 1301-1y are connected to the main controller ethylene 120 via a network. The vehicle control units 11-140 „are connected to the main control unit 120 via a wireless connection. The vehicle control unit 1401-1x of the respective mining vehicle 1 suitably controls functions of the mining vehicle 1, such as, start and stop of engine, fuel supply, well operation, steering, drilling, loading, tipping, and the like. The security system 100 is configured so that a number of security zones Si-Se can be defined within the work area 10 by an interface (not shown). Preferably, n pieces of security zones Si-Se can be defined within the working area 10, where n is an arbitrary number. To each security zone S1-Sn 5 a certain number of barrier control units 1301-1y are associated with the barrier control units 1301-1y available in the security system 100. The security zones Si-Se are thus not fixedly defined in the security system 100 but can easily be changed via the interface. The vehicle control units 1401-140, and thus the mining vehicles 1, are also not systemically fixedly connected to a specific safety zone Si-S. On the contrary, the vehicle control units 1401-140 of the safety system 100 are identically configured and thus all mining vehicles 1 in the working area 10 can be used in all safety zones S1-S without the safety system 100 having to be unconfigured or fleeing software having to be installed. This increases the flexibility and accessibility of the mining vehicles 1, which meant an increased productivity. Should a mining vehicle 1 in a safety zone Si-Se ga probe, any other mining vehicle 1 hoisted in the work area 10 can quickly replace the broken mining vehicle 1. In order for the safety system 100 to function as desired and to achieve automated operation of a mining vehicle 1 in a Security zone S1-S, the mining vehicle 1 must be checked into the security zone Si-Se by means of an identification key (not shown). This is described in more detail in Fig. 3a.

Figure 2 schematically shows a work area 10 with a security system 100 according to an embodiment of the present invention. A remote control unit 1101 is shown arranged in a control room 150 above ground. In the control room 150, the interface 160, through which security zones S1-S can be defined, is also presented on a panel or display. Via the interface 160, a remote operator in the control room 150 can thus define safety zones Si-Se saint monitor the working area 10. An emergency stop unit 170 is arranged in connection with the remote control unit 1101 and thus in connection with the main control unit 120. The emergency stop unit 170 can be formed by a central control 120 is connected to all safety zones S1-S and 17 mining vehicles 1 within the working area 10. A remote operator can thus in a simple manner stop all mining vehicles 1 within the working area 10 in cases where a risky situation is identified. Alternatively, the emergency stop unit 170 can be constituted by a plurality of individual emergency stop controls, connected to each safety zone S1-Sn, whereby a remote operator can easily stop all mining vehicles 1 within a certain safety zone Si-Sn at risk of danger. Alternatively, the node stop unit 170 consists of both a central control and individual node stop controls connected to the safety zones Si-Sn.

In the security system in Fig. 2, a first security zone S1 and a second security zone S2 have been defined. Through the working area 10, n pieces of security zones Si-Sn can be defined, where n is an arbitrary number, which is illustrated by the dashed security zone Sn. Herein, the security system 100 is described with respect to the first security zone S1 and the second security zone S2. Certain reference numerals for details which are the same for the first security zone S1 and the second security zone S2 have been omitted. The first security zone Si has been assigned and associated with three barrier controllers 1301, 1303, 1304, one disposed at each entrance 200 ', 200 "to the security zone S1. The second security zone S2 has been assigned and associated with two barrier controllers 1302, 1305, one disposed at each entrance 200 ', 200 "to the security zone S2. Each barrier control unit 1301-1305 is arranged in connection with and controls an outer barrier 135 'and an inner barrier 135 ". The outer barrier 135' and the inner barrier 135" are formed by light gates. The inner barriers 135 "adjoin the respective safety zones Si, S2 and the outer barriers 135 'adjoin a manual zone M. The inner barriers 135" and the outer barriers 135' are arranged so that a mining vehicle 1 is accommodated therebetween. The barrier controllers 1301-1 are arranged in control cabinets 210 including manual controls or knobs for manual activation and deactivation of the inner barrier 135 "and the outer barrier 135 '. The first security zone S1 and the second security zone S2, respectively, each have a primary input 200'. At the primary entrance 200 ', 18 check-in and check-out of mining vehicles 1 to the respective safety zone S1, S2 takes place. M. The other inputs 200 "of the respective security zone Si, S2 constitute secondary inputs 200" where the respective barrier control unit 1303, 1304, 1 is arranged inside the inner barrier 135 ", in the respective security zone Si, S2. A security zone Si, S2 is activated when all inner barriers 135 "and outer barriers 135 'are activated and all inputs 200', 200" are armed. The security system 100 is designed so that in order to be able to activate the inner barrier 135 "and the outer barrier 135 'at the primary entrance 200' of the respective security zone S1, S2, the inner barriers 135" and the outer barriers 135 'of the secondary entrances 200 "be activated. The barriers 135 ', 135" at the secondary inputs 200 "are apparently activated by an operator from within the security zone S1, S2, after which the operator passes through the security zone S1, S2 to the primary entrance 200' and secures on the road that nothing unauthorized objects are located in the security zone Si, S2. Then the operator activates the inner barrier 135 "and the outer barrier 135 'at the primary entrance 200' Than the manual zone M. This ensures that the security zone Si, S2 is not activated if any unauthorized object is located inside the safety zone Si, S2.

If an object, such as a human or a vehicle, passes at least one barrier 135 ', 135 "of one of the safety zones S1, S2, the safety zone S1, S2 is deactivated and the safety system 100 is arranged to immediately affect the operation of all mining vehicles 1 in The safety vehicle 1 in the deactivated safety zone Si, S2 is suitably continued in a safe state, which may for instance mean that the mining vehicle 1 is stopped or shut down ay. The barrier control unit 1301-1 coupled to the passed barrier 135 ', 135 "registers that the barrier 135 ', 135 "is broken and sends signals to the main control unit 120, which in turn communicates with the vehicle control units 1401-1404 of the mining vehicles 1 which 19 are checked in the current safety zone S1, S2. This provides a safety system 100 which is secure and which minimizes the risk of accidents.

The main control unit 120 is arranged in a main cabinet 220 in the manual zone M. In the main cabinet 220 in connection with the main control unit 120, the interface 160 is presented on a panel or display.

At the primary entrance 200 'of each security zone S1, S2, the identification key 250 associated with that security zone S1, S2 is provided. The identification key 250 is suitably arranged in the control cabinet 210 in connection with the barrier control unit 11, 12. Upon check-in of a mining vehicle 1 in a security zone S1, S2, the identification key 250 is temporarily removed from the control cabinet 210 and applied to the mining vehicle 1. This method is described in detail in Figs. 3a.

Figure 3a shows a flow chart of a method for a security system 100 in automated operation of at least one mining vehicle 1 within a working area 10 according to an embodiment of the present invention.

The security system 100 is suitably designed as described in Fig. 1 and Fig. 2. The method comprises the steps of: defining s301 at least one security zone Si-Sn via a cross-section 160 of the security system 100; and checking s302 at least one mining vehicle 1 for automated operation in said security zone Si-Sn by means of an identification key 250, without reconfiguring the security system 100.

By defining at least one safety zone Si-Sn via an interface 160 of the safety system 100, in which mining vehicle 1 can be driven automatically, and then checking in current mining vehicles 1 in said safety zone Si-Sn, a flexible and user-friendly procedure can be achieved. The at least one security zone Si-Sn is suitably defined by associating in the system 100 the security zone S1-S with barrier control units 1301-1y arranged at all inputs 200 ', 200 "to the security zone Si-Sn. and, for example, to which mining vehicles 1 in a security zone Si-S, which are to be moved in a secure state when a barrier 135 ', 135 "has been passed, the mining vehicles 1 in a security zone Si-Sn must be associated with the specific security zone At check-in, the identification key 250 connects the mining vehicle 1 to the safety zone S1-S and the mining vehicle 1 can be operated automatically.

Preferably, step s302 of checking in the mining vehicle 1 comprises: applying the identification key 250 of the mining vehicle 1; deactivate an external barrier 135 'of the security system Si-Sn; manually move the mining vehicle 1 to a position near the outer barrier 135 'and an inner barrier 135 "of the safety zone Si-Sn; set the mining vehicle 1 to the automation mode and remove the identification key 250 from the mining vehicle 1; activate the outer barrier 135'; verify the mining vehicle 1 to the safety zone - activate the mining vehicle 1 for automated operation; - deactivate the internal barrier 135 "and advance the mining vehicle 1 into the safety zone Si-5n; and activate the inner barrier 135 ".

An operator in front of the mining vehicle 1 that is to be checked into the security zone up to the current security zone Si-Se primary entrance 200 '. The operator conveniently stops the mining vehicle 1 in front of the outer barrier 135 'of the primary entrance 200' in the manual zone M. At the entrance 200 ', the operator is visualized that the outer barrier 135' and the inner barrier 135 "are activated. the mining vehicle 1 must not pass the outer and inner barrier 135 ', 135 ", for example through a raft traffic light. Thereafter, the operator 21 takes the identification key 250 associated with the security zone S1-S, which is located in the control cabinet, in which the barrier control unit 1301-1y at the primary entrance 200 'is arranged. Furthermore, the identification key 250 is applied in the mining vehicle 1, whereby the mining vehicle 1 and its vehicle control unit 140-1x are systematically connected to the security zone Si-Se and the check-in process is started. Preferably, the operator has a certain time from the time the identification key 250 is removed from the control cabinet until it is applied in the mining vehicle 1. If the time is exceeded, the operator must return the identification key 250 to the control cabinet, hold down a recovery control and change. When the identification key 250 is applied to the mining vehicle 1, the outer barrier 135 'is deactivated and the operator can manually advance the mining vehicle 1 to a position between the outer barrier 135' and the inner barrier 135 ". The operator also shuts off the engine of the mining vehicle 1. That the outer barrier 135 ' is deactivated and that it is permitted to drive the mining vehicle 1 can be visualized for the operator by means of a clear traffic light.

Thereafter, the operator installs the mining vehicle 1 in an automated mode, removes the identification key 250 from the mining vehicle 1 and returns it to the control cabinet and the barrier control unit 1301-1y. When the identification key 250 Ater is connected to the barrier control unit 1301-1y, the outer barrier 135 'is activated. In order to achieve automated operation of the mining vehicle 1, a verification is required that the mining vehicle 1 has a license for operation in the specific safety zone Si-Sn. This is conveniently achieved by a remote operator via the interface 160 verifying that the mining vehicle 1 is to be driven in the specific safety zone Si-Sn. Thereafter, the remote operator can activate the mining vehicle 1 for automated operation by starting the engine of the mining vehicle 1. When the mining vehicle 1 is started, the operator in the manual zone M of the working area 10 deactivates the inner barrier 135 ", whereby the remote operator can automatically transport the mining vehicle 1 into the safety zone Si-Sn. or controls in the control cabinet. As long as the control knob is rotated 22, the inner barrier 135 "is deactivated. Finally, the inner barrier 135" is activated, apparently by the operator releasing the knob. The mining vehicle 1 is thus checked in for automated operation in the safety zone S1-S, without the safety system 100 having to be configured 5 cm. Thus, the mining vehicle 1 can be driven automatically in the safety zone Si-Sn.

If the operator should loosen the knob at check-in so that the inner barrier 135 "is activated before the mining vehicle 1 has had time to pass the inner barrier 135" 10 into the safety zone S1-S, all mining vehicles 1 at the safety zone S1-Sn will continue in a safe condition. In the same way, the vehicle control unit 11-140 "of all mining vehicles 1 in a safety zone S1-S is controlled, when at least one barrier 135 ', 135" of the safety zone S1-Sn is passed, so that the operation of the mining vehicles 1 is affected. When a barrier 135', 135 "passed, the barrier control unit 1301-130y connected to said barriers 135 ', 135" reacts and sends a signal to the main control unit 120. The main control unit 120 then forwards commands to the vehicle control units 1401-140, of the mining vehicles 1, which are connected to the specific security zone S1 by check-in. -S, which vehicle control units 1401-140, control the respective mining vehicle 1 so that they are continued in a safe condition.

When checking in a mining vehicle 1 in a security zone Si-Se, other mining vehicles 1 which are already in the security zone Si-Se are preferably not affected. Alternatively, other mining vehicles 1 are controlled so that they are driven at a reduced speed at check-in and / or check-out of a mining vehicle 1.

Figure 3b shows a flow chart of a method for a security system 100 for automated operation of at least one mining vehicle in a working area 10, according to an embodiment of the present invention. The method comprises the steps described in Fig. 3a to define s301 at least one security zone S1-S via a interface 160 of the security system 100 and check in s302 at least one mining vehicle 1 for automated operation in said security zone S1-S by means of an identification key 250, without configure the security system 100.

The method further comprises the step of: checking out s303 at least one mining vehicle 1 Than named security zone S1-Sn.

Lamply, the step s303 of checking out the mining vehicle 1 comprises: - inactivating an inner barrier 135 "of the security zone Si-Sn; advancing the mining vehicle 1 to a position between the inner barrier 135" and an outer barrier 135 'of the security zone Si-Sn; activate the inner barrier 135 "; deactivate the outer barrier 135 '; - set the mining vehicle 1 to manual position and advance the mining vehicle 1 out of the safety zone Si-Sn; and activate the outer barrier 135'.

Upon check-out of a mining vehicle 1, the remote operator in front of the mining vehicle 1 is automatically automated up to the inner barrier 135 "at the primary entrance 200 'to the safety zone Si-Sn, after which the operator in the manual zone M deactivates the inner barrier 135". The remote operator communicates appropriately with the operator in the work area 10 to notify that a mining vehicle 1 is to be checked out. Preferably, the inner barrier 135 "is deactivated by the operator turning a knob in the control cabinet, in which the barrier control unit 1301-1y at the primary entrance 200 'to the safety zone Si-Sn is arranged.

Thereafter, the remote operator advances the mining vehicle 1 to a position between the inner barrier 135 "and the outer barrier 135 '. Should the operator release the knob, so that the inner barrier 135 "is activated before the mining vehicle 1 24 has passed the inner barrier 135", the mining vehicle 1 to be checked out and other mining vehicles 1 in the safety zone are continued in a safe condition. When the mining vehicle 1 is positioned between the inner and the outer barrier 135 ', 135 ", the remote operator verifies the check-out via the interface 160. Thereby the mining vehicle 1 is switched off, checked out in the security system 100 and is no longer connected to the specific security zone S1-S. When done, the operator deactivates the outer barrier 135 'by turning another knob, which means that the outer barrier 135' is kept inactivated for a predetermined period of time. During that time, the operator passes the outer barrier 135 'to the mining vehicle 1, sets the mining vehicle 1 manually and in front of the mining vehicle 1 manually out of the safety zone S1-S. and the security zone S1-S is reactivated.

Figure 4 illustrates a control unit 1101-110, 120, 1301-130y, 1401-140, according to an embodiment of the invention. Herein is shown a diagram of an embodiment of a device 400. The control units 1101-1z, 120, 1301-1y, 1401-140x described with reference to Figures 1-3 may according to this embodiment comprise the said device 400. The device 400 comprises a non-volatile memory 401, a data processing unit 402 and a read / write memory 403. The non-volatile memory has a first memory part 404, used in a computer program P, such as an operating system, is stored to control the operation of the device 400. Further, the device 400 comprises a bus controller, a serial communication port, I / O means, an ND converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 401 also has a second memory portion 405.

Computer program P includes routines for defining safety zones within the work area and checking in a mining vehicle in a safety zone according to an embodiment. Program P includes routines for activating and deactivating barriers. The program P further comprises routines for continuing mining vehicles in a specific safety zone in a safe condition when at least one barrier of the safety zone is crossed. The program P further includes routines for controlling functions of mining vehicles such as, starting and stopping the engine, fuel supply, braking action, steering, drilling, loading, tipping, and the like. The program P further includes routines for checking out a mining vehicle from a safety zone.

In this embodiment, the program P is stored in an executable manner or in a compressed manner in a memory and / or in a read / write memory.

When it is described that the data processing unit 402 performs a certain function, it should be understood that the data processing unit 402 performs a certain part of the program P which is stored in the memory, or a certain part of the program which is stored in the read / write memory 403. The data processing device 402 can communicate with a data port 415 via a data bus 406. The non-volatile memory 401 is intended for communication with the data processing unit 402 via a data bus 407. A separate memory 409 is intended to communicate with the data processing unit 402 via a data bus 410. The read / write memory 403 is arranged to communicate with the data processing unit 402 via a data bus 411.

When data is received on the data port 415, the tin gate is stored in the second memory part 405. Once the received input data has been temporarily stored, the data processing unit 402 is ready to perform code execution in a manner described above.

Parts of the methods described herein may be performed by the device 400 with the aid of the data processing unit 402 running the program P stored in the memory or read / write memory 403. When the device 400 '

Claims (20)

PATENT REQUIREMENTS Security system for automated operation of at least one mining vehicle (1) comprising a working area (10), comprising at least one remote control unit (110-1z), a main control unit (120), a plurality of barrier control units (11-1y) for controlling barriers ( 135 ', 135 ") and a vehicle control unit (1401-140,) arranged at the mining vehicle (1), the at least one remote control unit (1101-110,), the barrier control units (1301-1y) and the vehicle control unit (1401-1x) being arranged in signal connection with the main control unit (120), characterized in that the safety system (100) is configured so that safety zones (Si-Se) for automated operation of mining vehicles (1) can be defined within the working area (10) via a interface (160), each safety zone (160) S1-Se) is associated with barrier control units (1301-1300 arranged at true entrances (200 ', 200 ") to the respective security zone (S1-Se) and an identification key (250), with which the at least one mining vehicle (1) can be checked in for automated operation in respect security zone (Si-Se) and / or checked out of the respective security zone (S1-Se), without reconfiguring the security system (100). Security system according to claim 1, used in the barriers (135 ', 135 ") controlled by the barrier controllers (1301-1y) are electronic barriers. Security system according to claim 1 or 2, used in the security system is arranged to immediately affect the operation of all mining vehicles (1) in a security zone (Si-Se), then at least one barrier (135 ', 135 ") in said security zone (S1- Se) passed. A security system according to any one of the preceding claims, used in each barrier control unit (1301-1y) is arranged to check an outer barrier (135 ') and an inner barrier (135 ") at each entrance (200', 200") to the respective security zone (S1-Se). 28 Security system according to claim 4, used in the outer barrier (135 ') and the inner barrier (135 ") are arranged, so that a mining vehicle (1) fits between them. Security system according to one of the preceding claims, used in the security system (100) is arranged that when checking in and / or checking out a mining vehicle (1) in a security zone (S1-S,), it does not affect the operation of other mining vehicles (1) in named security zone (S1-S). Security system according to one of the preceding claims, used in the respective security zone (Si-Sr) has a primal input (200 '), at which a barrier control unit (1301-130y) is arranged outside the barriers controlled by the barrier control unit (1301-1y). (135 ', 135 ") and thus outside the safety zone (S1-S). A security system according to any one of the preceding claims, the vani identification key (250) comprising a binary code. Security system according to any one of the preceding claims, the van in the remote control unit (110) is arranged away from the working area (10) and is handled by a remote operator. Safety system according to one of the preceding claims, used in the safety zones (S1-S) consists of tunnels. Security system according to one of the preceding claims, used in the main control unit (120) is arranged within the working area (10) and is handled by an operator on site in the working area (10). Safety system according to one of the preceding claims, the vehicle control unit (1401-140,) is arranged to control functions such as well power, start / stop of the engine, fuel supply, drilling, bolting, loading and unloading. 29 Mining vehicle comprising a vehicle control unit (1401-140,) of a safety system (100) according to claims 1-12. A method of a safety system (100) for automated operation of at least one mining vehicle (1) within a working area (10), comprising at least one remote control unit (11-1z), a main control unit (120), a plurality of barrier control units (1301-1y) for controlling barriers (135 ', 135 ") and a vehicle control unit (1401-140,) arranged at the mining vehicle (1), the at least one remote control unit (1101-110,), the barrier control units (130-1y) and the vehicle control unit (1401-) being 140,) are arranged in signal connection with the main control unit (120), used in the method comprising the steps of: 1. defining (s301) at least one security zone (S1-S) via a cross-section (160) of the security system (100); in (s302) the at least one mining vehicle (1) for automated operation in the said security zone (S1-S) by means of an identification key (250), without reconfiguring the security system (100). A method for a security system (100) according to claim 14, used in step (s302) to check in the mining vehicle (1) comprises: - applying the identification key (250) of the mining vehicle (1); 1. deactivate an outer barrier (135 ') of the security zone (S1-S); 2. manually move the mining vehicle (1) to a position between the outer barrier (135 ') and an inner barrier (135 ") of the safety zone (S1-S); 3. set the mining vehicle (1) on the automation mode and remove the identification key (250) ) from the mining vehicle (1); 4. activate the outer barrier (135 '); 5. verify the mining vehicle's (1) access to the safety zone (Si-Sn); 6. activate the mining vehicle (1) for automated operation; 7. deactivate the inner the barrier (135 ") and advance the mining vehicle (1) into the safety zone (S1-S); and 8. activate the inner barrier (135 "). The method of a security system (100) according to claim 14 or 15, further comprising the step of crossing at least one barrier (135 ', 135 ") of the security zone (S1-S): 1. controlling the vehicle control unit (1401-140,) of all checked-in mining vehicles (1) in the safety zone (S1-S), so that the operation of the mining vehicles (1) is affected. A method of a security system (100) according to any of claims 14-16, further comprising the step of: 1. checking out (s303) at least one mining vehicle (1) from said security zone (S1-S). A method of a security system (100) according to claim 17, used in step (s303) to check out the mining vehicle (1) comprises: 1. inactivating an internal barrier (135 ") of the security zone (S1-S); - advancing the mining vehicle; (1) to a position between the inner barrier (135 ") and an outer barrier (135 ') of the security zone (S1-S); 2. activate the inner barrier (135 "); 3. deactivate the outer barrier (135 '); 4. set the mining vehicle (1) to manual position and drive the mining vehicle (1) out of the safety zone (Si-Se); and 5 activate the outer barrier (135 '). Computer program (P) in a security system (100) for automated operation of at least one mining vehicle (1) within a working area (10), comprising at least one remote control unit (11-110,), a main control unit (120), a plurality of barrier control units ( 1301-1y) for controlling barriers (135 ', 135 ") and a vehicle control unit (1401-140,) arranged at the mining vehicle (1), the at least one remote control unit (1101-110,), the barrier control units (130i-1y) and The vehicle control unit (1401-140,) are arranged in signal connection with the main control unit (120), used in the computer program (P) comprising a program code stored on a medium, computer-readable, for performing the process steps according to any one of claims 14 to 18 when the computer program ( P) 31 is executed by an electronic control unit (1101-110 ,, 120, 1301-1y, 1401-1x) associated with the security system (100). A computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 14 to 18 when a computer program (P) is executed by an electronic control unit (110i110, 120, 1301-1y, 1401). 1x) associated with the security system (100). 32 1/4 11- 110, \ _Z-- 1 100 / 130t 1401k -