EP4705846A1

EP4705846A1 - System and method for coordinating movements of vehicles in a mining environment, and an underground mining vehicle

Info

Publication number: EP4705846A1
Application number: EP23722725.1A
Authority: EP
Inventors: Henrik HOLMERTZ; David SPOVE; Felix DEFAIRE; Anton LIFWERGREN; Jonatan JONSSON; Gunnar Persson
Original assignee: Epiroc Rock Drills AB
Current assignee: Epiroc Rock Drills AB
Priority date: 2023-05-02
Filing date: 2023-05-02
Publication date: 2026-03-11
Also published as: WO2024228642A1; AU2023446410A1

Abstract

A traffic control system and method are provided for coordinating movements of one or more underground mining vehicles out of a plurality of vehicles in a mining environment comprising a plurality of travel zones. The method comprises assigning, to a first vehicle, a first route comprising start and end points and assigned zones. It is announced to other vehicles that the assigned zones are intended for use by the first vehicle. A zone occupied by the first vehicle is seized for use by that vehicle, and the zone may be released as the vehicle leaves the zone. If an announcement overlap occurs for a block of zones when both the first vehicle and a second vehicle intend to travel zones in the block, the first vehicle is allowed to enter the block when it is possible for the first vehicle to seize all zones in the block.

Description

TITLE

SYSTEM AND METHOD FOR COORDINATING MOVEMENTS OF VEHICLES IN A MINING ENVIRONMENT, AND AN UNDERGROUND MINING VEHICLE

TECHNICAL FIELD

[0001] The disclosure relates to a control system and method for coordinating movements of autonomous vehicles in a mining environment. It further relates to an underground mining vehicle, a computer program product, and a computer-readable medium.

BACKGROUND

[0002] In mining and tunnelling, developments are constantly underway to improve efficiency, productivity, and safety. One of the leading areas in which changes/improvements are increasingly taking place is automation, full or partial, of various processes occurring in mining/tunneling.

[0003] Mining vehicles, e.g., trucks, for underground mining and tunneling can perform various tasks in environments that are dark and often inaccessible by foot and may generally be not comfortable for human drivers. Thus, it is often desirable that mining vehicles or machines that operate in an underground environment can be driven in a fully autonomous mode, i.e. , without an onboard operator being required to control the machines during machine operation.

[0004] An example of mining vehicles where automated operation is typically considered to be beneficial are so-called load-haul-dump (LHD) machines. These mining vehicles represent vehicles that may be used to remove and transport broken rock/ore from a certain location, e.g., a position where blasting has been performed, to a particular place where the broken rock is dumped. After dumping their load, at the place that may be referred to as a dump point or location, the LHD machines typically return to an initial (start) location to pick up a new load. Thus, these vehicles often travel the same route over and over again, which makes the travel between load and dump locations well suited for automation. There are also various other situations where automation may prove beneficial.

[0005] Autonomous operation of multiple vehicles presents certain challenges related to the requirement to accurately control operation of the vehicles, e.g., in a manner than does not create conflicts in vehicle movements. In certain worksites, multiple machines may be traveling common areas where deadlocks may occur, e.g., when vehicles are facing each other and thereby prevent each other from further movements. For example, in environments where LHD machines are employed, multiple machines may be traveling a commonly shared area on the way to and from the dump locations. In use, in such shared areas, situations may occur when machines lock each other such that further operation is not possible. Thus, a driver intervention may be required, which creates safety hazards and wastes time and thus costs.

SUMMARY

[0006] Aspects of the present disclosure relate to a method for coordinating movements of vehicles, such as autonomous vehicles, in a mining environment.

[0007] In an aspect, a computer-implemented method is provided for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment comprising a plurality of travel zones. The method comprises assigning one or more routes to the one or more vehicles out of the plurality of vehicles, each route comprising assigned zones selected from the plurality of travel zones, wherein a first vehicle from the plurality of vehicles is assigned a first route comprising a start point, an end point, and a first plurality of assigned zones that are selected from the plurality of travel zones, to be traversed by the first vehicle as the first vehicle travels the first route from the start point to the end point. The method further comprises announcing that the first plurality of assigned zones of the first route are assigned to the first vehicle.

[0008] The method further comprises, responsive to the first vehicle approaching a next zone included in the first route and not currently seized by the first vehicle, determining whether the next zone has been indicated as being currently seized by another vehicle from the plurality of vehicles. Responsive to determining that the next zone has not been indicated as being currently seized by another vehicle, the method comprises determining whether it has been announced that the next zone is assigned to a second vehicle from the plurality of vehicles. Furthermore, responsive to determining that it has not been announced that the next zone is assigned to the second vehicle, the next zone is seized for the first vehicle and the first vehicle is controlled to travel the next zone. The method also comprises, responsive to determining that it has been announced that the next zone is assigned to the second vehicle, such that an announcement overlap occurs for the next zone, controlling the first vehicle to either remain at a current position or to begin traveling a block of zones of the first plurality of assigned zones comprising the next zone, in dependence on a result of determining whether it is possible for the first vehicle to seize the block of zones comprising the next zone.

[0009] The method provided herein is flexible and robust, and has various advantages over existing approaches for coordinating movements of vehicles in an enclosed environment. One of the advantages of the present method is that a need to synchronize the routes of all vehicles among the one or more vehicles, e.g., in a fleet of vehicles, is eliminated.

[0010] The method allows avoiding deadlocks which may otherwise occur when two or more vehicles in the mining environment are lock each other out of further movements. Furthermore, the method allows for every controlled vehicle to travel as far as possible on its route, whereby waiting times e.g. when a vehicle is stationary due to other vehicle's positions and movements, are reduced. As a further advantage, if an announcement made by a vehicle overlaps another announcement, both vehicles may still start moving in their respective travel directions, and the first vehicle to reach the overlap may enter the block of zones with the overlapping announcements, if the block of zones may be seized by that vehicle. There is no need for synchronizing the vehicles' speed, and no vehicle is dependent on a pre-planned order of vehicles to enter an area with overlapping routes. This greatly increases the efficiency of the method.

[0011] In some examples, the method further comprises, responsive to determining that the next zone is indicated as being currently seized by another vehicle, controlling the first vehicle to remain at the current position, and monitoring for an indication of a status change of the next zone, wherein the indication of a status change of the next zone comprises an indication of a release of the next zone by the another vehicle. The next zone may be released by removing an indication that the another vehicle had seized the next zone, i.e. that the next zone is allocated for use by the another vehicle.

[0012] In some examples, the method comprises determining whether it is possible for the first vehicle to seize the block of zones comprising the next zone. The first vehicle may be allowed to proceed traveling the block of zones comprising the next zone only when it is possible for the first vehicle to seize the block of zones. This advantageously allows ensuring that the first vehicle will not be locked while traveling the block, thereby a risk of a deadlock situation is decreased or eliminated.

[0013] In some examples, the determining of whether it is possible for the first vehicle to seize the block of zones comprises using a first priority level assigned to the first vehicle and a second priority level assigned the second vehicle. The method further comprises, when the first priority level is lower than the second priority level, determining that it is not possible for the first vehicle to seize the block of zones; and, when the first priority level is higher than the second priority level, determining that it is possible for the first vehicle to seize the block of zones and seizing the block of zones for the first vehicle.

[0014] The use of vehicle priority levels allows for an improved way of resolving potential conflicts in vehicle movements in the manner that decreases delays and thus improves efficiency of vehicles in the mining environment. For example, efficiency and productivity of a fleet of vehicles performing work in the mining environment may be increased.

[0015] In some examples, the method further comprises, responsive to determining that it is possible for the first vehicle to seize the block of zones, seizing the block of zones and controlling the first vehicle to begin traveling the block of zones. [0016] In examples in accordance with the present disclosure, a mining environment, or a portion thereof, is divided into travel zones of a smaller size than in existing approaches to control of autonomous vehicles in a mine. Zones are seized for use by a certain vehicle and are released as that vehicle has passed the zones, which allows for a finer and more coordinated control of movements of vehicles in the mining environment.

[0017] In some examples, the method further comprises, responsive to determining that it is not possible for the first vehicle to seize the block of zones, controlling the first vehicle to remain at the current position, and monitoring for an indication of a status change of the block of zones, wherein the indication of a status change of the block of zones comprises a release of at least the next zone by the second vehicle, wherein the next zone is released by removing an indication that the second vehicle had seized the next zone.

[0018] In some examples, the announcing that the first plurality of assigned zones of the first route are assigned to the first vehicle comprises generating an announcement indicating that the first vehicle intends to travel the first plurality of assigned zones.

[0019] In some examples, the next zone of the first plurality of assigned zones is seized for the first vehicle by generating an indication indicating that the next zone is allocated for use by the first vehicle, and wherein the next zone is released by the first vehicle by removing the indication that the next zone is allocated for use by the first vehicle.

[0020] In an aspect, a traffic control system is provided that comprises processing circuitry for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment comprising a plurality of travel zones. The processing circuitry of the traffic control system is configured to assign one or more routes to the one or more vehicles out of the plurality of vehicles, each route comprising assigned zones selected from the plurality of travel zones, wherein a first vehicle from the plurality of vehicles is assigned a first route comprising a start point, an end point, and a first plurality of assigned zones that are selected from the plurality of travel zones, to be traversed by the first vehicle as the first vehicle travels the first route from the start point to the end point. The processing circuitry is further configured to announce that the first plurality of assigned zones of the first route are assigned to the first vehicle.

[0021] The processing circuitry is also configured to, responsive to the first vehicle approaching a next zone included in the first route and not currently seized by the first vehicle, determine whether the next zone has been indicated as being currently seized by another vehicle from the plurality of vehicles. Responsive to determining that the next zone has not been indicated as being currently seized by another vehicle, the processing circuitry determines whether it has been announced that the next zone is assigned to a second vehicle from the plurality of vehicles. Responsive to determining that it has not been announced that the next zone is assigned to the second vehicle, the processing circuitry seizes the next zone for the first vehicle and controls the first vehicle to travel the next zone. Responsive to determining that it has been announced that the next zone is assigned to the second vehicle, such that an announcement overlap occurs for the next zone, the processing circuitry controls the first vehicle to either remain at a current position or to begin traveling a block of zones comprising the next zone, in dependence on a result of determining whether it is possible for the first vehicle to seize the block of zones comprising the next zone.

[0022] In some examples, the processing circuitry is configured to determine whether it is possible for the first vehicle to seize the block of zones comprising the next zone.

[0023] In some examples, the processing circuitry is further configured to, responsive to determining that the next zone is indicated as being currently seized by another vehicle, control the first vehicle to remain at the current position and monitor for an indication of a status change of the next zone, wherein the indication of a status change of the next zone comprises a release of the next zone by the another, and wherein the next zone is released by removing an indication that the another vehicle had seized the next zone.

[0024] In some examples, the determining of whether it is possible for the first vehicle to seize the block of zones comprises using a first priority level assigned to the first vehicle and a second priority level assigned the second vehicle; the processing circuitry is further configured to, when the first priority level is lower than the second priority level, determine that it is not possible for the first vehicle to seize the block of zones.

[0025] In some examples, the processing circuitry is further configured to, responsive to determining that it is possible for the first vehicle to seize the block of zones, seize the block of zones for first vehicle and control the first vehicle to begin traveling along the block of zones.

[0026] In some examples, the processing circuitry is further configured to, responsive to determining that it is not possible for the first vehicle to seize the block of zones, control the first vehicle to remain at the current position and monitor for an indication of a status change of the block of zones, wherein the indication of a status change of the block of zones comprises a release of at least the next zone by the second vehicle, wherein the next zone is released by removing an indication that the next zone is assigned to the second vehicle.

[0027] In some examples, the announcing that the first plurality of assigned zones of the first route are assigned to the first vehicle comprises generating an announcement indicating that the first vehicle intends to travel the first plurality of assigned zones.

[0028] In an aspect, an underground mining vehicle is provided that comprises processing circuity and configured to be controlled by a traffic control system for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment comprising a plurality of travel zones. The processing circuitry of the underground mining vehicle is configured to obtain an assignment of a first route from the traffic control system, the first route comprising a start point, an end point, and a first plurality of assigned zones that are selected from the plurality of travel zones and to be traversed by the vehicle as the vehicle travels the first route from the start point to the end point. The processing circuitry is also configured to announce that the first plurality of assigned zones of the first route are assigned to the vehicle. The processing circuitry is also configured to, as the vehicle is approaching a next zone included in the first route and not currently seized by the vehicle, obtain a command for the vehicle to seize the next zone and travel the next zone, when the next zone has not been indicated as being currently seized by another vehicle from the plurality of vehicles and when it has not been announced that the next zone is assigned to a second vehicle from the plurality of vehicles, and cause the vehicle to begin traveling the next zone. The processing circuitry is further configured to obtain a command for the vehicle to remain at a current position or to begin traveling a block of zones comprising the next zone in dependence on whether it is possible for the vehicle to seize the block of zones when it has been announced that the next zone is assigned to the second vehicle, and cause the vehicle to remain at the current position or to begin traveling the block of zones.

[0029] According to an aspect of the disclosure, a computer program product comprising instructions, which, when executed by processing circuitry, cause the processing circuitry to perform actions in accordance with embodiments of the present disclosure.

[0030] According to an aspect of the disclosure, a computer-readable storage medium is provided. The computer-readable storage medium has stored thereon a computer program product comprising instructions which, when executed by processing circuitry, cause the processing circuitry to perform the method in accordance with embodiments of the present disclosure.

[0031] Additional features and advantages are disclosed in the following description, claims, and drawings. Furthermore, additional advantages will be readily apparent from the present disclosure to those skilled in the art or recognized by practicing the disclosure as described herein. There are also disclosed herein control units, computer program products, and computer-readable media associated with the above discussed technical effects and corresponding advantages.

BRIEF DESCRIPTION OF THE DRAWINGS

[0032] With reference to the appended drawings, below follows a more detailed description of aspects of the disclosure cited as examples.

[0033] FIG. 1 A illustrates an example of a mining environment.

[0034] FIG. 1 B illustrates an example of a mining environment with smaller travel zones. [0035] FIGs. 2A and 2B are block diagrams illustrating a method for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment comprising a plurality of travel zones, in accordance with an example.

[0036] FIGs. 3A, 3B, 30, 3D, 3E, 3F, 3G, 3H and 31 are schematic illustrations of an example of a sequence of movements of vehicles in a mining environment, the movements being coordinated using the method of FIGs. 2A and 2B.

[0037] FIGs. 4A, 4B, and 4C are schematic illustrations of an alternative example of a sequence of movements of the vehicles in the mining environment of FIGs. 3A-3I, the movements being coordinated using the method of FIGs. 2A and 2B.

[0038] FIGs. 5A, 5B, 50, 5D, 5E, and 5F are schematic illustrations of another example of a sequence of movements of vehicles in a mining environment, the movements being coordinated using the method of FIGs. 2A and 2B.

[0039] FIGs. 6A and 6B are schematic block diagrams illustrating an example of a traffic control system, in accordance with aspects of the present disclosure.

[0040] FIG. 7 is a schematic block diagram illustrating an example of an underground mining vehicle, in accordance with aspects of the present disclosure.

DETAILED DESCRIPTION

[0041] In a mining environment, there may be multiple machines or vehicles, e.g., autonomous vehicles, in a confined area. The mining environment can have a specific configuration that may depend on a quality of rock and sediments in the area, the mining needs, and other factors. Typically, there are multiple tunnels where mined material is obtained, and the tunnels are connected to a common area that provides access to a central dumping point where the material is being deposited. [0042] FIG. 1 A depicts an example of a mining environment 10 comprising multiple, six in this example, tunnels, collectively labeled as 20, connected to two shared tunnels 40a, 40b leading to a shared dumping location or point 45, which may be a central location. The tunnels are typically narrow and it may be difficult to maneuver a vehicle within a tunnel. As shown schematically in FIG. 1 , multiple underground mining vehicles 50a, 50b, 50c, 50d, 50e, and 50f may be operated in the mining environment 10 for moving mined material from draw points or locations, collectively labeled as 30, in the respective tunnels 20, to the dumping point 45 where the material is deposited. The mining vehicles 50a-50f may be autonomous vehicles, such as e.g., fully or partially autonomous vehicles. One or more of the mining vehicles 50a-50f may be load-haul-dump (LHD) machines. A vehicle of the mining vehicles 50a-50f may travel, via one of the common tunnels 40a, 40b, from a draw location to the dumping point 45, and then back to the draw location. [0043] A mining area such as e.g. the mining environment 10 may be well suitable for operating autonomous vehicles therein, since the environment 10 has a specific configuration and paths traveled by the vehicles in the confined area are at least to some degree predefined. At the same time, the vehicles need to be controlled in a manner that would ensure their efficient operation and avoid deadlocks. The tunnels in the mine are typically narrow, and there may be limited possibilities for the vehicles to meet and/or pass each other.

[0044] Situations may occur when vehicles in the mining environment are in a deadlock, e.g. they are locking each other such that further movement of both is not possible. A deadlock is a situation where two or more vehicles have come to a standstill, head to head, and one of them needs to divert from its planned path to be able to solve the situation. Various scenarios are possible where two or more vehicles are in conflict regarding giving way to one another. Such situations may result in significant delays, e.g., when one or more vehicles are forced to wait to access traffic zones currently in use by other vehicle(s). In some cases, even a human driver intervention may be required. However, a mining environment is often hazardous to humans, and resolving vehicle movements conflicts by resorting to human drivers is not desirable. Moreover, efforts to coordinate vehicle movements require time and resources, including, e.g. processor load on a central controller. Also, delays in vehicle operation decrease efficiency and increase operating costs of the work performed in the mine.

[0045] Various approaches exist to controlling operation of autonomous vehicles in a mining environment. In existing approaches, each of the tunnels 20 can be represented as a traffic zone, as shown in FIG. 1 A by a traffic zone 22. Similarly, the shared tunnels 40a, 40b may each be represented as a respective traffic zone 42a, 42b, as also shown in FIG. 1 A. The traffic zones are computer- implemented representations of portions of the actual mining environment. The traffic zones can be defined on a per-machine basis. This may however not be suitable for controlling movements of vehicle in the mining environment 10 since potential deadlocks may not be resolved.

[0046] In some approaches, in an attempt to avoid vehicle deadlocks, a commonly shared area, e.g., the shared tunnels 40a, 40b of FIG. 1 A, may be defined as one single traffic zone, such that only one vehicle may be allowed to access such zone at a time. This however creates significant delays since all other vehicles are required to wait outside of that zone. Also, the vehicles can be waiting, for the zone to become accessible, at a distance from the central dumping location, such that even as the vehicle is allowed to enter the zone, it still needs to travel quite far towards the dumping location and back.

[0047] Accordingly, a method in accordance with aspects of the present disclosure involves controlling movements of the vehicles in a mining environment in a manner that avoids deadlocks. Smaller traffic zones may be defined in a mining environment, and underground mining vehicles may be controlled such that vehicle waiting times are reduced and a vehicle may be allowed to move closer to the dumping point before it is required to stop. FIG. 1B shows that the shared tunnels 40a, 40b, also shown in FIG. 1 A, can be represented by a number of smaller zones - the shared tunnel 40a has zones 43a-43f and the shared tunnel 40b has zones 44a-44f. A larger number of smaller zones allows a more fine-tuned control of movements of the vehicles in the mining environment 10. The smaller zones may have any suitable sizes and shapes, including regular and irregular shapes. As also shown in FIG. 1 B, a controller, e.g., a traffic control system 24 may be configured to coordinate movements of one or more vehicles out of a plurality of vehicles operating in the mining environment 10. The traffic control system 24 may be a remote control system, such that it can be located externally to the mining environment 10. In some examples, any one or more out of the underground mining vehicles 50a, 50b, 50c, 50d, 50e, and 50f, collectively referred to as underground mining vehicles 50, may comprise or operate as the traffic control system 24.

[0048] The traffic zones are computer-implemented representations of portions of the actual mining environment. Accordingly, even though the description herein refers to a vehicle traveling the zones and seizing and releasing the zones, it should be noted that the travel zones are virtual entities used to control or coordinate movements of vehicles operating in the mining environment. For example, a map or another representation of the mining environment may be used to define the travel zones. The traffic zones may be defined manually, automatically, or as a combination thereof. The traffic control system or another system is configured to coordinate movements of the vehicles in the mining environment using computer-implemented instances of vehicles, the instances representing corresponding physical vehicles. The traffic control system also uses information acquired from the vehicles operating in the mining environment.

[0049] FIGs. 2A and 2B illustrate a process or method 200 for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment comprising a plurality of travel zones. The one or more vehicles out of the plurality of vehicles may comprise all or some of the vehicles from the plurality of vehicles. The one or more vehicles may be part of a fleet of vehicle, or the vehicles may form the fleet of vehicles.

[0050] An example of a mining environment 100 comprising a plurality of travel zones 102, as well as movements of the vehicles in the mining environment 100 are shown in FIGs. 3A-3I and in FIGs. 4A-4C illustrating an example of a sequence of movements of vehicles in the mining environment 100, and the method 200 is described in connection with FIGs. 3A-3I and 4A-4C illustrating an example of coordinating movements of vehicles in the mining environment 100. The mining environment 100 may be similar to mining environment 10 shown in FIG. 1 B. The plurality of travel zones 102 may comprise multiple zones that may be non-overlapping zones, and neighboring zones may be defined such that they are adjacent to one another. The zones may be delineated in the entirety or part of the mining environment 100, and they may have any suitable shapes and sizes. Rectangular zones are shown in FIGs. 3A-3I and in FIGs. 4A-4C as an example only, as the zones out of the plurality of travel zones 102 may have any suitable shapes, including regular and irregular shapes, depending e.g. on specific topography of the mining environment 100, tasks performed by the vehicles in the mining environment 100, and other factors.

[0051] The method 200 is a computer-implemented method that may be performed by a controller, e.g., by a traffic control system, such as by processing circuity of the traffic control system 24 of FIG. 1 B.

[0052] At block 202 of FIG. 2A, the method 200 comprises assigning one or more routes to the one or more vehicles out of the plurality of vehicles, each route comprising assigned zones selected from the plurality of travel zones 102. As shown in the example of FIG. 3A, the plurality of travel zones 102 may be defined in the mining environment 100, and the division of the tunnels and other structures in the mining environment 100 into the travel zones 102 may depend on a configuration of the mining environment 100 and other factors. A larger number of smaller zone may be defined in accordance with the method described herein, such as only one vehicle may be located per travel zone. In the example of FIG. 3A, the plurality of travel zones 102, also referred to herein as zones, comprise travel zones 104a, 104b, 104c, 104d, 104e, 104f, 104g, 104h, 1041, 104y that are defined in a commonly used tunnel, and travel zones D1 , D2, D4, D4, Dx that may be referred to as drives. The travel zones 104a- 104y may be used by vehicles to access a dumping location or point 145 at the travel zone 1041. The vehicles may be parked in the drive, and/or material may be mined at the drives, such that draw locations e.g. draw locations 30 (FIGs. 1A and 1 B) may be within one or more of the drives D1-Dx. The mining environment may include any suitable number of travel zones, as shown by the travel zones 104 y and Dx. Also, the mining environment may have any suitable configuration, such that the mining environment 100 is shown in FIGs. 3A-3I and 4A-4C by way of example only, to illustrate the method in accordance with aspects of the present disclosure.

[0053] A first underground mining vehicle 106, depicted as V1 , from the plurality of vehicles is assigned a first route 105 comprising a start point 107, an end point 109, and a first plurality of assigned zones 111 that are selected from the plurality of travel zones 102, to be traversed by the first vehicle 106 as the first vehicle 106 travels the first route 105 from the start point 107 to the end point 109. The first route 105 is mapped onto the plurality of travel zones 102 and the first plurality of zones 111 are selected that are intended to be traversed or traveled by the first vehicle 105 between the start and end points 107, 109. In this example, the first route 105 is a round-trip route between the start point 107 and the end point 109 such that the end point 109 coincides with the start point 107. The round-trip is from the travel zone D1 to the dumping point 145 in the travel zone 104i, as shown by a target 108 of the first vehicle 106, and back to the travel zone D1 .

[0054] In a similar manner, a second underground mining vehicle 116, depicted as V2, from the plurality of vehicles, is assigned a second route comprising a start point, an end point, and a second plurality of assigned zones that are selected from the plurality of travel zones 102, to be traversed by the second vehicle 116 as the second vehicle 116 travels the second route. In the illustrated examples, the second vehicle 116 is assigned the second route when the first vehicle 106 has reached the zone 104d, as shown in FIG. 3E and discussed below.

[0055] At block 203, the method 200 comprises announcing that the first plurality of assigned zones 111 of the first route 105 are assigned to the first vehicle 106. In embodiments herein, the announcing may be performed by the traffic control system, or in some examples the vehicle 106 may announce that the first plurality of assigned zones 111 are assigned to the first vehicle 106. As mentioned above, the traffic control system may be one of the vehicles operating in the mining environment 100. The announcement, also referred to herein as a zone assignment announcement, may be a message or notification alerting all of the one or more vehicles that the first plurality of assigned zones 111 of the first route 105 are assigned to the first vehicle 106 such that the first vehicle 106 intends to use i.e. travel the first plurality of assigned zones 111 during the first route 105.

[0056] The announcement of the zones assigned to the vehicle informs other vehicles that the vehicle intends to travel the announced zones. For a round-trip route, the announcement is regarding all zones to be traveled on the way towards the target and all zones to the traveled on the way back, from the target and towards the start point. Thus, in FIG. 3A, thick arrows 110a, 110b schematically indicate zones that are announced to be traveled by the first vehicle 106 from the travel zone D1 , i.e. the start point 107, to the dumping point 145; and dashed arrows 112a, 112b schematically indicate zones that are announced to be traveled by the first vehicle 106 from the dumping point 145 to the travel zone D1 . It should be noted that two thick arrows 108a, 108b and two dashed arrows 129a, 129b are shown as an example, to illustrate the corresponding zone assignment announcements, and that a number, size, type of arrows, and their other features, are for illustration purposes only.

[0057] It should be appreciated that the announcing, that the first plurality of assigned zones 111 of the first route 105 are assigned to the first vehicle 106, does not indicate that the assigned zones 111 are used by the vehicle 106 but rather indicates the intent to use, though seized zones are necessarily announced. In embodiments herein, a use of a zone by a vehicle is indicated by seizing that zone for the vehicle e.g., by the traffic control system. The zone is considered to be seized for that vehicle and/or by that vehicle as the vehicle occupies or is about to occupy the zone as the vehicle travels in a certain direction. For example, when a block of zones is seized, the vehicle travels the zones in the block one at a time. As the vehicle seizes one or more of the zones assigned to that vehicle, other vehicles are informed accordingly by generating an indication or indicating to the other vehicles that the one or more zones are currently seized i.e. allocated for use by the vehicle. As used herein, seizing the zone for the vehicle and by the vehicle may be used interchangeably as it refers to the act of temporarily reserving the zone for the exclusive use by that vehicle and informing of this other vehicles of the one or more vehicles operating in the mining environment. Because the movements of the vehicle may be controlled by a central controller, e.g. a traffic control system, or by another vehicle acting as a controller, or the vehicle itself may be that controller, the seizing of the zone and generating the corresponding indication to the other vehicles may be performed for the vehicle and/or by the vehicle.

[0058] An indication of one or more zones being seized for the first vehicle 106 may be in the form of an announcement, which is however different from the announcement that the first plurality of assigned zones 111 are assigned to the first vehicle 106 and is therefore referred to herein as an indication of seizing or indication. The indication regarding one or more zones being seized for the first vehicle 106 informs other vehicles that the one or more seized, or, in other words, indicated to be seized, zones are allocated for use by the first vehicle 106 and are temporarily not allowed to be entered by any of the other vehicles. Thus, a zone that is currently seized for a vehicle is both announced to be assigned to that vehicle and indicated to be seized for and/or by that vehicle.

[0059] An indication regarding one or more zones being seized for the vehicle remains in force or exists until the indication is removed. Thus, when the vehicle leaves a previously seized zone, the indication that the zone was previously seized by the vehicle is removed, which means that the zone is released. In this way, other vehicles out of the one or more vehicles in the mining environment are informed that the previously seized zone is no longer seized. The other vehicles may use the released zone, provided other conditions allow for the use.

[0060] The releasing of the zone that was previously seized may also involve removing the announcement that the zone was assigned to the vehicle, though in some cases the released zone may remain to be announced. For example, when the vehicle intends to use the zone on the way back to the start point, which is also the end point, during a round-trip route, an announcement is removed in a forward direction once the vehicle has traveled the zone in that direction, but an announcement in a reverse or return direction remains until the vehicle travels this zone again, on the way back to the start. [0061] Furthermore, in some cases, e.g., when an announcement overlap in zone assignments occurs, once a vehicle travels a zone, that zone main remain to be seized by that vehicle if the vehicle will need to traverse that zone again, e.g., to get out of a block of zones with an announcement overlap. For example, if releasing a traveled zone, once the vehicle e.g. a first vehicle has passed the zone in a forward direction, would make it possible for another vehicle to enter that zone and thereby lock the first vehicle out of further movements, the zone remains to be not only announced in a return direction, but also seized, until the vehicle traverses the zone for the last time during traveling the assigned route. FIGs. 5D-5F, discussed below, illustrate an example of such situation.

[0062] The information regarding a removal of the indication and/or the announcement regarding a zone may become available to other vehicles upon demand, i.e. there may be no need to actively inform all of the one or more vehicles that the indication and/or the announcement regarding the zone have been removed. Indeed, for vehicles that do not intend to use a certain zone, information regarding a release of that zone may not be relevant. At the same time, one or more vehicles may be proactively monitoring a status of a zone being currently seized, and these vehicles become informed of the release of that zone. A status of the zone and/or the block of zones may be monitored on behalf of the vehicle, e.g., by the traffic control system.

[0063] An announcement regarding one or more zones being assigned to the vehicle, e.g., the first plurality of assigned zones 111 assigned to the first vehicle 106, remains in force or exists until that announcement is removed. This announcement is removed once the vehicle no longer intends to use the one or more zones. Thus, as the vehicle leaves a previously seized zone, that zone becomes released by removing an indication that the previously seized zone was seized for the vehicle, and also an announcement may be removed regarding that zone being assigned to the vehicle such that it is indicated to other vehicles that the vehicle does not intend to use this zone.

[0064] As mentioned above, for a zone that has been announced to be assigned to the vehicle as part of a round-trip route, an announcement indicative of that zone being currently assigned to the vehicle is removed once that zone is traveled by the vehicle for the last time during the trip. Thus, if the vehicle uses, i.e. traverses or travels, a zone on the way from a start point towards a target and still intends to later use that same zone on the way back to the start point, the announcement indicative of that zone being currently assigned to the vehicle remains in force. In some examples, zones assigned to the vehicle as part of the round-trip route may be announced to be assigned to the vehicle in both directions, e.g. towards and away from the target. An announcement in a current direction, e.g., from a start point towards the target, may be removed once the vehicle travels the zone in the current direction and no longer intends to travel the zone in the same direction, whereas an announcement in an opposite direction, e.g., back to the start point, may remain until it is removed once the vehicle travels the zone in the opposite direction. At the same time, when that zone is not occupied by the vehicle, the zone may be released for potential use by other vehicles. In other words, the vehicle may need to seize the same zone more than once during traveling the assigned route. [0065] In FIG. 3A, the travel zone or drive D1 is marked with a pattern of vertical lines, thereby schematically indicating that the first vehicle 106 has currently seized the travel zone D1 . Throughout the description herein, as shown in FIGs. 3A-3I and FIGs. 4A-4C, a zone marked with the pattern of vertical lines indicates that the zone is currently seized by the first vehicle 106, and a zone marked with the pattern of horizonal lines indicates that the zone is currently seized by the second vehicle 116.

[0066] FIGs. 3B-3I illustrate an example of further movements of the first vehicle 106 in the mining environment 100 shown in FIG. 3A. Movements of the second vehicle 116 are shown in FIGs. 3E-3I. It should be noted that, for clarity of representation, not all elements in FIGs. 3B-3I are labeled, and that all numerical references shown in FIG. 3A apply to FIGs. 3B-3I.

[0067] At block 206, the method 200 comprises, responsive to the first vehicle 106 approaching a next zone 103 included in the first route 105 and not currently seized by the first vehicle 106, determining whether the next zone has been indicated as being currently seized by another vehicle from the plurality of vehicles. FIGs. 3B-3I depict that, as the first vehicle 106 travels the first route 105, different zones of the first plurality of assigned zones 111 are taken as the next zone 103 which is a zone that the first vehicle 106 is approaching and that has not been seized by the first vehicle 106. Thus, as shown in FIG. 3A, when the first vehicle 106 is located at the zone D1 , the next zone 103 comprises the zone 104a that is not currently seized by the first vehicle 106. This zone has not been indicated as being currently seized by another vehicle from the plurality of vehicles.

[0068] At block 208, the method 200 comprises, responsive to determining that the next zone 103 has not been indicated as being currently seized by another vehicle, determining whether it has been announced that the next zone 103 is assigned to the second vehicle 116 from the plurality of vehicles. As shown in FIG. 3A, it has not been announced that the next zone 103, i.e. the zone 104a at this point of the first vehicle 106 traveling the route 105, is assigned to the second vehicle.

[0069] At block 215, the method 200 comprises, responsive to determining that it has not been announced that the next zone 103 is assigned to the second vehicle 116, seizing the next zone 103 for the first vehicle 106 and controlling the first vehicle 106 to travel the next zone. For example, as shown in FIG. 3B, the zone 104a is seized and the first vehicle 106 travels the seized zone 104a, and the next zone 103 comprises the zone 104b.

[0070] In FIG. 3B, as the first vehicle 106 has traveled the zone D1 , the zone D1 is released and it is thus no longer marked as seized, whereas the zone 104a is seized and the next zone 103 comprises the zone 104b. It should be noted that embodiments herein are not limited to a specific time at which a zone, such as the zone D1 or any other zone that the first vehicle 106 has traveled, is released. The release may occur as soon as the first vehicle 106 completes traversing, or about to complete traversing, the zone that has been previously seized and currently remains to be seized, so that another vehicle can enter that zone. In some examples, when a vehicle travels a route, zones are first seized and then released as soon as the vehicle have passed them, e.g., one-by-one. A zone is released by removing an indication that a vehicle had seized that zone.

[0071] In FIG. 3C, as the first vehicle 106 has traveled the zone 104a, the zone 104a is released and it is thus no longer marked as seized, whereas the zone 104b is seized and the next zone 103 comprises the zone 104c. As also shown in FIG. 3C, an announcement regarding zones D1 and 104a being assigned to the first vehicle 106 is removed in a travel direction towards the target 108, as shown by the thick arrow 110a extending from the zone 104b. The travel direction towards the target 108 can also be referred to as a forward direction, as contrasted to a return direction which is from the target 108 and towards the end point 109, coinciding with the start point 107 in this example.

[0072] In FIG. 3D, as the first vehicle 106 has traveled the zone 104b, the zone 104b is released and it is thus no longer marked as seized, whereas the zone 104c is seized and the next zone 103 comprises the zone 104d. As also shown in FIG. 3D, an announcement regarding the zone 104b assigned to the first vehicle 106 is removed in the travel direction towards the target 108, as shown by the thick arrow 110a extending from the zone 104c.

[0073] In FIG. 3E, as the first vehicle 106 has traveled the zone 104c, the zone 104c is released and it is thus no longer marked as seized, whereas the zone 104d is seized and the next zone 103 comprises the zone 104e. As also shown in FIG. 3E, an announcement regarding the zone 104c assigned to the first vehicle 106 is removed in the travel direction towards the target 108, as shown by the thick arrow 110a extending from the zone 104d .

[0074] As further shown in FIG. 3E, it is announced that the second vehicle 116 is assigned zones in the second route. In use, the second vehicle 116 may not announce its route until it begins traveling the assigned route. While one or more vehicles, e.g., the first vehicle 106, are moving or tramming, some vehicles, e.g., the second vehicle 116, may be in a standstill as shown in FIGs. 3A-3D, e.g., due to its lower priority or for other reasons. As another option, the second vehicle 116, though shown in FIGs. 3A-3D as positioned in the zone D4, may enter the mining environment 100 at a time when the first vehicle 106 is in the zone 104d as shown in FIG. 3E.

[0075] As shown in FIG. 3E, the second route is a round-trip from the travel zone D4 via the zones 104g, 104f, 104e, to the travel zone D3 towards a target 120, and back from the travel zone D3 via the zones 104e, 104f, 104g, to the travel zone D4. For conciseness, numerical references are not included for all of the features related to the second vehicle 116. It should be noted that the vehicles are referred to herein as first and second for description only and not to indicate any specific vehicles or a specific order. Also, the description of the first vehicle 106 applies to the second vehicle 116. [0076] For the second route assigned to the second vehicle 116, thick arrows 118a, 118b schematically indicate zones that are announced to be traveled by the second vehicle 116 from the travel zone D4 to the travel zone D3 towards the target 120. An announcement of the zones to be traveled by the second vehicle 116 on the way back from the target 120 i.e. from the travel zone D3 back to the travel zone D4 is shown by dot-dashed arrows 119a, 119b. It should be noted that two thick arrows 118a, 118b and two dot-dashed arrows 119a, 119b are shown as an example, to illustrate the corresponding zone assignment announcements, and that a number, size, type of arrows, and their other features, are for illustration purposes only. It should be noted that all numerical references shown in FIG. 3E apply to the same elements in FIGs. 3F-3I.

[0077] In FIG. 3E, The travel zone or drive D4 is marked with a pattern of horizonal lines, thereby schematically indicating that the second vehicle 116 has currently seized the travel zone D4.

[0078] In FIGs. 3A-3E, the first vehicle 106 travels the zones D1 , 104a, 104b, 104c, and 104d when the method 200 comprises determining that it has not been announced that the next zone is assigned to the second vehicle 116, such that the next zone 103 is seized for the first vehicle 106 and the first vehicle 106 is controlled to travel the next zone 103. The second vehicle 116 is shown, as an example only, to remain at the zone D4, and the announcement regarding zones in the second route being assigned to the second vehicle 116 does not occur until the first vehicle 106 is in the zone 104d. As the first vehicle 106 travels the zones in the assigned route 105, the first vehicle 106 may encounter an overlap in assignments or in other words announcement overlap, where one or more zones announced to be assigned to the first vehicle 106 have also been announced to be assigned to the second vehicle 116, such that both the first vehicle 106 and the second vehicle 116 intend to travel the same one or more zones. An example of such situations is described in connection with FIGs. 3E-3I. At block 219, the method 200 comprises, responsive to determining that it has been announced that the next zone 103 is assigned to the second vehicle 116, such that an announcement overlap occurs for the next zone 103, controlling the first vehicle 106 to either remain at a current position or to begin traveling a block of zones of the first plurality of assigned zones 111 comprising the next zone 103, in dependence on a result of determining whether it is possible for the first vehicle 106 to seize the block of zones comprising the next zone 103. It should be noted that an occurrence of an announcement overlap is known upon each vehicle joining the one or more vehicles, or as the vehicle already in the mining environment is instructed to start a new route. Because each vehicle from the one or more vehicles is assigned a route comprising a respective plurality of assigned zones, it is known upon the route assignment whether one or more announcement overlaps exist among zone assignments to two or more vehicles. A decision regarding the two or more vehicles accessing the zones with the announcement overlap is made as the vehicles are moving in the mining environment, as described herein.

[0079] In FIG. 3E, the next zone 103 comprises the zone 104e that has not been seized by the first vehicle 106. Thus, the first vehicle 106 intends, in accordance with its assigned route 105, to travel through the zone 104e after the zone 104d, as shown by the thick arrow 110b extending in FIG. 3E from the zone 104d to the zone 104i with the target 108. However, as shown in FIG. 3E by the thick arrows 118a, 118b, a block of zones 104e, 104 f, and 104g has been announced by the second vehicle 116 as part of zones D1 , 104g, 104f, 104e, D3 assigned to the second vehicle 116 in the second route. Accordingly, there is an overlap in the assignments for the zones 104e, 104f, and 104g, as shown by a dashed box 125. It should be noted that, even though the thick arrows 118a, 118b are shown already in FIG. 3A, it may have been announced that the zones 104e, 104f, and 104g are assigned to the second vehicle 116 at another point in time, such that the first vehicle 106 may be in a different location within the mining environment 100 when it is announced that the zones 104e, 104f, and 104g are assigned to the second vehicle 116.

[0080] Accordingly, the block of zones 104e, 104f, and 104g comprises the next zone 103 which is the zone 104e in FIG. 3E. The first vehicle 106 may be controlled to begin traveling the block of zones comprises the next zone 103 when it is possible to seize for the first vehicle 106 the entire block of zones 104e, 104f, and 104g. In some example, the first vehicle 106 may be controlled to begin traveling the block of zones when it is possible to seize for the first vehicle 106 the entire block of zones 104e, 104f, and 104g, and a zone that is subsequent to the block of zones 104e, 104f, and 104g, such as the zone 104h in this example.

[0081] Further details of the method 200 of FIG. 2A, including processing which may be optional, are described in connection with FIG. 2B, and an example of the method is illustrated in FIGs. 3A-3I and 4A-4C. Some of the processing at blocks of FIG. 2B is described above in connection with FIG. 2A, and is therefore not repeated in detail.

[0082] As shown in FIG. 2B, at block 202, the method 200 comprises assigning one or more routes to the one or more vehicles out of the plurality of vehicles, each route comprising assigned zones selected from the plurality of travel zones 102.

[0083] At block 203, the method 200 comprises announcing that the first plurality of assigned zones 111 of the first route 105 are assigned to the first vehicle 106. Thus, the first vehicle 106 may obtain an assignment of the first route 105, e.g, from a controller such as the traffic control system 24 of FIG. 1 B. The first route 105 comprises the start point 107, the end point 107, and the first plurality of assigned zones 111 that are selected from the plurality of travel zones 102 and to be traversed by the first vehicle as the vehicle travels the first route from the start point to the end point. [0084] At block 204, the method 200 comprises monitoring a status of the first vehicle 106. It should be noted that a status of each of the one or more vehicles in the mining environment 100 is monitored. Each of the one or more vehicles reports its location, e.g., a geolocation, in the mining environment 100, e.g., continuously or at certain time intervals.

[0085] At decision block 205, it may be determined whether the first vehicle 106 is approaching the next zone 103 that is included in the first route 105 and not currently seized by the first vehicle 106. Responsive to determining that the first vehicle 106 is approaching the next zone 103, the method 200 may follow to a decision block 206 where it is determined whether the next zone 103 has been indicated as being currently seized by another vehicle from the plurality of vehicles. The another vehicle may be any of the one or more vehicles of the plurality of vehicles. For example, the another vehicle may be the second vehicle 116 or another vehicle of the one or more vehicles of the plurality of vehicles. Responsive to determining that the first vehicle 106 is not approaching a next zone, the method 200 may return to block 204 where the status of the first vehicle 106 is monitored. For example, the first vehicle 106 may be stationary and/or it may be waiting for a change in a status of a certain zone, or another scenario is possible in which it is determined that the first vehicle 106 is not approaching a next zone.

[0086] Referring again to FIG. 3E, as the first vehicle 106 has traveled the zone 104c, it may be detected or determined that the first vehicle 106 is approaching the next zone 103 such that the zone 104e.

[0087] At decision block 206, responsive to determining that the first vehicle 106 is approaching the next zone 103, the method 200 comprises determining whether the next zone 103 has been indicated as being currently seized by another vehicle from the plurality of vehicles.

[0088] At block 208, the method 200 comprises, responsive to determining at decision block 206 that the next zone 103 has not been indicated as being currently seized by another vehicle, determining whether it has been announced that the next zone 103 is assigned to the second vehicle 116 from the plurality of vehicles. As shown in FIG. 3E, it has been announced that the next zone 103, i.e. the zone 104e at this point of the first vehicle 106 traveling the route 105, is assigned to the second vehicle 116. [0089] At block 210, responsive to determining at decision block 206 that the next zone 103 has been indicated as being currently seized by another vehicle, the method comprises controlling the first vehicle to remain at the current position. If the next zone 103 is seized by another vehicle, e.g., by the second vehicle 116 or by any other vehicle, the first vehicle 106 cannot proceed traveling the next zone. When the next zone 103 is seized by another vehicle, it is indicated that the next zone 103 is seized for the another vehicle, or, in other words, the another vehicle had seized the next zone. [0090] At block 212, the process 200 comprises monitoring for an indication of a status change of the next zone 103, wherein the indication of a status change of the next zone 103 comprises an indication of a release of the next zone 103 by the another vehicle. The next zone 103 is released by removing an indication that the another vehicle had seized the next zone. Also, the release of the next zone 103 may involve removing an announcement that the next zone 103 is assigned to the another vehicle. It should be noted that the processing at blocks 212 and 210 may be performed simultaneously, rather than at any particular order.

[0091] At block 214, the method 200 comprises, responsive to determining that it has not been announced that the next zone 103 is assigned to the second vehicle 116, seizing the next zone for the first vehicle 106, which involves indicating to other vehicles that the next zone is seized by the first vehicle 106.

[0092] At block 216, the first vehicle 106 is controlled to travel the next zone. The processing at blocks 214 and 216 of FIG. 2B corresponds to the processing at block 215 of FIG. 2A, as shown by a dot-dashed box 215 in FIG. 2B. When the next zone 103 is not seized by the second vehicle 116 and not assigned to the second vehicle 116 such that it is not been announced that the second vehicle 116 intends to travel the next zone 103, the first vehicle 106 can travel the next zone and it is indicated to other vehicles from one or more vehicles of the plurality of vehicles that the next zone is seized for the first vehicle. When the next zone is seized for the first vehicle, e.g., by the traffic control system, it may also be said that the next zone is seized by the first vehicle such that the first vehicle occupies the next zone and it is not available for use by other vehicles.

[0093] At decision block 218, the method 200 comprises, responsive to determining that it has been announced that the next zone 103 is assigned to the second vehicle 116, such that an announcement overlap occurs for the next zone 103, determining whether it is possible for the first vehicle 106 to seize the block of zones comprising the next zone 103. For example, as shown in FIG. 3E, when the first vehicle 106 is positioned in the travel zone 104d and there is the announcement overlap 125 between the zones 104e, 104f, and 104g that are announced to be assigned to the first vehicle 106, as shown by the thick and dashed arrows 110b and 112b, and also announced to be assigned to the second vehicle 116, as shown by the thick arrows 118a, 118b and dot-dashed arrows 119a, 119b.

[0094] Thus, at block 218, it is determined whether it is possible for the first vehicle 106 to seize the block of zones 104e, 104f, and 104g comprising the next zone 103 such as the zone 104e. It may be possible for the first vehicle 106 to seize the block of zones comprising the next zone 103 when all of the zones in the block, e.g., all zones 104e, 104f, and 104g in FIG. 3E, are not indicated as seized by the second vehicle 116. It has already been determined, at decision block 206, that the zone 104e currently being the next zone 103, is not currently seized by the another vehicle, including the second vehicle 116. Thus, it may be determined at the decision block 218 whether the rest of the travel zones in the block, e.g., the zones 104f and 104g in FIG. 3E, have been indicated as being currently seized by another vehicle from the plurality of vehicles, in this case by the second vehicle 116.

[0095] In some examples, the determining of whether it is possible for the first vehicle 106 to seize the block of zones comprises using a first priority level assigned to the first vehicle 106 and a second priority level assigned the second vehicle 116. In some examples, the method 200 comprises, when the first priority level is lower than the second priority level, determining that it is not possible for the first vehicle 106 to seize the block of zones, and when the first priority level is higher than the second priority level, determining that it is possible for the first vehicle 106 to seize the block of zones and seizing the block of zones for the first vehicle 106. In other words, if the first vehicle 106 is prioritized over the second vehicle 116, the block of zones is seized for first vehicle 106 such that the first vehicle 106 can seize the block and can be controlled to travel the block. Alternatively, if the second vehicle 116 is prioritized over the first vehicle 106, the first vehicle 106 is controlled to remain at its current position, whereas the block of zones is seized for second vehicle 116 such that the second vehicle 116 can seize the block and can be controlled to travel the block of zones.

[0096] In some examples, the first vehicle 106 and the second vehicle 116 may have the same priority levels. In such examples, the determining of whether it is possible for the first vehicle 106 to seize the block of zones may comprise an order of arrival of the vehicles to the block of zones. Thus, the vehicles may get access to the block of zones on the first come, first served basis.

[0097] The vehicles among the one or more vehicles in the plurality of vehicles may be assigned priority based on one or more out of a current direction of movement of the vehicle, a load carried by the vehicle, a size of the vehicle, and other factors. The priority level assigned to a vehicle of the one or more vehicles operating in the mining environment 100 may be changed or updated as the vehicle moves in the mining environment 100. A priority level may be assigned in dependence on features of the vehicle and/or a route traveled by the vehicle, such that the vehicles and/or routes are prioritized in order to reduce power consumption, facilitate an evenly distributed production or machine usage, and to increase the overall production of the vehicles in the mining environment.

[0098] For example, if a heavier vehicle, e.g. due to the carried load, is traveling towards the dumping point, this vehicle may be assigned a higher priority level than a vehicle of the same size/type that is not carrying a load and is traveling away from the dumping point, e.g., back to a site where material is being mined or to another location. As another example, a larger vehicle may be assigned a higher priority level than a smaller vehicle. As a further example, vehicles traveling or tramming upwards may be prioritized over vehicles traveling or tramming downwards, thereby reducing energy consumption and vehicle wear. In some examples, additionally or alternatively, vehicles with shorter routes may be prioritized over vehicles with longer routes. Any one or more of the above examples, as well as other examples, may be applied to assign priority levels to the vehicles in the mining environment.

[0099] The priority level may be represented as a numerical value, a categorical value, or a value of another format. There may be two or more priority levels defined for use in prioritizing vehicles in the mining environment. The priority level, which may also be referred to as a weight, may be assigned to two or more vehicles that are in a potentially conflicting situation, to facilitate a resolution of the conflict. In some examples, each vehicle among the one or more vehicles may be assigned a priority level. As mentioned above, a vehicle priority level may be updated, possibly even during the same route traveled by the vehicle, e.g., as the vehicle is loaded and unloaded, or in other circumstances.

[00100] FIG. 3E illustrates a scenario where the first priority level assigned to the first vehicle 106 and the second priority level assigned the second vehicle 116 may be used to determine which of the first and second vehicles is given priority and is thus allowed to travel the block of zones with the overlapping announcements. As the first vehicle 106 is traveling the zone 104d and as the second vehicle 116 is traveling the zone D4, both vehicles intend to subsequently access the zones 104a, 104f, and 104g from the opposed directions. A vehicle that reaches the overlap first, may enter the overlap if the full block of overlapping zones, i.e. zones with overlapping announcements, may be seized by that vehicle. Also, in some cases, if the vehicle assigned a higher priority level reaches the overlap second, i.e. after the vehicle with a lower priority level reaches that overlap, the vehicle assigned the higher priority level may still be given a right of way such that the vehicle with lower priority level will be controlled to wait for the higher priority level vehicle to travel the block of zones. To avoid delays in vehicles operation, a time threshold may be used to determine which delay is allowed between a time when the vehicle with a lower priority has reached the overlap and a time when the vehicle with a higher priority has reached the overlap, before making a decision regarding which vehicle travels the block of zones.

[00101] Referring back to FIG. 2B, at block 220, the method 200 comprises, responsive to determining at decision block 218 that it is possible for the first vehicle to seize the block of zones, seizing the block of zones which involves indicating that the block of zones is currently seized by the first vehicle 106. At block 222, the first vehicle is controlled to begin traveling the block of zones. It should be appreciated that the processing at blocks 220 and 222 may be performed in any order, or simultaneously. All zones in the block of zones are seized to ensure that the first vehicle may travel through the entire block without being deadlocked. In some examples, in addition to seizing the zones in the block, one or more subsequent zones that are adjacent to the last zone in the block, in the travel direction, is seized. The seizing of the one or more subsequent zones may be required to ensure that the vehicle can pass through the zone without being blocked by other vehicles.

[00102] FIG. 3F illustrates a scenario that follows a scenario in FIG. 3E, when it is determined that it is possible for the first vehicle 106 to seize the block of zones 104e, 104f, and 104g with the announcement overlap. This is the case because the second vehicle 116 is in zone D4. Also, in some cases, the first priority of the first vehicle 106 may be higher than the second priority of the second vehicle 116.

[00103] In FIG. 3G, the first vehicle 106 is shown to have traveled the block of zones 104e, 104f, and 104g such that the first vehicle 106 is in the zone 104h. At that point, it becomes possible for the second vehicle 116 to seize the block of zones 104e, 104f, and 104g, and it is depicted in FIG. 3G that the zones 104e, 104f, and 104g are seized for the second vehicle 116, i.e. these zones are shown filled with a pattern of horizontal lines.

[00104] In FIG. 3H, the second vehicle 116 is shown to have traveled the zones D4 and 104g, and the first vehicle 106 is located at the zone 1041. i.e. it has reached its target destination 108 at the dumping point 145.

[00105] In FIG. 3I, the second vehicle 116 is shown to have reached its target destination 220 and it is currently seizing the zone D3. At this point in time, the first vehicle 106 is on its way back from the dumping point 145 to the zone D1 and it is approaching the next zone 103 that is the zone 104g. The zone 104g is not seized for any vehicle but it has been announced that the zone 104g is assigned to the second vehicle 116. As shown in FIG. 3I, the announcement that the zones D1 and 104a-104i are assigned to the first vehicle 106 in the direction towards the dumping point 125 in the zone 104i is removed since the first vehicle 106 has traveled these zones and is now on the way back towards the end point 109 in the zone D1. The removal of the announcement is indicated by the absence of the thick arrows 110a and 110b pointing in the direction towards the dumping point 145, shown in FIG. 3A and in part in FIGs. 3B-3G.

[00106] Similarly, the announcement regarding the first vehicle 106 that the zones D4, 104g, 104f, and 104e are assigned to the second vehicle 116 in the direction towards the zone D3, which is opposite to the direction towards the dumping point 125, is removed since the second vehicle 116 has traveled these zones and is now in the zone D3. The removal of the announcement regarding the second vehicle 116 is indicated by the absence of the thick arrows 118a and 118b pointing in the direction towards the zone D3, shown in FIGs. 3A-3G and in part in FIG. 3H.

[00107] As also shown in FIG. 3I, the announcement overlap 125 regarding the zones 104e, 104f, and 104g remains, since it has been announced that the first vehicle 106 is assigned the zones 104e, 104f, and 104g in the travel direction towards its end point 109, as shown by the dashed arrow 112a, and it has been announced that the second vehicle 116 is also assigned the zones 104e, 104f, and 104g in the travel direction towards the zone D4 which is its start point, as shown by the dot-dashed arrows 119a, 119b. In the example illustrated in FIGs. 3A-3I, the first vehicle 106 and the second vehicle 116 are each assigned round trip routes, such that their start points coincide with the respective end points.

[00108] At block 224 of FIG. 2B, the method 200 comprises, responsive to determining at decision block 218 that it is not possible for the first vehicle to seize the block of zones, controlling the first vehicle to remain at the current position. FIGs. 4A-4C illustrate a scenario that is alternative to that shown in FIGs. 3E-3I. FIGs. 4A-4C depict the same mining environment 100 as the mining environment 100 shown in FIGs. 3A-3I, and the numerical references used in FIGs. 3A-3I apply to the scenario shown in FIGs. 4A-4C, even if the labels are not shown with respect to all illustrated features. In FIG. 4A, the first vehicle 106, currently traveling the zone 104d, is approaching the next zone 103 that is the zone 104e in this example. The next zone 103 is not currently seized by any vehicle, but it has been announced that the next zone 103 is assigned to the second vehicle 116. There is the announcement overlap 125 between the zones 104e, 104f, and 104g that are announced to be assigned to the first vehicle 106 and are also announced to be assigned to the second vehicle 116.

[00109] In the example shown in FIG. 4A, the second vehicle 116 is positioned in the zone 104g that has been seized by the second vehicle 116, as schematically shown by the pattern of horizonal lines. Accordingly, it is not possible for the first vehicle 106 to seize the block of zones comprising the zones 104e, 104f, and 104g. The first vehicle 106 is therefore controlled to remain at the current position, i.e. at the zone 104d, where the first vehicle 106 may remain until it becomes possible to seize the block of zones 104e, 104f, and 104g for the first vehicle 106, i.e. when the zones 104e, 104f, and 104g are released by the second vehicle 116.

[00110] Accordingly, at block 226, the method 200 comprises monitoring for an indication of a status change of the block of zones, wherein the indication of a status change of the block of zones comprises a release of at least the next zone 103 by the second vehicle 116, wherein the next zone is released by removing an indication that the second vehicle 116 had seized the next zone such that the next zone is allocated for use by the second vehicle 116.

[00111] The situation as shown in FIG. 4A may occur, for example, when it is announced that the zones 104e, 104f, 104g are assigned to the second vehicle 116 before it is announced that the zones 104e, 104f, 104g, along with other zones, are assigned to the first vehicle 106. Thus, before the announcement overlap 125 occurs, the second vehicle 116 may enter one of the zones within the current announcement overlap 125. There may be other situations in which it is not possible for the first vehicle to seize the block of zones within an announcement overlap. [00112] In FIG. 4B, the second vehicle 116 is shown to have traveled the zones 104g and 104f and it is positioned in the zone 104e. The first vehicle 106 remains waiting in the zone 104d, outside of the block of zones 104e, 104f, 104g, for a trigger event such as a change in the status of the zones 104e, 104f, 104g. When the trigger event occurs, it is evaluated whether the first vehicle 106 may enter the block of zones.

[00113] In FIG. 4C, once the second vehicle 116 has traveled the block of zones 104e, 104f, 104g and is located at the block D3, it becomes possible for the first vehicle 106 to seize the block of zones, as shown at block 220 of FIG. 2B. Accordingly, the zones 104e, 104f, 104g are seized by the first vehicle, as shown in FIG. 4C. Thus, similar to the scenario in FIG. 3F, but where the zone 104d is also showed to be seized by the first vehicle 106, in FIG. 4C, all three zones 104e, 104f, 104g within the announcement overlap 125 are seized by the first vehicle 106 and the first vehicle 106 can travel the block of zones comprising the zones 104e, 104 f, 104g.

[00114] The processing at blocks 220, 222, 224, 226 of FIG. 2B is similar to the processing at block 219 of FIG. 2A, as shown by a dot-dashed box 219 in FIG. 2B. It should be appreciated that the method 200 for coordinating movements of the one or more vehicles out of the plurality of vehicles in the mining environment 100 may be executed continuously, as the vehicles are operating in the mining environment 100 to transport materials from a mining location to a dumping point or to move within the mining environment 100 to perform other tasks. Accordingly, although not shown in FIG. 2B, from any of the blocks 212, 216, 222, 224, and 226, the method may return to block 204 where the status of the vehicle is monitored and the vehicle's operation is generally controlled. The information about zone assignments, e.g., announcements regarding zones being assigned to vehicles, and information about seized and released zones, e.g., indications regarding zones being seized and removal of the indications, is repetitively updated as movements of the vehicles in the mining environment are coordinated.

[00115] Furthermore, although two vehicles are shown in the example shown in FIGs. 3A-3I and 4A-4C, the mining environment 100 can have multiple vehicles, e.g., more than two vehicles, and the movements of these vehicles are coordinated and deadlocks are avoided in the same manner as shown for the first and second vehicles 106, 116. For example, if more than two vehicles intend to use a block of zones with overlapping announcements, the vehicles are allowed to access the block in accordance with one or more out of their current positions e.g., distance to the block, an order of arrival to the block and/or in accordance with assigned priority levels. The present method allows controlling movements of multiple vehicles in a coordinated manner.

[00116] The one or more vehicles, e.g., the first and second underground mining vehicles 106, 116 shown in FIGs. 3A-3I and 4A-4C, and/or any other vehicles, may be autonomous, and the traffic control system 24, shown in FIG. 1 B, may control the movements of the vehicles in the mining environment in the coordinated manner. In some examples, the first and second underground mining vehicles 106, 116 may be underground load-haul-dump (LHD) machines or vehicles, which may also be referred to as loaders, haulers and dumpers.

[00117] The method in accordance with aspects of the present disclosure has various advantages, such that there is no need for synchronizing the vehicles' speed and no vehicle is dependent on a preplanned order of vehicles to enter an area with overlapping zones. Furthermore, there is no need to abort a vehicle's assigned route. Assigned routed are executed based on traffic situations and zone availability. In cases when a certain vehicle gets very little or no travel or tramming time, this may be indicative of either an excessive number of vehicles in the area or poor route availability. Such situations are easily detected and may be addressed by an operator of the mining environment. Nevertheless, even with some vehicles being stationary for long periods of time, there will be no deadlocks.

[00118] As described above, the method may be performed by a traffic control system configured to communicate with each of the one or more vehicles of the plurality of vehicles in the mining environment and to coordinate vehicles movements. In some examples, the method may be performed without a central coordinator or controller, in a system where all vehicles are aware of the zone borders and communicate with each other, following the rules for zone access. Regardless of the specific way in which the movements of the vehicles are coordinated, every vehicle of the one or more vehicles of the plurality of vehicles continuously reports its position such that the central controller and/or all other vehicles of the one or more vehicles are aware of the vehicle's location. The positions of the vehicles may be reported at certain time intervals, periodically, aperiodically e.g. as the vehicle moves, or in a combination of periodic and aperiodic location reports.

[00119] FIGs. 5A-5F illustrate an example of coordinating of movements of vehicles in a mining environment 500 comprising a plurality of travel zones 502. The mining environment 500 of FIGs. 5A- 5F is similar to the mining environment 100 in FIGs. 3A-3I and 4A-4B, and similar numerical references are used to indicate similar elements. The mining environment 500 comprises a different number of travel zones. In particular, the mining environment 500 is shown to include the plurality of travel zones 502, also referred to herein as zones, 505a-504k that are defined in a commonly used, shared tunnel, as well as drives or zones Z1 , Z2, Z3, Z4 and Zx. Material may be mined in one or more of the drives and delivered by vehicles to a dumping location or point (not shown) at the zone 504k that is accessible via the commonly used tunnel. The mining environment 500 can have any suitable number of zones and it can have any configuration. [00120] First and second underground mining vehicles 506, 516, depicted respectively as M1 and M2, are shown as an example to operate in the mining environment 500 of FIGs. 5A-5F, and movements of these vehicles are coordinated using the method in accordance with aspects of the present disclosure.

[00121] As shown in FIG. 5A, the first vehicle 506, depicted as M1 , from the plurality of vehicles is assigned a first route 505 comprising a start point 507, an end point 509, and a first plurality of assigned zones 511 that are selected from the plurality of travel zones 502, to be traversed by the first vehicle 506 as the first vehicle 506 travels the first route 505 from the start point 507 to the end point 509. The first route 505 is a round-trip route from the start point 507 to a target 508 in the zone 504k, and back from the zone 504k to the start point 507 in the zone Z1 . The second vehicle 516, depicted as M2 is assigned a second route comprising a start point, an end point, and a second plurality of assigned zones that are selected from the plurality of travel zones 502. In FIGs. 5A-5F, the second route is a round-trip from the travel zone Z4 via the zones 504g, 504h, 504i, 504j to a target 520 at the travel zone 504k, and back from the travel zone 504k via the same zones to the travel zone Z4. In this examples, forward directions of the respective routes assigned to the first and second vehicles 506, 516 are the same.

[00122] As shown in FIG. 5A, it is announced that the first vehicle 506 is assigned zones Z1 , 504a- 504k, in both forward direction, as shown by thick lines 510a, 510b, and return direction, as shown by dashed lines 512a, 512b, 512c. It is also announced that the second vehicle 516 is assigned zones Z4, 504g-504k, in both forward direction, as shown by thick lines 518a, 518b, and return direction, as shown by dot-dashed lines 519a, 519b. The travel zone or drive Z1 is marked with a pattern of vertical lines, thereby schematically indicating that the zone Z1 is seized by the first vehicle 506 M1 . The travel zone or drive Z4 is marked with a pattern of horizonal lines, thereby schematically indicating that the zone Z4 is seized by the second vehicle 516 M2. In FIG. 5A, both the first and second vehicles 506, 516 are shown in their start point and they have not yet begin traveling the assigned routes. Numerical references shown in FIG. 5A apply to the same features shown in FIGs. 5B-5F, even though not all of the references are shown in the figures.

[00123] In FIG. 5B, the first vehicle 506 is shown to have traveled the zones Z1 and 504a, and it is currently traveling the zone 504b which is shown seized by the first vehicle 506. The zones Z1 and 504a have been released, and the announcements regarding these zones being assigned to the first vehicle 506 in the forward direction are removed, i.e. the thick arrow 510a extends from the zone 504b. The announcements regarding these zones being assigned to the first vehicle 506 in the reverse or return direction remain unchanged since the first vehicle 506 is yet to travel these zones in the return direction. The first vehicle 506 is approaching a next zone 503 comprising the zone 504c. The second vehicle 516 is shown to have moved to the zone 504g which is shown seized by the second vehicle 516. The announcement regarding the zone Z4 being assigned to the second vehicle 516 is removed, i.e. the thick arrow 518a extends from the zone 504g.

[00124] In FIG. 5C, the first vehicle 506 is shown to have traveled the zone 504b, and it is currently traveling the zone 504c which is shown seized by the first vehicle 506. The zones Z1 , 504a, and 504b have been released, and the announcements regarding these zones being assigned to the first vehicle 506 are removed, i.e. the thick arrow 510a extends from the zone 504c. The announcements regarding these zones being assigned to the first vehicle 506 in the return direction remain unchanged. The first vehicle 506 is approaching the next zone 503 comprising the zone 504d. The second vehicle 516 is shown in the zone 504g, in the same location as in FIG. 5B.

[00125] In FIG. 5D, the first vehicle M1 506 is shown to travel the zone 504f, at which point the next zone 503 which the first vehicle 506 is approaching is the zone 504g. However, the zone 504g is currently seized by the second vehicle M2 516. Moreover, there is an announcement overlap 525 for a block of zones comprising the zones 504g-504k which both the first and second vehicles 506, 516 intend to travel. As shown in FIG. 5D, the second vehicle 516 has seized the zones 504g-504k, and the first vehicle 506 is controlled to remain in its current position - zone 504f and to monitor for an indication of a status change of the block of zones. Because the second vehicle 516 needs access to the zones 504g, 504h, 504i, 504j when returning from the target 520 at the zone 504k to the zone Z4, the zones within the block with the announcement overlap 525 remain inaccessible, i.e. seized, to the first vehicle 506 until the second vehicle 516 has passed these zones in both directions.

[00126] FIG. 5E shows the second vehicle 516 in the zone 504j on the way back from the target 520 in the zone 504k, after the second vehicle 516 has reached the target 520. The announcements regarding the zone 504k being assigned to the second vehicle 516 are removed in both forward and return direction.

[00127] In FIG. 5F, the second vehicle 516 is shown to have traveled its assigned route such that it is currently in the zone Z4 which is shown to be seized by the second vehicle 516. Because the second vehicle 516 has completed the assigned route, its target 520 is not shown in FIG. 5F. Also, the announcements regarding blocks being assigned to the second vehicle 516 are removed in both the forward and return directions, such that there is no announcement overlap. It should be noted however that a vehicle in the mining environment 500, including the second vehicle 516, may repeatedly travel the same route, such that, for a next or any subsequent trip, the same route may be assigned to the second vehicle 516 after the second vehicle 516 has completed the currently assigned route.

[00128] As the zones 504g-504k in the block of zones comprising the next zone 504g are released by the second vehicle 516, the status of the block of zones changes, which is detected by the first vehicle 506 or by the traffic control system controlling the first vehicle 506. Thus, the first vehicle 506 can seize the next zone 504g and can travel this zone, as shown in FIG. 5F. The first vehicle 506 can now, as it travels to its target 508 in the zone 504k, seize and release the zones 504g-504k one by one, since there is no announcement regarding another vehicle intending to use these zones. The first vehicle 506 can thus continue its trip to the target 508 and back to the zone Z1 .

[00129] To perform the method steps of the method for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment described herein, the traffic control system 24 may be configured to perform the processing described in connection with FIGs. 2A and 2B, and/or any other examples or embodiments herein. The traffic control system 24 may, for example, comprise an arrangement as depicted in FIGs. 6A and 6B. The traffic control system 24 may be a central controller positioned separately from the vehicles that it is configured to control, e.g., a remote controller. In some examples, the traffic control system 24 may be positioned in the mining environment, e.g., it may be part of or associated with one of the vehicles in the mining environment. Regardless of its specific implementation, the traffic control system 24 is configured to communicate with, e.g., receive information from and send information and control commands to one or more vehicles out of a plurality of vehicles in the mining environment.

[00130] As shown in FIG. 6A, the traffic control system 24 comprises processing circuitry 660, memory 670, and an input and output interface 600 configured to communicate with any necessary components and/or entities of examples herein. The input and output interface 600 may comprise a wireless and/or wired receiver and a wireless and/or wired transmitter. In some examples, the input and output interface 600 may comprise a wireless and/or wired transceiver. The traffic control system 24 may use the input and output interface 600 to communicate with the vehicles in a mining environment, using a wireless communication network.

[00131] The method described herein may be implemented using processing circuitry, e.g., one or more processors, such as the processing circuitry 660 of the traffic control system 24, together with computer program code stored in a computer-readable storage medium for performing the functions and actions of the examples herein.

[00132] The memory 670 may comprise one or more memory units. The memory 670 comprises computer-executable instructions executable by the processing circuitry 660 of the traffic control system 24. The memory 670 is configured to store, e.g., information, data, etc., and the computer-executable instructions to perform, when executed by the processing circuitry 660, the methods in accordance with examples herein. The traffic control system 24 may additionally obtain information from an external memory. In some examples, the traffic control system 24 may obtain information from a cloud storage. [00133] The methods according to the aspects of the present disclosure may be implemented by e.g. a computer program product 680 or a computer program, comprising computer-executable instructions, i.e., software code portions, which, when executed on at least one processor, e.g., the processing circuitry 660, cause the processing circuitry to perform the actions described herein, as performed by the traffic control system 24.

[00134] In some examples, the computer program product 680 is stored on a computer-readable storage medium 690. The computer-readable storage medium 690 may be, e.g., a disc, a universal serial bus (USB) stick, or a similar device. The computer-readable storage medium 690, having stored thereon the computer program product, may comprise computer-executable instructions which, when executed on at least one processor, e.g., the processing circuitry 660, cause the processing circuitry to perform the actions of the methods in accordance with examples of the present disclosure described herein, as performed by the traffic control system 24.

[00135] As shown in FIG. 6B, the traffic control system 24 may comprise an assignment unit 602. The traffic control system 24, the processing circuitry 660, and/or the assignment unit 602 may be configured to assign one or more routes to the one or more vehicles out of the plurality of vehicles, each route comprising assigned zones selected from the plurality of travel zones. A first vehicle from the plurality of vehicles, e.g., the first vehicle 106 as shown in FIGs. 3A-3I and 4A-4C or the first vehicle 506 shown in FIGs. 5A-5F or any other vehicle, is assigned a first route comprising a start point, an end point, and a first plurality of assigned zones that are selected from the plurality of travel zones, to be traversed by the first vehicle as the first vehicle travels the first route from the start point to the end point.

[00136] As further shown in FIG. 6B, the traffic control system 24 may comprise an announcing unit 604. The traffic control system 24, the processing circuitry 660, and/or the announcing unit 604 are configured to announce that the first plurality of assigned zones of the first route are assigned to the first vehicle.

[00137] As further shown in FIG. 6B, the traffic control system 24 may comprise a determining unit 606. The traffic control system 24, the processing circuitry 660, and/or the determining unit 606 are configured to, responsive to the first vehicle approaching a next zone included in the first route and not currently seized by the first vehicle, determine whether the next zone has been indicated as being currently seized by another vehicle from the plurality of vehicles. The traffic control system 24, the processing circuitry 660, and/or the determining unit 606 are also configured to, responsive to determining that the next zone has not been indicated as being currently seized by another vehicle, determine whether it has been announced that the next zone is assigned to a second vehicle from the plurality of vehicles. The second vehicle may be e.g., the second vehicle 116 as shown in FIGs. 3A-3I and 4A-4C, or the second vehicle 516 shown in FIGs. 5A-5F, or any other vehicle.

[00138] As also shown in FIG. 6B, the traffic control system 24 may comprise a seizing unit 608. The traffic control system 24, the processing circuitry 660, and/or the seizing unit 608 are configured to responsive to determining that it has not been announced that the next zone is assigned to the second vehicle, seize the next zone for the first vehicle and control the first vehicle to travel the next zone. [00139] As also shown in FIG. 6B, the traffic control system 24 may comprise a controlling unit 610. The traffic control system 24, the processing circuitry 660, and/or the controlling unit 610 are configured to, responsive to determining that it has been announced that the next zone is assigned to the second vehicle, such that an announcement overlap occurs for the next zone, control the first vehicle to either remain at a current position or to begin traveling a block of zones comprising the next zone, in dependence on a result of determining whether it is possible for the first vehicle to seize the block of zones comprising the next zone.

[00140] The traffic control system 24, the processing circuitry 660, and/or the controlling unit 610 are configured to control the first vehicle in the mining environment by e.g. sending commands to the first vehicle such that the first vehicle obtains these commands.

[00141] The traffic control system 24, the processing circuitry 660, and/or the determining unit 606 may be configured to determine whether it is possible for the first vehicle to seize the block of zones comprising the next zone. In some examples, the determining of whether it is possible for the first vehicle to seize the block of zones comprises using a first priority level assigned to the first vehicle and a second priority level assigned the second vehicle, and the traffic control system 24, the processing circuitry 660, and/or the determining unit 606 may be configured to, when the first priority level is lower than the second priority level, determine that it is not possible for the first vehicle to seize the block of zones.

[00142] The traffic control system 24, the processing circuitry 660, and/or the controlling unit 610 may be configured to, responsive to determining that the next zone is indicated as being currently seized by another vehicle, control the first vehicle to remain at the current position and monitor for an indication of a status change of the next zone, wherein the indication of a status change of the next zone comprises a release of the next zone by the another, and wherein the next zone is released by removing an indication that the another vehicle had seized the next zone such that the next zone is allocated to the another vehicle.

[00143] The traffic control system 24, the processing circuitry 660, and/or the announcing unit 604 may be configured to, responsive to determining that it is possible for the first vehicle to seize the block of zones, indicate that the block of zones is currently seized by the first vehicle and control the first vehicle to begin traveling along the block of zones.

[00144] The traffic control system 24, the processing circuitry 660, and/or the controlling unit 610 may be configured to, responsive to determining that it is not possible for the first vehicle to seize the block of zones, control the first vehicle to remain at the current position and monitor for an indication of a status change of the block of zones, wherein the indication of a status change of the block of zones comprises a release of at least the next zone by the second vehicle, wherein the next zone is released by removing an indication that the second vehicle had seized the next zone.

[00145] The monitoring may be performed by a separate unit, e.g, a monitoring unit 612. Accordingly, the traffic control system 24, the processing circuitry 660, and/or the monitoring unit 612 may be configured to monitor for an indication of a status change of the next zone, wherein the indication of a status change of the next zone comprises a release of the next zone by the another. The next zone is released by removing an indication that the another vehicle had seized the next zone, the indication indicating that the next zone is allocated for use by the another vehicle. The traffic control system 24, the processing circuitry 660, and/or the monitoring unit 612 may be configured to monitor for an indication of a status change of the block of zones, wherein the indication of a status change of the block of zones comprises a release of at least the next zone by the second vehicle, wherein the next zone is released by removing an indication that the second vehicle had seized the next zone. The indication is indicating that the next zone is allocated for use by the second vehicle.

[00146] Those skilled in the art will appreciate that the units of the traffic control system 24 described above may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g., stored in the traffic control system 24, that, when executed by the respective one or more processors, may perform the methods in accordance with embodiments of the present disclosure. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip.

[00147] FIG. 7 illustrates a schematic example of an underground mining vehicle 706 comprising processing circuity and configured to be controlled by a traffic control system for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment. The underground mining vehicle 706 may be, for example, the first vehicle 106 shown in FIGs. 3A-3I and 4A-4C, or the first vehicle 506 shown in FIGs. 5A-5F. The underground mining vehicle 706 may be any other vehicle, including vehicles described herein as second vehicles, such as the second vehicle 116 shown in FIGs. 3A-3I and 4A-4C, or the second vehicle 516 shown in FIGs. 5A-5F. The underground mining vehicle 706 may be any of the vehicles 50 shown in FIG. 1 B.

[00148] As shown in FIG. 7, the underground mining vehicle 706 comprises processing circuitry 760, memory 770, and an input and output interface 700 configured to communicate with any necessary components and/or entities of examples herein. The input and output interface 700 may comprise a wireless and/or wired receiver and a wireless and/or wired transmitter. In some examples, the input and output interface 700 may comprise a wireless and/or wired transceiver. The underground mining vehicle 706 may use the input and output interface 700 to communicate with a traffic control system and in some cases in other vehicles in the mining environment, using e.g. a wireless communication network. The underground mining vehicle 706 comprises various other components, not described herein.

[00149] The memory 770 of the underground mining vehicle 706 may comprise one or more memory units. The memory 770 comprises computer-executable instructions executable by the processing circuitry 760 of the underground mining vehicle 706. The memory 770 is configured to store, e.g., information, data, etc., and the computer-executable instructions that are executable, by the processing circuitry 760, to allow the underground mining vehicle 706 be controlled by the traffic control system using the methods in accordance with examples herein. The memory 770 may additionally obtain information from an external memory.

[00150] The processing circuity 760 is configured to obtain an assignment of a first route from the traffic control system, the first route comprising a start point, an end point, and a first plurality of assigned zones that are selected from the plurality of travel zones and to be traversed by the vehicle as the vehicle travels the first route from the start point to the end point.

[00151] The processing circuity 760 is also configured to announce that the first plurality of assigned zones of the first route are assigned to the vehicle 706. In some examples, the announcement may be performed on behalf of the underground mining vehicle 706, e.g., by the traffic control system 24.

[00152] The processing circuity 760 is also configured to, as the vehicle 706 is approaching a next zone included in the first route and not currently seized by the vehicle, obtain a command for the vehicle to seize the next zone and travel the next zone, when the next zone has not been indicated as being currently seized by another vehicle from the plurality of vehicles and when it has not been announced that the next zone is assigned to a second vehicle from the plurality of vehicles, and cause the vehicle 706 to begin traveling the next zone. The processing circuity 760 may also be configured to obtain a command for the vehicle 706 to remain at a current position or to begin traveling a block of zones comprising the next zone in dependence on whether it is possible for the vehicle to seize the block of zones when it has been announced that the next zone is assigned to the second vehicle, and cause the vehicle to remain at the current position or to begin traveling the block of zones.

[00153] The underground mining vehicle 706 may be controlled to move in a manner coordinated in accordance with movements of other vehicles in the mining environment in which the underground mining vehicle 706 is operating, using the method as described in connection with FIGs. 2A and 2B, and illustrated in FIGs. 3A-3I and 4A-4C, and additionally in FIGs. 5A-5F.

[00154] In some examples, the underground mining vehicle 706 is controlled by a control system or a central controller, e.g. traffic control system 24. In some examples, the underground mining vehicle 706 may perform some of the processing performed by the traffic control system 24, as described, e.g. in FIGs. 2A and 2B. In some examples, the underground mining vehicle 706 may perform all of the processing performed by the traffic control system 24, as described, e.g. in FIGs. 2A and 2B.

[00155] The operational steps described in any of the exemplary aspects herein are described to provide examples and discussion. The steps may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the steps, or may be performed by a combination of hardware and software. Although a specific order of method steps may be shown or described, the order of the steps may differ. In addition, two or more steps may be performed concurrently or with partial concurrence.

[00156] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a,” "an,” and "the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and/or” includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises,” "comprising,” "includes,” and/or "including” when used herein specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

[00157] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[00158] Relative terms such as "below” or "above” or "upper” or "lower” may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected” or "coupled” to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected” or "directly coupled” to another element, there are no intervening elements present.

[00159] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[00160] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the inventive concepts being set forth in the following claims.

Claims

CLAIMS What is claimed is:

1 . A computer-implemented method for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment (100) comprising a plurality of travel zones (102), the method comprising: assigning (202) one or more routes to the one or more vehicles out of the plurality of vehicles, each route comprising assigned zones selected from the plurality of travel zones (102), wherein a first vehicle (106) from the plurality of vehicles is assigned a first route (105) comprising a start point (107), an end point (109), and a first plurality of assigned zones (111) that are selected from the plurality of travel zones (102), to be traversed by the first vehicle (106) as the first vehicle travels the first route from the start point to the end point; announcing (203) that the first plurality of assigned zones of the first route are assigned to the first vehicle; responsive to the first vehicle approaching a next zone (105) included in the first route (105) and not currently seized by the first vehicle, determining (206) whether the next zone has been indicated as being currently seized by another vehicle from the plurality of vehicles; responsive to determining that the next zone (103) has not been indicated as being currently seized by another vehicle, determining (208) whether it has been announced that the next zone is assigned to a second vehicle (116) from the plurality of vehicles; responsive to determining that it has not been announced that the next zone (103) is assigned to the second vehicle (116), seizing (215) the next zone for the first vehicle and controlling the first vehicle to travel the next zone; and responsive to determining that it has been announced that the next zone (103) is assigned to the second vehicle, such that an announcement overlap occurs for the next zone, controlling (219) the first vehicle to either remain at a current position or to begin traveling a block of zones of the first plurality of assigned zones comprising the next zone, in dependence on a result of determining (218) whether it is possible for the first vehicle to seize the block of zones comprising the next zone.

2. The method according to claim 1 , further comprising, responsive to determining that the next zone is indicated as being currently seized by another vehicle, controlling (210) the first vehicle to remain at the current position, and monitoring (212) for an indication of a status change of the next zone, wherein the indication of a status change of the next zone comprises an indication of a release of the next zone by the another vehicle, and wherein the next zone is released by removing an indication that the another vehicle had seized the next zone.

3. The method according to any one of the claims 1-2, wherein determining of whether it is possible for the first vehicle to seize the block of zones comprises using a first priority level assigned to the first vehicle and a second priority level assigned the second vehicle, the method further comprising when the first priority level is lower than the second priority level, determining that it is not possible for the first vehicle to seize the block of zones, and when the first priority level is higher than the second priority level, determining that it is possible for the first vehicle to seize the block of zones and seizing the block of zones for the first vehicle.

4. The method according to any one of the claims 1-3, further comprising, responsive to determining that it is possible for the first vehicle to seize the block of zones, seizing (220) the block of zones and controlling (222) the first vehicle to begin traveling the block of zones.

5. The method according to any one of the claims 1-4, further comprising, responsive to determining that it is not possible for the first vehicle to seize the block of zones, controlling (224) the first vehicle to remain at the current position, and monitoring (226) for an indication of a status change of the block of zones, wherein the indication of a status change of the block of zones comprises a release of at least the next zone by the second vehicle, wherein the next zone is released by removing an indication that the second vehicle had seized the next zone.

6. The method according to any one of the preceding claims, wherein the announcing (203) that the first plurality of assigned zones of the first route are assigned to the first vehicle comprises generating an announcement indicating that the first vehicle intends to travel the first plurality of assigned zones.

7. The method according to any one of the preceding claims, wherein the next zone of the first plurality of assigned zones is seized for the first vehicle by generating an indication indicating that the next zone is allocated for use by the first vehicle, and wherein the next zone is released by the first vehicle by removing the indication that the next zone is allocated for use by the first vehicle.

8. A computer program product comprising computer-executable instructions which, when executed by processing circuitry, cause the processing circuitry to perform actions according to any one of claims 1- 7.

9. A traffic control system (24) comprising processing circuitry for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment (100) comprising a plurality of travel zones (102), the processing circuitry being configured to: assign one or more routes to the one or more vehicles out of the plurality of vehicles, each route comprising assigned zones selected from the plurality of travel zones (102), wherein a first vehicle (106) from the plurality of vehicles is assigned a first route (105) comprising a start point (107), an end point (109), and a first plurality of assigned zones (111) that are selected from the plurality of travel zones (102), to be traversed by the first vehicle as the first vehicle travels the first route from the start point to the end point; announce that the first plurality of assigned zones of the first route are assigned to the first vehicle; responsive to the first vehicle approaching a next zone (103) included in the first route and not currently seized by the first vehicle, determine whether the next zone has been indicated as being currently seized by another vehicle from the plurality of vehicles; responsive to determining that the next zone has not been indicated as being currently seized by another vehicle, determine whether it has been announced that the next zone is assigned to a second vehicle (116) from the plurality of vehicles; responsive to determining that it has not been announced that the next zone is assigned to the second vehicle, seize the next zone for the first vehicle and control the first vehicle to travel the next zone; and responsive to determining that it has been announced that the next zone is assigned to the second vehicle, such that an announcement overlap occurs for the next zone, control the first vehicle to either remain at a current position or to begin traveling a block of zones comprising the next zone, in dependence on a result of determining whether it is possible for the first vehicle to seize the block of zones comprising the next zone.

10. The traffic control system (24) according to claim 9, wherein the processing circuitry is further configured to, responsive to determining that the next zone is indicated as being currently seized by another vehicle, control the first vehicle to remain at the current position and monitor for an indication of a status change of the next zone, wherein the indication of a status change of the next zone comprises a release of the next zone by the another, and wherein the next zone is released by removing an indication that the another vehicle had seized the next zone.

11. The traffic control system (24) according to any one of claims 9-10, wherein the determining of whether it is possible for the first vehicle to seize the block of zones comprises using a first priority level assigned to the first vehicle and a second priority level assigned the second vehicle, the processing circuitry is further configured to, when the first priority level is lower than the second priority level, determine that it is not possible for the first vehicle to seize the block of zones.

12. The traffic control system (24) according to any one of claims 9-11 , wherein the processing circuitry is further configured to, responsive to determining that it is possible for the first vehicle to seize the block of zones, seize the block of zones for first vehicle and control the first vehicle to begin traveling along the block of zones.

13. The traffic control system (24) according to any one of claims 9-12, wherein the processing circuitry is further configured to, responsive to determining that it is not possible for the first vehicle to seize the block of zones, control the first vehicle to remain at the current position and monitor for an indication of a status change of the block of zones, wherein the indication of a status change of the block of zones comprises a release of at least the next zone by the second vehicle, wherein the next zone is released by removing an indication that the second vehicle had seized the next zone.

14. The traffic control system (24) according to any one of claims 9-13, wherein the announcing that the first plurality of assigned zones of the first route are assigned to the first vehicle comprises generating an announcement indicating that the first vehicle intends to travel the first plurality of assigned zones.

15. An underground mining vehicle (706) comprising processing circuity (760) and configured to be controlled by a traffic control system (24) for coordinating movements of one or more vehicles out of a plurality of vehicles in a mining environment (100) comprising a plurality of travel zones (102), the processing circuitry being configured to: obtain an assignment of a first route from the traffic control system, the first route comprising a start point, an end point, and a first plurality of assigned zones that are selected from the plurality of travel zones and to be traversed by the vehicle as the vehicle travels the first route from the start point to the end point; announce that the first plurality of assigned zones of the first route are assigned to the vehicle; as the vehicle is approaching a next zone included in the first route and not currently seized by the vehicle, obtain a command for the vehicle to seize the next zone and travel the next zone, when the next zone has not been indicated as being currently seized by another vehicle from the plurality of vehicles and when it has not been announced that the next zone is assigned to a second vehicle from the plurality of vehicles, and cause the vehicle to begin traveling the next zone; and obtain a command for the vehicle to remain at a current position or to begin traveling a block of zones comprising the next zone in dependence on whether it is possible for the vehicle to seize the block of zones when it has been announced that the next zone is assigned to the second vehicle, and cause the vehicle to remain at the current position or to begin traveling the block of zones.