Mining vehicle calibration device and calibration method

Abstract

The present invention relates to a mining vehicle calibration arrangement and calibration method. According to an example aspect, there is provided a calibration method for a mining vehicle, the mining vehicle comprising a main body, a work implement, and a scanner, the calibration method comprising: receiving scan data based on an environmental scan, wherein the scan data is indicative of a position of a work implement part relative to a main body part, receiving calibration trigger data, the calibration trigger data comprising a calibration trigger threshold for detecting a need for calibrating the work implement, processing the scan data and the calibration trigger data to determine at least one of: - whether a deviation between a target position of the work implement part and a current position of the work implement part based on the scan data fulfils the threshold, or - whether a deviation between a target movement range of the work implement part and a current movement range of the work implement part based on the scan data fulfils the threshold.

Description

Technical Field

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

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

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

[0004] Calibration procedures may be required for mining vehicles to ensure proper operation, especially in the case of autonomous vehicles. For example, periodic calibration of sensors and / or actuators of movable mining vehicle components may be necessary. Mining vehicle calibration often requires manual verification, which may involve ensuring that the boom, bucket, or hopper can move freely without physical limitations. Mining vehicle calibration is typically performed based on human service personnel guidance or timers. Summary of the Invention

[0005] The present invention is defined by the following features.

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

[0007] - The deviation between the target position of the work implement and the current position of the work implement based on the scan data meets the calibration trigger threshold, or

[0008] - The deviation between the target movement range of the work implement and the current movement range of the work implement based on scan data meets the calibration trigger threshold, and

[0009] In response to the at least one deviation satisfying the calibration trigger threshold, the need for calibration work equipment relative to the main body is detected.

[0010] According to a second aspect, a method for a mining vehicle is provided, the mining vehicle including a body, an actuator, a working implement, and a scanner, wherein the actuator is connected to the working implement and the body and adapted to change the position of the working implement relative to the body, the method comprising: receiving scan data based on an environmental scan performed by the scanner, wherein the scan data indicates at least one position of a working implement portion of the working implement relative to a body portion of the body; receiving calibration trigger data including a calibration trigger threshold indicating at least one of the following: a threshold difference between the body portion and the working implement portion controlled to a target position, or a threshold difference from a target range of movement of the working implement portion relative to the body portion; and processing the scan data and the calibration trigger data to determine at least one of the following:

[0011] - The deviation between the target position of the work implement and the current position of the work implement based on the scan data meets the calibration trigger threshold, or

[0012] - The deviation between the target movement range of the work implement and the current movement range of the work implement based on scan data meets the calibration trigger threshold, and

[0013] In response to the at least one deviation satisfying the calibration trigger threshold, a need for calibration equipment is detected.

[0014] The apparatus of the first aspect may include at least one processor and at least one memory including computer program code configured to cause the apparatus to perform the method of the second aspect using the at least one processor. The apparatus may include one or more processors and memory including instructions that, when executed by the one or more processors, cause the apparatus to perform the method. Embodiments of the method include various embodiments of the apparatus of the first aspect.

[0015] According to a third aspect, an apparatus is provided, comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to utilize the at least one processor to cause the apparatus to perform at least the above-described method or an embodiment of the above-described method.

[0016] According to a fourth aspect, a computer program, a computer program product, or a (non-tangible) computer-readable medium including computer program code is provided, which, when executed in a data processing apparatus, causes the apparatus to perform the described method or an embodiment of the described method. Attached Figure Description

[0017] Figure 1 An example of a mining vehicle is shown;

[0018] Figure 2 Methods according to some embodiments are shown;

[0019] Figure 3 The functions of the control unit according to some embodiments are shown;

[0020] Figure 4a and Figure 4b A side view of the mining vehicle performing the calibration operation is shown; and

[0021] Figure 5 An example apparatus capable of supporting at least some of the embodiments is shown. Detailed Implementation

[0022] The currently disclosed embodiments are particularly applicable to a variety of mining vehicles used in the mining industry, such as underground or surface mines or construction sites. Mining vehicles can be adapted to load, transport, and unload excavated materials or other bulk materials. Specific examples of such mining vehicles include dump trucks and loading equipment or loaders, which include buckets attached to booms. The excavated material can be, for example, rock excavated in a surface or underground operating area. In this context, the term "rock" should be broadly understood to also cover boulders, rock materials, the earth's crust, and other relatively hard materials. Some other examples of mining vehicles include drilling rigs with one or more booms, feed beams connected to each boom, and drilling units (including drills) attached to the feed beams.

[0023] Figure 1 An example of a mining vehicle 10 is shown, which includes a (mobile) carrier 12, one or more booms 14, and a bucket 16 attached to the one or more booms 14 in a pivotable or otherwise movable manner. For example, the bucket 16 may be coupled to two booms 14. Attachments may include at least one pivot 22, and the bucket 16 may be rotatable relative to the pivot. The mining vehicle may be an articulated vehicle comprising two sections connected by a joint 32. The mining vehicle may be a loading and transport (LHD) vehicle, or a vehicle primarily used for loading.

[0024] The mining vehicle 10 also includes a first actuator 18 for moving the boom 14 up and down, and a second actuator 20 for rotating the bucket 16 relative to the pivot 22. Actuators 18 and 20 may be hydraulically and / or electrically operable, or may be operated by some other energy source. It should also be noted that... Figure 1 This is a simplified version, and for example, the first actuator 18 and / or the second actuator 20 may actually include more than one actuator. For example, a lever arm arrangement may be used to connect the cylinder to the bucket 16.

[0025] The mining vehicle 10 may include a system of pumps 24 for generating hydraulic pressure to operate various parts of the machine, such as the lifting boom 14, the rotating bucket 16, etc. The mining vehicle 10 may include one or more other energy sources, such as accumulators, hydrogen tanks, fuel tanks, etc.

[0026] The mining vehicle 10 includes at least one motor 26, such as an electric motor or a combustion motor. Power from the motor 26 can be supplied to the front and / or rear wheels 28 directly from a crankshaft (not shown) or via a gearbox (not shown).

[0027] The mining vehicle 10 includes at least one control unit 30. The control unit may include one or more processors and a memory, configured to control at least some functions and / or actuators of the mining vehicle. In some embodiments, the control unit 30 is configured to control at least calibration control-related operations, and one or more other control units may be present in the mining vehicle for controlling other operations. It should be understood that the control unit 30 may be configured to perform at least some of the features shown below, or multiple control units or controllers may be applied to perform these features. Additional operating modules or functions performed by the control unit may be present, such as an automatic bucket loading module, at least one positioning module, an autonomous driving control module, and / or an obstacle detection module.

[0028] Mining vehicle 10 can be an automated mining vehicle that can be operated / driven independently in its autonomous operation mode without continuous user control. However, for example, the mining vehicle can be taken over by external control during an emergency.

[0029] The mining vehicle 10 may include at least one wireless data transmission unit 34, which can be connected to a control unit 30. The control unit 30 may be configured to control the data transmission unit 34 to establish a data transmission connection to another (second) control system 40 outside the mining vehicle 10 via an underlying wireless connection provided by a base station or access node 42. The data transmission unit 34 can therefore be connected to a communication system on the site, such as a wireless access system including a wireless local area network (WLAN) and / or a cellular communication network. For example, the data transmission unit 34 may be configured to communicate with 4G, 5G, 6G, or another generation of cellular networks.

[0030] The control system 40 may include or be connected to other network and / or data processing systems, such as site management systems, cloud services, data analysis equipment / systems, intermediate communication networks (such as the Internet), etc. This system may include or be connected to other devices or control units, such as handheld user units, vehicle units, site management equipment / systems, remote control and / or monitoring equipment / systems, data analysis equipment / systems, sensor systems / equipment, etc.

[0031] The control equipment (such as a server) of system 40 can be configured to manage at least some operations at the work site. The control equipment can be configured to provide an operator with a user interface for remote monitoring and, when necessary, controlling the automated operation of mining vehicles and / or assigning work orders to the fleet. For example, the control equipment can be configured to instruct mining vehicles to repeatedly perform autonomous loading and unloading cycles, and to update and / or monitor the performance and status of such work orders. Therefore, mining vehicle 10 can be unmanned, and the user interface can be located remotely from the mining vehicle. The mining vehicle can be remotely monitored or controlled by an operator near the mining vehicle, or remotely monitored or controlled from a control room at the work site, or even remotely from the work site via a communication network.

[0032] Mining vehicle 10 may include a positioning system or unit. For mining vehicles operating on the ground, satellite-based navigation (such as a GPS system) can be used to determine the vehicle's position and orientation with sufficient accuracy. For mining vehicles operating underground, instead of satellite-based positioning information, positioning based on dead reckoning and / or scanning of the tunnel surface can be used.

[0033] The mining vehicle 10 may include one or more scanning units or scanners 36 configured to perform scanning of the mining vehicle's environment. The scanner may be an imaging unit, radar, sonar unit, or optical detection and ranging (LIDAR) unit, a microwave or magnetic field-based scanning unit, or another type of environmental scanning unit. In embodiments, the scanner 36 may be a 2D or 3D scanner, such as a LIDAR device, configured to monitor tunnel walls. The control unit 30 may be configured to compare the scanned tunnel contour data with reference contour data stored in an environmental model and to locate the mining vehicle based on a match found in the environmental model. The control unit 30 may be configured to correct the location based on dead reckoning according to the scanned location. In some embodiments, the scan results are applied to detect the position and orientation of the mining vehicle and one or more other components, such as the scanner 36 or the leading edge or other portion of the bucket 16.

[0034] Site equipment, such as the control devices of control system 40 and mining vehicles 10, can be configured to store and use at least one site model representing the current and / or target state of the site environment. The site model can be an environment model or a map. For example, the site model can be a 2D model or a 3D model. In the case of an underground site, the site model can indicate the outline of tunnels and can be referred to as a tunnel model. In some embodiments, the control system is configured to store a 3D (tunnel) model of the site, showing the bottom, walls, and top of the tunnel network.

[0035] In some embodiments, the scanner is a 3D scanner, in which case 3D scan data, such as point cloud data, is generated. The scanner can be a laser scanner or another type of sensor device, such as 4D or another type of radar, adapted to determine obstacles and distances to obstacles for a vehicle.

[0036] In some embodiments, the site model includes point cloud data generated based on a scanned site. A point cloud is a collection of data points defined by a given coordinate system. For example, in a 3D coordinate system, a point cloud may define the outline of an underground tunnel network. A 3D model may be formed based on point cloud data generated from a scanned tunnel system or based on point cloud data generated from a scanned tunnel system.

[0037] In some embodiments, the control device may be configured to generate and / or update a site model based on point cloud data received from the mining vehicle or from other devices including environmental scanning equipment. For navigation purposes, a 3D model may be generated by combining depth measurements from a high-density scanner, such as a LiDAR unit. The 3D model may be stored in a database accessible by one or more modules of a computing device, such as a tunnel model processing module, a user interface or visualizer module, a route planning module, and / or a location service module. The vehicle may include a Simultaneous Localization and Mapping (SLAM) unit configured to locate the vehicle and build (augmented) maps of the environment based on (2D or 3D) scan information as the vehicle travels.

[0038] Mining vehicles, such as vehicle 10, may be equipped with an obstacle detection function or unit, which may be part of a collision avoidance or prevention system. The obstacle detection function may be configured to perform collision checks based on scan data received from at least scanner 36 configured to perform a scan of the vehicle's environment. For example, one scanner may cover the rear of the vehicle, and another scanner may cover the front section of the vehicle via a directional beam. Obstacle detection may be applied to one or more obstacle detection or safety zones around the vehicle. If an object is detected as an obstacle in that zone, the vehicle may stop.

[0039] In some embodiments, the mining vehicle 10 is configured to detect the position and orientation of the vehicle and one or more other components (such as scanners or buckets) based on scan data from at least one scanner 36. Control units within the vehicle (such as control unit 30) may be configured to compare operational scan tunnel contour data with reference contour data stored in a tunnel model. The control unit may be configured to locate the vehicle based on a match found in the environment model. The position and orientation of the vehicle's points of interest (such as the leading edge of a tool) may be determined in the machine coordinate system and further in the mining coordinate system based on the detected match between the operational point cloud data and the reference cloud data.

[0040] A driving plan or route plan can define the route to be traveled by the mining vehicle 10 and can be used as input for the automatic control of the mining vehicle. The plan can define a start point, an end point, and a set of route points for automatic driving. In such cases... Figure 1 In the case of the vehicle shown, the driving plan may include information about the loading area or point, and may include data for controlling the loading of bucket 16. Automatic loading can be initiated in response to the mining vehicle entering the location or route point of the loading area in the driving plane. During the automated bucket loading procedure, the mining vehicle 10 is configured to autonomously perform a series of appropriate movements to fill bucket 16 and complete loading by positioning the bucket at a location suitable for leaving stockpile 50 and transporting the load to the unloading location. Driving to and unloading at the unloading location can also be automated.

[0041] Calibration of various components of the mining vehicle 10 may be required. This is particularly important for autonomously operated vehicles. For example, sensors and / or actuators 16, 18 of movable mining vehicle components may need to be repeatedly calibrated to ensure proper operation of the vehicle (such as vehicle 10), which can be configured to perform autonomous loading and / or transport procedures. The mining vehicle can be configured to perform calibration procedures that may include a set of calibration actions. For example, the mining vehicle can be configured to perform calibration actions such as moving the bucket to its highest position to calibrate actuators 16, 18.

[0042] Improvements are now available that automate the detection of calibration needs by utilizing environmental scanning. These improvements help avoid or reduce the need for manual checks and guidance for detection calibration or help avoid or reduce the need for timer-based calibrations, which may be too frequent or too late, thereby increasing productivity.

[0043] Figure 2 A method according to some embodiments is illustrated. The method can be performed by an apparatus, and in some embodiments by a control device configured to at least control calibration triggering. The method and its various embodiments can be performed by a mining vehicle and its control device (such as mining vehicle 10) and its control unit 30, respectively. The method can be a computer-implemented method.

[0044] The method includes receiving 200 scan data based on an environmental scan performed by a scanner of a mining vehicle, the mining vehicle including a body, actuators, and a working implement. The actuators are connected to the working implement and the body and are adapted to change the position of the working implement relative to the body. The scan data indicates at least one position of the working implement portion of the working implement relative to a body portion of the body.

[0045] Box 210 includes receiving calibration trigger data including at least one calibration trigger threshold. The calibration trigger threshold may indicate a threshold difference between the body portion and the work implement portion controlled to a target position. For example, such a threshold difference may also be referred to as a first threshold difference or a target position threshold difference. Alternatively or additionally, the calibration trigger threshold indicates a threshold difference with or relative to a target range of movement, which indicates the work implement portion relative to the body portion. For example, such a threshold difference may also be referred to as a second threshold difference or a range threshold difference. The threshold difference may indicate the maximum permissible difference between the target range of movement of the work implement portion and the current actual range of movement of the work implement portion (based on scan data relative to the body portion).

[0046] The calibration trigger data can indicate the target position of the working tool part relative to the main body. Alternatively or additionally, the calibration trigger data can indicate the target range of movement of the working tool part relative to the main body for calibrating the reference action.

[0047] Box 220 includes processing scan data and calibration trigger data to determine at least one of the following:

[0048] a. Whether the (first) deviation between the target position of the work equipment and the current position of the work equipment based on scan data meets the calibration trigger threshold, or

[0049] b. Whether the (second) deviation between the target movement range of the working equipment section and the current movement range of the working equipment section based on scan data meets the calibration trigger threshold.

[0050] The current location and current movement range can be determined based on the processed scan data, and can also be referred to as scan-based location or scan-based movement range, respectively.

[0051] Box 230 includes the need to detect the calibration operation tool relative to the main body in response to at least one of the deviations in box 220 meeting a calibration trigger threshold.

[0052] Box 220 may include comparing the corresponding deviation with a predetermined calibration trigger threshold parameter associated with the calibration trigger data. The threshold parameter may define an allowable deviation margin or tolerance for operation without the need for calibration. If the machine deviates too much from this allowable deviation margin or tolerance defined by the calibration trigger data, the device configured to perform the method can detect the need for calibration.

[0053] The device can be configured to initiate a calibration procedure after block 230 to calibrate the work implement relative to the main body and / or send a signal to the user interface to notify the operator of the mining vehicle that calibration is required. At least one calibration action can be triggered and executed in response to the detection of the aforementioned need in block 230. In response to block 230, the device can be configured to generate a control message indicating the need to calibrate the work implement or triggering calibration of the work implement and transmit the control message to a control unit, such as control unit 30. Based on the control message, the control unit can generate a UI control signal to notify the operator and / or initiate further control actions, such as initiating a calibration action or procedure.

[0054] Calibration can generally refer to the comparison of measurements provided by the device under test with pre-configured reference (measurement) values, such as calibration standard values. Mining vehicles can be configured to perform calibration procedures, which may include a set of calibration actions. Calibration actions may include, for example, controlling a work implement (such as a bucket) to a specific calibration target position, performing measurements by a measuring device, providing the measured values ​​from the measuring device to a controller, and having the controller compare the measured values ​​with pre-stored reference values. The calibration procedure may also include correction actions following box 230 to adjust sensor and / or actuator values ​​based on deviations. Therefore, calibration actions can refer to specific actions performed by the mining vehicle or its controller, such as providing control signals to the actuators of the work implement. Control signals may indicate a calibration target position or include control data for the actuators, which should enable the work implement to reach the calibration target position. Calibration actions may include controlling the work implement to perform a trajectory from a starting position to the calibration target position.

[0055] The device can be configured to detect a lack of calibration requirement based on box 220 in response to a deviation not meeting a calibration trigger threshold. This could be an additional box to the method, for example, in response to a deviation based on box 220 not exceeding an associated calibration trigger threshold indicated by calibration trigger data. Therefore, execution of box 220 could result in the detection that the work implement has reached (sufficiently close to) the target position and is thus within the permissible tolerance of the target position, and / or that the work implement's range of motion is within the permissible deviation from the target range of motion. If a lack of calibration requirement is detected, the mining vehicle can continue its ongoing operations, such as autonomous driving, loading, or unloading tasks, without interruption. Box 200 can then be re-entered.

[0056] The method and block 200 can be entered in response to a trigger to automatically check the need for calibration. For example, such a trigger may include detecting the control of the work implement to a target position or the execution of a target range of movement. The device can be configured to process scan data and calibration trigger data in response to a control action or signal that moves a portion of the work implement to the target position or executes the target range of movement to determine deviations.

[0057] Scan data for a calibration operation can refer to data generated based on environmental scanning during and / or after the calibration operation. The scanner is positioned and configured such that the scan includes an area in which the work implement portion and the main body are visible.

[0058] The device can be configured to process scan data, either in block 220 or already between blocks 200 and 220, to determine one or more positional differences between the work implement portion and the main body. This can be performed to determine the current position of the work implement relative to the main body and / or the range of movement of the work implement relative to the main body. In block 220, the determined positional differences can be compared with one or more target position parameters of calibration trigger data, or based on the calibration trigger data. The position parameters may include a calibration trigger threshold associated with the target position of the work implement portion relative to the main body and / or the target range of movement of the work implement portion relative to the main body. The need for calibration of the work implement can be detected at 230 based on the comparison of the determined positional differences with the calibration trigger threshold.

[0059] The calibration trigger data may indicate, in some embodiments, at a target location on the working implement portion, at least one reference positional difference or a set of positional differences between the working implement portion and the main body portion. Therefore, block 220 may include comparing the determined deviation with the reference differences in the calibration trigger data.

[0060] Depending on the processing implementation and / or scanner type applied, calibration trigger data may include reference values ​​for block 220, image data indicating target location and / or target range, real-time sensor value information and / or point cloud data, or other types of reference environmental scan data indicating the position of the workpiece relative to the subject at the target location and / or thresholds, or indicating the target movement range of the workpiece relative to the subject.

[0061] Calibration trigger data may include or be supplemented with position sensor data from or associated with the working implement, indicating the position of the working implement relative to the main body. This real-time information can be received from the mining vehicle's memory or bus. The device can be configured to process position sensor data and scan data in block 220 to determine deviations. For example, comparing the boom or bucket orientation relative to the main body based on processed scan data with boom or bucket orientation sensor values ​​from the boom position sensor detects the need for calibration.

[0062] The scan data may include scanned point cloud data. The device can be configured to process the point cloud data in block 220 or another prior step to determine the position of the working implement portion relative to the main body portion. The positional difference between the working implement portion and the main body portion can be compared to a reference value from calibration trigger data, or based on the processed calibration trigger data.

[0063] Scan data and calibration trigger data may include point cloud data. Therefore, box 220 may include:

[0064] - Receive reference point cloud data for the working equipment and the main body.

[0065] - The scanned point cloud data and the scanned reference point cloud data are processed to perform point cloud matching operations, thereby detecting the working equipment and main body parts in the scanned point cloud data; and

[0066] - Process the scanned point cloud data to determine the deviation of the frame 230, and in some embodiments, determine the distance between the detected working tool portion and the main body portion in the scanned point cloud data.

[0067] In this embodiment, the reference point cloud data may be a pre-calibrated point cloud dataset that indicates the specific position (e.g., extreme position) that the working tool part should be in relative to the main body part.

[0068] Calibration trigger data can include non-point cloud data. In block 220, the device can be configured to process scanned point cloud data and position sensor data from the position sensors of the work implement to determine deviations. In block 230, the device can be configured to process both position sensor data and point cloud data. Therefore, the calibration trigger data does not necessarily include reference point cloud data; instead, the position or movement detected based on scanned data received from the scanner can be immediately compared with the sensor data. For example, the need for calibration can be detected using the boom position based on processed point cloud data and boom orientation sensor values ​​from the boom position sensor. Thus, when the boom should be at its highest position based on sensor data from the control system, but the device detects that the boom has not reached its highest position based on processed scanned data, the need for calibration of the work implement can be detected.

[0069] In some embodiments, the apparatus is configured to determine a deviation based on image processing in block 220. Therefore, an image based on scan data can be compared with a reference image of calibration trigger data. The scan data may include image data, or be processed to generate image data. The calibration trigger data may include reference image data indicating a target position of the working implement portion relative to the body portion at a target location and / or a target range of movement of the working implement portion relative to the body portion. Therefore, block 220 may include image data and reference image data processed from the scan data to determine the at least one deviation.

[0070] The device can be configured to process image data to detect work implement parts within a scanned image or a set of images and within a reference image based on calibration trigger data. The deviation is based on the difference detected in the work implement parts in the scanned image and the reference image. Therefore, the visual reference data can be stored within factory calibration and used as calibration trigger data.

[0071] It should be understood that reference data may include data other than image data, such as point cloud data. The processing in box 220 may include comparing the positional difference (between the machine tool and the main body) based on image analysis of the scan data with a reference value based on calibration trigger data or a reference value based on processed calibration trigger data.

[0072] Scan data can indicate obstacles. The device can be configured to determine the position of obstacles and the position of the work equipment relative to obstacles based on processed scan data, such as point cloud data indicating obstacles and work equipment. The device can process the scan data to determine whether the work equipment cannot or will not be able to reach the target position or perform the target range of movement. Therefore, this determination can be performed before or after block 200. In the example, the determination is performed if a need for calibration is detected based on blocks 220 and 230 due to deviations exceeding an associated calibration trigger threshold. Therefore, this determination can be another check or condition in the calibration need determination procedure. Based on the processed scan data, the position of obstacles can be compared with the current or future expected position of the work equipment. Therefore, the compared position of the work equipment can be the position of the work equipment after being controlled to the target position, or the position that the work equipment is expected to reach based on the calibration trigger data after being controlled to the target position.

[0073] This device can be configured to control changes in the target position or target movement range in response to the detection that the work implement is unable to reach the target location or perform the target movement range due to obstacles. The target position or target movement range can be determined based on obstacle location information and vehicle size data.

[0074] The device can be configured to control mining vehicles to move the work implement to a changed target location or perform a target movement range. Return to box 200, and then the need for calibration can be determined based on the scan data processed after moving the work implement to the changed target location or performing the changed target movement range. In another example, there may be another input causing a change in the target location or target movement range, such as a control signal in response to detecting that the work implement is about to collide with an obstacle. In another embodiment, instead of changing the target location or target movement range, the mining vehicle can be controlled to travel to another location on the site where there are no obstacles preventing access to the target location or performance of the target movement range. These features allow the calibration trigger to automatically adapt to the physical constraints of the current operating environment.

[0075] Compared to conventional manual verification, the time required for calibration triggering can be reduced. The maximum range of motion of the work equipment is not required, and the need for calibration can be reliably detected even in confined work areas (such as in low-profile tunnels where the work equipment would impact the tunnel ceiling at its highest point). Therefore, calibration triggering can be evaluated regardless of external physical limitations, and the vehicle does not need to be driven away from its production location or area.

[0076] The following provides some additional example embodiments with reference to a mining vehicle (such as vehicle 10) configured to perform the corresponding embodiments. However, it should be understood that at least some features of the method and at least some embodiments thereof can be implemented by a control device external to the mining vehicle, such as a control device of a control system 40 that controls a group of mining vehicles. This control device can perform the method and its embodiments based on information received from the mining vehicle, such as scan data.

[0077] Figure 3 A mining vehicle (such as mining vehicle 10) configured to perform a calibration procedure is shown. Figure 2 The method and the arrangement and elements of at least some embodiments thereof. In this example, the drivetrain 300 of the mining vehicle includes an electric motor, such as motor 26, driven by an inverter unit (INU) 302. The INU 302 includes an inverter, which may also be referred to in at least some cases as a frequency converter, AC drive, variable speed drive (VSD), or variable frequency drive (VFD), which controls the voltage and frequency of the power supplied to the AC motor to control the torque and speed of the motor.

[0078] The control system or unit 310 (such as control unit 30) may be configured to perform Figure 2 The apparatus includes at least some features of the method. Control unit 310 may be configured to perform a calibration control (CC) function or routine 312 that performs the method and at least some embodiments thereof. Control unit 310 may include one or more computing units / processors that execute computer program code stored in memory. In some embodiments, the control unit may be connected to one or more other control units of the mining vehicle's control system via a controller local area network (CAN) bus.

[0079] Control unit 310 may be connected to actuator control unit or (sub)system 320, which may be connected to boom actuator (BoA) 322 and bucket actuator (BuA) 324. Control unit 310 may be configured to transmit control signals, in or for block 200, according to a calibration procedure and the action being performed to actuator control system 320. Control system 320 controls BoA 322 and BuA 324 based on the control signals to correspondingly control boom 14 and bucket 16. It should be noted that boom and bucket may have separate actuator controls that may be directly connected to control unit 310. Actuator control (sub)system may include or be connected to a hydraulic circuit with lift and tilt actuator control valves for proportionally controlling the flow rate of pressurized hydraulic fluid to the respective lift and tilt hydraulic actuators in accordance with the control signals.

[0080] Control unit 310 can be connected to one or more scanners 36. Control unit 310 can be configured to receive and process scan data from scanners 36. User interface (UI) 330 can be connected to control unit 310 locally at the mining vehicle or via a communication unit. UI may include, for example, a joystick, touchscreen, or other input components, through which input signals from the user can be provided to control unit to control the mining vehicle and its autonomous operation and calibration-related actions.

[0081] The control unit 310 can be directly or indirectly connected to other units in the mining vehicle, such as other sensors or sensor systems 340 configured to provide input to the control unit 310. Examples of such sensors include boom or bucket limit sensors, boom or bucket position detection sensors, hydraulic sensors, and bucket pressure measurement sensors. The control unit can be connected to drivetrain components, such as INU 302 or another motor control unit, motor, or sensor in the drivetrain. The control unit can be connected to a communication unit and include or be connected to a memory from which calibration trigger data can be received.

[0082] Figure 2 The calibration trigger assessment may include controlling the work implement portion to execute a trajectory from a starting position to an end or target position. As already discussed, the calibration trigger data may define one or more threshold parameters to determine the permissible deviation between the target position and the current position of the work implement portion and / or between the target range of movement and the current range of movement of the work implement.

[0083] Figure 4a An example is shown in which the calibration action includes the movement range r1 of the bucket 16 from the lowest position to the highest position. The lowest position may represent the starting point, while the highest position may represent the target position or the end position of the target range, or vice versa.

[0084] exist Figure 4a In the example, the bucket is able to move the entire r1 required to trigger calibration. However, in some cases, there may be obstacles preventing the workpiece from reaching the target location or performing the target range of movement. For example, in Figure 4b In the tunnel, the top 400 of the tunnel can stop the movement range up to r2, and thus prevent reaching the top position or moving the entire range r1. Figure 4b In the example, the target position or target movement range can be changed to avoid the bucket 16 hitting the top of the tunnel 400, or changed from r1 to r2 or less than r2.

[0085] It should be understood that various other features may complement or differentiate at least some of the embodiments described above. For example, further user interaction and / or automation functions may be present to further assist operators in monitoring calibration procedures and / or controlling calibration verification procedures.

[0086] Figure 3 The mining vehicle 10 and system disclosed herein are provided only as examples of embodiments that can be implemented as described herein. The embodiments are applicable to a variety of other types and configurations of mining vehicles and control units. Some example embodiments have been shown above, in which at least some embodiments can be executed by control units 30, 310 as actuators.

[0087] An electronic device including electronic circuitry can be a means for implementing at least some of the embodiments illustrated above, such as combining... Figure 2 The illustrated method and features are shown for control units 30 and 310. This device may be included in at least one computing device connected to or integrated into the control system of the mining vehicle. Such a control system may be an intelligent onboard control system that controls the operation of various subsystems of the mining vehicle, such as hydraulic systems, motors, etc.; in one example, the subsystem is... Figure 3 The subsystem shown. Such a control system is typically distributed and comprises many independent modules connected, for example, via a bus system of CAN nodes.

[0088] Figure 5 A simplified example apparatus capable of supporting at least some embodiments of the present invention is shown. A device 500 is shown, which can be configured to perform at least some embodiments related to controlling calibration-related features of a mining vehicle as described above. In some embodiments, device 500 includes or implements control unit 30 or 310, or includes or implements other modules, functions, and / or units for performing at least some of the above embodiments.

[0089] The device 500 includes a processor 510, which may include, for example, a single-core or multi-core processor. The processor 510 may include more than one processor. The processor may include at least one application-specific integrated circuit (ASIC). The processor may include at least one field-programmable gate array (FPGA). The processor may be configured to perform actions, at least in part, via computer instructions.

[0090] Device 500 may include memory 520. The memory may include random access memory and / or permanent memory. The memory may be at least partially accessible by processor 510. The memory may be at least partially included in processor 510. The memory may be at least partially external to device 500 but accessible by the device. Memory 520 may be a component for storing information, such as parameters 522 affecting the operation of the device. Parameter information may in particular include parameter information affecting calibration control-related characteristics, such as thresholds.

[0091] Memory 520 may be a non-transitory computer-readable medium including computer program code 524, which includes computer instructions configured to be executed by processor 510. When computer instructions configured to cause a processor to perform certain actions are stored in memory, and the device is generally configured to operate under the guidance of a processor using computer instructions from memory, the processor and / or at least one of its processing cores may be considered configured to perform said certain actions. The processor, together with the memory and computer program code, may form components for performing at least some of the method steps in the currently disclosed method steps within the device.

[0092] Device 500 may include a communication unit 530, which includes a transmitter and / or a receiver. The transmitter and receiver may be configured to transmit and receive, for example, data and control commands inside or outside a mining vehicle. For example, the transmitter and / or receiver may be configured to operate according to Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), 3GPP New Radio Access Technology (N-RAT), Wireless Local Area Network (WLAN), and / or Ethernet standards.

[0093] Device 500 may include or be connected to a UI. The UI may include at least one of a display 540, a speaker, and an input device 550 (such as a keyboard, joystick, touchscreen, and / or microphone). The UI may be configured to display a view based on the embodiments described above. Users can operate the device and control at least some of the features described above. In some embodiments, users can control the mining vehicle 10 via the UI, such as manually driving the vehicle, operating the boom, initiating automatic loading, changing modes, changing parameter sets, changing the display view, modifying parameter 522, etc.

[0094] The device 500 may also include and / or be connected to other units, devices and systems, such as one or more sensor devices 560 configured to detect the environment of the device 500 or the properties of the mining vehicle.

[0095] The processor 510, memory 520, communication unit 530, and UI can be interconnected in various ways via electrical leads within the device 500. For example, each of the aforementioned devices can be connected to a main bus within the device to allow the devices to exchange information. However, as those skilled in the art will understand, this is merely an example, and various ways of interconnecting at least two of the aforementioned devices may be chosen depending on the embodiment.

[0096] The apparatus (such as device 500, mining vehicle 10, or control unit 30 or 310) may be configured to: receive scan data based on an environmental scan performed by a scanner, wherein the scan data indicates at least one position of a working tool portion relative to a body portion of the main body; receive calibration trigger data including a calibration trigger threshold indicating at least one of the following: a threshold difference between the main body portion and the working tool portion controlled to a target position, or a threshold difference from a target range of movement of the working tool portion relative to the main body portion; and process the scan data and calibration trigger data to determine at least one of the following:

[0097] - Does the deviation between the target position of the work equipment and the current position of the work equipment based on scan data meet the calibration trigger threshold, or

[0098] - Does the deviation between the target movement range of the work implement and the current movement range of the work implement based on scan data meet the calibration trigger threshold?

[0099] In response to the at least one deviation satisfying the calibration trigger threshold, the need for calibration work equipment relative to the main body is detected.

[0100] The device can also be configured to initiate a calibration procedure relative to the main body of the work equipment when a calibration requirement is detected, and / or send a signal to the user interface to notify the operator of the mining vehicle that calibration is required.

[0101] The device can also be configured to process scan data and calibration trigger data in response to control actions that move a portion of the work implement to a target location or perform a target movement range in order to determine deviations.

[0102] The device can also be configured to determine whether the working implement can reach the target location or perform the target movement range, despite the presence of obstacles.

[0103] The device can also be configured to, in response to detecting that the work implement is unable to reach the target location or perform the target movement range due to an obstacle, control a change in the target location or target movement range, control the mining vehicle to move the work implement to the changed target location or perform the target movement range, and, after moving the work implement to the changed target location or performing the changed target movement range, detect the need for calibration based on processed scan data.

[0104] The device can also be configured to determine the positional difference between the work tool part and the main body part based on the processed scan data, and to detect the need for calibration of the work tool based on the determined positional difference and calibration trigger threshold.

[0105] The scan data may include scanned point cloud data. Determining the at least one deviation may include:

[0106] - Receive reference point cloud data for the working equipment and the main body.

[0107] - Processes scanned point cloud data and scanned reference point cloud data to perform point cloud matching operations, thereby detecting the working equipment portion and the main body portion in the scanned point cloud data; and

[0108] - Process the scanned point cloud data to determine the distance between the detected machine tool portion and the main body portion in the scanned point cloud data.

[0109] Scan data and calibration trigger data may include image data. Processing scan data and calibration trigger data may include processing image data to:

[0110] - Detect the working equipment portion in the scanned data image and the reference image of the calibration trigger data, and

[0111] - The deviation is determined based on the difference between the working equipment portion detected in the scanned image and the reference image.

[0112] Calibration trigger data may include position sensor data from the position sensor of the work implement, which indicates the position of the work implement relative to the main body.

[0113] The working implements may include buckets or platforms for loading and / or transporting vehicles. Mining vehicles may be configured for autonomous driving. The device may be configured to detect the need for calibration during autonomous driving of the mobile mining vehicle.

[0114] While the foregoing examples illustrate the principles of the invention in one or more specific applications, it will be apparent to those skilled in the art that many modifications may be made in terms of form, use, and implementation details.

[0115] The verbs “comprising” and “including” are used in this document as open-ended restrictions that neither exclude nor require the presence of unrecited features. Unless otherwise expressly stated, the features recited in the dependent claims may be freely combined with each other. Furthermore, it should be understood that the use of “a” or “an” throughout this document, i.e., the singular form, does not exclude a plurality.

Claims

1. A calibration device for a mining vehicle, the mining vehicle comprising a main body, an actuator, a work implement, and a scanner, wherein the actuator is connected to the work implement and the main body and is adapted to change a position of the work implement relative to the main body, and a work implement part of the work implement and a main body part of the main body are indicated based on scan data of an environment scan performed by the scanner, the calibration device comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the calibration device at least to: - receive the scan data based on the environment scan performed by the scanner, wherein the scan data indicates at least one position of a work implement part of the work implement relative to a main body part of the main body, - receive calibration trigger data comprising a calibration trigger threshold value, the calibration trigger threshold value indicating at least one of a threshold difference between the main body part and the work implement part controlled to a target position, or a threshold difference from a target movement range of the work implement part relative to the main body part, - process the scan data and the calibration trigger data to determine at least one of: - whether a deviation between the target position of the work implement part and a current position of the work implement part based on the scan data satisfies the calibration trigger threshold value, or - whether a deviation between the target movement range of the work implement part and a current movement range of the work implement part based on the scan data satisfies the calibration trigger threshold value, and - in response to the at least one deviation satisfying the calibration trigger threshold value, detect a need to calibrate the work implement relative to the main body part.

2. The calibration device of claim 1, wherein, the at least one memory and the computer program code configured to, with the at least one processor, cause the calibration device to, upon detecting the need for the calibration, start a calibration procedure to calibrate the work implement relative to the main body part, and / or cause a signal to a user interface to inform an operator of the mining vehicle of the need to perform the calibration.

3. The calibration device according to any one of claims 1-2, wherein, the at least one memory and the computer program code configured to, with the at least one processor, cause the calibration device to process the scan data and the calibration trigger data in response to a control action to move the work implement part to the target position or to perform the target movement range to determine the deviation.

4. The calibration device according to any one of claims 1-2, wherein, the scan data indicating an obstacle, and the at least one memory and the computer program code configured to, with the at least one processor, cause the calibration device to determine whether the work implement can reach the target position or perform the target movement range despite the obstacle.

5. The calibration device of claim 4, wherein, The at least one memory and the computer program code are configured to, with the at least one processor, cause the calibration device to, in response to detecting that the work implement is unable to reach the target position or perform the target movement range due to the obstacle, control a change of the target position or the target movement range, control the mining vehicle to move the work implement to the changed target position or perform the target movement range, and after moving the work implement to the changed target position or performing the changed target movement range, detect a need for calibration based on processing the scan data.

6. The calibration device of any one of claims 1-2, wherein, The at least one memory and the computer program code are configured to, with the at least one processor, cause the calibration device to: - determine a position difference between the work implement part and the body part based on processing the scan data, and - detect a need for calibrating the work implement based on the determined position difference and the calibration trigger threshold.

7. The calibration device of any one of claims 1-2, wherein, The scan data comprises scan point cloud data, and determining the at least one deviation comprises: - receiving reference point cloud data of the work implement part and the body part, - processing the scan point cloud data and the scanned reference point cloud data to perform a point cloud matching operation to detect the work implement part and the body part in the scan point cloud data; and - processing the scan point cloud data to determine a distance between the detected work implement part and the body part in the scan point cloud data.

8. The calibration device of any one of claims 1 to 2, wherein, The scan data and the calibration trigger data comprise image data, and processing the scan data and the calibration trigger data comprises processing the image data to: - detect the work implement part in an image of the scan data and a reference image of the calibration trigger data, and - determine the deviation based on a difference of the detected work implement part within the image of the scan data and within the reference image.

9. The calibration device of any one of claims 1-2, wherein, The calibration trigger data comprises position sensor data from a position sensor of the work implement, the position sensor data indicating a position of the work implement relative to the body part.

10. The calibration device of any one of claims 1-2, wherein, The work implement comprises a shovel or a platform of a loading and / or hauling vehicle, and the mining vehicle is configured for autonomous driving, and the calibration device is configured to detect the need for calibration during the autonomous driving of the mobile mining vehicle.

11. A calibration method for a mining vehicle, the mining vehicle comprising a body, an actuator, a work implement, and a scanner, wherein the actuator is connected to the work implement and the body and adapted to change a position of the work implement relative to the body, the method comprising: - receiving scan data based on an environmental scan performed by the scanner, wherein the scan data indicates at least one position of a work implement part of the work implement relative to a body part of the body, - Receive calibration trigger data, the calibration trigger data including a calibration trigger threshold, the calibration trigger threshold indicating at least one of the following: a threshold difference between the main body portion and the working implement portion controlled to a target position, or a threshold difference from the target movement range of the working implement portion relative to the main body portion. - Process the scan data and the calibration trigger data to determine at least one of the following: - Whether the deviation between the target position of the working tool and the current position of the working tool based on the scan data meets the calibration trigger threshold, or - Whether the deviation between the target movement range of the working implement and the current movement range of the working implement based on the scan data meets the calibration trigger threshold, and - In response to the at least one deviation satisfying the calibration trigger threshold, a need for calibrating the work equipment is detected.

12. The calibration method of claim 11, further comprising: When the need for calibration is detected, a calibration procedure is initiated to calibrate the working implement relative to the main body, and / or a signal is sent to the user interface to notify the operator of the mining vehicle that the calibration is required.

13. The calibration method according to claim 11 or 12, further comprising: - Determine whether the work implement can reach the target location or perform the target movement range, despite the presence of the obstacle. - In response to detecting that the working implement is unable to reach the target location or perform the target movement range due to the obstacle, control the change of the target location or the target movement range. - Control the mining vehicle to move the working equipment to the changed target location or execute the target movement range, and - After moving the work equipment to the changed target location or performing the changed target movement range, the need for calibration is detected based on the processed scan data. - In response to a control action that moves the work implement part to the target position or performs the target movement range, the scan data and the calibration trigger data are processed to determine the deviation.

14. The calibration method of any one of claims 11-12, wherein, The scan data includes scanned point cloud data, and determining the at least one deviation includes: - Receive reference point cloud data from the working equipment section and the main body section. - Process the scanned point cloud data and the scanned reference point cloud data to perform a point cloud matching operation, thereby detecting the working equipment portion and the main body portion in the scanned point cloud data; and - Process the scanned point cloud data to determine the distance between the working tool portion and the main body portion detected in the scanned point cloud data.

15. A computer program comprising code, said code being configured, when executed in a data processing apparatus, to cause the data processing apparatus to perform the calibration method according to any one of claims 11-14.

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