EP4627421A1 - Traffic control methods and systems for determining an operating area in an underground environment being free from unauthorized machines - Google Patents

Traffic control methods and systems for determining an operating area in an underground environment being free from unauthorized machines

Info

Publication number
EP4627421A1
EP4627421A1 EP22817423.1A EP22817423A EP4627421A1 EP 4627421 A1 EP4627421 A1 EP 4627421A1 EP 22817423 A EP22817423 A EP 22817423A EP 4627421 A1 EP4627421 A1 EP 4627421A1
Authority
EP
European Patent Office
Prior art keywords
machines
operating area
machine
unauthorized
traffic control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22817423.1A
Other languages
German (de)
French (fr)
Inventor
Richard Hendeberg
Andreas ÖKVIST
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
Original Assignee
Epiroc Rock Drills AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills AB filed Critical Epiroc Rock Drills AB
Publication of EP4627421A1 publication Critical patent/EP4627421A1/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/693—Coordinated control of the position or course of two or more vehicles for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G05D2107/73—Mining
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries

Definitions

  • the present disclosure relates generally to traffic control methods and systems for determining that an operating area in an underground environment is free from unauthorized machines.
  • the present disclosure also relates to a mine which comprises the traffic control system.
  • autonomous machines are used to perform certain tasks.
  • the autonomous machines can be controlled and coordinated by an automation control system.
  • an automation control system In order to allow a mixed environment of autonomous machines and other machines in the underground environment, the risk for collisions between the autonomous machines and other machines needs to be minimized in order to improve the safety of the whole underground environment, especially for operators and the other machines.
  • One common way to enable this is via intercepted areas or operating areas, which means that the autonomous machines are in a controlled environment and that safety can be guaranteed when performing tasks in the operating area.
  • Other kinds of machines in the underground environment such as manual operated machines, are operated manually by operators. These operators may be sitting inside the machine or controlling it remotely.
  • the behavior of manual operated machines may be unpredictable, and it is desired to avoid having manual operated machines in the operating area. If a manual operated machine enters the operating area, it leads to collision risk in the operating area, e.g., such as an autonomous machine colliding with the manually operated machine. Therefore, when the autonomous machines are operating in the operating area, the safety of the operating area should be improved, such that the autonomous machines can operate in the operating area while safety can be maintained.
  • the operating area is inspected manually in order to ensure that the operating area is clear from safety hazards. For example, by an operator that drives a vehicle to the operating area and makes sure that the operating area is free from unauthorized machines.
  • the visibility of the operating area may be quite low and therefor the manual inspection be difficult to perform.
  • the operating area may comprise multiple interconnected tunnels, it can be difficult or even impossible for the operator to guarantee that the multiple tunnels are free from unauthorized machines by a manual inspection. It can also be dangerous for an operator to drive and check in the tunnels. Hence significant amount of time and resources may be required to ensure that an operating area is clear from unwanted traffic.
  • the method may further comprise permitting authorized machines to operate in the operating area when the operating area is determined to be free from unauthorized machines.
  • the method may be continuously performed.
  • the operating area is continuously monitored. Unauthorized machines are continuously determined to be outside the operating area when the method is continuously performed, whereby the safety of operating area is improved. Furthermore, since the method is performed continuously, there is no need for a physical gate, at the entrance of the operating area, to monitor any machine passing through. The cost of the whole system is reduced due to the absence of physical gates. According to another aspect, the authorized machines are permitted to access the operating area when the method is continuously performed. [00011] When the method is continuously performed, the authorized machines can have access to the operating area. By that even authorized machines which were outside the operating area can be permitted to drive into the operating area. Thus the operating area can be continuously armed, but authorized machines can still get access to it and perform tasks therein.
  • the method may further comprise determining that a position of an unauthorized machine is inside the operating area and stopping all operations of the authorized machines in the operating area.
  • the method may further comprise determining if a position of an unauthorized machine is inside the operating area and stopping all operations of the authorized machines in the operating area on determining that a position of an unauthorized machine is inside the operating area 240.
  • the position of a respective machine may be determined by using a previous position of the machine and determining a threshold distance away from the operating area, wherein the threshold distance is dependent on the age of the previous position of the machine, and considering the machine to be inside the operating area if, it is closer to the operating area than the threshold distance.
  • a previous position of the machine can be used to determine if the machine is inside the operating area.
  • a threshold distance Dt is determined.
  • the threshold distance Dt is related to the distance the machine could have travelled since time for when the previous position of the machine was determined. Therefore, the machine is considered to be inside the operating area when it is determined to be closer to the operating area than Dt, and therefore potentially is inside the operating area.
  • the threshold distance Dt may be a fiction setup when the actual position of the machine cannot be determined. However, Dt can be dependent on several parameters, which when applied correctly can increase the accuracy of Dt, simultaneously as a sufficient safety margin is maintained. The threshold distance Dt can additionally be used to lower an update frequency of the whole method.
  • the threshold distance may be machine specific, and the method further comprises determining the machine specific threshold by determining a previous traveling direction of a machine, and adjusting the threshold distance dependent on the previous traveling direction of the machine.
  • the machine specific threshold distance may be further determined by determining a respective machine maximum speed, and/or determining a previous machine speed, and/or determining the machines planned route in the underground environment, and/or determining the type of machine and/or determining the dimensions of the machine, and thereby adjusting the threshold distance dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine, and/or dimensions of the machine.
  • the threshold distance Dt can be longer, and/or, when the machine’s planned route is traveling away from the operating area, the threshold distance Dt can be shorter, and/or if the machine size and position does not allow the machine to reach the operating area, the threshold distance Dt can be shorter.
  • the authorized machines may be autonomous machines.
  • a traffic control system is disclosed.
  • the traffic control system is used for determining that an operating area, in an underground environment, is free from unauthorized machines
  • the traffic control system comprises a control unit, and the control unit is configured to receive positioning data of machines in the underground environment.
  • the control unit is configured to receive a request for determining that the operating area is free from unauthorized machines and determine a total amount of machines in the underground environment, wherein the total amount of machines includes authorized machines and unauthorized machines.
  • the control unit is further configured to determine a current position of all unauthorized machines in the underground environment and determine that the current position of all unauthorized machines is outside the operating area and thereby that the operating area is free from unauthorized machines.
  • control unit may further be configured to permit authorised machines to operate in the operating area when the operating area is determined to be free from unauthorized machines.
  • control unit may further be configured to operate continuously.
  • the authorized machines may be permitted to access the operating area when the control unit operate continuously.
  • the traffic control system may further comprise one or more gates located at the entrances of the operating area, the one or more gates are configured to be armed when the operating area is determined to be free from unauthorized machines, thereby any access to the operating area is monitored once the operating area has been determined to be free from unauthorized machines.
  • control unit may further be configured to determine that a position of an unauthorized machine is inside the operating area and to stop all operations of the authorized machines in the operating area.
  • control unit may further be configured to determine that a position of an unauthorized machine is inside the operating area and to stop all operations of the authorized machines in the operating area on determining that a position of an unauthorized machine is inside the operating area.
  • control unit may further be adapted to determine the position of a respective machine and the control unit is thereby configured to use a previous position of the machine and determine a threshold distance away from the operating area wherein the threshold distance is dependent on the age of the previous position of the machine, and considering the machine to be inside the operating area if, it is closer to the operating area than the threshold distance.
  • the threshold distance may be machine specific and the control unit may be further configured to determine a machine specific threshold and thereby being configured to determine a previous traveling direction of a respective machine, and adjust the threshold distance dependent on the previous traveling direction of the respective machine.
  • control unit may further be adapted to determine a machine maximum speed, and/or determine a previous machine speed, and/or determine the machine’s planned route in the underground environment, and/or determine the type of machine and/or determine the dimensions of the machine, and based thereon being configured to adjust the threshold distance dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine, and/or dimensions of the machine.
  • authorized machines may be autonomous machines.
  • a machine for operating in the traffic control system is disclosed.
  • the machine is adapted to request to start an operation in the operating area and start the operation in the operating area upon receiving a permitting signal.
  • the machine may operate in a delimited environment using methods and systems described herein for an underground environment. These described methods may be used for machines operating in a delimited environment as well.
  • FIG. 1 is schematic block diagrams of a traffic control system in an underground environment in prior art.
  • FIG. 2 is schematic block diagrams of a traffic control system in an underground environment according to one embodiment of the invention.
  • Fig. 3 is a flow chart illustrating the method performed by the traffic control system.
  • Fig. 4 is a schematic block diagram of a machine with a threshold distance Dt.
  • Fig. 2 shows a traffic control system 200 in an underground environment according to one embodiment of the invention.
  • the mine comprises tunnels 260, an operating area 240, machines 221-225 and positioning devices 201-208.
  • the machines 221 , 222 and 223 are authorized machines and the machines 224 and 225 are unauthorized machines.
  • the authorized machines 221 , 222, 223 are permitted to perform tasks in the operating area 240.
  • the operating area 240 should be free from unauthorized machines 224-225 in order improve the safety in the underground environment.
  • the positioning devices 201-208 are used to determine the position of each machine 221-225.
  • the traffic control system 200 is deployed in the mine.
  • the traffic control system 200 comprises a control unit 270.
  • the control unit 270 can be any suitable device, non-limiting examples are a local control unit, a central control unit or a distributed control unit, such as a cloud server.
  • the method performed by the traffic control system 200 will be discussed in fig. 3.
  • Fig. 3 in conjunction with fig. 2, describes a method performed by the traffic control system 200.
  • the method is used for determining that an operating area 240, in an underground environment, is free from unauthorized machines 224-225.
  • the traffic control system 200 comprises a control unit 270, the control unit 270 is configured to receive positioning data of machines 221-225 in the underground environment.
  • the method comprises receiving 308 a request for determining that the operating area 240 is free from unauthorized machines 224- 225.
  • the method further comprises determining 310 a total amount of machines 221-225 in the underground environment, wherein the total amount of machines includes authorized machines 221-223 and unauthorized machines 224-225.
  • the method further comprises determining 312 a current position of all unauthorized machines 224-225 in the underground environment and determining 314 that the current position of all unauthorized machines 224-225 is outside operating area 240 and thereby that the operating area 240 is free from unauthorized machines 224-225.
  • the operating area 240 can be any area which is of specific interest. For example, it can be a ramp, one or more sections of tunnels, a safety area, etc. Only authorized machines are allowed to perform tasks in the operating area 240, no other machines are allowed to be within the operating area 240.
  • the control unit 270 receives positioning data of machines 221 -225 from the positioning devices 201-208.
  • the positioning data of the machines 221- 225 is determined by the positioning devices 201-208.
  • a variety of positioning technologies can be used by the positioning devices 201-208, e.g., Radiofrequency identification (RFID) positioning, light curtain positioning, access point positioning, beacon positioning, etc.
  • RFID Radiofrequency identification
  • the amount of the positioning devices 201- 208 is configurable and the positioning data of the machines 221-225 may have higher or lower accuracy.
  • the control unit 270 can receive the positioning data from the positioning devices 201-208 wirelessly or wired.
  • the traffic control system 200 receives a request for determining that the operating area 240 is free from unauthorized machines 224-225.
  • the request can be sent by authorized machines 221-223, or by an operator, or by an automation control system which controls the autonomous machines.
  • the total amount of machines in the underground environment is determined.
  • the total amount can be determined by a device when the machines enter the underground environment, e.g., a near field communication (NFC) device, or similar.
  • NFC near field communication
  • the NFC device is arranged in the entrance of the underground environment.
  • the NFC device detects the machine and adds or deducts one in a total amount counter.
  • the traffic control system 200 is aware of the total amount of all the machines in the mine.
  • the total amount of machines includes the amount of the authorized machines 221-223 and the amount of unauthorized machines 224-225.
  • the authorized machines 221-223 may be autonomous machines, which can be controlled by a machine control system.
  • the unauthorized machines 224-225 may be manual machines, which may be operated by an operator therein or remotely. Hence the unauthorized machines are difficult to be controlled by, or outside of, a machine control system.
  • the current positions of the all the unauthorized machines 224-225 are determined, based on the received positioning data.
  • the traffic control system 200 can determine the positions of all the machines 221-225, then determine the positions of all the unauthorized machines 224-225 among them. In another implementation, the traffic control system 200 can only determine the positions of the unauthorized machines 224-225.
  • the operating area 240 is free from unauthorized machines 224-225. Since there is no unauthorized machine 224-225 in the operating area 240, there is no risk of authorized machines 221 -223 colliding with the unauthorized machines 224-225 in the operating area 240, whereby the safety of the operating area 240 is improved in an automatic and highly efficient way.
  • the method further comprises permitting 316 authorized machines 221-223 to operate in the operating area 240 when the operating area 240 is determined to be free from unauthorized machines 224-225.
  • the method is continuously performed.
  • the operating area 240 is continuously monitored. Unauthorized machines 224-225 are continuously determined to be outside the operating area 240 when the method is continuously performed, whereby the safety of operating area 240 is improved. Furthermore, since the method is performed continuously, there is a decreased need for physical gates at the entrance of the operating area 240 to monitor any machine passing through. Thereby the cost of the whole system can be reduced due.
  • the authorized machines 221-223 are permitted to access the operating area 240 when the method is continuously performed.
  • the authorized machines 221-223 can have access to the operating area 240. By that even authorized machines which were outside the operating area 240can be permitted to drive into the operating area 240. Thus the operating area 240 can be continuously armed, but authorized machines can still get access to it and perform tasks therein.
  • a threshold distance Dt is determined for each machine 221-225.
  • the machine 221-225 is considered to be inside the operating area 240.
  • the threshold Dt is dependent on the age of a previous position, e.g., the older the previous position is, the longer the threshold distance Dt is. This solution gives a margin to the operating area 240. Referring to fig. 4, the threshold distance Dt is placed between the machine and the operating area 240. When the distance between the operating area 240 and the machine is lower than Dt, the machine is considered to be inside the operating area 240.
  • a traffic control system 200 is disclosed.
  • the system is used for determining that an operating area 240, in an underground environment, is free from unauthorized machines 224-225.
  • the traffic control system 200 comprises a control unit 270, the control unit 270 is configured to receive positioning data of machines 221-225 in the underground environment.
  • the control unit 270 is configured to receive 308 a request for determining that the operating area 240 is free from unauthorized machines 224-225, whereby determine 310 a total amount of machines 221-225 in the underground environment, wherein the total amount of machines includes authorised machines 221-223 and unauthorized machines 224, 225.
  • the control unit 270 is further configured to determine 312 a current position of all unauthorized machines 224- 225 in the underground environment and determine 324 that the current position of all unauthorized machines 224-225 is outside the operating area 240 and thereby that the operating area 240 is free from unauthorized machines 224-225.
  • control unit 270 is further configured to permit 316 authorised machines 221-223 to operate in the operating area 240 when the operating area 240 is determined to be free from unauthorized machines 224-225.
  • control unit 270 is further configured to operate continuously.
  • the authorized machines 221-223 are permitted to access the operating area 240 when the control unit 270 operate continuously.
  • the traffic control system 200 further comprises one or more gates 231 , 232 located at the entrances of the operating area 240, the one or more gates 231 , 232 are configured to be armed when the operating area 240 is determined to be free from unauthorized machines 224-225, thereby any access to the operating area 240 is monitored once the operating area 240 has been determined to be free from unauthorized machines 224, 225.
  • control unit 270 may further be configured to determine that a position of an unauthorized machine 224-225 is inside the operating area 240 and to stop all operations of the authorized machines 221 , 222, 223 in the operating area 240. According to another embodiment, the control unit 270 may further be configured to determine that a position of an unauthorized machine 224-225 is inside the operating area 240 and to stop all operations of the authorized machines 221 , 222, 223 in the operating area 240 on determining that a position of an unauthorized machine 224-225 is inside the operating area 240.
  • control unit 270 is further adapted to determine the position of a respective machine 221-225 and the control unit 270 is thereby configured to use a previous position of the machine 221-225 and determine a threshold distance Dt221-Dt225 away from the operating area 240 wherein the threshold distance Dt221-Dt225 is dependent on the age of the previous position of the machine 221-225, and considering the machine to be inside the operating area 240 if, it is closer to the operating area 240 than the threshold distance Dt221-Dt225.
  • the authorized machines 221-223 are autonomous machines.
  • a machine 221 for operating in a traffic control system 200 described above is disclosed.
  • the machine 221 is adapted to request to start an operation in the operating area 240, and start the operation in the operating area 240 upon receiving a permitting signal.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

A method performed by the traffic control system (200) is disclosed. The method is used for determining that an operating area (240), in an underground environment, is free from unauthorized machines (224-225). The traffic control system 200 comprises a control unit (270), the control unit (270) is configured to receive positioning data of machines (221-225) in the underground environment. The method comprises receiving 308 a request for determining that the operating area (240) is free from unauthorized machines (224-225). The method further comprises determining (310) a total amount of machines (221-225) in the underground environment, wherein the total amount of machines includes authorized machines (221-223) and unauthorized machines (224-225). The method further comprises determining (312) a current position of all unauthorized machines (224-225) in the underground environment and determining (314) that the current position of all unauthorized machines (224-225) is outside operating area (240) and thereby that the operating area (240) is free from unauthorized machines (224-225).

Description

TRAFFIC CONTROL METHODS AND SYSTEMS FOR DETERMINING AN
OPERATING AREA IN AN UNDERGROUND ENVIRONMENT BEING FREE
FROM UNAUTHORIZED MACHINES
Technical Field
[0001 ] The present disclosure relates generally to traffic control methods and systems for determining that an operating area in an underground environment is free from unauthorized machines. The present disclosure also relates to a mine which comprises the traffic control system.
Background
[0002] In an underground environment, for example, an underground mine, autonomous machines are used to perform certain tasks. The autonomous machines can be controlled and coordinated by an automation control system. In order to allow a mixed environment of autonomous machines and other machines in the underground environment, the risk for collisions between the autonomous machines and other machines needs to be minimized in order to improve the safety of the whole underground environment, especially for operators and the other machines. One common way to enable this is via intercepted areas or operating areas, which means that the autonomous machines are in a controlled environment and that safety can be guaranteed when performing tasks in the operating area. Other kinds of machines in the underground environment, such as manual operated machines, are operated manually by operators. These operators may be sitting inside the machine or controlling it remotely. For the automation control system, the behavior of manual operated machines may be unpredictable, and it is desired to avoid having manual operated machines in the operating area. If a manual operated machine enters the operating area, it leads to collision risk in the operating area, e.g., such as an autonomous machine colliding with the manually operated machine. Therefore, when the autonomous machines are operating in the operating area, the safety of the operating area should be improved, such that the autonomous machines can operate in the operating area while safety can be maintained. [0003] Presently, the operating area is inspected manually in order to ensure that the operating area is clear from safety hazards. For example, by an operator that drives a vehicle to the operating area and makes sure that the operating area is free from unauthorized machines. However, due to the possible shapes and lack of light in the underground environment, the visibility of the operating area may be quite low and therefor the manual inspection be difficult to perform. Furthermore, as the operating area may comprise multiple interconnected tunnels, it can be difficult or even impossible for the operator to guarantee that the multiple tunnels are free from unauthorized machines by a manual inspection. It can also be dangerous for an operator to drive and check in the tunnels. Hence significant amount of time and resources may be required to ensure that an operating area is clear from unwanted traffic.
[0004] Therefore, there is a need for an improved method or a system, to ensure that an operating area is free from unauthorized machines in order to ensure that there is no risk that the authorized machine in the operating area meets unauthorized machines when operating in the dedicated operating area.
Summary
[0005] It is an object of the invention to address at least some of the problems and issues outlined above. It is possible to achieve these objects and others by using methods, and machines and systems as defined in the attached independent claims. It is an object of embodiments of the invention to perform a traffic control method in an underground environment so that authorized machines safely can perform tasks in an operating area. It is an object of embodiments of the invention to ensure that the operating area is free from unauthorized machines. It is also an object of embodiments of the invention to achieve a simple and high efficiency traffic control in the underground environment. It is possible to achieve one or more of these objects, and possibly others, by using methods, machines and systems as defined in the attached independent claims.
[0006] According to one aspect, a traffic control method performed by a traffic control system is disclosed. The traffic control method is used for determining that an operating area, in an underground environment, is free from unauthorized machines, wherein the traffic control system comprises a control unit, wherein the control unit is configured to receive positioning data of machines in the underground environment. The method comprises receiving a request for determining that the operating area is free from unauthorized machines and determining a total amount of machines in the underground environment, wherein the total amount of machines includes authorized machines and unauthorized machines. The method further comprises determining a current position of all unauthorized machines in the underground environment and determining that the current position of all unauthorized machines is outside the operating area and thereby that the operating area is free from unauthorized machines.
[0007] According to an exemplary embodiment, the method may further comprise permitting authorized machines to operate in the operating area when the operating area is determined to be free from unauthorized machines.
[0008] By this, the operating area is free from unauthorized machines. Since there is no unauthorized machines in the operating area, there is no risk of authorized machines colliding with the unauthorized machines in the operating area, whereby the safety of the operating area is improved in an automatic and highly efficient way.
[0009] According to an exemplary embodiment, the method may be continuously performed.
[00010] By performing the method continuously, the operating area is continuously monitored. Unauthorized machines are continuously determined to be outside the operating area when the method is continuously performed, whereby the safety of operating area is improved. Furthermore, since the method is performed continuously, there is no need for a physical gate, at the entrance of the operating area, to monitor any machine passing through. The cost of the whole system is reduced due to the absence of physical gates. According to another aspect, the authorized machines are permitted to access the operating area when the method is continuously performed. [00011] When the method is continuously performed, the authorized machines can have access to the operating area. By that even authorized machines which were outside the operating area can be permitted to drive into the operating area. Thus the operating area can be continuously armed, but authorized machines can still get access to it and perform tasks therein.
[00012] According to an exemplary embodiment, the traffic control system may further comprise one or more gates located at the entrances of the operating area, wherein the one or more gates are configured to be armed when the operating area is determined to be free from unauthorized machines, thereby any access to the operating area is monitored once the operating area has been determined to be free from unauthorized machines.
[00013] In the underground environment, the entrances of the operating area can be passageways. The term “gate” refers to any device which can detect any object passing through, for example, tag gate, light curtain, double light curtain, etc. The gates can be deployed in the entrances of the operating area. When the gates are armed, all the access to the operating area can be detected/monitored by the gates. If the gates detect any machine, the traffic control system can determine the type of the machines that have passed the gate, i.e. , authorized machine or unauthorized machine. If it is an unauthorized machine which has passed the gate, the authorized machines working in the operating area can be stopped. If it is an authorized machine which has passed the gate, the authorized machines in the operating area can continue operating without being interrupted.
[00014] According to an exemplary embodiment, the method may further comprise determining that a position of an unauthorized machine is inside the operating area and stopping all operations of the authorized machines in the operating area. According to an exemplary embodiment, the method may further comprise determining if a position of an unauthorized machine is inside the operating area and stopping all operations of the authorized machines in the operating area on determining that a position of an unauthorized machine is inside the operating area 240. [00015] By this, the safety in the operating area is improved. Although unauthorized machines may intrude the operating area, the risk of serious accidents will be decreased since the operation of all the authorized machines in the operating area is stopped.
[00016] According to an exemplary embodiment, the position of a respective machine may be determined by using a previous position of the machine and determining a threshold distance away from the operating area, wherein the threshold distance is dependent on the age of the previous position of the machine, and considering the machine to be inside the operating area if, it is closer to the operating area than the threshold distance.
[00017] When the current position of the machine cannot be determined, a previous position of the machine can be used to determine if the machine is inside the operating area. When using the previous position, a threshold distance Dt is determined. The threshold distance Dt is related to the distance the machine could have travelled since time for when the previous position of the machine was determined. Therefore, the machine is considered to be inside the operating area when it is determined to be closer to the operating area than Dt, and therefore potentially is inside the operating area.
[00018] The threshold distance Dt may be a fiction setup when the actual position of the machine cannot be determined. However, Dt can be dependent on several parameters, which when applied correctly can increase the accuracy of Dt, simultaneously as a sufficient safety margin is maintained. The threshold distance Dt can additionally be used to lower an update frequency of the whole method.
[00019] When an unauthorized machine is determined to be outside the operating area with at least the threshold distance Dt, there is a reduced risk that the unauthorized machine is inside the operating area, even if it was some time since the position of the unauthorized machine was last detected. By this, the robustness of the traffic control system is enhanced. Even if a position cannot be determined right now, the safety of the operating area is still increased, without the need for tracking the exact position of each machine in every single moment [00020] According to an exemplary embodiment, the threshold distance may be machine specific, and the method further comprises determining the machine specific threshold by determining a previous traveling direction of a machine, and adjusting the threshold distance dependent on the previous traveling direction of the machine.
[00021 ] By this, the threshold distance can be machine specific and different from machine to machine. The machine specific threshold is determined based on and adjusted by a previous traveling direction of the respective machine. For example, the threshold distance is increased if the machine is traveling towards the operating area, and the threshold distance decreased if the machine is traveling away from the operating area.
[00022] According to an exemplary embodiment, the machine specific threshold distance may be further determined by determining a respective machine maximum speed, and/or determining a previous machine speed, and/or determining the machines planned route in the underground environment, and/or determining the type of machine and/or determining the dimensions of the machine, and thereby adjusting the threshold distance dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine, and/or dimensions of the machine.
[00023] By applying individual conditions on when determining the threshold distance Dt the number of false negatives, when a machine is determined to be inside the operating area, when actually being outside will decrease, whereby the accuracy of the method is increased. By this method, since different factors, e.g., machine maximum speed, machine route, machine type, machine size, are considered when determining the machine specific threshold distance, the threshold distance is more accurately determined, and the determination on if an unauthorized machine is inside the operating area also becomes more accurate. For example, when the machine maximum speed or the previous machine speed is high, the threshold distance Dt can be longer, and/or, when the machine’s planned route is traveling away from the operating area, the threshold distance Dt can be shorter, and/or if the machine size and position does not allow the machine to reach the operating area, the threshold distance Dt can be shorter.
[00024] According to an exemplary embodiment, the authorized machines may be autonomous machines.
[00025] According to another aspect, a traffic control system is disclosed. The traffic control system is used for determining that an operating area, in an underground environment, is free from unauthorized machines, wherein the traffic control system comprises a control unit, and the control unit is configured to receive positioning data of machines in the underground environment. The control unit is configured to receive a request for determining that the operating area is free from unauthorized machines and determine a total amount of machines in the underground environment, wherein the total amount of machines includes authorized machines and unauthorized machines. The control unit is further configured to determine a current position of all unauthorized machines in the underground environment and determine that the current position of all unauthorized machines is outside the operating area and thereby that the operating area is free from unauthorized machines.
[00026] According to an exemplary embodiment, the control unit may further be configured to permit authorised machines to operate in the operating area when the operating area is determined to be free from unauthorized machines.
[00027] According to an exemplary embodiment, the control unit may further be configured to operate continuously.
[00028] According to an exemplary embodiment, the authorized machines may be permitted to access the operating area when the control unit operate continuously.
[00029] According to an exemplary embodiment, the traffic control system may further comprise one or more gates located at the entrances of the operating area, the one or more gates are configured to be armed when the operating area is determined to be free from unauthorized machines, thereby any access to the operating area is monitored once the operating area has been determined to be free from unauthorized machines.
[00030] According to an exemplary embodiment, the control unit may further be configured to determine that a position of an unauthorized machine is inside the operating area and to stop all operations of the authorized machines in the operating area. According to another embodiment, the control unit may further be configured to determine that a position of an unauthorized machine is inside the operating area and to stop all operations of the authorized machines in the operating area on determining that a position of an unauthorized machine is inside the operating area.
[00031] According to an exemplary embodiment, the control unit may further be adapted to determine the position of a respective machine and the control unit is thereby configured to use a previous position of the machine and determine a threshold distance away from the operating area wherein the threshold distance is dependent on the age of the previous position of the machine, and considering the machine to be inside the operating area if, it is closer to the operating area than the threshold distance.
[00032] According to an exemplary embodiment, the threshold distance may be machine specific and the control unit may be further configured to determine a machine specific threshold and thereby being configured to determine a previous traveling direction of a respective machine, and adjust the threshold distance dependent on the previous traveling direction of the respective machine.
[00033] According to an exemplary embodiment, the control unit may further be adapted to determine a machine maximum speed, and/or determine a previous machine speed, and/or determine the machine’s planned route in the underground environment, and/or determine the type of machine and/or determine the dimensions of the machine, and based thereon being configured to adjust the threshold distance dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine, and/or dimensions of the machine. [00034] According to an exemplary embodiment, the authorized machines may be autonomous machines.
[00035] According to another aspect, a machine for operating in the traffic control system is disclosed. The machine is adapted to request to start an operation in the operating area and start the operation in the operating area upon receiving a permitting signal.
[00036] According to another aspect the machine may operate in a delimited environment using methods and systems described herein for an underground environment. These described methods may be used for machines operating in a delimited environment as well.
[00037] In an exemplary embodiment, the autonomous machine may operate in a delimited environment. By having a delimited environment, control over which machines and/or vehicles that are entering and/or leaving the environment can be achieved. By this a complete knowledge of the machines and/or vehicle that operates in the delimited environment can be reached. Hence the similar methods and systems described herein for an underground environment may be used for machines operating in a delimited environment.
[00038] Further possible features and benefits of this solution will become apparent from the detailed description below.
Brief Description of Drawings
[00039] The solution will now be described in more detail by means of exemplary embodiments and with reference to the accompanying drawings, in which:
[00040] Fig. 1 is schematic block diagrams of a traffic control system in an underground environment in prior art.
[00041] Fig. 2 is schematic block diagrams of a traffic control system in an underground environment according to one embodiment of the invention.
[00042] Fig. 3 is a flow chart illustrating the method performed by the traffic control system. [00043] Fig. 4 is a schematic block diagram of a machine with a threshold distance Dt.
Detailed Description
[00044] Fig. 1 shows a conventional traffic control system 100 in an underground environment in prior art.
[00045] The underground environment shown is a mine. The mine includes a main tunnel 160 and multiple smaller tunnels. Machines 121 -125 are deployed in the mine and are arranged to perform different tasks. The reference numbers 121- 125 in fig. 1 are just schematic and more machines can be deployed. These machines 121-125 are moveable when performing tasks. An operating area 140 is located in the mine. The operating area 140 can be any area of interest, which only allows authorized machines to perform task therein. When authorized machines are performing specific task in the operating area 140, unauthorized machines are not allowed to enter this operating area in order to avoid any safety risks. In order to achieve this purpose, a manual method is performed in which an operator drives a vehicle to manually check that the operating area 140 is free from unauthorized machines. As stated in the background, due to the specialty of the underground environment, it can be difficult or even impossible for the operator to guarantee that the multiple tunnels are free from unauthorized machines by a manual inspection. Furthermore, it can be dangerous for an operator to drive and check in the tunnels. In general, the solution has low efficiency and high cost.
[00046] Fig. 2 shows a traffic control system 200 in an underground environment according to one embodiment of the invention. The mine comprises tunnels 260, an operating area 240, machines 221-225 and positioning devices 201-208. In the disclosed example of fig. 2, the machines 221 , 222 and 223 are authorized machines and the machines 224 and 225 are unauthorized machines. The authorized machines 221 , 222, 223 are permitted to perform tasks in the operating area 240. The operating area 240 should be free from unauthorized machines 224-225 in order improve the safety in the underground environment. The positioning devices 201-208 are used to determine the position of each machine 221-225.
[00047] The traffic control system 200 is deployed in the mine. The traffic control system 200 comprises a control unit 270. The control unit 270 can be any suitable device, non-limiting examples are a local control unit, a central control unit or a distributed control unit, such as a cloud server. The method performed by the traffic control system 200 will be discussed in fig. 3.
[00048] Fig. 3, in conjunction with fig. 2, describes a method performed by the traffic control system 200. The method is used for determining that an operating area 240, in an underground environment, is free from unauthorized machines 224-225. The traffic control system 200 comprises a control unit 270, the control unit 270 is configured to receive positioning data of machines 221-225 in the underground environment. The method comprises receiving 308 a request for determining that the operating area 240 is free from unauthorized machines 224- 225. The method further comprises determining 310 a total amount of machines 221-225 in the underground environment, wherein the total amount of machines includes authorized machines 221-223 and unauthorized machines 224-225. The method further comprises determining 312 a current position of all unauthorized machines 224-225 in the underground environment and determining 314 that the current position of all unauthorized machines 224-225 is outside operating area 240 and thereby that the operating area 240 is free from unauthorized machines 224-225.
[00049] As mentioned before, the operating area 240 can be any area which is of specific interest. For example, it can be a ramp, one or more sections of tunnels, a safety area, etc. Only authorized machines are allowed to perform tasks in the operating area 240, no other machines are allowed to be within the operating area 240.
[00050] The control unit 270 receives positioning data of machines 221 -225 from the positioning devices 201-208. The positioning data of the machines 221- 225 is determined by the positioning devices 201-208. A variety of positioning technologies can be used by the positioning devices 201-208, e.g., Radiofrequency identification (RFID) positioning, light curtain positioning, access point positioning, beacon positioning, etc. The amount of the positioning devices 201- 208 is configurable and the positioning data of the machines 221-225 may have higher or lower accuracy. The control unit 270 can receive the positioning data from the positioning devices 201-208 wirelessly or wired.
[00051] In the receiving 308 step, the traffic control system 200 receives a request for determining that the operating area 240 is free from unauthorized machines 224-225. The request can be sent by authorized machines 221-223, or by an operator, or by an automation control system which controls the autonomous machines.
[00052] In the determining 310 step, the total amount of machines in the underground environment is determined. The total amount can be determined by a device when the machines enter the underground environment, e.g., a near field communication (NFC) device, or similar. For example, the NFC device is arranged in the entrance of the underground environment. When a machine is entering or exiting the underground environment and passes by the NFC device, the NFC device detects the machine and adds or deducts one in a total amount counter. Thus the total amount of machines in the underground environment can be obtained by the total amount counter. Therefore, the traffic control system 200 is aware of the total amount of all the machines in the mine. The total amount of machines includes the amount of the authorized machines 221-223 and the amount of unauthorized machines 224-225. As explained in the Background, the authorized machines 221-223 may be autonomous machines, which can be controlled by a machine control system. The unauthorized machines 224-225 may be manual machines, which may be operated by an operator therein or remotely. Hence the unauthorized machines are difficult to be controlled by, or outside of, a machine control system.
[00053] In the determining step 312, the current positions of the all the unauthorized machines 224-225 are determined, based on the received positioning data. In implementation, the traffic control system 200 can determine the positions of all the machines 221-225, then determine the positions of all the unauthorized machines 224-225 among them. In another implementation, the traffic control system 200 can only determine the positions of the unauthorized machines 224-225.
[00054] In the determining step 314, based on the determined current positions of all the unauthorized machines 224-225, the traffic control system 200 determines that the current position of all unauthorized machines 224-225 is outside the operating area 240, and the operating area 240 is free from unauthorized machines 224-225.
[00055] By this method, the operating area 240 is free from unauthorized machines 224-225. Since there is no unauthorized machine 224-225 in the operating area 240, there is no risk of authorized machines 221 -223 colliding with the unauthorized machines 224-225 in the operating area 240, whereby the safety of the operating area 240 is improved in an automatic and highly efficient way.
[00056] According to another embodiment, the method further comprises permitting 316 authorized machines 221-223 to operate in the operating area 240 when the operating area 240 is determined to be free from unauthorized machines 224-225.
[00057] By this embodiment, only authorized machines are permitted in the operating area and the authorized machines 221-223 can perform tasks freely and safely in the operating area 240 without risking interfering with any unauthorized machine.
[00058] According to another embodiment, the method is continuously performed.
[00059] By performing the method continuously, the operating area 240 is continuously monitored. Unauthorized machines 224-225 are continuously determined to be outside the operating area 240 when the method is continuously performed, whereby the safety of operating area 240 is improved. Furthermore, since the method is performed continuously, there is a decreased need for physical gates at the entrance of the operating area 240 to monitor any machine passing through. Thereby the cost of the whole system can be reduced due.
[00060] According to another embodiment, the authorized machines 221-223 are permitted to access the operating area 240 when the method is continuously performed.
[00061] When the method is continuously performed, the authorized machines 221-223 can have access to the operating area 240. By that even authorized machines which were outside the operating area 240can be permitted to drive into the operating area 240. Thus the operating area 240 can be continuously armed, but authorized machines can still get access to it and perform tasks therein.
[00062] According to another embodiment, the traffic control system 200 further comprises one or more gates 231 , 232 located at the entrances of the operating area 240, the one or more gates 231 , 232 are configured to be armed when the operating area 240 is determined to be free from unauthorized machines 224-225. Thereby any access to the operating area 240 is monitored once the operating area 240 has been determined to be free from unauthorized machines 224, 225.
[00063] In the underground environment, the entrances of the operating area 240 can be passageways, as shown in fig. 2. In this embodiment, the term “gate” refers to any device which can detect any object passing through, for example, tag gate, light curtain, double light curtain, etc. The gates 231 , 232 can be deployed in the entrances of the operating area 240. When the gates 231 , 232 are armed, all the access to the operating area 240 can be detected/monitored by the gates 231 , 232. If the gates detect any machine, the traffic control system 200 can determine the type of the machines that have passed the gate 231 , 232, i.e., authorized machine or unauthorized machine. If it is an unauthorized machine which has passed the gate, the authorized machines working in the operating area 240 can be stopped. If it is an authorized machine which has passed the gate, the authorized machines in the operating area 240 can continue operating without being interrupted. [00064] From the description above, one embodiment comprises that the method is performed continuously, and another embodiment comprises one or more gates located at the entrances of the operating area 240. These two embodiments have a similar function, that is to monitor the operating area 240. Since they have a similar function, these two embodiments can serve as alternatives, i.e., only apply one of them can be used to monitor the operating area 240. Alternatively, both continuous use of the method and gates can be applied simultaneously. By this the operating area 240 is monitored in a redundant way.
[00065] According to another embodiment, the method further comprises determining that a position of an unauthorized machine 224-225 is inside the operating area 240 and stopping all operations of the authorized machines 221 , 222, 223 in the operating area 240. According to another embodiment, the method further comprises determining if a position of an unauthorized machine 224-225 is inside the operating area 240 and stopping all operations of the authorized machines 221 , 222, 223 in the operating area 240 on determining that a position of an unauthorized machine 224-225 is inside the operating area 240.
[00066] By this method, the safety in the operating area 240 is improved.
Although unauthorized machines 224, 225 may intrude the operating area 240, the risk of serious accidents will be decreased since the operation of all the authorized machines 221-223 in the operating area is stopped.
[00067] According to another embodiment, position of a respective machine 221- 225 is determined by: using a previous position of the machine 221-225 and determining a threshold distance Dt221-Dt225 away from the operating area 240, wherein the threshold distance Dt221-Dt225 is dependent on the age of the previous position of the machine 221-225, and considering the machine to be inside the operating area 240 if, it is closer to the operating area 240 than the threshold distance Dt221-Dt225.
[00068] In this embodiment, a threshold distance Dt is determined for each machine 221-225. When the distance between the operating area 240 and the machine 221-225 is lower than the corresponding threshold distance Dt, the machine 221-225 is considered to be inside the operating area 240. The threshold Dt is dependent on the age of a previous position, e.g., the older the previous position is, the longer the threshold distance Dt is. This solution gives a margin to the operating area 240. Referring to fig. 4, the threshold distance Dt is placed between the machine and the operating area 240. When the distance between the operating area 240 and the machine is lower than Dt, the machine is considered to be inside the operating area 240.
[00069] When the current position of the machine cannot be determined, a previous position of the machine is used to determine if the machine is inside the operating area 240. When using the previous position, a threshold distance Dt is determined. The threshold distance Dt is related to the distance the machine could have travelled since time for when the previous position of the machine was determined. Therefore, the machine is considered to be inside the operating area 240 when it is determined to be closer to the operating area 240 than Dt, and therefore potentially is inside the operating area 240.
[00070] The threshold distance Dt is a fiction setup when the actual position of the machine cannot be determined. However, Dt can be dependent on several parameters, which when applied correctly can increase the accuracy of Dt, simultaneously as a sufficient safety margin is maintained. The threshold distance Dt can additionally be used to lower an update frequency of the whole method.
[00071] When an unauthorized machine 224 is determined to be outside the operating area 240 with at least the threshold distance Dt, there is reduced risk that the unauthorized machine 224 is inside the operating area 240, even if it was some time since the position of the unauthorized machine 224 was last detected. By this, the robustness of the traffic control system is enhanced. Even if a position cannot be determined at all times, the safety of the operating area 240 is still increased, without the need for tracking the exact position of each machine in every single moment. [00072] Alternatively, this embodiment can be applied only on the unauthorized machines 224, 225. By this only the unauthorized machines 224, 225 are configured with a threshold distance Dt224, Dt225 respectively.
[00073] According to another embodiment, the threshold distance Dt221-Dt225 is machine specific and the method further comprises determining the machine specific threshold for each machine by determining a previous traveling direction of the respective machine 221-225, and adjusting the machine specific threshold distance Dt221-Dt225 dependent on the previous traveling direction of the respective machine 221-225.
[00074] In this embodiment, the threshold distance Dt221-Dt225 is machine specific and different from machine to machine. The machine specific threshold is determined based on and adjusted by a previous traveling direction of the respective machine. For example, the threshold distance Dt224 is increased if the machine 224 is traveling towards the operating area 240, and the threshold distance Dt225 is decreased if the machine 225 is traveling away from the operating area 240.
[00075] According to another embodiment, the machine specific threshold distance Dt221-Dt225 is further determined by determining a respective machine maximum speed, and/or determining a previous machine speed, and/or determining the machines planned route in the underground environment, and/or determining the type of machine 221-225 and/or determining the dimensions of the machine 221-225, and thereby adjusting the threshold distance Dt221-Dt225 dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine 221-225, and/or dimensions of the machine 221-225.
[00076] By applying individual conditions on when determining the threshold distance Dt the number of false negatives, when a machine is determined to be inside the operating area, when actually being outside will decrease. By this the accuracy of the method is increased. For example, when the machine maximum speed or the previous machine speed is high, the threshold distance Dt can be longer, and/or when the machine’s planned route is traveling away from the operating area 240, the threshold distance Dt can be shorter, and/or if the machine size and position does not allow the machine to reach the operating area 240, the threshold distance Dt can be shorter.
[00077] According to another embodiment, the authorized machines are autonomous machines.
[00078] According to another embodiment, a traffic control system 200 is disclosed. The system is used for determining that an operating area 240, in an underground environment, is free from unauthorized machines 224-225. The traffic control system 200 comprises a control unit 270, the control unit 270 is configured to receive positioning data of machines 221-225 in the underground environment. The control unit 270 is configured to receive 308 a request for determining that the operating area 240 is free from unauthorized machines 224-225, whereby determine 310 a total amount of machines 221-225 in the underground environment, wherein the total amount of machines includes authorised machines 221-223 and unauthorized machines 224, 225. The control unit 270 is further configured to determine 312 a current position of all unauthorized machines 224- 225 in the underground environment and determine 324 that the current position of all unauthorized machines 224-225 is outside the operating area 240 and thereby that the operating area 240 is free from unauthorized machines 224-225.
[00079] According to another embodiment, the control unit 270 is further configured to permit 316 authorised machines 221-223 to operate in the operating area 240 when the operating area 240 is determined to be free from unauthorized machines 224-225.
[00080] According to another embodiment, the control unit 270 is further configured to operate continuously.
[00081] According to another embodiment, the authorized machines 221-223 are permitted to access the operating area 240 when the control unit 270 operate continuously. [00082] According to another embodiment, the traffic control system 200 further comprises one or more gates 231 , 232 located at the entrances of the operating area 240, the one or more gates 231 , 232 are configured to be armed when the operating area 240 is determined to be free from unauthorized machines 224-225, thereby any access to the operating area 240 is monitored once the operating area 240 has been determined to be free from unauthorized machines 224, 225.
[00083] According to another embodiment, the control unit 270 may further be configured to determine that a position of an unauthorized machine 224-225 is inside the operating area 240 and to stop all operations of the authorized machines 221 , 222, 223 in the operating area 240. According to another embodiment, the control unit 270 may further be configured to determine that a position of an unauthorized machine 224-225 is inside the operating area 240 and to stop all operations of the authorized machines 221 , 222, 223 in the operating area 240 on determining that a position of an unauthorized machine 224-225 is inside the operating area 240.
[00084] According to another embodiment, the control unit 270 is further adapted to determine the position of a respective machine 221-225 and the control unit 270 is thereby configured to use a previous position of the machine 221-225 and determine a threshold distance Dt221-Dt225 away from the operating area 240 wherein the threshold distance Dt221-Dt225 is dependent on the age of the previous position of the machine 221-225, and considering the machine to be inside the operating area 240 if, it is closer to the operating area 240 than the threshold distance Dt221-Dt225.
[00085] According to another embodiment, the threshold distance Dt221-225 is machine specific and the control unit 270 is further configured to determine a machine specific threshold and thereby being configured to determine a previous traveling direction of a respective machine 222-225, and adjust the threshold distance Dt221-Dt225 dependent on the previous traveling direction of the respective machine 222-225. [00086] According to another embodiment, the control unit 270 is further adapted to determine a machine maximum speed, and/or determine a previous machine speed, and/or determine the machine’s planned route in the underground environment, and/or determine the type of machine 221-225 and/or determine the dimensions of the machine 221-225, and based thereon being configured to adjust the threshold distance Dt221-Dt225 dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine 221-225, and/or dimensions of the machine 221-225.
[00087] According to another embodiment, the authorized machines 221-223 are autonomous machines.
[00088] According to another embodiment, a machine 221 for operating in a traffic control system 200 described above is disclosed. The machine 221 is adapted to request to start an operation in the operating area 240, and start the operation in the operating area 240 upon receiving a permitting signal.
[00089] Although the description above contains a plurality of specificities, these should not be construed as limiting the scope of the concept described herein but as merely providing illustrations of some exemplifying embodiments of the described concept. It will be appreciated that the scope of the presently described concept fully encompasses other embodiments which may become obvious to those skilled in the art, and that the scope of the presently described concept is accordingly not to be limited. Reference to an element in the singular is not intended to mean "one and only one" unless explicitly so stated, but rather "one or more." Further, the term “a number of”, such as in “a number of wireless devices” signifies one or more devices. All structural and functional equivalents to the elements of the above-described embodiments that are known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed hereby. Moreover, it is not necessary for an apparatus or method to address each and every problem sought to be solved by the presently described concept, for it to be encompassed hereby. In the exemplary figures, a broken line generally signifies that the feature within the broken line is optional.

Claims

1 . A traffic control method performed by a traffic control system (200), for determining that an operating area (240), in an underground environment, is free from unauthorized machines (224-225), wherein the traffic control system (200) comprises a control unit (270), wherein the control unit (270) is configured to receive positioning data of machines (221-225) in the underground environment, wherein the method comprise:
- receiving (308) a request for determining that the operating area (240) is free from unauthorized machines (224-225), whereby
- determining (310) a total amount of machines (221-225) in the underground environment, wherein the total amount of machines includes authorized machines (221-223) and unauthorized machines (224, 225);
- determining (312) a current position of all unauthorized machines (224-225) in the underground environment;
- determining (314) that the current position of all unauthorized machines (224- 225) is outside the operating area (240) and thereby that the operating area (240) is free from unauthorized machines (224-225).
2. The traffic control method as claimed in claim 1 , wherein the method further comprises:
- permitting (316) authorised machines (221-223) to operate in the operating area (240) when the operating area (240) is determined to be free from unauthorized machines (224-225).
3. The traffic control method as claimed in claim 1 or 2, wherein the method is continuously performed.
4. The traffic control method as claimed in claim 3, wherein the authorized machines (221-223) are permitted to access the operating area (240) when the method is continuously performed.
5. The traffic control method as claimed in any one of the claims 1-4, wherein the traffic control system (200) further comprises one or more gates (231 , 232) located at the entrances of the operating area (240), wherein the one or more gates (231 , 232) are configured to be armed when the operating area (240) is determined to be free from unauthorized machines (224-225), thereby any access to the operating area (240) is monitored once the operating area (240) has been determined to be free from unauthorized machines (224, 225).
6. The traffic control method as claimed in any of the claims 1-5, wherein the method further comprises;
- determining that a position of an unauthorized machine (224-225) is inside the operating area (240);
- stopping all operations of the authorized machines (221 , 222, 223) in the operating area (240).
7. The traffic control method according to any of the preceding claims, the position of a respective machine (221-225) is determined by;
- using a previous position of the machine (221-225) and
- determining a threshold distance (Dt221-Dt225) away from the operating area (240), wherein the threshold distance (Dt221-Dt225) is dependent on the age of the previous position of the machine (221-225), and
- considering the machine to be inside the operating area (240) if, it is closer to the operating area (240) than the threshold distance (Dt221-Dt225).
8. The traffic control method according to claim 7, wherein the threshold distance (Dt221-Dt225) is machine specific, and the method further comprises: determining the machine specific threshold by;
- determining a previous traveling direction of a machine (221-225), and
- adjusting the threshold distance (Dt221-Dt225) dependent on the previous traveling direction of the machine (221-225),
9. The traffic control method as claims in claim 7 or 8, wherein the machine specific threshold distance (Dt221-Dt225) is further determined by:
- determining a machine maximum speed, and/or
- determining the previous machine speed, and/or
- determining the machine’s planned route in the underground environment, and/or,
- determining the type of machine (221-225) and/or
- determining the dimensions of the machine (221-225), and thereby
- adjusting the threshold distance (Dt221-Dt225) dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine (221-225), and/or dimensions of the machine (221-225).
10 The traffic control method as claimed in any of the preceding claims, wherein the authorized machines (221-223) are autonomous machines.
11. A traffic control system (200), for determining that an operating area (240), in an underground environment, is free from unauthorized machines (224- 225), wherein the traffic control system (200) comprises a control unit (270), the control unit (270) is configured to receive positioning data of machines (221 -225) in the underground environment, wherein the control unit (270) is configured to:
- receive (308) a request for determining that the operating area (240) is free from unauthorized machines (224-225), whereby
- determine (310) a total amount of machines (221-225) in the underground environment, wherein the total amount of machines includes authorised machines (221-223) and unauthorized machines (224, 225);
- determine (312) a current position of all unauthorized machines (224-225) in the underground environment;
- determine (324) that the current position of all unauthorized machines (224-225) is outside the operating area (240) and thereby that the operating area (240) is free from unauthorized machines (224-225).
12. The traffic control system (200) as claimed in claim 11 , wherein the control unit (270) is further configured to;
- permit (316) authorised machines (221-223) to operate in the operating area (240) when the operating area (240) is determined to be free from unauthorized machines (224-225).
13. The traffic control system as claimed in claim 11 or 12, wherein the control unit (270) is further configured to operate continuously.
14. The traffic control system as claimed in claim 13, wherein the authorized machines (221-223) are permitted to access the operating area (240) when the control unit (270) operates continuously.
15. The traffic control system as claim in any one of the claims 11-14, wherein the traffic control system (200) further comprises one or more gates (231 , 232) located at the entrances of the operating area (240), the one or more gates (231 , 232) are configured to be armed when the operating area (240) is determined to be free from unauthorized machines (224-225), thereby any access to the operating area (240) is monitored once the operating area (240) has been determined to be free from unauthorized machines (224, 225).
16. The traffic control system as claimed in any of the claims 11-15, wherein the control unit (270) further configured to;
- determine that a position of an unauthorized machine (224-225) is inside the operating area (240);
- stop all operations of the authorized machines (221 , 222, 223) in the operating area (240).
17. A traffic control system (200), according to any of the preceding claims, wherein the control unit (270) is further adapted to determine the position of a respective machine (221-225) and the control unit (270) is thereby configured to;
- use a previous position of the machine (221-225) and
- determine a threshold distance (Dt221-Dt225) away from the operating area (240) wherein the threshold distance (Dt221-Dt225) is dependent on the age of the previous position of the machine (221-225), and
- considering the machine to be inside the operating area (240) if, it is closer to the operating area (240) than the threshold distance (Dt221-Dt225).
18. The traffic control system according to claim 17, wherein the threshold distance (Dt221-225) is machine specific and the control unit (270) is further configured to determine a machine specific threshold and thereby being configured to:
- determine a previous traveling direction of a machine (222-225), and
- adjust the threshold distance (Dt221 -Dt225) dependent on the previous traveling direction of the machine (222-225).
19. The traffic control system according to claims 17 or 18, wherein the control unit (270) is further adapted to;
- determine a machine maximum speed, and/or
- determine the previous machine speed, and/or
- determine the machine’s planned route in the underground environment, and/or,
- determine the type of machine (221-225) and/or
- determine the dimensions of the machine (221-225), and based thereon being configured to;
- adjust the threshold distance (Dt221-Dt225) dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine (221-225), and/or dimensions of the machine (221-225).
20. The traffic control system as claimed in any of the preceding claims, wherein the authorized machines (221-223) are autonomous machines.
21 . A machine (221 ) for operating in a traffic control system (200) according to any of the preceding claims 11-20, wherein the machine (221 ) is adapted to:
- request to start an operation in the operating area (240), and
- start the operation in the operating area (240) upon receiving a permitting signal.
EP22817423.1A 2022-11-30 2022-11-30 Traffic control methods and systems for determining an operating area in an underground environment being free from unauthorized machines Pending EP4627421A1 (en)

Applications Claiming Priority (1)

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PCT/SE2022/051121 WO2024117947A1 (en) 2022-11-30 2022-11-30 Traffic control methods and systems for determining an operating area in an underground environment being free from unauthorized machines

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IL154091A0 (en) * 2003-01-23 2003-07-31 A method and a system for unauthorized vehicle control
US9858819B2 (en) * 2016-02-03 2018-01-02 Caterpillar Inc. Traffic control system having deadlock avoidance functionality

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