Note: Descriptions are shown in the official language in which they were submitted.
81801340
1
Safety system for automated operation of mining vehicles and method
for such a safety system
TECHNICAL FIELD
The present invention relates to a safety system for automated operation of
mining vehicles within a work area. The invention also relates to a method for
such a safety system, a mining vehicle, a computer program associated with
such a safety system and a computer program product.
BACKGROUND
Today remotely operated or completely autonomous vehicles are used within
certain work areas in mining applications, for instance to avoid exposing
operators to particularly hazardous environments. Mining environments are
dark and inaccessible, and it is therefore difficult to detect if an operator
or a
manually operated vehicle is among the unmanned vehicles, whereby
accidents may occur. It is therefore important that areas in which vehicles
are
operated remotely controlled or autonomously, are separated and secured
from areas where manual activities are in progress.
It is today known to use safety systems with barriers in order to create safe
areas in which vehicles are operated remotely controlled or autonomously.
Such safety systems comprise separate programs for each safe area and are
configured such that each vehicle is connected to a specific area. When a
barrier which defines a safe area is crossed, all vehicles connected to that
area are stopped. In the case where the safe area is large and/or a large
number of vehicles are connected to the area, this may cause major
disruptions in production resulting in production losses. These safety systems
also means that vehicles cannot be moved between different safe areas
without reconfiguration of the safety system or without downloading a new
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program to the safety system, so that the vehicle is connected to the next
safe area. This is time consuming and affects the availability of the vehicles
negatively.
Document EP 1616077 discloses a system and a method for passage of
unmanned vehicles between a large work area, in which the vehicles are
operated unmanned, and a manual area outside the work area. An access
station is formed between two physical gates, to which access station the
vehicle is driven. One gate is always kept closed. Safe sections within the
work area may also be formed by gates, in which safe sections manual work
is performed. The unmanned vehicles are prevented access to the safe
sections by the gates. The gates that limit the safe sections can be remotely
controlled.
Despite known solutions within the field there is a need to achieve a safety
system for automated operation of vehicle, which is flexible, results in high
availability, high efficiency, high production and which minimizes the risk of
accidents.
SUMMARY OF THE INVENTION
An object of the present invention is to provide a safety system for automated
operation of mining vehicles, which is safe and which minimizes the risk of
accidents with automated mining vehicles involved.
Another object of the invention is to provide a safety system for automated
operation of mining vehicles, which is flexible and user-friendly.
Yet another object of the invention is to provide a safety system for
automated operation of mining vehicles, which results in high availability of
the mining vehicles and high production.
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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.
According to an aspect of the present invention, there is provided 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
control of barriers, and a vehicle control unit arranged in 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, wherein the safety
system is
configured to enable safety zones for automated operation of mining vehicles
to be
defined within the work area via an interface by associating each safety zone
with
barrier control units arranged at all entrances to the respective safety zone
and an
identification key to be applied to the at least one mining vehicle to enable
the at least
one mining vehicle to be one of or both (1) checked-in by an operator for
automated
operation in the respective safety zone and (2) checked-out from the
respective safety
zone, without reconfiguration of the safety system.
According to another aspect of the present invention, there is provided 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 control of barriers, and a 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, wherein the method comprises the steps to: define at least one safety
zone via an
interface of the safety system by associating one or more barrier control
units with the
at least one safety zone; and check in the at least one mining vehicle by an
operator for
automated operation in a safety zone of said at least one safety zone by
applying an
identification key to the at least one mining vehicle, without reconfiguring
the safety
system.
According to another aspect of the present invention, there is provided a
computer-
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3a
readable medium having computer executable instructions stored thereon for use
at 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 control of barriers, and a 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 communication with
the
main control unit, wherein the computer executable instructions perform the
method steps described above, when the computer executable instructions are
executed by an electronic control unit associated with the safety system.
According to another aspect of the present invention, there is provided a
computer
program product comprising computer executable instructions stored on a
computer-readable medium for performing the method steps described above,
wherein the computer executable instructions are executed by an electronic
control
unit associated with the safety system.
According to an aspect of the invention a safety system for automated
operation of at
least one mining vehicle within a work area is provided, comprising at least
one remote
control unit, a main control unit, a plurality of barrier control units for
controlling barriers,
and one vehicle control unit arranged at the mining vehicle, wherein the at
least one
remote control unit, the barrier control units and the vehicle control unit
are arranged in
signal connection with the main control unit. Further, the safety system is
configured
such that safety zones for automated operation of mining vehicles may be
defined
within the work area via an interface, wherein each safety zone is associated
with
barrier control units arranged at all entrances to the respective safety zone
and an
identification key, with which the at least one mining vehicle can be checked-
in by an
operator for automated operation in the respective safety zone and/or checked-
out from
the respective safety zone, without reconfiguration of the safety system.
By designing the safety system such that safety zones can be defined through
an
interface, whereby only barrier control units are connected to the respective
defined
safety zone, a flexible and user-friendly safety system is achieved. The
safety system is
suitably adapted for a vehicle fleet comprising
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x mining vehicles, where x is an arbitrary number. A vehicle control unit is
arranged at each mining vehicle, whereby the safety system comprises as
many vehicle control units as mining vehicles. Thus, the safety system
preferably comprises x vehicle control units. The vehicle control units at the
mining vehicles are then identically configured and the mining vehicles are
thus not in advance connected to any specific safety zone. This means that
all mining vehicles can be used in all safety zones without having to
reconfigure the safety system and without having to install new programs in
the safety system. This way, a safety system for automated operation of
mining vehicles is achieved which results in high availability of mining
vehicles and high production. At check in of a mining vehicle the
identification
key connects the mining vehicle to the current safety zone. Preferably, n
safety zones may be defined within the work area, where n is an arbitrary
number.
The mining vehicle may for example be a loader, a dumper, a rock drilling rig,
a transport vehicle or another type of vehicle for mining.
The work area may be an area in a mine below or above ground level.
Alternatively, the work area may be a plurality of areas in a mine, which
areas have a network connection with each other.
Automated operation herein means remotely controlled operation,
autonomous operation or unmanned operation. An automated mining vehicle
is thus a mining vehicle which is operated remotely controlled, autonomously
or unmanned.
The herein denominated entrances to the respective safety zone also
constitute exits. A barrier control unit is arranged at each entrance to
control
at least one barrier. The safety system preferably comprises y barrier control
units, where y is an arbitrary number. The barriers at each safety zone
delimits the respective safety zone from a manual zone and are arranged for
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the purpose of preventing automated mining vehicles from leaving a safety
zone and unauthorized objects from entering into a safety zone. A safety
zone is activated when all barriers at all entrances to the safety zone are
activated. The barrier control units are preferably arranged in control
5 cabinets, which in turn are arranged at each entrance of the respective
safety
zone. The barrier control units are connected to the main control unit via a
network.
According to an aspect of the present invention, the barriers controlled by
the
barrier control units are electronic barriers. The barriers are thus of non-
physical nature. The barriers may for example consist of light gates, rotating
lasers, magnetic sensors, or any other form of sensor that senses an object
breaking the barrier. By using non-physical barriers, barriers may easily be
added to and/or removed from the safety system.
According to an aspect of the present invention the safety system is arranged
to immediately affect operation of all mining vehicles in a safety zone, when
at least one barrier in said safety zone is crossed. The mining vehicles in a
safety zone are suitably set in a safe state when at least one barrier at the
safety zone is crossed. When a barrier is crossed the barrier control unit
connected to said barrier reacts and sends a signal to the main control unit.
The main control unit subsequently sends commands to the vehicle control
units which are connected to the specific safety zone through check in, which
vehicle control units control the respective mining vehicle such that they are
set in a safe state. A safe state may for example mean that the mining
vehicle is stopped, that the engine of the mining vehicle is switched off or
that
movable components of the mining vehicle are stopped. That the mining
vehicles are set in a safe state may thus mean that they are stopped but that
they still are able to perform work such as drilling or bolting. By only
affecting
the mining vehicles located in a specific safety zone when a barrier at said
safety zone is crossed, the production losses are limited since as many
mining vehicles as possible are in operation.
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According to an aspect of the present invention, each barrier control unit is
arranged to control an outer barrier and an inner barrier at each entrance to
the respective safety zone. The outer barrier is adjacent the manual zone
and the inner barrier is adjacent the safety zone. Alternatively, three or
more
barriers are arranged at each entrance to a safety zone. The outer barrier
and the inner barrier are suitably arranged, such that a mining vehicle can
fit
between them. The space between the outer barrier and the inner barrier
thereby acts as additional safety in case a barrier is crossed. If a mining
vehicle crosses the inner barrier in a direction out from the safety zone, the
space means that there is time to stop the mining vehicle before the outer
barrier is crossed, and it is thereby ensured that an automated mining vehicle
is not operated in the manual zone. All automated mining vehicles in the
safety zone are similarly set in a safe state if an unauthorized object
crosses
.. the outer barrier in a direction towards the safety zone. It is thereby
ensured
that the automated mining vehicles do not present a risk when/if the
unauthorized object crosses the inner barrier and is inside the safety zone.
A safety zone may also comprise passive barriers which may be activated if
needed, for example in order to divide a safety zone into smaller subzones.
That may for example be advantageous if a need to perform manual work
inside a safety zone arises. The passive barriers may then be activated and
delimit a protected manual area and thus ensure that unmanned mining
vehicles are not operated among people and/or manually operated vehicles.
The passive barriers may be activated/deactivated via the interface.
According to an aspect of the present invention, during check in and/or check
out of a mining vehicle in a safety zone, the safety system is adapted not to
affect the operation of the rest of the mining vehicles in said safety zone.
This
way, the production is not unnecessarily affected and the production losses
are minimized. The safety system is alternatively adapted to control the
mining vehicles in a safety zone such that they are operated with a reduced
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speed during check in and/or check out of a mining vehicle in the safety
zone.
According to an aspect of the present invention, the respective safety zone
has at least one primary entrance at which a barrier control unit is arranged
outside the barriers controlled by the barrier control unit and thus outside
the
safety zone. At the primary entrance the check in and the check out of mining
vehicles to the respective safety zone is performed. A control cabinet
comprising a barrier control unit associated with the respective safety zone
is
suitably arranged outside the barriers controlled by the barrier control unit
and thus in the manual zone, at the primary entrance of the respective safety
zone. The rest of the entrances to a safety zone suitably each has a barrier
control unit arranged on the inner side of the barriers controlled by the
barrier
control unit, inside the safety zone. These entrances constitute secondary
entrances. The primary entrance preferably has an outer and an inner
barrier. The secondary entrances may have one or more barriers. In order to
activate a safety zone, all barriers at the secondary entrances must first be
activated, thereafter the barriers at the primary entrance can be activated.
This is suitably performed by an operator walking through the deactivated
safety zone and successively activating the barriers at the secondary
entrances, where the control cabinets with the barrier control units are
arranged on the inner side of the barriers. The operator thereafter walks out
through the primary entrance, out from the safety zone, to the barrier control
unit arranged outside the safety zone and activates the barriers at the
primary entrance. If a barrier at a secondary entrance is not activated, the
barrier at the primary entrance cannot be activated. This way is ensured that
no unauthorized objects are present in the safety zone when it is activated.
The barriers are preferably activated and deactivated manually through
manoeuvring devices connected to the respective barrier control unit at the
control cabinets. A barrier may also be deactivated by crossing/breaking the
barrier.
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According to an aspect of the invention, the identification key comprises a
binary code. The identification key suitably consists of a contact, wherein
the
different pins of the contact forms the binary code. The identification key
alternatively consists of an electronic card which can be read by a reader in
the mining vehicle. The identification key is suitably placed in a control
cabin
comprising the barrier control unit, arranged at the primary entrance of the
safety zone. The identification key is suitably arranged, such that the
barrier
control unit detects when the identification key is removed from its position.
According to an aspect of the present invention, the at least one remote
control unit is arranged distantly from the work area and is managed by a
remote operator. The remote control unit is suitably arranged in a control
room above ground. The work area is suitably underground. The safety
system may comprise a plurality of remote control units arranged in the same
control room, or a plurality of remote control units arranged in different
control
rooms. The safety system preferably comprises z remote control units, where
z is an arbitrary number. By using a plurality of remote control units, a
plurality of remote operators can monitor and affect the safety system from
different locations. The remote control units are connected to the main
control unit via a network. An interface through which safety zones may be
defined, suitably a graphic interface, is provided in connection with the
respective remote control unit in the respective control room. The interface
may be presented on a panel or display. An emergency stop device is
arranged in connection with the respective remote control unit and thus in
connection with the main control unit. The emergency stop device may
consist of a central manoeuvring device which is connected to all safety
zones and mining vehicles within the work area via the main control unit. A
remote operator may thus in an easy way stop all vehicles within the work
area in case a hazardous situation is identified. Alternatively, the emergency
stop device may consist of a plurality of individual emergency stop
manoeuvring devices connected to each safety zone, wherein a remote
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operator easily can stop all mining vehicles within a certain safety zone at
the
risk of danger. Alternatively, the emergency stop device consists of both a
central manoeuvring device and individual emergency stop manoeuvring
devices connected to the safety zones. A reset manoeuvring device is also
.. arranged in connection with the respective remote control unit, for
resetting
the safety system after use of an emergency stop device.
According to an aspect of the present invention, the safety zones consist of
tunnels. Alternatively, a safety zone consists of a part of a tunnel, or a
plurality of tunnels.
According to an aspect of the present invention, the main control unit is
arranged within the work area and is managed by an operator in the work
area. The main control unit is suitably arranged in a main cabinet, which in
turn is arranged in the manual zone of the work area. An interface, through
which the safety zones may be defined, is suitably provided in connection to
the main control unit in the main cabinet. The interface may be presented on
a panel or display.
According to an aspect of the present invention, the vehicle control unit is
adapted to control functions such as brake action, start/stop of engine, fuel
supply, steering, drilling, bolting, loading and unloading. This way is
ensured
that the mining vehicles can be set in a safe state when a barrier is crossed.
According to an aspect of the present invention a method for a safety system
for automated operation of at least one mining vehicle within a work area is
provided, comprising at least one remote control unit, a main control unit, a
plurality of barrier control units for controlling barriers and a vehicle
control
unit arranged at the vehicle, wherein the at least one remote control unit,
the
barrier control units and the vehicle control unit are arranged in signal
connection with the main control unit, wherein the method comprises the
steps to:
81801340
- define at least one safety zone via an interface of the safety system;
and
- check in at least one mining vehicle by an operator for automated
operation in said safety zone by means of an identification key,
without reconfiguring the safety system.
5
With a safety system according to the present invention a hardware base is
obtained, comprising one or more remote control units, a main control unit, a
plurality of barrier control units and vehicle control units arranged at the
mining vehicles. By defining at least one safety zone via an interface of the
10 safety system, in which safety zone mining vehicles may be operated in
an
automated mode, and thereafter check in relevant mining vehicles in said
safety zone without reconfiguring the safety system, a flexible and user-
friendly method is achieved. The at least one safety zone is suitably defined
by, in the system, associating the safety zone with barrier control units
arranged at all entrances to the safety zone. In order for the safety system
to
function and to know which mining vehicles that should be affected when a
barrier of a safety zone is crossed, the mining vehicles must somehow be
associated with the safety zone they operate in. A check in of the mining
vehicle in the safety zone is therefore required. At check in, the
identification
key connects the mining vehicle to the safety zone and the mining vehicle
may be operated in an automated mode.
According to an aspect of the present invention the step to check in the
mining vehicle comprises the steps to:
- apply an identification key in the mining vehicle;
- deactivate an outer barrier of the safety zone;
- manually operate the mining vehicle to a position between the outer barrier
and an inner barrier of the safety zone;
- set the mining vehicle in an automation mode and remove the identification
key from the mining vehicle;
- activate the outer barrier;
- verify the authorization of the mining vehicle to the safety zone;
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- activate the mining vehicle for automated operation;
- deactivate the inner barrier and operate the mining vehicle in an
automated
mode into the safety zone; and
- activate the inner barrier.
During check in an operator suitably manually operates the mining vehicle to
be checked-in, to the primary entrance of the current safety zone. The
operator suitably stops the mining vehicle in front of the outer barrier at
the
primary entrance. At the entrance it may be visualized for the operator that
the outer barrier and the inner barrier are activated. It may further be
visualized for the operator that the mining vehicle is not allowed to cross
the
outer and the inner barrier, for example by a red traffic light. The operator
thereafter takes the identification key located in a control cabinet in which
the
barrier control unit is arranged. The identification key is further applied in
the
mining vehicle, wherein the mining vehicle and its vehicle control unit are
connected to the safety zone and the check in process is started. The
operator is preferably allocated a certain amount of time from when the
identification key is removed from the control cabinet until it should be
applied in the mining vehicle. If the time is exceeded the operator must
return
the identification key to the control cabinet, actuate the reset manoeuvring
device and start over. When the identification key is applied in the mining
vehicle the outer barrier is deactivated and the operator can manually
operate the mining vehicle to a position between the outer barrier and an
inner barrier, and turn off the engine. The fact that the outer barrier is
deactivated and that it is allowed to operate the mining vehicle may be
visualized for the operator by means of a green traffic light. The operator
thereafter sets the mining vehicle in an automated mode and removes the
identification key from the mining vehicle and returns it to the control
cabinet
and the barrier control unit. The outer barrier is thereby activated. In order
to
achieve automated operation of the mining vehicle, verification that the
mining vehicle is authorized for operation in the safety zone is required.
This
is suitably achieved by a remote operator verifying via the interface that the
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mining vehicle should be operated in the specific safety zone. The remote
operator may thereafter activate the mining vehicle for automated operation
by starting the engine of the mining vehicle. When the mining vehicle is
started, the operator in the manual zone of the work area deactivates the
inner barrier, wherein the remote operator can remotely control the mining
vehicle into the safety zone. The operator suitably deactivates the inner
barrier by turning a knob or manoeuvring device in the control cabinet. As
long as the manoeuvring device is turned, the inner barrier is deactivated.
The inner barrier is finally activated, suitably by the operator releasing the
knob. The mining vehicle is thereby checked-in for automated operation in
the safety zone, without having to reconfigure the safety system. If the
operator should release the knob such that the inner barrier is activated
before the mining vehicle has crossed the inner barrier, all mining vehicles
in
the safety zone are set in a safe state.
According to an aspect of the present invention, the method further
comprises the step to; when at least one barrier of the safety zone is crossed
- control the vehicle control unit of all mining vehicles in the safety
zone, such
that the operation of the mining vehicles is affected.
According to an aspect of the present invention the method further comprises
the step to:
- check out at least one mining vehicle from said safety zone.
According to an aspect of the present invention, the step to check out the
mining vehicle comprises the steps to:
- deactivate an inner barrier of the safety zone;
- operate the mining vehicle to a position between the inner barrier and an
outer barrier of the safety zone;
- activate the inner barrier;
- deactivate the outer barrier;
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- set the mining vehicle in a manual mode and operate the mining vehicle
out
from the safety zone; and
- activate the outer barrier.
During check out the remote operator suitably remotely controls the mining
vehicle to the inner barrier at the primary entrance, after which the operator
in
the manual zone deactivates the inner barrier. The inner barrier is preferably
deactivated by the operator turning a knob in the control cabinet, in which
the
barrier control unit at the primary entrance of the safety zone is arranged.
The mining vehicle is thereafter operated to a position between the inner
barrier and the outer barrier. The operator then activates the inner barrier,
suitably by releasing the knob. Should the operator release the knob before
the mining vehicle has crossed the inner barrier, the inner barrier is
activated
and the mining vehicle is set in a safe state. When the mining vehicle is
positioned between the inner and the outer, the remote operator may also
verify the checkout via the interface. The mining vehicle is thereby turned
off,
checked-out from the safety system and is no longer connected to the safety
zone. When this is done, the operator deactivates the outer barrier by turning
another knob which results in that the outer barrier is maintained deactivated
during a predetermined period of time. The outer barrier is suitably
maintained deactivated during 45-85 seconds, preferably 60 seconds. During
this time, the operator can cross the outer barrier in to the mining vehicle,
set
the mining vehicle in a manual mode and operate the mining vehicle
manually out from the safety zone. After the predetermined period of time
has passed, the outer barrier is activated and the safety zone is activated.
Alternatively, the outer barrier is maintained activated during an indefinite
period of time, until the operator has operated the mining vehicle out from
the
safety zone and manually activates the outer barrier.
Should a barrier of a safety zone be crossed at check in/check out, the
vehicle control units in all mining vehicle in the safety zone are controlled,
such that the mining vehicles in the safety zone are set in a safe state. The
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check in/check out process is thereby cancelled. To continue the process it is
required that the operator and/or the remote operator actuates a reset
manoeuvring device.
According to an aspect of the present invention, a computer program at a
safety system is provided, where said computer program comprises program
code to cause an electronic control unit or another computer connected to
the electronic control unit to perform the steps according to methods
described
above or below.
According to an aspect of the present invention, a computer program at a
safety system is provided, where said computer program comprises program
code to cause an electronic control unit or another computer connected to
the electronic control unit to perform the steps according to methods
described
above or below, when said program code is run on said control unit or said
computer.
According to an aspect of the present invention, a computer program at a
safety system is provided, where said computer program comprises program
code stored on a computer-readable medium for causing an electronic
control unit or another computer connected to the electronic control unit to
perform the steps according to methods described above or below.
According to an aspect of the present invention, computer program at a
safety system is provided, where said computer program comprises program
code stored on a computer-readable medium for causing an electronic
control unit or another computer connected to the electronic control unit to
perform the steps according to methods described above or below, when said
program code is run on said control unit or said computer.
According to an aspect of the present invention, a computer program product
is provided, comprising a program code stored on a computer-readable
medium to perform the method steps according to methods described above
or below,
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when said computer program is run on an electronic control units or another
computer connected to the electronic control unit.
According to an aspect of the present invention, a computer program product
5 is provided, comprising a program code non-volatile stored on a computer-
readable medium to perform the method steps according to methods described
above or below, when said computer program is run on an electronic control
units or another computer connected to the electronic control unit.
10 Further objects, advantages and novel features of the present invention
will
become apparent to one skilled in the art from the following details, and also
by putting the invention into practice. Whereas the invention is described
below, it should be noted that it is not restricted to the specific details
described. Specialists having access to the teachings herein will recognise
15 further applications, modifications and incorporations within other
fields,
which are within the scope of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS
For fuller understanding of the present invention and further objects and
advantages of it, the detailed description set out below should be read
together with the accompanying drawings, in which the same reference
notations denote similar items in the various diagrams, and in which:
Figure 1 schematically illustrates a safety system according to an
embodiment of the invention;
Figure 2 schematically illustrates a work area with a safety system according
to an embodiment of the invention;
Figure 3a schematically illustrates a flow chart of a method according to an
embodiment of the invention;
Figure 3b in further detail schematically illustrates a flow chart of a
method,
according to an embodiment of the invention; and
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Figure 4 schematically illustrates a computer, according an embodiment of
the present invention.
DETAILED DESCRIPTION OF THE DRAWINGS
Figure 1 schematically illustrates a safety system 100 for automated
operation of at least a mining vehicle 1 within a work area 10 according to an
embodiment of the present invention. The work area 10 may comprise
several areas in a mine, as long as there is a network connection between
the areas. The safety system 100 comprises at least one remote control unit
1101-110,, a main control unit 120, a plurality of barrier control units 130i-
130y for control of barriers 135', 135" and a vehicle control unit 1401-140,
arranged in the mining vehicle 1. The safety system 100 is suitably adapted
for automated operation of a fleet of vehicles comprising x mining vehicles 1,
whereby the safety system 100 comprises x vehicle control units 1401-140x,
where x is an arbitrary number. The safety system 100 suitably comprises y
barrier control units 1301-130y, where y is an arbitrary number. The safety
system 100 suitably comprises z remote control units 1101-110, arranged
either in one control room or in different control rooms, where z is an
arbitrary
number. The remote control units 1101-110,, the barrier control units 1301-
130y and the vehicle control units 1401-140, are arranged in signal
connection with the main control unit 120. The remote control units 1101-110,
and the barrier control units 1301-130y are connected to the main control unit
120 via a network. The vehicle control units 1401-140, are connected to the
main control unit 120 via a wireless connection. The vehicle control units
1401-140õ 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 Si-
S can be defined within the work area 10 through an interface (not shown).
81801340
17
Preferably, a safety zones Sl-S, may be defined within the work area 10,
where n is an arbitrary number. For each safety zone S1-S, is associated a
certain number of barrier control units 1301-130y of the barrier control units
1301-130y available in the safety system 100. The safety zones Si-Sr, are
thus not permanently defined in the safety system 100, but can easily be
changed via the interface. The vehicle control units 1401-140, and thus the
mining vehicles 1 are neither systemically permanently connected to a
specific safety zone S1-S. The vehicle control units 1401-140, of the safety
system 100 are on the contrary identically configured and this way all mining
vehicles 1 in the work area 10 can be used in all safety zones Si-Sr, 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 break, any other mining vehicle 1 in the work area 10 can quickly replace
the broken mining vehicle 1. In order for the safety system 100 to function as
desired and in order to achieve automated operation of a mining vehicle 1 in
a safety zone S1-S, the mining vehicle 1 must be checked-in in the safety
zone Si-Si, by means of an identification key (not shown). This is further
described in Fig. 3a.
Figure 2 schematically shows a work area 10 with a safety system 100
according to an embodiment of the present invention. A remote control unit
1101 is here illustrated arranged in a control room 150 above ground. In the
control room 150 is also the interface 160 through which safety zones Si-Sn
may be defined presented on a panel or display. A remote operator in the
control room 150 can thereby define safety zones S1-Sr, and monitor the work
area 10 via the interface 160. An emergency stop device 170 is arranged in
communication with the remote control unit 1101 and thus in communication
with the main control unit 120. The emergency stop device 170 may be a
central maneuvering device, which via the main control unit 120 is connected
to all safety zones S1-Sn and mining vehicles 1 in the work area 10. A remote
operator can thus in an easy way stop all mining vehicles 1 within the work
Date Recue/Date Received 2022-07-28
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area 10 when a hazardous situation is identified. Alternatively, the
emergency stop device 170 may consist of a plurality of individual emergency
stop manoeuvring devices, connected to each safety zone Si-Sn, whereby
the remote operator easily can stop all mining vehicles 1 within a certain
safety zone Si-Sn at the risk of danger. Alternatively, the emergency stop
device 170 consists of both a central maneuvering device and individual
emergency stop manoeuvring devices connected to the safety zones Si-Sn.
A first safety zone Si and a second safety zone 82 has been defined in the
safety system of Fig. 2. Within the work area 10, n safety zones Si-S, may
be defined, where n is an arbitrary number, which herein is illustrated by the
dotted safety zone Sn. The safety system 100 is herein described with
respect to the first safety zone Si and the second safety zone S2. Some
reference numbers for details that are the same for the first safety zone Si
and the second safety zone 82 have been omitted. The first safety zone Si
has been assigned and is associated with three barrier control units 1301,
1303, 1304, one arranged at each entrance 200', 200" to the safety zone Si.
The second safety zone S2 is assigned and associated with two barrier
control units 1302, 1305, one arranged at each entrance 200', 200" to the
safety zone S2. Each barrier control unit 1301-1305 is arranged in connection
with, and controls, an outer barrier 135' and an inner barrier 135". The outer
barrier 135' and the inner barrier 135" suitably consist of light gates. The
inner barriers 135" are adjacent the respective safety zone Si, S2 and the
outer barriers 135' are adjacent a manual zone M. The inner barriers 135"
and the outer barriers 135' are arranged such that a mining vehicle 1 can fit
there between. The barrier control units 1301-1305 are suitably arranged in
control cabinets 210 comprising manual manoeuvring devices or knobs for
manual activation and deactivation of the inner barrier 135" and the outer
barrier 135'. The first safety zone Si and the second safety zone S2 each
have a primary entrance 200'. At the primary entrance 200', check in and
check out of the mining vehicle 1 to the respective safety zone Si, S2 is
performed. At the primary entrance 200', the barrier control unit 1301, 1302
is
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arranged outside the outer barrier 135' controlled by the barrier control unit
1301, 1302, in the manual zone M. The other entrances 200" of the respective
safety zone Si, S2 constitute secondary entrances 200" where the barrier
control unit 1303, 1304, 1305 is arranged on the inner side of the inner
barrier
.. 135", in the respective safety zone Si, S2. A safety zone Si, 82 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 St,
S2,
the inner barriers 135" and the outer barriers 135' of the secondary entrances
200" must be activated. The barriers 135', 135" at the secondary entrances
200" are suitably activated by an operator from inside the safety zone Si, S2,
after which the operator passes through the safety zone Si, S2 to the primary
entrance 200' and ensures on the way that no unauthorized object is present
.. in the safety zone Si, S.
If an object, such as a person or a vehicle crosses at least one barrier 135',
135" in one of the safety zones Si, S2, that safety zone Si, S2 is deactivated
and the safety system 100 is arranged to immediately affect the operation of
all the mining vehicles 1 in that safety zone Si, S2- The mining vehicles 1 in
the deactivated safety zone Si, 82 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 1301-1305 connected to the crossed barrier 135', 135"
detects that the barrier 135', 135" is broken and sends signals to the main
control unit 120, which in turn communicates with the vehicle control units
1401-1404 of the mining vehicles 1 that are checked-in in the current safety
zone Si, S2. A safety system 100 is thereby achieved, which is safe and
which minimizes the risk of accidents.
The main control unit 120 is arranged in a main cabinet 220 in the manual
zone M. The interface 160 is presented on a panel or display in the main
cabinet 220 in connection with the main control unit 120.
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At the primary entrance 200' of the respective safety zone Si, S2, the
identification key 250 associated with the safety zone Si, S2 is arranged. The
identification key 250 is suitably arranged in the control cabinet 210 in
connection with the barrier control unit 1301, 1302. During check in of a
5 mining vehicle 1 in a safety zone Si, 52, the identification key 250 is
temporarily removed from the control cabinet 210 and applied in the mining
vehicle 1. This process is described in more detail in Fig. 3a.
Figure 3a shows a flow chart of a method for a safety system 100 for
10 automated operation of at least one mining vehicle 1 within a work area
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:
- define s301 at least one safety zone Si-Sr via an interface 160 of the
safety
15 system 100; and
- check in s302 at least one mining vehicle 1 for automated operation in said
safety zone Si-Sn by means of an identification key 250, without
reconfiguring the safety system 100.
20 By defining at least one safety zone S1-S, via an interface 160 of the
safety
system 100, in which safety zone Si-Sn mining vehicles 1 may be operated in
an automated mode, and then check in relevant mining vehicles 1 in the
safety zone Si-Sn, a flexible and user-friendly method is achieved. The at
least one safety zone Si-Sn is suitably defined by, in the system 100,
associating the safety zone Si-S, with barrier control units 1301-130y
arranged at all the entrances 200', 200" to the safety zone S1-S,.. In order
for
the safety system 100 to function in a safe manner, and for example to know
which mining vehicles 1 in a safety zone Si-S, to be set into a safe state
when a barrier 135 1, 135" has been crossed, the mining vehicles 1 in a
safety zone Si-S must be associated with that specific safety zone S1-S.
During check in, the identification key 250 connects the mining vehicle 1 to
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the safety zone S1-Sn and the mining vehicle I may be operated in an
automated mode.
Preferably, the step S302 to check in the mining vehicle 1 comprises to:
- apply the identification key 250 in the mining vehicle 1;
- deactivate an outer barrier 135' of the safety system Si-Sn;
- manually operate the mining vehicle 1 to a position between the outer
barrier 135' and an inner barrier 135" of the safety zone Si-Sn;
- set the mining vehicle 1 in an automation mode and remove the
identification key 250 from the mining vehicle 1;
- activate the outer barrier 135';
- verify the authorization of the mining vehicle 1 to the safety zone S1-S;
- activate the mining vehicle 1 for automated operation;
- deactivate the inner barrier 135" and operate the mining vehicle 1 into the
safety zone Si-Se; and
- activate the inner barrier 135".
An operator suitably operates the mining vehicle 1 to be checked-in in the
safety zone Si-Sn, up to the primary entrance 200' of the current safety zone
S1-S. The operator suitably stops the mining vehicle 1 in front of the outer
barrier 135' of the primary entrance 200' in the manual zone M. At the
entrance 200' it is visualized for the operator that the outer barrier 135'
and
the inner barrier 135" are activated. It is further visualized for the
operator
that the mining vehicle 1 is not allowed to cross the outer and the inner
barrier 135, 135", for example by a red traffic light. The operator
subsequently takes the identification key 250 associated with the safety zone
Si-S, which is placed in the control cabinet in which the barrier control unit
1301-130y at the primary entrance 200' is arranged. The identification key 250
is applied in the mining vehicle 1, wherein the mining vehicle 1 and the
vehicle control unit 1401-140, are systemically connected to the safety zone
Si-S, and the check in process is started. The operator is preferably
allocated a certain amount of time from when the identification key 250 is
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removed from the control cabinet until it should be applied in the mining
vehicle 1. If the time is exceeded, the operator must return the
identification
key 250 to the control cabinet, actuate a reset manoeuvring device and start
over. When the identification key 250 is applied in the mining vehicle 1 the
outer barrier 135' is deactivated and the operator can manually operate the
mining vehicle 1 to a position between the outer barrier 135' and the inner
barrier 135". The operator also turns off the engine of the mining vehicle 1.
The fact that the outer barrier 135' is deactivated and that it is permissible
to
operate the mining vehicle 1 may be visualized to the operator by a green
traffic light.
The operator subsequently sets the mining vehide 1 in an automated mode,
removes the identification key 250 from the mining vehicle 1 and returns it to
the control cabinet and barrier control unit 1301-130y. When the
identification
key 250 once again is connected to the barrier control unit 1301-130y the
outer barrier 135' is activated. In order to achieve automated operation of
the
mining vehicle 1 a verification that the mining vehicle 1 is authorized for
operation in the specific safety zone Si-Sn is required. This is suitably
achieved by a remote operator verifying via the interface 160 that the mining
vehicle 1 is to be operated in the specific safety zone S1-S,. The remote
operator may subsequently activate the mining vehicle 1 for automated
operation by starting the engine of the mining vehicle I. When the mining
vehicle 1 is started, the operator in the manual zone M of the working area 10
deactivates the inner barrier 135", whereby the remote operator can operate
the mining vehicle 1 in an automated mode into the safety zone S1-S. The
operator suitably deactivates the inner barrier 135" by turning a knob or
manoeuvring device in the control cabinet. As long as the manoeuvring
device is turned the inner barrier 135" is deactivated. The inner barrier 135"
is finally activated, suitably by the operator releasing the knob. The mining
vehicle 1 is thereby checked-in for automated operation in the safety zone
Si-Sõ, without having to reconfigure the safety system 100. The mining
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vehicle 1 may thereby be operated in an automated mode in the safety zone
Si-Sn.
If the operator should release the knob during check-in, such that the inner
barrier 135" is activated before the mining vehicle 1 has had the time to
cross
the inner barrier 135" into the safety zone Si-Sn, all mining vehicles 1 of
the
safety zone S1-S, are set in a safe state. Similarly, the vehicle control unit
1401-140, of all mining vehicles 1 in a safety zone Si-Sn is controlled when
at
least one barrier 135', 135" of the safety zone Si-S, is crossed, so that the
operation of the mining vehicle 1 is affected. When a barrier 135', 135" is
crossed, the barrier control unit 1301-130y connected to said barrier 135',
135" reacts and sends a signal to the main control unit 120. The main control
unit 120 thereafter sends further commands to the vehicle control units 1401-
140, of the mining vehicles 1 which by the check-in are connected to the
specific safety zone S1-S, which vehicle control units 1401-140x control the
respective mining vehicle 1 such that they are set in a safe state.
During check in of a mining vehicle 1 in a safety zone Si-Sn, the other mining
vehicles 1 already situated in the safety zone Si-Sn are suitably not
affected.
Alternatively, the other mining vehicles 1 are controlled, such that they are
operated with a reduced speed during check in and/or check out of a mining
vehicle 1.
Figure 3b shows a flow chart of a method for a safety system 100 for
automated operation of at least one mining vehicle 1 within a work area 10,
according to an embodiment of the present invention. The method comprises
the steps described in Fig. 3a to define S301 at least one safety zone Si-Sn
via an interface 160 of the safety system 100 and to check in S302 at least
one mining vehicle 1 for automated operation in said safety zone Si-S, by
means of an identification key 250, without reconfiguring the safety system
100.
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The method further comprises the step to:
- check out s303 at least one mining vehicle 1 from said safety zone Si-Sr.
The step s303 to check out the mining vehicle 1 suitably comprises to:
- deactivate an inner barrier 135" at the safety zone S1-S;
- operate the mining vehicle 1 to a position between the inner barrier 135"
and an outer barrier 135' at the safety zone S1-S;
- activate the inner barrier 135";
- deactivate the outer barrier 135';
- set the mining vehicle 1 in a manual mode and operate the mining vehicle 1
out of the safety zone S1-S; and
- activate the outer barrier 135'.
During checkout of a mining vehicle 1, the remote operator suitably operates
the mining vehicle 1 in an automated mode up to the inner barrier 135" at the
primary entrance 200' of the safety zone S1-Sn, after which the operator in
the manual zone M deactivates the inner barrier 135". The remote operator
communicates in suitable ways with the operator in the work area 10 in order
to inform that a mining vehicle 1 is to be checked-out. The inner barrier 135"
is suitably deactivated by the operator turning a knob in the control cabinet,
in
which the barrier control unit 1301-130y at the primary entrance 200' of the
safety zone Si-Sn 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-Sn are
set in a safe state. When the mining vehicle 1 is positioned between the inner
and the outer barrier 135', 135" the remote operator verifies the checkout via
the interface 160. The mining vehicle 1 is thereby turned off, checked-out in
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the safety system 100 and is no longer connected to the specific safety zone
S1-S. When this is done, the operator deactivates the outer barrier 135' by
turning another knob, which results in the outer barrier 135' being maintained
deactivated during a predetermined period of time. The outer barrier 135' is
5 suitably maintained deactivated during 45-85 seconds, preferably 60
seconds. During that time, the operator crosses the outer barrier 135' in to
the mining vehicle 1, sets the mining vehicle 1 in a manual mode and
operates the mining vehicle 1 manually out from the safety zone S1-Sn. When
the predetermined period of time has passed, the outer barrier 135' is
10 activated and the safety zone Si-Se is once again activated.
Figure 4 illustrates a control unit 1101-1107, 120, 1301-130y, 1401-140,
according to an embodiment of the invention. Herein, a diagram of an
embodiment of a device 400 is shown. The control units 1101-110,, 120,
15 1301-130, 1401-140x described with reference to Figure 1-3 may according
to this embodiment comprise said device 400. The device 400 comprises a
non-volatile memory 401, a data processing unit 402 and a read/write
memory 403. The non-volatile memory has a first memory element 404,
wherein a computer program P, such as an operating system, is stored for
20 controlling the function of the device 400. The device 400 further
comprises a
bus controller, a serial communication port, I/O means, an AID converter, a
time and date input and transfer unit, an event counter and an interruption
controller (not shown). The non-volatile memory 401 also has a second
memory element 405.
The computer program P comprises routines for defining safety zones 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
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starting and stopping the engine, fuel supply, braking effect, steering,
drilling,
loading, dumping, and similar. The program P further comprises routines for
checking out a mining vehicle from a safety zone.
The program P is in this embodiment stored in an executable form or in a
compressed form in a memory and/or in a read/write memory.
When it is described that the data processing unit 402 performs a certain
function it should be understood that the data processing unit 402 performs a
certain part of the program P which is stored in the memory, or a certain part
of the program stored in the read/write memory 403. The data processing
unit 402 may communicate with a data port 415 via a data bus 406. The non-
volatile memory 401 is adapted for communication with the data processing
unit 402 via a data bus 407. A separate memory 409 is adapted to
communicate with the data processing unit 402 via a data bus 410. The
read/write memory 403 is adapted to communicate with the data processing
unit 402 via a data bus 411.
When data is received on data port 415 it is temporarily stored in the second
memory element 405. When the received input data has been temporarily
stored, the data processing unit 402 is prepared to perform execution of code
in a manner described above.
Parts of the methods described herein may be performed by the device 400
using the data processing unit 402 running the program P stored in the
memory or the read/write memory 403. When the device 400 runs the
program P, the herein described methods are executed.
The foregoing description of the preferred embodiments of the present
invention is provided for illustrative and descriptive purposes. It is not
intended to be exhaustive or to restrict the invention to the variants
described. Many modifications and variations will obviously be apparent to
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one skilled in the art. The embodiments were chosen and described in order
to best explain the principles of the invention and its practical
applications,
and to thereby make it possible for specialists to understand the invention
for
various embodiments and with the various modifications appropriate for the
intended use.
