WO2024117947A1 - Procédés et systèmes de régulation de trafic pour déterminer une zone de fonctionnement dans un environnement souterrain exempte de machines non autorisées - Google Patents

Procédés et systèmes de régulation de trafic pour déterminer une zone de fonctionnement dans un environnement souterrain exempte de machines non autorisées Download PDF

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Publication number
WO2024117947A1
WO2024117947A1 PCT/SE2022/051121 SE2022051121W WO2024117947A1 WO 2024117947 A1 WO2024117947 A1 WO 2024117947A1 SE 2022051121 W SE2022051121 W SE 2022051121W WO 2024117947 A1 WO2024117947 A1 WO 2024117947A1
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WO
WIPO (PCT)
Prior art keywords
machines
operating area
machine
unauthorized
traffic control
Prior art date
Application number
PCT/SE2022/051121
Other languages
English (en)
Inventor
Richard Hendeberg
Andreas ÖKVIST
Original Assignee
Epiroc Rock Drills Aktiebolag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills Aktiebolag filed Critical Epiroc Rock Drills Aktiebolag
Priority to PCT/SE2022/051121 priority Critical patent/WO2024117947A1/fr
Publication of WO2024117947A1 publication Critical patent/WO2024117947A1/fr

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Classifications

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

Definitions

  • the present disclosure relates generally to traffic control methods and systems for determining that an operating area in an underground environment is free from unauthorized machines.
  • the present disclosure also relates to a mine which comprises the traffic control system.
  • autonomous machines are used to perform certain tasks.
  • the autonomous machines can be controlled and coordinated by an automation control system.
  • an automation control system In order to allow a mixed environment of autonomous machines and other machines in the underground environment, the risk for collisions between the autonomous machines and other machines needs to be minimized in order to improve the safety of the whole underground environment, especially for operators and the other machines.
  • One common way to enable this is via intercepted areas or operating areas, which means that the autonomous machines are in a controlled environment and that safety can be guaranteed when performing tasks in the operating area.
  • Other kinds of machines in the underground environment such as manual operated machines, are operated manually by operators. These operators may be sitting inside the machine or controlling it remotely.
  • the behavior of manual operated machines may be unpredictable, and it is desired to avoid having manual operated machines in the operating area. If a manual operated machine enters the operating area, it leads to collision risk in the operating area, e.g., such as an autonomous machine colliding with the manually operated machine. Therefore, when the autonomous machines are operating in the operating area, the safety of the operating area should be improved, such that the autonomous machines can operate in the operating area while safety can be maintained.
  • the operating area is inspected manually in order to ensure that the operating area is clear from safety hazards. For example, by an operator that drives a vehicle to the operating area and makes sure that the operating area is free from unauthorized machines.
  • the visibility of the operating area may be quite low and therefor the manual inspection be difficult to perform.
  • the operating area may comprise multiple interconnected tunnels, it can be difficult or even impossible for the operator to guarantee that the multiple tunnels are free from unauthorized machines by a manual inspection. It can also be dangerous for an operator to drive and check in the tunnels. Hence significant amount of time and resources may be required to ensure that an operating area is clear from unwanted traffic.
  • a traffic control method performed by a traffic control system is disclosed.
  • the traffic control method is used for determining that an operating area, in an underground environment, is free from unauthorized machines
  • the traffic control system comprises a control unit, wherein the control unit is configured to receive positioning data of machines in the underground environment.
  • the method comprises receiving a request for determining that the operating area is free from unauthorized machines and determining a total amount of machines in the underground environment, wherein the total amount of machines includes authorized machines and unauthorized machines.
  • the method further comprises determining a current position of all unauthorized machines in the underground environment and determining that the current position of all unauthorized machines is outside the operating area and thereby that the operating area is free from unauthorized machines.
  • the method may further comprise permitting authorized machines to operate in the operating area when the operating area is determined to be free from unauthorized machines.
  • the operating area is free from unauthorized machines. Since there is no unauthorized machines in the operating area, there is no risk of authorized machines colliding with the unauthorized machines in the operating area, whereby the safety of the operating area is improved in an automatic and highly efficient way.
  • the method may be continuously performed.
  • the operating area is continuously monitored. Unauthorized machines are continuously determined to be outside the operating area when the method is continuously performed, whereby the safety of operating area is improved. Furthermore, since the method is performed continuously, there is no need for a physical gate, at the entrance of the operating area, to monitor any machine passing through. The cost of the whole system is reduced due to the absence of physical gates. According to another aspect, the authorized machines are permitted to access the operating area when the method is continuously performed. [00011] When the method is continuously performed, the authorized machines can have access to the operating area. By that even authorized machines which were outside the operating area can be permitted to drive into the operating area. Thus the operating area can be continuously armed, but authorized machines can still get access to it and perform tasks therein.
  • the traffic control system may further comprise one or more gates located at the entrances of the operating area, wherein the one or more gates are configured to be armed when the operating area is determined to be free from unauthorized machines, thereby any access to the operating area is monitored once the operating area has been determined to be free from unauthorized machines.
  • the entrances of the operating area can be passageways.
  • the term “gate” refers to any device which can detect any object passing through, for example, tag gate, light curtain, double light curtain, etc.
  • the gates can be deployed in the entrances of the operating area. When the gates are armed, all the access to the operating area can be detected/monitored by the gates. If the gates detect any machine, the traffic control system can determine the type of the machines that have passed the gate, i.e. , authorized machine or unauthorized machine. If it is an unauthorized machine which has passed the gate, the authorized machines working in the operating area can be stopped. If it is an authorized machine which has passed the gate, the authorized machines in the operating area can continue operating without being interrupted.
  • the method may further comprise determining that a position of an unauthorized machine is inside the operating area and stopping all operations of the authorized machines in the operating area.
  • the method may further comprise determining if a position of an unauthorized machine is inside the operating area and stopping all operations of the authorized machines in the operating area on determining that a position of an unauthorized machine is inside the operating area 240.
  • the position of a respective machine may be determined by using a previous position of the machine and determining a threshold distance away from the operating area, wherein the threshold distance is dependent on the age of the previous position of the machine, and considering the machine to be inside the operating area if, it is closer to the operating area than the threshold distance.
  • a previous position of the machine can be used to determine if the machine is inside the operating area.
  • a threshold distance Dt is determined.
  • the threshold distance Dt is related to the distance the machine could have travelled since time for when the previous position of the machine was determined. Therefore, the machine is considered to be inside the operating area when it is determined to be closer to the operating area than Dt, and therefore potentially is inside the operating area.
  • the threshold distance Dt may be a fiction setup when the actual position of the machine cannot be determined. However, Dt can be dependent on several parameters, which when applied correctly can increase the accuracy of Dt, simultaneously as a sufficient safety margin is maintained. The threshold distance Dt can additionally be used to lower an update frequency of the whole method.
  • the threshold distance may be machine specific, and the method further comprises determining the machine specific threshold by determining a previous traveling direction of a machine, and adjusting the threshold distance dependent on the previous traveling direction of the machine.
  • the threshold distance can be machine specific and different from machine to machine.
  • the machine specific threshold is determined based on and adjusted by a previous traveling direction of the respective machine. For example, the threshold distance is increased if the machine is traveling towards the operating area, and the threshold distance decreased if the machine is traveling away from the operating area.
  • the machine specific threshold distance may be further determined by determining a respective machine maximum speed, and/or determining a previous machine speed, and/or determining the machines planned route in the underground environment, and/or determining the type of machine and/or determining the dimensions of the machine, and thereby adjusting the threshold distance dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine, and/or dimensions of the machine.
  • the threshold distance Dt can be longer, and/or, when the machine’s planned route is traveling away from the operating area, the threshold distance Dt can be shorter, and/or if the machine size and position does not allow the machine to reach the operating area, the threshold distance Dt can be shorter.
  • the authorized machines may be autonomous machines.
  • a traffic control system is disclosed.
  • the traffic control system is used for determining that an operating area, in an underground environment, is free from unauthorized machines
  • the traffic control system comprises a control unit, and the control unit is configured to receive positioning data of machines in the underground environment.
  • the control unit is configured to receive a request for determining that the operating area is free from unauthorized machines and determine a total amount of machines in the underground environment, wherein the total amount of machines includes authorized machines and unauthorized machines.
  • the control unit is further configured to determine a current position of all unauthorized machines in the underground environment and determine that the current position of all unauthorized machines is outside the operating area and thereby that the operating area is free from unauthorized machines.
  • control unit may further be configured to permit authorised machines to operate in the operating area when the operating area is determined to be free from unauthorized machines.
  • control unit may further be configured to operate continuously.
  • the authorized machines may be permitted to access the operating area when the control unit operate continuously.
  • the traffic control system may further comprise one or more gates located at the entrances of the operating area, the one or more gates are configured to be armed when the operating area is determined to be free from unauthorized machines, thereby any access to the operating area is monitored once the operating area has been determined to be free from unauthorized machines.
  • control unit may further be configured to determine that a position of an unauthorized machine is inside the operating area and to stop all operations of the authorized machines in the operating area.
  • control unit may further be configured to determine that a position of an unauthorized machine is inside the operating area and to stop all operations of the authorized machines in the operating area on determining that a position of an unauthorized machine is inside the operating area.
  • control unit may further be adapted to determine the position of a respective machine and the control unit is thereby configured to use a previous position of the machine and determine a threshold distance away from the operating area wherein the threshold distance is dependent on the age of the previous position of the machine, and considering the machine to be inside the operating area if, it is closer to the operating area than the threshold distance.
  • the threshold distance may be machine specific and the control unit may be further configured to determine a machine specific threshold and thereby being configured to determine a previous traveling direction of a respective machine, and adjust the threshold distance dependent on the previous traveling direction of the respective machine.
  • control unit may further be adapted to determine a machine maximum speed, and/or determine a previous machine speed, and/or determine the machine’s planned route in the underground environment, and/or determine the type of machine and/or determine the dimensions of the machine, and based thereon being configured to adjust the threshold distance dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine, and/or dimensions of the machine.
  • authorized machines may be autonomous machines.
  • a machine for operating in the traffic control system is disclosed.
  • the machine is adapted to request to start an operation in the operating area and start the operation in the operating area upon receiving a permitting signal.
  • the machine may operate in a delimited environment using methods and systems described herein for an underground environment. These described methods may be used for machines operating in a delimited environment as well.
  • the autonomous machine may operate in a delimited environment.
  • control over which machines and/or vehicles that are entering and/or leaving the environment can be achieved.
  • a complete knowledge of the machines and/or vehicle that operates in the delimited environment can be reached.
  • similar methods and systems described herein for an underground environment may be used for machines operating in a delimited environment.
  • FIG. 1 is schematic block diagrams of a traffic control system in an underground environment in prior art.
  • FIG. 2 is schematic block diagrams of a traffic control system in an underground environment according to one embodiment of the invention.
  • Fig. 3 is a flow chart illustrating the method performed by the traffic control system.
  • Fig. 4 is a schematic block diagram of a machine with a threshold distance Dt.
  • FIG. 1 shows a conventional traffic control system 100 in an underground environment in prior art.
  • the underground environment shown is a mine.
  • the mine includes a main tunnel 160 and multiple smaller tunnels.
  • Machines 121 -125 are deployed in the mine and are arranged to perform different tasks.
  • the reference numbers 121- 125 in fig. 1 are just schematic and more machines can be deployed. These machines 121-125 are moveable when performing tasks.
  • An operating area 140 is located in the mine.
  • the operating area 140 can be any area of interest, which only allows authorized machines to perform task therein. When authorized machines are performing specific task in the operating area 140, unauthorized machines are not allowed to enter this operating area in order to avoid any safety risks.
  • a manual method is performed in which an operator drives a vehicle to manually check that the operating area 140 is free from unauthorized machines.
  • Fig. 2 shows a traffic control system 200 in an underground environment according to one embodiment of the invention.
  • the mine comprises tunnels 260, an operating area 240, machines 221-225 and positioning devices 201-208.
  • the machines 221 , 222 and 223 are authorized machines and the machines 224 and 225 are unauthorized machines.
  • the authorized machines 221 , 222, 223 are permitted to perform tasks in the operating area 240.
  • the operating area 240 should be free from unauthorized machines 224-225 in order improve the safety in the underground environment.
  • the positioning devices 201-208 are used to determine the position of each machine 221-225.
  • the traffic control system 200 is deployed in the mine.
  • the traffic control system 200 comprises a control unit 270.
  • the control unit 270 can be any suitable device, non-limiting examples are a local control unit, a central control unit or a distributed control unit, such as a cloud server.
  • the method performed by the traffic control system 200 will be discussed in fig. 3.
  • Fig. 3 in conjunction with fig. 2, describes a method performed by the traffic control system 200.
  • the method is used for determining that an operating area 240, in an underground environment, is free from unauthorized machines 224-225.
  • the traffic control system 200 comprises a control unit 270, the control unit 270 is configured to receive positioning data of machines 221-225 in the underground environment.
  • the method comprises receiving 308 a request for determining that the operating area 240 is free from unauthorized machines 224- 225.
  • the method further comprises determining 310 a total amount of machines 221-225 in the underground environment, wherein the total amount of machines includes authorized machines 221-223 and unauthorized machines 224-225.
  • the method further comprises determining 312 a current position of all unauthorized machines 224-225 in the underground environment and determining 314 that the current position of all unauthorized machines 224-225 is outside operating area 240 and thereby that the operating area 240 is free from unauthorized machines 224-225.
  • the operating area 240 can be any area which is of specific interest. For example, it can be a ramp, one or more sections of tunnels, a safety area, etc. Only authorized machines are allowed to perform tasks in the operating area 240, no other machines are allowed to be within the operating area 240.
  • the control unit 270 receives positioning data of machines 221 -225 from the positioning devices 201-208.
  • the positioning data of the machines 221- 225 is determined by the positioning devices 201-208.
  • a variety of positioning technologies can be used by the positioning devices 201-208, e.g., Radiofrequency identification (RFID) positioning, light curtain positioning, access point positioning, beacon positioning, etc.
  • RFID Radiofrequency identification
  • the amount of the positioning devices 201- 208 is configurable and the positioning data of the machines 221-225 may have higher or lower accuracy.
  • the control unit 270 can receive the positioning data from the positioning devices 201-208 wirelessly or wired.
  • the traffic control system 200 receives a request for determining that the operating area 240 is free from unauthorized machines 224-225.
  • the request can be sent by authorized machines 221-223, or by an operator, or by an automation control system which controls the autonomous machines.
  • the total amount of machines in the underground environment is determined.
  • the total amount can be determined by a device when the machines enter the underground environment, e.g., a near field communication (NFC) device, or similar.
  • NFC near field communication
  • the NFC device is arranged in the entrance of the underground environment.
  • the NFC device detects the machine and adds or deducts one in a total amount counter.
  • the traffic control system 200 is aware of the total amount of all the machines in the mine.
  • the total amount of machines includes the amount of the authorized machines 221-223 and the amount of unauthorized machines 224-225.
  • the authorized machines 221-223 may be autonomous machines, which can be controlled by a machine control system.
  • the unauthorized machines 224-225 may be manual machines, which may be operated by an operator therein or remotely. Hence the unauthorized machines are difficult to be controlled by, or outside of, a machine control system.
  • the current positions of the all the unauthorized machines 224-225 are determined, based on the received positioning data.
  • the traffic control system 200 can determine the positions of all the machines 221-225, then determine the positions of all the unauthorized machines 224-225 among them. In another implementation, the traffic control system 200 can only determine the positions of the unauthorized machines 224-225.
  • the traffic control system 200 determines that the current position of all unauthorized machines 224-225 is outside the operating area 240, and the operating area 240 is free from unauthorized machines 224-225.
  • the operating area 240 is free from unauthorized machines 224-225. Since there is no unauthorized machine 224-225 in the operating area 240, there is no risk of authorized machines 221 -223 colliding with the unauthorized machines 224-225 in the operating area 240, whereby the safety of the operating area 240 is improved in an automatic and highly efficient way.
  • the method further comprises permitting 316 authorized machines 221-223 to operate in the operating area 240 when the operating area 240 is determined to be free from unauthorized machines 224-225.
  • the method is continuously performed.
  • the operating area 240 is continuously monitored. Unauthorized machines 224-225 are continuously determined to be outside the operating area 240 when the method is continuously performed, whereby the safety of operating area 240 is improved. Furthermore, since the method is performed continuously, there is a decreased need for physical gates at the entrance of the operating area 240 to monitor any machine passing through. Thereby the cost of the whole system can be reduced due.
  • the authorized machines 221-223 are permitted to access the operating area 240 when the method is continuously performed.
  • the authorized machines 221-223 can have access to the operating area 240. By that even authorized machines which were outside the operating area 240can be permitted to drive into the operating area 240. Thus the operating area 240 can be continuously armed, but authorized machines can still get access to it and perform tasks therein.
  • the traffic control system 200 further comprises one or more gates 231 , 232 located at the entrances of the operating area 240, the one or more gates 231 , 232 are configured to be armed when the operating area 240 is determined to be free from unauthorized machines 224-225. Thereby any access to the operating area 240 is monitored once the operating area 240 has been determined to be free from unauthorized machines 224, 225.
  • the entrances of the operating area 240 can be passageways, as shown in fig. 2.
  • the term “gate” refers to any device which can detect any object passing through, for example, tag gate, light curtain, double light curtain, etc.
  • the gates 231 , 232 can be deployed in the entrances of the operating area 240. When the gates 231 , 232 are armed, all the access to the operating area 240 can be detected/monitored by the gates 231 , 232. If the gates detect any machine, the traffic control system 200 can determine the type of the machines that have passed the gate 231 , 232, i.e., authorized machine or unauthorized machine.
  • one embodiment comprises that the method is performed continuously, and another embodiment comprises one or more gates located at the entrances of the operating area 240. These two embodiments have a similar function, that is to monitor the operating area 240. Since they have a similar function, these two embodiments can serve as alternatives, i.e., only apply one of them can be used to monitor the operating area 240. Alternatively, both continuous use of the method and gates can be applied simultaneously. By this the operating area 240 is monitored in a redundant way.
  • the method further comprises determining that a position of an unauthorized machine 224-225 is inside the operating area 240 and stopping all operations of the authorized machines 221 , 222, 223 in the operating area 240. According to another embodiment, the method further comprises determining if a position of an unauthorized machine 224-225 is inside the operating area 240 and stopping all operations of the authorized machines 221 , 222, 223 in the operating area 240 on determining that a position of an unauthorized machine 224-225 is inside the operating area 240.
  • position of a respective machine 221- 225 is determined by: using a previous position of the machine 221-225 and determining a threshold distance Dt221-Dt225 away from the operating area 240, wherein the threshold distance Dt221-Dt225 is dependent on the age of the previous position of the machine 221-225, and considering the machine to be inside the operating area 240 if, it is closer to the operating area 240 than the threshold distance Dt221-Dt225.
  • a threshold distance Dt is determined for each machine 221-225.
  • the machine 221-225 is considered to be inside the operating area 240.
  • the threshold Dt is dependent on the age of a previous position, e.g., the older the previous position is, the longer the threshold distance Dt is. This solution gives a margin to the operating area 240. Referring to fig. 4, the threshold distance Dt is placed between the machine and the operating area 240. When the distance between the operating area 240 and the machine is lower than Dt, the machine is considered to be inside the operating area 240.
  • a previous position of the machine is used to determine if the machine is inside the operating area 240.
  • a threshold distance Dt is determined.
  • the threshold distance Dt is related to the distance the machine could have travelled since time for when the previous position of the machine was determined. Therefore, the machine is considered to be inside the operating area 240 when it is determined to be closer to the operating area 240 than Dt, and therefore potentially is inside the operating area 240.
  • the threshold distance Dt is a fiction setup when the actual position of the machine cannot be determined. However, Dt can be dependent on several parameters, which when applied correctly can increase the accuracy of Dt, simultaneously as a sufficient safety margin is maintained. The threshold distance Dt can additionally be used to lower an update frequency of the whole method.
  • the threshold distance Dt221-Dt225 is machine specific and the method further comprises determining the machine specific threshold for each machine by determining a previous traveling direction of the respective machine 221-225, and adjusting the machine specific threshold distance Dt221-Dt225 dependent on the previous traveling direction of the respective machine 221-225.
  • the threshold distance Dt221-Dt225 is machine specific and different from machine to machine.
  • the machine specific threshold is determined based on and adjusted by a previous traveling direction of the respective machine. For example, the threshold distance Dt224 is increased if the machine 224 is traveling towards the operating area 240, and the threshold distance Dt225 is decreased if the machine 225 is traveling away from the operating area 240.
  • the machine specific threshold distance Dt221-Dt225 is further determined by determining a respective machine maximum speed, and/or determining a previous machine speed, and/or determining the machines planned route in the underground environment, and/or determining the type of machine 221-225 and/or determining the dimensions of the machine 221-225, and thereby adjusting the threshold distance Dt221-Dt225 dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine 221-225, and/or dimensions of the machine 221-225.
  • the threshold distance Dt By applying individual conditions on when determining the threshold distance Dt the number of false negatives, when a machine is determined to be inside the operating area, when actually being outside will decrease. By this the accuracy of the method is increased. For example, when the machine maximum speed or the previous machine speed is high, the threshold distance Dt can be longer, and/or when the machine’s planned route is traveling away from the operating area 240, the threshold distance Dt can be shorter, and/or if the machine size and position does not allow the machine to reach the operating area 240, the threshold distance Dt can be shorter.
  • the authorized machines are autonomous machines.
  • a traffic control system 200 is disclosed.
  • the system is used for determining that an operating area 240, in an underground environment, is free from unauthorized machines 224-225.
  • the traffic control system 200 comprises a control unit 270, the control unit 270 is configured to receive positioning data of machines 221-225 in the underground environment.
  • the control unit 270 is configured to receive 308 a request for determining that the operating area 240 is free from unauthorized machines 224-225, whereby determine 310 a total amount of machines 221-225 in the underground environment, wherein the total amount of machines includes authorised machines 221-223 and unauthorized machines 224, 225.
  • the control unit 270 is further configured to determine 312 a current position of all unauthorized machines 224- 225 in the underground environment and determine 324 that the current position of all unauthorized machines 224-225 is outside the operating area 240 and thereby that the operating area 240 is free from unauthorized machines 224-225.
  • control unit 270 is further configured to permit 316 authorised machines 221-223 to operate in the operating area 240 when the operating area 240 is determined to be free from unauthorized machines 224-225.
  • control unit 270 is further configured to operate continuously.
  • the authorized machines 221-223 are permitted to access the operating area 240 when the control unit 270 operate continuously.
  • the traffic control system 200 further comprises one or more gates 231 , 232 located at the entrances of the operating area 240, the one or more gates 231 , 232 are configured to be armed when the operating area 240 is determined to be free from unauthorized machines 224-225, thereby any access to the operating area 240 is monitored once the operating area 240 has been determined to be free from unauthorized machines 224, 225.
  • control unit 270 may further be configured to determine that a position of an unauthorized machine 224-225 is inside the operating area 240 and to stop all operations of the authorized machines 221 , 222, 223 in the operating area 240. According to another embodiment, the control unit 270 may further be configured to determine that a position of an unauthorized machine 224-225 is inside the operating area 240 and to stop all operations of the authorized machines 221 , 222, 223 in the operating area 240 on determining that a position of an unauthorized machine 224-225 is inside the operating area 240.
  • control unit 270 is further adapted to determine the position of a respective machine 221-225 and the control unit 270 is thereby configured to use a previous position of the machine 221-225 and determine a threshold distance Dt221-Dt225 away from the operating area 240 wherein the threshold distance Dt221-Dt225 is dependent on the age of the previous position of the machine 221-225, and considering the machine to be inside the operating area 240 if, it is closer to the operating area 240 than the threshold distance Dt221-Dt225.
  • the threshold distance Dt221-225 is machine specific and the control unit 270 is further configured to determine a machine specific threshold and thereby being configured to determine a previous traveling direction of a respective machine 222-225, and adjust the threshold distance Dt221-Dt225 dependent on the previous traveling direction of the respective machine 222-225.
  • control unit 270 is further adapted to determine a machine maximum speed, and/or determine a previous machine speed, and/or determine the machine’s planned route in the underground environment, and/or determine the type of machine 221-225 and/or determine the dimensions of the machine 221-225, and based thereon being configured to adjust the threshold distance Dt221-Dt225 dependent on the maximum speed, and/or previous speed, and/or planned route in the underground environment, and/or type of machine 221-225, and/or dimensions of the machine 221-225.
  • the authorized machines 221-223 are autonomous machines.
  • a machine 221 for operating in a traffic control system 200 described above is disclosed.
  • the machine 221 is adapted to request to start an operation in the operating area 240, and start the operation in the operating area 240 upon receiving a permitting signal.

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

Abstract

Est divulgué ici un procédé mis en œuvre par le système de commande de trafic 200. Le procédé est utilisé pour déterminer qu'une zone de fonctionnement 240, dans un environnement souterrain, est exempte de machines non autorisées 224 et 225. Le système de commande de trafic 200 comprend une unité de commande 270, l'unité de commande 270 étant conçue pour recevoir des données de positionnement de machines 221 à 225 dans l'environnement souterrain. Le procédé comprend la réception 308 d'une demande pour déterminer que la zone de fonctionnement 240 est exempte de machines non autorisées 224 et 225. Le procédé comprend en outre la détermination 310 d'une quantité totale de machines 221 à 225 dans l'environnement souterrain, la quantité totale de machines comprenant des machines autorisées 221 à 223 et des machines non autorisées 224 et 225. Le procédé comprend en outre la détermination 312 d'une position actuelle de toutes les machines non autorisées 224 et 225 dans l'environnement souterrain et la détermination 314 que la position actuelle de toutes les machines non autorisées 224 et 225 se trouve à l'extérieur de la zone de fonctionnement 240 et, de ce fait, que la zone de fonctionnement 240 est exempte de machines non autorisées 224 et 225.
PCT/SE2022/051121 2022-11-30 2022-11-30 Procédés et systèmes de régulation de trafic pour déterminer une zone de fonctionnement dans un environnement souterrain exempte de machines non autorisées WO2024117947A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040210757A1 (en) * 2003-01-23 2004-10-21 Noam Kogan Method and a system for unauthorized vehicle control
US20170221364A1 (en) * 2016-02-03 2017-08-03 Caterpillar Inc. Traffic control system having deadlock avoidance functionality

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040210757A1 (en) * 2003-01-23 2004-10-21 Noam Kogan Method and a system for unauthorized vehicle control
US20170221364A1 (en) * 2016-02-03 2017-08-03 Caterpillar Inc. Traffic control system having deadlock avoidance functionality

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