FIELD OF THE INVENTION

[0001 ] The present invention relates to arranging passage control of mining vehicles.

BACKGROUND OF THE INVENTION

[0002] Automated and other unmanned e.g. from a control room remotely controllable mining vehicles have been developed for modern mines. The purpose has been to improve worker safety and working conditions as well as to further increase productivity. In connection with unmanned and automated machinery, safety has to be taken into account very carefully. Also legislation requires the use of safety systems, such as passage control, in mining systems comprising such vehicles. Typically, the unmanned mining vehicles are provided with an isolated operation area to which access by outsiders and outside vehicles is prevented in order to eliminate any risk of collision. The operation area may be defined e.g. by providing a mine e.g. with iron gates or corresponding passage control devices. The passage control devices are equipped with sensors connected to a safety system. When a signal indicating border crossing is received from a passage control device, a working machine in automated or remote operation is stopped immediately.

[0003] In the known solution, however, the safety systems have to be designed operation-area-specifically. In such a case, it is designed how the components of the safety system are installed in the area and, subsequently, a program for this precise purpose is custom-made for a programmable logic circuit of the safety system. If the operation area is changed, the program code and a graphic user interface for controlling the system have to be changed. Thus, such a safety system has basically been designed as a fixed installation. However, there are production environments wherein a need exists to change such automation operation areas.

BRIEF DESCRIPTION OF THE INVENTION

[0004] A novel and improved apparatus and method are now provided for passage control of mining vehicles.

[0005] An apparatus according to an aspect of the invention is characterized in that the apparatus is configured to provide passage control in a mining automation system, the control means are configured to transmit a control signal to a mining vehicle control unit, the apparatus is provided, pre- configured thereto for use, with a set of movable passage control units comprising at least one detector unit, and in that the apparatus is configured to select passage control units to be used for passage control in connection with commissioning the passage control apparatus, wherein

each passage control unit is provided with an identifier preconfig- ured therefor and arranged to be communicated to the control means in response to the passage control unit being brought in operational connection with the control means,

the apparatus comprises a control user interface configured to indicate passage control units that, on the basis of identifiers received from at least some of the passage control units and identifier data preconfigured into the apparatus, are connected to the control means,

the control means are configured to assign for passage control at least one passage control unit from among the passage control units connected to the control means on the basis of an input received from a user, and the control means are configured to monitor a passage control signal of the at least one passage control unit assigned for passage control.

[0006] According to an embodiment of the invention, in the control means the commissioning of the passage control units is arranged on the basis of the following functional states: selection of passage control units, wherein on the basis of inputs received from the user, passage control units to be used for passage control are selected from among the passage control units connected to the control means; area check and acknowledgement of passage control units, entered into in response to the passage control units having been selected and wherein acknowledgement signals are received from the passage control units selected for passage control; and automation state to which a change may occur after an acknowledgement signal has been received from all passage control units selected for passage control, and wherein the control means are configured to monitor the control signals received from the passage control units selected for passage control and to transmit a control signal to the mining vehicle control unit for bringing the mining vehicle to a halt in response to a signal received from a passage control unit indicating that an object has passed through a control area of the passage control unit.

[0007] An advantage of the present arrangement is that a single passage control apparatus may be readily used in different operation areas. The passage control apparatus is a general-purpose configuration, enabling only the necessary number of its passage control units to be brought into operation in an operation area. Other advantages of the invention and different embodiments thereof will become apparent in the following detailed description.

BRIEF DESCRIPTION OF THE FIGURES

[0008] The invention will be described in closer detail in the accompanying drawings, in which

Figure 1 shows a part of a mine provided with a passage control system,

Figure 2 illustrates functional units related to passage control,

Figure 3 illustrates a method according to an embodiment,

Figure 4 illustrates a user interface implementation of a passage control apparatus, and

Figure 5 illustrates devices of a passage control unit according to an embodiment.

[0009] For the sake of clarity, the figures show features related to the invention in a simplified manner.

DETAILED DESCRIPTION OF THE INVENTION

[0010] The solution according to the invention is suitable for use in safety systems particularly related to mobile mining vehicles necessary for mining, such as various mobile rock drilling rigs as well as loading and transport machinery. In the following, such mobile mining devices are referred to as mining vehicles. The scope of application of the invention is not restricted to the safety system of a mining vehicle to be illustrated below, but the features of the invention may also be applied to other types of safety systems for mining vehicles. It is also to be noted that a mining vehicle may generally refer to various machinery used for rock excavation in surface or underground operation areas, i.e. the mining automation system may also be located at least partly somewhere else than in actual underground mines.

[0011] Figure 1 shows a part of a mine. The mine comprises a plurality of tunnels 1 wherein at least one mining vehicle 2 may operate. In the mine, an operation area may be defined using passage control units 3, 4, 5, 6, and 7 in order to enable the mining vehicle 2 to be driven safely unmanned. Access to and departure from the operation area are controlled by a passage control system connected to a control system of the mining vehicle. The passage control system and the mining vehicle control system may be part of a control system for the entire mine.

[0012] The passage control unit 3 to 7 comprises at least one detector unit to detect a machine or a person entering a control area of the detector unit. According to an embodiment, the detector unit is an optoelectronic guard detector, such as a guard detector based on the use of a so-called light curtain or photocells. The application of the invention is not, however, restricted to the use of any certain type of identifier, but e.g. other identifiers based on optical identification, such as identifiers based on laser scanning, identifiers based on radio frequency technology, safety mats or lanyard gate switches, may be used.

[0013] Figure 1 illustrates an embodiment wherein the passage control unit 3 comprises two detector units 3a, 3b. In connection with Figures 2 to 4, reference is made, as an example, to the passage control unit 3, but the application of the features of the invention is not restricted to any specific passage control unit implementation.

[0014] There is now provided a passage control apparatus which enables the configuration of passage control units to be changed in an easier manner, i.e. isolated operation areas to be changed more easily. The passage control apparatus, which may comprise a standard configuration for different operation areas, is provided, preconfigured thereto for use, with a set of movable passage control units 3 to 7. The apparatus is configured to select the passage control units to be used for passage control on the basis of identifiers received from passage control units and inputs received from a user. The present apparatus and functions thereof are described in closer detail in connection with Figures 2 to 4.

[0015] Persons or mining vehicles 2 operating in other parts of the mine may be prevented from accessing this restricted operation area e.g. by means of a mechanical or electromechanical gate or access barrier of another type arranged in connection with the passage control unit 3 to 7. Consequently, the passage control unit 3 to 7 may be configured to operate as an access barrier, and the passage control unit 3 to 7 may be an iron gate, for instance. However, this is not necessary since the passage control system is configured at least to stop the vehicle 2 operating in the operation area immediately when a person or a machine passes the detector unit 3a, 3b of the pas- sage control unit 3 to 7. The system may also comprise a transfer station for transferring the mining vehicle 2 from an automation operation area defined therefor to a manual area. The passage control system may thus include or involve also other safety devices and arrangements, e.g. a camera monitoring system.

[0016] Figure 2 illustrates units necessary for a passage control system and function thereof according to an embodiment. A passage control apparatus comprises passage control units 3 and a passage control system control unit PCSC 20. The passage control unit 3 comprises one or more detector units 22, such as a light curtain, and a passage-control-unit-specific controller 21 . The controller 21 may comprise one or more units and be arranged to be installed on an autonomous side to be isolated and/or on a manual side of the detector unit 22. The controller 21 is configured to be connected to the passage control system control unit 20 and to transmit a passage control signal thereto.

[0017] The passage control system control unit 20 controls the operation of the passage control system. The functionality of the control unit 20 may be implemented e.g. by a general-purpose data processing device processor for executing a computer program stored in an internal or external memory. The computer program may comprise code for implementing at least some of the features related to passage control, illustrated below and in connection with Figures 3 and 4. These features may be defined e.g. in a programmable logic circuit provided in connection with an operator station of a security system. According to an embodiment, at least some of the functions of the control unit 20 are arranged as hardware implementation. It is also to be noted that it is not necessary to implement the functions set forth below for the control unit in one physical device and/or functional unit, but the functions of the control unit to be illustrated in the following may be implemented in two or more devices and/or functional units. For example, for the one or more steps illustrated in Figure 3, a specific functional block may be implemented.

[0018] The passage control system control unit 20 is connected to a user interface 23 or it comprises a user interface 23 for indicating a status of the passage control system and for controlling the functions thereof. The user interface 23 is provided with input means for receiving user inputs. The input means may be implemented e.g. by using keys and/or switches, but the implementation of the user interface 23 is not restricted to the use of any specific user interface implementation. The apparatus may also comprise one or more other interfaces to other systems. The control unit 20 comprises or is connected to a data transmission unit which may utilize e.g. standard TCP/IP (Transmission Control Protocol/Internet Protocol) based network protocols. According to an embodiment, the data transmission of the passage control system uses an Ethernet network. Also other functions and/or devices of the mining automation system e.g. relating to controlling the automated driving of the mining vehicle 2 may be arranged in connection with the control unit 20.

[0019] The passage control apparatus is connectable to the control system of the operation area, and particularly to the safety system of an unmanned mining vehicle 2. Figure 2 illustrates that the passage control system control unit 20 is connected e.g. via an Ethernet network to a base station system via whose base station 24 a wireless connection is established to the mining vehicle 2.

[0020] The mining vehicle 2 comprises a data transmission unit 25 (MT; Mobile Terminal) connected to a control system typically comprising a plurality of vehicle control units 26. Some vehicle control units 26 whose data transmission may be arranged via a terminal, include e.g. a safety system, a video transmitter unit, a navigation control unit, a monitoring unit. However, it is clear that these are only some examples of functional and/or structural units that may possibly be used in a mining vehicle. In the internal data transmission system of a mining machine, the data transmission unit 25 may e.g. be connected to a switch having vehicle control units connected thereto.

[0021] The data transmission unit 24, 25 may be e.g. a transceiver based on a standard defined by IEEE for wireless local area networks, but the implementation of the present features is not restricted to the use of any specific data transmission technology. It is also to be noted that the example of Figure 2 wherein data transmission also to the passage control units 3 is implemented in a centralized manner e.g. by using Ethernet switches is only one example of a technology and network configuration suitable for implementing data transmission connections. The passage control apparatus may also be connected to other systems and devices of the operation area, e.g. to devices of a possible separate control room or to data transmission devices enabling remote use.

[0022] The control unit 20 is configured to receive a passage control signal from the passage control units 3, particularly from the controller 21 , and to transmit the control signal to the vehicle control unit 26. The passage control signal may be continuous, in which case the control unit 20 may start an alarm in response to a missing signal. Alternatively, the system may be configured such that a passage control signal is transmitted to the control unit 20 only when an object is detected to pass through a passage control unit 3, or a specific passage control signal may be used for indicating an alarm, i.e. when an object moves through a passage control unit 3.

[0023] The present passage control apparatus is movable and readily installable in a new place. The apparatus is provided with a set of movable passage control units 3 preconfigured thereto for use. Each passage control unit 3 is provided with an identifier of its own preconfigured therefor and to be communicated to the control unit after the passage control unit has been brought into operational connection with the control unit 20.

[0024] The apparatus, in the present embodiment a passage control system control unit 20, is configured to select passage control units to be used for passage control at a given time. In a control user interface 23 connected to the control unit 20 or contained therein, passage control units 3 that, on the basis of identifier data preconfigured into the control unit and identifiers received from at least some of the passage control units, are connected to the control unit are indicated. The passage control system control unit 20 is configured to assign for passage control at least one passage control unit from among the passage control units connected to the control unit 20 on the basis of a user input received via input means of the user interface 23. Consequently, from a passage control apparatus submitted to an operation area, it is possible to flexibly bring into use only some of the passage control units as necessary. It is also possible to install the passage control units in any order and relocate them freely.

[0025] The identification data illustrated above are only one example of data that may be preconfigured into the passage control apparatus. The passage control apparatus may also be provided with other data or settings preconfigured therein to facilitate the commissioning, use or movability of the passage control apparatus. For instance the settings, location data and/or type details of the passage control units 3 to 7 may be preconfigured into the passage control units and/or the control unit 20. An example of passage control unit settings is information about the distance between the detector units 3a, 3b of the passage control unit, e.g. maximum and minimum distances. The control unit 20, the passage control unit 3 to 7 and/or the user may use these preconfigured data e.g. when the passage control apparatus is being commissioned.

[0026] Figure 3 illustrates operation of a passage control system according to still another embodiment for starting passage control or for changing the configuration of the passage control system. According to an embodiment, the steps illustrated in Figure 3 are executed in the passage control system control unit 20.

[0027] In step 30, the passage control system being commissioned is activated. Typically, a change to this step occurs after the passage control units 3 have been installed at appropriate locations within the operation area and the necessary cabling to the control unit 20 has been implemented.

[0028] In step 31 , the device-specific identifiers of the control units 3 connected to the passage control system are checked. According to an embodiment, the device-specific identifiers are communication addresses, such as IP addresses, but also other identifiers, such as hardware identifiers or addresses, may be used. The control unit 20 is also provided, preconfigured therein, with corresponding identifiers of the passage control units of the passage control apparatus such that each identifier may be associated with a specific indicator of the passage control unit of the user interface. Each passage control unit 3 may be configured to transmit its communication address automatically in response to being connected to a data transmission network.

[0029] The passage control units 3 connected to the passage control system on the basis of the checking in step 31 are indicated 32 in the user interface 23 of the control unit 20. The user of the system is to provide an input, and on the basis of inputs received from the user, units 3 to be used for passage control are selected 33.

[0030] After the user has selected the passage control units 3 to be used for passage control, the next step is checking the automation area and acknowledging the selected passage control units. When the automation area and the necessary passage control units 3 may be brought into operation, the user acknowledges the passage control units, e.g. by pressing a switch connected to the controller 21 for the purpose. The passage control unit 3 transmits an acknowledgement signal to the control unit 20 in response to the user having made the acknowledgement to the passage control unit. According to an embodiment, the passage control unit 3 is thus activated to carry out pas- sage control. Alternatively, a separate activation signal is yet transmitted from the control device 20 e.g. upon changing to step 36. In step 34, acknowledgement signals are received from the selected units 3.

[0031] After acknowledgements have been received from all selected units, a check 35 of the passage control system may be carried out prior to changing to the automation state. In such a case, the control unit 20 may execute one or more checking routines e.g. for checking the operation of connections.

[0032] According to an embodiment, step 35 includes a passage control system self-checking process wherein at least some of the following checks are carried out: whether or not one or more of the passage control units or other units of the passage control system is/are in an error state, whether or not a safety switch or stop button of the user interface 23 of the control unit 20 or that of the passage control unit 3 has been pressed, and whether or not a functioning connection to each passage control unit is established. It is to be noted that the checking of acknowledgements may also be part of the checking process 35, i.e. if the user selects a change to the automation state, it is checked whether or not acknowledgements have been received from all passage control units.

[0033] If, on the basis of the check in step 35, it is appropriate to start passage control, a change 36 to the automation state may occur. Alternatively, the system prevents a state change to step 36 and indicates this to the user if, on the basis of the check 35, an error or malfunction has been detected in the operation of the system. In step 36, which may be called an automation state, an unmanned mining vehicle 2 may be used in the automation area defined by the passage control units. At this stage, a control signal is transmitted to the control system of the mining vehicle 2, and in response to this signal the vehicle 2 is allowed to start moving, preferably after a certain delay. The passage control system control unit 20 is configured to monitor a passage control signal of at least one passage control unit assigned for passage control and, when necessary, to transmit a control signal to the vehicle control unit 26 in order to bring the mining vehicle 2 on automatic drive to a halt. The control signal for bringing the mining vehicle to a halt may be transmitted during the automation state in response to a signal received from a passage control unit indicating that an object has passed through the control area of the passage con- trol unit or that an emergency stop button of a passage control unit has been pressed.

[0034] It is to be noted that Figure 3 is only one example of steps to be executed in the passage control system, and the control unit 20 and/or other units of the passage control apparatus may be configured to execute other steps additionally or alternatively thereto. No other steps are illustrated in Figure 3, but the passage control may be ended in response to a user input, whereby the mining vehicle 2 can no longer be driven in the automation area. It is to be noted that other changes between at least partly different states and steps may also be made. The user may e.g. move from automation state 36 to step 32 and step 33 to remove or add passage control units 3 used or to be used for passage control.

[0035] According to an embodiment, a passage control system check is carried out between steps 33 and 34, on the basis of which a change to step 34 is allowed or prevented. In such a case, at least some of the following checks may be carried out: whether or not one or more of the passage control units 3 to 7 is in an error state, whether or not the safety switch or stop button of the user interface 23 of the control unit 20 or that of the passage control unit 3 has been pressed, whether or not at least one passage control unit has been selected, whether or not a passage control unit to which no functioning connection is established has been selected.

[0036] Referring to the example of Figure 1 , the mining automation system may first be configured to control the vehicle to travel along a route 8. The present passage control system enables the units 3, 5, and 7 to be assigned to carry out passage control via the user interface of the passage control system.

[0037] A need may later appear to change the operation area of the automatic drive, e.g. to control the vehicle 2 to travel automatically along a route 9. The present passage control system enables the configuration of the passage control system to be changed by simple procedures with no need to change the program code or the user interface. This enables the passage control unit 5 to be deactivated and the passage control units 4 and 6 to be activated by means of a user interface 30 of the control unit 20. Thus, the passage control units 3 to 7 connected to the system may be readily brought into use for passage control and removed therefrom as necessary at a given time. No operation-area-specific changes need to be made to the program code provided in the control unit 20 and controlling the operation of the passage control apparatus.

[0038] Figure 4 illustrates in closer detail a possible user interface implementation 40 for implementing a user interface 23 of the control unit 20. The user interface 40 may be implemented as an operation panel arranged as part of the user interface of the control system of the automation system, e.g. in a surface or underground control room. A status of the entire passage control system is determined by a main selector 42. In this embodiment, the selector 42 has three selectable positions corresponding with different main statuses of the passage control system: Status 1 is the selection of passage control units, wherein e.g. steps 31 to 33 of Figure 3 may be implemented; Status 2 is the acknowledgement of passage control units 3, wherein steps 34 and 35 of Figure 3 may be implemented; Status 3 is the automation state corresponding with step 35 of Figure 3, wherein the mining vehicle 2 operates in the operation area defined by the selected and acknowledged passage control units, the control unit 20 monitoring the passage control signals received from these passage control units 3. The status of the system is indicated by an element 43. If a change between statuses is prevented or the system undergoes malfunction, this may be indicated to the user by the element 43. When it is possible to start the automated or remote operation, this may also be indicated to the user by the element 43. The state of the connection is indicated to the mining vehicle 2 by an element 44.

[0039] The user interface 40 also comprises passage-control-unit- specific controls and indicator elements 41 a, 41 b for each passage control unit 3 connectable to the passage control system. The user may select 33 the passage control unit 3 connected to the control unit 20 for passage control by a passage-control-unit-specific selector 47. An element 45 is used for indicating whether or not the passage control unit in question is connected (step 32) to the system. An element 46 is used for indicating whether or not the connected passage control unit has been selected (step 33) for use as part of passage control and whether or not it has been acknowledged (step 34).

[0040] According to an embodiment, at least some of the selections of the passage control unit 3, such as the selectors 42, 47 of Figure 4, are access-limited. According to an embodiment, key switches are used but, of course, identifiers and passage control solutions of other types may also be used. According to yet another embodiment, referring to the user interface ex- ample of Figure 4, a key for the switch 42 enabling system status changes is different from that for the passage-control-unit-specific selection switches 47. In such a case, e.g. only one person responsible for the safety of the operation area may go and start up the passage control system, whereas installers may select the passage control units while installing the system in a new operation area. It is to be noted that the user interface may also be implemented at least partly by using a display being updated by the control unit 20, in which case the display is updated on the basis of the state of the passage control units 3.

[0041] Figure 5 illustrates devices of a passage control unit 3 according to an embodiment with no connections therebetween. The passage control unit 3 of the embodiment of Figure 5 comprises two light curtain units 3a, 3b and two field units 50, 51 whereof the first one is installed on the autonomous side to be isolated while the second one is installed on the manual side of the passage control unit. The field units 50 and 51 may be installed on installation brackets provided on tunnel walls. The field unit 51 comprises an acknowledgement switch 52 for acknowledging a passage control unit for step 34, a light indicator 53 indicating a state of the passage control unit, an area state indicator 54 for indicating a state of a safety area to be isolated, an I/O unit, a horn 57 for producing alarm noises, and a main current switch 56. The field unit 51 may be arranged to be connected to a server 20 via the I/O unit and an Ethernet network e.g. for transmitting a passage-control-unit- specific identifier.

[0042] The indicator 53 may e.g. by different light indications and/or e.g. on a small display indicate to the user e.g. whether or not the passage control unit has been acknowledged, whether or not it is waiting to be acknowledged, whether or not an object has passed through the light curtain 3a, 3b, whether or not the emergency button has been pressed, or whether or not the passage control unit has been left unselected for passage control. The autonomous side unit 50 is connected to the field unit 51 and may comprise the same devices as the field unit 51 , excluding the horn 55, I/O unit, and main current switch 56. The field unit 51 and the control unit 50 may constitute a passage-control-unit-specific controller 21 illustrated in connection with Figure 2.

[0043] According to an embodiment, the components to be installed on the autonomous side of the passage control unit 3 to 7 and the components to be installed on the manual side of the passage control unit 3 to 7 are imple- merited such that the components may be installed on either side. Referring to the example of Figure 5, for instance, at least some of the functions of the field units 50 and 51 are identical. The field unit 50 may be provided with the same actuators 52 to 57 as the unit 51 (not shown in Figure 5). In such a case, the passage control units are easy to install, and the components of the passage control units do not have to be configured when a previously manual side becomes an autonomous side. When the detector units 3a and 3b are used as illustrated in Figures 1 and 5, a specific safety area is left between the detector units that is impossible for a person and/or a machine to cross quickly enough before the system brings the machine to a halt.

[0044] According to an embodiment, an emergency stop switch is arranged in connection with the passage control units 3 and/or the control unit of the passage control system, and pressing the switch causes an emergency stop in the passage control system, in which case the control unit 20 transmits to the mining vehicle 2 an emergency stop command in response to which the vehicle control unit 26 brings the mining vehicle to a halt. The example of Figure 5 illustrates that the devices 50 and 51 are provided with emergency stop switches 55, 58, i.e. an emergency stop can be made from both within and outside the safety area.

[0045] It is apparent to a person skilled in the art that as technology advances, the basic idea of the invention can be implemented in many different ways. The invention and its embodiments are thus not restricted to the above examples but may vary within the scope of the claims. Different features may thus be omitted, modified or replaced by equivalents, and the features disclosed in the present application may be combined in order to provide different combinations.