Sensor for controlling drilling machine

Abstract

Example embodiments relate to sensor control of a drilling machine. An apparatus may include 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 configured to, with the at least one processor, cause the apparatus to perform at least the following: obtain information about an operational state of the drilling machine; determining, based on the operating state of the drilling machine, that at least one sensor of the drilling machine is to be transitioned to a power saving mode; and transitioning the at least one sensor of the drilling machine to the power saving mode.

Description

TECHNICAL FIELD

[0001] Various example embodiments relate generally to the field of controlling a drilling machine. Some example embodiments relate to controlling sensors of a drilling machine based on an operating state of the drilling machine. BACKGROUND

[0002] A drilling machine can be equipped with various sensors in order to monitor the operation of the drilling machine or the environment of the drilling machine. The sensors can be distributed at different components of the drilling machine and connected by wires to a common power supply. SUMMARY

[0003] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the DETAILED DESCRIPTION. This Summary 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 of the present disclosure, an apparatus for sensor control of a drilling machine is disclosed. The apparatus can comprise at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform the following: obtaining information about an operating state of the drilling machine; determining, based on the operating state of the drilling machine, that at least one sensor of the drilling machine is to be transitioned to a power saving mode; and causing the at least one sensor of the drilling machine to transition to the power saving mode.

[0005] According to another aspect of the present disclosure, a sensor is disclosed. The sensor can comprise the apparatus of the first aspect, and the at least one memory and the computer program code can be configured to, with the at least one processor, cause the apparatus to transition the sensor to the power saving mode based on the operating state of the drilling machine.

[0006] According to another aspect of the present disclosure, a method for sensor control of a drilling machine is disclosed. The method can comprise: obtaining information about an operating state of the drilling machine; determining, based on the operating state of the drilling machine, that at least one sensor of the drilling machine is to be transitioned to a power saving mode; and causing the at least one sensor of the drilling machine to transition to the power saving mode.

[0007] According to another aspect of the disclosure, an apparatus is disclosed. The apparatus can comprise means for obtaining information about an operating state of the drilling machine; means for determining, based on the operating state of the drilling machine, that at least one sensor of the drilling machine is to be transitioned to a power saving mode; and means for causing the at least one sensor of the drilling machine to transition to the power saving mode.

[0008] According to another aspect of the disclosure, a computer program, computer program product or (non-transitory) computer readable medium is disclosed. The computer program, the computer program product or the (non-transitory) computer readable medium can comprise program instructions that, when executed by an apparatus, cause the apparatus to at least obtain information about an operating state of the drilling machine; determine, based on the operating state of the drilling machine, that at least one sensor of the drilling machine is to be transitioned to a power saving mode; and cause the at least one sensor of the drilling machine to transition to the power saving mode.

[0009] Example embodiments of the above aspects are described in the claims, the specification, and / or the drawings. According to some aspects, the subject matter of the independent claims is provided. Some further aspects are defined in the dependent claims. Many of the attendant features will be more readily understood and appreciated by reference to the following description, taken together with the attached drawings, wherein: BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings, which are included to provide a further understanding of example embodiments and are incorporated in and constitute a part of this specification, illustrate example embodiments and together with the description serve to explain example embodiments. In the drawings: Figure 1 An example of an underground drilling machine is shown; Figure 2 An example of a surface drilling machine is shown; Figure 3 An example of a communication link between a sensor controller, a drilling machine controller and a sensor of a drilling machine is shown; Figure 4 An example of signaling and operation for controlling a sensor of a drilling machine to transition to a power saving mode based on an operating state of the drilling machine is shown; Figure 5 An example of signaling and operation for controlling a sensor of a drilling machine to transition to a power saving mode based on an operating state of the drilling machine is shown; Figure 6 An example of an apparatus configured to practice one or more example embodiments is shown; Figure 7 An example of a method for sensor control of a drilling machine is shown; and Figure 8An example of a method for a sensor of a drilling rig to transition to a power saving mode is shown.

[0011] In the drawings, like reference numerals are used to refer to like parts throughout the various figures. DETAILED DESCRIPTION

[0012] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The following description is presented to enable any person skilled in the art to construct and use a current example, and is provided in the context of a particular application and its requirements. Various alternatives to the examples described herein can be implemented, using some of or all of the functionality of the examples described herein, the same or equivalent elements being referred to with the same reference numerals. The following description is in the context of particular examples and applications and is provided to enable any person skilled in the art to make and use at least one of the examples of the present disclosure. The intent is not to limit the examples of the present disclosure to applications that are described. The description is not intended to be exhaustive or to be limited to the precise forms disclosed. Modifications and variations are possible in light of the above

[0013] A drilling rig can be configured with a large number of sensors to provide feedback control for various functions, such as boom movement or drilling. The power supply for the sensors can be provided by electrical wires, but it can be difficult to wire the electrical wires to the desired components of the drilling rig. Furthermore, in case the sensors are mounted to movable components of the drilling rig, the electrical wires can become entangled and this can cause malfunctions of the sensors. Battery powered wireless sensors can be used to provide a more durable solution, but this comes with the need to replace or recharge the batteries from time to time. Therefore, long battery life is one of the requirements for battery powered sensors. The battery life can be prolonged by increasing the battery capacity, but this approach has a number of associated drawbacks, such as for example increased size, weight and price. The example embodiments of the present disclosure enable reducing the power consumption of the sensors of a drilling rig. In case of battery powered sensors, this results in longer battery life, less maintenance need and thus improved overall efficiency.

[0014] Figure 1 An example of an underground drilling rig is shown. The underground drilling rig 100 can be a rock drilling rig. The underground drilling rig 100 can comprise a movable carrier 110 and at least one boom 120 connected to the movable carrier 110. The movable carrier 110 can comprise equipment for moving or stabilizing the underground drilling rig 100, such as for example a motor, wheels or stabilizing legs 118. The stabilizing legs can also be referred to as ground support members. Although Figure 1 Two booms 120 have been shown in the middle, but the underground drilling rig 100 can typically comprise one or more (e.g. two, three, four,...) booms 120.

[0015] In this example, the tool represented by drilling unit 130 can be coupled to the distal portion of boom 120. Drilling unit 130 may include a feed system configured to maintain the drill bit of drilling unit 130 in contact with the drill face (tunnel surface 140 in this example) and to allow the drill rod to move along the feed beam during drilling. Boom 120 may include a plurality of boom components that are coupled to each other via joint 122, coupled to movable carrier 110, and / or coupled to drilling unit 130. The controllable joint allows drilling unit 130 to be positioned and oriented relative to the drill face at a desired location.

[0016] Figure 2 An example of a surface drilling machine is shown. The surface drilling machine 200 may include a movable carrier 110 and a drill rig 150. A drilling unit 130 may be located at the lower distal end of the drill rig 150. The drill rig 150 may be supported by a boom 120. The surface drilling machine 200 may include a track 160 that can be connected to the movable carrier 110 to enable the surface drilling machine 200 to move. Therefore, the surface drilling machine 200 may be a tracked drilling machine. The surface drilling machine 200 may include the above-referenced... Figure 1 One or more of the components described, or other tools or equipment associated with the drilling machine.

[0017] The underground drilling machine 100 and the surface drilling machine 200 can generally be referred to as drilling machines 100 and 200. However, it should be noted that the exemplary embodiments of this disclosure can generally be applied to other types of drilling machines or mining machines (e.g., mining trucks, mining loaders, bolt drills, tunneling machines, or multi-purpose vehicles).

[0018] Drilling machines 100 and 200 include a drilling machine controller (C) 112. The drilling machine controller can be configured to control various functions of the drilling machines 100 and 200, such as navigation, movement (e.g., travel), or drilling. The drilling machine controller 112 may, for example, include a navigation application configured to control the navigation of the drilling machines 100 and 200, or to enable a human operator to control the navigation of the drilling machines 100 and 200. The navigation application may, for example, be configured to control the drilling machines 100 and 200 to move to a desired drilling position. A drilling position may refer to a location of the carrier 110 from which the drilling machines 100 and 200 can perform drilling. For example, a drilling position may include the location of the carrier from which at least one planned drill hole is within reach of the drilling unit. The drilling machine controller 112 may include control circuitry for performing the functions of the drilling machine controller 112, as described herein. Navigation of drilling machines 100 and 200 may include monitoring the position of drilling machines 100 and 200 and controlling drilling machines 100 and 200 to move to a desired position, such as a planned drilling position.

[0019] The drilling machine 100, 200 can comprise sensors 116, which can be mounted at various components of the drilling machine 100, 200, e.g. the carrier 110. Alternatively or additionally, the sensors 116 can be located at specific components of the drilling machine 100, 200, such as, for example, the boom 120 or the mast 150, or tools of the drilling machine 100, 200 (e.g. the drilling unit 130). The sensors 116 can comprise various types of sensors, such as, for example, inertial measurement units (IMUs), accelerometers, gyroscopes, cameras, radio detection and ranging (radar) sensors, light detection and ranging (lidar) sensors, etc.

[0020] The IMUs, accelerometers and / or gyroscopes can be configured to measure or monitor the angles (e.g. inclination angles) of the components relative to the drilling machine 100, 200 and / or their positions relative to the drilling machine 100, 200. One example of such a sensor is a boom angle sensor, which can be configured to measure the angle of the boom 120. The boom angle sensor can be located at the boom 120.

[0021] Some of the sensors 116 can be configured to scan the environment of the drilling machine 100, 200, e.g. the drilling face. For example, a camera can be used to extract depth information of the drilling face, e.g. by comparing two images taken at slightly different positions (e.g. by two camera units). Alternatively, the sensors 116 can comprise a time-of-flight (ToF) camera, which can be configured to determine the distance between the camera and a point of the drilling face or other object by measuring the round-trip time of an artificial light signal provided by a laser or a light-emitting diode (LED). A lidar sensor can be configured to determine distances to different points of the drilling face or other object by aiming a laser at the different points and measuring the time it takes for the reflected light to return to a receiver of the lidar sensor. A radar sensor can be configured to emit electromagnetic energy towards the drilling face or other object and observe the returning echoes to determine distances to different points of the drilling face or other object.

[0022] The drilling machine 100, 200 can comprise a sensor controller (SC) 114, which can be configured to control the operation of the sensors 116. The sensor controller 114 can comprise sensor control circuitry for performing the functions of the sensor controller 114, as described herein. The drilling machine controller 112 and / or the sensor controller 114 can be provided as, for example, an integrated circuit (IC), or as a software application that resides on at least one memory and is executable by a processor. Figure 6Examples of devices suitable for implementing the drill controller 112 and / or the sensor controller 114 are provided. The drill controller 112 can comprise or be communicatively coupled to various functions, blocks or applications for controlling functions of the drill 100, 200.

[0023] The sensors 116 can be battery powered. This provides the benefit of a more durable installation of the sensor system, as installation of wires for power supply can be avoided. Wires can be prone to damage when moving parts of the drill 100, 200, e.g. the boom 120 or the mast 150. The sensors 116 can be equipped with communication circuitry, e.g. wireless radio transmitter and / or receiver circuitry coupled to one or more antennas, in order to enable the sensors 116 to wirelessly transmit and / or receive information, e.g. data acquired by the sensors. The communication circuitry can be configured to provide a wireless communication interface between the sensors 116 and the drill 100, 200, e.g. the drill controller 112 or the sensor controller 114. An example of a suitable wireless communication interface for implementing the wireless communication link described herein is Bluetooth® Low Energy (LE).

[0024] As mentioned above, extended battery life is one of the desired properties of a battery powered sensor system. Therefore, the sensor controller 114 can be configured to determine that some or all of the sensors 116 are to be switched to a power saving mode depending on a current operating state of the drill 100, 200 or parts thereof. This switching operation enables to reduce the power consumption of the sensors when they are not needed for controlling the operation of the drill 100, 200.

[0025] The operating state can be indicative of a current function or capability of the drill 100, 200. For example, the operating state can be indicative of a current configuration of the drill 100, 200 or parts or tools thereof, e.g. their position / orientation, activation / deactivation, etc. The operating state can be indicative of whether the drill 100, 200 or parts or tools thereof are currently operating (e.g. performing a specific function) or moving, or have been operating or moving for a certain period of time.

[0026] The operational state can comprise a specified operational mode of the drilling machine 100, 200. The specified operational mode can for example be selected by the drilling machine controller 112 from an enumerated list of possible operational modes, such as for example: "running", "not running", "enabled", "disabled", "drilling", "traveling", "faulty", etc. Running can generally refer to a state in which the respective equipment is currently operating (e.g. performing a function such as drilling). Not running can generally refer to a state in which the respective equipment is not currently operating or is not operable. Enabled can generally refer to a state in which the respective equipment is currently operable but is not necessarily currently being operated. Disabled can generally refer to a state in which operation of the respective equipment is blocked or limited. The operational mode of the drilling machine 100, 200 can correspond to a current state of an internal state machine of the drilling machine 100, 200. A state machine can comprise a software component that models the behavior of a system by defining a finite set of pre-defined states of the system and transitions between the states. A state comprises a description of a state of the system of the drilling machine, such as for example that an operation is being performed or that the drilling machine is waiting to transition from a first state to a second state. The state of the drilling machine can comprise for example a current state of the drilling machine. The current state of the drilling machine can comprise for example an idle state in which the drilling machine is waiting for a signal to start an operation. As another example, the current state can comprise an operational state indicating that the drilling machine is performing a pre-defined operation.

[0027] The internal structure of the sensor can be divided into sensing units, such as for example IMUs, accelerometers, gyroscopes, etc., and other sensor circuitry, such as for example a processor (e.g. a central processing unit, CPU) and / or communication circuitry. In the case of some sensors, the sensing units can consume a significant amount of the total power consumption of the sensor. The power saving mode of the sensor can comprise partially powering down or completely shutting down all or a subset of the sensing units of the sensor. Alternatively or additionally, the power consumption of the processor can be configured to be reduced in the power saving mode, for example by reducing the clock frequency of the processor. Furthermore, the power consumption of the communication circuitry can be configured to be reduced in the power saving mode, for example by configuring the communication circuitry to transmit / receive data less frequently. The power consumption can also be reduced by shutting down (unnecessary) data lines or buses of the sensor. In the power saving mode, the communication circuitry and / or the processor can still be configured to operate at a sufficient level in order to enable the sensor to receive and process instructions for transitioning back to the normal operational mode from the power saving mode.

[0028] The drill rigs 100, 200 can be autonomous drill rigs, such as autonomous underground drill rigs or autonomous surface drill rigs. Autonomous drill rigs operating in autonomous mode can be configured to, for example, receive a task to be performed, perceive the environment of the drill rig, and autonomously perform the task while taking the environment into account. Autonomous drill rigs operating in autonomous mode can be configured to operate independently, but can be operated under external control in certain operating areas or conditions, such as during an emergency.

[0029] Figure 3 An example of a communication link between a sensor controller of a drill rig, a drill rig controller, and a sensor is shown. The sensor controller 114 can be connected to the drill rig controller 112 through a wireless or wired communication link. Examples of a wireless communication link include any short-range wireless network, such as a Bluetooth or Wi-Fi network, a wireless serial data interface, or the like. A wired communication link can for example include a serial data interface or the like. In some embodiments, the sensor controller 114 can be implemented as part of the drill rig controller 112, or coupled to the drill rig controller 112 via an internal communication interface of the drill rig 100, 200, such as a data bus interface.

[0030] The sensor 116 can be configured to send sensor signals to the sensor controller 114 and / or the drill rig controller 116. The sensor signals can include sensor data, such as sensor readings. The sensor data can be obtained through measurements performed by a sensing unit of the sensor 116. The sensor controller 114 can be configured to send sensor control signals to the sensor 116, such as to request the sensor 116 to transition to a power saving mode. Although shown as a unidirectional link in Figure 3 The communication link can be bidirectional, although shown as a unidirectional link in

[0031] The wireless communication links to the different sensors can include separate wireless communication links to each sensor. However, the different sensors can be configured to use a common wireless communication signal, e.g., through time division multiplexing. Any communication link that enables addressable communication with a particular sensor can be considered a separate communication link. For example, the sensor controller 114 can be configured to send a sensor control signal (e.g., requesting entry into a power save mode) to the sensor 116-1 through a first wireless communication link (“first link”). The sensor 116-1 can be configured to monitor the operation of the drill rig 100, 200, e.g., operation in certain operating states of the drill rig 100, 200. Thus, if the sensor 116-1 is not needed in a certain operating state of the drill rig 100, 200, the sensor 116-1 can be configured to transition to a power save mode. The sensor controller 114 can be configured to receive a sensor signal from the sensor 116-2 through a second wireless communication link (“second link”). The first wireless communication link and the second wireless communication link can be provided through the use of different radio technologies, different frequencies, or different time slots of the same wireless communication signal. The sensor signal can include sensor data collected by the sensor at one or more times. The sensor 116-2 can be configured to monitor the drill rig 100, 200 regardless of the operating state of the drill rig 100, 200. Thus, the sensor signal from the sensor 116-2 can be used to determine the operating state of the drill rig 100, 200.

[0032] As noted above, the communication link between the drill rig controller 112 and the sensor controller 114 (“third link”) can include a wireless communication link. This can be the case, for example, if the sensor controller 114 is integrated within the sensor 116. With the above option in mind, the sensor controller 114 can be configured to send a sensor control signal to a sensor (e.g., the sensor 116-1) through a first wireless communication link. The sensor controller 114 can be configured to receive a sensor signal from other sensors (e.g., the sensor 116-2) or a control signal from the drill rig controller 112 through another wireless communication link (“second link” or “third link”). In the case of a sensor signal, the other communication link can be a second wireless communication link. In the case of a control signal, the other wireless communication link can be a third wireless communication link.

[0033] Figure 4 An example of signaling and operation for controlling a sensor of a drill rig to transition to a power save mode based on an operating state of the drill rig is shown. Figure 4The operation of the sensor 116-2 is described as the sensor 116-1 is configured to switch to the power saving mode, and the sensor 116-2 operates as an external sensing unit (also referred to as another sensor), optionally assisting in determining the operational state of the drilling machine 100, 200. However, it should be noted that the sensor controller 114 can be configured to control the power saving mode of more than one sensor and to receive sensor signals from more than one sensor.

[0034] At operation 401, the sensor 116-2 can be configured to read sensor data, e.g. measured by a sensing unit of the sensor 116-2. The sensor 116-2 can be configured to read the sensor data at one or more instances, e.g. periodically. The type of sensor data can depend on the type of sensor 116-2. For example, an accelerometer can be configured to read sensor data as one or more acceleration values, e.g. with respect to three mutually orthogonal axes. A gyroscope can be configured to read a value of an orientation of the sensor or an angular velocity of the sensor.

[0035] At operation 402, the sensor 116-2 can be configured to transmit a sensor signal to the sensor controller 114. The transmission of the sensor signal can be over the wireless communication link (see Figure 3 “second link”) of the sensor 116-2. Alternatively or additionally, the sensor 116-2 can be configured to transmit the sensor signal directly to the drilling machine controller 112, e.g. over another wireless communication link (“fourth link”).

[0036] At operation 403, the drill controller 112 can be configured to send a control signal to the sensor controller 114. The drill controller 112 can be configured to determine the content of the control signal based on internal control data of the drill 100, 200, e.g., the status of various components of the drill 100, 200 (e.g., actuators such as electrical actuators or hydraulic power pack enabled or disabled, motor running or not running, drill moving or not moving, etc.) as recorded in a memory associated with the drill controller 112. For example, the drill controller 112 can be configured to read the current state of a state machine of the drill 100, 200, e.g., “drilling,” “traveling,” “navigating,” etc. The drill controller 112 can be configured to determine the current operational state of the drill 100, 200 based on the current state of the state machine. The drill controller 112 can be configured to determine the control signal based on the current state of the state machine. For example, the control signal can include an indication of the current state of the state machine (as the operational state of the drill 100, 200). Alternatively or additionally, the drill controller 112 can be configured to determine the control signal based on sensor signals received from the sensor 116-2. The indication of the operational state or in general any information can include a specified value of an information field of the control signal, such as, for example, a bit or a set of bits having a specific value.

[0037] The control signal can indicate the operational state of the drill 100, 200 or of a component of the drill 100, 200. The control signal can indicate the movement of the carrier 110, e.g., by indicating the movement state of the carrier 110, such as, for example, “moving,” “traveling,” “not moving,” or “not traveling.” As another example, the control signal can be configured to indicate the speed of the carrier 110. The drill controller 112 may, for example, be configured to configure the control signal with an indication that the drill 100 is moving in response to determining that successive positioning signals received from a positioning sensor coupled to the drill 100, 200 indicate movement of the drill 100, 200.

[0038] The control signal can include an indication of the position of the drill 100, 200, e.g., a position in an external reference coordinate system that is stationary relative to the ground or relative to a planned drilling location. For example, if the drill 100, 200 has not been navigated to a planned drilling location, the drill controller 112 can be configured to configure the control signal to include a status indication of “not navigated to.” In general, if the drill is not located at a planned drilling location, the drill controller 112 can be configured to configure the control signal to include a status indication of “not located at a planned drilling location,” etc.

[0039] The control signals can be associated with powered components or tools of the drill 100, 200. For example, the control signals can include an indication of the operational state of an actuator (e.g., an electric actuator) or a hydraulic power pack of the drill 100, 200, such as“disabled” or“enabled.” The operational state of the actuator or hydraulic power pack or generally any other powered equipment can be associated with a particular component of the drill 100, 200 (e.g., the boom 130 or the mast 150).

[0040] The control signals can include an indication of the current operational mode of the drill 100, 200. While some control signals can implicitly reflect the operational state of the drill by providing information associated with the current function of the drill 100, 200, the operational mode can include, for example, an explicit designation of the operational mode assigned to the drill 100, 200 or a component or tool thereof by the drill controller 112. As described above, the operational mode can be based on an enumerated list of possible operational modes.

[0041] The control signals can include an indication of the state of a particular component of the drill 100, 200. For example, the control signals can include an indication of the state of a stabilizing leg 118 (e.g., positioned to the ground or not positioned to the ground), the state of a motor of the drill 100, 200 (e.g., running or not running), or the state of the boom 120 or the mast 150 (e.g., placed to a travel position or not placed to a travel position).

[0042] The sensor controller 114 can be configured to obtain information about the current operational state of the drill 100, 200 based on the control signals received at operation 403 and / or based on the sensor signals received at operation 402. The sensor controller 114 can be configured to obtain the information of the operational state directly, for example, by receiving an explicit indication of the current operational mode of the drill 100, 200 or a component or tool thereof in the control signals. For example, the sensor controller 114 can be configured to obtain information about the state of a motor of the drill 100, 200 by receiving a control signal indicating that the motor is running or not running.

[0043] Alternatively, the sensor controller 114 can be configured to obtain information about the operational state by determining (e.g., inferring) the operational state of the drill 100, 200 based on the control signals and / or the sensor signals, as will be further described below.

[0044] At operation 405, the sensor controller 114 can be configured to determine an operating state of the drill rig 100, 200. The sensor controller 114 can be configured to determine the operating state based on an implicit indication of the operating state. The operating state can be a current operating state of the drill rig 100, 200, which can refer to the operating state at the time the sensor data is acquired by the sensor 116-2 or the control signal is determined by the drill rig controller 112. Examples of determining the operating state based on various indications of the control signal are provided in the following paragraphs.

[0045] The sensor controller 114 can be configured to determine a motion state of the drill rig 100, 200, which is provided as one example of the operating state. The motion state can indicate whether the carrier 110 is moving or whether it is stationary. The sensor controller 114 can be configured to determine that the carrier 110 is moving (e.g., traveling), for example, in response to receiving a control signal indicating that the speed of the carrier 110 is above a threshold. Alternatively or additionally, the sensor controller 114 can be configured to determine that the carrier 110 is moving in response to receiving successive control signals indicating a change in position of the carrier 110. Further, the sensor controller 114 can be configured to determine that the carrier 110 is not moving in response to receiving a control signal indicating that at least one of the stabilizing legs 118 is positioned to the ground and / or that a motor of the drill rig 100, 200 is not running. On the other hand, the sensor controller 114 can be configured to determine that the carrier 110 is moving or likely to move in response to receiving a control signal indicating that the (all) stabilizing legs 118 are not positioned to the ground (e.g., raised). Thus, the motion state can indicate a current motion state or a predicted motion state. This provides a benefit of enabling active power control of the sensor 116-1.

[0046] The sensor controller 114 can be configured to determine a position state of the drill rig 100, 200, which is provided as another example of the operating state. The position state can include information about the position of the drill rig 100, 200, for example, relative to a reference position. The reference position can include a planned operating position, such as a planned drilling position. The position state can indicate, for example, whether the drill rig 100, 200 is at the planned drilling position, e.g., whether the drill rig 100, 200 has been navigated to the planned drilling position. The planned drilling position can include a position at a reference coordinate system that is stationary relative to the ground. Being at the planned drilling position can include being close enough to the planned drilling position such that the drill rig 100, 200 is able to perform a planned drilling task, e.g., drill a hole according to a drilling plan. Alternatively, being at the planned drilling position can include being within a range of the planned drilling position. This again provides a benefit of enabling active power control of the sensor 116-1, as it can be powered up when approaching the planned drilling position.

[0047] The operational state of the drilling rig 100, 200 can be associated with a powered component or tool of the drilling rig 100, 200. An example of such an operational state is a hydraulic power state. For example, the sensor controller 114 can be configured to determine that a hydraulic power pack or a component or tool thereof (e.g., the boom 120) of the drilling rig 100, 200 is disabled. This can be in response to receiving a corresponding control signal from the drilling rig controller 112. It is noted that a hydraulic power pack is provided as one example of a powered component or tool or of the drilling rig 100, 200. Alternatively or additionally, an actuator (e.g., an electric actuator) can be used to move a component or tool of the drilling rig 100, 200.

[0048] A further example of an operational state of the drilling rig 100, 200 is a fault state. The fault state can indicate whether the drilling rig 110, 200 or a particular component or tool thereof is in a fault mode. The sensor controller 114 can be configured to determine the fault state based on a corresponding control signal received from the drilling rig controller 112. Being in a fault mode can indicate that the respective equipment is not functioning.

[0049] At operation 406, the sensor controller 114 can be configured to determine that the sensor 116-1 is to be transitioned to the power saving mode based on the operational state of the drilling rig 100, 200. In general, the sensor controller 114 can be configured to determine from the plurality of sensors 116 that the sensors are to be transitioned to the power saving mode based on the determined sensors being associated with a function, component or tool that is disabled according to the determined operational state. In general, the sensor controller 114 can be configured to determine that the sensor 116-1 is to be transitioned to the power saving mode in response to determining that at least one condition of the operational state of the drilling rig 100, 200 is to be met. Examples of conditions for transitioning the sensor 116-1 to the power saving mode are provided below.

[0050] For example, the sensor controller 114 can be configured to determine that a sensor associated with drilling (e.g., a sensor located at the drilling unit 130) is to be transitioned to the power saving mode in response to determining that the drilling rig 100, 200 is not located at a planned drilling location, or in response to determining that the drilling rig 100, 220 is traveling, or in response to determining that a stabilizing leg of the drilling rig 100, 200 is not positioned to the ground. In general, the sensor controller 114 can be configured to determine that any sensor associated with a tool of the drilling rig 100, 200 is to be transitioned to the power saving mode in response to determining that a motion state indicates that the vehicle 110 is moving or is predicted to move. This provides the benefit of avoiding unnecessary power consumption of sensors that are not needed during movement of the vehicle 110.

[0051] The sensor controller 114 can be configured to determine that any sensors associated with the tools of the drill 100, 200 are to be transitioned to the power save mode in response to determining that the location status indicates that the drill 100, 200 is not located at the planned location for applying the tool. For example, the sensor controller 114 can be configured to determine that any sensors associated with the drilling unit 130 are to be transitioned to the power save mode in response to determining that the location status indicates that the drill 100, 200 is not located at the planned drilling location. This provides the benefit of avoiding unnecessary power consumption of sensors that are not needed when the tools are not in use.

[0052] The sensor controller 114 can be configured to determine that the sensors waist located at the boom 120 are transitioned to the power save mode in response to determining that the actuator (e.g., the electric actuator of the boom 120 or the hydraulic power pack) is disabled. In general, the sensor controller 114 can be configured to determine that any sensors that would be affected by the disabling of a particular actuator or hydraulic power pack of the drill 100, 200 are to be transitioned to the power save mode in response to determining that the corresponding actuator or hydraulic power pack of the drill 100, 200 is disabled. This provides the benefit of avoiding unnecessary power consumption of sensors located at the boom 120 or other components of the drill 100, 200 that are inoperable due to the disabling of the actuator or hydraulic power pack.

[0053] The sensor controller 114 can be configured to determine that the sensors of the drill 100, 200 are to be transitioned to the power save mode in response to determining that the drill 100, 200 is in a fault mode or that the motor of the drill 100, 200 is not running. The sensor controller 114 can be configured to determine that the sensors of a component or tool of the drill 100, 200 are to be transitioned to the power save mode in response to determining that the component or tool of the drill 100, 200 is in a fault mode. This provides the benefit of avoiding unnecessary power consumption of sensors located at the drill 100, 200 or components or tools thereof that are not needed due to the fault mode or due to the drill otherwise not functioning.

[0054] The sensor controller 114 can be configured to determine an operating state of the drilling machine 100, 200 based on sensor signals received from the sensor 116-2 or generally other sensors. Other sensors can also be referred to as external sensing units, and they can not undergo transitioning to a power saving mode. For example, the boom 120 can comprise a first sensor (see sensor 116-2) configured for motion detection (e.g. continuous or periodic motion detection) of the boom 120 as an external sensing unit. The sensor controller 114 can be configured to determine, based on sensor data of the first sensor, whether a second sensor (see sensor 116-1) of the boom 120 is to be transitioned to a power saving mode or whether the power saving mode of the second sensor is to be terminated. The second sensor can be more accurate and thus also consume more power than the first sensor. This provides the benefit of enabling monitoring of an operating state of the drilling machine 100, 200 or components or tools thereof with a low-power sensor and transitioning a more accurate but higher-power sensor to a power saving mode when it is not needed.

[0055] At operation 407, the sensor controller 114 can be configured to send a sensor control signal, e.g. a request to transition to a power saving mode, to 116-1. Consider the example of Figure 3 the sensor controller 116 can be configured to send said request over a first wireless communication link (“first link”), which can be a different link than a second wireless communication link (“second link”) from which the sensor controller 114 can have received the sensor signal at operation 402. The sensor controller 114 can be configured to send said request in order to cause the sensor 116-1 to transition to a power saving mode. The sensor controller can be configured to send said request or similar requests to any sensors determined at operation 406.

[0056] Figure 4 The example of the sensor controller 116 enables powering down sensors of the drilling machine 100, 200 when the operating state of the drilling machine 100, 200 is that the sensors are not needed. This enables reducing power consumption of the sensors and, in case of battery-powered sensors, increasing battery life. Thus, a more durable sensor system can be achieved without having to replace the batteries of the sensors too frequently. However, it should be noted that Figure 4 Some of the operations of the sensor controller 116 can not be present in all example embodiments. For example, operations 402 and 403 can be optional, as the sensor controller 114 can be configured to perform operations 405, 406, 407 based on the sensor signal without the control signal, based on the control signal without the sensor signal, or based on both the sensor signal and the control signal.

[0057] Figure 5An example of signaling and operation to transition a sensor to a power saving mode based on an operating state of a drill rig is shown. Similar to the examples described with reference to Figure 4 The operations described for the sensor controller 114 can be performed by the sensor 116-1. For example, the sensor 116-1 can comprise a sensor controller 114, which can be configured to determine whether the sensor 116-1 itself is to be transitioned to a power saving mode. Thus, the functionality of the sensor 116-1 described herein can be implemented by a sensor controller 114 integrated within the sensor 116-1.

[0058] At operation 501, the sensor 116-1 can be configured to read sensor data, e.g. from a sensing unit of the sensor 116-1, e.g. as described with reference to operation 401 for the sensor 116-2. The sensor 116-1 can be configured to provide the sensor data to a sensor controller 114 within the sensor 116-1, e.g. via an internal communication interface.

[0059] At operation 502, the sensor 116-1 can be configured to receive a sensor signal from the sensor 116-2, e.g. as described with reference to operation 402.

[0060] At operation 503, the sensor 116-1 can be configured to determine whether a wireless communication link to the drill rig 100, 200, e.g. to the drill rig controller 112, is inactive. The sensor 116-1 can be configured to determine whether data is received from the drill rig controller 112, e.g. whether the drill rig controller 112 responds to a request sent by the sensor 116-1 via the wireless communication link. The sensor 116-1 can be configured to determine that the state of the wireless communication link is inactive if no data is received from the drill rig controller 112 during a predetermined time period, or the drill rig controller does not respond to the request, or if the link is otherwise in a non-connected state. Consider the example of the wireless communication link comprising a third wireless communication link (“third link”) of the third wireless communication link (“third link”) of the drill rig 100, 200. However, in this example, in contrast to the illustration of the drill rig 100, 200, the sensor controller 114 can be located at the sensor 116-1. Figure 3 Figure 3 At operation 503, the sensor 116-1 can be configured to determine whether a wireless communication link to the drill rig 100, 200, e.g. to the drill rig controller 112, is inactive. The sensor 116-1 can be configured to determine whether data is received from the drill rig controller 112, e.g. whether the drill rig controller 112 responds to a request sent by the sensor 116-1 via the wireless communication link. The sensor 116-1 can be configured to determine that the state of the wireless communication link is inactive if no data is received from the drill rig controller 112 during a predetermined time period, or the drill rig controller does not respond to the request, or if the link is otherwise in a non-connected state. Consider the example of the wireless communication link comprising a third wireless communication link (“third link”) of the third wireless communication link (“third link”) of the drill rig 100, 200. However, in this example, in contrast to the illustration of the drill rig 100, 200, the sensor controller 114 can be located at the sensor 116-1. Figure 3

[0061] At operation 504, the sensor 116-1 can be configured to determine an operating state of the drill rig 100, 200. The sensor 116-1 can be configured to determine the operating state of the drill rig 100, 200 based on its own sensor data read at operation 501, based on the sensor signal received from the sensor 116-2, or based on the state of the wireless communication link to the drill rig 100, 200.

[0062] ​​The sensor 116-1 can be configured to determine that the operating state of the drill 100, 200 or component or tool associated with the sensor 116 is inactive in response to determining that the sensor reading of the sensor 116-1 is substantially constant, e.g., for a predetermined period of time (duration). Substantially constant can include the sensor reading varying within a predetermined range of values. For example, the sensor 116-1 can be configured to determine that the operating state of the drill 100, 200 or component or tool associated with the sensor 116 is inactive in response to determining that the sensor 116-1 is stationary. Determining that the sensor 116-1 is stationary can include determining that the sensor 116-1 is substantially stationary, e.g., that the sensor reading (e.g., acceleration) of the sensor 116-1 is within a predetermined range around zero. Alternatively, the sensor 116-1 can be configured to determine that the operating state of the drill 100, 200 or component or tool associated with the sensor 116 is inactive in response to determining that the pressure level measured by the sensor 116-1 is substantially constant.

[0063] The sensor 116-1 can be configured to determine that the operating state of the drill 100, 200 is inactive based on sensor signals received from the sensor 116-2 or generally other sensors. For example, an accurate high power sensor can be configured to receive sensor signals from a less accurate low power sensor in order to determine whether to keep the high power sensor active or to transition the high power sensor to a power saving mode.

[0064] The sensor 116-1 can be configured to determine that the operating state of the drill 100, 200 is inactive based on inactivation of the wireless communication link, e.g., in response to determining that the wireless communication link has been inactive for a predetermined period of time. The duration of the period of time can be the same or different than the duration of the period of time used to determine that the sensor reading of the sensor 116-1 is substantially constant. The sensor 116-1 can be configured to determine to transition itself to the power saving mode in response to determining that the drill 100, 200 (e.g., a particular component or tool thereof) is inactive.

[0065] At operation 505, the sensor 116-1 can be configured to transition to the power saving mode. For example, the sensor controller 114 can be configured to power down the sensing unit and / or processor (e.g., CPU) of the sensor 116-1 in response to determining that the sensor 116-1 is to be transitioned to the power saving mode.

[0066] Thus, Figure 5 Examples of the above make it possible for individual sensors to independently determine to transition to the power saving mode when the operating state is that the operation of the drill 100, 200 does not require the sensor.

[0067] The sensor controller 114 can be configured to continue obtaining information about the operating state of the drilling machine 100, 200, e.g., by monitoring control signals or sensor signals, while the sensor 116-1 is in the power saving mode. The sensor controller 114 can be configured to cause termination of the power saving mode of the sensor 116-1 in response to determining that the operating state of the drilling machine 116-1 no longer satisfies at least one of the conditions for transitioning the sensor 116-1 to the power saving mode. This enables the sensor 116-1 to be used whenever the operating state of the drilling machine 100, 200 is such that sensor data from the sensor 116-1 is beneficial to the operation of the drilling machine 100, 200.

[0068] Figure 6 An example of an apparatus configured to practice one or more example embodiments is shown. The apparatus 600 can be or include the sensor controller 114 or one of the sensors 116, or generally any device or system configured to implement the functionality described herein. Although the apparatus 600 is shown as a single device, it should be understood that the functionality of the apparatus 600 can be distributed to multiple devices, where applicable.

[0069] The apparatus 600 can include at least one processor 602. The at least one processor 602 can include, for example, one or more of various processing devices, such as for example a processor core, 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 special-purpose computer chip, or the like.

[0070] The apparatus 600 can further comprise at least one memory 604. The at least one memory 604 can be configured to store, for example, computer program code, e.g., operating system software and application software. The at least one memory 604 can comprise one or more volatile memory devices, one or more non-volatile memory devices, and / or combinations thereof. For example, the memory can be implemented as a magnetic storage device such as a hard disk drive, an opto-magnetic storage device, or a semiconductor memory such as a mask ROM, a PROM (programmable ROM), an EPROM (erasable PROM), a flash ROM, a RAM (random access memory), etc. The memory 604 is provided as an example of a (non-transitory) computer readable medium. The term "non-transitory" as used herein is a limitation of the medium itself (i.e., tangible, not a signal) and not a limitation of data storage durability (e.g., RAM vs. ROM). The at least one memory 604 can also be implemented separately from the apparatus 600, e.g., as a computer readable (storage) medium, examples of which include a memory stick, a compact disk (CD), etc.

[0071] When the apparatus 600 is configured to implement a certain functionality, certain components and / or some components of the apparatus 600, such as, for example, the at least one processor 602 and / or the at least one memory 604, can be configured to implement the functionality. Also, when the at least one processor 602 is configured to implement a certain functionality, the functionality can be implemented using, for example, program code 606 included in the at least one memory 604.

[0072] The functions described herein can be performed, at least in part, by one or more computer program product components such as software components. According to example embodiments, the apparatus 600 comprises a processor or processor circuit, such as, for example, a microcontroller, which is configured by program code 606 to perform embodiments of the operations and functions described herein when the program code 606 is executed. The program code 606 is provided as an example of instructions which, when executed by the at least one processor 602, cause performance of the apparatus 600.

[0073] For example, the functions of the drill controller 112, the sensor controller 114, or the sensor 116 can be implemented, at least in part, as program code which is configured to cause the apparatus 600 to perform its functions, respectively. Similarly, the transmission or reception of data, e.g., sensor signals or control signals, through internal or external communication interfaces of the drill 100, 200 or the sensor 116 can be controlled by software.

[0074] Alternatively, or additionally, the functionality described herein can 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 can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), Graphics Processing Units (GPUs), Neural Processing Units (NPUs), Tensor Processing Units (TPUs), etc.

[0075] The apparatus 600 can comprise a communication interface 608 configured to enable the apparatus 600 to transmit and / or receive information. The communication interface 608 can comprise an internal or external communication interface, such as for example a wireless communication interface (radio interface) or a wired communication interface, e.g. with reference to Fig. 1. Figure 3 As described.

[0076] The apparatus 600 can further comprise other components and / or functionality, such as for example a user interface (not shown) comprising at least one input device and / or at least one output device. The input device can take various forms, such as a keyboard, touch screen, or one or more embedded control buttons, joystick, or other type of manual controller. The output device can for example comprise a display, a loudspeaker, etc. The user interface can be configured to enable a human operator to monitor various functions, data, etc.

[0077] The apparatus 600 can be configured to perform or cause performance of any of the aspects of the methods described herein. Furthermore, a computer program, computer program product, or (non-transitory) computer readable storage medium can comprise instructions which, when executed by the apparatus 600, cause the apparatus 600 to perform any of the aspects of the methods described herein. Furthermore, the apparatus 600 can comprise means for performing any of the aspects of the methods described herein. In one example, the means comprises the at least one processor 602, the at least one memory 604 comprising program code 606 (instructions) configured to, when executed by the at least one processor 602, cause the apparatus 600 to perform the method. Generally, the computer program instructions can be executed on a device providing general processing functionality. Such a device can be embedded in for example a computer, a server, etc. The method can thus be computer-implemented, e.g. based on an algorithm executable by the general processing functionality, an example of which is the at least one processor 602. The apparatus 600 can comprise means for transmitting or receiving information, for example one or more wired or wireless (e.g. radio) transmitters or receivers, which can be coupled to or configured to be coupled to one or more antennas, or transmitters or receivers of a wired communication interface.

[0078] According to a first aspect, a sensor controlled apparatus for a drilling rig is disclosed. The apparatus can comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform the following: obtain information about an operational state of the drilling rig; determine, based on the operational state of the drilling rig, that at least one sensor of the drilling rig is to be transitioned to a power saving mode; and cause the at least one sensor of the drilling rig to transition to the power saving mode.

[0079] According to an example embodiment of the first aspect, the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to determine the operational state of the drilling rig based on at least one control signal provided by a control circuit of the drilling rig.

[0080] According to an example embodiment of the first aspect, the at least one control signal is indicative of movement of a carrier of the drilling rig or a position of the drilling rig.

[0081] According to an example embodiment of the first aspect, the at least one control signal is indicative that the drilling rig is not located at a planned drilling location or that the drilling rig is travelling.

[0082] According to an example embodiment of the first aspect, the at least one control signal is associated with powering a component of the drilling rig or a tool of the drilling rig.

[0083] According to an example embodiment of the first aspect, the at least one control signal is indicative that at least one actuator or hydraulic power pack of the drilling rig is disabled; or at least one actuator or hydraulic power pack of a boom of the drilling rig is disabled, wherein the at least one sensor is located at the boom of the drilling rig.

[0084] According to an example embodiment of the first aspect, the at least one control signal is indicative of a fault mode of the drilling rig or a fault mode of at least one component of the drilling rig associated with the at least one sensor; at least one stabilizing leg of the drilling rig is not positioned to the ground; or a motor of the drilling rig is not running.

[0085] According to an example embodiment of the first aspect, the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to receive at least one sensor signal from at least one other sensor of the drilling rig and determine the operational state of the drilling rig based on the at least one sensor signal.

[0086] According to an example embodiment of the first aspect, the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to determine, based on the at least one control signal or the at least one sensor signal, the operational state of the drill rig to be at least one of: the drill rig is not located at the planned drilling location, the drill rig is travelling, at least one actuator or hydraulic power pack of the drill rig is disabled, at least one actuator or hydraulic power pack of a boom of the drill rig is disabled, at least one stabilizing leg of the drill rig is not positioned to the ground, a motor of the drill rig is not running, the drill rig or a component of the drill rig is in a fault mode; and determine, in response to determining the operational state of the drill rig to be at least one of: the drill rig is not at the planned drilling location, the drill rig is travelling, at least one actuator or hydraulic power pack of the drill rig is disabled, at least one actuator or hydraulic power pack of the boom of the drill rig is disabled, at least one stabilizing leg of the drill rig is not positioned to the ground, the motor of the drill rig is not running, or the drill rig or a component of the drill rig is in the fault mode, to cause the at least one sensor of the drill rig to transition to the power saving mode.

[0087] According to an example embodiment of the first aspect, the at least one sensor comprises a boom angle sensor, and / or the at least one sensor is a battery powered sensor.

[0088] According to an example embodiment of the first aspect, the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to send, to the at least one sensor over a wireless communication link, a request to transition to the power saving mode.

[0089] According to a second aspect, a sensor is disclosed. The sensor can comprise an apparatus according to any example embodiment of the first aspect, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to transition the sensor to the power saving mode based on the operational state of the drill rig.

[0090] According to an alternative embodiment of the second aspect, a sensor is disclosed. The sensor can comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the sensor at least to perform the following: obtain information about an operational state of a drill rig; determine, based on the operational state of the drill rig, to transition at least one sensor to a power saving mode; and transition the sensor to the power saving mode.

[0091] According to example embodiments of the second aspect, the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus or sensor to: receive the at least one control signal or the at least one sensor signal over another wireless communication link.

[0092] According to example embodiments of the second aspect, the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus or sensor to: determine to cause the sensor to transition to the power saving mode in response to determining, based on a status of the other wireless communication link, that the drill rig is not operational; or determine to cause the sensor to transition to the power saving mode in response to determining that a sensor reading of the sensor has been substantially constant for a predetermined period of time.

[0093] Figure 7 An example of a method for sensor control of a drill rig according to the third aspect of the disclosure is shown. The method can comprise a computer-implemented method performed by, for example, the apparatus 600, such as the sensor controller 114 or the sensor 116.

[0094] At 701, the method can comprise obtaining information about an operational status of the drill rig.

[0095] At 702, the method can comprise determining, based on the operational status of the drill rig, that at least one sensor of the drill rig is to be transitioned to a power saving mode.

[0096] At 703, the method can comprise causing the at least one sensor of the drill rig to transition to the power saving mode.

[0097] According to example embodiments of the third aspect, the method comprises determining the operational status of the drill rig based on at least one control signal provided by a control circuit of the drill rig.

[0098] According to example embodiments of the third aspect, the at least one control signal is indicative of movement of a carrier of the drill rig or a position of the drill rig.

[0099] According to example embodiments of the third aspect, the at least one control signal is indicative of that the drill rig is not located at a planned drilling location or that the drill rig is travelling.

[0100] According to example embodiments of the third aspect, the at least one control signal is associated with providing power to a component of the drill rig or a tool of the drill rig.

[0101] According to an example embodiment of the third aspect, the at least one control signal is indicative of: at least one actuator or hydraulic power pack of the drill rig being disabled; or at least one actuator or hydraulic power pack of a boom of the drill rig being disabled, wherein the at least one sensor is located at the boom of the drill rig.

[0102] According to an example embodiment of the third aspect, the at least one control signal is indicative of: a failure mode of the drill rig or a failure mode of at least one component of the drill rig associated with the at least one sensor; at least one stabilizing leg of the drill rig not being positioned to the ground; or a motor of the drill rig not being in operation.

[0103] According to an example embodiment of the third aspect, the method comprises: receiving at least one sensor signal from at least one other sensor of the drill rig, and determining the operational status of the drill rig based on the at least one sensor signal.

[0104] According to an example embodiment of the third aspect, the method comprises: determining, based on the at least one control signal or the at least one sensor signal, that the operational status of the drill rig is at least one of: the drill rig not being located at the planned drilling location; the drill rig being in travel; the at least one actuator or hydraulic power pack of the drill rig being disabled; the at least one actuator or hydraulic power pack of the boom of the drill rig being disabled; the at least one stabilizing leg of the drill rig not being positioned to the ground; the motor of the drill rig not being in operation; the drill rig being in a failure mode or the component of the drill rig being in a failure mode; and in response to determining that the operational status of the drill rig is at least one of: the drill rig not being located at the planned drilling location; the drill rig being in travel; the at least one actuator or hydraulic power pack of the drill rig being disabled; the at least one actuator or hydraulic power pack of the boom of the drill rig being disabled; the at least one stabilizing leg of the drill rig not being positioned to the ground; the motor of the drill rig not being in operation; or the drill rig being in a failure mode or the component of the drill rig being in a failure mode, determining to cause the at least one sensor of the drill rig to transition to the power saving mode.

[0105] According to an example embodiment of the third aspect, the at least one sensor comprises a boom angle sensor, and / or the at least one sensor is a battery powered sensor.

[0106] According to an example embodiment of the third aspect, the method comprises: sending, to the at least one sensor, a request to transition to the power saving mode over a wireless communication link.

[0107] According to example embodiments of the third aspect, the method can be performed by a sensor, the method comprising: transitioning the sensor to the power saving mode based on the operational state of the drilling machine.

[0108] According to example embodiments of the third aspect, the method comprises: receiving the at least one control signal or the at least one sensor signal over another wireless communication link.

[0109] According to example embodiments of the third aspect, the method comprises: determining to transition the sensor to the power saving mode in response to determining that the drilling machine is not operational based on a status of the other wireless communication link; or determining to transition the sensor to the power saving mode in response to determining that a sensor reading of the sensor has been substantially constant for a predetermined period of time.

[0110] Figure 8 An example of a method for a sensor of a drilling machine to transition to a power saving mode according to the fourth aspect of the disclosure is shown.

[0111] At 801, the method can comprise obtaining, by the sensor, information about an operational state of the drilling machine.

[0112] At 802, the method can comprise determining to transition the sensor to a power saving mode based on the operational state of the drilling machine.

[0113] At 803, the method can comprise transitioning the sensor to the power saving mode.

[0114] According to example embodiments of the fourth aspect, the method comprises: receiving the at least one control signal or the at least one sensor signal over a wireless communication link.

[0115] According to example embodiments of the second aspect, the method comprises: determining to transition the sensor to the power saving mode in response to determining that the drilling machine is not operational based on a status of the wireless communication link; or determining to transition the sensor to the power saving mode in response to determining that a sensor reading of the sensor has been substantially constant for a predetermined period of time.

[0116] According to a fifth aspect, an apparatus can comprise: means for obtaining information about an operational state of a drilling machine; means for determining that at least one sensor of the drilling machine is to be transitioned to a power saving mode based on the operational state of the drilling machine; and means for transitioning the at least one sensor of the drilling machine to the power saving mode. The apparatus can comprise means for performing any of the example embodiments of the method of the third aspect.

[0117] According to a sixth aspect, a sensor can comprise means for obtaining information about an operating state of a drilling machine; means for determining that the sensor is to be transitioned to a power saving mode based on the operating state of the drilling machine; and means for transitioning the sensor to the power saving mode. The sensor can comprise means for performing any of the example embodiments of the method of the fourth aspect.

[0118] According to a seventh aspect, a computer program, computer program product, or (non-transitory) computer readable medium can comprise program instructions that, when executed by an apparatus, cause the apparatus to at least obtain information about an operating state of a drilling machine; determine, based on the operating state of the drilling machine, that at least one sensor of the drilling machine is to be transitioned to a power saving mode; and cause the at least one sensor of the drilling machine to be transitioned to the power saving mode. The computer program, the computer program product, or the (non-transitory) computer readable medium can comprise program instructions that, when executed by an apparatus, cause the apparatus to perform any of the example embodiments of the method of the third aspect.

[0119] According to an eighth aspect, a computer program, computer program product, or (non-transitory) computer readable medium can comprise program instructions that, when executed by a sensor, cause the sensor to at least obtain information about an operating state of a drilling machine; determine, based on the operating state of the drilling machine, that the sensor is to be transitioned to a power saving mode; and transition the sensor to the power saving mode.

[0120] Although the subject matter has been described in language specific to structural features and / or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example implementations of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.

[0121] It should be understood that the benefits and advantages described above can relate to one embodiment or can relate to several embodiments. The embodiments are not limited to implementations that solve any or all of the stated problems or implement any or all of the stated advantages. It will also be understood that a reference to "a" or "an" item can mean one or more items.

[0122] The steps or operations of the methods described herein can be performed in any suitable order, or simultaneously where appropriate. Additionally, individual blocks from any of the methods can be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the example embodiments described above can be combined with aspects of any of the other example embodiments described to form further example embodiments without losing the sought effect.

[0123] The term "comprise" is used throughout to mean including, but not limited to, the identified method, block or element.

[0124] As used herein, "at least one of " and "one or more of " and similar phrases, where the list of two or more elements is preceded by "at least one of" or "one or more of", means at least one of the elements, or at least one of any two or more of the elements, or at least all of the elements. The term "or" can be understood to encompass inclusive or as well as exclusive or. Thus, "A or B" can be understood to mean A or B, or both A and B.

[0125] Although objects can be referred to as "first" or "second" objects, this does not necessarily indicate any order or importance of the objects. Rather, such attributes can be used merely for the purpose of distinguishing between the objects.

[0126] It is to be understood that the above description is only given by way of example and that various modifications can be made by persons skilled in the art. The above specification, examples and data provide exemplary embodiments and serve as a basis for the claims. Although various embodiments have been described above with a certain degree of particularity, the skilled person will be able to make numerous changes to the disclosed embodiments without departing from the scope of the present description.

Claims

1. A sensor control device for a drilling machine, the device comprising: At least one processor; as well as 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, together with the at least one processor, to cause the device to perform at least the following operations: Obtain information about the operating status of the drilling machine; Based on the operating state of the drilling machine, it is determined that at least one sensor should be switched to a power-saving mode, wherein the at least one sensor is configured to monitor the operation of the drilling machine in the specific operating state of the drilling machine; as well as The drill is switched to the power-saving mode by at least one sensor.

2. The apparatus of claim 1, wherein, The at least one memory and the computer program code are further configured to, together with the at least one processor, enable the device to: The operating state of the drilling machine is determined based on at least one control signal provided by the control circuit of the drilling machine.

3. The apparatus of claim 2, wherein, The at least one control signal indicates the movement of the carrier of the drilling machine or the position of the drilling machine.

4. The apparatus of claim 2 or 3, wherein, The at least one control signal indicates: The drilling machine is not located at the planned drilling position, or The drilling machine is moving.

5. The apparatus of any of claims 2-4, wherein, The at least one control signal is associated with providing power to a component of the drill or a tool of the drill.

6. The apparatus of claim 5, wherein, The at least one control signal indicates: At least one actuator or hydraulic power unit of the drill associated with the at least one sensor is disabled; or At least one actuator or hydraulic power unit of the boom of the drilling machine is disabled, wherein the at least one sensor is located at the boom of the drilling machine.

7. The apparatus of any of claims 2-6, wherein, The at least one control signal indicates: The failure mode of the drilling machine or the failure mode of at least one component of the drilling machine associated with the at least one sensor. At least one stabilizing leg of the drilling machine was not positioned on the ground, or The motor of the drilling machine was not running.

8. The apparatus of any one of claims 1-7, wherein, The at least one memory and the computer program code are further configured to, together with the at least one processor, enable the device to: The drilling machine receives at least one sensor signal from at least one other sensor of the drilling machine and determines the operating state of the drilling machine based on the at least one sensor signal.

9. The apparatus of any of claims 4-8, wherein, The at least one memory and the computer program code are also configured to work with the at least one processor to enable the device: Based on the at least one control signal or the at least one sensor signal, the operating state of the drilling machine is determined to be at least one of the following: The drilling machine is not located at the planned drilling position. The drilling machine is moving. At least one actuator or hydraulic power unit of the drilling machine is disabled. At least one actuator or hydraulic power unit of the boom of the drilling rig is disabled. The at least one stabilizing leg of the drilling machine was not positioned on the ground. The motor of the drilling machine was not running. The drilling machine or the component of the drilling machine is in a fault mode; as well as determining to cause the at least one sensor of the drill rig to transition to the power saving mode in response to determining the operational state of the drill rig to be at least one of: the drill rig not being located at the planned drilling location, the drill rig being in travel, the at least one actuator or hydraulic power pack of the drill rig being disabled, the at least one actuator or hydraulic power pack of the boom of the drill rig being disabled, the at least one stabilizing leg of the drill rig not being positioned to the ground, the motor of the drill rig not being in operation, or the drill rig or the component of the drill rig being in the fault mode.

10. The apparatus of any of claims 1-9, wherein, the at least one sensor comprises a boom angle sensor, and / or wherein the at least one sensor is a battery powered sensor.

11. The apparatus of any of claims 1-10, 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: send a request to the at least one sensor to transition to the power saving mode over a wireless communication link.

12. A sensor comprising the device of any one of claims 1-10, wherein, the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to determine to cause the sensor to transition to the power saving mode based on the operational state of the drill rig.

13. The sensor of claim 12, 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: determine to cause the sensor to transition to the power saving mode in response to determining that the drill rig is not in operation based on a status of another wireless communication link; or determine to cause the sensor to transition to the power saving mode in response to determining that a sensor reading of the sensor has been substantially constant for a predetermined period of time.

14. A method for sensor control of a drill rig, the method comprising: obtaining information about an operational state of the drill rig; determining, based on the operational state of the drill rig, that at least one sensor is to be transitioned to a power saving mode, wherein the at least one sensor is configured to monitor operation of the drill rig in a particular operational state of the drill rig; and causing the at least one sensor of the drill rig to transition to the power saving mode.

15. A computer program comprising instructions which, when executed by an apparatus, cause the apparatus at least to: obtain information about an operational state of the drill rig; determine, based on the operational state of the drill rig, that at least one sensor is to be transitioned to a power saving mode, wherein the at least one sensor is configured to monitor operation of the drill rig in a particular operational state of the drill rig; and cause the at least one sensor of the drill rig to transition to the power saving mode. ​

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