METHOD AND SYSTEM FOR AUTOMATION OF A MACHINE FOR REPLACING THE LINING OF A MILL

Abstract

A method for use in automatically moving a mill relining machine during installation of a mill liner, the mill relining machine including a grapple tool for engaging with the mill liner and a control system for controlling movement of the mill relining machine, the method including: providing a mill liner including a target positioned on a surface thereof; capturing an image of the target using an image sensor, the image sensor generating image data indicative of the image; and in one or more electronic processing devices: obtaining the image data from the image sensor; processing the image data to determine target data for the target; generating control data based at least in part on the target data; and providing the control data to the control system, to thereby allow the mill relining machine to be automatically moved in accordance with the control data.

Description

MILL RELINING MACHINE AUTOMATION METHOD AND SYSTEMBackground of the Invention

[0001] The present invention relates to a method and system for use in automatically moving a mill relining machine during installation of a mill liner, being particularly suitable for use during mill liner replacement operations within a mill, such as an ore grinding mill.Description of the Prior Art

[0002] Mill liners are sacrificial wear components used to protect the shell of an ore grinding mill from damage and to provide a mechanism to lift the ore charge during mill operation, for grinding the ore charge down to the required size. The mill liners need to be replaced at regular intervals, because the ore charge wears the mill liners down to the point where the mill shell is at risk of damage, or the grinding process efficiency has reduced significantly.

[0003] Mill liners are secured to the inside of mills using fasteners known as liner bolts which are inserted through bolt holes in the liner and mill shell. Mill liners are manipulated within the mill using a mill relining machine (MRM) that is controlled by a mill reline operator. The MRM will commonly include a grapple tool that is designed to engage with lifting lugs and / or other features of the liner profile of a new mill liner, to allow it to be lifted into position for installation. An example of an MRM including such a grapple tool and providing eight axes of motion was described in AU2005239667B2, although MRMs providing seven axes of motion are also commonly used.

[0004] Worn mill liners need to be removed from inside the mill prior to the introduction and installation of new mill liners. During conventional mill liner replacement operations, personnel position themselves inside the mill, for instance to facilitate connection between the mill liners and the mill relining machine, movement of the mill liners within the mill using the mill relining machine, and positioning of mill liners for installation.

[0005] The inside of the mill is classified as a confined space, the floor of the mill is uneven, there is poor visibility, there is the potential for falling objects to strike the operator (steel ballsand rocks wedged in the liners), the atmosphere is hot and humid, communication is difficult, and the operators are in close proximity to working machinery and suspended loads.

[0006] Personnel inside a mill during the replacement of mill liners are subject to considerable hazards that may lead to serious injury or death. It is therefore desirable to develop methods and systems for allowing mill relining machines to be moved during mill liner replacement operations without the need for personnel inside the mill, in order to improve safety and mitigate the risk of potential accidents.

[0007] It is against this background, and the associated problems and difficulties, that the present invention has been developed.

[0008] The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that the prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.Summary of the Present Invention

[0009] In one broad form, an aspect of the present invention seeks to provide a method for use in automatically moving a mill relining machine during installation of a mill liner, the mill relining machine including a grapple tool for engaging with the mill liner and a control system for controlling movement of the mill relining machine, the method including: providing a mill liner including a target positioned on a surface thereof; capturing an image of the target using an image sensor, the image sensor generating image data indicative of the image; and in one or more electronic processing devices: obtaining the image data from the image sensor; processing the image data to determine target data for the target; generating control data based at least in part on the target data; and providing the control data to the control system, to thereby allow the mill relining machine to be automatically moved in accordance with the control data.

[0010] In one embodiment, the image sensor is mounted on the grapple tool.

[0011] In one embodiment, the target is at least one of: cast into the mill liner during manufacture of the mill liner; and added to the surface of the mill liner in a predetermined position.

[0012] In one embodiment, the mill liner includes a flat area on the surface for allowing the target to be added to the surface in the predetermined position.

[0013] In one embodiment, the target is provided on a sticker that is adhesively attached to the surface in the predetermined position.

[0014] In one embodiment, processing the image data to determine the target data includes scanning the target to obtain a liner identifier for the mill liner.

[0015] In one embodiment, processing the image data to determine the target data includes scanning the target to additionally obtain liner data for the mill liner.

[0016] In one embodiment, the method includes using the one or more electronic processing devices to obtain liner data for the mill liner from a database, based on the liner identifier.

[0017] In one embodiment, the liner data includes at least one of: liner installation position data; liner movement path data; liner geometry data; liner material data; liner weight data; and liner manufacturing data.

[0018] In one embodiment, the method includes using the one or more electronic processing devices to determine, using the liner data associated with the mill liner, a movement trajectory for use in automatically moving the mill relining machine to move the mill liner to an installation position for the mill liner.

[0019] In one embodiment, the method includes determining the movement trajectory based on an installation plan including a plurality of predetermined movement trajectories for different mill liner installation positions.

[0020] In one embodiment, the method includes using the one or more electronic processing devices to determine, using the liner data associated with the mill liner, operational parametersfor movement of the mill relining machine while the mill liner is engaged using the grapple tool, and generating the control data based at least in part on the operational parameters.

[0021] In one embodiment, processing the image data to determine the target data includes scanning the target to additionally obtain target configuration data for the target.

[0022] In one embodiment, the method includes using the one or more electronic processing devices to obtain target configuration data for the target from a database, based on the liner identifier.

[0023] In one embodiment, the target configuration data includes at least one of: target size data; target shape data; and target position data.

[0024] In one embodiment, the target includes a code element, and wherein processing the image data to determine the target data includes scanning the code element to obtain at least the liner identifier for the mill liner.

[0025] In one embodiment, the code element is provided in the form of at least one of: a numerical code; an alphanumerical code; a hieroglyphic code; a barcode; a matrix code; and a QR code.

[0026] In one embodiment, processing the image data to determine the target data includes determining position and orientation data for the target relative to the image sensor, the method including generating the control data based at least in part on the position and orientation data.

[0027] In one embodiment, processing the image data to determine the target data includes determining at least one of: an approximate position of the target relative to the image sensor; an approximate range of the target relative to the image sensor; and an approximate orientation of the target relative to the image sensor.

[0028] In one embodiment, the method includes determining the approximate position of the target relative to the image sensor based on a location of the target in the image relative to the image frame.

[0029] In one embodiment, the method includes determining the approximate range of the target relative to the image sensor based on a size of the target in the image relative to the image frame.

[0030] In one embodiment, the method includes obtaining target size data for the target and determining the approximate range of the target relative to the image sensor based on a comparison of the target size data and the size of the target in the image.

[0031] In one embodiment, the method includes determining the approximate orientation of the target relative to the image sensor based on a shape of the target in the image relative to the image frame.

[0032] In one embodiment, the method includes obtaining target shape data for the target and determining the approximate orientation of the target relative to the image sensor based on a comparison of the target shape data and the shape of the target in the image.

[0033] In one embodiment, processing the image data to determine the target data includes: detecting the target in the image; determining an edge geometry for the target in the image; and determining at least some of the target data based on the edge geometry.

[0034] In one embodiment, the method includes using a display device to display an indicator based on the control data.

[0035] In one embodiment, the indicator includes at least one of: an indication as to whether or not the target has been detected in the image; an indication of an approximate position of the target relative to the image sensor; an indication of an approximate range of the target relative to the image sensor; and an indication of an approximate orientation of the target relative to the image sensor.

[0036] In one embodiment, the indicator includes at least one of: an indication of whether the grapple tool is an engaging position for allowing the grapple tool to be engaged with the mill liner; and an indication of whether the mill liner is in an installation position for allowing installation of the mill liner.

[0037] In one embodiment, the method includes using the display device to display the image and superimpose the indicator over the image.

[0038] In one embodiment, the method further includes generating at least one of: an audio signal based on the control data; and a haptic feedback signal based on the control data.

[0039] In one embodiment, the method includes the control system causing the mill relining machine to move automatically in accordance with the control data to facilitate installation of the mill liner.

[0040] In one embodiment, the method includes the control system causing the mill relining machine to move automatically in accordance with the control data to at least one of: move the grapple tool to the mill liner on a liner cart; orient the grapple tool relative to the mill liner on the liner cart; and urge the grapple tool into an engaging position to allow the grapple tool to be engaged with the mill liner.

[0041] In one embodiment, when the grapple tool is engaged with the mill liner, the method includes the control system causing the mill relining machine to move automatically in accordance with the control data to at least one of: move the mill liner from the liner cart to an installation position on a mill wall; orient the mill liner relative to the mill wall at the installation position; and urge the mill liner into the installation position to allow installation of the mill liner.

[0042] In one embodiment, the grapple tool includes liner engaging elements configured for engaging with corresponding lifting lugs of the mill liner, the control system also being for controlling operation of the liner engaging elements.

[0043] In one embodiment, the target is positioned on the mill liner in a predetermined position relative to the lifting lugs, and the method includes generating the control data based on the target data and the predetermined position of the target to thereby allow the liner engaging elements to be aligned with the lifting lugs.

[0044] In one embodiment, the method includes obtaining target position data for the target that is indicative of the position of the target relative to the lifting lugs, and generating thecontrol data based on the target data and the target position data to thereby allow the liner engaging elements to be aligned with the lifting lugs.

[0045] In one embodiment, the method includes the control system causing the liner engaging elements to operate in accordance with the control data to at least one of: cause the liner engaging elements to engage with the lifting lugs of the mill liner; and cause the liner engaging elements to disengage from the lifting lugs of the mill liner.

[0046] In another broad form, an aspect of the present invention seeks to provide a system for use in automatically moving a mill relining machine during installation of a mill liner within a mill, the mill relining machine including a grapple tool for engaging with the mill liner and a control system for controlling movement of the mill relining machine, the mill liner including a target positioned on a surface thereof, the system including: an image sensor for capturing an image of the target, the image sensor generating image data indicative of the image; and one or more electronic processing devices configured to: obtain the image data from the image sensor; process the image data to determine target data for the target; generate control data based at least in part on the target data; and provide the control data to the control system, to thereby allow the mill relining machine to be automatically moved in accordance with the control data.

[0047] In one embodiment, the image sensor is mounted on the grapple tool.

[0048] In one embodiment, the system further includes an orientation sensor for providing orientation data, and wherein the one or more electronic processing devices are configured to determine an approximate orientation of the target relative to the image sensor, based on the orientation data and the target data.

[0049] In one embodiment, the orientation sensor includes an accelerometer.

[0050] In one embodiment, the system further includes a proximity sensor for providing proximity data, and wherein the one or more electronic processing devices are configured to determine an approximate range of the target relative to the image sensor, based on the proximity data and the target data.

[0051] In one embodiment, the system is configured to perform the method as described above.

[0052] In another broad form, an aspect of the present invention seeks to provide a method for use in automatically moving a mill relining machine during installation of a mill liner, the mill relining machine including a grapple tool for engaging with the mill liner and a control system for controlling movement of the mill relining machine, the method including: providing a mill liner; providing a target proximate to the mill liner, the target being associated with the mill liner; capturing an image of the target using an image sensor, the image sensor generating image data indicative of the image; and in one or more electronic processing devices: obtaining the image data from the image sensor; processing the image data to determine target data for the target; generating control data based at least in part on the target data; and providing the control data to the control system, to thereby allow the mill relining machine to be automatically moved in accordance with the control data.

[0053] In one embodiment, the target is at least one of: attached to the mill liner; positioned on a surface of the mill liner; and positioned at a predetermined position relative to the mill liner.

[0054] In one embodiment, the mill liner and the target are provided on a liner cart.

[0055] In one embodiment, the target is attached to the liner cart at a predetermined target position, and the liner cart is configured so that the mill liner can be placed on the liner cart in a predetermined liner position, such that a position of the mill liner can be determined based on a position of the target.

[0056] In another broad form, an aspect of the present invention seeks to provide a system for use in automatically moving a mill relining machine during installation of a mill liner within a mill, the mill relining machine including a grapple tool for engaging with the mill liner and a control system for controlling movement of the mill relining machine, a target being provided proximate to the mill liner, the target being associated with the mill liner, the system including: an image sensor for capturing an image of the target, the image sensor generating image data indicative of the image; and one or more electronic processing devices configured to: obtain the image data from the image sensor; process the image data to determine target data for thetarget; generate control data based at least in part on the target data; and provide the control data to the control system, to thereby allow the mill relining machine to be automatically moved in accordance with the control data.

[0057] In one embodiment, the system is configured to perform a method as described above.

[0058] In another broad form, an aspect of the present invention seeks to provide a method for use in automatically moving a mill relining machine during installation of a mill liner, the mill relining machine including a grapple tool for engaging with the mill liner and a control system for controlling movement of the mill relining machine, the method including: providing a mill liner having a plurality of liner features associated therewith; using one or more sensors, detecting one or more of the liner features, the one or more sensors generating sensor data indicative of the liner features; and in one or more electronic processing devices: obtaining the sensor data from the one or more sensors; generating control data based at least in part on the sensor data; and providing the control data to the control system, to thereby allow the mill relining machine to be automatically moved in accordance with the control data.

[0059] In one embodiment, the liner features include at least one of: a target positioned on a surface of the mill liner; predetermined visual features of the mill liner; predetermined geometric features of the mill liner; and predetermined sensor-detectable features of the mill liner.

[0060] In one embodiment, the one or more sensors include at least one of: an image sensor for capturing an image of the liner features and generating image data indicative of the image; a range sensor for scanning the mill liner and generating range data indicative of the liner features; and a proximity sensor for generating proximity data indicative of proximity of the liner features to the proximity sensor.

[0061] In another broad form, an aspect of the present invention seeks to provide a system for use in automatically moving a mill relining machine during installation of a mill liner within a mill, the mill relining machine including a grapple tool for engaging with the mill liner and a control system for controlling movement of the mill relining machine, the mill liner having a plurality of liner features associated therewith, the system including: one or more sensors fordetecting one or more of the liner features, the one or more sensors generating sensor data indicative of the liner features; and one or more electronic processing devices configured to: obtain the sensor data from the one or more sensors; generate control data based at least in part on the sensor data; and provide the control data to the control system, to thereby allow the mill relining machine to be automatically moved in accordance with the control data.

[0062] In one embodiment, the system is configured to perform a method as described above.

[0063] It will be appreciated that the broad forms of the invention and their respective features can be used in conjunction, interchangeably and / or independently, and reference to separate broad forms is not intended to be limiting.Brief Description of the Drawings

[0064] Various examples and embodiments of the present invention will now be described with reference to the accompanying drawings, in which: -

[0065] Figure 1 is a schematic sectional view of an example of a mill relining machine in use during installation of a mill liner within a mill;

[0066] Figure 2 is a flow chart of an example of a process for use in automatically moving a mill relining machine during installation of a mill liner; and

[0067] Figure 3A is a perspective view of an example of a mill liner including a target positioned on a surface thereof;

[0068] Figure 3B is a front view of the example of the mill liner of Figure 3A;

[0069] Figure 4 is a photograph of an example of a target;

[0070] Figure 5 is a perspective view of an example of a grapple tool including an image sensor mounted thereon;

[0071] Figure 6 is a schematic diagram of an example of components of a system for automatically moving a mill relining machine during installation of a mill liner;

[0072] Figure 7 is a schematic diagram of an example of the processing system of Figure 6;

[0073] Figure 8 is a flow chart of an example of a process for automatically moving a mill relining machine to allow a grapple tool to engage with a mill liner on a liner cart; and

[0074] Figure 9 is a flow chart of an example of a process for automatically moving a mill relining machine to move a mill liner from a liner cart to an installation position.Detailed Description of the Preferred Embodiments

[0075] An example of a method for use in automatically moving a mill relining machine during installation of a mill liner will now be described with reference to the Figures.

[0076] The method of the present invention is intended for use in the context of mill liner replacement operations in a mill 101, such as an ore grinding mill, an example of which is depicted in Figure 1. The mill 101 includes a mill shell 110, which typically includes cylindrical and / or frustoconical shaped shell portions. A plurality of mill liners 120 are installed on the inner surfaces of the mill shell 110, typically being attached using liner bolts that extend through liner bolt holes 122, as shown in Figures 3 A and 3B. The mill liners 120 act as sacrificial wear components that are replaced when they become worn from use of the mill 101. During mill liner replacement operations, worn mill liners 120 are removed from the mill shell 110 and new mill liners 120 are installed on the mill shell 110 to replace them.

[0077] A mill relining machine 130 is typically used to move the mill liners 120 within the mill 101 during mill liner replacement operations. Figure 1 particularly shows an example of the mill relining machine 130 being used for positioning a mill liner 120 relative to the mill wall 110 during the installation of a new mill liner 120 within the mill 101. The mill relining machine 130 typically includes a grapple tool 131 for engaging with the mill liner 120, and a control system for controlling the movement of the mill relining machine 130 within the mill 101. The grapple tool 131 typically includes liner engaging elements 132, such as extendable pins, for engaging with lifting lugs 121 provided on the mill liners 120, as also shown in Figures 3 A and 3B.

[0078] The method of the present invention facilitates automation of the movement of the mill relining machine 130, particularly during the installation of a mill liner 120. With regard to the flowchart of Figure 2, the method involves a sequence of steps performed using an image sensor 133 and one or more electronic processing devices.

[0079] In some embodiments, the image sensor 133 may be mounted on the grapple tool 131, for example as shown in Figure 5. However, this is not essential and in other embodiments, the image sensor 133 may be mounted in other positions, although typically the image sensor 133 will still be mounted on the mill relining machine 130 in a position that provides line of sight between the image sensor 133 and the target 123 on the mill liner 120 during movement of the mill relining machine 130.

[0080] Further details of suitable electronic processing devices will be discussed below, but for the purpose of this example it will be assumed that the method is performed using the example system arrangement of Figure 6. In that example, an electronic processing device is provided in a processing system 610 that communicates with the image sensor 133 and the control system 620 of the mill relining machine 130. Components of the processing system 610 are shown in Figure 7 and described further below. Although the subsequent description of the method may refer to an electronic processing device in the singular, it should be appreciated that the method may be performed using multiple electronic processing devices.

[0081] Step 200 involves providing a mill liner 120 including a target 123 positioned on a surface thereof, for example as shown in Figures 3A and 3B and in closer detail in Figure 4. Each mill liner 120 provided for installation using the method should include a suitable target 123. Step 210 then involves capturing an image of the target 123 using the image sensor 133. As part of this step, the image sensor 133 generates image data indicative of the image.

[0082] Subsequent steps of the method are performed in one or more electronic processing devices, for example in a processing device of the processing system 610 of Figure 6 and Figure 7. Step 220 involves obtaining the image data from the image sensor 133. Then, step 230 involves processing the image data to determine target data for the target 123. Step 240 subsequently involves generating control data based at least in part on the target data. Finally, step 250 involves providing the control data to the control system 620, to thereby allow themill relining machine 130 to be automatically moved in accordance with the control data, as indicated in step 260.

[0083] As described in more detail below, providing the mill liners 120 with targets 123 and using the image sensor 133 and electronic processing device to determine target data for the target and generate the control data based on the target data can enable previously unavailable automation functionalities for use in mill liner replacement operations.

[0084] Depending on the particular implementation of the system, the target data may include one or more of a variety of different types of information associated with the mill liner 120 upon which the respective target is positioned.

[0085] In one example, the target data may include relative position and orientation data for the target 123, in which case the one or more electronic processing devices may be configured to generate the control data based at least in part on the position and orientation data. This can facilitate automation of the movement of the mill relining machine 130 during engagement of the grapple tool 131 with the mill liner 120.

[0086] In other examples, the target data may additionally or alternatively include a liner identifier for the particular mill liner 120 upon which the respective target 123 is positioned. In these cases, the one or more electronic processing devices may be configured to use the liner identifier to access liner data associated with that particular mill liner 120, for instance from a database. In particularly advantageous implementations, the liner data may include data indicative of an installation position or a predetermined trajectory for moving the particular mill liner 120 to its intended installation position, which can facilitate automation of the movement and final placement of the mill liner 120 during its installation.

[0087] In some examples, the target data may include at least liner data in addition to the liner identifier, which may be obtained for instance by decoding information from a code element of the target 123. In some particular implementations the target data may include unique identifying and / or tracking information for the mill liner 120, potentially including Blockchain- encrypted information.

[0088] In any event, it will be appreciated that the method can enable improved automation of the movement of mill relining machines 130, which can help to remove the need for personnel in the hazardous environment within the mill 101 during mill liner replacement operations. This can provide significant safety benefits, especially when used in combination with other existing techniques for allowing other mill liner installation steps to be performed without requiring personnel in the mill 101, such as the installation of liner bolts for attaching the mill liners 120 to the mill shell 110 from outside of the mill 101 as described in WO2018112524A1.

[0089] As discussed above, in one example, the method may be performed using a system arrangement as shown in Figure 6. In this example, the components of the system include an image sensor 133 which communicates with a processing system 610, particularly for transmitting the image data for processing by an electronic processing device of the processing system 610. The processing system 610 communicates in turn with the mill relining machine control system 620, particularly for providing control data for use in controlling the movement of the mill relining machine 130 as discussed above.

[0090] In some examples, the system may utilise one or more additional sensors (not shown) in addition to the image sensor 133. These additional sensors may also communicate with the processing system 610 to transmit additional sensor data to also be processed by the electronic processing device of the processing system 610, so that the control data can be generated with regard to the additional sensor.

[0091] In one example, the system may include an orientation sensor (not shown), such as an accelerometer, which may be provided on the grapple tool 131 in addition to the image sensor 133, or in any other suitable location on the mill relining machine 130. The orientation sensor may be used to generate orientation data (for example with reference to a direction of gravity in the case of an accelerometer) indicative of an orientation of the grapple tool 131 and the image sensor 133 provided thereon, for use by the electronic processing device in determining the orientation of the target 123 and thus the mill liner 120.

[0092] In another example, the system may include a proximity sensor (not shown), which may also be provided on the grapple tool 131 in addition to the image sensor 133, although as noted above for the orientation sensor, the proximity sensor may also be provided in any othersuitable location on the mill relining machine 130. The proximity sensor may be used to generate proximity data indicative of a proximity of the grapple tool 131 to the mill liner 120 or other objects within the mill, for use by the electronic processing device in generating the control data.

[0093] As mentioned above, in this example the system may include a processing system 610 that includes the electronic processing device for performing the processing functionality as described above.

[0094] An example of a suitable processing system 610 is shown in Figure 7. In this example, the processing system 610 includes an electronic processing device, such as at least one microprocessor 701, a memory 702, an input / output device 703, such as a touch screen display or a separate keyboard and display, an external interface 704, and a communications interface 705, interconnected via a bus 706 as shown. In this example, the external interface 704 can be utilised for connecting the server processing system 610 to peripheral devices, such as communications networks, databases 711, other storage devices, or the like. Although a single external interface 704 is shown, this is for the purpose of example only, and in practice multiple interfaces using various methods (e.g. Ethernet, serial, USB, wireless or the like) may be provided. It will be appreciated that the communications interface 705 of the server processing system 610 should be selected for compatibility with the respective communications interfaces of the image sensor 133 and the mill relining machine control system 620 to enable the required communications between them.

[0095] In use, the microprocessor 701 executes instructions in the form of applications software stored in the memory 702 to perform required processes, such as communicating with the image sensor 133 via the communications interface 705 to obtain image data as required in the particular implementation of the method. Thus, actions performed by the processing system 610 are performed by the processor 701 in accordance with instructions stored as applications software in the memory 702 and / or input commands received via the input / output device 703, or image data received from the image sensor 133. The applications software may include one or more software modules, and may be executed in a suitable execution environment, such as an operating system environment, or the like.

[0096] Accordingly, it will be appreciated that the processing system 610 may be formed from any suitable processing system, such as a suitably programmed computer system, PC, web server, network server, or the like, with a suitably configured communications interface 705. In one particular example, the processing system 610 is a standard processing system such as a 32-bit or 64-bit Intel Architecture based processing system, which executes software applications stored on non-volatile (e.g., hard disk) storage, although this is not essential. However, it will also be understood that the processing system 610 could be or could include any electronic processing device such as a microprocessor, microchip processor, logic gate configuration, firmware optionally associated with implementing logic such as an FPGA (Field Programmable Gate Array), or any other electronic device, system or arrangement.

[0097] It will be appreciated that the above described configuration is not essential, and numerous different processing system configurations may be used. It will also be appreciated that the partitioning of functionality between the processing system 610 and the mill relining machine control system 620 may vary, depending on the particular implementation. For example, some of the functionalities of the above described method may be performed using one or more electronic processing devices of the control 620 as opposed to an electronic processing device of the processing system 610.

[0098] In any event, it will be appreciated that the present invention may also relate to a system for use in automatically moving a mill relining machine 130 during installation of a mill liner 120 within a mill 101, which is adapted for performing the method as discussed above. As note previously, the mill relining machine 130 includes a grapple tool 131 for engaging with the mill liner 120 and a control system 620 for controlling movement of the mill relining machine, and the mill liner 120 includes a target 123 positioned on a surface thereof.

[0099] In broad terms, the system includes an image sensor 133 for capturing an image of the target 123, and one or more electronic processing devices, for instance provided in the processing system 610. The image sensor 133 generates image data indicative of the image after capturing the image of the target 123, and the one or more electronic processing devices are configured to: obtain the image data from the image sensor 133; process the image data to determine target data for the target 123; generate control data based at least in part on the targetdata; and provide the control data to the control system 620, to thereby allow the mill relining machine 130 to be automatically moved in accordance with the control data. It will be appreciated that the system may be configured to provide any of the functionalities described herein for the method.

[0100] A range of preferred and or optional implementation features of the above described method and system will now be described.

[0101] In some embodiments, the target 123 may be provided on the mill liner 120 by being cast into the mill liner 120 during its manufacture. In other embodiments, the target 123 may be added to the surface of the mill liner 120 in a predetermined position. It will be appreciated that this can allow existing mill liners 120 to be adapted for use with the method and system of the present invention. However, it may be preferable to manufacture the mill liners 120 so that they include a flat area on the surface, for allowing the target 123 to be added to the surface in the predetermined position. In some embodiments, the target 123 may be provided on a sticker that is adhesively attached to the surface in the predetermined position.

[0102] In preferred embodiments, processing the image data to determine the target data includes scanning the target 123 to obtain a liner identifier for the mill liner 120. In some examples, processing the image data to determine the target data may include scanning the target 123 to additionally obtain liner data for the mill liner 120. Alternatively, the method may involve using the one or more electronic processing devices to obtain liner data for the mill liner 120 from a database, based on the liner identifier.

[0103] In any event, it will be appreciated that the ability to identify the mill liner 120 and obtain liner data for the mill liner 120 can allow the movement of the mill relining machine 130 to be automated with regard to the particular mill liner 120 and specific properties associated with that mill liner 120. Depending on the particular implementation, the liner data may include one or more of the following: liner installation position data; liner movement path data; liner geometry data; liner material data; liner weight data; and liner manufacturing data. The control data can be generated with regard to these types of liner data to customise the automatic movement of the mill relining machine 130 during the installation of the particularmill liner 120, for instance by moving it to a specific installation position based on liner installation position data associated with the mill liner 120.

[0104] In one example, the method may include using the one or more electronic processing devices to determine, using the liner data associated with the mill liner 120, a movement trajectory for use in automatically moving the mill relining machine 130 to move the mill liner 120 to an installation position for the mill liner. For instance, this may involve determining the movement trajectory based on an installation plan including a plurality of predetermined movement trajectories for different installation positions for different mill liners 120.

[0105] In other examples, the method may include using the one or more electronic processing devices to determine, using the liner data associated with the mill liner 120, operational parameters for movement of the mill relining machine 130 while the mill liner 120 is engaged using the grapple tool 131, and generating the control data based at least in part on the operational parameters. This can allow the automated movement of the mill relining machine 130 to account for particular properties of the mill liner 120, such as its weight, in which case the control data may be generated to account for deflection of elongated boom elements of the mill relining machine 130, or to account for dynamic behaviour of the mill relining machine during movement with the mill liner 120 engaged by the grapple tool 131.

[0106] In some examples, processing the image data to determine the target data may include scanning the target 123 to additionally obtain target configuration data for the target 123. Alternatively, the method may involve using the one or more electronic processing devices to obtain target configuration data for the target 123 from a database, based on the liner identifier. The target configuration data may include at least one of: target size data; target shape data; and target position data. The target configuration data may be used, for example, when processing the image data to determine position and orientation data for the target, and further examples in this regard will be outlined below.

[0107] In some embodiments, the target 123 may include a code element, such that processing the image data to determine the target data may include scanning the code element to obtain at least the liner identifier for the mill liner 120. For example, the code element may be provided in the form of at least one of: a numerical code; an alphanumerical code; a hieroglyphic code;a barcode; a matrix code; and a QR code. In the examples of the mill liner 120 shown in Figures 3A and 3B, the target 123 includes a QR code, as shown in closer detail in Figure 4. However, the use of a QR code is not essential and a variety of other forms of code elements may be employed to allow the liner identifier to be obtained by scanning the code element.

[0108] In some examples, processing the image data to determine the target data may include determining position and orientation data for the target 123 relative to the image sensor 133, with the method including generating the control data based at least in part on the position and orientation data. For instance, processing the image data to determine the target data may include determining at least one of: an approximate position of the target relative to the image sensor; an approximate range of the target relative to the image sensor; and an approximate orientation of the target relative to the image sensor.

[0109] It will be appreciated that these determinations may be achieved by analysing geometry of the target in the captured image. In one example, the method may include determining the approximate position of the target 123 relative to the image sensor 133 based on a location of the target 123 in the image relative to the image frame.

[0110] In some examples, the determinations will preferably involve comparisons with target configuration data that may include, for instance, target size data, target shape data, and target position data. The target configuration data may be obtained in the process of scanning the target 123 as discussed above, although in some implementations the target configuration data may simply be indicative of known geometric properties of the targets 123.

[0111] In one example case, the method may include determining the approximate range of the target 123 relative to the image sensor 133 based on a size of the target 123 in the image relative to the image frame. Preferably, the method will include obtaining target size data for the target 123 and determining the approximate range of the target 123 relative to the image sensor 133 based on a comparison of the target size data and the size of the target 123 in the image.

[0112] In another example case, the method may include determining the approximate orientation of the target 123 relative to the image sensor 133 based on a shape of the target 123in the image relative to the image frame. Preferably, the method will include obtaining target shape data for the target 123 and determining the approximate orientation of the target 123 relative to the image sensor 133 based on a comparison of the target shape data and the shape of the target 123 in the image.

[0113] For instance, the target 123 may have a known target shape of a square, and if the shape of the target 123 as it appears in the image is trapezoidal, this may indicate that the image sensor 133 is oriented at an angle relative to the target 123 and the mill liner 120 that it is provided on. In preferred examples in which the image sensor 133 is mounted on the grapple tool 131, this approximate orientation information can be used to determine the orientation of the grapple tool 131 relative to the target 123 and thus allow automated movement of the mill relining machine 130 to re-orient or align the grapple tool 131 for facilitating engagement with the mill liner 120.

[0114] In some specific embodiments, processing the image data to determine the target data may include: detecting the target 123 in the image; determining an edge geometry for the target 123 in the image; and determining at least some of the target data based on the edge geometry. This approach can make use of known image processing techniques for efficiently determining the position and orientation of the mill liner 120 based on the appearance of the target 123 in the image.

[0115] Although the techniques described herein are intended to facilitate automation of the movement of the mill relining machine 130 during the mill liner installation process, it can still be advantageous to provide feedback to an operator.

[0116] For instance, the method may include using a display device to display an indicator based on the control data. The method may particularly include using the display device to display the image and superimpose the indicator over the image.

[0117] In some examples, the indicator may include at least one of: an indication as to whether or not the target has detected in the image; an indication of an approximate position of the target relative to the image sensor; an indication of an approximate range of the target relative to the image sensor; and an indication of an approximate orientation of the target relative tothe image sensor. In some other examples, the indicator may include at least one of: an indication of whether the grapple tool is an engaging position for allowing the grapple tool to be engaged with the mill liner 120; and an indication of whether the mill liner 120 is in an installation position for allowing installation of the mill liner 120. It will be appreciated that these indications can allow an operator to monitor the automated movement of the mill relining machine 130, and initiate manual actions or interventions as needed.

[0118] In some examples, the method may further include generating an audio signal based on the control data or a haptic feedback signal based on the control data. These can provide further useful feedback to the operator, for example to mark the successful completion of steps of the mill liner installation or to provide safety warnings or the like.

[0119] In view of the above, it will be appreciated that preferred implementations of the method may involve the control system causing the mill relining machine 130 to move automatically in accordance with the control data to facilitate installation of the mill liner 120.

[0120] For example, the method may include the control system 620 causing the mill relining machine 130 to move automatically in accordance with the control data to at least one of: move the grapple tool 131 to the mill liner 120 on a liner cart; orient the grapple tool 131 relative to the mill liner 120 on the liner cart; and urge the grapple tool 131 into an engaging position to allow the grapple tool 131 to be engaged with the mill liner 120.

[0121] These movement steps are illustrated in the flow chart of Figure 8, along with steps of determining particular target data for facilitating the automation of these steps. Step 800 involves moving the grapple tool 130 to the mill liner 120 on the liner cart. With the grapple tool 130 positioned near the mill liner 120, step 810 is then performed, which involves detecting the target 123 positioned on the mill liner 120 using the image sensor. This is followed by step 820, which involves using the one or more processing devices to determine position and orientation data as part of the target data. This position and orientation data is then used to generate control data for use in orienting the grapple tool 131 relative to the mill liner 120 as per step 830. Once the grapple tool 131 is oriented into proper alignment with the mill liner 120, it can be urged into an engaging position as per step 840, and finally engaged with the mill liner 120 as per step 850.

[0122] In another example, when the grapple tool 131 is engaged with the mill liner 120, the method may include the control system 620 causing the mill relining machine 130 to move automatically in accordance with the control data to at least one of: move the mill liner 120 from the liner cart to an installation position on a mill wall 110; orient the mill liner 120 relative to the mill wall 110 at the installation position; and urge the mill liner 120 into the installation position to allow installation of the mill liner 120.

[0123] These movement steps are illustrated in the flow chart of Figure 9, along with steps of determining particular target data for facilitating the automation of these steps. Step 900 involves determining the liner identifier using the target 123, for example by scanning a code element of the target 123. Then, step 910 involves determining the installation position based on the liner identifier, for instance by obtaining this as part of liner data that is retrieved from a database using the liner identifier. Subsequent step 920 involves determining a movement trajectory for the installation position. The movement trajectory may be calculated based on the installation position or retrieved from an installation plan including a plurality of predetermined movement trajectories for different mill liner 120 installation positions, as discussed above. In any case, at step 930, the mill liner 120 is automatically moved from the liner cart to the installation position. With the mill liner 120 positioned near the installation position, step 940 is then performed, which involves orienting the mill liner 120 relative to the mill wall 110, before finally urging the mill liner 120 into the installation position to allow its installation.

[0124] The installation of the mill liner 120 may be completed by attaching the mill liner 120 to the mill wall 110 using liner bolts that can be fastened from outside the mill, at which point the grapple tool 131 may be disengaged from the mill liner 120 and moved back to the liner cart to allow the process of Figure 8 to be repeated as required.

[0125] As mentioned above, the grapple tool 131 typically includes liner engaging elements 132 configured for engaging with corresponding lifting lugs 121 of the mill liner 120, and as such the control system 620 may also be used for controlling operation of the liner engaging elements 132. If the target 123 is positioned on the mill liner 120 in a predetermined position relative to the lifting lugs 121, the method may include generating the control data based onthe target data and the predetermined position of the target 123 to thereby allow the liner engaging elements 132 to be aligned with the lifting lugs 121. In a related example, the method may include obtaining target position data for the target 123 that is indicative of the position of the target 123 relative to the lifting lugs 121, and generating the control data based on the target data and the target position data to thereby allow the liner engaging elements 132 to be aligned with the lifting lugs 121.

[0126] With this functionality in mind, the method may be extended to include the control system 620 causing the liner engaging elements 132 to operate in accordance with the control data to at least one of: cause the liner engaging elements 132 to engage with the lifting lugs 121 of the mill liner 120; and cause the liner engaging elements 132 to disengage from the lifting lugs 121 of the mill liner 120. It will be appreciated that this can facilitate even further automation of the steps of mill liner replacement operations.

[0127] In some examples, the method may also include the use of “structured light”, for example by projecting a known pattern of light, such as grid pattern or the like, to enhance the processing of the image data. This could allow for improved detection of the target 123 and features thereof, or could allow different types of the target 123 to be provided. For instance, the target 123 could be provided in a three-dimensional form whether features of the target 123 may be more readily detected in the image data based on the known pattern of the structured light. Additionally or alternatively, these structure light techniques could be used to detect other features of the mill liner 120 which could also be used in generating the control data.

[0128] Although the target 123 may be conveniently provided by positioning it on a surface of the mill liner 120 as described in the examples above, in some alternative examples the target 123 may not necessarily be positioned on a surface of the mill liner 120, as outlined in further detail below.

[0129] In one example of an alternative method for use in automatically moving a mill relining machine 130 during installation of a mill liner 120, as per previous examples the mill relining machine 130 includes a grapple tool 131 for engaging with the mill liner 120 and a control system 620 (as shown in Figure 7) for controlling movement of the mill relining machine 130. A mill liner 120 is provided, however in this case a target 123 is provided proximate to the millliner 120. The target 123 is associated with the mill liner 120 in a similar fashion as described above. Further steps of this alternative method will also be carried out in a generally similar manner as described in the examples above. In particular, an image of the target 123 is captured using an image sensor 133, with the image sensor 133 generating image data indicative of the image. Then, in one or more electronic processing devices (for example in a processing device of the processing system 610 of Figure 6 and Figure 7), the image data is obtained from the image sensor 133, the image data is processed to determine target data for the target 123, control data is generated based at least in part on the target data, and the control data is provided to the control system 620, to thereby allow the mill relining machine 130 to be automatically moved in accordance with the control data.

[0130] Since the target 123 is provided proximate to the mill liner 120, i.e. not necessarily positioned on a surface of the mill liner 120, it will be appreciated that the target 123 may be provided in a range of other locations on or around the mill liner 120 to allow for enhanced flexibility in the implementation of the method.

[0131] For instance, the target 123 may be attached to the mill liner 120 in a position other than on a surface thereof. In some examples, the target may be provided on a separate component that is attached to the mill liner rather than being applied to the surface in the form of a label, plate or the like. In one example implementation, a standoff component may be attached to the mill liner 120, which either includes the target 123 or a suitable surface for applying the target 123 thereto.

[0132] In other examples, the target 123 may be positioned at a predetermined position relative to the mill liner 120. It should be appreciated that in some embodiments this may involve positioning the target 123 on another component that will have a predetermined positional relationship with the mill liner 120.

[0133] In one specific example, both the mill liner 120 and the target 123 may be provided on a liner cart (not shown), where the liner cart is used to transport the mill liner 120 into the mill 101. In such an example, the target 123 may be attached to the liner cart at a predetermined target position, and the liner cart may be configured so that the mill liner 120 can be placed onthe liner cart in a predetermined liner position, such that a position of the mill liner 120 can be determined based on a position of the target 123.

[0134] In use, the image sensor 133 would be used to capture an image of the target 123 so that target data can be generated under a similar procedure as discussed in the other examples above, although in this case the target data may include additional data regarding the position of the target 123 relative to the mill liner 120. This additional data may include, for example, offset data regarding offset distances between the target 123 and lifting lugs of the mill liner 120, to facilitate the control of the mill relining machine 130 to engage with lifting lugs 121 of the mill liner 120 using liner engaging elements 132 of a grapple tool 131.

[0135] In some other alternative examples, techniques generally similar to those described above may also be implemented without necessarily requiring a discrete target 123 to be positioned on a surface of the mill liner 120.

[0136] In one example of another alternative method for use in automatically moving a mill relining machine 130 during installation of a mill liner 120, as per previous examples the mill relining machine 130 includes a grapple tool 131 for engaging with the mill liner 120 and a control system 620 (as shown in Figure 7) for controlling movement of the mill relining machine 130. A mill liner 120 is provided, however in this case the mill liner 120 has a plurality of liner features associated therewith, rather than having a target. One or more of the liner features will be detected using one or more sensors, with the one or more sensors generating sensor data indicative of the liner features. Then, in one or more electronic processing devices (for example in a processing device of the processing system 610 of Figure 6 and Figure 7), control data is generated based at least in part on the sensor data, and the control data is provided to the control system 620, to thereby allow the mill relining machine 130 to be automatically moved in accordance with the control data.

[0137] The liner features associated with the mill liner 120 may include a target positioned on a surface of the mill liner 120 as per the example above, but in other implementations a range of other liner features may be used. For example, the liner features may include at least one of predetermined visual features of the mill liner 120, predetermined geometric features of the mill liner 120 and predetermined sensor-detectable features of the mill liner.

[0138] It will be appreciated that the one or more sensors could include an image sensor 133 for capturing an image of the liner features and generating image data indicative of the image as discussed above, but could alternatively or additionally include other types of sensors depending on the liner features provided on the mill liner 120 and desired functionality, such as a range sensor for scanning the mill liner and generating range data indicative of the liner features, or a proximity sensor for generating proximity data indicative of proximity of the liner features to the proximity sensor.

[0139] It will be understood that these additional functionalities can open up a range of further implementation options whereby particular features of the mill liner 120 itself may be detected by a range of different sensor types, to thereby facilitate the automatic movement of a mill relining machine. As one illustrative example, a range sensor may be used to scan the mill liner 120 so that lifting lugs 121 can be detected in the range data, which can then be used to determine the position and orientation of the lifting lugs 121 relative to grapple tool 131 of the mill, to facilitate the control of the mill relining machine 130 to engage with lifting lugs 121 of the mill liner 120 using liner engaging elements 132 of a grapple tool 131.

[0140] Other liner features such as the edge configuration or overall shape and size of the mill liner 120 may be detected, which may be associated with other liner data regarding its weight or other parameters that may be used in the control of movement of the mill liner 120 in use. Distinctive liner features other than a target may be provided on a mill liner 120 to allow identification of a particular mill liner or type of mill liner. In some examples, the structured light techniques discussed above could also be used in detecting liner features in image data.

[0141] In any event, it will be appreciated that obtaining sensor data indicative of the liner features associated with the mill liner 120 can be used to generate control data using techniques similar to those described in the examples above. For example, the sensor data may be used to obtain liner data for the mill liner 120 from a database as discussed above, which can be used in automatically moving the mill relining machine to move the mill liner to an installation position for the mill liner.

[0142] In view of the above, it will be appreciated that the methods and systems described herein can enable enhanced automation of mill relining machines 130 during mill liner 120replacement operations, to thereby allow relining to be completed without requiring personnel inside the mill. Thus, implementation of these techniques can realise significant safety benefits. Moreover, these techniques can provide further advantages in terms of efficiency, for example by the use of predetermined movement trajectories based on installation position and other specific properties associated with the liner, which can be determined using the target 123 and / or liner features associated with the mill liner 120. By facilitating automatic movement of the mill relining machine 130 without personnel in the mill 101, the mill relining machine 130 power and functional speeds can be increased beyond those that would otherwise be tolerable if personnel were in the mill 101. These mill relining machine 130 speed increases can have a material effect on reducing mill relining time, providing a significant commercial advantage to the mill operator.

[0143] Throughout this specification and claims which follow, unless the context requires otherwise, the word “comprise”, and variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a stated integer or group of integers or steps but not the exclusion of any other integer or group of integers. As used herein and unless otherwise stated, the term "approximately" means ±20%.

[0144] It must be noted that, as used in the specification and the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “a support” includes a plurality of supports. In this specification and in the claims that follow, reference will be made to a number of terms that shall be defined to have the following meanings unless a contrary intention is apparent.

[0145] It will of course be realised that whilst the above has been given by way of an illustrative example of this invention, all such and other modifications and variations hereto, as would be apparent to persons skilled in the art, are deemed to fall within the broad scope and ambit of this invention as is herein set forth.

Claims

1. A method for use in automatically moving a mill lining machine during installation of a mill lining, wherein the mill lining machine comprises a gripping tool for engaging with a lining element and a control system for controlling the movement of the mill lining machine, wherein the method includes: a) providing a mill lining element having a mark on its surface; b) capturing an image of the mark using an image sensor, wherein the image sensor generates image data corresponding to the image; and c) in one or more electronic processing devices: i) obtaining image data from an image sensor; ii) processing the image data to determine the label data; iii) generating control data based at least in part on the label data; and iv) transmitting control data to the control system to thereby enable the mill liner changing machine to move automatically in accordance with the control data.

2. The method according to claim 1, wherein the image sensor is mounted on the gripping tool.

3. The method according to claim 1 or 2, wherein the label is at least one of the following: a) a mark cast into the mill liner during manufacture of the mill liner; and b) a mark added to the surface of the mill lining element at a predetermined location.

4. The method of claim 3, wherein the mill lining element has a flat area on the surface that allows a mark to be added to the surface at a predetermined location.

5. The method according to claim 4, wherein the mark is applied on a sticker that is adhesively attached to the surface at a predetermined location.

6. The method according to any one of paragraphs 1-5, in which the processing of the image data to determine the mark data includes scanning the mark to obtain the identifier of the mill lining element.

7. The method of claim 6, wherein processing the image data to determine the mark data comprises scanning the mark to further obtain data for the mill lining element.

8. The method of claim 6, comprising using one or more electronic processing devices to obtain data for said mill lining element from a database based on the identifier of the lining element.

9. The method according to claim 7 or 8, wherein the lining element data includes at least one of the following: a) data on the installation position of the lining element; b) data on the path of movement of the lining element; c) data on the geometry of the lining element; d) data on the material of the lining element; e) data on the weight of the lining element; and f) data on the manufacture of the lining element.

10. The method of any one of claims 7 to 9, comprising using one or more electronic processor devices to determine, using liner data associated with the mill liner, a travel path for use in automatically moving the mill liner changing machine to move the mill liner to a mill liner installation position.

11. The method of claim 10, comprising determining a travel path based on an installation plan including a plurality of predetermined travel paths for different installation positions of the mill lining elements.

12. The method of any one of claims 7-11, comprising using one or more electronic processor devices to determine, using liner data associated with the mill liner, operational parameters for moving the mill liner changing machine when the mill liner is gripped by the gripping tool, and generating control data based at least in part on the operational parameters.

13. The method according to any one of paragraphs 6-12, in which the processing of image data to determine the tag data includes scanning the tag to further obtain the tag configuration data.

14. The method according to any one of paragraphs 6-12, including using one or more electronic processing devices to obtain the tag configuration data from a database based on the identifier of the lining element.

15. The method according to claim 13 or 14, wherein the label configuration data includes at least one of the following: a) label size data; b) the data of the label form; and c) label position data.

16. The method according to any one of paragraphs. 6-15, in which the mark comprises a code element, wherein processing the image data to determine the mark data includes scanning the code element to obtain at least an identifier of the mill lining element.

17. The method according to claim 16, wherein the code element is in the form of at least one of the following: a) digital code; b) alphanumeric code; c) hieroglyphic code; d) barcode; e) matrix code; and f) QR code.

18. The method according to any one of claims 1-17, in which processing the image data to determine the label data includes determining the position and orientation of the label relative to the image sensor, and the method includes generating control data at least in part based on the position and orientation data of the label.

19. The method of claim 18, wherein processing the image data to determine the label data includes determining at least one of the following: a) the approximate position of the mark relative to the image sensor; b) the approximate distance to the mark relative to the image sensor; and c) the approximate orientation of the mark relative to the image sensor.

20. The method of claim 19, comprising determining an approximate position of the mark relative to the image sensor based on the location of the mark in the image relative to the image frame.

21. The method according to claim 19 or 20, including determining an approximate distance to the mark relative to the image sensor based on the size of the mark in the image relative to the image frame.

22. The method of claim 21, comprising receiving data of the size of the mark and determining an approximate distance to the mark relative to the image sensor based on a comparison of the data of the size of the mark and the size of the mark in the image.

23. The method according to any one of paragraphs 19-22, including determining an approximate orientation of the mark relative to the image sensor based on the shape of the mark in the image relative to the image frame.

24. The method of claim 23, comprising receiving data of the shape of the mark and determining an approximate orientation of the mark relative to the image sensor based on a comparison of the data of the shape of the mark and the shape of the mark in the image.

25. The method according to any one of paragraphs 1-24, in which the processing of image data to determine the label data comprises: a) detecting a mark on an image; b) determining the geometry of the edge of the mark on the image; and c) determining at least some label data based on the edge geometry.

26. The method according to any one of paragraphs 1-25, including using a display to display an indicator based on control data.

27. The method of claim 26, wherein said indicator comprises at least one of the following: a) an indication of whether the mark was detected in the image; b) indication of the approximate position of the mark relative to the image sensor; c) an indication of the approximate distance to the mark relative to the image sensor; and d) indication of the approximate orientation of the mark relative to the image sensor.

28. The method according to claim 26 or 27, wherein said indicator comprises at least one of the following: a) an indication of whether the gripping tool is in an engaged position that allows the gripping tool to engage the mill liner; and b) an indication of whether the mill liner is in an installation position that allows the mill liner to be installed.

29. The method according to any one of paragraphs 26-28, including using a display to show an image and superimposing an indicator on the image.

30. The method according to any one of paragraphs 1-29, further comprising generating at least one of the following: a) an audio signal based on control data; and b) a haptic feedback signal based on control data.

31. The method according to any one of claims 1 to 30, wherein the control system causes the mill liner changing machine to automatically move in accordance with control data to ensure installation of the mill liner element.

32. The method according to any one of claims 1-31, wherein the control system causes the mill liner changing machine to automatically move in accordance with control data for at least one of the following: a) moving the gripping tool to the mill lining element located on the lining trolley; b) orientation of the gripping tool relative to the mill lining element located on the lining trolley; and c) bringing the gripping tool into the engaging position to allow the gripping tool to engage the mill liner.

33. The method according to any one of claims 1 to 32, wherein when the gripping tool has engaged the mill liner element, the control system causes the mill liner changing machine to automatically move in accordance with control data for at least one of the following: a) moving the mill lining element from the lining trolley to the installation position on the mill wall; b) orienting the mill lining element relative to the mill wall in the installation position and bringing the mill lining element into the installation position; and c) bringing the mill lining element into an installation position that allows installation of this lining element.

34. The method according to any one of claims 1 to 33, in which the gripping tool comprises liner engaging elements configured to engage with corresponding lifting eyes of the mill liner element, and the control system also controls the operation of the liner engaging elements.

35. The method of claim 34, wherein the mark is located on the mill lining element at a predetermined location relative to the lifting lugs, and the method includes generating control data based on the mark data and the predetermined position of the mark to thereby allow said engagement elements to be aligned with the lifting lugs.

36. The method of claim 34, comprising receiving mark position data that indicates the position of the mark relative to the lifting eyes, and generating control data based on the mark data and the mark position data to thereby enable said engagement elements to be aligned with the lifting eyes.

37. The method according to any one of paragraphs 34-36, in which the control system causes the engaging elements with the lining elements to operate in accordance with control data to perform at least one of the following: a) cause the engagement elements with the lining elements to engage with the lifting eyes of the mill lining elements; and b) cause the engagement elements with the lining elements to disengage from the lifting eyes of the lining elements of the mill.

38. A system for use in automatically moving a mill lining machine during installation of a lining within the mill, wherein the mill lining machine comprises a gripping tool for engagement with a mill lining element and a control system for controlling the movement of the mill lining machine, wherein the mill lining element has a mark on its surface, and the system comprises: a) an image sensor for capturing an image of the mark, wherein the image sensor generates image data corresponding to the image; and b) one or more electronic processing devices configured to: i) obtaining image data from an image sensor; ii) processing the image data to determine the label data; iii) generating control data based at least in part on the label data; and iv) transmitting control data to the control system to thereby enable the mill liner changing machine to move automatically in accordance with the control data.

39. The system of claim 38, wherein the image sensor is mounted on the gripping tool.

40. The system of claim 38 or 39, further comprising an orientation sensor for providing orientation data, wherein said one or more electronic processing devices are configured to determine an approximate orientation of the label relative to the image sensor based on the orientation data and the label data.

41. The system of claim 40, wherein the orientation sensor comprises an accelerometer.

42. The system of any one of paragraphs 38-41, further comprising a proximity sensor for providing proximity data, wherein said one or more electronic processing devices are configured to determine an approximate distance to the mark relative to the image sensor based on the proximity data and the mark data.

43. The system according to any one of paragraphs 38-42, configured to perform the method according to any one of paragraphs 1-37.

44. A method for use in automatically moving a mill lining machine during installation of a mill lining, wherein the mill lining machine comprises a gripping tool for engaging a lining element and a control system for controlling the movement of the mill lining machine, wherein the method includes: a) provision of a mill lining element; b) providing a mark in the vicinity of said mill lining element, wherein the mark is associated with the mill lining element; c) capturing an image of the mark using an image sensor, wherein the image sensor generates image data corresponding to the image; and d) in one or more electronic processing devices: i) obtaining image data from an image sensor; ii) processing the image data to determine the label data; iii) generating control data based at least in part on the label data; and iv) transmitting control data to the control system to thereby enable the mill liner changing machine to move automatically in accordance with the control data.

45. The method of claim 44, wherein said label is provided by at least one of the following: a) attached to the mill lining element; b) placed on the surface of the mill lining element; and c) placed in a predetermined position relative to the mill lining element.

46. ​​The method according to claim 44 or 45, wherein the lining element and the mark are provided on a lining cart.

47. The method of claim 46, wherein the mark is attached to the lining cart at a predetermined position of the mark, and the lining cart is configured so that the mill lining element can be placed in the lining cart at the predetermined position, so that the position of the mill lining element can be determined based on the position of the mark.

48. A system for use in automatically moving a mill lining machine during installation of a lining within the mill, wherein the mill lining machine comprises a gripping tool for engagement with a lining element and a control system for controlling the movement of the mill lining machine, wherein a mark associated with said mill lining element is located near the mill lining element, and the system comprises: a) an image sensor for capturing an image of the mark, wherein the image sensor generates image data corresponding to the image; and b) one or more electronic processing devices configured to: i) obtaining image data from an image sensor; ii) processing the image data to determine the label data; iii) generating control data based at least in part on the label data; and iv) transmitting control data to the control system to thereby enable the mill liner changing machine to move automatically in accordance with the control data.

49. The system of claim 48, configured to perform the method of any one of claims 44-47.

50. A method for use in automatically moving a mill lining machine during installation of a mill lining, wherein the mill lining machine comprises a gripping tool for engaging a lining element of the mill and a control system for controlling the movement of the mill lining machine, wherein the method includes: a) providing a mill lining element having a plurality of lining element features associated therewith; b) detecting, using one or more sensors, one or more features of the lining element, wherein the one or more sensors generate sensor data indicative of the features of the lining element; and c) in one or more electronic processing devices: i) receiving sensor data from one or more sensors; ii) generating control data based at least in part on the sensor data; and iii) transmitting control data to the control system to thereby enable the mill liner changing machine to move automatically in accordance with the control data.

51. The method of claim 50, wherein the features of the lining element include at least one of the following: a) a mark placed on the surface of the mill lining element; b) predetermined visual characteristics of the mill lining element; c) predetermined geometric characteristics of the mill lining element; and d) predetermined features of the mill lining element detected by the sensor.

52. The method according to claim 50 or 51, wherein said one or more sensors comprise at least one of the following: a) an image sensor for capturing an image of features of the lining element and generating image data corresponding to the image; b) a distance sensor for scanning the mill lining and generating distance data corresponding to features of the lining element; and c) a proximity sensor for generating proximity data corresponding to the proximity of the lining element feature to the proximity sensor.

53. A system for use in automatically moving a mill lining machine during installation of a lining within the mill, wherein the mill lining machine comprises a gripping tool for engaging a lining element and a control system for controlling the movement of the mill lining machine, wherein the mill lining element has a plurality of lining element features associated therewith, and the system comprises: a) one or more sensors for detecting one or more features of the lining element, wherein the one or more sensors generate sensor data corresponding to the features of the lining element; and b) one or more electronic processing devices configured to: i) receiving sensor data from one or more sensors; ii) generating control data based at least in part on the sensor data; and iii) transmitting control data to the control system to thereby enable the mill liner changing machine to move automatically in accordance with the control data.

54. The system of claim 53, configured to perform the method of any one of claims 50-52.