CA2949360A1

CA2949360A1 - Safety system for automated operation of mining vehicles and method for such a safety system

Info

Publication number: CA2949360A1
Application number: CA2949360A
Authority: CA
Inventors: Richard Hendeberg
Original assignee: Atlas Copco Rock Drills AB
Current assignee: Epiroc Rock Drills AB
Priority date: 2014-06-05
Filing date: 2015-05-29
Publication date: 2015-12-10
Anticipated expiration: 2035-05-29
Also published as: AU2015268954B2; ZA201607812B; SE1450691A1; WO2015187081A1; SE538029C2; CA2949360C; AU2015268954A1; CL2016003104A1

Abstract

The invention relates to a safety system for automated operation of at least one mining vehicle (1 ) within a work area (10), comprising at least one remote control unit (1101-110z), a main control unit (120), a plurality of barrier control units (1301-130y) for control of barriers (135', 135"), and a vehicle control unit (1401-140x) arranged at the mining vehicle (1), wherein the at least one remote control unit (1101-110z), the barrier control units (1301-130y) and the vehicle control unit (1401-140x) are arranged in signal connection with the main control unit (120). The safety system (100) is configured such that safety zones (S1-Sn) for automated operation of mining vehicles (1) may be defined within the work area (10) via an interface (160), wherein each safety zone (S1-Sn) is associated with barrier control units (1301-130y) arranged at all the entrances (200', 200") to the respective safety zone (S1-Sn) and an identification key (250), with which the at least one mining vehicle (1) may be checked-in for automated operation in the respective safety zone (S1-Sn) and/or checked-out from the respective safety zone (S1-Sn), without reconfiguration of the safety system (100). The invention also relates to a mining vehicle (1), a method for a safety system (100), a computer program and a computer program product associated with such a safety system (100).

Description

Safety system for automated operation of mining vehicles and method for such a safety system TECHNICAL FIELD
The present invention relates to a safety system for automated operation of mining vehicles within a work area. The invention also relates to a method for such a safety system, a mining vehicle, a computer program associated with such a safety system and a computer program product.
BACKGROUND
Today remotely operated or completely autonomous vehicles are used within certain work areas in mining applications, for instance to avoid exposing operators to particularly hazardous environments. Mining environments are dark and inaccessible, and it is therefore difficult to detect if an operator or a manually operated vehicle is among the unmanned vehicles, whereby accidents may occur. It is therefore important that areas in which vehicles are operated remotely controlled or autonomously, are separated and secured from areas where manual activities are in progress.
It is today known to use safety systems with barriers in order to create safe areas in which vehicles are operated remotely controlled or autonomously.
Such safety systems comprise separate programs for each safe area and are configured such that each vehicle is connected to a specific area. When a barrier which defines a safe area is crossed, all vehicles connected to that area are stopped. In the case where the safe area is large and/or a large number of vehicles are connected to the area, this may cause major disruptions in production resulting in production losses. These safety systems also means that vehicles cannot be moved between different safe areas without reconfiguration of the safety system or without downloading a new

2 program to the safety system, so that the vehicle is connected to the next safe area This is time consuming and affects the availability of the vehicles negatively.
Document EP 1616077 discloses a system and a method for passage of unmanned vehicles between a large work area, in which the vehicles are operated 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. One gate is always kept closed. Safe sections within the work area may also be formed by gates, in which safe sections manual work is performed. The unmanned vehicles are prevented access to the safe sections by the gates. The gates that limit the safe sections can be remotely controlled.
Despite known solutions within the field there is a need to achieve a safety system for automated operation of vehicle, which is flexible, results in 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.
Yet another object of the invention is to provide a safety system for automated operation of mining vehicles, which results in high availability of the mining vehicles and high production.

3 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 by a safety system for automated operation of mining vehicles according to claim 1. Other objects are achieved by a mining vehicle according to claim 13. Other objects are achieved by a method according to claim 14. Advantageous embodiments are specified in the dependent claims.
According to an aspect of the invention a safety system for automated operation of at least one mining vehicle within a work area is provided, comprising at least one remote control unit, a main control unit, a plurality of barrier control units for controlling barriers, and one vehicle control unit arranged at the mining vehicle, wherein the at least one remote control unit, the barrier control units and the vehicle control unit are &ranged in signal connection with the main control unit. Further, the safety system is configured such that safety zones for automated operation of mining vehicles may be defined within the work area via an interface, wherein each safety zone is associated with barrier control units arranged at all entrances to the respective safety zone and an identification key, with which the at least one mining vehicle can be checked-in for automated operation in the respective safety zone and/or checked-out from the respective safety zone, without reconfiguration of the safety system.
By designing the safety system such that safety zones can be defined through an interface, whereby only barrier control units are connected to the respective defined safety zone, a flexible and user-friendly safety system is achieved. The safety system is suitably adapted for a vehicle fleet comprising

4 x mining vehicles, where x is an arbitrary number. A vehicle control unit is arranged at each mining vehicle, whereby the safety system comprises as many vehicle control units as mining vehicles. Thus, the safety system preferably comprises x vehicle control units. The vehicle control units at the mining vehicles are then identically configured and the mining vehicles are thus not in advance connected to any specific safety zone. This means that all mining vehicles can be used in all safety zones without having to reconfigure the safety system and without having to install new programs in the safety system. This way, a safety system for automated operation of mining vehicles is achieved which results in high availability of mining vehicles and high production. Ai check in of a mining vehicle the identification key connects the mining vehicle to the current safety zone. Preferably, n safety zones may be defined within the work area, where n is an arbitrary number.
The mining vehicle may for example be a loader, a dumper, a rock drilling rig, a transport vehicle or another type of vehicle for mining.
The work area may be an area in a mine below or above ground level.
Alternatively, the work area may be a plurality of areas in a mine, which areas have a network connection with each other.
Automated operation herein means remotely controlled operation, autonomous operation or unmanned operation. An automated mining vehicle is thus a mining vehicle which is operated remotely controlled, autonomously or unmanned.
The herein denominated entrances to the respective safety zone also constitute exits. A barrier control unit is arranged at each entrance to control at least one barrier. The safety system preferably comprises y barrier control units, where y is an arbitrary number. The barriers at each safety zone delimits the respective safety zone from a manual zone and are arranged for the purpose of preventing automated mining vehicles from leaving a safety zone and unauthorized objects from entering into 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

5 cabinets, which in turn are arranged at each entrance of the respective safety zone. The barrier control units are connected to the main control unit via a network.
According to an aspect of the present invention, the barriers controlled by the barrier control units are electronic barriers. The barriers are thus of non-physical nature. The barriers may for example consist of light gates, rotating lasers, magnetic sensors, or any other form of sensor that senses an object breaking the barrier. By using non-physical barriers, barriers may easily be added to and/or removed from the safety system.
According to an aspect of the present invention the safety system is arranged to immediately affect operation of all mining vehicles in a safety zone, when at least one barrier in said safety zone is crossed. The mining vehicles in a safety zone are suitably set in a safe state when at least one barrier at the safety zone is crossed. When a barrier is crossed the barrier control unit connected to said barrier reacts and sends a signal to the main control unit.
The main control unit subsequently sends commands to the vehicle control units which are connected to the specific safety zone through check in, which vehicle control units control the respective mining vehicle such that they are set in a safe state. A safe state may for example mean that the mining vehicle is stopped, that the engine of the mining vehicle is switched off or that movable components of the mining vehicle are stopped. That the mining vehicles are set in a safe state may thus mean that they are stopped but that they still are able to perform work such as drilling or bolting. By only affecting the mining vehicles located in a specific safety zone when a barrier at said safety zone is crossed, the production losses are limited since as many mining vehicles as possible are in operation.

6 According to an 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 safety zone. The outer barrier is adjacent the manual zone and the inner barrier is adjacent the safety zone. Alternatively, three or more barriers are arranged at each entrance to a safety zone. The outer barrier and the inner barrier are suitably arranged, such that a mining vehicle can fit between them. The space between the outer barrier and the inner barrier thereby acts as additional safety in case a barrier is crossed. If a mining vehicle crosses the inner barrier in a direction out from the safety zone, the space means that there is time to stop the mining vehicle before the outer barrier is crossed, and it is thereby ensured that an automated mining vehicle is not operated in the manual zone. All automated mining vehicles in the safety zone are similarly set in a safe state if an unauthorized object crosses the outer barrier in a direction towards the safety zone. It is thereby ensured that the automated mining vehicles do not present a risk when/if the unauthorized object crosses the inner barrier and is inside the safety zone.
A safety zone may also comprise passive barriers which may be activated if needed, for example in order to divide a safety zone into smaller subzones.
That may for example be advantageous if a need to perform manual work inside a safety zone arises. The passive barriers may then be activated and delimit a protected manual area and thus ensure that unmanned mining vehicles are not operated among people and/or manually operated vehicles.
The passive barriers may be activated/deactivated via the interface.
According to an aspect of the present invention, during check in and/or check out of a mining vehicle in a safety zone, the safety system is adapted not to affect the operation of the rest of the mining vehicles in said safety zone.
This way, the production is not unnecessarily affected and the production losses are minimized. The safety system is alternatively adapted to control the mining vehicles in a safety zone such that they are operated with a reduced

7 speed during check in and/or check out of a mining vehicle in the safety zone.
According to an aspect of the present invention, the respective safety 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 safety zone. At the primary entrance the check in and the check out of mining vehicles to the respective safety zone is performed. A control cabinet comprising a barrier control unit associated with the respective safety zone is suitably arranged outside the barriers controlled by the barrier control unit and thus in the manual zone, at the primary entrance of the respective safety zone. The rest of the entrances to a safety zone suitably each has a barrier control unit arranged on the inner side of the barriers controlled by the barrier control unit, inside the safety zone. These entrances constitute secondary entrances. The primary entrance preferably has an outer and an inner barrier. The secondary entrances may have one or more barriers. In order to activate a safety zone, all barriers at the secondary entrances must first be activated, thereafter the barriers at the primary entrance can be activated.
This is suitably performed by an operator walking through the deactivated safety zone and successively activating the barriers at the secondary entrances, where the control cabinets with the barrier control units are arranged on the inner side of the barriers. The operator thereafter walks out through the primary entrance, out from the safety zone, to the barrier control unit arranged outside the safety zone and activates the barriers at the primary entrance. If a barrier at a secondary entrance is not activated, the barrier at the primary entrance cannot be activated. This way is ensured that no unauthorized objects are present in the safety zone when it is activated.
The barriers are preferably activated and deactivated manually through manoeuvring devices connected to the respective barrier control unit at the control cabinets. A barrier may also be deactivated by crossing/breaking the barrier.

8 According to an aspect of the invention, the identification key comprises a binary code. The identification key suitably consists of a contact, wherein the different pins of the contact forms the binary code. The identification key alternatively consists of an electronic card which can be read by a reader in the mining vehicle. The identification key is suitably placed in a control cabin comprising the barrier control unit, arranged at the primary entrance of the safety zone. The identification key is suitably arranged, such that the barrier control unit detects when the identification key is removed from its position.
According to an aspect of the present invention, the at least one remote control unit is arranged distantly from the work area and is managed by a remote operator. The remote control unit is suitably arranged in a control room above ground. The work area is suitably underground. The safety system may comprise a plurality of remote control units arranged in the same control room, or a plurality of remote control units arranged in different control rooms. The safety system preferably comprises z remote control units, where z is an arbitrary number. By using a plurality of remote control units, a plurality of remote operators can monitor and affect the safety system from different locations. The remote control units are connected to the main control unit via a network. An interface through which safety zones may be defined, suitably a graphic interface, is provided in connection with the respective remote control unit in the respective control room. The interface may be presented on a panel or display. An emergency stop device is arranged in connection with the respective remote control unit and thus in connection with the main control unit. The emergency stop device may consist of a central manoeuvring device which is connected to all safety zones and mining vehicles within the work area via the main control unit. A
remote operator may thus in an easy way stop all vehicles within the work area in case a hazardous situation is identified. Alternatively, the emergency stop device may consist of a plurality of individual emergency stop manoeuvring devices connected to each safety zone, wherein a remote

9 operator easily can stop all mining vehicles within a certain safety zone at the risk of danger. Alternatively, the emergency stop device consists of both a central manoeuvring device and individual emergency stop manoeuvring devices connected to the safety zones. A reset manoeuvring device is also arranged in connection with the respective remote control unit, for resetting the safety system after use of an emergency stop device.
According to an aspect of the present invention, the safety zones consist of tunnels. Alternatively, a safety zone consists of a part of a tunnel, or a plurality of tunnels.
According to an aspect of the present invention, the main control unit is arranged within the work area and is managed by an operator in the work area. The main control unit is suitably arranged in a main cabinet, which in turn is arranged in the manual zone of the work area. An interface, through which the safety zones may be defined, is suitably provided in connection to the main control unit in the main cabinet. The interface may be presented on a panel or display.
According to an aspect of the present invention, the vehicle control unit is adapted to control functions such as brake action, start/stop of engine, fuel supply, steering, drilling, bolting, loading and unloading. This way is ensured that the mining vehicles can be set in a safe state when a barrier is crossed.
According to an aspect of the present invention a method for a safety system for automated operation of at least one mining vehicle within a work area is provided, 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, wherein the at least one remote control unit, the barrier control units and the vehicle control unit are arranged in signal connection with the main control unit, wherein the method comprises the steps to:

- define at least one safety zone via an interface of the safety system;
and - check in at least one mining vehicle for automated operation in said safety zone by means of an identification key, without reconfiguring the safety 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 safety zone via an interface of the

10 safety system, in which safety zone mining vehicles may be operated in an automated mode, and thereafter check in relevant mining vehicles in said safety zone without reconfiguring the safety system, a flexible and user-friendly method is achieved. The at least one safety zone is suitably defined by, in the system, associating the safety zone with barrier control units arranged at all entrances to the safety zone. In order for the safety system to function and to know which mining vehicles that should be affected when a barrier of a safety zone is crossed, the mining vehicles must somehow be associated with the safety zone they operate in. A check in of the mining vehicle in the safety zone is therefore required. At check in, the identification key connects the mining vehicle to the safety zone and the mining vehicle may be operated in an automated mode.
According to an aspect of the present invention the step to check in the mining vehicle comprises the steps to:
- apply an identification key in the mining vehicle;
- deactivate an outer barrier of the safety zone;
- manually operate the mining vehicle to a position between the outer barrier and an inner barrier of the safety zone;
- set the mining vehicle in an automation mode and remove the identification key from the mining vehicle;
- activate the outer barrier;
- verify the authorization of the mining vehicle to the safety zone;

11 - activate the mining vehicle for automated operation;
- deactivate the inner barrier and operate the mining vehicle in an automated mode into the safety zone; and - activate the inner barrier.
During check in an operator suitably manually operates the mining vehicle to be checked-in, to the primary entrance of the current safety zone. The operator suitably stops the mining vehicle in front of the outer barrier at the primary entrance. At the entrance it may be visualized for the operator that the outer barrier and the inner barrier are activated. It may further be visualized for the operator that the mining vehicle is not allowed to cross the outer and the inner barrier, for example by a red traffic light. The operator thereafter takes the identification key located in a control cabinet in which the barrier control unit is arranged. The identification key is further applied in the mining vehicle, wherein the mining vehicle and its vehicle control unit are connected to the safety zone and the check in process is started. The operator is preferably allocated a certain amount of time from when the identification key is removed from the control cabinet until it should be applied in the mining vehicle. If the time is exceeded the operator must return the identification key to the control cabinet, actuate the reset manoeuvring device and start over. When the identification key is applied in the mining vehicle the outer barrier is deactivated and the operator can manually operate the mining vehicle to a position between the outer barrier and an inner barrier, and turn off the engine. The fact that the outer barrier is deactivated and that it is allowed to operate the mining vehicle may be visualized for the operator by means of a green traffic light. The operator thereafter sets the mining vehicle in an automated mode and removes the identification key from the mining vehicle and returns it to the control cabinet and the barrier control unit. The outer barrier is thereby activated. In order to achieve automated operation of the mining vehicle, verification that the mining vehicle is authorized for operation in the safety zone is required.
This is suitably achieved by a remote operator verifying via the interface that the

12 mining vehicle should be operated in the specific safety zone. The remote operator may thereafter activate the mining vehicle for automated operation by starting the engine of the mining vehicle. When the mining vehicle is started, the operator in the manual zone of the work area deactivates the inner barrier, wherein the remote operator can remotely control the mining vehicle into the safety zone. The operator suitably deactivates the inner barrier by turning a knob or manoeuvring device in the control cabinet. As long as the manoeuvring device is turned, the inner barrier is deactivated.
The inner barrier is finally activated, suitably by the operator releasing the knob. The mining vehicle is thereby checked-in for automated operation in the safety zone, without having to reconfigure the safety system. If the operator should release the knob such that the inner barrier is activated before the mining vehicle has crossed the inner barrier, all mining vehicles in the safety zone are set in a safe state.
According to an aspect of the present invention, the method further comprises the step to; when at least one barrier of the safety zone is crossed - control the vehicle control unit of all mining vehicles in the safety zone, such that the operation of the mining vehicles is affected.
According to an aspect of the present invention the method further comprises the step to:
- check out at least one mining vehicle from said safety zone.
According to an aspect of the present invention, the step to check out the mining vehicle comprises the steps to:
- deactivate an inner barrier of the safety zone;
- operate the mining vehicle to a position between the inner barrier and an outer barrier of the safety zone;
- activate the inner barrier;
- deactivate the outer barrier;

13 - set the mining vehicle in a manual mode and operate the mining vehicle out from the safety zone; and - activate the outer barrier.
During check out the remote operator suitably remotely controls the mining vehicle to the inner barrier at the primary entrance, after which the operator in the manual zone deactivates the inner barrier. The inner barrier is preferably deactivated by the operator turning a knob in the control cabinet, in which the barrier control unit at the primary entrance of the safety zone is arranged.
The mining vehicle is thereafter operated to a position between the inner barrier and the outer barrier. The operator then activates the inner barrier, suitably by releasing the knob. Should the operator release the knob before the mining vehicle has crossed the inner barrier, the inner barrier is activated and the mining vehicle is set in a safe state. When the mining vehicle is positioned between the inner and the outer, the remote operator may also verify the checkout via the interface. The mining vehicle is thereby turned off, checked-out from 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 results in that the outer barrier is maintained deactivated during a predetermined period of time. The outer barrier is suitably maintained deactivated during 45-85 seconds, preferably 60 seconds. During this time, the operator can cross the outer barrier in to the mining vehicle, set the mining vehicle in a manual mode and operate the mining vehicle manually out from the safety zone. After the predetermined period of time has passed, the outer barrier is activated and the safety zone is activated.
Alternatively, the outer barrier is maintained activated during an indefinite period of time, until the operator has operated the mining vehicle out from the safety zone and manually activates the outer barrier.
Should a barrier of a safety zone be crossed at check in/check out, the vehicle control units in all mining vehicle in the safety zone are controlled, such that the mining vehicles in the safety zone are set in a safe state. The

14 check in/check out process is thereby cancelled. To continue the process it is required that the operator and/or the remote operator actuates a reset manoeuvring device.
According to an aspect of the present invention, a computer program at a safety system is provided, where said computer program comprises program code to cause an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of the claims 14-18.
According to an aspect of the present invention, a computer program at a safety system is provided, where said computer program comprises program code to cause an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of the claims 14-18, when said program code is run on said control unit or said computer.
According to an aspect of the present invention, a computer program at a safety system is provided, where 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 according to any of claims 14-18.
According to an aspect of the present invention, computer program at a safety system is provided, where 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 according to any of claims 14-18, when said program code is run on said control unit or said computer.
According to an aspect of the present invention, a computer program product is provided, comprising a program code stored on a computer-readable medium to perform the method steps according to any of the claims 14-18, when said computer program is run on an electronic control units or another computer connected to the electronic control unit.
According to an aspect of the present invention, a computer program product 5 is provided, comprising a program code non-volatile stored on a computer-readable medium to perform the method steps according to any of the claims 14-18, when said computer program is run on an electronic control units or another computer connected to the electronic control unit.
10 Further objects, advantages and novel features of the present invention will become apparent to one skilled in the art from the following details, and also by putting the invention into practice. Whereas the invention is described below, it should be noted that it is not restricted to the specific details described. Specialists having access to the teachings herein will recognise

15 further applications, modifications and incorporations within other fields, which are within the scope of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS
For fuller understanding of the present invention and further objects and advantages of it, the detailed description set out below should be read together with the accompanying drawings, in which the same reference notations denote similar items in the various diagrams, and in which:
Figure 1 schematically illustrates a safety 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 in further detail schematically illustrates a flow chart of a method, according to an embodiment of the invention; and

16 Figure 4 schematically illustrates a computer, according an embodiment of the present invention.
DETAILED DESCRIPTION OF THE DRAWINGS
Figure 1 schematically illustrates a safety system 100 for automated operation of at least a mining vehicle 1 within a work area 10 according to an embodiment of the present invention. The work area 10 may comprise several areas in a mine, as long as there is a network connection between ihe 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 1301-130y for control of barriers 135, 135" and a vehicle control unit 1401-140x arranged in the mining vehicle 1. The safety system 100 is suitably adapted for automated operation of a fleet of vehicles comprising x mining vehicles 1, whereby the safety system 100 comprises x vehicle control units 1401-140, where x is an arbitrary number. The safety system 100 suitably comprises y barrier control units 1301-130y, where y is an arbitrary number. The safety system 100 suitably comprises z remote control units 1101-110, arranged either in one control room or in different control rooms, where z is an arbitrary number. The remote control units 1101-110,, the barrier control units 1301-130y and the vehicle control units 1401-140, are arranged in signal connection with the main control unit 120. The remote control units 1101-110, and the barrier control units 1301-130y are connected to the main control unit 120 via a network. The vehicle control units 1401-140x are connected to the main control unit 120 via a wireless connection. The vehicle control units 140r-140, of the respective mining vehicle 1 suitably controls functions of the mining vehicle 1, such as starting and stopping the engine, fuel supply, braking action, steering, drilling, loading, dumping, and similar.
The safety system 100 is configured such that a number of safety zones S1-S1 can be defined within the work area 10 through an interface (not shown).

17 Preferably, n safety zones S1-Sr, may be defined within the work area 10, where n is an arbitrary number. For each safety zone SiS1, is associated a certain number of barrier control units 1301-130y of the barrier control units 130E-130y available in the safety system 100. The safety zones S1-S1 are thus not permanently defined in the safety system 100, but can easily be changed via the interface. The vehicle control units 1401-140, and thus the mining vehicles 1 are neither systemically permanently connected to a specific safety zone The vehicle control units 1401-140, of the safety system 100 are on the contrary identically configured and this way all mining vehicles 1 in the work area 10 can be used in all safety zones S1-S, without having to reconfigure the safety system 100 or having to install new software.

This increases the flexibility and availability of mining vehicles 1, which means increased productivity. Should a mining vehicle 1 in a safety zone Si-S1 break can any other mining vehicle 1 in the work area 10 quickly replace the broken mining vehicle 1. In order for the safety system 100 to function as desired and in order to achieve automated operation of a mining vehicle 1 in a safety zone S1-S, the mining vehicle 1 must be checked-in in the safety zone S1-S by means of an identification key (not shown). This is further described in Fig. 3a.
Figure 2 schematically shows a work area 10 with a safety system 100 according to an embodiment of the present invention. A remote control unit 1101 is here illustrated arranged in a control room 150 above ground. In the control room 150 is also the interface 160 through which safety zones Si-Sn may be defined presented on a panel or display. A remote operator in the control room 150 can thereby define safety zones S1-Sr, and monitor the work area 10 via the interface 160. An emergency stop device 170 is arranged in communication with the remote control unit 1101 and thus in communication with the main control unit 120. The emergency slop device 170 may be a central maneuvering device, which via the main control unit 120 is connected to all safety zones S1-S,, and mining vehicles 1 in the work area 10. A remote operator can thus in an easy way stop all mining vehicles 1 within the work

18 area 10 when a hazardous situation is identified. Alternatively, the emergency stop device 170 may consist of a plurality of individual emergency stop manoeuvring devices, connected to each safety zone Si-Sr, whereby the remote operator easily can stop all mining vehicles 1 within a certain safety zone Si-Sr at the risk of danger. Alternatively, the emergency stop device 170 consists of both a central maneuvering device and individual emergency stop manoeuvring devices connected to the safety zones Si-Sn.
A first safety zone Si and a second safety zone S2 has been defined in the safety system of Fig. 2. Within the work area 10, n safety zones Si-S, may be defined, where n is an arbitrary number, which herein is illustrated by the dotted safety zone S. The safety system 100 is herein described with respect to the first safety zone Si and the second safety zone S2. Some reference numbers for details that are the same for the first safety zone Si and the second safety zone S2 have been omitted. The first safety zone Si has been assigned and is associated with three barrier control units 1301, 1303, 1304, one arranged at each entrance 200', 200" to the safety zone Si.
The second safety zone S2 is assigned and associated with two barrier control units 1307, 1305, one arranged at each entrance 200', 200" to the safety 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" suitably consist of light gates. The inner barriers 135" are adjacent the respective safety zone Si, S2 and the outer barriers 135' are adjacent a manual zone M. The inner barriers 135"
and the outer barriers 135' are arranged such that a mining vehicle 1 can fit there between. The barrier control units 1301-1305 are suitably arranged in control cabinets 210 comprising manual manoeuvring devices or knobs for manual activation and deactivation of the inner barrier 135" and the outer barrier 135'. The first safety zone Si and the second safety zone S2 each have a primary entrance 200'. At the primary entrance 200', check in and check out of the mining vehicle 1 to the respective safety zone Si , S2 is performed. At the primary entrance 200', the barrier control unit 1301, 1302 is

19 arranged outside the outer barrier 135' controlled by the barrier control unit 1301, 1302, in the manual zone M. The other entrances 200" of the respective safety zone 51, 52 constitute secondary entrances 200" where the barrier control unit 1303, 1304, 1305 is arranged on the inner side of the inner barrier 135", in the respective safety zone Si, S2. A safety zone Si, 52 is activated when all inner barriers 135" and outer barriers 135' are activated and all entrances 200', 200" thus are secured. The safety system 100 is designed such 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 safety zone Sl, S2, the inner barriers 135" and the outer barriers 135' of the secondary entrances 200" must be activated. The barriers 135', 135" at the secondary entrances 200" are suitably activated by an operator from inside the safety zone Si, S2, after which the operator passes through the safety zone Si, S2 to the primary entrance 200' and ensures on the way that no unauthorized object is present in the safety zone SI, 52.
If an object, such as a person or a vehicle crosses at least one barrier 135', 135" in one of the safety zones Si, 52, that safety zone Si, S2 is deactivated and the safety system 100 is arranged to immediately affect the operation of all the mining vehicles 1 in that safety zone Si, S2. The mining vehicles 1 in the deactivated safety zone Si, 52 are suitably set in a safe state, which for example may mean that the mining veh ides 1 are stopped or turned off. The barrier control unit 1301-1305 connected to the crossed barrier 135', 135"
detects 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 that are checked-in in the current safety zone SI, S2. A safety system 100 is thereby achieved, which is safe and which minimizes the risk of accidents, The main control unit 120 is arranged in a main cabinet 220 in the manual zone M. The interface 160 is presented on a panel or display in the main cabinet 220 in connection with the main control unit 120.

At the primary entrance 200' of the respective safety zone Si, S2, the identification key 250 associated with the safety zone Sh 52 is arranged. The identification key 250 is suitably arranged in the control cabinet 210 in connection with the barrier control unit 1301, 130.. During check in of a 5 mining vehicle 1 in a safety zone Si, S2, the identification key 250 is temporarily removed from the control cabinet 210 and applied in the mining vehicle 1. This process is described in more detail in Fig. 3a.
Figure 3a shows a flow chart of a method for a safety system 100 for 10 automated operation of at least one mining vehicle 1 within a work area according to an embodiment of the present invention. The safety system 100 is suitably configured as described in Fig. 1 and Fig. 2. The method comprises the steps to:
- define s301 at least one safety zone Si-Se via an interface 160 of the safety 15 system 100; and - check in s302 at least one mining vehicle 1 for automated operation in said safety zone S1-S by means of an identification key 250, without reconfiguring the safety system 100.

20 By defining at least one safety zone S1-S via an interface 160 of the safety system 100, in which safety zone Si-Se mining vehicles 1 may be operated in an automated mode, and then check in relevant mining vehicles 1 in the safety zone S1-S, a flexible and user-friendly method is achieved. The at least one safety zone S1-S is suitably defined by, in the system 100, associating the safety zone S1-S, with barrier control units 1301-130y arranged at all the entrances 200', 200" to the safety zone Si-S. In order for the safety system 100 10 function in a safe manner, and for example to know which mining vehicles 1 in a safety zone S1-S, to be set into a safe state when a barrier 135 135" has been crossed, the mining vehicles 1 in a safety zone S1-S must be associated with that specific safety zone S1-S.
During check in, the identification key 250 connects the mining vehicle 1 to

21 the safety zone Si-Sn and the mining vehicle 1 may be operated in an automated mode.
Preferably, the step S302 to check in the mining vehicle 1 comprises to:
- apply the identification key 250 in the mining vehicle 1;
- deactivate an outer barrier 135 of the safety system Si-Sn;
- manually operate the mining vehicle 1 to a position between the outer barrier 135' and an inner barrier 135" of the safety zone Si-Sn;
- set the mining vehicle 1 in an automation mode and remove the identification key 250 from the mining vehicle 1;
- activate the outer barrier 135';
- verify the authorization of the mining vehicle 1 to the safety zone Si-Sn;
- activate the mining vehicle 1 for automated operation;
- deactivate the inner barrier 135" and operate the mining vehicle 1 into the safety zone Si-Sn; and - activate the inner barrier 135".
An operator suitably operates the mining vehicle 1 to be checked-in in the safety zone Si-Sn, up to the primary entrance 200' of the current safety zone S1-S. The operator suitably 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' it is visualized for the operator that the outer barrier 135' and the inner barrier 135" are activated. it is further visualized for the operator that the mining vehicle 1 is not allowed to cross the outer and the inner barrier 135', 135", for example by a red traffic light. The operator subsequently takes the identification key 250 associated with the safety zone Si-S, which is placed in the control cabinet in which the barrier control unit 1301-130y at the primary entrance 200' is arranged. The identification key 250 is applied in the mining vehicle 1, wherein the mining vehicle 1 and the vehicle control unit 1401-140, are systemically connected to the safety zone Si-Sõ and the check in process is started. The operator is preferably allocated a certain amount of time from when the identification key 250 is

22 removed from the control cabinet until it should be applied in the mining vehicle 1. If the time is exceeded, the operator must return the identification key 250 to the control cabinet, actuate a reset manoeuvring device and start over. When the identification key 250 is applied in the mining vehicle 1 the outer barrier 135' is deactivated and the operator can manually operate the mining vehicle 1 to a position between the outer barrier 135' and the inner barrier 135". The operator also turns off the engine of the mining vehicle 1.
The fact that the outer barrier 135' is deactivated and that it is permissible to operate the mining vehicle 1 may be visualized to the operator by a green traffic light.
The operator subsequently sets 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 barrier control unit 1301-130y. When the identification key 250 once again is connected to the barrier control unit 1301-130v the outer barrier 135' is activated. In order to achieve automated operation of the mining vehicle 1 a verification that the mining vehicle 1 is authorized for operation in the specific safety zone S1-Sõ is required. This is suitably achieved by a remote operator verifying via the interface 160 that the mining vehicle 1 is to be operated in the specific safety zone S1-S. The remote operator may subsequently 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 operate the mining vehicle 1 in an automated mode into the safety zone S1-S. The operator suitably deactivates the inner barrier 135" by turning a knob or manoeuvring device in the control cabinet. As long as the manoeuvring device is turned the inner barrier 135" is deactivated. The inner barrier 135"

is finally activated, suitably by the operator releasing the knob. The mining vehicle 1 is thereby checked-in for automated operation in the safety zone S1-Sõ, without having to reconfigure the safety system 100. The mining

23 vehicle 1 may thereby be operated in an automated mode in the safety zone S -Sn.
If the operator should release the knob during check-in, such that the inner barrier 135" is activated before the mining vehicle 1 has had the time to cross the inner barrier 135" into the safety zone S1-S, all mining vehicles 1 of the safety zone S1-S are set in a safe state. Similarly, the vehicle control unit 1401-140, of all mining vehicles 1 in a safety zone Si-Sõ is controlled when at least one barrier 135, 135" of the safety zone Si-S, is crossed, so that the operation of the mining vehicle 1 is affected. When a barrier 135, 135" is crossed, the barrier control unit 130E-130y connected to said barrier 135', 135" reacts and sends a signal to the main control unit 120. The main control unit 120 thereafter sends further commands to the vehicle control units 1401-140, of the mining vehicles 1 which by the check-in are connected to the specific safety zone which vehicle control units 1401-140, control the respective mining vehicle 1 such that they are set in a safe state.
During check in of a mining vehicle 1 in a safety zone Si-Sn, the other mining vehicles 1 already situated in the safety zone Si-Sn are suitably not affected.
Alternatively, the other mining vehicles 1 are controlled, such that they are operated with a reduced speed during check in and/or check out of a mining vehicle 1.
Figure 3b shows a flow chart of a method for a safety system 100 for automated operation of at least one mining vehicle 1 within a work 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 safety zone Si-Sr via an interface 160 of the safety system 100 and to check in S302 at least one mining vehicle 1 for automated operation in said safety zone Sr-S,, by means of an identification key 250, without reconfiguring the safety system 100.

24 The method further comprises the step to:
- check out 5303 at least one mining vehicle 1 from said safety zone Si-Se.
The step s303 to check out the mining vehicle 1 suitably comprises to:
- deactivate an inner barrier 135" at the safety zone S1-S;
- operate the mining vehicle 1 to a position between the inner barrier 135"

and an outer barrier 135' at the safety zone S1-S;
- activate the inner barrier 135";
- deactivate the outer barrier 135';
- set the mining vehicle 1 in a manual mode and operate the mining vehicle 1 out of the safety zone S1-S; and - activate the outer barrier 135'.
During checkout of a mining vehicle 1, the remote operator suitably operates the mining vehicle 1 in an automated mode up to the inner barrier 135" at the primary entrance 200' of the safety zone S1-S, after which the operator in the manual zone M deactivates the inner barrier 135". The remote operator communicates in suitable ways with the operator in the work area 10 in order to inform that a mining vehicle 1 is to be checked-out. The inner barrier 135"
is suitably deactivated by the operator turning a knob in the control cabinet, in which the barrier control unit 1301-130y at the primary entrance 200' of the safety zone Si-Se is arranged.
The remote operator subsequently operates the mining vehicle 1 to a position between the inner barrier 135" and the outer barrier 135'. The operator then activates the inner barrier 135", suitably by releasing the knob. If the operator releases the knob, such that the inner barrier 135" is activated before the mining vehicle 1 has crossed the inner barrier 135", the mining vehicle 1 to be checked-out and the other mining vehicles 1 in the safety zone Si-Se are set in a safe state. When the mining vehicle 1 is positioned between the inner and the outer barrier 135', 135" the remote operator verifies the checkout via the interface 160. The mining vehicle 1 is thereby turned off, checked-out in the safety system 100 and is no longer connected to the specific safety zone S1-S. When this is done, the operator deactivates the outer barrier 135' by turning another knob, which results in the outer barrier 135' being maintained deactivated during a predetermined period of time. The outer barrier 135' is 5 suitably maintained deactivated during 45-85 seconds, preferably 60 seconds. During that time, the operator crosses the outer barrier 135' in to the mining vehicle 1, sets the mining vehicle 1 in a manual mode and operates the mining vehicle 1 manually out from the safety zone S1-S. When the predetermined period of time has passed, the outer barrier 135' is 10 activated and the safety zone S1-S is once again activated.
Figure 4 illustrates a control unit 1101-110,, 120, 1301-130y, 1401-140x according to an embodiment of the invention. Herein, a diagram of an embodiment of a device 400 is shown. The control units 1101-110,, 120, 15 1301-130y, 1401-140, described with reference to Figure 1-3 may according to this embodiment comprise 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 element 404, wherein a computer program P, such as an operating system, is stored for 20 controlling the function of the device 400. The device 400 further comprises a bus controller, a serial communication port, 1/0 means, an AID converter, a time and date input and transfer unit, an event counter and an interruption controller (not shown). The non-volatile memory 401 also has a second memory element 405.
The computer program P comprises routines for defining safety zones \,vithin the work area and for checking in a mining vehicle in a safety zone according to an embodiment. The program P comprises routines for activating and deactivating barriers. The program P further comprises routines for setting the mining vehicles in a specific safety zone in a safe state when at least one of the barriers of the safety zone is crossed. The program P further comprises routines for controlling functions of mining vehicles such as starting and stopping the engine, fuel supply, braking effect, steering, drilling, loading, dumping, and similar. The program P further comprises routines for checking out a mining vehicle from a safety zone.
The program P is in this embodiment stored in an executable form or in a compressed form 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 stored in the read/write memory 403. The data processing unit 402 may communicate with a data port 415 via a data bus 406. The non-volatile memory 401 is adapted for communication with the data processing unit 402 via a data bus 407. A separate memory 409 is adapted to communicate with the data processing unit 402 via a data bus 410. The read/write memory 403 is adapted to communicate with the data processing unit 402 via a data bus 411.
When data is received on data port 415 it is temporarily stored in the second memory element 405. When the received input data has been temporarily stored, the data processing unit 402 is prepared to perform execution of code in a manner described above.
Parts of the methods described herein may be performed by the device 400 using the data processing unit 402 running the program P stored in the memory or the read/write memory 403. When the device 400 runs the program P, the herein described methods are executed.
The foregoing description of the preferred embodiments of the present invention is provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to restrict the invention to the variants described. Many modifications and variations will obviously be apparent to one skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, and to thereby make it possible for specialists to understand the invention for various embodiments and with the various modifications appropriate for the intended use.

Claims

1. A safety system for automated operation of at least one mining vehicle (1) within a work area (10), comprising at least one remote control unit (110 1-110 7), a main control unit (120), a plurality of barrier control units (130 1-130y) for control of barriers (135', 135"), and a vehicle control unit (140 1-140x) arranged in the mining vehicle (1), wherein the at least one remote control unit (110 1-110 7), the barrier control units (130 1-130y) and the vehicle control unit (140 1-140x) are arranged in signal connection with the main control unit (120), characterized in that the safety system (100) is configured such that safety zones (S1-S n) for automated operation of mining vehicles (1) may be defined within the work area (10) via an interface (160), wherein each safety zone (S1-S n) is associated with barrier control units (130 1-130y) arranged at all entrances (200', 200") to the respective safety zone (S1-S n) and an identification key (250) with which the at least one mining vehicle (1) may be checked-in for automated operation in the respective safety zone (S1-S n) and/or checked-out from the respective safety zone (S1-S n), without reconfiguration of the safety system (100).

2. A safety system according to claim 1, wherein the barriers (135', 135") controlled by the barrier control units (130 1-130y) are electronic barriers.

3. A safety system according to claim 1 or 2, wherein the safety system is arranged to immediately affect the operation of all mining vehicles (1) in a safety zone (S1-S n) when at least one barrier (135', 135") in said safety zone (S1-S n) is crossed.

4. A safety system according to any of the preceding claims, wherein each barrier control unit (130 1-130y) is arranged to control an outer barrier (135') and an inner barrier (135") at each entrance (200', 200") to the respective safety zone (S1-S n).

5. A safety system according to claim 4, wherein the outer barrier (135') and the inner barrier (135") are arranged, such that a mining vehicle (1) can fit between them.

6. A safety system according to any of the preceding claims, wherein the safety system (100) is arranged to, during check in and/or check out of a mining vehicle (1) in a safety zone (S1-S n), not affect the operation of the other mining vehicles (1) in said safety zone (S1-S n).

7. A safety system according to any of the preceding claims, wherein the respective safety zone (S1-S n) has a primary entrance (200'), at which a barrier control unit (130 1-130y) is arranged outside the barriers (135', 135") controlled by the barrier control unit (130 1-130y) and thereby outside the safety zone (S1-S n).

8. A safety system according to any of the preceding claims, wherein the identification key (250) comprises a binary code.

9. A safety system according to any of the preceding claims, wherein the remote control unit (110) is arranged distantly from the work area (10) and is managed by a remote operator.

10. A safety system according to any of the preceding claims, wherein the safety zones (S1-S n) consist of tunnels.

11. A safety system according to any of the preceding claims, wherein the main control unit (120) is arranged within the work area (10) and is managed by an operator in the work area (10).

12. A safety system according to any of the preceding claims, wherein the vehicle control unit (140 1-140x) is arranged to control functions such as braking action, start/stop of engine, fuel supply, drilling, bolting, loading and unloading.

13. A mining vehicle comprising a vehicle control unit (140 1-140x) of a safety system (100) according any of the claims 1-12.

14. A method for a safety system (100) for automated operation of at least one mining vehicle (1) within a work area (10), comprising at least one remote control unit (110 1-110 7), a main control unit (120), a plurality of barrier control units (130 1-130y) for control of barriers (135', 135"), and a vehicle control unit (140 1-140x) arranged at the mining vehicle (1), wherein the at least one remote control unit (110 1-110z), the barrier control units (130 1-130y) and the vehicle control unit (140 1-140x) are arranged in signal connection with the main control unit (120), wherein the method comprises the steps to:
- define (s301) at least one safety zone (S1-S n) via an interface (160) of the safety system (100); and - check in (s302) the at least one mining vehicle (1) for automated operation in said safety zone (S1-S n) by means of an identification key (250), without reconfiguring the safety system (100).

15. A method for a safety system (100) according to claim 14, wherein the step (s302) to check in the mining vehicle (1) comprises to:
- apply the identification key (250) at the mining vehicle (1);
- deactivate an outer barrier (135') at the safety zone (S1-S n);
- manually operate the mining vehicle (1) to a position between the outer barrier (135') and an inner barrier (135") at the safety zone (S1-S n);
- set the mining vehicle (1) in an automated mode and remove the identification key (250) from the mining vehicle (1);
- activate the outer barrier (135');
- verify the authorization of the mining vehicle (1) to the safety zone (S1-S n);
- activate the mining vehicle (1) for automated operation;

- deactivate the inner barrier (135") and operate the mining vehicle (1) into the safety zone (S1-S n); and - activate the inner barrier (135").

16. A method for a safety system (100) according to claim 14 or 15, further comprising the step to, when at least one barrier (135', 135") of the safety zone (S1-S n) is crossed:
- control the vehicle control unit (140 1-140x) of all checked-in mining vehicles (1) in the safety zone (S1-S n), such that the operation of the mining vehicles (1) is affected.

17. A method at a safety system (100) according to any of claims 14-16, further comprising the step to:
- check out (s303) at least one mining vehicle (1) from said safety zone (S1-S n).

18. A method at a safety system (100) according to claim 17, wherein the step (s303) to check out the mining vehicle (1) comprises to:
- deactivate an inner barrier (135") at the safety zone (S1-S n);
- operate the mining vehicle (1) to a position between the inner barrier (135") and an outer barrier (135') at the safety zone (S1-S n);
- activate the inner barrier (135");
- deactivate the outer barrier (135');
- set the mining vehicle (1) in a manual mode and operate the mining vehicle (1) out from the safety zone (S1-S n); and - activate the outer barrier (135').

19. A computer program (P) at a safety system (100) for automated operation of at least one mining vehicle (1) within a work area (10), comprising at least one remote control unit (110 1-110z), a main control unit (120), a plurality of barrier control units (130 1-130y) for control of barriers (135, 135"), and a vehicle control unit (140 1-140x) arranged at the mining vehicle (1), wherein the at least one remote control unit (110 1-110z), the barrier control units (130 1-130y) and the vehicle control unit (140 1-140x) are arranged in signal communication with the main control unit (120), wherein the computer program (P) comprises a program code stored on a computer-readable medium for performing the method steps according to any of the claims 14 to 18, when the computer program (P) is executed by an electronic control unit (110 1-110z, 120, 130 1-130y, 140 1-140x) associated with the safety system (100).

20. A computer program product comprising a program code stored on a computer-readable medium for performing the method steps according to any of the claims 14 to 18, when a computer program (P) is executed by an electronic control unit (110 1-110z, 120, 130 1-130y, 140 1-140x) associated with the safety system (100).