WO2024117946A1

WO2024117946A1 - Methods, mobile unit, central unit and system in an underground environment

Info

Publication number: WO2024117946A1
Application number: PCT/SE2022/051120
Authority: WO
Inventors: Richard Hendeberg; Andreas ÖKVIST
Original assignee: Epiroc Rock Drills Aktiebolag
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2024-06-06

Abstract

A method performed by a system for handling operations of an autonomous machine operating in an underground environment is provided. The system comprises a mobile unit and a central unit. The mobile unit comprised in the autonomous machine 1. The central unit determines (301) a respective position for one or more objects operating in the underground environment. For the one or more objects, a respective probability that the respective object is located in proximity to the autonomous machine is determined (302). An operational safety level out of a plurality of safety levels is determined (304).The operational safety level is associated to an operation performed by the autonomous machine 1. The operational safety level is determined based on one or more out of the 0respective position of the one or more objects, and the respective probabilities. The mobile unit operates (306) the autonomous machine 1 in accordance with the determined operational safety level.

Description

METHODS, MOBILE UNIT, CENTRAL UNIT AND SYSTEM IN AN UNDERGROUND ENVIRONMENT

TECHNICAL FIELD

Embodiments herein relate to methods, system and arrangements for handling operations of autonomous machine in an underground mining environment.

BACKGROUND

In mining and tunneling, there is a constant ongoing process of improving efficiency, productivity and safety. Examples of changes and/or improvements that are carried out to an increasing extent, especially in mining, is the automation, fully or partly, of various processes occurring in mining. Methods for localization, mapping, control and motion planning have enabled development and deployment of fully or partly autonomous machines and/or mobile machines, hereinafter denoted as machines.

In underground environments there is often a mix of autonomous machines, manual machines and people are the same area. In such mixed environments, there is an uncertainty of what unplanned objects, such as manual machines and people, is going to do, which results in that the autonomous machines have to be operated with high safety margins. This requires resources and leads to lowered operational efficiency and productivity.

Consequently, there is a need for improvements in handling operations of autonomous machines in an underground environment.

SUMMARY

As part of developing embodiments herein a problem has been identified and will first be discussed.

A problem in underground environments relates to handling operations of an autonomous machine when the underground environment comprises a mixed type of objects, e.g., both manual machines and people in addition to the autonomous machine. One possible solution is to determine that an area is empty. This way the autonomous machine can be operated with high efficiency and predictability. One way to achieve this is to manually inspect and isolate an area, and e.g., contain the autonomous machine inside the isolated area. The autonomous machine may be contained in the isolated area by using gates, e.g., gates based on light in the visible and/or invisible spectrum, that trigger an alarm when the autonomous machine passes the gates. A triggered alarm may in turn trigger a shut-down of the autonomous machine during a passage. The alarm may also trigger a shut-down of any machine operating in the area the autonomous machine was trying to enter. However, inspecting an area may be both difficult, time consuming and require considerable resources to carry out.

An object of embodiments herein is to provide a mechanism that increases operational safety of autonomous machines and improves the operational efficiency and productivity in an underground environment. The object is achieved by the independent claims.

According to a first aspect, a method performed by a system for handling operations of an autonomous machine operating in an underground environment is provided. The system comprises a mobile unit and a central unit. The mobile unit is comprised in the autonomous machine. The central unit determines a respective position for one or more objects operating in the underground environment. The central unit determines a respective probability that the one or more of the objects is located in proximity to the autonomous machine. An operational safety level out of a plurality of safety levels is determined. The operational safety level is associated to an operation performed by the autonomous machine. The operational safety level is determined based on one or more out of the respective position of the one or more objects, and the respective probability that the one or more of the objects is located in proximity to the autonomous machine. The mobile unit operates the autonomous machine in accordance with the determined operational safety level.

According to a second aspect, a method performed by a mobile unit for handling operations of an autonomous machine operating in an underground environment is provided. The mobile unit is comprised in the autonomous machine. The mobile unit obtains an operational safety level out of a plurality of safety levels. The operational safety level is associated to an operation performed by the autonomous machine. The operational safety level is determined based on one or more out of a respective position of the one or more objects, and a respective probability that the one or more of the objects is located in proximity to the autonomous machine. The mobile unit operates the autonomous machine in accordance with the obtained operational safety level.

According to a third aspect, a method performed by a central unit for handling operations of an autonomous machine operating in an underground environment is provided. The autonomous machine comprises a mobile unit. The central unit determines a respective position for one or more objects operating in the underground environment. The central unit determines a respective probability that the one or more of the objects is located in proximity to the autonomous machine. The central unit determines an operational safety level out of a plurality of safety levels. The operational safety level being associated to an operation performed by the autonomous machine. The operational safety level is determined based on one or more out of the respective position of the one or more objects, and the respective probability that the one or more of the objects is located in proximity to the autonomous machine. The operational safety level enables the mobile unit to operate the autonomous machine in accordance with the determined operational safety level.

According to a fourth aspect, a system adapted to comprise a mobile unit and a central unit is provided. The system configured to handle operations of an autonomous machine adapted to operate in an underground environment. The mobile unit is adapted to be comprised in the autonomous machine. The central unit determines a respective position for one or more objects adapted to operate in the underground environment. The central unit determines a respective probability that the one or more of the objects is located in proximity to the autonomous machine. An operational safety level out of a plurality of safety levels is determined. The operational safety level adapted to be associated to an operation performed by the autonomous machine. The operational safety level is adapted to be determined based on one or more out of the respective position of the one or more objects, and the respective probability that the one or more of the objects is located in proximity to the autonomous machine. The mobile unit operates the autonomous machine in accordance with the determined operational safety level.

According to a fifth aspect, a mobile unit configured to handle operations of an autonomous machine adapted to operate in an underground environment is provided. The mobile unit is adapted to be comprised in the autonomous machine. The mobile unit is arranged to comprise a memory operable to store instructions and processing circuitry operable to execute the instructions. The mobile unit obtains an operational safety level out of a plurality of safety levels. The operational safety level adapted to be associated to an operation performed by the autonomous machine. The operational safety level is adapted to be determined based on one or more out of a respective position of the one or more objects, and a respective probability that the one or more of the is located in proximity to the autonomous machine. The mobile unit operates the autonomous machine in accordance with the obtained operational safety level.

According to a sixth aspect, a central unit configured to handle operations of an autonomous machine adapted to operate in an underground environment is provided. The autonomous machine comprises a mobile unit. The central unit is arranged to comprise a memory operable to store instructions and processing circuitry operable to execute the instructions. The central unit determines a respective position for one or more objects adapted to operate in the underground environment. The central unit determines a respective probability that the one or more of the objects is adapted to be located in proximity to the autonomous machine. The central unit determines an operational safety level out of a plurality of safety levels. The operational safety level is adapted to be associated to an operation performed by the autonomous machine. The operational safety level is determined based on one or more out of: the respective position of the one or more objects, and the respective probability that the one or more of the objects is located in proximity to the autonomous machine. The operational safety level is adapted to enable the mobile unit to operate the autonomous machine in accordance with the determined operational safety level.

According to a seventh aspect, the autonomous 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.

It is furthermore provided herein a computer program comprising instructions, which, when executed on at least one processor, cause the at least one processor to carry out the computer-implemented method above, as performed by the control unit.

Embodiments herein may bring the advantage of an increased operational safety of an autonomous machine in an underground environment. This may be achieved by, as mentioned above, making it possible to operate the autonomous machine according to an operational safety level determined based on a probability that an object is located in proximity to the autonomous machine. Further, embodiments herein may bring the advantage of an improved operational efficiency in the underground environment. This by avoiding to completely stop operations of the autonomous machine in case a location of an object in underground environment cannot be determined. Embodiments herein may bring the advantage of an increased operational safety of an autonomous machine in an underground environment. This may be achieved by, as mentioned above, making it possible to operate the autonomous machine according to an operational safety level determined based on a probability that an object is located in proximity to the autonomous machine. A central unit of a system determines a location of one or more objects in the underground environment. A probability that an object is located in proximity of the autonomous machine is determined and based on the probability and/or the determined location, an operational safety level is determined. The mobile unit then operates the machine in accordance with the determined operational safety level. This leads an increased operational safety of an autonomous machine operating in the underground environment.

Further, embodiments herein may bring the advantage of an improved operational efficiency in the underground environment. This since by monitoring the location of objects in the underground environment and determine the probability of an object being in proximity to the autonomous machine, it is possible avoid to completely stop operations of the autonomous machine in case a location of an object in underground environment cannot be determined.

BRIEF DESCRIPTIONS OF DRAWINGS

Examples of embodiments herein are described in more detail with reference to attached drawings in which:

Fig. 1 is a schematic block diagram illustrating embodiments of a system according to embodiments herein.

Fig. 2 discloses an example underground environment according to embodiments herein.

Fig. 3 is a flowchart depicting embodiments of a method in a system.

Fig. 4 is a flowchart depicting embodiments of a method in a mobile unit.

Fig. 5 is a flowchart depicting embodiments of a method in a central unit.

Fig. 6a is a signaling diagram according to embodiments herein.

Fig. 6b is a signaling diagram according to embodiments herein. Fig. 6b is a signaling diagram according to embodiments herein. Figs. 7a-b are schematic block diagrams illustrating embodiments of a mobile unit. Figs. 8a-b are schematic block diagrams illustrating embodiments of a central unit.

DETAILED DESCRIPTION

An object of embodiments herein is to provide mechanisms that increase the operational safety of an autonomous machine operating in an underground environment and improves the operational efficiency in the underground environment.

Embodiments herein may bring the advantage of an increased operational safety of an autonomous machine in an underground environment. This may be achieved by, as mentioned above, making it possible to operate the autonomous machine according to an operational safety level determined based on a probability that an object is located in proximity to the autonomous machine. Further, embodiments herein may bring the advantage of an improved operational efficiency in the underground environment. This by avoiding to completely stop operations of the autonomous machine in case a location of an object in underground environment cannot be determined.

Fig. 1 shows a schematic illustration of a system 40 comprising the central unit 10 and the mobile unit 20. The system 105 may comprise one or more mobile units 20.

Methods according to embodiments herein are performed by the system 40, the mobile unit 20 and the central unit 10. These nodes may be Distributed Nodes (DN)s and functionality, e.g. comprised in a cloud 190 as shown in Figure 1 may be used for performing or partly performing the methods.

Fig. 2 shows a schematic illustration of an underground environment 30. An Autonomous machine 1 may operate in the underground environment 30. The autonomous machine 1 may comprise a mobile unit 20, e.g., for handling operations of the autonomous machine 1 , determining operational safety levels, and/or determining a probability than an object 2 is located in proximity to the autonomous machine 1. The autonomous machine 1 may further comprise a machine control system e.g., for performing the operations handled by the mobile unit 20. A central unit 10 e.g., for handling operations of the autonomous machine 1 , determining operational safety levels, and/or determining a probability than an object 2 is located in proximity to the autonomous machine 1 may be located in the underground environment 30. Alternatively, it may be located outside the underground environment 30, e.g., in a cloud service. One or more objects 2 may be located in the underground environment 30. An object 2 may e.g., be a vehicle, a machine, another autonomous machine, and/or a person. The central unit 10 may assist the mobile unit 20 in controlling operations of the autonomous machine 1. The central unit 10 may determine a respective location of the one or more objects 2. In some examples, the central unit 10 may not be able to determine a location of an object 2, and instead determines, such as obtains, a previously determined location of said object 2. The central unit 10 may determine, for each of the one or more objects 2, a respective probability the respective object 2 is located in proximity to the autonomous machine 1. Alternatively, the central unit 10 provides the determined respective locations to the mobile unit 20, and the mobile unit 20 determines the respective probability. After determining the respective probability, an operational safety level is determined. The operational safety level may e.g., be based on the determined respective probability, and/or the determined locations of the one or more objects 2. The operational safety level may in some examples be determined by the central unit 10, and in other examples by the mobile unit 20. When the central unit 10 determines the operational safety level, the central unit 10 provides the determined operational safety level to the mobile unit 10. The mobile unit 10 then proceeds to operate the autonomous machine 1 in accordance with the operational safety level. In some examples, the mobile unit 20 obtains the operational safety level, either from the central unit 10 or by determining the operational safety level itself. In some examples, the determined operational safety level is an increased operational safety level. This may be the case when a probability that an object 2 is located in proximity to the autonomous machine 1. Alternatively, or additionally, when determined that a object is located in proximity to the autonomous machine 1.

As mentioned above, embodiments herein bring the advantage of an increased operational safety an underground environment. This may result in increased operational efficiency and also an increased productivity in the underground environment, since e.g., autonomous machines and/or machines operating in the underground environment may be efficiently operated by adapting operations based on the locations of objects in the underground environment.

Fig. 3 shows an example embodiment of a method performed by a system 40 for handling operations of an autonomous machine 1 operating in an underground environment 30. The system 40 comprises a mobile unit 20 and a central unit 10. The mobile unit 20 is comprised in the autonomous machine 1. The method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 3.

Action 301

A respective position for one or more objects 2 operating in the underground environment 30 is determined. The respective position is e.g., determined by the central unit 10. The respective position may e.g., be a previously determined position of an object 2 or a current position of an object 2. The position may be a previously determined position e.g., when it is not possible to determine a current position, or when an accuracy of a current determined position is below a third threshold.

In some embodiment, the central unit 10 provides the determined location to the mobile unit 20.

Action 302

For the one or more objects 2, a respective probability that the respective object 2 is located in proximity to the autonomous machine 1 is determined. The respective probability is e.g., determined by the central unit 10. In some examples, the respective probability is determined by the mobile unit 20. The respective probability may be determined for the respective objects 2 of the one or more objects 2 where the respective determined location is previously determined location. In other words, for each object 2, a respective probability that the respective object 2 is located in proximity to the autonomous machine 1 is determined. In some examples, a combined probability that any of the of one or more objects 2 is located in proximity to autonomous machine 1 is determined. The combined probability may be determined instead of, or as a complement to, the respective probabilities. Being located in proximity to the autonomous machine 1 may comprise that a distance between the autonomous machine 1 and an object 2 is below a second threshold. The second threshold may be a predetermined threshold, or it may be based on e.g., an operation performed by the autonomous machine 1.

In some embodiments, the respective probability is determining based on one or more out of a previous determined location of the one or more objects 2, a distance between the previous determined location and the location of the autonomous machine 1 , a travel time between the previous determined location and the location of the autonomous machine 1 , a capability of the one or more objects 2, and possible movements of the one or more objects 2. The distance may e.g., be the actual distance an object 2 has to travel in order to intercept the autonomous machine 1. Alternatively, the distance may be a distance measured as straight line when drawn on map between an object 2 and the autonomous machine 1. The travel time may be based on the type of object 2, e.g., taking the possible traveling speed of the object 2 into account. Alternatively, a predetermined speed is used for all type of objects. Alternatively, or additionally, a combination of both may be used, such that the predetermined speed is only used when the type of object is unknown. A capability of an object 2 may e.g., be a possible travel speed, types of sensors comprised in an object 2, types of activated and/or deactivated sensors comprised an object 2, activated and/or deactivated systems related to operational safety and/or security, and/or operational rule applied in an object 2. The possible movements of an object 2 may be used when determining the probability. E.g., the distance between an object 2, a previously determined position or a current position, may be considered short when measured as straight line when drawn on map. However, when taking possible movements of the object 2 into account, the actual distance may be considered much longer. This may e.g., be because of the layout of the underground environment 30.

In some embodiments, the respective probability is determined to be higher when the distance between the previously determined location of the one or more objects 2 and the location of the machine 1 is shorter compared to when said distance is longer. This may mean that a probability that an object 2 is in proximity to the autonomous machine 1 increases the shorter the distance between the object 2 and the autonomous machine 1 is.

In some embodiments, the respective probability is determined to be higher when the travel time between the previously determined location of the one or more objects 2 and the location of the machine 1 is shorter compared to when said travel time is longer. This may mean that a probability that an object 2 is in proximity to the autonomous machine 1 increases the shorter the travel time the object 2 and the autonomous machine 1 is. This may further mean that a possible travel speed of the object 2 is taken into account when determining the probability. Alternatively, a predetermined travel speed is used for types of objects 2. This may result in an increased calculation efficiency at the expense of a decreased accuracy.

In some embodiments, the autonomous machine 1 operates in a first area 31 of the underground environment 30. Being located in proximity to the autonomous machine 1 may comprise being located in the first area 31. E.g., an object 2 may be determined to be in proximity of the autonomous machine 1 when the object 2 is located in the first area 31. Correspondingly, according to some examples, the object 2 is not determined to be in proximity to the autonomous machine 1 when the object 2 is not located in the first area 31. Determining the proximity based on the area of the underground environment 30 the autonomous machine 1 operates in, may mean that the probability is 1 if the if the object 2 is located in the same area, e.g., the first area 31, as the autonomous machine 1. Correspondingly, the probability is 0 if the object 2 is located in another area, e.g., a second area 32, when the autonomous machine 1 operates in the first area 31.

Action 303

In some embodiments, the central unit 10 provides one or more out of the one or more respective probabilities, and the respective position or one or more objects 2, to the mobile unit 20. As mentioned above, the one or more respective probabilities may comprise one of the following: Only the one or more respective probabilities, only the combined probability, or both the one or more respective probabilities and the combined probability. Providing when used herein, may e.g., mean sending, transmitting, or in any other way providing, data such as location, probabilities and/or operational instructions to another unit in the system 40. As mentioned above, a respective position may e.g., be a previously determined position of an object 2 or a current position of an object 2. When the central unit 10 provides the respective position or one or more objects 2 to the mobile unit 20, the mobile unit 20 determines the respective probability the one or more of the objects 2 is located in proximity to the autonomous machine 1. This may e.g., mean that the mobile unit performs the actions as described under Action 302 above.

Action 304

An operational safety level out of a plurality of safety levels is determined. The operational safety level is associated to an operation performed by the autonomous machine 1. The operational safety level is determined based on one or more out of the respective position of the one or more objects 2, and the one or more respective probabilities. In some examples, the one or more respective probabilities comprises one of the following: Only the one or more respective probabilities, only the combined probability, or both the one or more respective probabilities and the combined probability.

In some embodiments, determining the operational safety level is performed by the central unit 10. This may mean that the central unit 10 refrains from performing the actions described under Action 303 above, but instead determines the operational safety level directly after determining the respective probability. In embodiments, determining the operational safety level is performed by the mobile unit 20. To determine the operational safety level, the mobile unit 20 needs to obtain the respective probability that the one or more of the objects 2 is located in proximity to the autonomous machine 1. Thus, in this embodiment, the mobile unit 20 may have obtained the respective probability from the central unit 10 as described above. Alternatively, the mobile unit 20 may have obtained the determined respective location of the one or more objects 2 from the central unit 10, also as described above. Further, when the mobile unit obtains the respective location of the one or more objects 2, the mobile unit 20 may further determine the respective probability, as described under Action 302 above, before determining the operational safety level.

In embodiments, the operational safety level is associated to an increased level of operational safety when a determined respective probability is above a first threshold and/or when a determined respective location of the one or more objects 2 is in the proximity of the machine 1. An increased level of operational safety may e.g., mean increased compared to default operational safety level. The default operation safety level is e.g., the operational safety level the autonomous machine 1 is operated in accordance with when no object 2 is located in proximity to the autonomous machine 1 , or when a probability that an object 2 is located in proximity to the autonomous machine 1 is below the first threshold. Alternatively, or additionally, an increased level of operational safety may e.g., mean increased compared to a current level of operational safety. The current level may be the default level, or it may be a previously increased level of operational safety. The increased level of operational safety may e.g., comprise operating the autonomous machine 1 with additional safety mechanisms activated, such as e.g., one or more out of a more accurate and/or additional obstacle detection mechanism, limited travelling speed, and limited operational range. Further, an increased level of operational safety may comprise limiting and/or disallowing, such as prohibiting, certain operations performed by the autonomous machine 1.

Action 305

In embodiments, the central unit 10 provides the determined operational safety level to the mobile unit 20. This may be the case when the central unit 10 has determined the operational safety level, as described above. By providing the determined operational safety level to the mobile unit 20, the mobile unit is enabled to operate the autonomous machine 1 accordingly. Action 306

The autonomous machine 1 is operated in accordance with the determined operational safety level. The autonomous machine 1 is e.g., operated by the mobile unit 20.

In embodiments, the mobile unit 20 operates the autonomous machine 1 in accordance with the determined operational safety level by operating the machine 1 in accordance with the determined operational safety level when a determined respective probability is above the first threshold. Alternatively, or additionally, the mobile unit 20 operates the autonomous machine 1 in accordance with the determined operational safety level when a determined respective location of the one or more objects 2 is in the proximity of the machine 1. This may mean that it is enough that a determine probability of one object 2 is above the first threshold and/or a determined location of one object 2 is in proximity to the autonomous machine 1 for the mobile unit 20 to operate the autonomous machine according to the determined operational safety level. In some examples, more than one respective probability has to be above the first threshold, and/or the respective location of more than one object 2 has be in proximity to the autonomous machine 1 to for the mobile unit 20 to operate the autonomous machine according to the determined operational safety level. In other words, the mobile unit 20 operates the autonomous machine 1 in accordance with the determined operational safety level when at least one determined respective probability is above the first threshold and/or when at least one determined respective location of the one or more objects 2 is in the proximity of the machine 1.

In an exemplary embodiment, the autonomous machine may operate in a delimited environment. By having a delimited environment, control over which machines and/or vehicles that are entering and/or leaving the environment can be achieved. By this a complete knowledge of the machines and/or vehicle that operates in the delimited environment can be reached. Hence the similar methods and systems described herein for an underground environment may be used for machines operating in a delimited environment.

Fig. 4 shows an example embodiment of a method performed by the mobile unit 20 for handling operations of the autonomous machine 1. The autonomous machine 1 operating in the underground environment 30. The mobile unit 20 is comprised in the autonomous machine 1. The method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 4.

Action 401

In some embodiments, the mobile unit 20 determines, for the one or more objects 2, a respective probability that the respective object 2 is located in proximity to the autonomous machine 1. The mobile unit 20 may determine the respective probabilities by obtaining the one or more respective probabilities from the central unit 10. Alternatively, the mobile unit 20 may determine the probability based on the respective location of the one or more objects 2. The respective location may be obtained from the central unit 10. The respective location may e.g., be a previously determined location of an object 2 or a current location of an object 2. The location may be a previously determined location e.g., when it is not possible to determine a current location, or when an accuracy of a current determined location is below the third threshold. The respective probability may be determined for the respective objects 2 of the one or more objects 2 where the respective determined location is previously determined location. In other words, for each object 2, a respective probability that the respective object 2 is located in proximity to the autonomous machine 1 is determined. In some examples, a combined probability that any of the of one or more objects 2 is located in proximity to autonomous machine 1 is determined. The combined probability may be determined instead of, or as a complement to, the respective probabilities. Being located in proximity to the autonomous machine 1 may comprise that a distance between the autonomous machine 1 and an object 2 is below a second threshold. The second threshold may be a predetermined threshold, or it may be based on e.g., an operation performed by the autonomous machine 1.

In some embodiments, the respective probability is determining based on one or more out of a previous determined location of the one or more objects 2, a distance between the previous determined location and the location of the autonomous machine 1 , a travel time between the previous determined location and the location of the autonomous machine 1, a capability of the one or more objects 2, and possible movements of the one or more objects 2. The distance may e.g., be the actual distance an object 2 has to travel in order to intercept the autonomous machine 1. Alternatively, the distance may be a distance measured as straight line when drawn on map between an object 2 and the autonomous machine 1. The travel time may be based on the type of object 2, e.g., taking the possible traveling speed of the object 2 into account. Alternatively, a predetermined speed is used for all type of objects. Alternatively, or additionally, a combination of both may be used, such that the predetermined speed is only used when the type of object is unknown. A capability of an object 2 may e.g., be a possible travel speed, types of sensors comprised in an object 2, types of activated and/or deactivated sensors comprised an object 2, activated and/or deactivated systems related to operational safety and/or security, and/or operational rule applied in an object 2. The possible movements of an object 2 may be used when determining the probability. E.g., the distance between an object 2, a previously determined position or a current position, may be considered short when measured as straight line when drawn on map. However, when taking possible movements of the object 2 into account, the actual distance may be considered much longer. This may e.g., be because of the layout of the underground environment 30.

Action 402

In some embodiments, the mobile unit 20 determines an operational safety level out of a plurality of safety levels. The operational safety level is associated to an operation performed by the autonomous machine 1. The operational safety level is determined based on one or more out of the respective position of the one or more objects 2, and the one or more respective probabilities. To determine the operational safety level, the mobile unit 20 needs to obtain the respective probability that the one or more of the objects 2 is located in proximity to the autonomous machine 1. Thus, in this embodiment, the mobile unit 20 may have obtained the respective probability from the central unit 10 as described above. Alternatively, the mobile unit 20 may have obtained the determined respective location of the one or more objects 2 from the central unit 10, also as described above. Further, when the mobile unit obtains the respective location of the one or more objects 2, the mobile unit 20 may further determine the respective probability, as described under Action 401 above, before determining the operational safety level.

In embodiments, the operational safety level is associated to an increased level of operational safety when a determined respective probability is above a first threshold and/or when a determined respective location of the one or more objects 2 is in the proximity of the machine 1. An increased level of operational safety may e.g., mean increased compared to default operational safety level. The default operation safety level is e.g., the operational safety level the autonomous machine 1 is operated in accordance with when no object 2 is located in proximity to the autonomous machine 1, or when a probability that an object 2 is located in proximity to the autonomous machine 1 is below the first threshold. Alternatively, or additionally, an increased level of operational safety may e.g., mean increased compared to a current level of operational safety. The current level may be the default level, or it may be a previously increased level of operational safety. The increased level of operational safety may e.g., comprise operating the autonomous machine 1 with additional safety mechanisms activated, such as e.g., one or more out of a more accurate and/or additional obstacle detection mechanism, limited travelling speed, and limited operational range. Further, an increased level of operational safety may comprise limiting and/or disallowing, such as prohibiting, certain operations performed by the autonomous machine 1. Action 403

The mobile unit 20 obtains an operational safety level out of a plurality of safety levels. The operational safety level is associated to an operation performed by the autonomous machine 1. The operational safety level is determined based on one or more out of a respective position of the one or more objects 2 operating in the underground environment 20, and, for the one or more objects 2, a respective probability that the respective object 2 is located in proximity to the autonomous machine 1. As mentioned above, the one or more respective probabilities may comprise one of the following: Only the one or more respective probabilities, only the combined probability, or both the one or more respective probabilities and the combined probability.

In some embodiments, obtaining the operational safety level comprises obtaining, such as receiving, e.g., as a wireless transmission, the operational safety level from the central unit 10.

In some embodiments, obtaining the operational safety level comprises the mobile unit 20 determining the operational safety level as described in Action 402 above.

Action 404

The mobile unit 20 operates the autonomous machine 1 in accordance with the obtained operational safety level.

Fig. 5 shows an example embodiment of a method performed by the central unit 10 for handling operations of the autonomous machine 1 operating in the underground environment 30. The autonomous machine 1 comprises the mobile unit 20. The method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 5.

Action 501

The central unit 10 determines a respective position for one or more objects 2 operating in the underground environment 30. The respective position may e.g., be a previously determined position of an object 2 or a current position of an object 2. The position may be a previously determined position e.g., when it is not possible to determine a current position, or when an accuracy of a current determined position is below a third threshold.

Action 502

The central unit 10 determines, for the one or more objects 2, a respective probability that the respective object 2 is located in proximity to the autonomous machine 1 . The respective probability may be determined for the respective objects 2 of the one or more objects 2 when the respective determined location is previously determined location. In other words, for each object 2, a respective probability that the respective object 2 is located in proximity to the autonomous machine 1 is determined. In some examples, a combined probability that any of the of one or more objects 2 is located in proximity to autonomous machine 1 is determined. The combined probability may be determined instead of, or as a complement to, the respective probabilities. Being located in proximity to the autonomous machine 1 may comprise that a distance between the autonomous machine 1 and an object 2 is below a second threshold. The second threshold may be a predetermined threshold, or it may be based on e.g., an operation performed by the autonomous machine 1. In some embodiments, the respective probability is determining based on one or more out of a previous determined location of the one or more objects 2, a distance between the previous determined location and the location of the autonomous machine 1 , a travel time between the previous determined location and the location of the autonomous machine 1 , a capability of the one or more objects 2, and possible movements of the one or more objects 2. The distance may e.g., be the actual distance an object 2 has to travel in order to intercept the autonomous machine 1. Alternatively, the distance may be a distance measured as straight line when drawn on map between an object 2 and the autonomous machine 1. The travel time may be based on the type of object 2, e.g., taking the possible traveling speed of the object 2 into account. Alternatively, a predetermined speed is used for all type of objects. Alternatively, or additionally, a combination of both may be used, such that the predetermined speed is only used when the type of object is unknown. A capability of an object 2 may e.g., be a possible travel speed, types of sensors comprised in an object 2, types of activated and/or deactivated sensors comprised an object 2, activated and/or deactivated systems related to operational safety and/or security, and/or operational rule applied in an object 2. The possible movements of an object 2 may be used when determining the probability. E.g., the distance between an object 2, a previously determined position or a current position, may be considered short when measured as straight line when drawn on map. However, when taking possible movements of the object 2 into account, the actual distance may be considered much longer. This may e.g., be because of the layout of the underground environment 30.

Action 503

In some embodiments, the central unit 10 provides one or more out of the respective probability that the one or more of the objects 2 is located in proximity to the autonomous machine 1 , and the respective position or one or more objects 2, to the mobile unit 20. As mentioned above, the one or more respective probabilities comprises one of the following: Only the one or more respective probabilities, only the combined probability, or both the one or more respective probabilities and the combined probability. Providing when used herein, may e.g., mean sending, transmitting, or in any other way providing, data such as location, probabilities and/or operational instructions to another unit in the system 40. As mentioned above, a respective position may e.g., be a previously determined position of an object 2 or a current position of an object 2. When the central unit 10 provides the respective position or one or more objects 2 to the mobile unit 20, the mobile unit 20 determines the respective probability the one or more of the objects 2 is located in proximity to the autonomous machine 1. This may e.g., mean that the mobile unit performs the actions as described under Action 302 above.

Action 504

The central unit 10 determines an operational safety level out of a plurality of safety levels. The operational safety level is associated to an operation performed by the autonomous machine 1. The operational safety level is determined based on one or more out of the respective position of the one or more objects 2, and the one or more respective probabilities. The operational safety level enables the mobile unit 20 to operate the autonomous machine 1 in accordance with the determined operational safety level.

Action 505

In embodiments, the central unit 10 provides the determined operational safety level to the mobile unit 20. This may be the case when the central unit 10 has determined the operational safety level, as described above. By providing the determined operational safety level to the mobile unit 20, the mobile unit is enabled to operate the autonomous machine 1 accordingly.

Figs. 6a, b and c depict examples of signaling diagrams according to embodiments herein. The signaling diagrams also reflect actions corresponding to those disclosed in the detailed description of Figs. 3-5. Optional actions are referred to as dashed boxes and/or lines in Fig. 6a, b and c.

Fig. 6a exemplifies embodiments where the system 10 handles operations of the autonomous machine 1 , e.g., based on a probability that an object 2 is located in proximity of the autonomous machine 1. The example comprises the following actions, which may be taken in any suitable order.

S61a. The central unit 1 determines a respective position of one or more objects 2, e.g., in accordance with any of actions 301 and 501 above.

S62a. The central unit 1 determines a respective probability that the one or more objects 2 are located in proximity to autonomous machine 1 , e.g., in accordance with any of Actions 302 and 502 above. Being located in proximity to the autonomous machine 1 may comprise that a distance between the autonomous machine 1 and an object 2 is below the second threshold.

S63a. The central unit 1 determines an operational safety level, e.g., out of a plurality of operational safety levels, e.g., in accordance with any of Actions 304 and 504 above. The operational safety level is determined based on e.g., the respective probability and/or the respective position. The operational safety level may be associated to an increased level of operational safety, e.g., when a determined respective probability is above the first threshold. Alternatively, or additionally, the operational safety level may be associated to an increased level of operational safety, e.g., when a determined respective location of the one or more objects 2 is in the proximity of the machine 1. S64a. The central unit 10 provides the determined operational safety level to the mobile unit 20, e.g., in accordance with any of the Actions 305 and 505. This may mean the mobile unit 20 obtains the determined operational safety level from the central unit 10, e.g., in accordance with Action 403 above. The central unit 10 may e.g., provide the determined operational safety level by sending or transmitting the determined operational safety level wirelessly to the mobile unit 20.

S65a. The mobile unit 20 operates the autonomous machine 1 in accordance with the determined operational safety level, e.g., in accordance with any of Actions 306 and 404 above. In some examples, the mobile unit 20 operates the autonomous machine 1 in accordance with the determined operational safety level when at least one determined respective probability is above the first threshold and/or when at least one determined respective location of the one or more objects 2 is in the proximity of the machine 1.

Fig. 6b exemplifies embodiments where the system 10 handles operations of the autonomous machine 1, e.g., based on a probability that an object 2 is located in proximity of the autonomous machine 1. The example comprises the following actions, which may be taken in any suitable order.

S61b. The central unit 1 determines a respective position of one or more objects 2, e.g., in accordance with any of actions 301 and 501 above.

S62b. The central unit 1 determines a respective probability that the one or more objects 2 are located in proximity to autonomous machine 1 , e.g., in accordance with any of Actions 302 and 502 above. Being located in proximity to the autonomous machine 1 may comprise that a distance between the autonomous machine 1 and an object 2 is below the second threshold.

S63b. The central unit 10 provides the determined the respective probability that the one or more objects 2 are located in proximity to the autonomous machine 1 to the mobile unit 20 and/or the respective position or one or more objects 2 to the mobile unit 20, e.g., in accordance with any of the Actions 305 and 505 above. This may mean the mobile unit 20 obtains the determined respective probability and/or the determined respective probability from the central unit 10, e.g., in accordance with Action 401 above. The central unit 10 may e.g., provide the determined respective probability and/or the determined respective probability by sending or transmitting the determined respective probability and/or the determined respective probability wirelessly to the mobile unit 20.

S64b. The mobile unit 20 determines an operational safety level, e.g., out of a plurality of operational safety levels, e.g., in accordance with any of Actions 304 and 402 above. The operational safety level is determined based on e.g., the respective probability and/or the respective position. The operational safety level may be associated to an increased level of operational safety, e.g., when a determined respective probability is above the first threshold. Alternatively, or additionally, the operational safety level may be associated to an increased level of operational safety, e.g., when a determined respective location of the one or more objects 2 is in the proximity of the machine 1.

S65b. The mobile unit 20 operates the autonomous machine 1 in accordance with the determined operational safety level, e.g., in accordance with any of Actions 306 and 404 above. In some examples, the mobile unit 20 operates the autonomous machine 1 in accordance with the determined operational safety level when at least one determined respective probability is above the first threshold and/or when at least one determined respective location of the one or more objects 2 is in the proximity of the machine 1.

Fig. 6c exemplifies embodiments where the system 10 handles operations of the autonomous machine 1 , e.g., based on a probability that an object 2 is located in proximity of the autonomous machine 1. The example comprises the following actions, which may be taken in any suitable order.

S61c. The central unit 10 determines a respective position of one or more objects 2, e.g., in accordance with any of actions 301 and 501 above.

S62c. The central unit 10 provides the determined respective location to the mobile unit 20, e.g., in accordance with any of the Actions 301 and 501 above. This may mean the mobile unit 20 obtains the determined respective location the central unit 10, e.g., in accordance with Action 401 above. The central unit 10 may e.g., provide the determined respective location by sending or transmitting the determined respective location wirelessly to the mobile unit 20.

S63c. The mobile unit 20 determines a respective probability that the one or more objects 2 are located in proximity to autonomous machine 1 , e.g., in accordance with any of Actions 302 and 502 above. Being located in proximity to the autonomous machine 1 may comprise that a distance between the autonomous machine 1 and an object 2 is below the second threshold.

Fig. 7a disclose an example configuration of the mobile unit 20 configured to handle operations of the autonomous machine 1 operating in the underground environment 30. The mobile unit 20 is adapted to be comprised in the autonomous machine 1 adapted to operate in the underground environment 40. The mobile unit 20 comprises a memory 750 operable to store instructions and processing circuitry 740 operable to execute the instructions.

The mobile unit 121 may comprise an input and output interface 700 configured to communicate with, e.g., the central unit 10, another mobile unit 20 and other objects 2 in underground environment.

Fig. 7b also discloses an example configuration of processing circuitry for a mobile unit, e.g., the processing circuitry 740 disclosed in Fig. 7a. The processing circuitry may comprise an obtaining unit 710, a determining unit 720 and on operating unit 730 configured to perform the methods above.

The embodiments herein may be implemented through the processing circuitry 740 in the mobile unit 20 depicted in Figure 7a, together with respective computer program code for performing the functions and actions of the embodiments herein. The processing circuitry 740 may comprise one or more processors and one or more memory units. The memory units may be the memory 750. The program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code for performing the embodiments herein when being loaded into the mobile unit 20. One such carrier may be in the form of a CD ROM disc. It is however feasible with other data carriers such as a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the mobile unit 20. The memory 750 of the mobile unit 20 may further comprise one or more memory units. The memory 750 is configured to store instructions executable by the processing circuitry 740. The memory 750 is arranged to be used to store e.g. information, messages, indications, configurations, thresholds, measurements, locations, positions, operational safety levels and applications to perform the methods herein when being executed in the mobile unit 20.

In some embodiments, a computer program 760 comprises instructions, which when executed by the processing circuitry 740, e.g., of the respective at least one processor of the processing circuitry 740, cause the processing circuitry 740 of the mobile unit 20 to perform the actions above.

In some embodiments, a respective carrier 770 comprises the respective computer program 760, wherein the carrier 770 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.

Those skilled in the art will appreciate that the units in the mobile unit 20 described above may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g., stored in the mobile unit 20, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip (SoC).

Fig. 8a disclose an example configuration of the central unit 10 configured to handle operations of the autonomous machine 1 in the underground environment 30. The central unit 10 comprises a memory 880 operable to store instructions and processing circuitry 870 operable to execute the instructions. The central unit 110 may be located in the underground environment 30. Alternatively, it may be located outside the underground environment 30, e.g., in a cloud service.

The central unit 110 may comprise an input and output interface 800 configured to communicate with, e.g., the mobile unit 20, another mobile unit 20 and other objects 2 in underground environment.

Fig. 8b also discloses an example configuration of processing circuitry for a central unit, e.g., the processing circuitry 870 disclosed in Fig. 8a. The processing circuitry may comprise a determining unit 810 and on providing unit 820 configured to perform the methods above.

The embodiments herein may be implemented through the processing circuitry 870 in the central unit 10 depicted in Figure 8a, together with respective computer program code for performing the functions and actions of the embodiments herein. The processing circuitry 870 may comprise one or more processors and one or more memory units. The memory units may be the memory 880. The program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code for performing the embodiments herein when being loaded into the central unit 10. One such carrier may be in the form of a CD ROM disc. It is however feasible with other data carriers such as a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the central unit 10.

The memory 880 of the central unit 10 may further comprise one or more memory units. The memory 880 is configured to store instructions executable by the processing circuitry 870. The memory 880 is arranged to be used to store e.g. information, messages, indications, configurations, thresholds, measurements, locations, positions, operational safety levels and applications to perform the methods herein when being executed in executed in the central unit 110.

In some embodiments, a computer program 890 comprises instructions, which when executed by the processing circuitry 870, e.g., of the respective at least one processor of the processing circuitry 870, cause the processing circuitry 870 of the central unit 10 to perform the actions above.

In some embodiments, a respective carrier 895 comprises the respective computer program 890, wherein the carrier 895 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.

Those skilled in the art will appreciate that the units in the central unit 10 described above may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g., stored in the central unit 10, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip (SoC). It will be appreciated that the foregoing description and the accompanying drawings represent non-limiting examples of the methods and apparatus taught herein. As such, the apparatus and techniques taught herein are not limited by the foregoing description and accompanying drawings. Instead, the embodiments herein are limited only by the following claims and their legal equivalents.

Claims

1. A method performed by a system (40) for handling operations of an autonomous machine (1) operating in an underground environment (30), wherein the system (30) comprises a mobile unit (20) and a central unit (10), wherein the mobile unit (20) is comprised in the autonomous machine (1), the method comprising: determining (301), by a central unit (10), a respective position for one or more objects (2) operating in the underground environment (30), determining (302), for the one or more objects (2), a respective probability that the respective object (2) is located in proximity to the autonomous machine (1), determining (304) an operational safety level out of a plurality of safety levels, the operational safety level being associated to an operation performed by the autonomous machine (1), which operational safety level is determined based on one or more out of:

- the respective position of the one or more objects (2), and

- the one or more respective probabilities, and operating (306), by the mobile unit (20), the autonomous machine (1) in accordance with the determined operational safety level.

2. The method according to claim 1, wherein determining (304) the operational safety level is performed by the central unit (10); and the method further comprises: providing (305), by the central unit (10), the determined operational safety level to the mobile unit (20).

3. The method according to claim 1, wherein determining (304) the operational safety level is performed by the mobile unit (20); and the method further comprising: providing (303), by the central unit (10), one or more out of:

- the one or more respective probabilities, and

- the respective position of one or more objects (2) to the mobile unit (20).

4. The method according to any of claims 1-3, wherein the determining (302) the respective probability is based on one or more out of:

- a previous determined location of the one or more objects (2),

- a distance between the previous determined location and the location of the autonomous machine (1),

- a travel time between the previous determined location and the location of the autonomous machine (1), - a capability of the one or more objects (2), and

- possible movements of the one or more objects (2).

5. The method according to claim 4, wherein any one or more out of:

- the respective probability is determined to be higher when the distance between the previously determined location of the one or more objects (2) and the location of the machine (1) is shorter compared to when said distance is longer, and

- the respective probability is determined to be higher when the travel time between the previously determined location of the one or more objects (2) and the location of the machine (1) is shorter compared to when said travel time is longer.

6. The method according to any of claims 1-5, wherein the autonomous machine (1) operates in a first area (31) of the underground environment (30), and wherein being located in proximity to the autonomous machine (1), comprises being located in the first area (31).

7. The method according to any of claims 1-6, wherein operating (306) the autonomous machine (1) in accordance with the determined operational safety level comprises operating the machine (1) in accordance with the determined operational safety level when a determined respective probability is above a first threshold and/or when a determined respective location of the one or more objects (2) is in the proximity of the machine (1).

8. The method according to any of claims 1-7, wherein the operational safety level is associated to an increased level of operational safety when a determined respective probability is above a first threshold and/or when a determined respective location of the one or more objects (2) is in the proximity of the machine (1).

9. A method performed by a mobile unit (20) for handling operations of an autonomous machine (1) operating in an underground environment (30), wherein the mobile unit (20) is comprised in the autonomous machine (1), the method comprising: obtaining (403) an operational safety level out of a plurality of safety levels, the operational safety level being associated to an operation performed by the autonomous machine (1), which operational safety level is determined based on one or more out of:

- a respective position of the one or more objects (2), and - for the one or more objects (2), a respective probability that the respective object

(2) is located in proximity to the autonomous machine (1), and operating (404) the autonomous machine (1) in accordance with the obtained operational safety level.

10. A method performed by a central unit (10) for handling operations of an autonomous machine (1) operating in an underground environment (30), wherein the autonomous machine (1) comprises a mobile unit (20), the method comprising: determining (501) a respective position for one or more objects (2) operating in the underground environment (30), determining (502), for the one or more objects (2), a respective probability that the respective object (2) is located in proximity to the autonomous machine (1), determining (504) an operational safety level out of a plurality of safety levels, the operational safety level being associated to an operation performed by the autonomous machine (1), which operational safety level is determined based on one or more out of:

- the respective position of the one or more objects (2), and

- the one or more respective probabilities, which operational safety level enables the mobile unit (20) to operate the autonomous machine (1) in accordance with the determined operational safety level.

11. A computer program () comprising instructions, which when executed by a processing circuitry (), causes the processing circuitry () to perform actions according to any of the claims 1-10.

12. A system (40) adapted to comprise a mobile unit (20) and a central unit (10), the system configured to handle operations of an autonomous machine (1) adapted to operate in an underground environment (30), wherein the mobile unit (20) is adapted to be comprised in the autonomous machine (1), such that the system (30) is operable to: determine, by a central unit (10), a respective position for one or more objects (2) adapted to operate in the underground environment (30), determine, for the one or more objects (2), a respective probability that the respective object (2) is located in proximity to the autonomous machine (1), determine, by the central unit (10) or the mobile unit (20), an operational safety level out of a plurality of safety levels, the operational safety level adapted to be associated to an operation performed by the autonomous machine (1), which operational safety level is adapted to be determined based on one or more out of:

- the respective position of the one or more objects (2), and

- the one or more respective probabilities, and operate, by the mobile unit (20), the autonomous machine (1) in accordance with the determined operational safety level.

13. A mobile unit (20) configured to handle operations of an autonomous machine (1) adapted to operate in an underground environment (30), wherein the mobile unit (20) is adapted to be comprised in the autonomous machine (1), the mobile unit (20) arranged to comprise a memory (750) operable to store instructions and processing circuitry (740) operable to execute the instructions, such that the mobile unit (20) is operable to: obtain an operational safety level out of a plurality of safety levels, the operational safety level adapted to be associated to an operation performed by the autonomous machine (1), which operational safety level is adapted to be determined based on one or more out of:

- a respective position of the one or more objects (2), and

- for the one or more objects (2), a respective probability that the respective object (2) is located in proximity to the autonomous machine (1), and operate the autonomous machine (1) in accordance with the obtained operational safety level.

14. A central unit (10) configured to handle operations of an autonomous machine (1) adapted to operate in an underground environment (30), wherein the autonomous machine (1) comprises a mobile unit (20), the central unit (10) arranged to comprise a memory (880) operable to store instructions and processing circuitry (870) operable to execute the instructions, such that the central unit (10) is operable to: determine a respective position for one or more objects (2) adapted to operate in the underground environment (30), determine, for the one or more objects (2), a respective probability that the respective object (2) is located in proximity to the autonomous machine (1), determine an operational safety level out of a plurality of safety levels, the operational safety level adapted to be associated to an operation performed by the autonomous machine (1), which operational safety level is adapted to be determined based on one or more out of: - the respective position of the one or more objects (2), and

- the one or more respective probabilities, which operational safety level is adapted to enable the mobile unit (20) to operate the autonomous machine (1) in accordance with the determined operational safety level.