WO2015187081A1 - Système de sécurité pour le fonctionnement automatisé de véhicules miniers et procédé pour un tel système de sécurité - Google Patents

Système de sécurité pour le fonctionnement automatisé de véhicules miniers et procédé pour un tel système de sécurité Download PDF

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Publication number
WO2015187081A1
WO2015187081A1 PCT/SE2015/050627 SE2015050627W WO2015187081A1 WO 2015187081 A1 WO2015187081 A1 WO 2015187081A1 SE 2015050627 W SE2015050627 W SE 2015050627W WO 2015187081 A1 WO2015187081 A1 WO 2015187081A1
Authority
WO
WIPO (PCT)
Prior art keywords
barrier
control unit
safety
safety zone
safety system
Prior art date
Application number
PCT/SE2015/050627
Other languages
English (en)
Inventor
Richard Hendeberg
Original Assignee
Atlas Copco Rock Drills Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Atlas Copco Rock Drills Ab filed Critical Atlas Copco Rock Drills Ab
Priority to CA2949360A priority Critical patent/CA2949360C/fr
Priority to AU2015268954A priority patent/AU2015268954B2/en
Publication of WO2015187081A1 publication Critical patent/WO2015187081A1/fr
Priority to ZA2016/07812A priority patent/ZA201607812B/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2054—Fleet management
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/05—Specific applications of the controlled vehicles for soil shifting, building, civil engineering or mining, e.g. excavators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present invention relates to a safety system for automated operation of mining vehicles within a work area.
  • the invention also relates to a method for such a safety system, a mining vehicle, a computer program associated with such a safety system and a computer program product.
  • safety systems with barriers in order to create safe areas in which vehicles are operated remotely controlled or autonomously.
  • Such safety systems comprise separate programs for each safe area and are configured such that each vehicle is connected to a specific area.
  • a barrier which defines a safe area When a barrier which defines a safe area is crossed, all vehicles connected to that area are stopped. In the case where the safe area is large and/or a large number of vehicles are connected to the area, this may cause major disruptions in production resulting in production losses.
  • These safety systems also means that vehicles cannot be moved between different safe areas without reconfiguration of the safety system or without downloading a new program to the safety system, so that the vehicle is connected to the next safe area. This is time consuming and affects the availability of the vehicles negatively.
  • Document EP 1616077 discloses a system and a method for passage of unmanned vehicles between a large work area, in which the vehicles are operated unmanned, and a manual area outside the work area.
  • An access station is formed between two physical gates, to which access station the vehicle is driven.
  • One gate is always kept closed.
  • Safe sections within the work area may also be formed by gates, in which safe sections manual work is performed.
  • the unmanned vehicles are prevented access to the safe sections by the gates.
  • the gates that limit the safe sections can be remotely controlled.
  • An object of the present invention is to provide a safety system for automated operation of mining vehicles, which is safe and which minimizes the risk of accidents with automated mining vehicles involved.
  • Another object of the invention is to provide a safety system for automated operation of mining vehicles, which is flexible and user-friendly.
  • Yet another object of the invention is to provide a safety system for automated operation of mining vehicles, which results in high availability of the mining vehicles and high production.
  • a further object of the invention is to provide a new and advantageous method for a safety system for automated operation of mining vehicles.
  • a further object of the invention is to provide a method for a safety system for automated operation of mining vehicles, which is flexible, efficient and user- friendly.
  • a safety system for automated operation of at least one mining vehicle within a work area comprising at least one remote control unit, a main control unit, a plurality of barrier control units for controlling barriers, and one vehicle control unit arranged at the mining vehicle, wherein the at least one remote control unit, the barrier control units and the vehicle control unit are arranged in signal connection with the main control unit.
  • the safety system is configured such that safety zones for automated operation of mining vehicles may be defined within the work area via an interface, wherein each safety zone is associated with barrier control units arranged at all entrances to the respective safety zone and an identification key, with which the at least one mining vehicle can be checked ⁇ in for automated operation in the respective safety zone and/or checked-out from the respective safety zone, without reconfiguration of the safety system.
  • the safety system is suitably adapted for a vehicle fleet comprising x mining vehicles, where x is an arbitrary number.
  • a vehicle control unit is arranged at each mining vehicle, whereby the safety system comprises as many vehicle control units as mining vehicles.
  • the safety system preferably comprises x vehicle control units.
  • the vehicle control units at the mining vehicles are then identically configured and the mining vehicles are thus not in advance connected to any specific safety zone. This means that all mining vehicles can be used in all safety zones without having to reconfigure the safety system and without having to install new programs in the safety system.
  • n safety zones may be defined within the work area, where n is an arbitrary number.
  • the mining vehicle may for example be a loader, a dumper, a rock drilling rig, a transport vehicle or another type of vehicle for mining.
  • the work area may be an area in a mine below or above ground level.
  • the work area may be a plurality of areas in a mine, which areas have a network connection with each other.
  • Automated operation herein means remotely controlled operation, autonomous operation or unmanned operation.
  • An automated mining vehicle is thus a mining vehicle which is operated remotely controlled, autonomously or unmanned.
  • a barrier control unit is arranged at each entrance to control at least one barrier.
  • the safety system preferably comprises y barrier control units, where y is an arbitrary number.
  • the barriers at each safety zone delimits the respective safety zone from a manual zone and are arranged for the purpose of preventing automated mining vehicles from leaving a safety zone and unauthorized objects from entering into a safety zone.
  • a safety zone is activated when all barriers at all entrances to the safety zone are activated.
  • the barrier control units are preferably arranged in control cabinets, which in turn are arranged at each entrance of the respective safety zone.
  • the barrier control units are connected to the main control unit via a network.
  • the barriers controlled by the barrier control units are electronic barriers.
  • the barriers are thus of non- physical nature.
  • the barriers may for example consist of light gates, rotating lasers, magnetic sensors, or any other form of sensor that senses an object breaking the barrier.
  • barriers may easily be added to and/or removed from the safety system.
  • the safety system is arranged to immediately affect operation of all mining vehicles in a safety zone, when at least one barrier in said safety zone is crossed.
  • the mining vehicles in a safety zone are suitably set in a safe state when at least one barrier at the safety zone is crossed.
  • the barrier control unit connected to said barrier reacts and sends a signal to the main control unit.
  • the main control unit subsequently sends commands to the vehicle control units which are connected to the specific safety zone through check in, which vehicle control units control the respective mining vehicle such that they are set in a safe state.
  • a safe state may for example mean that the mining vehicle is stopped, that the engine of the mining vehicle is switched off or that movable components of the mining vehicle are stopped.
  • each barrier control unit is arranged to control an outer barrier and an inner barrier at each entrance to the respective safety zone.
  • the outer barrier is adjacent the manual zone and the inner barrier is adjacent the safety zone.
  • three or more barriers are arranged at each entrance to a safety zone.
  • the outer barrier and the inner barrier are suitably arranged, such that a mining vehicle can fit between them.
  • the space between the outer barrier and the inner barrier thereby acts as additional safety in case a barrier is crossed. If a mining vehicle crosses the inner barrier in a direction out from the safety zone, the space means that there is time to stop the mining vehicle before the outer barrier is crossed, and it is thereby ensured that an automated mining vehicle is not operated in the manual zone. All automated mining vehicles in the safety zone are similarly set in a safe state if an unauthorized object crosses the outer barrier in a direction towards the safety zone. It is thereby ensured that the automated mining vehicles do not present a risk when/if the unauthorized object crosses the inner barrier and is inside the safety zone.
  • a safety zone may also comprise passive barriers which may be activated if needed, for example in order to divide a safety zone into smaller subzones. That may for example be advantageous if a need to perform manual work inside a safety zone arises.
  • the passive barriers may then be activated and delimit a protected manual area and thus ensure that unmanned mining vehicles are not operated among people and/or manually operated vehicles.
  • the passive barriers may be activated/deactivated via the interface.
  • the safety system is adapted not to affect the operation of the rest of the mining vehicles in said safety zone. This way, the production is not unnecessarily affected and the production losses are minimized.
  • the safety system is alternatively adapted to control the mining vehicles in a safety zone such that they are operated with a reduced speed during check in and/or check out of a mining vehicle in the safety zone.
  • the respective safety zone has at least one primary entrance at which a barrier control unit is arranged outside the barriers controlled by the barrier control unit and thus outside the safety zone.
  • a control cabinet comprising a barrier control unit associated with the respective safety zone is suitably arranged outside the barriers controlled by the barrier control unit and thus in the manual zone, at the primary entrance of the respective safety zone.
  • the rest of the entrances to a safety zone suitably each has a barrier control unit arranged on the inner side of the barriers controlled by the barrier control unit, inside the safety zone.
  • These entrances constitute secondary entrances.
  • the primary entrance preferably has an outer and an inner barrier.
  • the secondary entrances may have one or more barriers.
  • all barriers at the secondary entrances must first be activated, thereafter the barriers at the primary entrance can be activated. This is suitably performed by an operator walking through the deactivated safety zone and successively activating the barriers at the secondary entrances, where the control cabinets with the barrier control units are arranged on the inner side of the barriers. The operator thereafter walks out through the primary entrance, out from the safety zone, to the barrier control unit arranged outside the safety zone and activates the barriers at the primary entrance. If a barrier at a secondary entrance is not activated, the barrier at the primary entrance cannot be activated. This way is ensured that no unauthorized objects are present in the safety zone when it is activated.
  • the identification key comprises a binary code.
  • the identification key suitably consists of a contact, wherein the different pins of the contact forms the binary code.
  • the identification key alternatively consists of an electronic card which can be read by a reader in the mining vehicle.
  • the identification key is suitably placed in a control cabin comprising the barrier control unit, arranged at the primary entrance of the safety zone.
  • the identification key is suitably arranged, such that the barrier control unit detects when the identification key is removed from its position.
  • the at least one remote control unit is arranged distantly from the work area and is managed by a remote operator.
  • the remote control unit is suitably arranged in a control room above ground.
  • the work area is suitably underground.
  • the safety system may comprise a plurality of remote control units arranged in the same control room, or a plurality of remote control units arranged in different control rooms.
  • the safety system preferably comprises z remote control units, where z is an arbitrary number. By using a plurality of remote control units, a plurality of remote operators can monitor and affect the safety system from different locations.
  • the remote control units are connected to the main control unit via a network.
  • An interface through which safety zones may be defined is provided in connection with the respective remote control unit in the respective control room.
  • the interface may be presented on a panel or display.
  • An emergency stop device is arranged in connection with the respective remote control unit and thus in connection with the main control unit.
  • the emergency stop device may consist of a central manoeuvring device which is connected to all safety zones and mining vehicles within the work area via the main control unit. A remote operator may thus in an easy way stop all vehicles within the work area in case a hazardous situation is identified.
  • the emergency stop device may consist of a plurality of individual emergency stop manoeuvring devices connected to each safety zone, wherein a remote operator easily can stop all mining vehicles within a certain safety zone at the risk of danger.
  • the emergency stop device consists of both a central manoeuvring device and individual emergency stop manoeuvring devices connected to the safety zones.
  • a reset manoeuvring device is also arranged in connection with the respective remote control unit, for resetting the safety system after use of an emergency stop device.
  • the safety zones consist of tunnels.
  • a safety zone consists of a part of a tunnel, or a plurality of tunnels.
  • the main control unit is arranged within the work area and is managed by an operator in the work area.
  • the main control unit is suitably arranged in a main cabinet, which in turn is arranged in the manual zone of the work area.
  • An interface, through which the safety zones may be defined, is suitably provided in connection to the main control unit in the main cabinet.
  • the interface may be presented on a panel or display.
  • the vehicle control unit is adapted to control functions such as brake action, start/stop of engine, fuel supply, steering, drilling, bolting, loading and unloading. This way is ensured that the mining vehicles can be set in a safe state when a barrier is crossed.
  • a method for a safety system for automated operation of at least one mining vehicle within a work area comprising at least one remote control unit, a main control unit, a plurality of barrier control units for controlling barriers and a vehicle control unit arranged at the vehicle, wherein the at least one remote control unit, the barrier control units and the vehicle control unit are arranged in signal connection with the main control unit, wherein the method comprises the steps to: - define at least one safety zone via an interface of the safety system; and
  • a hardware base comprising one or more remote control units, a main control unit, a plurality of barrier control units and vehicle control units arranged at the mining vehicles.
  • the step to check in the mining vehicle comprises the steps to:
  • an operator suitably manually operates the mining vehicle to be checked-in, to the primary entrance of the current safety zone.
  • the operator suitably stops the mining vehicle in front of the outer barrier at the primary entrance.
  • the outer barrier and the inner barrier are activated.
  • the mining vehicle is not allowed to cross the outer and the inner barrier, for example by a red traffic light.
  • the operator thereafter takes the identification key located in a control cabinet in which the barrier control unit is arranged.
  • the identification key is further applied in the mining vehicle, wherein the mining vehicle and its vehicle control unit are connected to the safety zone and the check in process is started.
  • the operator is preferably allocated a certain amount of time from when the identification key is removed from the control cabinet until it should be applied in the mining vehicle. If the time is exceeded the operator must return the identification key to the control cabinet, actuate the reset manoeuvring device and start over.
  • the outer barrier is deactivated and the operator can manually operate the mining vehicle to a position between the outer barrier and an inner barrier, and turn off the engine.
  • the fact that the outer barrier is deactivated and that it is allowed to operate the mining vehicle may be visualized for the operator by means of a green traffic light.
  • the operator thereafter sets the mining vehicle in an automated mode and removes the identification key from the mining vehicle and returns it to the control cabinet and the barrier control unit. The outer barrier is thereby activated.
  • the mining vehicle In order to achieve automated operation of the mining vehicle, verification that the mining vehicle is authorized for operation in the safety zone is required. This is suitably achieved by a remote operator verifying via the interface that the mining vehicle should be operated in the specific safety zone.
  • the remote operator may thereafter activate the mining vehicle for automated operation by starting the engine of the mining vehicle.
  • the operator in the manual zone of the work area deactivates the inner barrier, wherein the remote operator can remotely control the mining vehicle into the safety zone.
  • the operator suitably deactivates the inner barrier by turning a knob or manoeuvring device in the control cabinet. As long as the manoeuvring device is turned, the inner barrier is deactivated.
  • the inner barrier is finally activated, suitably by the operator releasing the knob.
  • the mining vehicle is thereby checked-in for automated operation in the safety zone, without having to reconfigure the safety system. If the operator should release the knob such that the inner barrier is activated before the mining vehicle has crossed the inner barrier, all mining vehicles in the safety zone are set in a safe state.
  • the method further comprises the step to; when at least one barrier of the safety zone is crossed
  • the method further comprises the step to:
  • the step to check out the mining vehicle comprises the steps to:
  • the remote operator suitably remotely controls the mining vehicle to the inner barrier at the primary entrance, after which the operator in the manual zone deactivates the inner barrier.
  • the inner barrier is preferably deactivated by the operator turning a knob in the control cabinet, in which the barrier control unit at the primary entrance of the safety zone is arranged.
  • the mining vehicle is thereafter operated to a position between the inner barrier and the outer barrier.
  • the operator then activates the inner barrier, suitably by releasing the knob. Should the operator release the knob before the mining vehicle has crossed the inner barrier, the inner barrier is activated and the mining vehicle is set in a safe state.
  • the remote operator may also verify the checkout via the interface.
  • the mining vehicle is thereby turned off, checked-out from the safety system and is no longer connected to the safety zone.
  • the operator deactivates the outer barrier by turning another knob which results in that the outer barrier is maintained deactivated during a predetermined period of time.
  • the outer barrier is suitably maintained deactivated during 45-85 seconds, preferably 60 seconds.
  • the operator can cross the outer barrier in to the mining vehicle, set the mining vehicle in a manual mode and operate the mining vehicle manually out from the safety zone.
  • the outer barrier is activated and the safety zone is activated.
  • the outer barrier is maintained activated during an indefinite period of time, until the operator has operated the mining vehicle out from the safety zone and manually activates the outer barrier.
  • a computer program at a safety system comprises program code to cause an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of the claims 14-18.
  • a computer program at a safety system comprises program code to cause an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of the claims 14-18, when said program code is run on said control unit or said computer.
  • a computer program at a safety system comprises program code stored on a computer-readable medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of claims 14-18.
  • computer program at a safety system comprising program code stored on a computer-readable medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of claims 14-18, when said program code is run on said control unit or said computer.
  • a computer program product comprising a program code stored on a computer-readable medium to perform the method steps according to any of the claims 14-18, when said computer program is run on an electronic control units or another computer connected to the electronic control unit.
  • a computer program product comprising a program code non-volatile stored on a computer- readable medium to perform the method steps according to any of the claims 14-18, when said computer program is run on an electronic control units or another computer connected to the electronic control unit.
  • Figure 2 schematically illustrates a work area with a safety system according to an embodiment of the invention
  • Figure 3a schematically illustrates a flow chart of a method according to an embodiment of the invention
  • Figure 3b in further detail schematically illustrates a flow chart of a method, according to an embodiment of the invention.
  • Figure 4 schematically illustrates a computer, according an embodiment of the present invention.
  • FIG. 1 schematically illustrates a safety system 100 for automated operation of at least a mining vehicle 1 within a work area 10 according to an embodiment of the present invention.
  • the work area 10 may comprise several areas in a mine, as long as there is a network connection between the areas.
  • the safety system 100 comprises at least one remote control unit 1 10i-1 10 z , a main control unit 120, a plurality of barrier control units 130r 130 y for control of barriers 135', 135" and a vehicle control unit 140i-140 x arranged in the mining vehicle 1 .
  • the safety system 100 is suitably adapted for automated operation of a fleet of vehicles comprising x mining vehicles 1 , whereby the safety system 100 comprises x vehicle control units 140i-140 x , where x is an arbitrary number.
  • the safety system 100 suitably comprises y barrier control units 130i-130 y , where y is an arbitrary number.
  • the safety system 100 suitably comprises z remote control units 1 10i-1 10 z arranged either in one control room or in different control rooms, where z is an arbitrary number.
  • the remote control units 1 10I-1 10 Zj the barrier control units 130r 130 y and the vehicle control units 140i-140 x are arranged in signal connection with the main control unit 120.
  • the remote control units 1 10i-1 10 z and the barrier control units 130r130 y are connected to the main control unit 120 via a network.
  • the vehicle control units 140i-140 x are connected to the main control unit 120 via a wireless connection.
  • the vehicle control units 140i- 0 x of the respective mining vehicle 1 suitably controls functions of the mining vehicle 1 , such as starting and stopping the engine, fuel supply, braking action, steering, drilling, loading, dumping, and similar.
  • the safety system 100 is configured such that a number of safety zones Sr S n can be defined within the work area 10 through an interface (not shown).
  • n safety zones Si-S n may be defined within the work area 10, where n is an arbitrary number.
  • n is an arbitrary number.
  • For each safety zone Si-S n is associated a certain number of barrier control units 1301 -130y of the barrier control units 130i-130 y available in the safety system 100.
  • the safety zones Si-S n are thus not permanently defined in the safety system 100, but can easily be changed via the interface.
  • the vehicle control units 140i-140 x and thus the mining vehicles 1 are neither systemicaliy permanently connected to a specific safety zone SrS n .
  • the vehicle control units 140i-140 x of the safety system 100 are on the contrary identically configured and this way all mining vehicles 1 in the work area 10 can be used in ail safety zones Si-S n without having to reconfigure the safety system 100 or having to install new software. This increases the flexibility and availability of mining vehicles 1 , which means increased productivity. Should a mining vehicle 1 in a safety zone Si- S n break can any other mining vehicle 1 in the work area 10 quickly replace the broken mining vehicle 1 . In order for the safety system 100 to function as desired and in order to achieve automated operation of a mining vehicle 1 in a safety zone S-rS n , the mining vehicle 1 must be checked-in in the safety zone S S n by means of an identification key (not shown). This is further described in Fig. 3a.
  • FIG. 2 schematically shows a work area 10 with a safety system 100 according to an embodiment of the present invention.
  • a remote control unit 1 0i is here illustrated arranged in a control room 150 above ground, !n the control room 150 is also the interface 180 through which safety zones Si-S n may be defined presented on a panel or display.
  • a remote operator in the control room 150 can thereby define safety zones Si-S n and monitor the work area 10 via the interface 160.
  • An emergency stop device 170 is arranged in communication with the remote control unit 1 10i and thus in communication with the main control unit 120.
  • the emergency stop device 170 may be a central maneuvering device, which via the main control unit 120 is connected to all safety zones SrS n and mining vehicles 1 in the work area 10.
  • the emergency stop device 170 may consist of a plurality of individual emergency stop manoeuvring devices, connected to each safety zone SrS n , whereby the remote operator easily can stop all mining vehicles 1 within a certain safety zone SrS n at the risk of danger.
  • the emergency stop device 170 consists of both a central maneuvering device and individual emergency stop manoeuvring devices connected to the safety zones Si-S n .
  • a first safety zone Si and a second safety zone S;? has been defined in the safety system of Fig. 2.
  • n safety zones SrS n may be defined, where n is an arbitrary number, which herein is illustrated by the dotted safety zone S n .
  • the safety system 100 is herein described with respect to the first safety zone Si and the second safety zone S 2 . Some reference numbers for details that are the same for the first safety zone 8 1 and the second safety zone 8 2 have been omitted.
  • the first safety zone 8 1 has been assigned and is associated with three barrier control units 130i , 1303, 130 4 , one arranged at each entrance 200', 200" to the safety zone Si .
  • the second safety zone 8 2 is assigned and associated with two barrier control units 130 2 , 130 5 , one arranged at each entrance 200 ! , 200" to the safety zone 8 2 .
  • Each barrier control unit 130r130 5 is arranged in connection with, and controls, an outer barrier 135 ! and an inner barrier 135".
  • the outer barrier 135' and the inner barrier 135" suitably consist of light gates.
  • the inner barriers 135" are adjacent the respective safety zone 8 1 , 8 2 and the outer barriers 135' are adjacent a manual zone M.
  • the inner barriers 135" and the outer barriers 135' are arranged such that a mining vehicle 1 can fit there between.
  • the barrier control units 130r130 5 are suitably arranged in control cabinets 210 comprising manual manoeuvring devices or knobs for manual activation and deactivation of the inner barrier 135" and the outer barrier 135'.
  • the first safety zone 8 1 and the second safety zone 8 2 each have a primary entrance 200'. At the primary entrance 200', check in and check out of the mining vehicle 1 to the respective safety zone 8 1 , 8 2 is performed.
  • the barrier control unit 130i, 130 2 is arranged outside the outer barrier 135' controlled by the barrier control unit 130i, 130 2 , in the manual zone M.
  • the other entrances 200" of the respective safety zone Si, S 2 constitute secondary entrances 200" where the barrier control unit 130s, 130 4 , 130 5 is arranged on the inner side of the inner barrier 135", in the respective safety zone 8 1 , S 2 .
  • a safety zone Si, 8 2 is activated when all inner barriers 135" and outer barriers 135' are activated and all entrances 200', 200" thus are secured.
  • the safety system 100 is designed such that in order to be able to activate the inner barrier 135" and the outer barrier 135' at the primary entrance 200' of the respective safety zone Si, S 2 , the inner barriers 135" and the outer barriers 135 ! of the secondary entrances 200" must be activated.
  • the barriers 135', 135" at the secondary entrances 200" are suitably activated by an operator from inside the safety zone Si , 8 2 , after which the operator passes through the safety zone Si, S 2 to the primary entrance 200' and ensures on the way that no unauthorized object is present in the safety zone Si, S 2 .
  • the mining vehicles 1 in the deactivated safety zone Si , 8 2 are suitably set in a safe state, which for example may mean that the mining vehicles 1 are stopped or turned off.
  • the barrier control unit 130i-130 5 connected to the crossed barrier 135', 135" detects that the barrier 135', 135" is broken and sends signals to the main control unit 120, which in turn communicates with the vehicle control units 140 -140 4 of the mining vehicles 1 that are checked-in in the current safety zone Si, S 2 .
  • a safety system 100 is thereby achieved, which is safe and which minimizes the risk of accidents.
  • the main control unit 120 is arranged in a main cabinet 220 in the manual zone M.
  • the interface 160 is presented on a panel or display in the main cabinet 220 in connection with the main control unit 120.
  • the identification key 250 associated with the safety zone 8., 82 is arranged.
  • the identification key 250 is suitably arranged in the control cabinet 210 in connection with the barrier control unit 130i, 130 2 . During check in of a mining vehicle 1 in a safety zone Si , 82 , the identification key 250 is temporarily removed from the control cabinet 210 and applied in the mining vehicle 1 . This process is described in more detail in Fig, 3a.
  • Figure 3a shows a flow chart of a method for a safety system 100 for automated operation of at least one mining vehicle 1 within a work area 10 according to an embodiment of the present invention.
  • the safety system 100 is suitably configured as described in Fig. 1 and Fig. 2.
  • the method comprises the steps to:
  • a flexible and user-friendly method is achieved.
  • the at least one safety zone Si-S n is suitably defined by, in the system 100, associating the safety zone SrS n with barrier control units 130i-130 y arranged at all the entrances 200', 200" to the safety zone SrS n .
  • the mining vehicles 1 in a safety zone SrS n must be associated with that specific safety zone Si-S n .
  • the identification key 250 connects the mining vehicle 1 to the safety zone SrS n and the mining vehicle 1 may be operated in an automated mode.
  • the step S302 to check in the mining vehicle 1 comprises to: - apply the identification key 250 in the mining vehicle 1 ;
  • An operator suitably operates the mining vehicle 1 to be checked-in in the safety zone 8i ⁇ 8 n> up to the primary entrance 200' of the current safety zone Si-Sn-
  • the operator suitably stops the mining vehicle 1 in front of the outer barrier 135' of the primary entrance 200' in the manual zone M.
  • the outer barrier 135 ! and the inner barrier 135" are activated.
  • the mining vehicle 1 is not allowed to cross the outer and the inner barrier 135', 135", for example by a red traffic light.
  • the operator subsequently takes the identification key 250 associated with the safety zone S Sn, which is placed in the control cabinet in which the barrier control unit 130i-130 y at the primary entrance 200' is arranged.
  • the identification key 250 is applied in the mining vehicle 1 , wherein the mining vehicle 1 and the vehicle control unit 140i ⁇ 140 x are systemically connected to the safety zone S Sn and the check in process is started.
  • the operator is preferably allocated a certain amount of time from when the identification key 250 is removed from the control cabinet until it should be appiied in the mining vehicle 1. If the time is exceeded, the operator must return the identification key 250 to the control cabinet, actuate a reset manoeuvring device and start over.
  • the identification key 250 is appiied in the mining vehicle 1 the outer barrier 135' is deactivated and the operator can manually operate the mining vehicle 1 to a position between the outer barrier 135' and the inner barrier 135".
  • the operator also turns off the engine of the mining vehicle 1.
  • the fact that the outer barrier 135' is deactivated and that it is permissible to operate the mining vehicle 1 may be visualized to the operator by a green traffic light.
  • the operator subsequently sets the mining vehicle 1 in an automated mode, removes the identification key 250 from the mining vehicle 1 and returns it to the control cabinet and barrier control unit 130i-130 y .
  • the identification key 250 once again is connected to the barrier control unit 130r130 y the outer barrier 135' is activated.
  • a verification that the mining vehicle 1 is authorized for operation in the specific safety zone Si-S n is required. This is suitably achieved by a remote operator verifying via the interface 180 that the mining vehicle 1 is to be operated in the specific safety zone Si-S n .
  • the remote operator may subsequently activate the mining vehicle 1 for automated operation by starting the engine of the mining vehicle 1.
  • the operator in the manual zone M of the working area 10 deactivates the inner barrier 135", whereby the remote operator can operate the mining vehicle 1 in an automated mode into the safety zone SrS n .
  • the operator suitably deactivates the inner barrier 135" by turning a knob or manoeuvring device in the control cabinet. As long as the manoeuvring device is turned the inner barrier 135" is deactivated.
  • the inner barrier 135" is finally activated, suitably by the operator releasing the knob.
  • the mining vehicle 1 is thereby checked-in for automated operation in the safety zone S Sn, without having to reconfigure the safety system 100.
  • the mining vehicle 1 may thereby be operated in an automated mode in the safety zone
  • all mining vehicles 1 of the safety zone Si-S n are set in a safe state.
  • the vehicle control unit 140 ⁇ -140 ⁇ of all mining vehicles 1 in a safety zone SrS n is controlled when at least one barrier 135', 135" of the safety zone Si-S n is crossed, so that the operation of the mining vehicle 1 is affected.
  • the barrier control unit 130 r 130 y connected to said barrier 135', 135" reacts and sends a signal to the main control unit 120.
  • the main control unit 120 thereafter sends further commands to the vehicle control units 140r 140 ⁇ of the mining vehicles 1 which by the check-in are connected to the specific safety zone Si-S n , which vehicle control units 140r140 x control the respective mining vehicle 1 such that they are set in a safe state.
  • the other mining vehicles 1 already situated in the safety zone SrS n are suitably not affected.
  • the other mining vehicles 1 are controlled, such that they are operated with a reduced speed during check in and/or check out of a mining vehicle 1 .
  • Figure 3b shows a flow chart of a method for a safety system 100 for automated operation of at least one mining vehicle 1 within a work area 10, according to an embodiment of the present invention.
  • the method comprises the steps described in Fig. 3a to define S301 at least one safety zone SrS n via an interface 180 of the safety system 100 and to check in S302 at least one mining vehicle 1 for automated operation in said safety zone 8.-8,-. by means of an identification key 250, without reconfiguring the safety system 100.
  • the method further comprises the step to:
  • the step s303 to check out the mining vehicle 1 suitably comprises to:
  • the remote operator suitably operates the mining vehicle 1 in an automated mode up to the inner barrier 135" at the primary entrance 200' of the safety zone Si-S n , after which the operator in the manual zone M deactivates the inner barrier 135".
  • the remote operator communicates in suitable ways with the operator in the work area 10 in order to inform that a mining vehicle 1 is to be checked-out.
  • the inner barrier 135" is suitably deactivated by the operator turning a knob in the control cabinet, in which the barrier control unit 130i-130 y at the primary entrance 200' of the safety zone SrS n is arranged.
  • the remote operator subsequently operates the mining vehicle 1 to a position between the inner barrier 135" and the outer barrier 135'.
  • the operator then activates the inner barrier 135", suitably by releasing the knob. If the operator releases the knob, such that the inner barrier 135" is activated before the mining vehicle 1 has crossed the inner barrier 135", the mining vehicle 1 to be checked-out and the other mining vehicles 1 in the safety zone Si-S n are set in a safe state.
  • the remote operator verifies the checkout via the interface 160.
  • the mining vehicle 1 is thereby turned off, checked-out in the safety system 100 and is no longer connected to the specific safety zone Si-S n .
  • the operator deactivates the outer barrier 135' by turning another knob, which results in the outer barrier 135' being maintained deactivated during a predetermined period of time.
  • the outer barrier 135' is suitably maintained deactivated during 45-85 seconds, preferably 60 seconds.
  • the operator crosses the outer barrier 135' in to the mining vehicle 1 , sets the mining vehicle 1 in a manual mode and operates the mining vehicle 1 manually out from the safety zone Si-S n .
  • the outer barrier 135' is activated and the safety zone Si-S n is once again activated.
  • FIG. 4 illustrates a control unit 1 10i-1 10 z , 120, 130i-130 y , 140i-140 x according to an embodiment of the invention.
  • a diagram of an embodiment of a device 400 is shown.
  • the control units 1 10i ⁇ 1 10 z , 120, 130i-130 y , 140i-140 x described with reference to Figure 1 -3 may according to this embodiment comprise said device 400.
  • the device 400 comprises a non-volatile memory 401 , a data processing unit 402 and a read/write memory 403.
  • the non-volatile memory has a first memory element 404, wherein a computer program P, such as an operating system, is stored for controlling the function of the device 400.
  • the device 400 further comprises a bus controller, a serial communication port, I/O means, an A/D converter, a time and date input and transfer unit, an event counter and an interruption controller (not shown).
  • the non-volatile memory 401 also has a second memory element 405.
  • the computer program P comprises routines for defining safety zones within the work area and for checking in a mining vehicle in a safety zone according to an embodiment.
  • the program P comprises routines for activating and deactivating barriers.
  • the program P further comprises routines for setting the mining vehicles in a specific safety zone in a safe state when at least one of the barriers of the safety zone is crossed.
  • the program P further comprises routines for controlling functions of mining vehicles such as starting and stopping the engine, fuel supply, braking effect, steering, drilling, loading, dumping, and similar.
  • the program P further comprises routines for checking out a mining vehicle from a safety zone.
  • the program P is in this embodiment stored in an executable form or in a compressed form in a memory and/or in a read/write memory.
  • the data processing unit 402 may communicate with a data port 415 via a data bus 406.
  • the nonvolatile memory 401 is adapted for communication with the data processing unit 402 via a data bus 407.
  • a separate memory 409 is adapted to communicate with the data processing unit 402 via a data bus 410.
  • the read/write memory 403 is adapted to communicate with the data processing unit 402 via a data bus 41 1 .
  • the data processing unit 402 When data is received on data port 415 it is temporarily stored in the second memory element 405. When the received input data has been temporarily stored, the data processing unit 402 is prepared to perform execution of code in a manner described above.
  • Parts of the methods described herein may be performed by the device 400 using the data processing unit 402 running the program P stored in the memory or the read/write memory 403. W'hen the device 400 runs the program P, the herein described methods are executed.

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Abstract

L'invention concerne un système de sécurité destiné au fonctionnement automatisé d'au moins un véhicule minier (1) au sein d'une zone de travail (10), qui comprend au moins une unité de commande à distance (1101-110z), une unité de commande principale (120), une pluralité d'unités de commande de barrière (1301-130y) pour la commande de barrières (135', 135") et une unité de commande de véhicule (1401-140x) agencée au niveau du véhicule minier (1), la au moins une unité de commande à distance (1101-110z), les unités de commande de barrière (1301-130y) et l'unité de commande de véhicule (1401-140x) étant en connexion par signaux avec l'unité de commande principale (120). Le système de sécurité (100) est conçu de sorte que des zones de sécurité (S1-Sn) pour le fonctionnement automatisé de véhicules miniers (1) puissent être définies au sein de la zone de travail (10) par le biais d'une interface (160), chaque zone de sécurité (S1-Sn) étant associée à des unités de commande de barrière (1301-130y) agencées au niveau de l'ensemble des entrées (200', 200") vers la zone de sécurité respective (S1-Sn) et une clé d'identification (250), grâce à laquelle le au moins un véhicule minier (1) peut être enregistré pour le fonctionnement automatisé dans la zone de sécurité respective (S1-Sn) et/ou supprimé de la zone de sécurité respective (S1-Sn), sans reconfiguration du système de sécurité (100). L'invention concerne également un véhicule minier (1), un procédé pour un système de sécurité (100), un programme informatique et un produit programme d'ordinateur associés à un tel système de sécurité (100).
PCT/SE2015/050627 2014-06-05 2015-05-29 Système de sécurité pour le fonctionnement automatisé de véhicules miniers et procédé pour un tel système de sécurité WO2015187081A1 (fr)

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CA2949360A CA2949360C (fr) 2014-06-05 2015-05-29 Systeme de securite pour le fonctionnement automatise de vehicules miniers et procede pour un tel systeme de securite
AU2015268954A AU2015268954B2 (en) 2014-06-05 2015-05-29 Safety system for automated operation of mining vehicles and method for such a safety system
ZA2016/07812A ZA201607812B (en) 2014-06-05 2016-11-11 Safety system for automated operation of mining vehicles and method for such a safety system

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SE1450691-9 2014-06-05
SE1450691A SE538029C2 (sv) 2014-06-05 2014-06-05 Säkerhetssystem för automatiserad drift av gruvfordon samt förfarande för ett sådant säkerhetssystem

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SE1950966A1 (en) * 2019-08-23 2021-02-24 Epiroc Rock Drills Ab Method and system for controlling a mining and / or construction machine
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SE2030284A1 (en) * 2020-09-10 2022-03-11 Epiroc Rock Drills Ab Method and system for restricting operation of at least one automated mining vehicle
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WO2023052337A1 (fr) * 2021-09-28 2023-04-06 Sandvik Mining And Construction Oy Commande de zone de fonctionnement d'un système d'automatisation d'exploitation minière
EP4155857A1 (fr) * 2021-09-28 2023-03-29 Sandvik Mining and Construction Oy Contrôle de zone d'exploitation de système d'automatisation minier
WO2023164349A1 (fr) * 2022-02-24 2023-08-31 Caterpillar Inc. Zone d'exclusion 3d de machine de travail
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WO2023164348A1 (fr) * 2022-02-28 2023-08-31 Caterpillar Inc. Commande de zone de sécurité d'engin de chantier
EP4270133A1 (fr) * 2022-04-25 2023-11-01 Sandvik Mining and Construction Oy Contrôle du fonctionnement d'une machine de travail
WO2023208932A1 (fr) * 2022-04-25 2023-11-02 Sandvik Mining And Construction Oy Commande de fonctionnement d'un engin de chantier
EP4383036A1 (fr) * 2022-12-09 2024-06-12 Sandvik Mining and Construction Oy Détermination d'une zone de fonctionnement pour un véhicule
EP4382681A1 (fr) * 2022-12-09 2024-06-12 Sandvik Mining and Construction Oy Commande d'un état d'au moins une zone d'opération d'un véhicule minier
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WO2024121318A1 (fr) * 2022-12-09 2024-06-13 Sandvik Mining And Construction Oy Détermination d'une zone d'exploitation d'un véhicule

Also Published As

Publication number Publication date
ZA201607812B (en) 2018-05-30
SE538029C2 (sv) 2016-02-16
SE1450691A1 (sv) 2015-12-06
CL2016003104A1 (es) 2017-04-17
CA2949360C (fr) 2023-06-13
CA2949360A1 (fr) 2015-12-10
AU2015268954B2 (en) 2019-01-03
AU2015268954A1 (en) 2016-12-15

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