Calibration device and calibration method for mining vehicles

Abstract

The invention relates to a calibration device and a calibration method for a mining vehicle. According to an example aspect, there is provided a method comprising: performing a calibration action of a calibration procedure for a mining vehicle, receiving scan data of the calibration action based on an environmental scan of the calibration action performed by a scanner, wherein the scan data is indicative of at least one position of a work implement part of a work implement relative to a body part of a body, receiving calibration verification reference data indicative of at least one of: a calibration target position of the work implement part relative to the body part for the calibration action, or a target movement range of the work implement part relative to the body part for the calibration action, processing the scan data and the calibration verification reference data to determine at least one deviation of: a current position of the work implement part from the calibration target position, or a current movement range of the work implement part from the target movement range; and verifying the calibration procedure based on the determined at least one deviation.

Description

Technical Field

[0001] This invention relates to the calibration of mining vehicles, and also to the verification of calibration-related actions for mining vehicles. Background Technology

[0002] Mining or construction excavation sites (such as underground hard or soft rock mines) may include areas for the automated operation of mining vehicles (such as loaders and / or couriers and drilling rigs). Such mining vehicles may be, for example, driverless vehicles remotely monitored and / or controlled from a control room, or manned vehicles, such as those operated by an operator in the vehicle's cabin. Mining vehicles may be configured to autonomously perform at least some tasks. For example, an automated mining loader may be configured to perform autonomous loading and unloading procedures, including loading the bucket, traveling from the loading point to the unloading point, unloading the bucket, and returning from the unloading point to the loading point.

[0003] The mining site and its autonomous vehicles may include a large number of mobile and stationary sensors that continuously collect data related to or influencing operations during mining. Such data, referred to as mining operation data, may include, for example, vehicle operating status data (such as speed, location at the site, motor parameters, load, etc.) and / or environmental data (such as temperature, air conditions, etc.). The data may be transmitted to a data processing system configured to provide a mining operation control system, including a user interface for a user of the system, referred to as an operator. The location of the vehicle executing driving commands may be indicated for the operator to monitor the vehicle and manually control it as needed. The site may be very large and complex, with a fleet of multiple vehicles simultaneously monitored and operated by the operator.

[0004] Calibration actions may be required for mining vehicles to ensure proper operation, especially in the case of autonomous vehicles. For example, periodic calibration of sensors and / or actuators of movable mining vehicle components may be necessary. This calibration may be performed periodically or after a predetermined number of operating hours or movement operations. Calibration of mining vehicles typically requires manual verification, which may involve ensuring that the boom, bucket, or hopper can move freely without physical limitations. Summary of the Invention

[0005] This invention is defined by the following features.

[0006] According to a first aspect, an apparatus for a mining vehicle is provided, the mining vehicle including a body, an actuator, a working implement, and a scanner, wherein the actuator is connected to the working implement and the body and adapted to change the position of the working implement relative to the body, the apparatus including components for or configured to cause the apparatus to perform at least the following operations: performing a calibration action for a calibration procedure for the mining vehicle; receiving scan data of the calibration action based on an environmental scan performed by the scanner, wherein the scan data indicates at least one position of a working implement portion of the working implement relative to a body portion of the body; receiving calibration verification reference data indicating at least one of the following: a calibration target position of the working implement portion for the calibration action relative to a body portion, or a target range of movement of the working implement portion for the calibration action relative to a body portion; processing the scan data and the calibration verification reference data to determine at least one of the following: a deviation between the current position of the working implement portion and the calibration target position, or a deviation between the current range of movement of the working implement portion and the target range of movement; and verifying the calibration procedure based on the determined at least one deviation.

[0007] According to a second aspect, a method for a mining vehicle is provided, the mining vehicle including a body, an actuator, a work implement, and a scanner, wherein the actuator is connected to the work implement and the body and adapted to change the position of the work implement relative to the body, the method comprising: performing a calibration action for a calibration procedure for the mining vehicle; receiving scan data of the calibration action based on an environmental scan performed by the scanner, wherein the scan data indicates at least one position of a work implement portion of the work implement relative to a body portion of the body; receiving calibration verification reference data indicating at least one of the following: a calibration target position of the work implement portion for the calibration action relative to a body portion, or a target range of movement of the work implement portion for the calibration action relative to the body portion; processing the scan data and the calibration verification reference data to determine at least one of the following: a deviation between the current position of the work implement portion and the calibration target position, or a deviation between the current range of movement of the work implement portion and the target range of movement; and verifying the calibration procedure based on the determined at least one deviation.

[0008] The apparatus of the first aspect may include at least one processor and at least one memory including computer program code configured to cause the apparatus to perform the method of the second aspect using the at least one processor. The apparatus may also include one or more processors and a memory including instructions that, when executed by the one or more processors, cause the apparatus to perform the method.

[0009] Embodiments of the method include various embodiments of the apparatus of the first aspect, some of which are shown in the apparatus.

[0010] According to a third aspect, an apparatus is provided, comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to utilize the at least one processor to cause the apparatus to perform at least the above-described method or an embodiment of the above-described method.

[0011] According to a fourth aspect, a computer program, a computer program product, or a tangible or intangible computer-readable medium including computer program code is provided, which, when executed in a data processing apparatus, causes the apparatus to perform the described method or an embodiment of the described method. Attached Figure Description

[0012] Figure 1 An example of a mining vehicle is shown;

[0013] Figure 2 Methods according to some embodiments are shown;

[0014] Figure 3 The functions of the control unit according to some embodiments are shown;

[0015] Figure 4a and Figure 4b A side view of the mining vehicle performing the calibration operation is shown; and

[0016] Figure 5 An example apparatus capable of supporting at least some of the embodiments is shown. Detailed Implementation

[0017] The currently disclosed embodiments are particularly applicable to a variety of mining vehicles used in the mining industry, such as underground or surface mines or construction sites. Mining vehicles can be adapted to load, transport, and unload excavated materials or other bulk materials. Specific examples of such mining vehicles include dump trucks and loading equipment or loaders, which include buckets attached to booms. The excavated material can be, for example, rock excavated in a surface or underground operating area. In this context, the term "rock" should be broadly understood to also cover boulders, rock materials, the earth's crust, and other relatively hard materials. Some other examples of mining vehicles include drilling rigs with one or more booms, feed beams connected to each boom, and drilling units (including drills) attached to the feed beams.

[0018] Figure 1An example of a mining vehicle 10 is shown, which includes a (mobile) carrier 12, one or more booms 14, and a bucket 16 attached to the one or more booms 14 in a pivotable or otherwise movable manner. For example, the bucket 16 may be coupled to two booms 14. Attachments may include at least one pivot 22, and the bucket 16 may be rotatable relative to the pivot. The mining vehicle may be an articulated vehicle comprising two sections connected by a joint 32. The mining vehicle may be a loading and transport (LHD) vehicle, or a vehicle primarily used for loading.

[0019] The mining vehicle 10 also includes a first actuator 18 for moving the boom 14 up and down, and a second actuator 20 for rotating the bucket 16 relative to the pivot 22. Actuators 18 and 20 may be hydraulically and / or electrically operable, or may be operated by some other energy source. It should also be noted that... Figure 1 This is a simplified version, and for example, the first actuator 18 and / or the second actuator 20 may actually include more than one actuator. For example, a lever arm arrangement may be used to connect the cylinder to the bucket 16.

[0020] The mining vehicle 10 may include a system of pumps 24 for generating hydraulic pressure to operate various parts of the machine, such as the lifting boom 14, the rotating bucket 16, etc. The mining vehicle 10 may include one or more other energy sources, such as accumulators, hydrogen tanks, fuel tanks, etc.

[0021] The mining vehicle 10 includes at least one motor 26, such as an electric motor or a combustion motor. Power from the motor 26 can be supplied to the front and / or rear wheels 28 directly from a crankshaft (not shown) or via a gearbox (not shown).

[0022] The mining vehicle 10 includes at least one control unit 30. The control unit may include one or more processors and a memory, configured to control at least some functions and / or actuators of the mining vehicle. In some embodiments, the control unit 30 is configured to control at least calibration control-related operations, and one or more other control units may be present in the mining vehicle for controlling other operations. It should be understood that the control unit 30 may be configured to perform at least some of the features shown below, or multiple control units or controllers may be applied to perform these features. Additional operating modules or functions performed by the control unit may be present, such as an automatic bucket loading module, at least one positioning module, an autonomous driving control module, and / or an obstacle detection module.

[0023] Mining vehicle 10 can be an automated mining vehicle that can be operated / driven independently in its autonomous operation mode without continuous user control. However, for example, the mining vehicle can be taken over by external control during an emergency.

[0024] The mining vehicle 10 may include at least one wireless data transmission unit 34, which can be connected to a control unit 30. The control unit 30 may be configured to control the data transmission unit 34 to establish a data transmission connection to another (second) control system 40 outside the mining vehicle 10 via an underlying wireless connection provided by a base station or access node 42. The data transmission unit 34 can therefore be connected to a communication system on the site, such as a wireless access system including a wireless local area network (WLAN) and / or a cellular communication network. For example, the data transmission unit 34 may be configured to communicate with 4G, 5G, 6G, or another generation of cellular networks.

[0025] The control system 40 may include or be connected to other network and / or data processing systems, such as site management systems, cloud services, data analysis equipment / systems, intermediate communication networks (such as the Internet), etc. This system may include or be connected to other devices or control units, such as handheld user units, vehicle units, site management equipment / systems, remote control and / or monitoring equipment / systems, data analysis equipment / systems, sensor systems / equipment, etc.

[0026] The control equipment (such as a server) of system 40 can be configured to manage at least some operations at the work site. The control equipment can be configured to provide an operator with a user interface for remote monitoring and, when necessary, controlling the automated operation of mining vehicles and / or assigning work orders to the fleet. For example, the control equipment can be configured to instruct mining vehicles to repeatedly perform autonomous loading and unloading cycles, and to update and / or monitor the performance and status of such work orders. Therefore, mining vehicle 10 can be unmanned, and the user interface can be located remotely from the mining vehicle. The mining vehicle can be remotely monitored or controlled by an operator near the mining vehicle, or remotely monitored or controlled from a control room at the work site, or even remotely from the work site via a communication network.

[0027] Mining vehicle 10 may include a positioning system or unit. For mining vehicles operating on the ground, satellite-based navigation (such as a GPS system) can be used to determine the vehicle's position and orientation with sufficient accuracy. For mining vehicles operating underground, instead of satellite-based positioning information, positioning based on dead reckoning and / or scanning of the tunnel surface can be used.

[0028] The mining vehicle 10 may include one or more scanning units or scanners 36 configured to perform scanning of the mining vehicle's environment. The scanner may be an imaging unit, radar, sonar unit, or optical detection and ranging (LIDAR) unit, a microwave or magnetic field-based scanning unit, or another type of environmental scanning unit. In embodiments, the scanner 36 may be a 2D or 3D scanner, such as a LIDAR device, configured to monitor tunnel walls. The control unit 30 may be configured to compare the scanned tunnel contour data with reference contour data stored in an environmental model and to locate the mining vehicle based on a match found in the environmental model. The control unit 30 may be configured to correct the location based on dead reckoning according to the scanned location. In some embodiments, the scan results are applied to detect the position and orientation of the mining vehicle and one or more other components, such as the scanner 36 or the leading edge or other portion of the bucket 16.

[0029] Site equipment, such as the control devices of control system 40 and mining vehicles 10, can be configured to store and use at least one site model representing the current and / or target state of the site environment. The site model can be an environment model or a map. For example, the site model can be a 2D model or a 3D model. In the case of an underground site, the site model can indicate the outline of tunnels and can be referred to as a tunnel model. In some embodiments, the control system is configured to store a 3D (tunnel) model of the site, showing the bottom, walls, and top of the tunnel network.

[0030] In some embodiments, the scanner is a 3D scanner, in which case 3D scan data, such as point cloud data, is generated. The scanner can be a laser scanner or another type of sensor device, such as 4D or another type of radar, adapted to determine obstacles and distances to obstacles for a vehicle.

[0031] In some embodiments, the site model includes point cloud data generated based on a scanned site. A point cloud is a collection of data points defined by a given coordinate system. For example, in a 3D coordinate system, a point cloud may define the outline of an underground tunnel network. A 3D model may be formed based on point cloud data generated from a scanned tunnel system or based on point cloud data generated from a scanned tunnel system.

[0032] In some embodiments, the control device may be configured to generate and / or update a site model based on point cloud data received from the mining vehicle or from other devices including environmental scanning equipment. For navigation purposes, a 3D model may be generated by combining depth measurements from a high-density scanner, such as a LiDAR unit. The 3D model may be stored in a database accessible by one or more modules of a computing device, such as a tunnel model processing module, a user interface or visualizer module, a route planning module, and / or a location service module. The vehicle may include a Simultaneous Localization and Mapping (SLAM) unit configured to locate the vehicle and build (augmented) maps of the environment based on (2D or 3D) scan information as the vehicle travels.

[0033] Mining vehicles, such as vehicle 10, may be equipped with an obstacle detection function or unit, which may be part of a collision avoidance or prevention system. The obstacle detection function may be configured to perform collision checks based on scan data received from at least scanner 36 configured to perform a scan of the vehicle's environment. For example, one scanner may cover the rear of the vehicle, and another scanner may cover the front section of the vehicle via a directional beam. Obstacle detection may be applied to one or more obstacle detection or safety zones around the vehicle. If an object is detected as an obstacle in that zone, the vehicle may stop.

[0034] In some embodiments, the mining vehicle 10 is configured to detect the position and orientation of the vehicle and one or more other components (such as scanners or buckets) based on scan data from at least one scanner 36. Control units within the vehicle (such as control unit 30) may be configured to compare operational scan tunnel contour data with reference contour data stored in a tunnel model. The control unit may be configured to locate the vehicle based on a match found in the environment model. The position and orientation of the vehicle's points of interest (such as the leading edge of a tool) may be determined in the machine coordinate system and further in the mining coordinate system based on the detected match between the operational point cloud data and the reference cloud data.

[0035] A driving plan or route plan can define the route to be traveled by the mining vehicle 10 and can be used as input for the automatic control of the mining vehicle. The plan can define a start point, an end point, and a set of route points for automatic driving. In such cases... Figure 1In the case of the vehicle shown, the driving plan may include information about the loading area or point, and may include data for controlling the loading of bucket 16. Automatic loading can be initiated in response to the mining vehicle entering the location or route point of the loading area in the driving plane. During the automated bucket loading procedure, the mining vehicle 10 is configured to autonomously perform a series of appropriate movements to fill bucket 16 and complete loading by positioning the bucket at a location suitable for leaving stockpile 50 and transporting the load to the unloading location. Driving to the unloading location and unloading can also be automated.

[0036] Calibration of various components of the mining vehicle 10 may be required. This is particularly important for autonomously operated vehicles. For example, sensors and / or actuators 16, 18 of movable mining vehicle components may need to be repeatedly calibrated to ensure proper operation of the vehicle (such as vehicle 10), which can be configured to perform autonomous loading and / or transport procedures. The mining vehicle can be configured to perform calibration procedures that may include a set of calibration actions. For example, the mining vehicle can be configured to perform calibration actions such as moving the bucket to its highest position to calibrate actuators 16, 18.

[0037] Improvements are now available that automate calibration procedures by utilizing environmental scanning for verification. These improvements help avoid or reduce the need for manual verification and reduce calibration time, thereby increasing productivity.

[0038] Figure 2 A method according to some embodiments is illustrated. The method can be performed by an apparatus, and in some embodiments by a control device configured to at least control calibration verification. The method and its various embodiments can be performed by a mining vehicle and its control device (such as mining vehicle 10) and its control unit 30, respectively. The method can be a computer-implemented method.

[0039] The method includes performing calibration actions for a calibration procedure for a mining vehicle, which includes a body, actuators, a work implement, and a scanner, wherein the actuators are connected to the work implement and the body and are adapted to change the position of the work implement relative to the body.

[0040] Box 210 includes receiving scan data of the calibration action based on an environmental scan performed by a scanner. The scan data indicates at least one position of the working tool portion of the tool relative to the body portion of the main body.

[0041] Box 220 includes receiving calibration verification reference data indicating at least one of the following: the calibration target position of the tool part for calibration action relative to the main body, or the target range of movement of the tool part for calibration action relative to the main body.

[0042] Box 230 includes processing scan data and calibration verification reference data to determine at least one deviation from: the deviation of the current position of the work implement portion from the target position, or the deviation of the current movement range of the work implement portion from the target movement range. The current position may refer to the position of the work implement after the calibration action is performed, or it may refer to an intermediate position during the calibration action. The current position and current movement range may be determined based on the processed scan data, and may also be referred to as scan-based position or scan-based movement range, respectively.

[0043] Box 240 includes verifying the calibration procedure based on the determined at least one deviation. Verification may include comparing the deviation to a predetermined difference threshold parameter of reference data to verify the calibration. The threshold parameter may define an acceptance margin for calibration verification.

[0044] If the deviation exceeds the corresponding threshold parameter, the calibration action does not meet the verification criteria and is rejected or discarded. If the deviation meets the calibration verification or validation criteria, such as not exceeding the maximum deviation value, the calibration action can be approved and the calibration procedure can be confirmed as successfully verified. It should be noted that a calibration procedure may include a set of multiple calibration actions, and boxes 210 to 230 may be repeated for each calibration action in the set. Box 240 may include checking whether each calibration action meets the associated criteria.

[0045] The apparatus configured to perform this method can be configured to generate control messages indicating a failed or successful calibration action and transmit them to a control unit, such as control unit 30. Based on the control messages, the control unit can generate UI control signals to notify the operator and / or initiate further control actions, such as new calibration actions or procedures in response to failed calibration actions.

[0046] Calibration typically refers to the comparison of measurements provided by the device under test with pre-configured reference (measurement) values, such as calibration standard values. Mining vehicles can be configured to perform calibration procedures, which may include a set of calibration actions. Calibration actions may include, for example, controlling a work implement (such as a bucket) to a specific calibration target position, performing measurements by a measuring device, providing the measured values ​​from the measuring device to a controller, and having the controller compare the measured values ​​with pre-stored reference values. The calibration procedure may also include correction actions following box 240 to adjust sensor and / or actuator values ​​based on deviations.

[0047] Therefore, a calibration action can refer to a specific action performed by the mining vehicle or its controller, such as providing control signals to the actuators of the work implement. The control signals may indicate a calibration target location or include control data for the actuators, which should enable the work implement to reach the calibration target location. A calibration action may include controlling the work implement to execute a trajectory from a starting position to the calibration target location. For example, a calibration action and calibration procedure may be required after a predetermined time period following a previous calibration or after a predetermined number of working hours or movement actions have been performed. The mining vehicle can be configured to automatically initiate calibration procedures and calibration actions (and proceed to box 200). The mining vehicle can be configured to perform check routines to detect whether calibration procedure triggering criteria, such as a predefined time or working hours, are met.

[0048] Scan data for a calibration operation can refer to data generated based on environmental scanning during and / or after the calibration operation. The scanner is positioned and configured such that the scan includes an area in which the work implement portion and the main body are visible.

[0049] The apparatus can be configured to process scan data in block 230 to determine one or more positional differences between the working tool portion and the main body portion, to determine the current position of the working tool relative to the main body portion and / or the range of movement of the working tool relative to the main body portion. In block 230, the determined positional differences can be compared with reference data or one or more calibration target position parameters based on reference data. Position parameters may include a calibration target position of the working tool portion relative to the main body portion for calibration actions and / or a target range of movement of the working tool portion relative to the main body portion for calibration actions. Calibration verification reference data may indicate at least one reference positional difference or a set of positional differences between the working tool portion and the main body portion at the target position of the working tool portion. Therefore, block 240 may include comparing the determined deviations with reference differences.

[0050] The device can be configured to verify calibration procedure 240 (successfully or accepted) in response to deviations not exceeding an associated threshold indicated by calibration verification reference data. Calibration verification can therefore include checking, based on a scan, that the work implement has reached (sufficiently approached) the calibration target position and is therefore within the permissible tolerances of the calibration target position, and / or that the work implement's range of motion is within the permissible deviation from the target range of motion. Therefore, block 240 can include checking whether the work implement is within the permissible position range around the target position indicated by the calibration verification reference data.

[0051] Depending on the processing implementation and / or scanner type applied, calibration verification reference data may include reference values ​​for the target location and / or target range, image data indicating the target location or target range, real-time sensor value information and / or point cloud data, or other types of reference environmental scan data indicating the position of the workpiece relative to the subject at the calibration target location or during the target movement range. As indicated, verification reference data may also include thresholds.

[0052] Reference data may include or supplement position sensor data from or associated with the working implement, indicating the position of the working implement relative to the main body. This real-time information can be received from the mining vehicle's memory or bus. In block 230, the device can be configured to process position sensor data and scan data to determine deviations. For example, comparing the boom or bucket orientation relative to the main body based on processed scan data with boom or bucket orientation sensor values ​​from the boom position sensor after a calibration operation to verify the calibration.

[0053] The scanned data may include scanned point cloud data. The apparatus can be configured to process the point cloud data in block 230 or another prior step to determine the position of the working implement portion relative to the main body portion. The positional difference between the working implement portion and the main body portion can be compared to reference values ​​in reference data or based on the processed reference data.

[0054] Scan data and calibration verification reference data may include point cloud data. Therefore, box 230 may include:

[0055] - Receive reference point cloud data for the working equipment and the main body.

[0056] - Process the scanned point cloud data and the scanned reference point cloud data to perform point cloud matching operations, thereby detecting the working equipment portion and the main body portion in the scanned point cloud data; and

[0057] - Process the scanned point cloud data to determine the deviation of the frame 230, and in some embodiments, determine the distance between the detected working tool portion and the main body portion in the scanned point cloud data.

[0058] In this embodiment, the reference point cloud data may be a pre-calibrated point cloud dataset that indicates the specific position (e.g., extreme position) that the working tool part should be relative to the main body part.

[0059] Calibration verification reference data may include non-point cloud data. In block 230, the device can be configured to process scanned point cloud data and position sensor data from the position sensors of the work implement to determine deviations. In block 230, the device can be configured to process position sensor data and point cloud data to determine deviations. Therefore, the reference data does not necessarily include reference point cloud data; instead, the position or movement detected based on scan data received from the scanner can be immediately compared with the sensor data. For example, after performing a calibration action, the need for calibration is detected by applying the boom position based on the processed point cloud data and the boom orientation sensor value from the boom position sensor. Therefore, if the boom should be at its highest position based on sensor data from the control system, but the device detects that the boom has not reached its highest position based on the processed scan data, a calibration failure can be detected.

[0060] The device can be configured to determine a deviation based on image processing in block 230. Therefore, an image based on scan data can be compared with a reference image of calibration verification reference data. The scan data may include image data, or be processed to generate image data. The calibration verification reference data may include reference image data indicating the target position of the work implement portion relative to the main body portion at the calibration target location and / or target movement range. Therefore, block 230 may include image data and reference image data processed from the scan data to determine the at least one deviation.

[0061] This device can be configured to process image data to detect work implement parts in an image or a set of images, as well as in a reference image of calibration verification reference data, based on a scan. The deviation is based on the difference detected in the work implement parts in the image based on the scanned data and in the reference image. Therefore, the visual reference data can be stored within factory calibration and used as calibration verification reference data.

[0062] It should be understood that calibration verification reference data may include data other than image data, such as point cloud data. The processing in box 230 may include comparing the positional difference (between the machine tool and the main body) based on image analysis of the scan data with reference values ​​from the reference data or reference values ​​based on the processed reference data.

[0063] Scan data can indicate obstacles. The device can be configured to determine the location of obstacles and the position of the work equipment relative to obstacles based on processed scan data, such as point cloud data indicating obstacles and work equipment. The device can process the scan data to determine whether the work equipment cannot or will not be able to reach the calibration target location or perform the target movement range. Therefore, this determination can be performed before or after box 200. In the example, the determination is performed if the calibration action fails due to a deviation exceeding an associated threshold based on boxes 230 and 240. Based on the processed point cloud data, the location of the obstacle can be compared with the location of the work equipment. Therefore, the comparison location of the work equipment can be the location of the work equipment detected during or after the calibration action, or the location that the work equipment is expected to reach based on reference data after the calibration action is performed.

[0064] The device can be configured to control a change in the calibration target position or target movement range in response to detecting that the work implement is unable to reach the calibration target position or perform the target movement range due to an obstacle. The target position or target movement range can be determined based on obstacle location information and vehicle size data. The device can be configured to control the mining vehicle to perform a second calibration action based on the changed calibration target position or target movement range. The calibration procedure can then be verified based on scan data processed for the second calibration action and the changed calibration target position or target movement range. In another example, there may be additional inputs that cause a change in the calibration target position or target movement range and a second calibration action, such as a control signal in response to detecting that the work implement is about to collide with an obstacle. In another embodiment, instead of changing the target position or target movement range, the mining vehicle can be controlled to travel to another location on the site where there are no obstacles preventing access to the target position or performance of the target movement range. These features allow the calibration procedure to automatically adapt to the physical limitations of the current operating environment.

[0065] Therefore, the time required for calibration verification can be reduced compared to conventional manual verification. The maximum range of motion of the work equipment is not required, and calibration and verification can be performed in confined areas of the work site, such as in low-profile tunnels where the work equipment will impact the tunnel ceiling at its highest point. Thus, calibration verification can be performed regardless of external physical limitations, and vehicles do not need to be driven away from their production location or area.

[0066] The following provides further examples with reference to mining vehicles (such as vehicle 10) configured to perform at least some of the features described above. However, it should be understood that at least some features of the method and at least some embodiments thereof can be implemented by a control device external to the mining vehicle, such as a control device of a control system 40 that controls a group of mining vehicles. This control device can perform the method and its embodiments based on information received from the mining vehicles, such as scan data.

[0067] Figure 3 A mining vehicle (such as mining vehicle 10) configured to perform a calibration procedure is shown. Figure 2 The method and the arrangement and elements of at least some embodiments thereof. In this example, the drivetrain 300 of the mining vehicle includes an electric motor, such as motor 26, driven by an inverter unit (INU) 302. The INU 302 includes an inverter, which may also be referred to in at least some cases as a frequency converter, AC drive, variable speed drive (VSD), or variable frequency drive (VFD), which controls the voltage and frequency of the power supplied to the AC motor to control the torque and speed of the motor.

[0068] The control system or unit 310 (such as control unit 30) may be configured to perform actions related to... Figure 2 The method includes at least some of the features of the apparatus. Control unit 310 may be configured to perform a calibration control (CC) function or routine 312 that performs the method and at least some embodiments thereof. Control unit 310 may include one or more computing units / processors that execute computer program code stored in memory. In some embodiments, the control unit may be connected to one or more other control units of the mining vehicle's control system via a controller area network (CAN) bus.

[0069] Control unit 310 may be connected to actuator control unit or (sub)system 320, which may be connected to boom actuator (BoA) 322 and bucket actuator (BuA) 324. Control unit 310 may be configured to transmit control signals, in or for block 200, according to a calibration procedure and the action being performed to actuator control system 320. Control system 320 controls BoA 322 and BuA 324 based on the control signals to correspondingly control boom 14 and bucket 16. It should be noted that boom and bucket may have separate actuator controls that may be directly connected to control unit 310. Actuator control (sub)system may include or be connected to a hydraulic circuit with lift and tilt actuator control valves for proportionally controlling the flow rate of pressurized hydraulic fluid to the respective lift and tilt hydraulic actuators in accordance with the control signals.

[0070] Control unit 310 can be connected to one or more scanners 36. Control unit 310 can be configured to receive and process scan data from scanners 36. User interface (UI) 330 can be connected to control unit 310 locally at the mining vehicle or via a communication unit. UI may include, for example, a joystick, touchscreen, or other input device, through which input signals from the user can be provided to control unit to control the mining vehicle and its calibration-related actions.

[0071] The control unit 310 can be directly or indirectly connected to other units in the mining vehicle, such as other sensors or sensor systems 340 configured to provide input to the control unit 310. Examples of such sensors include boom or bucket limit sensors, boom or bucket position detection sensors, hydraulic sensors, and bucket pressure measurement sensors. The control unit can be connected to drivetrain components, such as INU 302 or another motor control unit, motor, or sensor in the drivetrain. The control unit can be connected to a communication unit and include or be connected to a memory or bus from which calibration verification reference data can be received.

[0072] Calibration actions may include controlling a portion of the work implement to execute a trajectory from a starting position to a target calibration position. Calibration verification reference data may define one or more threshold parameters to determine the permissible deviation of the work implement portion from the target calibration position after the calibration action is performed, or the permissible deviation of the range of movement from the target range of movement during the calibration action.

[0073] Figure 4a An example is shown in which the calibration action includes a range r1 of movement of the bucket 16 from the lowest position (shown by a solid line) to the highest position (shown by a dashed line). The lowest position may represent the calibration starting point, while the highest position may represent the calibration target position, or vice versa.

[0074] exist Figure 4a In the example, the bucket is able to move the entire r1 required to verify the calibration procedure. However, in some cases, there may be obstacles preventing the workpiece from reaching the calibration target location or performing the target range of movement. For example, in Figure 4b In the tunnel, the top 400 of the tunnel can stop the movement range up to r2, and thus prevent reaching the top position or moving the entire range r1. Figure 4b In the example, the calibration target position or target movement range can be changed to avoid the bucket 16 hitting the top of the tunnel 400, or changed from r1 to r2 or less than r2.

[0075] It should be understood that various other features may complement or differentiate at least some of the embodiments described above. For example, further user interaction and / or automation functions may be present to further assist operators in monitoring calibration procedures and / or controlling calibration verification procedures.

[0076] Figure 1 Mining vehicles 10 and Figure 3 The arrangement herein is disclosed only as an example of embodiments that can be implemented as disclosed herein. Embodiments are applicable to a variety of other types and configurations of mining vehicles and control units. Some example embodiments have been shown above, in which at least some embodiments can be executed by control units 30, 310 as actuators.

[0077] An electronic device including electronic circuitry can be a means for implementing at least some of the embodiments illustrated above, such as combining... Figure 2 The illustrated method and features are shown for control units 30 and 310. This device may be included in at least one computing device connected to or integrated into the control system of the mining vehicle. Such a control system may be an intelligent onboard control system that controls the operation of various subsystems of the mining vehicle, such as hydraulic systems, motors, etc.; in one example, the subsystem is... Figure 3 The subsystem shown. Such a control system is typically distributed and comprises many independent modules connected, for example, via a bus system of CAN nodes.

[0078] Figure 5 A simplified example apparatus capable of supporting at least some embodiments of the present invention is shown. A device 500 is shown, which can be configured to perform at least some embodiments related to controlling calibration-related features of a mining vehicle as described above. In some embodiments, device 500 includes or implements control unit 30 or 310, or includes or implements other modules, functions, and / or units for performing at least some of the above embodiments.

[0079] The device 500 includes a processor 510, which may include, for example, a single-core or multi-core processor. The processor 510 may include more than one processor. The processor may include at least one application-specific integrated circuit (ASIC). The processor may include at least one field-programmable gate array (FPGA). The processor may be configured to perform actions, at least in part, via computer instructions.

[0080] Device 500 may include memory 520. The memory may include random access memory and / or permanent memory. The memory may be at least partially accessible by processor 510. The memory may be at least partially included in processor 510. The memory may be at least partially external to device 500 but accessible by the device. Memory 520 may be a component for storing information, such as parameters 522 affecting the operation of the device. Parameter information may in particular include parameter information affecting calibration control-related characteristics, such as thresholds.

[0081] Memory 520 may be a non-transitory computer-readable medium including computer program code 524, which includes computer instructions configured to be executed by processor 510. When computer instructions configured to cause a processor to perform certain actions are stored in memory, and the device is generally configured to operate under the guidance of a processor using computer instructions from memory, the processor and / or at least one of its processing cores may be considered configured to perform said certain actions. The processor, together with the memory and computer program code, may form components for performing at least some of the method steps in the currently disclosed method steps within the device.

[0082] Device 500 may include a communication unit 530, which includes a transmitter and / or a receiver. The transmitter and receiver may be configured to transmit and receive, for example, data and control commands inside or outside a mining vehicle. For example, the transmitter and / or receiver may be configured to operate according to Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), 3GPP New Radio Access Technology (N-RAT), Wireless Local Area Network (WLAN), and / or Ethernet standards.

[0083] Device 500 may include or be connected to a UI. The UI may include at least one of a display 540, a speaker, and an input device 550 (such as a keyboard, joystick, touchscreen, and / or microphone). The UI may be configured to display a view based on the embodiments described above. Users can operate the device and control at least some of the features described above. In some embodiments, users can control the mining vehicle 10 via the UI, such as manually driving the vehicle, operating the boom, initiating automatic loading, changing modes, changing parameter sets, changing the display view, modifying parameter 522, etc.

[0084] The device 500 may also include and / or be connected to other units, devices and systems, such as one or more sensor devices 560 configured to detect the environment of the device 500 or the properties of the mining vehicle.

[0085] The processor 510, memory 520, communication unit 530, and UI can be interconnected in various ways via electrical leads within the device 500. For example, each of the aforementioned devices can be connected to a main bus within the device to allow the devices to exchange information. However, as those skilled in the art will understand, this is merely an example, and various ways of interconnecting at least two of the aforementioned devices may be chosen depending on the embodiment.

[0086] The apparatus (such as device 500, mining vehicle 10, control unit 30 or 310) may be configured to: perform calibration actions for a calibration procedure for the mining vehicle; receive scan data of the calibration actions based on an environmental scan performed by a scanner, wherein the scan data indicates at least one position of the working tool portion of the tooling relative to the main body portion of the body; receive calibration verification reference data indicating at least one of the following: a calibration target position of the working tool portion for the calibration action relative to the main body portion, or a target range of movement of the working tool portion for the calibration action relative to the main body portion; process the scan data and the calibration verification reference data to determine at least one of the following: a deviation between the current position of the working tool portion and the calibration target position, or a deviation between the current range of movement of the working tool portion and the target range of movement; and verify the calibration procedure based on the determined at least one deviation.

[0087] Calibration actions may include controlling the work implement to execute a trajectory from a starting position to a calibration target position. Calibration verification reference data may define one or more threshold parameters to determine the permissible deviation between the work implement and the calibration target position after the calibration action is performed.

[0088] The scan data can indicate obstacles, and the device can be configured to determine whether the work implement can reach the calibration target location or perform the target movement range despite the presence of obstacles.

[0089] The device can be configured to control a change in the calibration target position or target movement range in response to detecting that the working implement is unable to reach the calibration target position or perform the target movement range due to an obstacle. The device can be configured to control the mining vehicle to perform a second calibration action based on the changed calibration target position or target movement range. The device can be configured to verify the calibration procedure based on scan data processed for the second calibration action and the changed calibration target position or target movement range.

[0090] This device can be configured to determine positional differences between the work implement and the main body based on processed scan data. It can also be configured to verify calibration procedures based on the determined positional differences and calibration verification reference data.

[0091] The scan data may include scanned point cloud data. Determining the at least one deviation may include:

[0092] - Receive reference point cloud data for the working equipment and the main body.

[0093] - Processes scanned point cloud data and scanned reference point cloud data to perform point cloud matching operations, thereby detecting the working equipment portion and the main body portion in the scanned point cloud data; and

[0094] - Process the scanned point cloud data to determine the distance between the detected machine tool portion and the main body portion in the scanned point cloud data.

[0095] Scan data and calibration verification reference data may include image data. Processing scan data and calibration verification reference data includes processing image data to:

[0096] - Detect the working equipment portion in the scanned image and the reference image of the calibration verification reference data, and

[0097] - The deviation is determined based on the difference between the detected working equipment parts in the scanned image and in the reference image.

[0098] Reference data may include position sensor data from the position sensors of the work implement. Position sensor data can indicate the position of the work implement relative to the main body.

[0099] The working implements may include buckets or platforms for loading and / or transporting vehicles. Mining vehicles may be autonomous vehicles, and the device may be configured to perform calibration procedures to enable autonomous driving of mobile mining vehicles.

[0100] While the foregoing examples illustrate the principles of the invention in one or more specific applications, it will be apparent to those skilled in the art that many modifications may be made in terms of form, use, and implementation details.

[0101] The verbs “comprising” and “including” are used in this document as open-ended restrictions that neither exclude nor require the presence of unrecited features. Unless otherwise expressly stated, the features recited in the dependent claims may be freely combined with each other. Furthermore, it should be understood that the use of “a” or “an” throughout this document, i.e., the singular form, does not exclude a plurality.

Claims

1. A calibration device for a mining vehicle, the mining vehicle comprising a body, an actuator, a working implement, and a scanner, wherein the actuator is connected to the working implement and the body and adapted to change the position of the working implement relative to the body, the device comprising at least one processor and at least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured to utilize the at least one processor such that the device at least: - Perform calibration actions for the calibration procedure used on the mining vehicle. - Receive scan data of the calibration action based on an environmental scan performed by the scanner, wherein the scan data indicates at least one position of the working tool portion of the working tool relative to the main body portion of the body. - Receive calibration verification reference data, the calibration verification reference data indicating at least one of the following: the calibration target position of the working tool part relative to the main body part for the calibration action, or the target movement range of the working tool part relative to the main body part for the calibration action. - Process the scan data and the calibration verification reference data to determine at least one of the following deviations: the deviation between the current position of the working tool and the calibration target position, or the deviation between the current movement range of the working tool and the target movement range; and - Verify the calibration procedure based on the determined at least one deviation.

2. The calibration apparatus according to claim 1, wherein, The calibration action includes controlling the work implement to execute a trajectory from a starting position to the calibration target position, and the calibration verification reference data defines one or more threshold parameters to determine the permissible deviation between the work implement and the calibration target position after the calibration action is performed.

3. The calibration apparatus according to claim 1 or 2, wherein, The scan data indicates obstacles, and the at least one memory and the computer program code are configured to use the at least one processor to enable the device to determine whether the work implement can reach the calibration target position or perform the target movement range, despite the presence of the obstacles.

4. The calibration apparatus according to claim 3, wherein, The at least one memory and the computer program code are configured to utilize the at least one processor to cause the device to: control a change in the calibration target position or the target movement range in response to detecting that the working implement cannot reach the calibration target position or perform the target movement range due to the obstacle; control the mining vehicle to perform a second calibration action based on the changed calibration target position or the changed target movement range; and verify the calibration procedure based on scan data processed by the second calibration action and the changed calibration target position or the changed target movement range.

5. The calibration apparatus according to claim 4, wherein, The at least one memory and the computer program code are configured to utilize the at least one processor to enable the device to: - Based on processing the scan data, determine the positional difference between the working tool part and the main body part, and - Verify the calibration procedure based on the determined location differences and the calibration verification reference data.

6. The calibration apparatus according to any one of claims 1-2, wherein, The scan data includes scanned point cloud data, and determining the at least one deviation includes: - Receive reference point cloud data from the working equipment section and the main body section. - Process the scanned point cloud data and the scanned reference point cloud data to perform a point cloud matching operation, thereby detecting the working equipment portion and the main body portion in the scanned point cloud data; and - Process the scanned point cloud data to determine the distance between the working tool portion and the main body portion detected in the scanned point cloud data.

7. The calibration apparatus according to any one of claims 1-2, wherein, The scan data and the calibration verification reference data include image data, and Processing the scan data and the calibration verification reference data includes processing the image data to: - Detect the working tool portion in the image of the scanned data and the reference image of the calibration verification reference data, and - The deviation is determined based on the difference detected in the image of the scanning data and in the reference image of the operating equipment.

8. The calibration apparatus according to any one of claims 1-2, wherein, The reference data includes position sensor data from the position sensor of the work implement, which indicates the position of the work implement relative to the main body.

9. The calibration apparatus according to any one of claims 1-2, wherein, The working implement includes a bucket or platform for loading and / or transporting vehicles, and the mining vehicle is an autonomous vehicle, and the device is configured to perform the calibration procedure to perform autonomous driving of the mobile mining vehicle.

10. A calibration method for a mining vehicle, the mining vehicle comprising a body, an actuator, a working implement, and a scanner, wherein the actuator is connected to the working implement and the body and adapted to change the position of the working implement relative to the body, the method comprising: - Perform calibration actions for the calibration procedure used on the mining vehicle. - Receive scan data of the calibration action based on an environmental scan performed by the scanner, wherein the scan data indicates at least one position of the working tool portion of the working tool relative to the main body portion of the body. - Receive calibration verification reference data, the calibration verification reference data indicating at least one of the following: the calibration target position of the working tool part relative to the main body part for the calibration action, or the target movement range of the working tool part relative to the main body part for the calibration action. - Process the scan data and the calibration verification reference data to determine at least one of the following deviations: the deviation between the current position of the working tool part and the calibration target position, or the deviation between the current movement range of the working tool part and the target movement range; as well as - Verify the calibration procedure based on the determined at least one deviation.

11. The calibration method according to claim 10, wherein, The calibration action includes controlling the work implement to execute a trajectory from a starting position to the calibration target position, and the calibration verification reference data defines one or more threshold parameters to determine the permissible deviation between the work implement and the calibration target position after the calibration action is performed.

12. The calibration method according to claim 10 or 11, wherein, The scan data indicates obstacles, and the method further includes: - Determine whether the work implement can reach the calibration target location or perform the target movement range, despite the presence of the obstacle, and - In response to detecting that the working equipment is unable to reach the calibration target position or perform the target movement range due to the obstacle, control the change of the calibration target position or the target movement range, control the mining vehicle to perform a second calibration action based on the changed calibration target position or the changed target movement range, and verify the calibration procedure based on the scan data of processing the second calibration action and the changed calibration target position or the changed target movement range.

13. The calibration method according to any one of claims 10-11, further comprising: The positional difference between the working tool part and the main body part is determined based on the processing of the scan data, and the calibration procedure is verified based on the determined positional difference and the calibration verification reference data.

14. The calibration method according to any one of claims 10-11, wherein, The scan data includes scanned point cloud data, and determining the at least one deviation includes: - Receive reference point cloud data from the working equipment section and the main body section. - Process the scanned point cloud data and the scanned reference point cloud data to perform a point cloud matching operation, thereby detecting the working equipment portion and the main body portion in the scanned point cloud data; - Process the scanned point cloud data to determine the distance between the working tool portion and the main body portion detected in the scanned point cloud data.

15. A computer program product comprising code, said code being configured to cause the device to perform the calibration method according to any one of claims 10 to 14 when executed in a data processing apparatus.

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