Controlling replacement of mining tools of mining vehicle

Abstract

An apparatus may perform the following: control movement of a mining tool of a mining vehicle toward a mining tool storage bin, where a light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool storage bin; receiving visual data, the visual data including a representation of the mining tool; determining, based on the visual data, a distance between the mining tool and the mining tool warehouse by detecting illumination of a predetermined portion of the mining tool or mining vehicle by the emitted light; monitoring a distance between the mining tool and the mining tool warehouse based on movement of the mining tool and / or the mining vehicle; and controlling replacement of at least a distal portion of the mining tool with another mining tool stored in the mining tool storage bin based on the monitoring of the distance between the mining tool and the mining tool storage bin.

Description

Technical Field

[0001] Various exemplary embodiments generally relate to the field of mining. Some exemplary embodiments relate to controlling the replacement of mining tools of a mining vehicle. Background Art

[0002] A mining vehicle can be configured to perform various tasks, such as, for example, drilling, bolting, grouting or injecting. Thus, it may be desirable to replace the mining tools of the mining vehicle from time to time. Also, even if the mining vehicle is configured for a single task, it may be desirable to change the type or size of a particular mining tool, for example, changing a drill bit to a smaller drill bit. Summary of the Invention

[0003] This summary of the invention introduces a series of concepts in a simplified form, which will be further described in the detailed description below. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] According to a first aspect, a device for controlling a mining vehicle is disclosed. The device may include: 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: by means of the at least one processor, cause the device to at least perform the following operations: controlling the movement of a mining tool of the mining vehicle towards a mining tool magazine, wherein a light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine; receiving visual data, the visual data including a representation of the mining tool; based on the visual data, determining the distance between the mining tool and the mining tool magazine by detecting the illumination of the emitted light on a predetermined part of the mining tool or the mining vehicle; monitoring the distance between the mining tool and the mining tool magazine based on the movement of at least one of the mining tool or the mining vehicle; and controlling the replacement of at least the distal part of the mining tool with another mining tool stored in the mining tool magazine based on the monitoring of the distance between the mining tool and the mining tool magazine.

[0005] According to a second aspect, a method for controlling a mining vehicle is disclosed. The method may include: controlling the movement of a mining tool of the mining vehicle towards a mining tool magazine, wherein a light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine; receiving visual data, the visual data including a representation of the mining tool; based on the visual data, determining the distance between the mining tool and the mining tool magazine by detecting the illumination of the emitted light on a predetermined part of the mining tool or the mining vehicle; monitoring the distance between the mining tool and the mining tool magazine based on the movement of at least one of the mining tool or the mining vehicle; and based on the monitoring of the distance between the mining tool and the mining tool magazine, controlling the replacement of at least a distal portion of the mining tool with another mining tool stored in the mining tool magazine.

[0006] According to a third aspect, a device for controlling a mining vehicle is disclosed. The device may include: means for controlling the movement of a mining tool of the mining vehicle towards a mining tool magazine, wherein a light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine; means for receiving visual data, the visual data including a representation of the mining tool; means for determining the distance between the mining tool and the mining tool magazine according to the visual data by detecting the illumination of the emitted light on a predetermined part of the mining tool or the mining vehicle; means for monitoring the distance between the mining tool and the mining tool magazine based on the movement of at least one of the mining tool or the mining vehicle; and means for controlling the replacement of at least a distal portion of the mining tool with another mining tool stored in the mining tool magazine based on the monitoring of the distance between the mining tool and the mining tool magazine.

[0007] According to a fourth aspect, a computer program for controlling a mining vehicle is disclosed. The computer program may include instructions that, when executed by a device, cause the device to at least perform the following operations: controlling the movement of a mining tool of the mining vehicle towards a mining tool magazine, wherein a light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine; receiving visual data, the visual data including a representation of the mining tool; based on the visual data, determining the distance between the mining tool and the mining tool magazine by detecting the illumination of the emitted light on a predetermined part of the mining tool or the mining vehicle; monitoring the distance between the mining tool and the mining tool magazine based on the movement of at least one of the mining tool or the mining vehicle; and based on the monitoring of the distance between the mining tool and the mining tool magazine, controlling the replacement of at least a distal portion of the mining tool with another mining tool stored in the mining tool magazine.

[0008] According to a fifth aspect, a mining vehicle is disclosed. The mining vehicle may include the device or computer program of the first aspect, the third aspect, or the fourth aspect.

[0009] According to a sixth aspect, a mining tool storage bin is disclosed. The mining tool storage bin may include: a light source configured to emit light along a plane located at a predetermined reference distance relative to the mining tool storage bin.

[0010] Exemplary embodiments of the above aspects are described in the claims, the specification, and / or the drawings. According to certain aspects, the subject matter of the independent claims is provided. Some further aspects are defined in the dependent claims. Many attendant features will be more readily understood, as these attendant features can be better understood by reference to the following description taken in conjunction with the drawings. Description of the Drawings

[0011] The drawings are included to provide a further understanding of the exemplary embodiments and constitute a part of this specification. The drawings illustrate the exemplary embodiments and, together with the description, help to explain these exemplary embodiments. In the drawings:

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

[0013] Figure 2 An example of a mining tool is shown;

[0014] Figure 3 An example of positioning a mining tool relative to a mining tool storage bin is shown;

[0015] Figure 4 An example of controlling the movement of a mining tool towards a mining tool storage bin is shown;

[0016] Figure 5 An example of the light source illuminating a part of the mining tool in front of the mining tool storage bin is shown;

[0017] Figure 6 An example of a mining tool storage bin including a light source is shown;

[0018] Figure 7 An example of a device configured to implement one or more exemplary embodiments is shown;

[0019] Figure 8 An example of a method for controlling a mining vehicle is shown.

[0020] The same reference numerals are used in the drawings to denote the same components. Detailed Description

[0021] Reference will now be made to the embodiments, examples of which are illustrated in the accompanying drawings. The following description provided in conjunction with the accompanying drawings is intended as a description of the present examples and is not intended to represent the only form in which the present examples may be constructed or utilized. The description sets forth the functions of the examples and the order of steps for constructing and operating the examples. However, different examples may achieve the same or equivalent functions and orders.

[0022] Figure 1 An example of a mining vehicle is shown. The mining vehicle 100 may be a multi-functional vehicle that may be configured to perform a variety of tasks, such as: for example, drilling, bolting, grouting or injecting grout. Alternatively, the mining vehicle 100 may also be configured to perform a single task, such as one of the tasks listed above. Although some exemplary embodiments are described with drilling as an example of the task of the mining vehicle 100, it should be understood that these exemplary embodiments may also be applied to various other mining-related tasks and tools associated with these tasks.

[0023] The mining vehicle 100 may be an automated mining vehicle, such as an automated mining vehicle equipped with tools configured for drilling, bolting, grouting or injecting grout. An automated mining vehicle operating in the automatic mode may be configured to, for example, receive a task to be performed, sense the environment of the automated mining vehicle, determine an appropriate tool for performing the task, and / or perform the task taking the environment into consideration. An automated mining vehicle operating in the automatic mode may be configured to operate independently, but in certain operating areas or conditions, such as in an emergency state, it may also accept external control. However, the exemplary embodiments may also be applied to non-autonomous or semi-autonomous mining vehicles, such as remotely controlled mining vehicles.

[0024] In Figure 1 the example, the x-axis represents the forward driving direction of the mining vehicle 100. The z-axis represents the vertical direction, which is the roof of the tunnel in this example. The mining vehicle 100 may include a movable vehicle 110 and at least one boom 120 connected to the movable vehicle 110. The movable vehicle 110 may include devices for moving or stabilizing the mining vehicle 100, such as: for example, motors, wheels or stabilizer jacks. The movable vehicle 110 may be configured to move autonomously, or it may also be remotely controlled by a human operator or locally controlled on the mining vehicle 100. Although Figure 1 two booms 120-1, 120-2 are shown in

[0025] The mining tool can be coupled to the distal portion of the boom 120-1. The mining tool can include tools configured for any mining application, such as drilling blast holes, placing explosives in the holes, installing rock bolts, grouting, injecting grout, installing wire mesh, etc. In this example, the drilling unit 130 represents the mining tool, but the functions described with reference to the drilling unit 130 or its components can also be applied to other types of mining tools. Figure 2 An example of the drilling unit is provided, but generally, the drilling unit 130 can include a feed system configured to maintain contact between the drill bit and the drilling face of the drift 150 during the drilling process and enable the drill string to move along the feed beam. The booms 120-1, 120-2 can include multiple boom sections that are coupled to each other, coupled to the mobile carrier 110, and / or coupled to the drilling unit 130 by joints 122. The controllable joints enable the drilling unit 130 to be positioned at a desired position and orientation relative to the drilling face.

[0026] The mining vehicle 100 can include a mining tool storage 140. The mining tool storage 140 can be configured to at least temporarily store one or more mining tools, such as mining tools configured to be used by the mining vehicle 100 to perform a specific stage in underground mining. The mining tool storage 140 can include one or more slots for storing the corresponding mining tools. In Figure 1 the example, the mining tool storage is shown to be held by the second boom 120-2, but it should be noted that the mining tool storage 140 can be located at any suitable location, such as being coupled to the mobile carrier 110 or to other parts of the mining vehicle 100, being located on another mining vehicle, being attached to the wall of the drift 150, or being located elsewhere outside the mining vehicle 100. In some exemplary embodiments, the mining tool storage 140 may not be fixedly coupled to the mining vehicle 100 (such as the second boom 120-2), but the mining vehicle 100 can be configured to grasp and hold the mining tool storage 140 when a mining tool needs to be replaced. This enables the boom 120-2 to also be used for other purposes, such as, for example, drilling.

[0027] The mining vehicle 100 may include at least one vision sensor 112 configured to capture vision data representative of the environment of the mining vehicle 100. The vision sensor 112 may include cameras, such as, for example, visible light cameras and / or non-visible light cameras (e.g., infrared (IR) cameras or ultraviolet (UV) cameras). These cameras may be configured to capture still images or video data, which may include a plurality of video frames. The vision sensor 112 may be configured to generate (digital) vision data that includes a representation of the environment captured by the vision sensor 112. It should be noted that the term "vision" should not be limited to things observable by the human eye, but should be understood broadly to include any type of light observable by the vision sensor 112, including, for example, infrared light and ultraviolet light. The mining vehicle 100 may also include other types of sensors, such as radio detection and ranging (radar) sensors and / or light detection and ranging (lidar) sensors.

[0028] The mining vehicle 100 may include a controller (C) 114. For example, the controller 114 may be provided as a software application residing on a memory and executable by a processor. Figure 7 Examples of apparatus suitable for implementing the controller 114 are provided. The controller 114 may include or be communicatively coupled to various functions, modules, or applications for implementing the functionality of the controller 114. The controller 114 may be configured to control the replacement of a mining tool or a distal portion thereof, such as, for example, components of the drilling unit 130. Controlling the replacement of a mining tool or a portion thereof may include controlling the movement of the booms 120-1, 120-2 so that the currently installed mining tool or a portion thereof is released and a new mining tool or a portion thereof is attached to the boom 120-1.

[0029] Controlling the replacement of the mining tool may be based on monitoring the distance between the mining tool and the mining tool magazine 140. For example, the controller 114 may be configured to: when the current distance from the mining tool magazine reaches a threshold, the controller 114 causes the mining tool or a portion thereof to be released into an empty slot of the mining tool magazine 140. When the mining tool is at least partially within the mining tool magazine 140, the distance may be negative. Thus, the threshold may also be negative. As will be further described below, the controller 114 may be configured to: monitor the distance between the mining tool and the mining tool magazine by tracking the movement of the mining tool relative to a reference position (detected based on the illumination of a predetermined portion of the mining tool or the mining vehicle 100). However, the controller 114 may also be configured to control the lateral position of the mining tool based on vision data captured by the vision sensor 112.

[0030] The controller 114 may be configured to receive or store 3D models of at least one component of the mining vehicle 100 (e.g., 3D models of the booms 120-1, 120-2, mining tools associated with the booms, and / or kinematic models of the mining vehicle 100 or its components). The controller 114 may be configured to control the movement of the drilling unit 130 or another mining tool, for example, using the kinematic model. The 3D model of a component of the mining vehicle 100 may include 3D geometric data of the component, which may be obtained, for example, from a computer-aided design (CAD) model of the corresponding physical component. A component of the mining vehicle 100 (e.g., a mining tool) may be configured to have a predetermined portion (e.g., a reference portion) that is configured for distance detection based on illumination of the portion by the detection light source 146. The predetermined portion may be visually identifiable based on visual data captured by the vision sensor 112. The controller 114 may be configured to receive the visual data and detect the illumination of the predetermined portion. The controller 114 may be configured to receive the visual data directly from the vision sensor 112 or via one or more intermediate processing devices or functions from the vision sensor 112.

[0031] The kinematic model of the mining vehicle 100 or its components may include a mathematical description of at least a portion of the mining vehicle 100. The kinematic model may describe the movement of the mining vehicle 100 or its components without considering the forces that cause the movement. The kinematic model may be used to: estimate or simulate the position of the mining vehicle 100 or components of the mining vehicle 100, for example, based on measurement data from one or more sensors associated with the mining vehicle 100 or based on the movement of the mining vehicle 100 caused or to be caused by a given control input. The kinematic model may include information about: the dimensions of the booms 120-1, 120-2, portions of the booms, or mining tools configured to be attached to the booms 120-1, 120-2, the characteristics of the joints 122 (e.g., their degrees of freedom), constraints between moving components of the mining vehicle 100, and so on. Thus, the kinematic model may enable modeling or tracking of the movement of components of the mining vehicle 100, for example, to determine and track the position of the mining tools. The 3D model of a component may be provided as point cloud data indicative of the surface of the component. The point cloud data may include a plurality of data points that represent, for example, the distances between the mining vehicle 100 and its components or other objects in the environment of the mining vehicle (e.g., the mining tool magazine 140), for example, at a particular point in time. Each individual point included in the point cloud may be represented by, for example, x and y coordinates or x, y, and z coordinates relative to a particular coordinate frame (e.g., a coordinate frame fixed to the mining vehicle 100).

[0032] The mining vehicle 100 can be controlled by a control device (not shown), which can be located outside the mining vehicle 100. The remote control device can be, for example, a server arranged away from the mining vehicle, such as outside the tunnel. The functionality of the controller 114 can be provided on the mining vehicle 100, on the remote control device, or distributed between the mining vehicle 100 and the remote control device. Information can be exchanged between the remote control device and the mining vehicle 100 through a communication interface (including any suitable wireless or wired connection). Examples of suitable communication interfaces are referenced Figure 7 for description.

[0033] Figure 2 Examples of mining tools are shown. In this example, the drilling unit 130 represents the mining tool. The drilling unit 130 can include a feed beam 131 and a rock drill 132 supported on the feed beam. The rock drill 132 can include a shank located at the front end of the rock drill 132 for connecting a tool, such as, for example, a drill pipe 133, which includes a drill bit 134 or is configured to be coupled to the drill bit 134. Alternatively, the drill bit can also be referred to as a drill crown. The drill pipe 133 and the drill bit or their combination are provided as examples of the mining tool. In addition, the drilling unit 130 can include one or more drill pipe manipulation devices 135, such as, for example, a tool holding device, a tool changing device, or a manipulator. In addition to this, one or more additional devices 136 can be supported on the feed beam 131. The 3D model of the at least one component of the mining vehicle 100 can include the 3D model of any of the above components of the drilling unit 130. However, it should be noted that the 3D model of the component of the mining vehicle 100 does not necessarily have to be an exact 3D model of the component. For example, an approximate 3D model can be used to represent the approximate dimensions of the component in order to track the distance between the mining tool (such as the drill bit 134) and the mining tool magazine 140. This can reduce the computational complexity while still providing sufficient accuracy.

[0034] As described above, components of the mining vehicle 100 can be configured to have a predetermined portion for distance detection based on detecting illumination of the portion. For example, the drilling unit 130 can include a predetermined portion that is visually recognizable based on visual data captured by the vision sensor 112. In this example, two visually recognizable portions 138 are described as examples of the predetermined portion. For example, the visually recognizable portion can be located within the length of the drill string 133 (see the white markings on the drill string 133). Alternatively, or in addition, the visually recognizable portion can be the distal end of the drill bit 134. In general, any visually recognizable portion of the mining tool or the mining vehicle 100 can be used. Examples of visually recognizable portions include a specific shape of a portion of the mining tool or the mining vehicle 100, or visual markings (such as labels) provided on the portion.

[0035] The visually recognizable portion 138 can have a known spatial relationship with the mining tool (e.g., be fixed, or can be derived based on a kinematic model), or can have a known position within the mining tool, so that the controller 114 can determine the position of the mining tool or a specific portion thereof (such as the drill bit 134) based on the position of the visually recognizable portion 138. This enables the controller 114 to track the position of the mining tool after detecting the coincidence of the visually recognizable portion with a known reference position (e.g., a plane illuminated by the light source 146). For example, the controller 114 can be configured to: after detecting that the predetermined portion is at a known reference distance from the mining tool magazine 140, the controller 114 tracks the distance between the mining tool and the mining tool magazine 140.

[0036] Figure 3 An example of positioning the mining tool relative to the mining tool magazine is shown. In this example, the mining tool is represented by the drill bit 134-1. Optionally, the drill string 133 can be considered part of the mining tool. In this example, the mining tool magazine 140 includes a drilling tool magazine, but in general, the mining tool magazine 140 can be configured to store any suitable type of mining tool, such as, for example, a rock bolt tool, a grouting tool, or a grout injection tool. Thus, the mining tool magazine 140 can include a drilling tool magazine, a rock bolt tool magazine, a grouting tool magazine, or a grout injection tool magazine. The mining tool magazine 140 can also be implemented as a multi-purpose mining tool magazine configured to store two or more different types of mining tools.

[0037] At least one side 142 of the mining tool storage bin 140 can be configured to allow access to mining tools configured to be stored in the mining tool storage bin 140 or to the empty slots 144 of the mining tool storage bin 140. When controlling the replacement of mining tools, based on the visual data captured by the visual sensor 112, it may be relatively easy to control the lateral position of the mining tool (e.g., the position of the drill bit 134-1 in the yz plane), for example if the mining tool is located between the mining tool storage bin 140 and the visual sensor 112. However, accurately determining the position of the mining tool in the depth direction (x-axis) may be more challenging. For example, it may be relatively easy to laterally align the drill bit 134-1 with the empty slot 144 of the mining tool storage bin 140, but it may be relatively difficult to determine when the drill bit 134-1 is in the appropriate position along the x-axis (depth) to release the drill bit 134-1 at the empty slot 144. Similarly, it may be relatively easy to laterally align the drill pipe 133 with the drill bits 134-2 or 134-3, but it may be relatively difficult to determine when the drill pipe 133 is in the appropriate position along the x-axis (depth) to attach to the drill bits 134-2 or 134-3. It should be noted that Figure 3 the xyz axes in Figure 1 may or may not be aligned with the corresponding axes in

[0038] Figure 4 An example of controlling the movement of a mining tool towards a mining tool storage bin is shown. The drill bit 134, the drill pipe 133, or a combination thereof can again represent the mining tool. The controller 114 can be configured to control the movement of the drill pipe 133 and the drill bit 134 towards the mining tool storage bin 140, for example by providing control instructions to move the cantilevers 120-1, 120-2 for control. In this example, the drill pipe 133 includes a visually recognizable portion 138 at a known position relative to the drill bit 134. For example, the distance (d) between the visually recognizable portion 138 and the distal end of the drill bit 134 may be known. The controller 114 can be configured to receive visual data including a representation of the drill pipe 133 (specifically, the visually recognizable portion 138), for example, receiving this visual data from the visual sensor 112.

[0039] The mining tool storage bin 140 can include or be associated with a light source 146. The light source 146 can be configured to emit light at a predetermined reference distance (d ref ) from the mining tool storage bin. This enables the controller 114 to determine the distance between the recognizable portion and the mining tool storage bin 140 based on detecting when the light source 146 illuminates the visually recognizable portion 138, and thereby also determine the distance between any part of the mining tool and the mining tool storage bin 140.

[0040] The light source 146 can be configured to emit light along a plane. This enables the same light source 146 to be used for aiming at different slots or tools in the mining tool magazine 140. It should be noted that the light source 146 does not need to emit light at all points on the plane. For example, the light source 146 can be configured to emit multiple discrete (e.g., parallel) light rays along the plane. This reduces the power consumption of the light source 146. The distance between the parallel light rays can be configured such that: the mining tool is constructed so as not to pass through the plane without being at least partially illuminated. For example, the distance between the light rays can be configured to be less than the width or diameter of the mining tool. The measurement of the width or diameter can be along the plane of the emitted light, but with respect to an axis perpendicular to the propagation direction of the discrete light rays.

[0041] The plane can be (substantially) parallel to the mining tool magazine, for example (substantially) parallel to the side that is configured to allow access to the mining tools configured to be stored in the mining tool magazine 140. This enables the same reference distance to be used when aiming at different slots or tools in the mining tool magazine, or generally for different lateral positions of the mining tool. The light source 146 can be configured to emit light along the plane such that the "light curtain" of the emitted light has a certain depth in the direction of movement of the mining tool.

[0042] Figure 5 An example of illuminating a part of the mining tool by the light source in front of the mining tool magazine is shown. In Figure 5 , the drilling unit 130 including the drill bit 134 and the drill pipe 133 has moved towards the mining tool magazine 140 such that the visually recognizable part 138 is currently illuminated by the light source 146. The controller 114 can be configured to detect the illumination of the visually recognizable part 138 based on the visual data captured and provided by the vision sensor 112. For example, the computer vision algorithm of the controller 114 can be configured to identify when the representation of the visually recognizable part 138 (as represented in the visual data) is illuminated. The controller 114 can be configured to: in response to detecting that the visually recognizable part 138 is illuminated, determine the current distance (d current ) between the drill bit 134 and the mining tool magazine 140. For example, the controller 114 can be configured to: based on a predetermined reference distance and the distance between the visually recognizable part 138 and the distal end of the drill bit 134, determine the current distance, for example by d current = d ref – d to determine. When the distal end of the drill bit 134 is constructed as the visually recognizable part, the distance d can be equal to zero, and the controller 114 can be configured to determine that the current distance is equal to the predetermined reference distance (d current = d ref ).

[0043] The controller 114 can be configured to: monitor the distance (d) between the drill bit 134 and the mining tool magazine 140 based on the movement of the drill bit 134 and / or the mining vehicle 100 current ). For example, the controller 114 can be configured to track the movement of the drill bit 134 relative to the mining tool magazine 140. This can be based on a kinematic model of the mining vehicle 100, measurement data from one or more sensors associated with the mining vehicle 100, and / or the movement of the mining vehicle 100 (such as the movable carrier 110) caused by a given control input.

[0044] The distance (d) between the mining tool (such as the drill bit 134) and the mining tool magazine 140 current can be the distance between any suitable part of the mining tool and the mining tool magazine. For example, the distance (d) current can be the distance between the drill bit 134 and the front side of the mining tool magazine, the distance between the drill bit 134 and the required release distance for releasing the drill bit 134 at the mining tool magazine, or the distance between the drill pipe 133 and the required attachment distance for attaching a new drill bit stored at the mining tool magazine. In the latter case, the controller 114 can be configured to: determine the position of the distal end of the drill pipe 133 based on the distance between the distal end of the drill pipe 133 and the distal end of the drill bit 134 (which distance can be known and fixed).

[0045] It should also be noted that the drill bit 134, the drill pipe 133, the drilling unit 130, or a combination of two or more of them are provided as examples of mining tools. Generally, the distance d current can correspond to the distance between the mining tool and the mining tool magazine 140. The controller 114 can be configured to control the replacement of at least the distal part of the mining tool with another mining tool stored in the mining tool magazine 140 (for example, when the mining tool includes both the drill pipe 133 and the drill bit 134, replacing the drill bit 134). The controller 114 can be configured to control the replacement based on the monitoring of the distance between the mining tool and the mining tool magazine 140, for example, as described above using the drill bit 134 as an example.

[0046] Note that the vision sensor 112 can also be configured to extract depth information of objects (such as, for example, the drill bit 134 and the mining tool magazine 140), for example, by comparing two images taken at slightly different positions (such as those taken by two camera units of the vision sensor 112). Alternatively, the mining vehicle 100 can include a time-of-flight (ToF) camera that can be configured to determine the distance between the camera and various points of an object by measuring the round-trip time of an artificial light signal provided by a laser or a light-emitting diode (LED). The lidar sensor can be configured to: determine the distance to different points of an object by aiming a laser at the object and measuring the time it takes for the reflected light to return to the receiver of the lidar sensor. The radar sensor can be configured to: emit electromagnetic energy towards an object and observe the echo returning from the object to determine the distance to different points of the object. The controller 114 can be configured to use these auxiliary distance detection components to provide a rough estimate of the distance between the mining tool and the mining tool magazine 140, for example, in order to control the placement of the mining tool near the light source 146. However, since the accuracy of this rough distance detection method may not be sufficient to control the replacement of the mining tool, the controller 114 can be configured to subsequently detect the distance based on the illumination of a predetermined portion to obtain a more accurate estimate of the distance.

[0047] Figure 6 An example of a mining tool magazine including a light source is shown. As already described above, the mining tool magazine 140 can include a light source 146 that can be configured to emit light at a predetermined reference distance (d ref ) from the mining tool magazine 140, for example, emitting light along a plane. This plane can be (substantially) parallel to the side of the mining tool magazine that is configured to allow access to the mining tool configured to be stored in the mining tool magazine 140.

[0048] The light source 146 can be configured to emit visible or invisible light, such as, for example, infrared light (IR) or ultraviolet light (UV). Using invisible light can improve the detection of the illumination of a predetermined portion (such as the visually recognizable portion 138) because the vision sensor 112 can be configured to detect invisible light rather than visible light. This provides the benefit of avoiding interference caused by visible light sources in the environment of the mining tool magazine. Alternatively, the color of the emitted light can be different from the color of a predetermined portion of the mining tool or the mining vehicle 100. This helps to detect the illumination of the predetermined portion. For example, the vision sensor 112, any processing device or function associated therewith, or the controller 114, can be configured to filter out one or more colors (such as a wavelength range) different from the color of the emitted light to improve the detection of the illumination.

[0049] The mining tool storage bin 140 may include a lamp housing 148 configured to collimate the emitted light such that the light is emitted along a plane in front of the mining tool storage bin 140. The lamp housing 148 may include, for example, cover plates on both sides of an elongated light source such that the light can exit the lamp housing 148 through a linear slit between the two cover plates. The collimated light may include substantially parallel light rays propagating in the same direction. It should be noted that the emitted light may be collimated by any suitable component, such as, for example, by an optical collimator.

[0050] Figure 7 An example of an apparatus configured to implement one or more exemplary embodiments is shown. The apparatus 700 may be or include a mining vehicle control device, such as, for example, a server communicatively coupled to the mining vehicle 100, a control device located on the mining vehicle 100, the controller 114, the mining vehicle 100 itself, or generally any device or system configured to implement the functions described herein. Although the apparatus 700 is shown as a single device, it should be understood that, where applicable, the functions of the apparatus 700 may be distributed across multiple devices.

[0051] The apparatus 700 may include at least one processor 702. The at least one processor 702 may include, for example, one or more various processing devices, such as, for example, a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits, such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a dedicated computer chip, etc.

[0052] The apparatus 700 may further include at least one memory 704. The at least one memory 704 may be configured to store, for example, computer program code, such as operating system software and application software. The at least one memory 704 may include one or more volatile storage devices, one or more non-volatile storage devices, and / or combinations thereof. For example, the memory may be implemented as a magnetic storage device (such as a hard disk drive, etc.), a magneto-optical storage device, or a semiconductor memory (such as a mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). The memory 704 is provided as an example of a (non-transitory) computer-readable medium. The term "non-transitory" as used herein is a limitation on the medium itself (i.e., tangible, rather than a signal), rather than a limitation on the persistence of data storage (e.g., RAM vs. ROM). The at least one memory 704 may also be implemented separately from the apparatus 700, such as, for example, as a computer-readable (storage) medium, examples of which include a storage stick, a compact disc (CD), etc.

[0053] When the apparatus 700 is configured to implement a certain functionality, a certain component and / or certain components of the apparatus 700, such as, for example, the at least one processor 702 and / or the at least one memory 704, may be configured to implement the functionality. In addition, when the at least one processor 702 is configured to implement a certain functionality, the functionality may be implemented using, for example, program code 706 included in the at least one memory 704.

[0054] The functionality described herein may be performed at least in part by one or more computer program product components (such as software components). According to an exemplary embodiment, the apparatus 700 includes a processor or processor circuit (such as, for example, a microcontroller), which is configured to, when executing the program code 706, implement embodiments of the operations and functionality described herein through the program code 706. The program code 706 is provided as an example of instructions that cause the apparatus 700 to execute when executed by the at least one processor 702.

[0055] For example, the controller 114 may be at least partially implemented as program code that is configured to cause the apparatus 700 to execute the functionality of the controller 114. Similarly, the transmission or reception of data (such as, for example, sensor data or a kinematic model) through an internal or external communication interface of the mining vehicle 100 may be controlled by software.

[0056] Alternatively or in addition, the functionality described herein may be performed at least in part by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that may be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing units (NPUs), tensor processing units (TPUs), and the like.

[0057] The apparatus 700 may include a communication interface 708 configured to enable the apparatus 700 to transmit and / or receive information. The communication interface 708 may include an internal or external communication interface, such as, for example, a wireless interface between the mining vehicle 100 and the remote control device. The apparatus 700 may also include other components and / or functions, such as, for example, a user interface (not shown) including at least one input device and / or at least one output device. The input device may take various forms, such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may include, for example, a display, a speaker, etc. The user interface may enable a human operator to monitor various functions and data, such as, for example, the mining tools currently installed on the mining vehicle 100, the mining tools stored in the mining tool storage bin 140, etc.

[0058] The apparatus 700 may be configured to perform or cause to be performed any aspect of the methods described herein. Additionally, a computer program or computer program product may include instructions that, when executed by the apparatus 700, cause the apparatus 700 to perform any aspect of the methods described herein. Additionally, the apparatus 700 may include components for performing any aspect of the methods described herein. In one example, the components include the at least one processor 702 and the at least one memory 704, the memory 704 including program code 706 (instructions) configured to cause the apparatus 700 to perform the method when executed by the at least one processor 702. Generally, computer program instructions may be executed on components that provide general processing functionality. Such components may be embedded, for example, in a computer, a server, etc. Thus, the method may be implemented by a computer, for example, based on an algorithm executable by general processing functionality, one example of which is the at least one processor 702. The apparatus 700 may include components for transmitting or receiving information, such as one or more wired or wireless (e.g., radio) transmitters or receivers that may be coupled to or configured to be coupled to one or more antennas, or transmitters or receivers of a wired communication interface. Figure 8 An example of a method for controlling a mining vehicle is shown.

[0059] According to a first aspect, a device for controlling a mining vehicle is disclosed. The device may include: 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: by means of the at least one processor, cause the device to at least perform the following operations: control the movement of a mining tool of the mining vehicle towards a mining tool magazine, wherein a light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine; receive visual data, the visual data including a representation of the mining tool; based on the visual data, determine the distance between the mining tool and the mining tool magazine by detecting the illumination of the emitted light on a predetermined part of the mining tool or the mining vehicle; monitor the distance between the mining tool and the mining tool magazine based on the movement of the mining tool and / or the mining vehicle; and control the replacement of at least a distal portion of the mining tool with another mining tool stored in the mining tool magazine based on the monitoring of the distance between the mining tool and the mining tool magazine.

[0060] According to an exemplary embodiment of the first aspect, the mining vehicle includes a drill, or the mining tool magazine includes a drill tool magazine, or the mining tool or another mining tool includes at least one of the following: a drill crown, a drill bit, or a drill rod.

[0061] According to an exemplary embodiment of the first aspect, the mining tool includes a rock bolting tool, a grouting tool, or a grouting tool.

[0062] According to an exemplary embodiment of the first aspect, the predetermined part of the mining tool includes a distal part of the mining tool.

[0063] According to an exemplary embodiment of the first aspect, the predetermined part of the mining tool or the mining vehicle includes a visually recognizable part of the mining tool or the mining vehicle.

[0064] According to an exemplary embodiment of the first aspect, the light source includes a lamp shade configured to collimate light along the plane.

[0065] According to an exemplary embodiment of the first aspect, the light source is configured to emit light in front of a side of the mining tool magazine configured to allow access to at least one mining tool configured to be stored in the mining tool magazine.

[0066] According to an exemplary embodiment of the first aspect, the plane is substantially parallel to a side of the mining tool magazine configured to allow access to the at least one mining tool configured to be stored in the mining tool magazine.

[0067] According to an exemplary embodiment of the first aspect, the emitted light includes invisible light, infrared light, or ultraviolet light, or wherein the color of the emitted light is different from the color of the predetermined part of the mining tool or the mining vehicle.

[0068] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to perform, by means of the at least one processor, the following operations: receive visual data from a camera of a mining vehicle.

[0069] Figure 8 An example of a method for controlling a mining vehicle according to a second aspect of the present disclosure is shown. The method may include, for example, a computer-implemented method performed by a device 700 (such as a controller 114).

[0070] At 801, the method may include controlling the movement of a mining tool of the mining vehicle towards a tool magazine, wherein a light source is configured to emit light along a plane located at a predetermined reference distance relative to the tool magazine.

[0071] At 802, the method may include receiving visual data, the visual data including a representation of the mining tool.

[0072] At 803, the method may include: based on the visual data, determining the distance between the mining tool and the tool magazine by detecting the illumination of the emitted light on a predetermined part of the mining tool or the mining vehicle.

[0073] At 804, the method may include: monitoring the distance between the mining tool and the tool magazine based on the movement of the mining tool and / or the mining vehicle.

[0074] At 805, the method may include: based on the monitoring of the distance between the mining tool and the tool magazine, controlling the replacement of at least the distal part of the mining tool with another mining tool stored in the tool magazine.

[0075] The method may be performed by the device 700, the controller 114, the mining vehicle 100, or a remote control device of the mining vehicle 100, for example, based on the program code 706 when the processor 702 executes the program code 706. Various examples of the method have been explained in terms of the functional aspects of the controller 114 and / or the mining vehicle 100. It should be understood that the described exemplary embodiments may be combined in different ways unless explicitly prohibited.

[0076] According to an exemplary embodiment of the second aspect, the mining vehicle includes a drill, or the tool magazine includes a drill tool magazine, or the mining tool or the other mining tool includes at least one of the following: a drill crown, a drill bit, or a drill rod.

[0077] According to an exemplary embodiment of the second aspect, the mining tool includes a rock bolting tool, a grouting tool, or a grouting tool.

[0078] According to an exemplary embodiment of the second aspect, the predetermined portion of the mining tool includes a distal portion of the mining tool.

[0079] According to an exemplary embodiment of the second aspect, the predetermined portion of the mining tool or the mining vehicle includes a visually recognizable portion of the mining tool or the mining vehicle.

[0080] According to an exemplary embodiment of the second aspect, the light source includes a lamp housing configured to collimate light along a plane.

[0081] According to an exemplary embodiment of the second aspect, the light source is configured to emit light in front of the side of the mining tool magazine configured to allow access to at least one mining tool configured to be stored in the mining tool magazine.

[0082] According to an exemplary embodiment of the second aspect, the plane is substantially parallel to the side of the mining tool magazine configured to allow access to the at least one mining tool configured to be stored in the mining tool magazine.

[0083] According to an exemplary embodiment of the second aspect, the emitted light includes invisible light, infrared light or ultraviolet light, or the color of the emitted light is different from the color of the predetermined portion of the mining tool or the mining vehicle.

[0084] According to an exemplary embodiment of the second aspect, the computer program code is further configured to cause the device to perform the following operations by the at least one processor: receive visual data from a camera of the mining vehicle.

[0085] According to a third aspect, the device may include components for performing the method according to the second aspect or any of its exemplary embodiments.

[0086] According to a fourth aspect, a computer program, a computer program product or a (non-transitory) computer-readable medium may include instructions that, when executed by the device, cause the device to at least perform the method according to the second aspect or any of its exemplary embodiments.

[0087] According to a fifth aspect, a mining vehicle is disclosed. The mining vehicle may include the device according to the first aspect or the third aspect or any of its exemplary embodiments, or include a computer program according to the fourth aspect.

[0088] According to an exemplary embodiment of the fifth aspect, the mining vehicle includes a mining tool magazine or is configured to hold a mining tool magazine.

[0089] According to an exemplary embodiment of the fifth aspect, the mining vehicle includes a drill, or the mining tool magazine includes a drill tool magazine, or the mining tool or another mining tool includes at least one of the following: a drill crown, a drill bit or a drill pipe.

[0090] According to a sixth aspect, a mining tool storage bin is disclosed. The mining tool storage bin may include a light source configured to emit light along a plane located at a predetermined reference distance relative to the mining tool storage bin.

[0091] According to an exemplary embodiment of the sixth aspect, the emitted light includes invisible light, infrared light, or ultraviolet light, or the color of the emitted light is different from the color of a predetermined part of the mining tool or the mining vehicle, wherein the mining vehicle is configured to replace the mining tool with another mining tool configured to be stored in the mining tool storage bin.

[0092] According to an exemplary embodiment of the sixth aspect, the light source includes a lamp shade configured to collimate light along the plane.

[0093] According to an exemplary embodiment of the sixth aspect, the light source is configured to emit light in front of the side of the mining tool storage bin configured to allow access to at least one mining tool configured to be stored in the mining tool storage bin.

[0094] According to an exemplary embodiment of the sixth aspect, the plane is substantially parallel to the side of the mining tool storage bin configured to allow access to the at least one mining tool configured to be stored in the mining tool storage bin.

[0095] According to an exemplary embodiment of the sixth aspect, the mining tool storage bin includes a drilling tool storage bin, a rock bolting tool storage bin, a grouting tool storage bin, or a grouting tool storage bin, or the mining tool includes a drilling tool, a rock bolting tool, a grouting tool, or a grouting tool.

[0096] Although the subject matter has been described in language specific to structural features and / or acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. On the contrary, the above specific features and acts are disclosed as examples of implementing the claims, and other equivalent features and acts are intended to fall within the scope of the claims.

[0097] It will be understood that the above benefits and advantages may be associated with one embodiment or may be associated with several embodiments. These embodiments are not limited to those embodiments that solve any or all of the above problems or have any or all of the above benefits and advantages. It will also be understood that references to "an" item may refer to one or more of those items.

[0098] The steps or operations of the methods described herein can be performed in any suitable order or simultaneously where appropriate. Additionally, a single module can be deleted from any of these methods without departing from the scope of the subject matter described herein. Aspects of any of the above exemplary embodiments can be combined with aspects of any of the embodiments of other exemplary embodiments to form further exemplary embodiments without losing the desired effects.

[0099] As used herein, the term "comprising" means including the identified method, module, or element, but these modules or elements do not include an exclusive list, and the method or apparatus can include additional modules or elements.

[0100] As used herein, "at least one of the following elements: " and "at least one of the elements in " and similar phrases, when the list consisting of two or more elements is connected by "and" or "or", mean at least any one of these elements, or at least any two or more of these elements, or at least all of the elements. The term "or" can be understood to also cover the case where both of the two entries separated by "or" are included. Thus, "or" can be understood as an inclusive "or" rather than an exclusive "or".

[0101] Although a subject can be referred to as a "first" or "second" subject, this does not necessarily indicate any order or importance of the subject. Instead, these attributes can be used only for the purpose of distinguishing between these subjects.

[0102] It should be understood that the above description is given only as an example, and those skilled in the art can make various modifications. The above specification, examples, and data provide a complete description of the structure and use of the exemplary embodiments. Although the various embodiments have been described above with a certain degree of particularity or with reference to one or more separate embodiments, those skilled in the art can make many changes to the disclosed embodiments without departing from the scope of this specification.

Claims

1. A device for controlling the replacement of a mining tool of a mining vehicle, the device comprising: at least one processor; and at least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured to, by means of the at least one processor, cause the device to at least perform the following operations: control the movement of the mining tool of the mining vehicle towards a mining tool magazine, wherein a light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine; receive visual data, the visual data including a representation of the mining tool; based on the visual data, determine the distance between the mining tool and the mining tool magazine by detecting the illumination of the emitted light on a predetermined part of the mining tool or the mining vehicle; monitor the determined distance between the mining tool and the mining tool magazine based on the movement of at least one of the mining tool or the mining vehicle relative to the mining tool magazine; and control the replacement of at least the distal part of the mining tool with another mining tool stored in the mining tool magazine based on the monitoring of the distance between the mining tool and the mining tool magazine.

2. The device according to claim 1, wherein The predetermined part of the mining tool or the mining vehicle includes the distal part of the mining tool, or wherein the predetermined part of the mining tool or the mining vehicle includes a visually recognizable part of the mining tool or the mining vehicle.

3. The device according to claim 1 or 2, wherein The at least one memory and the computer program code are configured to: by means of the at least one processor, cause the device to perform the following operation: in front of the side of the mining tool magazine that is configured to allow access to at least one mining tool configured to be stored in the mining tool magazine, detect the illumination of the emitted light on the predetermined part of the mining tool or the mining vehicle.

4. The device according to claim 3, wherein, The plane is substantially parallel to the side of the mining tool magazine that is configured to allow access to the at least one mining tool configured to be stored in the mining tool magazine.

5. The apparatus according to any one of the preceding claims, wherein, The emitted light includes invisible light, infrared light or ultraviolet light, or wherein the color of the emitted light is different from the color of the predetermined part of the mining tool or the mining vehicle.

6. The device according to any one of the preceding claims, wherein, The at least one memory and the computer program code are further configured to: by means of the at least one processor, cause the device to at least perform the following operations: receive the visual data from a camera of the mining vehicle.

7. A mining vehicle comprising the device according to any one of the preceding claims.

8. The mining vehicle according to claim 7, further comprising the mining tool magazine or being configured to hold the mining tool magazine.

9. The mining vehicle according to claim 8, wherein, The mining tool magazine includes a light source, the light source being configured to: in front of the side of the mining tool magazine that is configured to allow access to at least one mining tool configured to be stored in the mining tool magazine, the light source emits light along a plane located at a predetermined reference distance relative to the mining tool magazine.

10. The mining vehicle according to claim 9, wherein, The emitted light includes invisible light, infrared light, or ultraviolet light, or alternatively, the color of the emitted light is different from the color of a predetermined part of the mining tool or the mining vehicle, wherein the mining vehicle is configured to: replace the mining tool with another mining tool configured to be stored in the mining tool magazine.

11. The mining vehicle according to claim 9 or 10, wherein, The light source includes a lamp shade configured to collimate the light along the plane.

12. The mining vehicle according to any one of claims 9 to 11, wherein, The plane is substantially parallel to the side of the mining tool magazine configured to allow access to the at least one mining tool configured to be stored in the mining tool magazine.

13. A mining tool magazine, comprising: A light source configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine in front of the side of the mining tool magazine configured to allow access to the at least one mining tool configured to be stored in the mining tool magazine.

14. The mining tool storage bin according to claim 13, wherein, The emitted light includes invisible light, infrared light, or ultraviolet light, or alternatively, the color of the emitted light is different from the color of a predetermined part of the mining tool or the mining vehicle, wherein the mining vehicle is configured to: replace the mining tool with another mining tool configured to be stored in the mining tool magazine.

15. The mining tool storage bin according to claim 13 or 14, wherein, The light source includes a lamp shade configured to collimate the light along the plane.

16. The mining tool storage bin according to any one of claims 13 to 15, wherein, The plane is substantially parallel to the side of the mining tool magazine configured to allow access to the at least one mining tool configured to be stored in the mining tool magazine.

17. A computer-implemented method performed by a device for controlling the replacement of a mining tool of a mining vehicle, the method comprising: Controlling the movement of the mining tool of the mining vehicle towards the mining tool magazine, wherein the light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine; Receiving visual data including a representation of the mining tool; Based on the visual data, determining the distance between the mining tool and the mining tool magazine by detecting the illumination of the mining tool or a predetermined part of the mining vehicle by the emitted light; Monitoring the determined distance between the mining tool and the mining tool magazine based on the movement of at least one of the mining tool or the mining vehicle relative to the mining tool magazine; and Based on the monitoring of the distance between the mining tool and the mining tool magazine, controlling the replacement of at least the distal part of the mining tool with another mining tool stored in the mining tool magazine.

18. A computer program comprising instructions that, when executed by a device including at least one processor and at least one memory, cause the device to perform at least the following operations: Controlling the movement of a mining tool of a mining vehicle towards a mining tool storage bin, wherein, The light source is configured to emit light along a plane located at a predetermined reference distance relative to the mining tool magazine; Receiving visual data including a representation of the mining tool; Based on the visual data, determining the distance between the mining tool and the mining tool magazine by detecting the illumination of the mining tool or a predetermined part of the mining vehicle by the emitted light; Monitoring a determined distance between the mining tool and the mining tool magazine based on movement of at least one of the mining tool or the mining vehicle relative to the mining tool magazine; and Controlling replacement of at least a distal portion of the mining tool with another mining tool stored in the mining tool magazine based on the monitoring of the distance between the mining tool and the mining tool magazine.

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