EP-4735739-A1 - MONITORING A VOLUME OF AN UNDERGROUND WORK SITE

EP4735739A1EP 4735739 A1EP4735739 A1EP 4735739A1EP-4735739-A1

Abstract

Disclosed is a mobile passage control unit, a method and a computer program product for obtaining three-dimensional reference data relating to the monitored volume, the volume being defined by a plurality of sub-volumes, determining, based on the three-dimensional reference data, a set of initially unoccupied sub-volumes within the monitored volume, obtaining, by the sensing device, three-dimensional sensing data relating to the monitored volume, examining obtained three- dimensional sensing data relating to the set of initially unoccupied sub-volumes of the monitored volume, detecting, based on the examining, at least one change event in the set of initially unoccupied sub-volumes, the at least one change event comprising at least one sub-volume in the set of initially unoccupied sub-volumes becoming an occupied sub-volume, and determining, based on the at least one detected change event and at least one criterion relating to the change event, that an object has been moving in the monitored volume.

Inventors

PUURA, JUSSI
AHA, Liisa
VON ESSEN, Tomi

Assignees

SANDVIK MINING AND CONSTRUCTION OY

Dates

Publication Date: 20260506
Application Date: 20240627

Claims (14)

1. A mobile passage control unit configured to monitor a volume of an underground work site comprising an isolated safety area, the mobile passage control unit isolating the isolated safety area, the at least one mobile passage control unit comprising a sensing device configured to provide three-dimensional sensing data relating to the volume, the mobile passage control unit further comprising at least one processor, and at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the mobile passage control unit to: obtain three-dimensional reference data relating to the monitored volume, the volume being defined by a plurality of sub-volumes; determine, based on the three-dimensional reference data, a set of initially unoccupied sub-volumes within the monitored volume; obtain, by the sensing device, three-dimensional sensing data relating to the monitored volume; examine obtained three-dimensional sensing data relating to the set of initially unoccupied sub-volumes of the monitored volume; detect, based on the examining, at least one change event in the set of initially unoccupied sub-volumes, the at least one change event comprising at least one sub-volume in the set of initially unoccupied sub-volumes becoming an occupied sub -volume; and determine, based on the at least one detected change event and at least one criterion relating to the change event, that an object has been moving in the monitored volume.
2. A mobile passage control unit according to claim 1, wherein examining the obtained three-dimensional sensing data comprises determining that at least one initially unoccupied sub-volume is associated with three-dimensional sensing data indicative of an object.
3. A mobile passage control unit according to any preceding claim, wherein the at least one criterion relating to the change event comprises duration of occupancy of the occupied sub-volume.
4. A mobile passage control unit according to any preceding claim, wherein the at least one criterion relating to the change event comprises a change event relating to a plurality of adjacent sub-volumes.
5. A mobile passage control unit according to any preceding claim, wherein the three-dimensional reference data comprises a plurality of data frames representing the monitored volume.
6. A mobile passage control unit according to any preceding claim, wherein the at least one memory and the computer program code are further configured, with the at least one processor, to cause the mobile passage unit to communicate with a safety system.
7. A mobile passage control unit according to claim 6, wherein the at least one memory and the computer program code are further configured, with the at least one processor, to cause the mobile passage control unit to provide information relating the object to the safety system.
8. A mobile passage control unit according to any preceding claim, wherein the mobile passage control unit is a battery-operated apparatus.
9. A mobile passage control unit according to any preceding claim, the three-dimensional sensing data comprises a plurality of data frames and the at least one memory and the computer program code are further configured, with the at least one processor, to cause the mobile passage control unit to determine that the object is approaching the mobile passage control unit by comparing the plurality of data frames.
10. A mobile passage control unit according to any preceding claim, wherein the three-dimensional sensing data comprises point cloud data.
11. A mobile passage control unit according to any preceding claim, wherein the three-dimensional sensing is performed using one or more of the following: a multi-layer lidar, a three-dimensional radar, a four-dimensional radar, or ultrasonic sensing.
12. A mobile passage control unit according to any preceding claim, wherein the volume is a subset of a sensed volume, which is a volume that the three- dimensional sensing is capable of sensing.
13. A method for monitoring a volume of an underground work site using a mobile passage control unit comprising a sensing device configured to provide three-dimensional sensing data relating to the volume, the mobile passage control unit further comprising at least one processor, and at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the mobile passage control unit to perform the method comprising: obtaining three-dimensional reference data relating to the monitored volume, the volume being defined by a plurality of sub-volumes; determining, based on the three-dimensional reference data, a set of initially unoccupied sub-volumes within the monitored volume; obtaining, by the sensing device, three-dimensional sensing data relating to the monitored volume; examining obtained three-dimensional sensing data relating to the set of initially unoccupied sub-volumes of the monitored volume; detecting, based on the examining, at least one change event in the set of initially unoccupied sub-volumes, the at least one change event comprising at least one sub-volume in the set of initially unoccupied sub-volumes becoming an occupied sub -volume; and determining, based on the at least one detected change event and at least one criterion relating to the change event, that an object has been moving in the monitored volume.
14. A computer program for a mobile passage control unit for monitoring a volume of an underground work site, the mobile passage control unit comprising a sensing device configured to provide three-dimensional sensing data relating to the volume, the mobile passage control unit further comprising at least one processor, and at least one memory including a computer program code, the computer program comprising instructions for causing the mobile passage control unit to perform at least the following: obtain three-dimensional reference data relating to the monitored volume, the volume being defined by a plurality of sub-volumes; determine, based on the three-dimensional reference data, a set of initially unoccupied sub-volumes within the monitored volume; obtain, by the sensing device, three-dimensional sensing data relating to the monitored volume, examine obtained three-dimensional sensing data relating to the set of initially unoccupied sub -volumes of the monitored volume; detect, based on the examining, at least one change event in the set of initially unoccupied sub-volumes, the at least one change event comprising at least one sub -volume in the set of initially unoccupied sub -volumes becoming an occupied sub-volume; and determine, based on the at least one detected change event and at least one criterion relating to the change event, that an object has been moving in the monitored volume.

Description

Monitoring a Volume of an Underground Work Site Field The present application relates to monitoring a volume of an underground work site and using a device configured to obtain sensing data for the monitoring. Background In underground work sites, such as mines, conditions may be challenging for executing the work. In addition, work machines used in underground work sites may be powerful and heavy and therefore their safe usage is important. Various measures may be taken to ensure that work in an underground work site can be carried out in a safe manner. Some of these measures may include using technology to that helps to enable safety. Brief Description The scope of protection sought for various embodiments of the invention is set out by the independent claims. The example embodiments and features, if any, described in this specification that do not fall under the scope of the independent claims are to be interpreted as examples useful for understanding various embodiments of the invention. According to a first aspect there is provided mobile passage control unit for monitoring a volume of an underground work site, the mobile passage control unit comprising a sensing device configured to provide three-dimensional sensing data relating to the volume, the mobile passage control unit comprising means for: obtaining three-dimensional reference data relating to the monitored volume, the volume being defined by a plurality of sub-volumes, determining, based on the three- dimensional reference data, a set of initially unoccupied sub-volumes within the monitored volume, obtaining, by the sensing device, three-dimensional sensing data relating to the monitored volume, examining obtained three-dimensional sensing data relating to the set of initially unoccupied sub-volumes of the monitored volume, detecting, based on the examining, at least one change event in the set of initially unoccupied sub-volumes, the at least one change event comprising at least one subvolume in the set of initially unoccupied sub-volumes becoming an occupied subvolume, and determining, based on the at least one detected change event and at least one criterion relating to the change event, that an object has been moving in the monitored volume. In some exemplary embodiments according to the first aspect, the means comprises at least one processor, and at least one memory, including a computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the performance of the apparatus. According to a second aspect there is provided a mobile passage control unit for monitoring a volume of an underground work site, the mobile passage control unit comprising a sensing device configured to provide three-dimensional sensing data relating to the volume, the mobile passage control unit further comprising at least one processor, and at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the mobile passage control unit to: obtain three- dimensional reference data relating to the monitored volume, the volume being defined by a plurality of sub-volumes, determine, based on the three-dimensional reference data, a set of initially unoccupied sub -volumes within the monitored volume, obtain, by the sensing device, three-dimensional sensing data relating to the monitored volume, examine obtained three-dimensional sensing data relating to the set of initially unoccupied sub-volumes of the monitored volume, detect, based on the examining, at least one change event in the set of initially unoccupied sub-volumes, the at least one change event comprising at least one sub -volume in the set of initially unoccupied sub-volumes becoming an occupied sub-volume, and determine, based on the at least one detected change event and at least one criterion relating to the change event, that an object has been moving in the monitored volume. According to a third aspect there is provided a method for monitoring a volume of an underground work site using a mobile passage control unit, the mobile passage control unit comprising a sensing device configured to provide three-dimensional sensing data relating to the volume, the method comprising: obtaining three- dimensional reference data relating to the monitored volume, the volume being defined by a plurality of sub-volumes, determining, based on the three-dimensional reference data, a set of initially unoccupied sub -volumes within the monitored volume, obtaining, by the sensing device, three-dimensional sensing data relating to the monitored volume, examining obtained three-dimensional sensing data relating to the set of initially unoccupied sub-volumes of the monitored volume, detecting, based on the examining, at least one change event in the set of initially unoccupied sub -volumes, the at least one change event comprising at le