Controlling mobile mining vehicle

Abstract

An apparatus, method and computer program product for: determining information of a first state of a plurality of predefined states of a mobile mining vehicle; determining, based on the first state, a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state of the plurality of predefined states of the mobile mining vehicle; determining contextual information associated with the plurality of state transition options; based on the plurality of state transition options and the contextual information associated with the plurality of state transition options, controlling the provision of at least one control element on a user interface to control the mobile mining vehicle; the mobile mining vehicle is controlled to transition from the first state to the second state based on user input received via the at least one control element.

Description

Technical Field

[0001] The present application generally relates to the process of controlling a mobile mining vehicle. More specifically, the present application relates to controlling a transition of a mobile mining vehicle from a first state to a second state. Background Art

[0002] Mobile mining vehicles are configured to perform different operations, and the operator of a mobile mining vehicle may need to monitor and control the vehicle based on a large amount of information. For example, a rock drilling rig may include multiple booms with rock drilling units that are capable of drilling simultaneously, and therefore, multiple drilling operations may be performed simultaneously. When an operator controls a fleet of mobile mining machines, the flow of information is even greater. Summary of the invention

[0003] Examples of different aspects of the invention have been presented in the claims. The scope of protection sought by various embodiments of the invention is presented by the independent claims. Examples and features described in this specification that do not fall within the scope of the independent claims (if any) should be interpreted as examples that help understand the various embodiments of the invention.

[0004] According to a first aspect of the present invention, there is provided an apparatus comprising components for: determining information about a first state of a plurality of predefined states of a mobile mining vehicle; based on the first state, determining a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state of the plurality of predefined states of the mobile mining vehicle; determining context information associated with the plurality of state transition options; based on the plurality of state transition options and the context information associated with the plurality of state transition options, controlling provision of at least one control element on a user interface to control the mobile mining vehicle; and controlling the mobile mining vehicle to transition from the first state to the second state based on user input received via the at least one control element.

[0005] According to a second aspect of the present invention, a method is provided, comprising: determining information about a first state of a plurality of predefined states of a mobile mining vehicle; based on the first state, determining a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state of the plurality of predefined states of the mobile mining vehicle; determining context information associated with the plurality of state transition options; based on the plurality of state transition options and the context information associated with the plurality of state transition options, controlling provision of at least one control element on a user interface to control the mobile mining vehicle; and controlling the mobile mining vehicle to transition from the first state to the second state based on user input received via the at least one control element.

[0006] According to a third aspect of the present invention, a computer program is provided, comprising instructions for causing an apparatus to at least perform the following operations: determine information about a first state among a plurality of predefined states of a mobile mining vehicle; based on the first state, determine a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state among the plurality of predefined states of the mobile mining vehicle; determine context information associated with the plurality of state transition options; based on the plurality of state transition options and the context information associated with the plurality of state transition options, control provision of at least one control element on a user interface to control the mobile mining vehicle; and control the mobile mining vehicle to transition from the first state to the second state based on user input received via the at least one control element.

[0007] According to a fourth aspect of the present invention, there is provided an apparatus comprising at least one processor and at least one memory, the at least one memory comprising computer program code, the at least one memory and the computer program code being configured to, through the at least one processor, cause the apparatus to at least perform the following operations: determine information about a first state among a plurality of predefined states of a mobile mining vehicle; determine, based on the first state, a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state among the plurality of predefined states of the mobile mining vehicle; determine context information associated with the plurality of state transition options; control, based on the plurality of state transition options and the context information associated with the plurality of state transition options, to provide at least one control element on a user interface to control the mobile mining vehicle; and control the mobile mining vehicle to transition from the first state to the second state based on user input received via the at least one control element.

[0008] According to a fifth aspect of the present invention, a non-transitory computer-readable medium is provided, comprising program instructions for causing an apparatus to at least perform the following operations: determine information about a first state among a plurality of predefined states of a mobile mining vehicle; based on the first state, determine a plurality of state transition options for converting the mobile mining vehicle from the first state to a second state among the plurality of predefined states of the mobile mining vehicle; determine context information associated with the plurality of state transition options; based on the plurality of state transition options and the context information associated with the plurality of state transition options, control providing at least one control element on a user interface to control the mobile mining vehicle; and based on user input received via the at least one control element, control the mobile mining vehicle to convert from the first state to the second state.

[0009] According to a sixth aspect of the present invention, a computer-readable medium is provided, comprising program instructions for causing an apparatus to at least perform the following operations: determine information about a first state among a plurality of predefined states of a mobile mining vehicle; based on the first state, determine a plurality of state transition options for converting the mobile mining vehicle from the first state to a second state among the plurality of predefined states of the mobile mining vehicle; determine context information associated with the plurality of state transition options; based on the plurality of state transition options and the context information associated with the plurality of state transition options, control providing at least one control element on a user interface to control the mobile mining vehicle; and based on user input received via the at least one control element, control the mobile mining vehicle to convert from the first state to the second state. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Some example embodiments will be described below with reference to the accompanying drawings:

[0011] Figure 1 A block diagram illustrating an example apparatus in which examples of the disclosed embodiments may be applied;

[0012] Figure 2 A block diagram illustrating another example apparatus in which examples of the disclosed embodiments may be applied;

[0013] Figure 3 An example loader is shown;

[0014] Figure 4 An example method incorporating aspects of the example embodiments is illustrated;

[0015] Figure 5 An example user interface is shown;

[0016] Fig. 6A and 6B An example user interface when controlling a mobile mining vehicle is illustrated;

[0017] Figure 7 An example state machine is illustrated. DETAILED DESCRIPTION

[0018] The following embodiments are exemplary only. Although the specification refers to "one", "an" or "some" embodiments in many places in the text, this does not necessarily mean that each reference is to the same embodiment, or that a particular feature only applies to a single embodiment. Single features in different embodiments can also be combined to provide other embodiments.

[0019] Example embodiments relate to control of a mobile mining vehicle, such as an autonomous mining vehicle.

[0020] Existing mobile mining vehicles are designed for manual control. However, user interfaces for controlling mobile mining vehicles can be complex, containing many buttons, views, controls, indicators, and other content. Such user interfaces can be extremely complex and require the user to have a deep understanding of the characteristics of the mobile mining vehicle and how the vehicle will be operated. This makes it easy for a user (e.g., an operator of a mobile mining vehicle) to inadvertently control the mobile mining vehicle in a manner that causes operational failure, damage to the mobile mining vehicle or the environment, or is inefficient or inappropriate for the situation at hand.

[0021] An example embodiment relates to an apparatus configured to: determine information of a first state among a plurality of predefined states of a mobile mining vehicle; determine, based on the first state, a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state among the plurality of predefined states of the mobile mining vehicle; determine context information associated with the plurality of state transition options; control provision of at least one control element on a user interface to control the mobile mining vehicle based on the plurality of state transition options and the context information associated with the plurality of state transition options; and control the mobile mining vehicle to transition from the first state to the second state based on user input received via the at least one control element.

[0022] Figure 1 1 is a block diagram depicting an apparatus 100 operating according to an exemplary embodiment of the present invention. The apparatus 100 may be, for example, a module, a chip or a chipset included in an electronic device, such as an automation or control system. The apparatus 100 includes one or more control circuits, such as at least one processor 110 and at least one memory 160, the at least one memory including one or more algorithms, such as computer program instructions 120, wherein the at least one memory 160 and the computer program instructions are configured to cause the apparatus to perform any of the exemplary functions described below through the at least one processor 110.

[0023] exist Figure 1 In an example, the processor 110 is a control unit that is operatively connected to read from and write to the memory 160. The processor 110 may also be configured to receive control signals received via the input interface, and / or the processor 110 may be configured to output control signals via the output interface. In an example embodiment, the processor 110 may be configured to convert the received control signals into appropriate instructions to control the functions of the device.

[0024] The at least one memory 160 stores computer program instructions 120 which, when loaded into the processor 110, control the operation of the apparatus 100, as described below. In other examples, the apparatus 100 may include more than one memory 160 or different types of storage devices.

[0025] The computer program instructions 120 or a part of such computer program instructions for allowing the implementation of the exemplary embodiments of the present invention may be loaded into the apparatus 100 by the manufacturer of the apparatus 100, by the user of the apparatus 100 or by the apparatus 100 itself based on a download procedure, or these instructions may be pushed by an external device to the apparatus 100. The computer program instructions may arrive at the apparatus 100 via an electromagnetic carrier signal, or may be copied from a physical entity such as a computer program product, a storage device or a recording medium, for example a USB stick, a compact disc (CD), a compact disc-read only memory (CD-ROM), a digital versatile disc (DVD) or a Blu-ray disc.

[0026] Figure 2 is a block diagram depicting an apparatus 200 according to an exemplary embodiment of the present invention. The apparatus 200 may be an electronic device, such as a module included in an automation system or a control system, a personal computer (PC), a laptop, a desktop, a wireless terminal, a communication terminal, a computing device, etc. In the following example, it is assumed that the apparatus 200 is a control device for controlling a mobile mining vehicle.

[0027] exist Figure 2 In the example embodiment of FIG. 1 , apparatus 200 includes what is illustrated as including apparatus 100 , a display 210 , a user interface 220 for interacting with computing device 200 , and a communication module 230 .

[0028] The display 210 may also be configured to function as a user interface. For example, the display may be a touch screen display. In addition or as an alternative, the user interface may also include manually operated controls such as buttons, keys, touch pads, joysticks, styluses, pens, rollers, rockers, keypads, keyboards, game controllers, or any input mechanism suitable for inputting and / or accessing information. In an example embodiment, the display 210 and / or the user interface 220 may be located external to the device 200 but in communication with the device 200. For example, the display 210 and / or the user interface 220 may be located in a remote operating room, etc.

[0029] The apparatus 200 may be configured to communicate with one or more other devices (such as different sensors and / or control units) using the communication module 230. The communication may include receiving and / or transmitting data via a wireless or wired connection. The communication module 230 may also be configured to establish a radio communication with another device using, for example, a cellular network, Bluetooth, a WiFi connection, an ultra-wideband (UWB) connection, a chirp spread spectrum (CSS) connection, etc.

[0030] According to an example embodiment, the apparatus 200 is operatively connected to a mobile mining vehicle.For example, the apparatus 200 may include a control unit as part of an automated system controlling the mobile mining vehicle.

[0031] The mobile mining vehicle may include an automated mining vehicle configured to perform at least certain tasks autonomously, such as an autonomous mining vehicle. An automated mining vehicle operating in an autonomous mode may be configured to, for example, receive a task to be performed, sense the environment of the mobile mining vehicle, and autonomously perform the task taking into account the environment. An automated mining vehicle operating in an autonomous mode may be configured to operate independently, but may be externally controlled in certain operating areas or under certain operating conditions (e.g., in an emergency).

[0032] A mobile mining vehicle may include a work machine such as a truck, a bulldozer, a dump truck, a box truck, a mobile rock drill or milling machine, a mobile reinforcement machine, a bucket loader, or some other type of mobile mining vehicle.

[0033] According to an example embodiment, the apparatus 200 is configured to receive information about a mobile mining vehicle. The apparatus 200 may be configured to receive information about the mobile mining vehicle from different sources, such as measurement data provided by one or more sensors, data provided by an algorithm, simulation data, data provided by a state machine, etc. The measurement data may include raw data or processed data.

[0034] According to an example embodiment, the apparatus 200 is configured to communicate with a state machine that controls operations performed by a mobile mining vehicle.

[0035] A state machine includes a software component that models system behavior by defining a finite set of predefined states of the system and transitions between these states. A state machine may include, for example, a finite state machine (FSM), which is configured to be in one of a finite number of states at a given time. As another example, a state machine may include a hierarchical state machine (HSM), which may include hierarchical nested states consisting of one or more substates and superstates. A substate includes a state that can be active when the superstate of the state is active. A superstate may include one or more substates. Therefore, if a system is in a substate, it may also be in a superstate. In an HSM, a state may include another state machine.

[0036] The state machine may include, for example, a master state machine application of a mobile mining vehicle configured to control the overall mission logic of the mobile mining vehicle.State machines may be configured to control other state machines, for example, the master state machine may be configured to control a state machine that manages mining operations.

[0037] Communicating with the state machine may include, for example, requesting information about states stored by the state machine and / or receiving information about states stored by the state machine. The state machine may be implemented, for example, in the apparatus 200, or may be implemented in a server located within a mobile mining vehicle that is operatively connected to the apparatus 200.

[0038] A state includes a description of the condition of a system, such as a mobile mining vehicle, while performing an operation or awaiting transition from a first state to a second state. FSMs and HSMs may include a starting state, an ending state, and a number of intermediate states. States may also have sub-states. For example, assuming that a mobile mining vehicle includes a main state for automatic setup, the automatic setup state may include sub-states related to the setup of different mining operations, such as teleoperation, autonomous drilling, or autonomous transition.

[0039] A state can also define an event that triggers a transition from a first state to a second state and / or one or more actions that occur when the state machine enters or exits the state. Thus, the system can transition from one state to another based on a condition or triggering event.

[0040] The transition includes a definition of how the state machine reacts when the condition for the state transition is met, or how the state machine reacts to an event that triggers the state machine to transition from a first state to a second state. The definition of how the state machine reacts may include, for example, a definition of at least one state to which the state machine is configured to transition when a predefined condition is met or when a predefined event occurs. For example, the transition may define that the state machine exits the first state and enters the second state in response to a predefined event. As another example, the transition may include the following definition: when a predefined condition is met, the state machine exits the first state and enters the second state. The transition may also include a definition of the action that occurs at the time of the transition.

[0041] According to an example embodiment, the apparatus 200 is configured to enable a dialog between a mobile mining vehicle and a user, such as an operator of the mobile mining vehicle. The operator of the mobile mining vehicle may include a local operator or a remote operator. The operator may, for example, instruct the mobile mining vehicle to perform one or more autonomous tasks.

[0042] According to an example embodiment, enabling a dialog between a mobile mining vehicle and a user includes: determining a status of the mobile mining vehicle; and based on the status of the mobile mining vehicle, controlling provision of at least one user interface element on a user interface to control the mobile mining vehicle. The at least one user interface element may include a single user interface element or a plurality of user interface elements for controlling the mobile mining vehicle.

[0043] The apparatus 200 may be configured to control at least one user interface element provided on a user interface within a mobile mining vehicle (eg, user interface 220 ) and / or on a remote user interface (eg, a user interface in a control room).

[0044] Controlling the provision of at least one user interface element may include, for example, asking the operator one or more questions and providing answer options to the questions.The apparatus 200 may be configured to provide questions and answer options based on the status of the mobile mining vehicle.

[0045] Without limiting the scope of the claims, an advantage of providing answer options for questions based on the status of the mobile mining vehicle is that by providing a limited number of relevant answer options related to the status of the mobile mining vehicle, information that is not relevant in the current situation can be excluded and therefore reduce the number of errors that the operator may make when controlling the mobile mining vehicle.

[0046] As described above, the apparatus 200 may be configured to control the provision of at least one user interface element on a user interface. The user interface element may include, for example, a control element that allows interaction with the mobile mining vehicle, or an information element that provides information about the status of the mobile mining vehicle. The information element may provide, for example, one or more instructions to the user and / or status updates related to the mobile mining vehicle. The user interface element may also include a combination of a control element and an information element.

[0047] According to an example embodiment, the apparatus 200 is configured to determine a state of a mobile mining vehicle. Determining the state of the mobile mining vehicle may include, for example, receiving information about the state from a state machine, or determining the state based on information received from a state machine.

[0048] The state of the mobile mining vehicle may include, for example, a current state of the mobile mining vehicle. The current state of the mobile mining vehicle may include, for example, an idle state. The idle state includes a state in which the mobile mining vehicle is waiting for a signal to begin an operation. As another example, the current state of the mobile mining vehicle may include an operational state. The operational state of the mobile mining vehicle may include, for example, a state related to a predefined operation of the mobile mining vehicle, such as an autonomous operation for performing a task assigned to the mobile mining vehicle.

[0049] According to an example embodiment, the apparatus 200 is configured to determine information about a first state of a plurality of predefined states of a mobile mining vehicle.

[0050] Determining information about a first state of the plurality of predefined states may include requesting information about a state of the mobile mining vehicle from a state machine that controls operation of the mobile mining vehicle. Apparatus 200 may be configured to determine information about the first state of the plurality of predefined states based on information received from the state machine or based on information received from the mobile mining vehicle.

[0051] According to an example embodiment, the information about the first state comprises a state stored by the state machine as a state of the mobile mining vehicle.The state of the mobile mining vehicle may comprise, for example, a current state of the mobile mining vehicle.

[0052] According to one example embodiment, the first state comprises an idle state. According to another example embodiment, the first state comprises an operational state of the mobile mining vehicle.

[0053] The operating state of the mobile mining vehicle may include a state determined based on a phase of a work cycle of the mobile mining vehicle. The work cycle of the mobile mining vehicle may include, for example, operations for performing tasks assigned to the mobile mining vehicle, such as drilling, moving from one location to another, and the like.

[0054] According to an example embodiment, the operational state includes at least one of: autonomous driving, automatic setup, autonomous drilling, remotely operated boom, or remotely driven.

[0055] Without limiting the scope of the claims, an advantage of determining information about the state of the mobile mining vehicle is that based on the state of the mobile mining vehicle it can be detected whether a specific event and / or one or more conditions required to enter the state have been successfully met. Thus, there is no need to continuously monitor, for example, sensor data, values ​​of thresholds, inputs received by the mobile mining vehicle and / or outputs provided by the mobile mining vehicle as long as the state remains unchanged.

[0056] According to an example embodiment, the apparatus 200 is configured to determine, based on the first state, a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state of the plurality of predefined states of the mobile mining vehicle.

[0057] The plurality of state transition options may include, for example, a plurality of allowed transitions associated with a first state. The allowed transitions associated with a state may include allowed transitions defined by the state. For example, the first state may include information about one or more allowed state transitions from the first state. Determining the plurality of state transition options for transitioning the mobile mining vehicle from the first state to the second state may include determining allowed state transitions from the first state.

[0058] According to one example embodiment, the second state comprises an idle state. According to another example embodiment, the second state comprises an operational state of the mobile mining vehicle.

[0059] According to an example embodiment, the first state is different from the second state. For example, the first state and the second state may include different operating states.

[0060] According to an example embodiment, at least one of the first state and / or the second state comprises an operational state of the mobile mining vehicle.

[0061] The apparatus 200 may be configured to determine information associated with the plurality of state transition options. The information associated with the plurality of state transition options may include, for example, information related to the operation of the mobile mining vehicle. As another example, the information associated with the plurality of state transition options may include information about one or more parameters of the mobile mining vehicle when operating in the state corresponding to the state transition option.

[0062] According to an example embodiment, the apparatus 200 is configured to determine context information associated with the plurality of state transition options.

[0063] Determining contextual information associated with the plurality of state transition options may include, for example, determining information regarding operation of the mobile mining vehicle in a plurality of states corresponding to the plurality of state transition options. For example, determining contextual information associated with the plurality of state transition options may include determining a subsystem of the mobile mining vehicle associated with the state transition options. Determining a subsystem of the mobile mining vehicle associated with the state transition options may include, for example, determining one or more parameters associated with the subsystem, one or more actuators controlled by the subsystem, and the like.

[0064] The context information associated with the plurality of state transition options may relate to information for allowing a safe transition from a first state to a second state. For example, the apparatus 200 may be configured to determine whether a transition of the mobile mining vehicle from a first state to a second state can be performed in a controlled and safe manner based on the context information.

[0065] The context information associated with the plurality of state transition options may include, for example, information about one or more subsystems or parameters related to the one or more subsystems.

[0066] According to an example embodiment, the context information associated with the plurality of state transition options comprises at least one of: information about a state of at least one subsystem of the mobile mining vehicle, and / or at least one state transition condition that needs to be satisfied for the mobile mining vehicle to transition from a first state to a second state.

[0067] The state transition condition may include, for example, one or more actions to be performed to achieve a safe transition from a first state to a second state. The one or more actions may be associated with the first state and / or the second state. The one or more actions may include, for example, determining that one or more parameter values ​​are acceptable for transitioning from the first state to the second state, determining the current state of one or more subsystems or components of the mobile mining vehicle, etc.

[0068] For example, state transition conditions for autonomous driving may include conditions where a physical key in a mobile mining vehicle needs to be in the correct position, or where a high voltage system of the drive train needs to be activated.

[0069] According to an example embodiment, the at least one state transition condition comprises completing one or more required actions before exiting the first state and / or completing one or more required actions before entering the second state.

[0070] The one or more desired actions may relate to, for example, safe operation of the mobile mining vehicle. For example, safe transition of the mobile mining vehicle from the first state to the second state may include ensuring that the mobile mining vehicle is in a stable state, such as by determining that legs of the mobile mining vehicle are in contact with the ground. As another example, the one or more desired actions may include checking that a safety system of the mobile mining vehicle is activated.

[0071] According to an example embodiment, the apparatus 200 is configured to determine one or more required state transition conditions that are not met. The apparatus 200 may also be configured to, in response to determining that the one or more state transition conditions are not met, determine the necessary actions required to meet the unsatisfied state transition conditions. Meeting the state transition conditions may require one or more inputs from an operator, or the apparatus 200 may independently complete the state transition actions.

[0072] According to an example embodiment, the apparatus 200 is configured to prompt an operator to perform an action to satisfy at least one state transition condition. For example, the apparatus 200 may be configured to prompt an operator to turn a physical key in a mobile mining vehicle to the correct position to enable autonomous driving.

[0073] According to an example embodiment, the apparatus 200 is configured to perform an action to satisfy at least one state transition condition. For example, the apparatus 200 may be configured to activate the high voltage system in response to detecting that the high voltage system required for enabling autonomous driving is not activated.

[0074] According to an example embodiment, the apparatus 200 is configured to control a user interface based on the state of the mobile mining vehicle and / or the plurality of state transition options. Controlling the user interface may include instructions to provide a user interface to allow interaction with the mobile mining vehicle via the user interface.

[0075] The instructions for the user interface to allow interaction with the mobile mining vehicle via the user interface may include, for example, instructions to provide at least one user interface element on the user interface. The user interface element may include, for example, a control element to allow interaction with the mobile mining vehicle, or an information element to provide information about the status of the mobile mining vehicle.

[0076] According to an example embodiment, the apparatus 200 is configured to control providing at least one control element on a user interface to control the mobile mining vehicle based on the plurality of state transition options and context information associated with the plurality of state transition options.

[0077] Controlling the provision of at least one control element based on a plurality of state transition options and contextual information associated with the plurality of state transition options may include, for example, providing one or more control elements associated with a state transition option if, for example, a state transition condition associated with the state transition option is satisfied. As another example, controlling the provision of at least one control element based on a plurality of state transition options and contextual information associated with the plurality of state transition options may include, for example, providing one or more control elements associated with the state transition option if, for example, a transition from a current state of the subsystem is permitted.

[0078] Controlling provision of the at least one control element on the user interface may include allowing control of a mobile mining vehicle using the at least one control element, controlling a location of the at least one control element on the user interface, controlling an appearance of the at least one control element, controlling a number of control elements provided on the user interface, and the like.

[0079] The control elements may include user interface elements, such as graphical elements, such as buttons, check boxes, drop-down menus, elements for enabling voice control, and the like.

[0080] According to an example embodiment, the at least one control element comprises at least one multiple-selection element.

[0081] According to an example embodiment, the at least one control element comprises an element for interacting with the mobile mining vehicle.For example, the at least one control element may comprise a user interface element for transitioning the mobile mining vehicle from a first state to a second state.

[0082] Without limiting the scope of the claims, an advantage of providing at least one control element on a user interface is that unnecessary control elements can be excluded from the user interface and the user interface can be adapted based on the context of the mobile mining vehicle. Another advantage is that a simplified user interface can be provided, thereby reducing the number of accidental inputs by the operator.

[0083] As described above, the apparatus 200 may be configured to control the provision of different types of user interface elements on the user interface, such as control elements and / or information elements. The control elements may enable control of the mobile mining vehicle, while the information elements may provide information about the status of the mobile mining vehicle.

[0084] According to an example embodiment, the apparatus 200 is configured to control providing at least one information element on a user interface based on at least one predefined state of the plurality of predefined states of the mobile mining vehicle.

[0085] The information element may provide, for example, one or more instructions to a user and / or status updates related to the mobile mining vehicle. For example, the apparatus 200 may be configured to control the provision of an information element related to activating the high voltage system by providing an information element indicating that the high voltage system is being activated or that the high voltage system has been activated.

[0086] According to an example embodiment, the at least one information element includes at least one of: a request to a user, a status update related to the mobile mining vehicle, and / or an instruction to a user. For example, when the mobile mining vehicle is in an idle state, the apparatus 200 may be configured to provide an information element requesting the operator to provide instructions on what to do next.

[0087] The apparatus 200 may be configured to control providing a user interface element (such as an information element and / or a control element) by providing a user interface element with adaptive content. Providing a user interface element with adaptive content may include, for example, determining a state of a mobile mining vehicle and determining a natural language expression corresponding to the state of the mobile mining vehicle. The apparatus 200 may be configured to determine the natural language expression based on information stored in a database. The adaptive content may include, for example, a condition of the mobile mining vehicle expressed in natural language, such as "I will reach the target location in 5 minutes" or "The drilling time should be less than 3 hours".

[0088] Without limiting the scope of the claims, an advantage of controlling the provision of information elements on a user interface is that status updates relating to, for example, the status of a mobile mining vehicle may be provided to an operator in an easily understandable manner.

[0089] The apparatus 200 may be configured to store information about interactions occurring via the user interface. The information about the interactions may include information about one or more user interface elements provided on the user interface and / or one or more user inputs received via the user interface.

[0090] According to an example embodiment, the apparatus 200 is configured to store information about user input received via the at least one control element.

[0091] The information about the user input received via the control element may include, for example, information about the control element selected by the user, information about the type of the user input, information about the duration of the input, and the like.

[0092] According to an example embodiment, the apparatus 200 is configured to store information about the at least one information element provided on the user interface.

[0093] The information about the information element may include, for example, information about the content of the information element, the type of the information element, and the like.

[0094] Without limiting the scope of the claims, an advantage of storing information about the at least one user input received via the at least one control element and about the at least one information element provided on the user interface is that historical information related to the operation and control of the mobile mining vehicle can be stored. For example, this stored information can be reviewed during accident investigations and / or when optimizing mobile mining vehicle operations.

[0095] The apparatus 200 may be configured to present stored information about user input received via the at least one control element and about the at least one information element provided on the user interface to the operator in the form of a log of previous actions and selections made by the operator.

[0096] According to an example embodiment, the apparatus 200 is configured to present information about the at least one user input received via the at least one control element and information about at least one information element provided on the user interface in a dialog form.

[0097] Presenting information about the at least one user input received via the at least one control element and about the at least one information element provided on the user interface in a dialog form may include presenting the stored information as a message in a chat box. For example, the apparatus 200 may be configured to control the provision of the stored information such that the input received via the at least one control element is organized as a response to the content presented by the information element. In other words, the operator may control the mobile mining vehicle as if participating in a dialog.

[0098] Without limiting the scope of the claims, an advantage of presenting stored information about at least one user input received via the at least one control element and information about at least one information element provided on the user interface is that an operator can follow the operation of the mobile mining vehicle and notice how different inputs affect the operation of the vehicle without having to monitor changes in e.g. measurement data.

[0099] According to an example embodiment, the apparatus 200 is configured to control a mobile mining vehicle based on one or more user inputs received via one or more control elements.

[0100] According to an example embodiment, the apparatus 200 is configured to control the mobile mining vehicle to transition from a first state to a second state based on a user input received via the at least one control element.

[0101] Controlling the mobile mining vehicle to transition from the first state to the second state may include, for example, commencing one or more mining operations of the mobile mining vehicle, or controlling one or more subsystems of the mobile mining vehicle.

[0102] According to an example embodiment, the apparatus 200 comprises means for executing features of the apparatus 200, wherein the means for executing comprises at least one processor 110, at least one memory 160, the memory 160 comprising computer code 120, the computer code 120 being configured to cause execution of the apparatus 200 by the at least one processor 110.

[0103] According to an example embodiment, the apparatus 200 includes the following components: a component for determining information of a first state among a plurality of predefined states of a mobile mining vehicle; a component for determining, based on the first state, a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state among the plurality of predefined states of the mobile mining vehicle; a component for determining context information associated with the plurality of state transition options; a component for controlling provision of at least one control element on a user interface to control the mobile mining vehicle based on the plurality of state transition options and the context information associated with the plurality of state transition options; and a component for controlling the mobile mining vehicle to transition from the first state to the second state based on a user input received via the at least one control element.

[0104] The apparatus 200 may further comprise: means for prompting an operator to perform an action to satisfy at least one state transition condition and / or performing an action to satisfy the at least one state transition condition; means for storing information about a user input received via the at least one control element; and means for controlling provision of at least one information element on a user interface based on at least one of the plurality of predefined states of the mobile mining vehicle; and / or means for storing information about the at least one information element provided on the user interface.

[0105] The apparatus 200 may further comprise means for presenting in a dialog form information about at least one user input received via the at least one control element and information about at least one information element provided on the user interface, and / or means for controlling the user interface based on the plurality of predefined states of the mobile mining vehicle.

[0106] Figure 3 An example of a portion of a mining operation site 1 is illustrated, such as a portion of an underground tunnel 2 or a surface area, in which a mobile mining vehicle 10 is operating. The mining operation site may include a mine or a construction site, such as a railway or road tunnel site.

[0107] The mobile mining vehicle may include a work machine such as a truck, a bulldozer, a dump truck, a box truck, a mobile rock drill or milling machine, a mobile reinforcement machine, a bucket loader or other type of mobile mining vehicle.

[0108] exist Figure 3 In the example of FIG. 1 , the mobile mining vehicle comprises a loader or load-and-haul (LHD) vehicle comprising a bucket 11 connected to a boom 12 . The vehicle 10 may be, for example, an articulated vehicle comprising two sections connected by a joint 13 .

[0109] exist Figure 3In the example of the present invention, the vehicle 10 includes a system 14 formed by a pump for generating the hydraulic pressure required to operate various components of the machine (such as lifting the boom 12, turning the bucket 11, etc.). The vehicle 10 may include one or more other energy sources, such as batteries, hydrogen tanks, fuel tanks, etc. The vehicle 10 may include a motor 15, such as an internal combustion engine or an electric motor. The power of the motor 15 can be transmitted to the front and / or rear wheels directly or via a gearbox via a crankshaft. The drive train of the vehicle 10 may include, for example, a motor 15, a crankshaft and / or a gearbox.

[0110] The vehicle 10 includes at least one control unit 20, such as device 200, which is configured to control at least some functions and / or actuators of the vehicle. The control unit 20 may include one or more computing units / processors to execute computer program code stored in a memory. The control unit 20 may be connected to one or more other control units of the control system of the vehicle, for example, via a controller area network (CAN) bus. The control unit 20 may include or be connected to a user interface (UI) with a display device and an operator input interface. These interfaces may be used to receive operator commands and information to the control unit 20.

[0111] The vehicle 10 may include a wireless communication device 30, such as a communication module 230, through which the control unit 20 and / or another unit of the control system of the vehicle 10 may be configured to establish a data connection. The data connection includes at least one of the following: data reception, and / or data transmission. The data connection may be established between the control system of the vehicle and at least one control device of the control system 6 external to the vehicle. The data connection may utilize a wireless connection provided by a base station or access node 4. The communication device 30 may thus be operatively connected to a communication system (e.g., a wireless access system, including a wireless local area network (WLAN) and / or a cellular communication network, such as 4G, 5G or some other generation of cellular network) at the work site.

[0112] The control system 6 may include or be connected to one or more other networks and / or data processing systems, such as a job site management system, a cloud service, a data analysis system, an intermediate communication network (such as the Internet). The control system 6 may include or be connected to one or more other devices or control units, such as a handheld user device, a vehicle unit, a job site management device / system, a remote control and / or monitoring device, a data analysis device, a sensor system / device, etc.

[0113] The vehicle 10 may be unmanned. An unmanned vehicle may include a user interface to allow a user to control any of the vehicle functions, such as steering. In addition to or as an alternative to the user interface, the vehicle may also include an operator input interface. The interface of the vehicle may be located at a remote location of the vehicle, and the vehicle may be remotely controlled. Examples of remote control include, for example, control by an operator in a pit, control by a device in a control room at a job site, or even control by a device a long distance away from the job site via one or more communication networks. The vehicle 10 may be an automated vehicle configured to operate or drive independently in an autonomous operation or driving mode without continuous user control. Such an automated vehicle may accept external control, for example, in an emergency. When the vehicle is in manual driving mode, the operator manually drives the vehicle by remote control, or manually drives the vehicle locally on the vehicle by operator controls. The operator may set the vehicle to an automatic driving mode, in which the vehicle is configured to automatically drive a specified route, such as a route between a loading point and a discharge lane.

[0114] The equipment at the work site, such as the control system 6 and / or the one or more control devices of the mining vehicle 10, may be configured to store and use at least one work site model representing the current state and / or target state of the work site environment. The work site model may be an environment model or a map. The work site model may be a two-dimensional (2D) model or a three-dimensional (3D) model indicating surface contours and obstacles at the work site, such as at the area where the mining vehicle is operating. In the case of an underground work site, the work site model may be a tunnel model containing information about the tunnel contour.

[0115] According to an example embodiment, the control system 6 and / or the mining vehicle 10 is configured to store a 3D model of the underground work site, the 3D model illustrating different parts of the tunnels, such as the pit floor of the tunnel network, the pit walls and the pit roof of the tunnel. The 3D model may include point cloud data generated based on scanning the surrounding environment of the mining vehicle 10, or formed based on the point cloud data. In some other embodiments, the 3D model may be stored in some other format, such as a mesh model containing vertices, edges and faces. In some embodiments, the 3D model may be a design model, or may be generated based on a design model, such as a computer-aided design (CAD) model created by mine design software, or a 3D model created based on tunnel lines and contours designed in drilling and blasting design software.

[0116] The vehicle 10 may include one or more sensors or scanners 40 configured to scan the environment around the vehicle. The scan results may be used to detect the position and orientation of the vehicle and one or more other elements thereof, such as the position and orientation of the scanner 40 or the bucket 11.

[0117] The control unit 20 may be configured to compare the scanned tunnel profile data with reference profile data stored in the work site model. The control unit 20 may be configured to locate the mining vehicle based on finding a match between the surface profile indicated by the scan data and the surface profile indicated by the work site model. The control unit 20 may be configured to correct the positioning performed by dead reckoning based on the scan positioning.

[0118] exist Figure 3 In the example of , the scanner 40 may be a 2D scanner, for example, configured to monitor a tunnel wall at a desired height. The mining vehicle 10 may be configured to apply a 2D worksite model to monitor the position of the mining vehicle based on an environmental scan performed by a 2D scanner included in the mining vehicle. Alternatively, the scanner 40 may be a 3D scanner, such as a light detection and ranging (LIDAR) device, configured to generate 3D scan data or point cloud data.

[0119] Figure 4 An example method 400 is illustrated that incorporates aspects of previously disclosed embodiments. More specifically, the example method 400 illustrates forming a set of integrated measurement data. Figure 4 In the example of , the method is a computer-implemented method performed by the device 200.

[0120] The method begins by determining 405 information about a first state of a plurality of predefined states of a mobile mining vehicle.

[0121] The information about the first state of the plurality of predefined states may include determining the information based on information received from a state machine or based on information received from a mobile mining vehicle.

[0122] exist Figure 4 In an example of, determining information about the first state of the plurality of predefined states may include, for example, requesting information about a state of the mobile mining vehicle from a state machine that controls operation of the mobile mining vehicle.

[0123] The first state may comprise, for example, a current state of the mobile mining vehicle, such as an idle state or an operating state.

[0124] The method continues by determining 410 a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state of the plurality of predefined states of the mobile mining vehicle based on the first state.

[0125] Determining a plurality of state transition options for transitioning the mobile mining vehicle from the first state to the second state may include determining state transitions that are permitted from the first state.

[0126] The second state may include an idle state or an operating state of the mobile mining vehicle. Figure 4 In the example of , the second state is different from the first state.

[0127] The method continues by determining 415 context information associated with the plurality of state transition options.

[0128] The context information associated with the plurality of state transition options may include, for example, information about one or more subsystems or parameters associated with the one or more subsystems.

[0129] Determining context information associated with the plurality of state transition options may include, for example, determining subsystems of the mobile mining vehicle associated with the state transition options, such as determining parameters associated with the subsystems, one or more actuators controlled by the subsystems, and the like.

[0130] exist Figure 4 In an example of , the context information associated with the plurality of state transition options includes at least one of: information about a state of at least one subsystem of the mobile mining vehicle, and / or at least one state transition condition to be satisfied in order to transition the mobile mining vehicle from a first state to a second state.

[0131] The at least one state transition condition may include, for example, completing one or more required actions before exiting the first state and / or completing one or more required actions before entering the second state.

[0132] The method further continues by controlling 420 providing at least one control element on a user interface to control the mobile mining vehicle based on the plurality of state transition options and context information associated with the plurality of state transition options.

[0133] Controlling the provision of at least one control element based on a plurality of state transition options and context information associated with the plurality of state transition options may include, for example, providing one or more control elements associated with a state transition option if, for example, a state transition condition associated with the state transition option is satisfied. As another example, controlling the provision of at least one control element based on a plurality of state transition options and context information associated with the plurality of state transition options may include, for example, providing one or more control elements associated with the state transition option if a transition from a current state of the subsystem is permitted.

[0134] The method further continues by controlling 425 the mobile mining vehicle to transition from the first state to the second state based on user input received via the at least one control element.

[0135] exist Figure 4 In an example of the present invention, controlling the mobile mining vehicle to transition from the first state to the second state includes controlling one or more subsystems of the mobile mining vehicle.

[0136] Figure 5 An example of a user interface 500 controlled by the device 200 is illustrated by controlling the provision of one or more user interface elements (such as one or more information elements and / or one or more control elements) on the user interface 500. The user interface 500 includes a user interface for controlling a mobile mining vehicle (such as Figure 3 The user interface of a mobile mining vehicle in the

[0137] The example user interface 500 includes a plurality of sections 510, 520, and 530. Figure 5 In the example of , a section includes a dedicated area on the user interface for presenting a specific type of information.

[0138] Section 510 includes a header, used, for example, to identify the mobile mining vehicle being controlled.

[0139] Section 520 includes a message area for presenting information elements provided by the apparatus 200, such as one or more user inputs received via at least one control element and one or more status updates related to the mobile mining vehicle.

[0140] Section 530 includes a contextualized control area for providing controls and / or options to the operator based on the context of the mobile mining vehicle. For example, section 530 may include one or more control elements for selecting an option. As another example, section 530 may include one or more control elements for aborting a mission and / or for requesting information about the current status of the mobile mining vehicle.

[0141] exist Figure 5 In the example of FIG. 2 , the apparatus 200 is configured to update the contextualized content area based on a status of a mobile mining vehicle.

[0142] Fig. 6A and 6B An example user interface 600 for controlling the operation of a mobile mining vehicle is illustrated. Fig. 6A and 6B In the example of , the apparatus 200 is configured to control providing a user interface element on the user interface 600 .

[0143] and Figure 5 similar, Fig. 6A and 6BThe user interface in includes a title 510 for identifying the mobile mining vehicle being controlled, a message area 520 for presenting information elements (such as one or more user inputs received via at least one control element and one or more information elements provided by the device 200), and a contextualized control area 530 for providing controls and / or options to the operator based on the context of the mobile mining vehicle.

[0144] Fig. 6A An operator is illustrated controlling "Machine 1," which is awaiting a new task 610. "Machine 1" may include, for example, an autonomous mining vehicle configured to autonomously perform one or more tasks assigned to it.

[0145] exist Fig. 6A In the example of FIG. 5 , the message area 520 includes an information element 620 provided by the device 200 for prompting the operator to select a task for the mobile mining vehicle. The contextualized control area 530 includes a plurality of control elements 630 for selecting a task for the mobile mining vehicle. These control elements 630 may indicate, for example, with icons 635, that selecting a task also requires selecting other options related to the task.

[0146] Figure 6B It is illustrated that the operator has selected the “Drill” task for “Machine 1 ,” and that selection of this task has caused the device 200 to prompt the operator to select a tunnel using control element 660 .

[0147] The message area includes information element 640 indicating that "Drill" is selected and information element 650 indicating that the mobile mining vehicle is waiting for the operator to select a tunnel for drilling.

[0148] The contextualized control area 530 comprises a control element 660 for selecting a tunnel. The contextualized control area 530 further comprises a control element 670 for aborting a mission.

[0149] exist Fig. 6A and 6B In the example of , the device 200 controls the provision of information elements in the message area so that the information elements are organized into conversations. Fig. 6A and 6B In the example of , the apparatus 200 is configured to control the provision of user interface elements so that one or more questions are asked to the operator and answer options to these questions are provided. The apparatus 200 is configured to provide questions and answer options based on the status of the mobile mining vehicle.

[0150] The apparatus 200 is also configured to store information about the information elements provided in the message area, thereby storing a log of previous actions and selections made by the operator.

[0151] Figure 7 An example state machine 700 is illustrated. The example state machine 700 includes a hierarchical state machine including a main state machine for controlling a mobile mining vehicle. The state machine may be implemented in the device 200, or the device 200 may be operatively connected to the state machine. Figure 7 In an example of the mobile mining vehicle, the mobile mining vehicle includes an autonomous mining vehicle.

[0152] The state machine includes a number of predefined states for a mobile mining vehicle. Figure 7 In the example of , the plurality of states include an initial state 710 , an idle state 715 , a local use 720 , a remote task 730 , a completed task 790 , and a suspended task 780 .

[0153] Remote task 730 includes a super state including sub-states of automatic setup 740, teleoperation 750, autonomous drilling 760, and autonomous transition 770. Thus, for example, when the sub-state autonomous transition 770 is active, the super-state of remote task 730 is also active.

[0154] Figure 7 The allowed transitions from the first state to the second state are also illustrated with arrows. For example, transitions from the idle state 715 to local use 720 or remote task 730 are allowed. As another example, the allowed transitions from the automatic setup 740 include teleoperation 750, autonomous drilling 760, and autonomous transition 770.

[0155] As described above, the transition from the first state to the second state may require one or more state transition conditions to be satisfied. For example, the autonomous transition 770 may require that the physical key in the mobile mining vehicle is in the "remote mission" position and the high voltage system of the drive train is activated.

[0156] Without limiting the scope of the claims, an advantage of providing at least one control element on a user interface based on a plurality of state transition options and context information associated with the plurality of state transition options is that the control of a mobile mining vehicle is easy and effortless for an operator. Another advantage is that providing control elements based on the state and context information of the mobile mining vehicle allows a fleet of mobile mining vehicles to be efficiently controlled because the operator does not need to know or remember the status of each mining vehicle.

[0157] Without in any way limiting the scope, interpretation, or application of the appended claims, a technical effect of one or more of the example embodiments disclosed herein is to facilitate control of a mobile mining vehicle.

[0158] As used in this application, the term "circuitry" may refer to one or more or all of the following: (a) a pure hardware circuit implementation (e.g., an implementation in analog and / or digital circuitry only); and (b) a combination of hardware circuitry and software, such as the following (as applicable): (i) a combination of analog and / or digital hardware circuitry and software / firmware; and (ii) a hardware processor (including a digital signal processor) with software, software, and any portion of memory that work together to enable a device (such as a mobile phone or server) to perform various functions; and (c) a hardware circuit and / or processor, such as a microprocessor or a portion of a microprocessor, that requires software (e.g., firmware) to operate, but the software may not be present when it is not required for operation.

[0159] This limitation of "circuitry" applies to all uses of the term in this application, including in any claims. As a further example, as used in this application, the term "circuitry" also covers implementations of merely a hardware circuit or processor (or multiple processors), or a portion of a hardware circuit or processor and its (or their) accompanying software and / or firmware. For example, the term "circuitry" also covers a baseband integrated circuit or processor integrated circuit of a mobile device, or a similar integrated circuit in a server, cellular network device, or other computing or network device, if applicable to the particular claim element.

[0160] Embodiments of the present invention may be implemented through software, hardware, application logic, or a combination of software, hardware, and application logic. The software, application logic, and / or hardware may reside on an apparatus, on a separate device, or on multiple devices. If desired, a portion of the software, application logic, and / or hardware may reside on an apparatus, a portion of the software, application logic, and / or hardware may reside on a separate device, and a portion of the software, application logic, and / or hardware may reside on multiple devices. In an example embodiment, the application logic, software, or instruction set may be retained on any of a variety of conventional computer-readable media. In the context of this document, "computer-readable media" may be any medium or component that can contain, store, communicate, propagate, or transmit instructions for use by or in conjunction with an instruction execution system, apparatus, or device (such as a computer), where an example of a computer is in Figure 2 The computer-readable medium may include a computer-readable storage medium, which may be any medium or component that can contain or store instructions for use by or in connection with an instruction execution system, apparatus, or device (such as a computer).

[0161] If desired, the different functions discussed herein may be performed in different orders and / or in parallel with each other. In addition, if desired, one or more of the above functions may be optional or may be combined.

[0162] Although various aspects of the invention are listed in the independent claims, other aspects of the invention also include other combinations of features taken from the described embodiments and / or the dependent claims with features in the independent claims, not just the combinations explicitly listed in the claims.

[0163] It will be obvious to a person skilled in the art that, as technology advances, the inventive concept of the invention can be implemented in various ways.The invention and its embodiments are not limited to the examples described above but may vary within the scope of the claims.

Claims

1. A control device for a mobile mining vehicle, the device comprising at least one processor and at least one memory, the at least one memory comprising computer program code, the at least one memory and the computer program code being configured to cause the device to at least perform the following operations through the at least one processor: determining information about a first state of a plurality of predefined states of the mobile mining vehicle; determining, based on the first state, a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state of the plurality of predefined states of the mobile mining vehicle; determining context information associated with the plurality of state transition options; Based on the plurality of state transition options and the context information associated with the plurality of state transition options, controlling to provide at least one control element on a user interface to enable interaction with the mobile mining vehicle to control the mobile mining vehicle; as well as The mobile mining vehicle is controlled to transition from the first state to the second state based on user input received via the at least one control element.

2. The apparatus of claim 1, wherein the context information comprises at least one of: information about a state of at least one subsystem of the mobile mining vehicle, or at least one state transition condition required to transition the mobile mining vehicle from the first state to the second state.

3. The apparatus according to claim 2, wherein the at least one state transition condition comprises: One or more required actions are completed before exiting the first state, or one or more required actions are completed before entering the second state.

4. An apparatus according to claim 2 or 3, wherein the at least one memory and the computer program code are further configured to cause the apparatus to prompt an operator to perform an action to satisfy at least one state transition condition, or to perform an action to satisfy at least one state transition condition, through the at least one processor.

5. An apparatus according to any preceding claim, wherein the at least one memory and the computer program code are further configured to, with the at least one processor, cause the apparatus to store information about the user input received via the at least one control element.

6. The apparatus of any preceding claim, wherein the at least one memory and the computer program code are further configured to cause, via the at least one processor, the apparatus to control provision of at least one information element on the user interface based on at least one predetermined state of the plurality of predefined states of the mobile mining vehicle and to store information about the at least one information element provided on the user interface.

7. The apparatus of claim 6, wherein the at least one information element comprises at least one of: a request to a user, a status update associated with the mobile mining vehicle, or an instruction to a user.

8. An apparatus according to any preceding claim, wherein the at least one memory and the computer program code are further configured to cause the apparatus to present, via the at least one processor, information about the at least one user input received via the at least one control element and information about at least one information element provided on the user interface in a dialog form.

9. An apparatus as claimed in any preceding claim, wherein at least one of the first state or the second state comprises an operational state of the mobile mining vehicle.

10. The apparatus of claim 9, wherein the operating state comprises at least one of: autonomous driving, automatic setup, autonomous drilling, remotely operated boom, or remotely operated driving.

11. An apparatus according to any preceding claim, wherein the at least one control element comprises at least one multiple-select element.

12. An apparatus as claimed in any preceding claim, wherein the at least one memory and the computer program code are further configured to cause, via the at least one processor, the apparatus to control the user interface based on the plurality of predefined states of the mobile mining vehicle.

13. A mobile mining vehicle comprising an apparatus according to any preceding claim.

14. A method comprising the steps of: determining information about a first state of a plurality of predefined states of a mobile mining vehicle; determining, based on the first state, a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state of the plurality of predefined states of the mobile mining vehicle; determining context information associated with the plurality of state transition options; Based on the plurality of state transition options and the context information associated with the plurality of state transition options, controlling to provide at least one control element on a user interface to enable interaction with the mobile mining vehicle to control the mobile mining vehicle; as well as The mobile mining vehicle is controlled to transition from the first state to the second state based on user input received via the at least one control element.

15. A computer program comprising instructions for causing an apparatus to at least: determining information about a first state of a plurality of predefined states of a mobile mining vehicle; determining, based on the first state, a plurality of state transition options for transitioning the mobile mining vehicle from the first state to a second state of the plurality of predefined states of the mobile mining vehicle; determining context information associated with the plurality of state transition options; Based on the plurality of state transition options and the context information associated with the plurality of state transition options, controlling to provide at least one control element on a user interface to enable interaction with the mobile mining vehicle to control the mobile mining vehicle; as well as The mobile mining vehicle is controlled to transition from the first state to the second state based on user input received via the at least one control element.

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