US 12,230,138 B2
Mine collision detection and avoidance
Patrick Murphy, Tampere (FI); Alexandre Cervinka, Montreal (CA); Petri Mannonen, Tampere (FI); and Pekka Martikainen, Tampere (FI)
Assigned to SANDVIK MINING AND CONSTRUCTION OY, Tampere (FI); and NEWTRAX TECHNOLOGIES INC., Montreal (CA)
Filed by SANDVIK MINING AND CONSTRUCTION OY, Tampere, FL (US); and NEWTRAX TECHNOLOGIES INC., Montreal (CA)
Filed on Jun. 29, 2021, as Appl. No. 17/362,307.
Claims priority of provisional application 63/046,056, filed on Jun. 30, 2020.
Prior Publication US 2021/0407298 A1, Dec. 30, 2021
Int. Cl. G08G 1/16 (2006.01); G05D 1/00 (2024.01); G06Q 50/02 (2024.01); G08G 1/00 (2006.01)
CPC G08G 1/164 (2013.01) [G05D 1/0044 (2013.01); G05D 1/0289 (2013.01); G06Q 50/02 (2013.01); G08G 1/205 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A collision detection and avoidance system for a mine, comprising at least one processor and at least one memory including computer program code stored on a non-transitory computer-readable medium, the at least one memory and the computer program code configured to, when executed by the at least one processor, cause the apparatus at least to:
receive mine operations data from a set of data sources in the mine, the mine operations data including collision detection and avoidance data related to mining vehicles;
process the mine operations data to detect a set of collision detection and avoidance events meeting at least one operator attention triggering condition;
map the set of collision detection and avoidance events to a mine model on the basis of location information associated with the collision detection and avoidance events in the set of collision detection and avoidance events;
determine an affected location area of the set of collision detection and avoidance events mapped to the mine model, the affected location area of the set being defined on the basis of a predetermined radius around each collision detection and avoidance event in the set of collision detection and avoidance events, wherein a size of the affected location area depends on criticality of the collision detection and avoidance events;
generate, on the basis of the set of collision detection and avoidance events and the affected location area, an operator attention indicator dependent on density of collision detection and avoidance events in the affected location area;
control colouring in the affected location area based on the density of the set of collision detection and avoidance events;
control a display of the operator attention indicator for the set of collision detection and avoidance events in the affected location area in the mine model to an operator to adjust operation of one or more mine operations devices; and
control operations of at least some of the mining vehicle based on an operator input that is based on displaying the operator attention indicator.