A control system and a method for controlling charging and / or discharging of batteries of a mining or construction vehicle

Abstract

A control system (100) and a method for controllling charging and / or discharging of batteries (131) of a mining or construction vehicle (400, 410) are disclosed The batteries (131) are connectable to a charging network (150) comprising: - electric networks (110); - charging terminals (130) configured to provide connections to the batteries (131), respectively; and - normally open points (121, 122) configured between the electric networks (110) and the charging terminals (130). The control system (100) is configured to: - perform (210) a measurement of parameters of the charging network (150); and - control (220), based on the measurement, a shift of at least one (121) of the normally open points (121, 122), such that at least one charging terminal (130) is connected to at least one electric network (110) via the shifted at least one normally open point (121).

Description

Technical Field The disclosure relates to a control system and to a method for controlling charging and / or discharging of one or more batteries of a mining or construction vehicle. More specifically, the disclosure relates to configuring a charging network for facilitating efficient charging and / or discharging of batteries of a mining or construction vehicle. Furthermore, the disclosure also relates to a corresponding computer program and a computer-readable medium causing a computer to carry out the method. Background Mining or construction vehicles, such as for example drill rigs, comprise, among other things, drilling equipment and a tramming system. The drilling equipment is used for mining activities, such as drilling holes in rocks. The tramming system is used for moving the mining or construction vehicle around, such as between various drilling positions / locations. Mining or construction vehicles comprising battery systems for driving the drilling equipment and / or the tramming system are becoming increasingly common. Batteries of such battery systems need to be charged with varying time intervals. Therefore, a charging network is often arranged at the mining or construction site at which the mining or construction vehicle is working. The charging network comprises one or more electric networks being configured to connect the charging network to at least one source of electric energy, i.e. to input / provide electric energy into the charging network, and also comprises one or more charging terminals. The charging terminals are configured to provide connections for the batteries of the mining or construction vehicles, such that the batteries may connect to, and be charged by, the charging terminals. The charging capacity of a charging terminal of the charging network may vary over time, and may at times be insufficient for efficient charging of batteries. Thus, there is a risk that the mining or construction vehicle sometimes cannot be sufficiently and / or efficiently charged at the charging terminal, and that the mining or construction vehicle may be poorly or slowly charged and / or may run out of electric power. There could be a number of different reasons for such an insufficient charging capacity of the charging terminal. For example, power capacity limits of an electric network, heavy load on the charging network and / or an inefficient use of the total capacity of the charging network may cause such insufficient charging capacity of the charging terminal. Summary An objective of the embodiments of the disclosure is to provide a solution which mitigates or solves the drawbacks of conventional solutions. Another objective of the embodiments of the disclosure is to provide a solution which provides an efficient use of the total capacity of the electrical network connected to the charging terminals, and which improves the charging performance. The above and further objectives are solved by the subject matter of the appended independent claims. According to a first aspect of the disclosure, the above mentioned and other objectives are achieved with a control system configured to control charging and / or discharging of one or more batteries of a mining or construction vehicle, the one or more batteries being connectable to a charging network comprising: - one or more electric networks configured to connect the charging network to at least one source of electric energy; - one or more charging terminals configured to provide one or more connections to the one or more batteries, respectively; and - one or more normally open points configured between the one or more electric networks and the one or more charging terminals; the control system being configured to: - perform a measurement of one or more parameters of the charging network; and - control, based on the measurement, a shift of at least one of the one or more normally open points, such that at least one of the one or more charging terminals is connected to at least one of the one or more electric networks via the shifted at least one normally open point. By the measurement based shifting of one or more normally open points, the charging network may be easily reconfigured to match the charging / discharging situation currently at hand. The charging network may then be optimized for charging the one or more batteries and / or for discharge of one or more batteries. A flexible charging network is hereby provided. Since the shift of at least one normally open point is based on the one or more measured parameters according to the presented embodiments, it is possible to adapt the reconfiguration of the charging network to the charging or discharging event currently taking place and / or to an upcoming charging or discharging event. Charging capacity limits influencing the charging capacity of the charging network may hereby be avoided by the reconfiguration. Also, active and / or reactive support from the one or more batteries to the charging network may be provided. Thus, a reconfigurable charging network being easily adapted simply by shifting normally open points is provided, such that efficient charging is facilitated for various battery setups and varying state of charge levels. Also, the charaging network is also configurable to receive active and / or reactive power compensation from the one or more batteries in scenarous with low current, voltage and / or power in the charging network. This results in lower total costs for implementing the charging network, since a small capacity charging network may be easily reconfigured to match various charging / discharging situations. In an embodiment of the system according to the first aspect, the at least one shifted normally open point is configured as one or more in the group of: - a controllable switch on at least one electrical line of the charging network; and - a controllable switch on an electrical line of one or more secondary substations of the charging network, to which one or more charging terminals are connected. Hereby, the charging network is easily reconfigurable, such that it may be adapted to various charging or discharging situations. In an embodiment of the system according to the first aspect, the one or more electric networks comprises a first electric network and a second electric network; and - the shift of the at least one normally open point switches at least one charging terminal from being connected to the second electric network to being connected to the first electric network. It is hereby possible to easily switch between the first and second electric networks providing the electric power to the charging terminal, and thus to the one or more batteries connected to the charging terminal. Thus, if the second electric network cannot provide sufficient electric power for efficiently charging the battery, the charging terminal may quickly and easily be switched to be connected to the first electric network instead. In an embodiment of the system according to the first aspect, the control system is configured to: - after the one or more batteries have been connected to the one or more charging teminals, respectively: - charge the one or more batteries; -- perform the measurement of the one or more parameters during the charging of the one or more batteries; -- control, based on the measurement, the shift of the at least one normally open point. The charging network is hereby adapted to an already ongoing charging event of the one or more batteries, which provides for a flexible charging network being quickly adaptable to the current charging or discharging situation. Also, an improved charging performance with acceptable levels for the charging currents and voltages is provided. In an embodiment of the system according to the first aspect, the one or more parameters comprise one or more in the group of: - a charging current provided by the one or more charging terminals to the one or more batteries, respectively; - a current provided by one or more secondary substations of the charging network to the one or more charging terminals, respectively; - a voltage of one or more secondary substations of the charging network, to which the one or more charging terminals are connected; - a current of at least one electrical line of the charging network; - a voltage of at least one electrical line of the charging network; and - a power of at least one electrical line of the charging network. Since a large number of different parameters may be measured and used as a basis for the shifting of normally open points, the herein described adaption and reconfiguration of the charging network may be easily performed. Also, some of these parameters may be measured with already existing sensors of the charging network, thereby minimizing the need for additional hardware and / or implementation complexity. In an embodiment of the system according to the first aspect, the control system is configured to: - before the one or more batteries are connected to the one or more charging terminals, respectively: -- perform the measurement of the one or more parameters; - predict a future charging need for the one or more batteries; and -- control, based on the measurement and the predicted future charging need, the shift of the at least one normally open point; - connect the one or more batteries to the one or more charging terminals, respectively; and - charge the one or more batteries. Since the charging network is here adapted, by shifting one or more normally open points based on predicted / forecasted future charging needs, before the one or more batteries have been connected, i.e. possibly before the mining or construction vehicle has arrived at the charging terminal at all, the charging network has been optimized for the charging even before it has started. Hereby, the charging event may be quickly performed, starting directly when the one or more batteries have been connected. In an embodiment of the system according to the first aspect, the one or more parameters comprise one or more in the group of: - a current provided by one or more secondary substations of the charging network to the one or more charging terminals, respectively; - a voltage of one or more secondary substations of the charging network, to which the one or more charging terminals are connected; - a current of at least one electrical line of the charging network; - a voltage of at least one electrical line of the charging network; and - a power of at least one electrical line of the charging network. Since various parameters may be measured and used as a basis for the shifting of normally open points, the measurements may be easily performed. Some of these parameters may also be measured with already existing sensors, thereby minimizing the additional hardware and / or implementation complexity. In an embodiment of the system according to the first aspect, the control system is further configured to: - pause, based on a load priority order for the one or more batteries and one or more other loads connected to the charging network, the charging of the one or more batteries temporarily. Hereby, the charging of the one or more batteries may for example be paused if the total electric load of the charging network exceeds the total available power provided by the one or more electric networks, such that the charging network does not run out of power during a charging event. In an embodiment of the system according to the first aspect, the control system is further configured to: - after the one or more batteries have been connected to the one or more charging teminals, respectively: -- control the one or more batteries to discharge one or more in the group of: — active electric power into the charging network; and — reactive electric power into the charging network. Hereby, the one or more batteries may support the charging network with active and / or reactive power compensation when needed due to low current, voltage and / or power scenarios for the charging network. In an embodiment of the system according to the first aspect, the control of the discharge is based on one or more of group of: - the performed measurement; and - an operator command. The discharge of active and / or reactive power into the charging network may hereby be tailored to the actual condition of the charging network since this condition may be indicated by the measurements. Also, the operator may have additional knowledge of information not being detectable by measurements, for example information related to when and how many vehicles that will arrive for being charged in the near future. In an embodiment of the system according to the first aspect, the control system comprises one or more in the group of: - at least one control unit comprised in the mining or construction vehicle; and - at least one control unit comprised in the charging network. The control system may thus be implemented either in the mining or construction vehicle or in the charging network, or in both of the mining or construction vehicle and the charging network. Each of these implementations have advantages, related to which entity has the available information and / or computation capacity to control the charging network. In an embodiment of the system according to the first aspect, at least two batteries are connected to one charging terminal. Hereby, a quick charging of two or more batteries is provided by one charging terminal. In an embodiment of the system according to the first aspect, at least two charging terminals are connected to one secondary substation of the charging network. Hereby, multiple batteries connected to one secondary substation of the charging network can be charged in a flexible way. In an embodiment of the system according to the first aspect, at least two normally open points are controlled to be shifted. By simultaneaously shifting multiple normally open points, larger / major adaptions / reconfigurations of the charging network are facilitated. Thus, the possible number of adaption changes of the charging network is increased with an increasing number of shifted normally open points. This is more advatageous in multiple feeder implementations / scenarios. In an embodiment of the system according to the first aspect, the one or more batteries are onboard the mining or construction vehicle when being connected to the charging network. Thus, the mining or construction vehicle is here trammed to the charging network, such that the batteries are connected to the charging network without detaching them from the vehicle, which makes the charging or discharging event very easy and quick for an operator of the vehicle. In an embodiment of the system according to the first aspect, the one or more batteries are offboard the mining or construction vehicle when being connected to the charging network. Hereby, charging or discharging for example during work shop visits or when the vehicle is far from the charging network are made possible. According to a second aspect of the disclosure, the above mentioned and other objectives are achieved with a drill rig comprising the herein described control system. The drill rig according to the second aspect has corresponding advantages as the ones mentioned for the control system according to the first aspect. According to a third aspect of the disclosure, the above mentioned and other objectives are achieved with a method of a control system configured to control charging and / or discharging of one or more batteries of a mining or construction vehicle, the one or more batteries being connectable to a charging network comprising: - one or more electric networks configured to connect the charging network to at least one source of electric energy; - one or more charging terminals configured to provide one or more connections to the one or more batteries, respectively; and - one or more normally open points configured between the one or more electric networks and the one or more charging terminals; the method comprising: - performing a measurement of one or more parameters of the charging network; and - controlling, based on the measurement, a shift of at least one of the one or more normally open points, such that at least one of the one or more charging terminals is connected to at least one of the one or more electric networks via the shifted at least one normally open point. The method according to the third aspect can be extended into embodiments corresponding to the embodiments forms of the control system according to the first aspect. Hence, an embodiment of the method comprises the feature(s) of the corresponding embodiment of the control system. The advantages of the method according to the third aspect and its embodiments are the same as those for the corresponding aspect and embodiments of the control system according to the first aspect mentioned above. Embodiments of the disclosure also relate to a computer program, characterized in program code, which when run by at least one processor causes the at least one processor to execute any method according to embodiments of the disclosure. Further, embodiments of the disclosure also relate to a computer program product comprising a computer readable medium and the mentioned computer program, wherein the computer program is included in the computer readable medium, and may comprises one or more from the group of: read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), flash memory, electrically erasable PROM (EEPROM), hard disk drive, etc. Further applications and advantages of embodiments of the disclosure will be apparent from the following detailed description. Brief Description of the Drawings The appended drawings are intended to clarify and explain different embodiments of the disclosure, in which: - Fig. 1 schematically illustrates an exemplary charging network and an exemplary control system in which embodiments of the disclosure may be utilized; - Fig. 2 shows a flow chart for an exemplary method according to embodiments of the disclosure; - Figs. 3a-b show flow chart for exemplary methods according to embodiments of the disclosure; - Fig. 4 shows a flow chart for an exemplary method according to embodiments of the disclosure; - Figs. 5a-b show flow chart for exemplary methods according to embodiments of the disclosure - Figs. 6a-c schematically illustrate exemplary charging networks according to embodiments of the disclosure; - Figs. 7 schematically illustrates an exemplary charging network according to an embodiment of the disclosure; - Figs. 8 schematically illustrates an exemplary charging network according to an embodiment of the disclosure; - Figs. 9 schematically illustrates an exemplary charging network according to an embodiment of the disclosure; - Figs. 10 schematically illustrates an exemplary charging network according to an embodiment of the disclosure; - Fig. 11 schematically illustrates a control unit according to some embodiments of the disclosure; - Fig. 12 schematically shows an exemplary drill rig in which some embodiments of the disclosure may be implemented; and - Fig. 13 schematically shows an exemplary drill rig in which some embodiments of the disclosure may be implemented. Detailed Description As mentioned above, the capacity of the electric networks may at times be insufficient for providing efficient charging of batteries of a mining or construction vehicle. Thus, the limited capacity of the electric networks sometimes causes charging capacity challenges such that insufficient charging capacity may be provided by conventional charging terminals at times. Further, heavy load on the charging network and / or an inefficient use of the total capacity of the electric networks and / or charging network may also cause insufficient charging capacity at conventional charging terminals. This may lead to non-optimal charging, e.g. slow and / or otherwise inefficient charging, of the mining or construction vehicle, and may eventially also lead to the mining or construction vehicle running out of electric power. Figure 1 schematically illustrates an embodiment of a control system 100 configured to control charging and / or discharging of one or more batteries 131 of a mining or construction vehicle 400, 410, where the one or more batteries 131 are connectable to a charging network 150. The control system 100 may comprise a control unit 180 comprised in the mining or construction vehicle, such as in a drill rig 400, 410 schematically illustrated in figures 12 and 13. The control system 100 may, according to other embodiments, also or alternatively comprise a control unit 190 comprised in the charging network 150. The charging network 150 comprises one or more electric networks 110a, 110b configured to connect the charging network 150 to at least one source of electric energy, such as e.g. an electric power grid of some kind. In the embodiment shown in figure 1, the one or more electric networks 110a, 110b comprises a first electric network 110a and a second electric network 110b. In the figure, the first electric network 110a is illistrated as an upper electric network, and the second electric network 110b is illustrated as a lower electric network, but there are many possible ways to implement the one or more electric networks 110a, 110b. For example, the charging network 150 may comprise only one electric network, as disclosed below. The one or more electric networks 110a, 110b may also be denoted one or more primary substations 110a, 110b. The charging network 150 further comprises one or more charging terminals 130 configured to provide one or more connections to the one or more batteries 131, respectively, such that the one or more batteries 131 may connect to the charging network 150 via the one or more charging terminals 130 to be charged and / or discharged. The one or more charging terminals 130 may, according to some embodiments, comprise power electronics 133, comprising e.g. one or more alternating current (AC) to direct current (DC) converters if the charging network 150 is an AC network, and a charger module 132, facilitating connectivity and charging of the one or more batteries 130. According to some embodiments, e.g. if the charging network 150 is a DC network, the power electronics 133 may be omitted. The one or more charging terminals 130 may, according to some embodiments, be connected to one or more secondary substations 120 of the charging network 150, respectively. The one or more secondary substations 120 are then further connected to the one or more electric networks 110a, 110b, possibly via one or more transformers 113a, 113b, e.g. AC voltage transformers if the charging network 150 is an AC network or DC voltage transformers if the charging network 150 is a DC network. The one or more secondary substations 120 may comprise at least one AC or DC transformer 123, depending on if the charging network 150 is an AC or DC network. The charging network 150 further comprises one or more normally open points 121 configured between the one or more electric networks 110a, 110b and the one or more charging terminals 130. The the at least one normally open points 121 may according to various herein described embodiments be configured as at least one controllable switch on at least one electrical line 115 of the charging network 150, for example as at least one controllable switch on an electrical line 115 of one or more secondary substations 120 of the charging network 150, as illustrated in figure 1. In this document, a normally open point of a charging network 150 is a point of the network at which there is normally / initially an open circuit for electric power, i.e. electric power is stopped / interrupted / discontinued at this point for the normal or initital configuration of the charging network. Thus, a normally open point is a controllable switch / circuit breaker, often of an electrical line, which in normal operation of the charging network 150 is open / non-closed / non-conducting. The electric power can therefore not pass a normally open point in normal operation, and these electric power interruptions caused by the normally open points are utilized for setting up the normal / initial configuration of the charging network 150 to be used in normal operation. In the figures of this document, normally open points are illustrated as white boxes / squares. Conversely, in this document, a normally closed point of a charging network 150 is a point of the network at which there normally / initially is a closed circuit for electric power. Electric power may thus pass through a normally closed point uninterrupted / unbroken. A normally closed point may be a controllable switch / circuit breaker, often of an electrical line, which in normal operation of the charging network 150 is closed / conducting. The electric power can therefore pass a normally closed point in normal operation. The normally closed points are, toghether with the normally open points, utilized for configuring the charging network 150 for normal operation. In the figures of this document, normally closed points are illustrated as black boxes / squares. Also, in this document, when circuits are stated to be connected to each other, they are coupled together such that electric power may pass / travel from one circuit to the other. The circuits may thus be coupled by electrical lines configured / arranged / coupled between them. For or example, as illustrated in figure 1, the first electric network 110a is connected to the first transformer 113a by the electrical line 111a, e.g. denoted feed line or feeder, and the first transformer 113a is connected to the secondary substation 120 by the electrical line 117a. Also, the second electric network 110b is connected to the second transformer 113b by the electrical line 111b, e.g. denoted feed line or feeder, and the second transformer 113b is connected to the secondary substation 120 by the electrical line 117b. It should be noted that, although the first electric network 110a and the second electric network 110b are schematically illustrated as two separate electric networks in figure 1, the charging network 100 may comprise only one electric network 110, i.e. the first 110a and second 110b electric networks may, according to some embodiments, be implemented as one single electric network 110. The secondary substation 120 is connected to the charging terminal 130 by the electrical line 134, and the the charging terminal 130 is connected to the one or more batteries 131 by the electrical line 135. Also, when the control system 100 is stated to measure and / or control parameters of the charging neetwork 150, the control system 100 is configured with suitable connections, e.g. electrical lines, sensors, or the like, to / at the charging network 150 needed for performinng such measurements and / or control. The control system 100 is configured to perform a measurement of one or more parameters of the charging network 150. The control system 100 is thus configured to measure one or more parameters at various positions of the charging network 150, where these parameters may include measured current, voltage and / or power values, as explained in detail below. The control system 100 is further configured to, based on the measured one or more parameters, control a shift of at least one of the one or more normally open points 121, such that at least one of the one or more charging terminals 130 is connected to at least one of the one or more electric networks 110a, 110b via the shifted at least one normally open point 121. For example, the one or more charging terminals 130 may initially / normally be connected to the second lower electric network 110b via the normally closed point 122, where the black box 122 indicates a closed circuit, as shown in figure 1. The one or more charging terminals 130 in figure 1 are then, however, initially / normally not connected to the first upper electric network 110a due the normally open point 121, where the white box 121 indicates an open circuit. Thus, the one or more charging terminals 130 are initially only connected to the second lower electric network 110b. Then, after the measurement based shift of the normally open point 121, such that the normally open point 121 is switched / shifted from being an open point / curcuit to being a closed point / circuit, whereby it would also change from being a white box to being a black box, the one or more charging terminals 130 becomes connected the first upper electric network 110a. The normally closed point 122 is then also switched / shifted from being a closed point / circuit to being an open point / circuit, whereby it would change from being a black box to being a white box. Thus, after the switch / shift of the normally open point 121, the one or more charging terminals 130 are only connected to the first upper electric network 110a via the shifted normally open point 121, which then is a closed point after the shift. Figure 2 shows a flow chart diagram for a method 200 of the control system 100 configured to control charging and / or discharging of one or more batteries 131 of a mining or construction vehicle 400, 410 using the above descreibed charging network 150. In a step 210 of the method 200, a measurement of one or more parameters of the charging network 150 is performed, where this measurement may include current, voltage and / or power values. In a further step 220 of the method 200, a shift of at least one 121 of the one or more normally open points 121, 122 is controlled, based on the measurement in the proceeding step 210. The shift causes at least one of the one or more charging terminals 130 to be connected to at least one of the one or more electric networks 110a, 110b via the shifted at least one normally open point 121. According to an embodiment schematically illustrated as a flow chart diagram in figure 3a, after the one or more batteries 131 have been connected 202 to the one or more charging teminals 130, respectively, the control system 100 is configured to perform the step 204 of charging the one or more batteries 131. The control system 100 is further configured to perform the step 210 of measuring the one or more parameters during the charging 204 of the one or more batteries 131. The control system 100 is further configured to perform the step 220 of controlling, based on the measurement of the one or more parameters, the shift of the at least one normally open point 121. Thus, according to the embodiment illustrated in figure 3a, the control system 100 is configured to perform the measurements 210 and the shift 220 of the of the at least one normally open point 121 after the charging 204 of the one or more batteries 131 has started. The measured parameters may then comprise a charging current kharge provided by the one or more charging terminals 130 to the one or more batteries 131, respectively, measured at a position / connection 135 between the one or more charging terminals 130 and the one or more batteries 131, illustrated in figure 1. The measured parameters may further comprise a current hnd provided by the one or more secondary substations 120 of the charging network to the one or more charging terminals 130, measured at a position / connection 134 between the one or more secondary substations 120 and the one or more charging terminals 130. The measured parameters may further comprise a voltage V2nd of the one or more secondary substations 120, measured at the the one or more secondary substations 120. The measured parameters may further comprise a current hnput, a voltage Vinput and / or a power Pinput of at least one electrical line 115, 117a, 117b of the charging network 150, measured at the at least one electrical line 115, 117a, 117b. Figure 3b shows a flow chart diagram of one possible implementation of the charging 600 of one or more batteries by utilization of the herein described method 200. In a first step 610 of the implementation, charging of the one or more batteries starts. In a second step 620 of the implementation, the charging is continued. In a third step 630 of the implementation, the herein described measurement 210 is performed. Then, if no low current, voltage and / or power is detected (No), the implementation returns to the second step 620 and the charging continues. If a low current, voltage and / or power is detected (Yes), the implementation proceeds to a fourth step 640 of the implementation. In the fourth step 640 of the implementation, if it is detected if the state of charge level of the one or more batteries has reached a level corresponding to fully charged batteries (Yes), the implementation proceeds to a sixth step 660, in which the charging is stopped. If this state of charge level has not been reached (No), the implementation proceeds to a fifth step 650 of the implementation. In the fifth step 650 of the implementation, the shift of at least one normally open point 220 is initiated. The implementation then returns to the third step 630. There are, of course many possibly ways to implement the charging method 600, of which figure 3b only illustrates one example of such an implementation. According to an embodiment schematically illustrated as a flow chart diagram in figure 4, before the one or more batteries 131 are connected 230 to the one or more charging terminals 130, respectively, the control system 100 is configured to perform the step 210 of measuring the one or more parameters. The the control system 100 is further configured to perform the step 212 of predicting a future charging need for the one or more batteries 131. Thus, it may here be forecasted / predicted for example when in time an upcoming charging event will take place, e.g. based on an estimated time of arrival of a mining or construction vehicle 400, 410, how much electric power will be needed for the upcoming charging event, and / or if the current setup of the charging network 150 will be well suited to perform the upcoming charging event. It may also be predicted if the current setup of the charging network 150 is non-optimal and / or not able to provide sufficient charging capacity for the upcoming charging event. The control system 100 is further configured to perform the step 220 of controlling the shift of the at least one normally open point 121 based on the measurement and the predicted future charging need. Then, the control system 100 is configured to perform the step 230 of connecting the one or more batteries 131 to the one or more charging terminals 130, respectively. The control system 100 is further configured to perform the step 240 of charging the one or more batteries 131. Thus, according to the embodiment illustrated in figure 4, the control system 100 is configured to perform the measurements 210 and the shift 220 of the of the at least one normally open point 121 before the one or more batteries 131 have been connected 230 to the charging terminal 130 and before charging 240 of the one or more batteries 131 has started. The measured parameters may then comprise a current hnd provided by the one or more secondary substations 120 of the charging network to the one or more charging terminals 130, measured at a position / connection 134 between the one or more secondary substations 120 and the one or more charging terminals 130, as illustrated in figure 1. The measured parameters may further comprise a voltage V2nd of the one or more secondary substations 120, measured at the the one or more secondary substations 120. The measured parameters may further comprise a current hnput, a voltage Vinput and / or a power Pinput of at least one electrical line 115, 117a, 117b of the charging network 150, measured at the at least one electrical line 115, 117a, 117b. According to an embodiment, schematically illustrated in the flow chart diagrams of figures 3a and 4, the control system 100 is further configured to perform a step 250 of pausing the charging 204, 240 of the one or more batteries 131 temporarily, for example if the total electric load of the charging stations and other loads in the charging network 150 exceeds an available electric power of the charging network 150. The controlled pausing is based on a load priority order for the one or more batteries 131 and one or more other loads being connected to the charging network 150, such that e.g. higher priority charging events are continued although lower priority charging events are paused. Also, resuming the charging of the one or more batteries 131 may be based on the load priority order, such that some but not all charging terminals and loads are provided with electric power when the paus is ended. For example, some mining or construction vehicles 400, 410 may have a higher priority than other vehicles, wherefore the batteries of the prioritized mining or construction vehicles should be charged before lower priority vehicles and / or loads are charged. According to an embodiment, schematically illustrated in the flow chart diagram of figure 5a, the control system 100 is configured to, after the one or more batteries 131 have been connected 202, 230 to the one or more charging teminals 130, respectively, and / or after the shift 220 of the at least one normally open point 121 has been performed, perform the step 260 of controlling the one or more batteries 131 to discharge active electric power Pactive and / or reactive electric power Preactive into the charging network 150. Thus, the one or more batteries 131 of the mining or construction vehicle 400, 410 may hereby export active electric power Pactive and / or reactive electric power Preactive to the charging network 150 if needed. According to various embodiments, the the control 260 of the discharge of active electric power Pactive and / or reactive electric power Preactive into the charging network 150 is based on the performed 210 measurement and / or an operator command. For example, if the performed 210 measurement of the one or more parameters and / or the knowledge of the operator indicates that the charging network 150 does not cope with the demands on it, active electric power Pactive and / or reactive electric power Preactive may be controlled to be discharged into the charging network 150. Thus, by these embodiments, the charging network 150 may, e.g. by its control unit 190, request the mining or construction vehicle 400, 410, i.e. may request the control unit 180 of the mining or construction vehicle 400, 410, to inject active electric power Pactive and / or reactive electric power Preactive into the charging network 150. For example, if the frequency is decreasing in the charging network 150, reactive electric power Preactive may be requested and injected into the charging network 150 in order 18 to increase the frequency again. If at least one of the herein mentioned voltages of the charging network 150 is reduced, active electric power Pactive may be requested and injected into the charging network 150 in order to increase the voltage again. Generally, active electric power Pactive is the power used for running loads and / or charging the batteries, whereas reactive electric power Preactive is the power used e.g. for keeping the voltage at acceptable levels. If the charging network 150 has problems with running the loads, charging the batteries and / or keeping the voltage levels, support / injection of active electric power Pactive and / or reactive electric power Preactive into the charging network 150 may be requested from the mining or construction vehicle 400, 410. Figure 5b shows a flow chart diagram of one possible implementation of the discharging 800 of one or more batteries into the charging network 150 by utilization of the herein described method 200. In a first step 810 of the implementation, discharging of the one or more batteries into a first electric network 110a starts. In a second step 820 of the implementation, the discharging into the first electric network 110a continues. In a third step 830 of the implementation, the herein described measurement 210 is performed in a second electric network 110b. If no low current, voltage and / or power is detected (No) in the second electric network 110b, the implementation returns to the second step 820 and the discharge continues. If a low current, voltage and / or power is detected (Yes) in the second electric network 110b, the implementation proceeds to a fourth step 840 of the implementation. In the fourth step 840 of the implementation, it is detected if the state of charge level of the one or more batteries has reached a level corresponding to fully discharged batteries (Yes), the implementation proceeds to a sixth step 860, in which the discharge is stopped. If this state of charge level has not been reached (No), the implementation proceeds to a fifth step 850 of the implementation. In the fifth step 850 of the implementation, the shift 220 of at least one normally open point is initiated, such that the one or more batteries are switched from being connected to the first electric network 110a to being connected to the second electric network 110b. The implementation then returns to the third step 830. There are, of course, many possibly ways to implement the discharging method 800, of which figure 5b only illustrates one example of such an implementation. Figures 6a-c schematically illustrates some examples how the herein described shift of at least one normally open point may be utilized to reconfigure the charging network 150 in different situations. In the charging network 150 exemplified in figures 6a-c, a first secondary substation 120a, a second secondary substation 120b and a third secondary substation 120c are potentially connected in a loop configuration to an electric network 110, possibly via one or more transformers 113, 114 arranged on one or more feeder lines 111a, 111c, respectively. In these figures there are two feeder lines 111a, 111c connected to one electric network 110, and three secondary substations 120a, 120b, 120c illustrated as examples. However, as understood by a skilled person, a charging network 100 utilizing the herein described embodiments may comprise essentially any number of secondary substations, any number of feed lines, and any number of electric networks. A first charging terminal 130a is connected to the first secondary substation 120a, a second charging terminal 130b is connected to the second secondary substation 120b, where each of the first 130a and second 130b charging terminals may comprise power electronics 133a, 133b and / or charger modules 132a, a133b connecting batteries 131a, 131b to the charging network 150, as described in connection with figure 1. One or more renewable power sources 141 may be connected to the third secondary substation 120c, possibly via power electronics 143. The one or more renewable power sources 141 may comprise one or more wind turbine generators, one or more solar power generators and / or some other kind of renewable power source. In the initial configuration of figure 6a to be used for normal operation, the first secondary substation 120a comprises a first normally closed point 121a, indicated by the black / closed circuit box 121a and a first normally open point 122a, indicated by the white / open circuit box 122a. Hereby, the first secondary substation 120a is in normal operation, possibly via a first transformer 113, connected to the electric network 110 via the first normally closed point 121a, but is disconnected from the second 120b and third 120c secondary substations by the first normally open point 122a. Further, the second secondary substation 120b comprises a second normally closed point 121b, indicated by the black / closed circuit box 121b and a second normally open point 122b, indicated by the white / open circuit box 122b. Hereby, the second secondary substation 120b is in normal operation connected to the third secondary substation 120c via the second normally closed point 121b, but is disconnected from the first secondary substation 120a by the second normally open point 122b. The third secondary substation 120c comprises two third normally closed points 121c, 122c, indicated by the black / closed circuit boxs 121c, 122c. Hereby, the third secondary substation 120c is in normal operation, possibly via a second transformer 114, connected to the electric network 110 via one of the normally closed points 121c, and is connected to the second 120b secondary substation via the other normally closed point 122c. Thus, in the initial configuration shown in figure 6a, to be used for normal operation, the first battery 131 is charged by electric power provided to the first charging terminal 130a via the first transformer 113 and the first secondary substation 120a. The second battery 131b is charged by electric power provided to the second charging terminal 130b via the second transformer 114, the third secondary substation 120c, and the second secondary substation 120b. In some situations, an imbalance may occur between the electric powers provided by the first transformer 113 and the second transformer 114 in the charging network illustrated in figure 6a. This may for example be measured 210 as an insufficient current, voltage and / or power in the second secondary substation 120b for charging the second battery 131b. Thus, the measurements 210 may indicate that the second charging terminal 130b is not capable to sufficiently and / or efficiently charge the second battery 131b. The control system 100 may then control 220 a shift of the first normally open point 122a of the first secondary substation 120a, a shift of the second normally open point 122b of the second secondary substation 120b, and a shift of the second normally closed point 121b of the second secondary substation 120b. These controlled shifts 220 would then reconfigure the charging network 150 illustrated in figure 6a to the configuration of the charging network 150 illustrated in figure 6b. In the configuration shown in figure 6b, the second secondary substation 120b is disconnected from the third secondary substation 120c, and is instead connected to the first secondary substation 120a. Thus, the second battery 131b is here charged with electric power provided from the electric network 110 via the first transformer 113 and the first secondary substation 120a, such that the second battery 131 is sufficiently charged. Thus, the measurement 210 based shifts 220 of one or more normally open points have reconfigured the charging network 150 such that all of the batteries 131a, 131b may be properly charged. In figure 6b, white boxes are used for illustrating currently open points 121b, 122c, having been switched from being normally closed points in figure 6a. Also, black boxes are used for illustrating both normally closed points 121a, 121c, and for illustrating currently closed points 122a, 122b, having been switched from being normally open points in figure 6a. In other situations for the initial charging network of figure 6a, an insufficient current, voltage and / or power may be measured 210 in the first secondary substation 120a. The measurements 210 may indicate that the first charging terminal 130a is not capable to sufficiently and / or efficiently charge the first battery 131a. The control system 100 may then control 220 a shift of the first normally open point 122a of the first secondary substation 120a, a shift of the second normally open point 122b of the second secondary substation 120b, and a shift of the first normally closed point 121a of the first secondary substation 120a in figure 6a. These shifts 220 would then reconfigure the charging network 150 illustrated in figure 6a to the configuration of the charging network 150 illustrated in figure 6c. In the configuration shown in figure 6c, the first secondary substation 120a is disconnected from the first transformer 113, and is instead connected to the second secondary substation 120b. The second secondary substation 120b is further connected to the electric network 110 via the third secondary substation 120c and the second transformer 114. Thus, the first battery 131a is here charged with electric power provided from the electric network 110 via the second transformer 113, the third secondary substation 120c, and the second secondary substation 120b, such that the second battery 131 is sufficiently charged. Thus, the measurement 210 based shifts 220 of one or more normally open points reconfigure the charging network 150 such thatall of the batteries 131a, 131b may be properly charged. In figure 6c, a white box is used for illustrating a currently open point 121a, having been switched from being a normally closed point in figure 6a. Also, black boxes are used for illustrating both normally closed points 121a, 121c, and for illustrating currently closed points 122a, 122b, having been switched from being normally open points in figure 6a. As exemplified in connection with figures 6a-c, at least two normally open points may, according to an embodiment, be controlled 220 to be shifted based on the measurement 210. These at least two normally open points may be comprised in the same secondary substation, or may be comprised in multiple secondary substations. According to an embodiment, the shift 220 of one or more normally open points of a secondary substation may be based on measurements 210 performed in that same secondary substation and / or may be based on measurements 210 performed in another secondary substation. Thus, measurements 210 performed in one secondary substation may cause shifts of one or more normally open points in that same secondary substation and / or in other secondary substations. In the charging network 150 schematically illustrated in figure 7, a battery 131 is connected to a charging terminal 130, which is connected to a secondary substation 120. In normal operation, the secondary substation 120 comprises a normally open point 121, which disconnects the secondary substation 120 from a first electric line in form of a first electric bus 116, and a normally closed point 122, which connects the secondary substation 120 to a second electric line in form of a second electric bus 118. The first electric bus 116 is further disconnected from a first transformer 113a and a first electric network 110a by a first normally open point 121a, and is connected to a second transformer 113b and a second electric network 110b by a second normally closed point 121b. The second electric bus 118 is connected to the first transformer 113a and the first electric network 110a via a first normally closed point 122a, and is disconnected from the second transformer 113b and the second electric network 110b by a second normally open point 122b. Thus, in normal operation, the charging network 150 illustrated in figure 7 charges the battery 131 with electric power from the first electric network 110a, provided via the first normally closed point 122a, the second electric bus 118, and the normally closed point 122 of the secondary substation 120. If the charging network 150 needs to be reconfigurated based on the measurements 210, one or more of the normally open points in the charging network may be shifted. For example, the battery 131 may be connected to the second electric network 110b by shifting 220 the normally open point 121 of the secondary substation 120 such that it is closed, i.e. such that it is switched to provide a connection to the first electric network 110b via the first electric bus 116, and by shifting the normally closed point 122 to be open. Alternatively, the battery 131 may be connected to the second electric network 110b via the second electric bus 118, by instead shifting 220 the second normally open point 122b to be closed, the second normally closed point 121b to be open, and the first normally closed point 122a to be open. Thus, there are multiple possible ways to reconfigure the charging network 150 illustrated in figure 7 to control which one of the first 110a and second 110b electric networks that should charge the battery 131, simply by shifting / switching one or more normally open points in the chraging network 150. According to an embodiment scheamtially illustrated in figure 8, two or more batteries 131_1, 131_2 may be connected to one single charging terminal 130. Thus, the herein described battery 131 may comprise two or more batteries 131_1, 131_2, where the two or more batteries 131_1, 131_2 may be coupled in series and / or parallel. The charging terminal 130 and the secondary substation 120 illustrated in figure 8 correspond to the herein disclosed charging terminals and secondary substations. According to an embodiment scheamtially illustrated in figure 9, at least two charging terminals 130_1, 130_2 may be connected to one single secondary substation 120 of the charging network. Thus, two or more herein described charging terminals 130_1, 130_2 may be coupled in parallel, and may be connected to a herein described secondary substation 120. According to an embodiment schematically illustrated in figure 10, a first battery 131a of a mining or construction vehicle 400 / 410 is connected to a first charging terminal 130a, and a second battery 131b of the vehicle 400 / 410 is connected to a second charging terminal 130b. The first 131a and second 131b batteries may here be comprised in the one and the same vehicle 400 / 410. The first and second charging terminals 130a, 130a and the first and second secondary substations 120a, 120b illustrated in figure 10 correspond to herein disclosed charging terminals and secondary substations. The vehicle 400 / 410 further comprises power electronics 433, configured to transfer power between the first 131a and second 131b batteries. The power electronics facilitates that one of the first 131 a and second 131b batteries can be charged by the charging network 150 and that the other one of the first 131 a and second 131b batteries can be discharged into the charging network 150 as herein described. Hereby, the charging network 150 is supported to be able to balance the load between the first and second branches / charging terminals 130a, 130b. Figures 8-10 are schematic illustrations of some embodiments, in which not all components of the charging network 150 are illustrated. For example, the charging network 150 also comprises one or more electric networks 110, 110a, 110b as herein explained. According to an embodiment, the one or more herein described batteries 131 are onboard the mining or construction vehicle 400, 410 when being connected 202, 230 to the charging network 150. Thus, the mining or construction vehicle 400, 410 is here trammed towards and arrives at a charging terminal 130 of the charging network 150. The onboard one or more batteries 131 then connects to the charging terminal 130, wherafter charging may be started. According to another embodiment, the herein described one or more batteries 131 are offboard the mining or construction vehicle 400, 410 when being connected 202, 230 to the charging network 150. Thus, the one or more batteries 131 are first removed / detached from the mining or construction vehicle 400, 410, and are thereafter separately connected to the charging terminal 130 before charging is started. Figures 12-13 schematically illustrate drill rigs 400, 410 comprising the herein described control system 100 configured to control charging and / or discharging of one or more batteries 131. More in detail, figure 12 schematically illustrates an example drill rig 400 for performing a drilling process, such as drilling of holes, e.g. during tunnelling or mining, in which the aspects and / or embodiments herein described may be implemented. The drill rig 400 includes a boom 401, one end 401a of which being attached, according to the present example, in such a way that it can pivot in relation to a carrier 402, such as a vehicle, via one or more articulated connections (not shown). A feeder 403 that carries a drilling machine 404 is attached to the other end 401 b of the boom 401 via one or more articulated connections, such as one or more rotators (not shown). The drilling machine 404 may be movable along the feeder 403 such that the drill string, and thus also the drill bit at the end of it, continues creating a hole in the rock. The drilling machine 404 may, according to some embodiments, be hydraulically driven by a hydraulic system comprising hydraulic fluid. The hydraulic system may be driven by one or more compressors, which in turn are driven by one or more electric motors. The carrier 402 further comprises crawlers and / or wheels 405 facilitating tramming of the drill rig 400, i.e. facilitating the drill rig 400 to move from one position to another, for example between holes to be drilled. The drill rig 400 may comprise two or more booms 401, feeders 403, drilling machines 403, and hydraulic systems. To enhance readability, however, only one boom 401, feeder 403 and drilling machine 403 are illustrated. The disclosure herein may be extended to any number of booms 401, feeders 403, drilling machines 403, hydraulic systems and electric motors. Figure 13 schematically illustrates another example drill rig 410, which may be utilized e.g. for drilling holes of a drill bench. The drill rig 410 is a surface drill rig being used to drill vertical or substantially vertical holes using a drill tool attached to a drilling machine via a drill string. The drilling machine may be slidably arranged along a feed beam. These elements are conventional and not explicitly illustrated. The conventional elements are in figure 13 instead commonly represented by a drill tower 412 and a schematically indicated drill string 413 illustrating an indicating ongoing drilling. The drilling may, according to some embodiments, be hydraulically driven by a hydraulic system comprising hydraulic fluid. The hydraulic system may be driven by one or more compressors, which in turn are driven by one or more electric motors, in a manner known per se. The general technology used when drilling using a drill rig 410 is well known as such. The drill tower 412 and the drill string 413 are carried by a carrier 411, comprising crawlers and / or wheels 414 facilitating tramming of the drill rig 410, i.e. facilitating the drill rig 410 to move from one position to another, for example between holes to be drilled. The drilling process may be controlled by an operator positioned in a cabin comprising an operation station. Alternatively, the drill rigs 400, 410 may be remotely controlled or may be configured to operate autonomously, i.e. to be controlled by an autonomous system. Drill rigs 400, 410 of the disclosed kind are known per se. It is to be understood that the illustrated example drill rigs 400, 410 are presented for describing the disclosure. The illustrated drill rigs 400, 410 are thus only exemplary drill rigs, and the herein presented disclosures may be implemented using various kinds of drill rigs of various designs, i.e. may be implemented in essentially any type of drill rig, such as e.g. a surface drill rig or and underground drill rig. Figure 11 schematically illustrates a control unit 300, 180, 190. The drill rigs 400, 410 shown in figures 1,12 and 13 comprise a control system comprising at least one control unit 300, 180, which controls various functions of the drill rig 400, 410, e.g., by suitable control of various actuators / motors / pumps or the like. Drill rigs of the disclosed kind may comprise more than one control unit, where each control unit, respectively, may be arranged to be responsible for different functions of the drill rig 400, 410. According to examples of the disclosure, the herein described method steps 202, 204, 210, 212, 220, 230, 240, 250, 260 may be controlled by any suitable control unit of the drill rigs 400, 410 and / or of the charging network, such as the herein described control unit 300, 180, 190. Correspondingly control entities 302, 304, 310, 312, 320, 330, 340, 350, 360 may be implemented in any suitable control unit of the drill rigs 400, 410 and / or the charging network 150, such as the control unit 300, 180, 190, possibly as one or more sections of programming code. The functionality of the disclosure may also be divided among more than one control units 300, 180, 190. According to examples of the disclosure, one control unit may comprise functionality of some of the control entities, whereas another control unit may comprise functionality some of the other control entities. The control unit 300, 180, 190 comprises a data processing unit 391 which, based on received signals, and by means of suitable calculations, perform the steps according to the examples of the disclosure described herein. The processing unit 391 can, for example, be constituted by a processor, such as a digital signal processor. The control unit 300, 180, 190 may be controlled by means of a computer program 392 which is, e.g., built into the processor or being connected thereto. The computer program may be generated by means of an appropriate programming language and be stored in a non-transitory computer memory 393 that is integrated in the processor or form a separate part of the control unit 300, 180, 190. The control unit 300, 180, 190 may further comprises a transceiver module 394 for receiving / transmitting signals. The transceiver module 394 may, e.g., also constitute an interface for other signals being received and / or transmitted by the control unit 300, 180,190. The processing unit 391 may be referred to and / or may comprise one or more general-purpose central processing units (CPUs), one or more digital signal processors (DSPs), one or more application-specific integrated circuits (ASICs), one or more field programmable gate arrays (FPGAs), one or more programmable logic devices, or any other one or more discrete or logic devices / components / circuits / chipsets. The computer memory 393 may be a readonly memory (ROM), a random access memory (RAM), or a non-volatile RAM (NVRAM). The transceiver module 394 may be a transceiver circuit, a power controller, or an interface providing capability to communicate with other communication modules or communication devices. The transceiver module 394, computer memory 393 and / or processing unit 391 may be implemented in separate components or may be implemented in a common component. As understood by a skilled person, the herein presented aspects and embodiments may be utilized in a number of ways / implentations for increasing the overall efficiency and / or capacity of charging networks. Finally, it should be understood that the disclosure is not limited to the embodiments described above, but also relates to and incorporates all embodiments within the scope of the appended independent claims.

Claims

1. A control system (100) configured to control charging and / or discharging of one or more batteries (131, 131a, 131b, 131_1, 131_2) of a mining or construction vehicle (400,410), the one or more batteries (131, 131a, 131b, 131_1, 131_2) being connectable to a charging network (150) comprising:- one or more electric networks (110, 110a, 110b) configured to connect the charging network (150) to at least one source of electric energy;- one or more charging terminals (130, 130a, 130b, 130_1, 130_2) configured to provide one or more connections to the one or more batteries (131, 131 a, 131 b, 131_1, 131_2), respectively; and- one or more normally open points (121, 121a, 121b, 121c, 122, 122a, 122b, 122c) configured between the one or more electric networks (110, 110a, 110b) and the one or more charging terminals (130, 130a, 130b, 130_1, 130_2);the control system (100) being configured to:- perform (210) a measurement of one or more parameters of the charging network (150); and- control (220), based on the measurement, a shift of at least one (121, 121a, 121b, 121c) of the one or more normally open points (121, 121a, 121b, 121c, 122, 122a, 122b, 122c), such that at least one of the one or more charging terminals (130, 130a, 130b, 130_1, 130_2) is connected to at least one of the one or more electric networks (110, 110a, 110b) via the shifted at least one normally open point (121, 121a, 121b, 121c).

2. The control system (100) according to claim 1, wherein the at least one shifted normally open point (121, 121a, 121b, 121c) is configured as one or more in the group of:- a controllable switch on at least one electrical line (115, 115a, 115b, 115c, 116, 117a, 117b, 118) of the charging network (150); and- a controllable switch on an electrical line (115, 115a, 115b, 115c) of one or more secondary substations (120, 120a, 120b, 120c) of the charging network, to which one or more charging terminals (130, 130a, 130b, 130_1, 130_2) are connected.

3. The control system (100) according to any one of claims 1-2, wherein- the one or more electric networks (110, 110a, 110b) comprises a first electric network (110a) and a second electric network (110b); and- the shift of the at least one normally open point (121, 121a, 121b, 121c) switches at least one charging terminal (130, 130a, 130b, 130_1, 130_2) from being connected to the second electric network (110b) to being connected to the first electric network (110a).

4. The control system (100) according to any one of claims 1-3, wherein the control system (100) is configured to:-after the one or more batteries (131, 131a, 131b, 131_1, 131_2) have been connected (202) to the one or more charging teminals (130, 130a, 130b, 130_1, 130_2), respectively:-- charge (204) the one or more batteries (131, 131 a, 131b, 131 _1, 131_2);-- perform (210) the measurement of the one or more parameters during the charging (204) of the one or more batteries (131, 131a, 131b, 131_1, 131_2);-- control (220), based on the measurement, the shift of the at least one normally open point (121, 121a, 121b, 121c).

5. The control system (100) according to claim 4, wherein the one or more parameters comprise one or more in the group of:- a charging current (kharge) provided (135) by the one or more charging terminals (130, 130a, 130b, 130_1, 130_2) to the one or more batteries (131, 131a, 131b, 131_1, 131_2), respectively;- a current (hnd) provided (134) by one or more secondary substations (120, 120a, 120b) of the charging network to the one or more charging terminals (130, 130a, 130b, 130_1, 130_2), respectively;- a voltage (V2nd) of one or more secondary substations (120, 120a, 120b) of the charging network, to which the one or more charging terminals (130, 130a, 130b, 130_1, 130_2) are connected;- a current (hnput) of at least one electrical line (115, 115a, 115b, 115c, 116, 117a, 117b, 118) of the charging network (150);- a voltage (Vinput) of at least one electrical line (115, 115a, 115b, 115c, 116, 117a, 117b, 118) of the charging network (150); and- a power (Pinput) of at least one electrical line (115, 115a, 115b, 115c, 116, 117a, 117b, 118) of the charging network (150).

6. The control system (100) according to any one of claims 1-3, wherein the control system (100) is configured to:- before the one or more batteries (131, 131a, 131b, 131_1, 131_2) are connected (230) to the one or more charging terminals (130, 130a, 130b, 130_1, 130_2), respectively:-- perform (210) the measurement of the one or more parameters;-- predict (212) a future charging need for the one or more batteries (131, 131 a,131b, 131_1, 131_2); and-- control (220), based on the measurement and the predicted future charging need, the shift of the at least one normally open point (121, 121a, 121b, 121c);- connect (230) the one or more batteries (131, 131a, 131b, 131_1, 131_2) to the one or more charging terminals (130, 130a, 130b, 130_1, 130_2), respectively; and- charge (240) the one or more batteries (131, 131 a, 131b, 131 _1, 131_2).

7. The control system (100) according to claim 6, wherein the one or moreparameters comprise one or more in the group of:- a current (hnd) provided (134) by one or more secondary substations (120, 120a, 120b, 120c) of the charging network to the one or more charging terminals (130, 130a, 130b, 130_1, 130_2), respectively;- a voltage (V2nd) of one or more secondary substations (120, 120a, 120b, 120c) of the charging network, to which the one or more charging terminals (130, 130a, 130b, 130_1, 130_2) are connected;- a current (hnput) of at least one electrical line (115, 115a, 115b, 115c, 116, 117a, 117b, 118) of the charging network (150);- a voltage (Vinput) of at least one electrical line (115, 115a, 115b, 115c, 116, 117a, 117b, 118) of the charging network (150); and- a power (Pinput) of at least one electrical line (115, 115a, 115b, 115c, 116, 117a, 117b, 118) of the charging network (150).

8. The control system (100) according to any one of claims 4-7, further configured to:- pause (250), based on a load priority order for the one or more batteries (131, 131 a, 131b, 131_1, 131_2) and one or more other loads connected to the charging network(150), the charging of the one or more batteries (131, 131a, 131b, 131_1, 131_2) temporarily.

9. The control system (100) according to any one of claims 1-3, further configured to:-after the one or more batteries (131, 131a, 131b, 131_1, 131_2) have been connected (202, 230) to the one or more charging teminals (130, 130a, 130b, 130_1, 130_2), respectively:-- control (260) the one or more batteries (131, 131a, 131b, 131_1, 131_2)to discharge one or more in the group of:— active electric power (Pactive) into the charging network (150); and— reactive electric power (Preactive) into the charging network (150).

10. The control system (100) according to claim 9, wherein the control (260) of the discharge is based on one or more of group of:- the performed (210) measurement; and- an operator command.

11. The control system (100) according to any one of claims 1 -10, wherein the control system (100) comprises one or more in the group of:- at least one control unit (180) comprised in the mining or construction vehicle (400, 410); and- at least one control unit (190) comprised in the charging network (150).

12. The control system (100) according to any one of claims 1-11, wherein at least two batteries (131_1, 131_2) are connected to one charging terminal (130).

13. The control system (100) according to any one of claims 1-12, wherein at least two charging terminals (130_1, 130_2) are connected to one secondary substation (120) of the charging network.

14. The control system (100) according to any one of claims 1-13, wherein at least two normally open points (121a, 121b, 121c) are controlled (220) to be shifted.

15. The control system (100) according to any one of claims 1-14, wherein the one or more batteries (131, 131a, 131b, 131_1, 131_2) are onboard the mining orconstruction vehicle (400, 410) when being connected (202, 230) to the charging network (150).

16. The control system (100) according to any one of claims 1-14, wherein the one or more batteries (131, 131a, 131b, 131_1, 131_2) are offboard the mining or construction vehicle (400, 410) when being connected (202, 230) to the charging network (150).

17. A drill rig (400, 410) comprising the control system (100) according to any one of claims 1-16.

18. A method (200) of a control system (100) configured to control charging and / or discharging of one or more batteries (131, 131 a, 131b, 131 _1, 131_2) of a mining or construction vehicle (400,410), the one or more batteries (131, 131a, 131b, 131_1, 131_2) being connectable to a charging network (150) comprising:- one or more electric networks (110, 110a, 110b) configured to connect the charging network (150) to at least one source of electric energy;- one or more charging terminals (130, 130a, 130b, 130_1, 130_2) configured to provide one or more connections to the one or more batteries (131, 131 a, 131 b, 131_1, 131_2), respectively; and- one or more normally open points (121, 121a, 121b, 121c, 122, 122a, 122b, 122c) configured between the one or more electric networks (110, 110a, 110b) and the one or more charging terminals (130, 130a, 130b, 130_1, 130_2);the method (200) comprising:- performing (210) a measurement of one or more parameters of the charging network (150); and- controlling (220), based on the measurement, a shift of at least one (121, 121a, 121b, 121c) of the one or more normally open points (121, 121a, 121b, 121c, 122, 122a, 122b, 122c), such that at least one of the one or more charging terminals (130, 130a, 130b, 130_1, 130_2) is connected to at least one of the one or more electric networks (110, 110a, 110b) via the shifted at least one normally open point (121, 121a, 121b, 121c).

19. Computer program (392) comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to any claim 18.

20. Computer-readable medium (392) comprising instructions which, when executed by a computer, cause the computer to carry out the method according to claim 18.

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