Mill relining machine automation method and system

Abstract

A method for automatically moving a mill relining machine during installation of a mill liner, the mill relining machine including a grappling tool for engaging with the mill liner and a control system for controlling movement of the mill relining machine, the method including: providing a mill liner including a target on a surface thereof; capturing an image of the target using an image sensor, the image sensor producing image data indicative of the image; and in one or more electronic processing devices: obtaining the image data from the image sensor; processing the image data to determine target data for the target; producing control data based at least in part on the target data; and providing the control data to the control system, thereby allowing the mill relining machine to automatically move in accordance with the control data.

Description

Technical Field

[0001] This invention relates to a method and system for automatically moving a mill relining machine during mill liner installation, particularly suitable for use during mill liner replacement operations, such as in ore grinding mills. Background Technology

[0002] Mill liners are sacrificial wear components used to protect the casing of ore grinding mills from damage and to provide a mechanism for lifting ore during mill operation to grind it to the required size. Mill liners need to be replaced periodically because the ore material wears the mill liner to points where the mill casing is at risk of damage, or significantly reduces grinding efficiency.

[0003] The mill liner is secured to the inside of the mill using fasteners called liner bolts, which are inserted through bolt holes in both the liner and the mill housing. The mill liner is manipulated inside the mill using a mill relining machine (MRM) controlled by the mill relining operator. The MRM typically includes a hook tool designed to engage with lifting lugs and / or other features of the new mill liner's profile to allow it to be lifted into its installation position. An example of an MRM including such a hook tool and providing eight axes of motion is described in AU2005239667B2, but MRMs providing seven axes of motion are also commonly used.

[0004] Worn mill liners need to be removed from inside the mill before new mill liners can be introduced and installed. During routine mill liner replacement operations, personnel are inside the mill, for example, to facilitate the connection between the mill liner and the mill relining machine, to move the mill liner within the mill using the mill relining machine, and to position the mill liner for installation.

[0005] The interior of the mill is classified as a confined space. The mill floor is uneven, visibility is poor, there is a potential hazard of falling objects hitting the operator (steel balls and rocks wedged into the lining), the atmosphere is hot and humid, communication is difficult, and the operator is close to the working machinery and suspended loads.

[0006] During mill lining replacement, personnel inside the mill are exposed to considerable danger, which could lead to serious injury or death. Therefore, there is a need to develop methods and systems that allow the relining machine to be moved during mill lining replacement operations without personnel entering the mill, in order to improve safety and mitigate the risk of potential accidents.

[0007] It is against this background, and in light of the related problems and difficulties, that this invention was developed.

[0008] References to any prior publications (or information derived therefrom) or to any known matter in this specification are not and should not be construed as an endorsement or acknowledgment or any form of advice that such prior publications (or information derived therefrom) or known matters form part of the general knowledge in the field of effort covered by this specification. Summary of the Invention

[0009] In a broad form, one aspect of the invention seeks to provide a method for automatically moving a mill relining machine during the installation of a mill liner, the mill relining machine including a grapple tool for engaging the mill liner and a control system for controlling the movement of the mill relining machine, the method comprising: providing a mill liner including a target positioned on its surface; capturing an image of the target using an image sensor, the image sensor generating image data indicative of the image; and in one or more electronic processing devices: obtaining the image data from the image sensor; processing the image data to determine target data for the target; generating control data at least in part based on the target data; and providing the control data to the control system thereby allowing the mill relining machine to move automatically according to the control data.

[0010] In one embodiment, the image sensor is mounted on the grappling hook tool.

[0011] In one embodiment, the objective is at least one of the following: cast into the mill liner during the manufacture of the mill liner; and added to the surface of the mill liner at a predetermined location.

[0012] In one embodiment, the mill liner includes a flat area on the surface for allowing the target to be added to the surface at the predetermined location.

[0013] In one embodiment, the target is disposed on an adhesive patch, which is adhesively attached to the surface at a predetermined location.

[0014] In one implementation, processing the image data to determine the target data includes scanning the target to obtain a lining identifier for the mill lining.

[0015] In one embodiment, processing the image data to determine the target data includes scanning the target to additionally obtain lining data for the mill lining.

[0016] In one embodiment, the method includes using one or more electronic processing devices to obtain lining data for the mill lining from a database based on the lining identifier.

[0017] In one embodiment, the lining data includes at least one of the following: lining installation location data; lining movement path data; lining geometry data; lining material data; lining weight data; and lining manufacturing data.

[0018] In one embodiment, the method includes using the one or more electronic processing devices to determine a movement trajectory for automatically moving the mill relining machine to move the mill lining to an installation position for the mill lining using lining data associated with the mill lining.

[0019] In one embodiment, the method includes determining the movement trajectory based on an installation plan, the installation plan including multiple predetermined movement trajectories for different mill liner installation locations.

[0020] In one embodiment, the method includes: using the one or more electronic processing devices to determine operating parameters for movement of the mill relining machine when the mill lining is engaged using the lining data associated with the mill lining; and generating control data based at least in part on the operating parameters.

[0021] In one implementation, processing the image data to determine the target data includes scanning the target to additionally obtain target construction data for the target.

[0022] In one embodiment, the method includes using the one or more electronic processing devices to obtain target construction data for the target from a database based on the lining identifier.

[0023] In one embodiment, the target construction data includes at least one of the following: target size data; target shape data; and target position data.

[0024] In one embodiment, the target includes a code element, and wherein processing the image data to determine the target data includes scanning the code element to at least obtain the lining identifier for the mill lining.

[0025] In one implementation, the code element is provided in at least one of the following forms: numeric code; alphanumeric code; pictographic code; barcode; matrix code; and QR code.

[0026] In one implementation, processing the image data to determine the target data includes determining the position and orientation data of the target relative to the image sensor, the method including generating the control data based at least in part on the position and orientation data.

[0027] In one implementation, processing the image data to determine the target data includes determining at least one of the following: the approximate position of the target relative to the image sensor; the approximate extent of the target relative to the image sensor; and the approximate orientation of the target relative to the image sensor.

[0028] In one embodiment, the method includes determining the approximate position of the target relative to the image sensor based on the orientation of the target in the image relative to an image frame.

[0029] In one implementation, the method includes determining the approximate range of the target relative to the image sensor based on the size of the target in the image relative to the image frame.

[0030] In one embodiment, the method includes obtaining target size data for the target and determining the approximate range of the target relative to the image sensor based on a comparison of the target size data with the size of the target in the image.

[0031] In one implementation, the method includes determining the approximate orientation of the target relative to the image sensor based on the shape of the target in the image relative to the image frame.

[0032] In one embodiment, the method includes obtaining target shape data for the target and determining the approximate orientation of the target relative to the image sensor based on a comparison of the target shape data with the shape of the target in the image.

[0033] In one embodiment, processing the image data to determine the target data includes: detecting the target in the image; determining the edge geometry of the target in the image; and determining at least some target data in the target data based on the edge geometry.

[0034] In one embodiment, the method includes using a display device to display an indicator based on the control data.

[0035] In one embodiment, the indicator includes at least one of the following: an indication of whether the target has been detected in the image; an indication of the approximate position of the target relative to the image sensor; an indication of the approximate range of the target relative to the image sensor; and an indication of the approximate orientation of the target relative to the image sensor.

[0036] In one embodiment, the indicator includes at least one of the following: an indication of whether the gripping tool is in an engagement position that allows the gripping tool to engage with the mill liner; and an indication of whether the mill liner is in an installation position that allows the mill liner to be installed.

[0037] In one embodiment, the method includes using the display device to display the image and overlaying the indicator on the image.

[0038] In one embodiment, the method further includes generating at least one of the following: an audio signal based on the control data; and a haptic feedback signal based on the control data.

[0039] In one embodiment, the method includes the control system causing the mill relining machine to move automatically according to the control data to facilitate the installation of the mill lining.

[0040] In one embodiment, the method includes the control system causing the mill relining machine to automatically move according to the control data to at least one of: moving the gripping tool to the mill liner on the liner carriage; orienting the gripping tool relative to the mill liner on the liner carriage; and pushing the gripping tool into an engagement position to allow the gripping tool to engage with the mill liner.

[0041] In one embodiment, when the gripping tool engages with the mill liner, the method includes the control system causing the mill relining machine to automatically move according to the control data to at least one of the following: moving the mill liner from the liner carriage to an installation position on the mill wall; orienting the mill liner relative to the mill wall at the installation position; and pushing the mill liner into the installation position to allow installation of the mill liner.

[0042] In one embodiment, the grabbing tool includes a lining engagement element configured to engage with a corresponding lifting lug of the mill lining, and the control system is further configured to control the operation of the lining engagement element.

[0043] In one embodiment, the target is positioned on the mill liner at a predetermined location relative to the lifting lug, and the method includes generating control data based on the target data and the predetermined location, thereby allowing the liner engagement element to be aligned with the lifting lug.

[0044] In one embodiment, the method includes obtaining target position data for the target that indicates the position of the target relative to the lifting lug, and generating control data based on the target data and the target position data, thereby allowing the lining engagement element to be aligned with the lifting lug.

[0045] In one embodiment, the method includes the control system causing the lining engagement element to operate according to the control data to achieve at least one of the following: engaging the lining engagement element with the lifting lug of the mill lining; and disengaging the lining engagement element from the lifting lug of the mill lining.

[0046] In another broad form, one aspect of the invention seeks to provide a system for automatically moving a mill relining machine during the installation of a mill liner within a mill, the mill relining machine including a gripping tool for engaging with the mill liner and a control system for controlling the movement of the mill relining machine, the mill liner including a target positioned on its surface, the system comprising: an image sensor for capturing an image of the target, the image sensor generating image data indicative of the image; and one or more electronic processing devices configured to: obtain the image data from the image sensor; process the image data to determine target data for the target; generate control data based at least in part on the target data; and provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

[0047] In one embodiment, the image sensor is mounted on the grappling hook tool.

[0048] In one embodiment, the system further includes an orientation sensor for providing orientation data, and wherein the one or more electronic processing devices are configured to determine the approximate orientation of the target relative to the image sensor based on the orientation data and the target data.

[0049] In one embodiment, the orientation sensor includes an accelerometer.

[0050] In one embodiment, the system further includes a proximity sensor for providing proximity data, and wherein the one or more electronic processing devices are configured to determine the approximate range of the target relative to the image sensor based on the proximity data and the target data.

[0051] In one embodiment, the system is configured to perform the method described above.

[0052] In another broad form, one aspect of the invention seeks to provide a method for automatically moving a mill relining machine during mill lining installation, the mill relining machine including a gripping tool for engaging the mill lining and a control system for controlling the movement of the mill relining machine, the method comprising: providing the mill lining; providing a target approaching the mill lining, the target being associated with the mill lining; capturing an image of the target using an image sensor, the image sensor generating image data indicative of the image; and in one or more electronic processing devices: obtaining the image data from the image sensor; processing the image data to determine target data for the target; generating control data based at least in part on the target data; and providing the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

[0053] In one embodiment, the objective is at least one of the following: attached to the mill liner; positioned on the surface of the mill liner; and positioned at a predetermined location relative to the mill liner.

[0054] In one embodiment, the mill liner and the target are mounted on a liner carriage.

[0055] In one embodiment, the target is attached to the liner carriage at a predetermined target location, and the liner carriage is configured such that the mill liner can be placed on the liner carriage at a predetermined liner location, thereby enabling the position of the mill liner to be determined based on the position of the target.

[0056] In another broad form, one aspect of the invention seeks to provide a system for automatically moving a mill relining machine during the installation of a mill liner within a mill, the mill relining machine including a gripping tool for engaging with the mill liner and a control system for controlling the movement of the mill relining machine, a target being positioned close to the mill liner and associated with the mill liner, the system comprising: an image sensor for capturing an image of the target, the image sensor generating image data indicative of the image; and one or more electronic processing devices configured to: obtain the image data from the image sensor; process the image data to determine target data for the target; generate control data at least in part based on the target data; and provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

[0057] In one embodiment, the system is configured to perform the method described above.

[0058] In another broad form, one aspect of the invention seeks to provide a method for automatically moving a mill relining machine during mill lining installation, the mill relining machine including a gripping tool for engaging the mill lining and a control system for controlling the movement of the mill relining machine, the method comprising: providing a mill lining having a plurality of lining features associated therewith; detecting one or more of the lining features using one or more sensors, the one or more sensors generating sensor data indicative of the lining features; and in one or more electronic processing devices: obtaining the sensor data from the one or more sensors; generating control data at least in part based on the sensor data; and providing the control data to the control system thereby allowing the mill relining machine to move automatically according to the control data.

[0059] In one embodiment, the lining features include at least one of the following: a target positioned on the surface of the mill lining; a predetermined visual feature of the mill lining; a predetermined geometric feature of the mill lining; and a predetermined sensor-detectable feature of the mill lining.

[0060] In one embodiment, the one or more sensors include at least one of the following: an image sensor for capturing an image of the lining feature and generating image data indicating the image; a range sensor for scanning the mill lining and generating range data indicating the lining feature; and a proximity sensor for generating proximity data indicating the degree of proximity of the lining feature relative to the proximity sensor.

[0061] In another broad form, one aspect of the invention seeks to provide a system for automatically moving a mill relining machine during the installation of a mill liner within a mill, the mill relining machine including a gripping tool for engaging the mill liner and a control system for controlling the movement of the mill relining machine, the mill liner having a plurality of liner features associated therewith, the system comprising: one or more sensors for detecting one or more of the liner features, the one or more sensors generating sensor data indicative of the liner features; and one or more electronic processing devices configured to: obtain the sensor data from the one or more sensors; generate control data at least in part based on the sensor data; and provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

[0062] In one embodiment, the system is configured to perform the method described above.

[0063] It should be understood that the broad forms of the invention and their respective features can be used in combination, interchangeably and / or independently, and references to individual broad forms are not intended to be limiting. Attached Figure Description

[0064] Various examples and embodiments of the invention will now be described with reference to the accompanying drawings, in which:

[0065] Figure 1 This is a schematic cross-sectional view of an example of a mill relining machine used during the installation of mill liners inside a mill.

[0066] Figure 2 This is a flowchart illustrating an example of a process for automatically moving a mill relining machine during mill lining installation; and

[0067] Figure 3A It is a perspective view of an example of a mill liner including targets positioned on its surface;

[0068] Figure 3B yes Figure 3A A front view of an example of a mill liner;

[0069] Figure 4 It is a photo of an example of the target;

[0070] Figure 5 It is a perspective view of an example of a gripper tool including an image sensor mounted thereon;

[0071] Figure 6 This is a schematic diagram of an example of components of a system for automatically moving a mill relining machine during mill lining installation;

[0072] Figure 7 yes Figure 6 A schematic diagram of an example of a processing system;

[0073] Figure 8 This is a flowchart illustrating an example of a process for an automated moving mill relining machine to allow a grabbing tool to engage with the mill lining on a lining carriage; and

[0074] Figure 9 This is a flowchart illustrating an example of a process for an automated moving mill relining machine to move the mill liner from the liner trolley to the installation position. Detailed Implementation

[0075] An example of a method for automatically moving a mill relining machine during mill lining installation will now be described with reference to the accompanying drawings.

[0076] The method of the present invention is intended for use in the context of mill liner replacement operations in mill 101, such as an ore grinding mill, an example of which is illustrated in Figure 1The mill 101 includes a mill housing 110, which typically comprises cylindrical and / or truncated conical housing portions. A plurality of mill liners 120 are mounted on the inner surface of the mill housing 110, typically attached using liner bolts extending through liner bolt holes 122, such as... Figure 3A and Figure 3B As shown. The mill liner 120 serves as a sacrificial wear component, which is replaced when it wears out due to the use of the mill 101. During the mill liner replacement operation, the worn mill liner 120 is removed from the mill housing 110, and a new mill liner 120 is installed on the mill housing 110 to replace it.

[0077] The mill relining machine 130 is typically used to move the mill liner 120 within the mill 101 during mill liner replacement operations. Figure 1 An example of a mill relining machine 130 is specifically shown for positioning the mill liner 120 relative to the mill wall 110 during the installation of a new mill liner 120 within the mill 101. The mill relining machine 130 typically includes a gripping tool 131 for engaging with the mill liner 120 and a control system for controlling the movement of the mill relining machine 130 within the mill 101. The gripping tool 131 typically includes a liner engagement element 132, such as an extendable pin, for engaging with a lifting lug 121 disposed on the mill liner 120, which is also shown in… Figure 3A and Figure 3B middle.

[0078] The method of this invention facilitates the automation of the movement of the mill relining machine 130, especially during the installation of the mill liner 120. Regarding... Figure 2 The flowchart illustrates a series of steps performed using an image sensor 133 and one or more electronic processing devices.

[0079] In some embodiments, the image sensor 133 may be mounted on the grappling hook tool 131, for example... Figure 5 As shown. However, this is not necessary; in other embodiments, the image sensor 133 may be mounted in other locations, although typically the image sensor 133 will still be mounted on the mill relining machine 130 to provide a line of sight between the image sensor 133 and the target 123 on the mill liner 120 during the movement of the mill relining machine 130.

[0080] Further details on suitable electronic processing devices will be discussed below, but for the purposes of this example, it is assumed that the following method is used. Figure 6 An example system configuration is provided to execute the method. In this example, an electronic processing device is provided in the processing system 610, which communicates with the image sensor 133 and the control system 620 of the mill relining machine 130. Components of the processing system 610 are shown below. Figure 7The method is described in detail below. Although the subsequent description of the method may refer to the singular form of electronic processing devices, it should be understood that multiple electronic processing devices may be used to perform the method.

[0081] Step 200 involves providing a mill liner 120, which includes targets 123 located on its surface, such as... Figure 3A and Figure 3B As shown, and more in detail as Figure 4 As shown. Each mill liner 120 installed using this method should include a suitable target 123. Step 210 then involves capturing an image of the target 123 using an image sensor 133. As part of this step, the image sensor 133 generates image data indicating the image.

[0082] The subsequent steps of the method are performed in one or more electronic processing devices, such as in Figure 6 and Figure 7 The process is executed in the processing apparatus of the processing system 610. Step 220 involves acquiring image data from the image sensor 133. Then, step 230 involves processing the image data to determine target data for the target 123. Step 240 then involves generating control data based at least in part on the target data. Finally, step 250 involves providing the control data to the control system 620, thereby allowing the mill relining machine 130 to move automatically according to the control data, as shown in step 260.

[0083] As described in more detail below, a mill liner 120 with a target 123 is provided, and an image sensor 133 and an electronic processing device are used to determine target data for the target and generate control data based on the target data, enabling previously unavailable automation functions for mill liner replacement operations.

[0084] Depending on the specific implementation of the system, the target data may include one or more of various types of information associated with the mill liner 120, wherein the corresponding target is located on the mill liner 120.

[0085] In one example, target data may include relative position and orientation data for target 123, in which case one or more electronic processing devices may be configured to generate control data based at least in part on the position and orientation data. This can facilitate the automation of the movement of the mill relining machine 130 during engagement of the gripper 131 with the mill liner 120.

[0086] In other examples, the target data may additionally or alternatively include a lining identifier for a specific mill lining 120, on which a corresponding target 123 is located. In this case, one or more electronic processing devices may be configured to use the lining identifier to access the lining data associated with that specific mill lining 120, for example, from a database. In a particularly advantageous implementation, the lining data may include data indicating the installation location or a predetermined trajectory for moving a specific mill lining 120 to its intended installation location, which facilitates the automation of the movement and final placement of the mill lining 120 during its installation.

[0087] In some examples, the target data may include at least lining data in addition to the lining identifier, which can be obtained, for example, by decoding information from the code elements of target 123. In some specific implementations, the target data may include a unique identifier and / or tracking information for the mill lining 120, potentially including blockchain-encrypted information.

[0088] In any case, it should be understood that this method enables improved automation of the movement of the mill relining machine 130, which helps eliminate the need for personnel in the hazardous environment inside the mill 101 during mill liner replacement operations. This can provide significant safety benefits, especially when used in conjunction with other existing technologies, allowing other mill liner installation steps to be performed without personnel inside the mill 101, such as the installation of liner bolts for attaching the mill liner 120 to the mill housing 110 from outside the mill 101, as described in WO2018112524A1.

[0089] As mentioned above, in one example, it can be used Figure 6 The system configuration shown is used to perform this method. In this example, the system components include an image sensor 133 that communicates with the processing system 610, particularly for transmitting image data processed by the electronic processing device of the processing system 610. The processing system 610 further communicates with the mill lining machine control system 620, particularly for providing control data for controlling the movement of the aforementioned mill lining machine 130.

[0090] In some embodiments, in addition to the image sensor 133, the system may utilize one or more additional sensors (not shown). These additional sensors may also communicate with the processing system 610 to transmit additional sensor data so that it may also be processed by the electronic processing device of the processing system 610, thereby enabling the generation of control data based on the additional sensors.

[0091] In one example, in addition to the image sensor 133, the system may include an orientation sensor (not shown), such as an accelerometer, which may also be mounted on the gripper tool 131 or at any other suitable location on the mill lining machine 130. The orientation sensor can be used to generate orientation data (e.g., referring to the direction of gravity in the case of the accelerometer) indicating the orientation of the gripper tool 131 and the image sensor 133 mounted thereon, for determining the orientation of the target 123 and thus the mill lining 120 via electronic processing.

[0092] In another example, in addition to the image sensor 133, the system may include a proximity sensor (not shown), which may also be mounted on the gripper tool 131, although, as noted above for the orientation sensor, the proximity sensor may also be mounted at any other suitable location on the mill lining machine 130. The proximity sensor can be used to generate proximity data indicating the degree of proximity of the gripper tool 131 to the mill lining 120 or other objects within the mill, for use in generating control data via electronic processing.

[0093] As described above, in this example, the system may include a processing system 610, which includes an electronic processing device for performing the processing functions described above.

[0094] An example of a suitable processing system 610 is shown in Figure 7 In this example, as shown, the processing system 610 includes electronic processing devices (e.g., at least one microprocessor 701), memory 702, input / output devices 703 (e.g., a touchscreen display or a separate keyboard and display), an external interface 704, and a communication interface 705 interconnected via a bus 706. In this example, the external interface 704 can be used to connect the server processing system 610 to peripheral devices, such as a communication network, a database 711, other storage devices, etc. Although a single external interface 704 is shown, this is for illustrative purposes only; in practice, multiple interfaces using various methods (e.g., Ethernet, serial, USB, wireless, etc.) may be provided. It should be understood that the communication interface 705 of the server processing system 610 should be selected to be compatible with the corresponding communication interfaces of the image sensor 133 and the mill lining machine control system 620 to enable the required communication between them.

[0095] In use, the microprocessor 701 executes instructions in the form of application software stored in the memory 702 to perform necessary processing, such as communicating with the image sensor 133 via the communication interface 705 to obtain image data, as required by a particular implementation of the method. Therefore, the actions performed by the processing system 610 are executed by the processor 701 based on the application software stored in the memory 702 and / or input commands received via the input / output device 703, or image data received from the image sensor 133. The application software may include one or more software modules and can be executed in a suitable execution environment, such as an operating system environment.

[0096] Therefore, it should be understood that the processing system 610 can be formed by any suitable processing system, such as a suitably programmed computer system, PC, web server, network server, etc., and has a suitably constructed communication interface 705. In a particular example, the processing system 610 is a standard processing system, such as a 32-bit or 64-bit Intel architecture-based processing system that executes software applications stored on non-volatile (e.g., hard disk) memory, although this is not necessary. However, it will also be understood that the processing system 610 can be or may include any electronic processing device, such as a microprocessor, microchip processor, logic gate construction, firmware optionally associated with implementation logic such as an FPGA (Field Programmable Gate Array), or any other electronic device, system, or configuration.

[0097] It should be understood that the above-described configuration is not mandatory, and many different processing systems can be used. It should also be understood that the functional division between the processing system 610 and the mill relining machine control system 620 can vary depending on the specific implementation. For example, some functions of the above method can be performed by one or more electronic processing devices of the control system 620, rather than by the electronic processing devices of the processing system 610.

[0098] In any case, it should be understood that the present invention may also relate to a system for automatically moving a mill relining machine 130 during the installation of a mill liner 120 within a mill 101, the system being adapted to perform the methods described above. As previously described, the mill relining machine 130 includes a gripping hook tool 131 for engaging with the mill liner 120 and a control system 620 for controlling the movement of the mill relining machine, and the mill liner 120 includes a target 123 located on its surface.

[0099] In general, the system includes an image sensor 133 for capturing an image of a target 123 and one or more electronic processing devices, such as those disposed in the processing system 610. After capturing an image of the target 123, the image sensor 133 generates image data indicative of that image, and the one or more electronic processing devices are configured to: acquire the image data from the image sensor 133; process the image data to determine target data for the target 123; generate control data based at least in part on the target data; and provide the control data to the control system 620, thereby allowing the mill relining machine 130 to move automatically according to the control data. It is understood that the system can be configured to provide any of the functions described herein for the methods described herein.

[0100] The scope of preferred and / or optional implementation features of the above methods and systems will now be described.

[0101] In some embodiments, the target 123 can be disposed on the mill liner 120 by casting it into the mill liner 120 during the manufacture of the mill liner 120. In other embodiments, the target 123 can be added to the surface of the mill liner 120 at predetermined locations. It is understood that this can make existing mill liners 120 suitable for use with the methods and systems of the present invention. However, it may be preferable to manufacture the mill liners 120 such that they include flat areas on their surfaces to allow the target 123 to be added to the surface at predetermined locations. In some embodiments, the target 123 can be disposed on an adhesive patch that is adhesively attached to the surface at predetermined locations.

[0102] In a preferred embodiment, processing image data to determine target data includes scanning target 123 to obtain a lining identifier for mill lining 120. In some examples, processing image data to determine target data may include scanning target 123 to additionally obtain lining data for mill lining 120. Alternatively, the method may involve using one or more electronic processing devices to obtain lining data for mill lining 120 from a database based on the lining identifier.

[0103] In any case, it is understood that the ability to identify the mill liner 120 and obtain liner data for the mill liner 120 allows the mill relining machine 130 to move automatically relative to a specific mill liner 120 and the specific properties associated with that mill liner 120. Depending on the specific implementation, the liner data may include one or more of the following: liner installation location data; liner movement path data; liner geometry data; liner material data; liner weight data; and liner manufacturing data. Control data may be generated with respect to these types of liner data to customize the automatic movement of the mill relining machine 130 during the installation of a specific mill liner 120, for example by moving it to a specific installation location based on the liner installation location data associated with the mill liner 120.

[0104] In one example, the method may include using one or more electronic processing devices to determine a movement trajectory for automatically moving the mill relining machine 130 to move the mill liner 120 to an installation location of the mill liner using liner data associated with the mill liner 120. For example, this may involve determining the movement trajectory based on an installation plan that includes multiple predetermined movement trajectories for different installation locations of different mill liners 120.

[0105] In other examples, the method may include using one or more electronic processing devices to determine operating parameters for moving the mill relining machine 130 when engaging the mill liner 120 with the liner data associated with the mill liner 120, and generating control data based at least in part on the operating parameters. This can allow the automated movement of the mill relining machine 130 to take into account specific properties of the mill liner, such as its weight, in which case the control data may be generated to take into account the deflection of the elongated boom elements of the mill relining machine 130, or to take into account the dynamic behavior of the mill relining machine during movement with the mill liner 120 engaged by the liner tool 131.

[0106] In some examples, processing image data to determine target data may include scanning target 123 to additionally obtain target construction data for target 123. Alternatively, the method may involve using one or more electronic processing devices to obtain target construction data for target 123 from a database based on a lining identifier. Target construction data may include at least one of the following: target size data; target shape data; and target location data. For example, target construction data can be used when processing image data to determine the location and orientation data of a target, and other related examples are outlined below.

[0107] In some embodiments, target 123 may include a code element, such that processing image data to determine target data may include scanning the code element to obtain at least a lining identifier for mill lining 120. For example, the code element may be provided in one of the following forms: numeric code; alphanumeric code; hieroglyphic code; barcode; matrix code; and QR code. Figure 3A and Figure 3B In the example of the mill liner 120 shown, target 123 includes a QR code, such as Figure 4 As shown in more detail below. However, the use of QR codes is not required, and various other forms of code elements can be employed to allow the lining identifier to be obtained by scanning the code element.

[0108] In some examples, processing image data to determine target data may include determining the position and orientation data of target 123 relative to image sensor 133, the method including generating control data based at least in part on said position and orientation data. For example, processing image data to determine target data may include determining at least one of the following: the approximate position of the target relative to the image sensor; the approximate extent of the target relative to the image sensor; and the approximate orientation of the target relative to the image sensor.

[0109] Understandably, these determinations can be achieved by analyzing the geometry of the target in the captured image. In one example, the method may include determining the approximate position of the target 123 relative to the image sensor 133 based on the orientation of the target 123 in the image relative to the image frame.

[0110] In some examples, the determination preferably involves a comparison with target construction data, which may include, for example, target size data, target shape data, and target location data. As mentioned above, the target construction data can be obtained during the scanning of target 123, although in some implementations, the target construction data may simply indicate the known geometric characteristics of target 123.

[0111] In one example scenario, the method may include determining the approximate extent of the target 123 relative to the image sensor 133 based on the size of the target 123 in the image relative to the image frame. Preferably, the method will include obtaining target size data of the target 123 and determining the approximate extent of the target 123 relative to the image sensor 133 based on a comparison of the target size data with the size of the target 123 in the image.

[0112] In another example, the method may include determining the approximate orientation of the target 123 relative to the image sensor 133 based on the shape of the target 123 in the image relative to the image frame. Preferably, the method will include obtaining target shape data of the target 123 and determining the approximate orientation of the target 123 relative to the image sensor 133 based on a comparison of the target shape data with the shape of the target 123 in the image.

[0113] For example, target 123 may have a known square target shape, and if target 123 appears in the image in a trapezoidal shape, this may indicate that image sensor 133 is oriented at an angle relative to target 123 and the mill liner 120 on which target 123 is disposed. In a preferred example where image sensor 133 is mounted on a gripper tool 131, this approximate orientation information can be used to determine the orientation of gripper tool 131 relative to target 123, and thus allow mill relining machine 130 to move automatically to reorient or align gripper tool 131, thereby facilitating engagement with mill liner 120.

[0114] In some specific embodiments, processing image data to determine target data may include: detecting a target 123 in an image; determining the edge geometry of the target 123 in the image; and determining at least some target data based on the edge geometry. This method can utilize known image processing techniques to efficiently determine the position and orientation of the mill liner 120 based on the appearance of the target 123 in the image.

[0115] Although the techniques described herein are intended to facilitate the automation of the movement of the mill relining machine 130 during the mill lining installation process, they can still advantageously provide feedback to the operator.

[0116] For example, the method may include using a display device to display indicators based on control data. The method may particularly include using a display device to display an image and overlay indicators on the image.

[0117] In some examples, the indicator may include at least one of the following: an indication of whether a target has been detected in the image; an indication of the approximate position of the target relative to the image sensor; an indication of the approximate range of the target relative to the image sensor; and an indication of the approximate orientation of the target relative to the image sensor. In some other examples, the indicator may include at least one of the following: an indication of whether the gripper is in an engagement position allowing the gripper to engage with the mill liner 120; and an indication of whether the mill liner 120 is in an installation position allowing the installation of the mill liner 120. It is understood that these indications may allow an operator to monitor the automatic movement of the mill relining machine 130 and initiate manual actions or interventions as needed.

[0118] In some examples, the method may further include generating audio signals or tactile feedback signals based on control data. These can provide the operator with further useful feedback, such as marking the successful completion of a mill liner installation step or providing safety warnings.

[0119] In view of this, it is understood that a preferred implementation of the method may involve a control system that causes the mill relining machine 130 to move automatically according to control data in order to facilitate the installation of the mill liner 120.

[0120] For example, the method may include a control system 620 causing the mill relining machine 130 to move automatically according to control data to achieve at least one of the following: moving the gripping tool 131 to the mill liner 120 on the liner cart; orienting the gripping tool 131 relative to the mill liner 120 on the liner cart; and pushing the gripping tool 131 into an engagement position to allow the gripping tool 131 to engage with the mill liner 120.

[0121] These movement steps are shown in Figure 8 The flowchart is shown along with the step of determining specific target data to facilitate the automation of these steps. Step 800 involves moving the gripper tool 130 to the mill liner 120 on the liner carriage. With the gripper tool 130 positioned near the mill liner 120, step 810 is then performed, which involves using an image sensor to detect a target 123 positioned on the mill liner 120. Next is step 820, which involves using one or more processing devices to determine position and orientation data as part of the target data. The position and orientation data is then used to generate control data for orienting the gripper tool 131 relative to the mill liner 120 in step 830. Once the gripper tool 131 is oriented to be properly aligned with the mill liner 120, it can be pushed into the engagement position in step 840 and finally engaged with the mill liner 120 in step 850.

[0122] In another example, when the hook tool 131 engages with the mill liner 120, the method may include a control system 620 causing the mill relining machine 130 to automatically move according to control data to at least one of the following: moving the mill liner 120 from the liner carriage to an installation position on the mill wall 110; orienting the mill liner 120 relative to the mill wall 110 at the installation position; and pushing the mill liner 120 into the installation position to allow installation of the mill liner 120.

[0123] These movement steps are in Figure 9The flowchart is shown, and is illustrated along with the step of determining specific target data to facilitate the automation of these steps. Step 900 involves determining a liner identifier using target 123, for example, by scanning the code elements of target 123. Then, step 910 involves determining the installation location based on the liner identifier, for example, by obtaining the installation location as part of liner data retrieved from a database using the liner identifier. The subsequent step 920 involves determining a movement trajectory for the installation location. The movement trajectory may be calculated based on the installation location or retrieved from an installation plan that includes multiple predetermined movement trajectories for different mill liner 120 installation locations, as described above. In any case, in step 930, the mill liner 120 is automatically moved from the liner trolley to the installation location. With the mill liner 120 positioned near the installation location, step 940 is then performed, which involves orienting the mill liner 120 relative to the mill wall 110 before finally pushing the mill liner 120 into the installation location to allow its installation.

[0124] The mill liner 120 can be attached to the mill wall 110 using liner bolts that can be fastened from the outside of the mill. At this point, the hook tool 131 can be detached from the mill liner 120 and moved back to the liner carriage, thus allowing for repeated installation as needed. Figure 8 The process.

[0125] As described above, the grab tool 131 typically includes a liner engagement element 132 configured to engage with a corresponding lifting lug 121 of the mill liner 120, and therefore the control system 620 can also be used to control the operation of the liner engagement element 132. If the target 123 is positioned on the mill liner 120 at a predetermined location relative to the lifting lug 121, the method may include generating control data based on target data of the target 123 and the predetermined location, thereby allowing the liner engagement element 132 to align with the lifting lug 121. In a related example, the method may include: obtaining target position data of the target 123, the target position data indicating the position of the target 123 relative to the lifting lug 121; and generating control data based on the target data and the target position data, thereby allowing the liner engagement element 132 to align with the lifting lug 121.

[0126] In light of this functionality, the method can be extended to include a control system 620 that operates the liner engagement element 132 according to control data to achieve at least one of the following: engaging the liner engagement element 132 with the lifting lug 121 of the mill liner 120; and disengaging the liner engagement element 132 from the lifting lug 121 of the mill liner 120. It is understood that this could contribute to further automation of the mill liner replacement operation.

[0127] In some examples, the method may also include the use of "structured light," such as by projecting known light patterns, like grid patterns, to enhance the processing of image data. This can allow for improved detection of target 123 and its features, or it can allow for providing different types of target 123. For example, target 123 may be provided in a three-dimensional form, in which case the features of target 123 can be more easily detected in the image data based on known patterns of structured light. Alternatively or additionally, these structured light techniques can be used to detect other features of the mill liner 120, and can also be used to generate control data.

[0128] Although the target 123 can be conveniently provided by positioning it on the surface of the mill liner 120 as described in the examples above, in some alternative examples the target 123 need not necessarily be positioned on the surface of the mill liner 120, as described in further detail below.

[0129] In one example of an alternative method for automatically moving the mill relining machine 130 during the installation of the mill liner 120, following the previous example, the mill relining machine 130 includes a gripping tool 131 for engaging with the mill liner 120 and a control system 620 for controlling the movement of the mill relining machine 130 (e.g., ...). Figure 7 (As shown). A mill liner 120 is provided, but in this case, a target 123 is provided near the mill liner 120. The target 123 is associated with the mill liner 120 in a manner similar to that described above. Other steps of this alternative method will also be performed in a manner generally similar to that described in the example above. Specifically, an image sensor 133 is used to capture an image of the target 123, wherein the image sensor 133 generates image data indicating the image. Then, in one or more electronic processing devices (e.g., in...) Figure 6 and Figure 7 In the processing device of the processing system 610, image data is obtained from the image sensor 133, the image data is processed to determine target data of the target 123, control data is generated at least in part based on the target data, and the control data is provided to the control system 620, thereby allowing the mill relining machine 130 to move automatically according to the control data.

[0130] Since the target 123 is located near the mill liner 120, i.e. not necessarily on the surface of the mill liner 120, it is understood that the target 123 can be located in other locations on or around the mill liner 120 to allow for greater flexibility in the implementation of the method.

[0131] For example, target 123 may be attached to a location other than its surface on mill liner 120. In some examples, the target may be set on a separate component attached to the mill liner, rather than being applied to a surface in the form of a label, plate, etc. In one example implementation, a support component may be attached to mill liner 120, which includes target 123 or a suitable surface for applying target 123.

[0132] In other examples, target 123 may be positioned at a predetermined location relative to mill liner 120. It should be understood that in some embodiments, this may involve positioning target 123 on another component that has a predetermined positional relationship with mill liner 120.

[0133] In one specific example, the mill liner 120 and the target 123 may be mounted on a liner carriage (not shown), which is used to transport the mill liner 120 into the mill 101. In this example, the target 123 may be attached to the liner carriage at a predetermined target location, and the liner carriage may be configured such that the mill liner 120 can be placed on the liner carriage at a predetermined liner location, thereby allowing the position of the mill liner 120 to be determined based on the position of the target 123.

[0134] In use, image sensor 133 is used to capture images of target 123, thereby generating target data under a similar procedure to that discussed in the other examples above, although in this case the target data may include additional data regarding the position of target 123 relative to mill liner 120. This additional data may include, for example, offset data regarding the offset distance between target 123 and the lifting lug of mill liner 120, to facilitate control of mill relining machine 130 to engage the lifting lug 121 of mill liner 120 using liner engagement element 132 of grappling tool 131.

[0135] In some other alternative examples, techniques that are substantially similar to those described above can be implemented without necessarily positioning the discrete target 123 on the surface of the mill liner 120.

[0136] In one example of another alternative method for automatically moving the mill relining machine 130 during the installation of the mill liner 120, following the previous example, the mill relining machine 130 includes a gripping tool 131 for engaging with the mill liner 120 and a control system 620 for controlling the movement of the mill relining machine 130 (e.g., ...). Figure 7(As shown). A mill liner 120 is provided; however, in this case, the mill liner 120 has multiple liner features associated with it rather than having a target. One or more liner features will be detected using one or more sensors, which will generate sensor data indicating the liner features. Then, in one or more electronic processing devices (e.g., in...) Figure 6 and Figure 7 In the processing device of the processing system 610, control data is generated at least in part based on sensor data, and the control data is provided to the control system 620, thereby allowing the mill relining machine 130 to move automatically according to the control data.

[0137] Lining features associated with mill liner 120 may include targets positioned on the surface of mill liner 120 as described in the above example, but in other implementations, a range of other liner features may be used. For example, liner features may include at least one of predetermined visual features of mill liner 120, predetermined geometric features of mill liner 120, and predetermined sensor-detectable features of mill liner 120.

[0138] It is understood that one or more sensors may include, as described above, an image sensor 133 for capturing images of lining features and generating image data indicating such images, but may also alternatively or additionally include other types of sensors, such as a range sensor for scanning the mill lining and generating range data indicating lining features, or a proximity sensor for generating proximity data indicating the degree of proximity of lining features to a proximity sensor, depending on the lining features disposed on the mill lining 120 and the desired function.

[0139] Understandably, these additional functionalities can open up a range of further implementation options, where specific features of the mill liner 120 itself can be detected by a range of different sensor types, thereby facilitating the automated movement of the mill relining machine. As an illustrative example, a range sensor can be used to scan the mill liner 120 so that the lifting lug 121 can be detected in range data, which can then be used to determine the position and orientation of the lifting lug 121 relative to the mill's gripping tool 131, in order to control the mill relining machine 130 to engage the liner engagement element 132 of the gripping tool 131 with the lifting lug 121 of the mill liner 120.

[0140] Other lining features, such as the edge construction or overall shape and dimensions of the mill liner 120, can be detected and correlated with other liner data regarding its weight or other parameters, which can be used to control the movement of the mill liner 120 in use. Significant liner features other than the target can be set on the mill liner 120, allowing for the identification of a specific mill liner or type of mill liner. In some examples, the detection of liner features in image data can also be performed using the structured light techniques discussed above.

[0141] In any case, it is understood that obtaining sensor data indicating lining characteristics associated with mill lining 120 can be used to generate control data using techniques similar to those described in the examples above. For example, the sensor data can be used to obtain lining data of mill lining 120 from the aforementioned database, which can be used to automatically move the mill relining machine to move the mill lining to its installation position.

[0142] In light of the foregoing, it is understood that the methods and systems described herein enable enhanced automation of the mill relining machine 130 during mill liner 120 replacement operations, allowing relining to be performed without the need for personnel inside the mill. Therefore, the implementation of these techniques can achieve significant safety benefits. Furthermore, these techniques can provide further advantages in terms of efficiency, such as by using a predetermined movement trajectory based on the installation location and other specific characteristics associated with the liner (which can be determined using target 123 and / or liner features associated with mill liner 120). By facilitating the automated movement of the mill relining machine 130 without the need for personnel in mill 101, the power and functional speed of the mill relining machine 130 can be increased to exceed the power and functional speeds that would otherwise be tolerable when personnel are in mill 101. These increases in the speed of the mill relining machine 130 can have a substantial impact on reducing mill relining time, providing significant business advantages to mill operators.

[0143] Throughout this specification and the appended claims, unless the context otherwise requires, the word "comprise" and its variations such as "comprises" or "comprising" shall be understood to mean including the stated whole or group of wholes or steps, but not excluding any other whole or group of wholes. As used herein and unless otherwise stated, the term "about" means ±20%.

[0144] It should be noted that the singular forms “a,” “an,” and “the” used in the specification and appended claims include plural references unless the context clearly indicates otherwise. Thus, for example, a reference to “support” includes multiple supports. Several terms will be referenced in this specification and in the appended claims, and unless there is a clear indication to the contrary, these terms should be defined as having the following meanings.

[0145] It is understood, of course, that although the invention has been given above by way of illustrative examples, it will be apparent to those skilled in the art that all such and other modifications and variations are considered to fall within the broad scope and limits of the invention as described herein.

Claims

1. A method for automatically moving a mill relining machine during mill lining installation, the mill relining machine including a gripping tool for engaging with the mill lining and a control system for controlling the movement of the mill relining machine, the method comprising: a) Provide a mill liner, the mill liner including targets positioned on its surface; b) Capture an image of the target using an image sensor, the image sensor generating image data indicative of the image; and c) In one or more electronic processing devices: i) Obtain the image data from the image sensor;    ii) Process the image data to determine target data for the target;    iii) Generate control data based at least in part on the target data; as well as iv) Provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

2. The method according to claim 1, wherein the image sensor is mounted on the grappling hook tool.

3. The method according to claim 1 or 2, wherein the target is in at least one of the following situations: a) Cast into the mill liner during the manufacture of the mill liner; and b) Add to the surface of the mill liner at a predetermined location.

4. The method of claim 3, wherein the mill liner includes a flat region on the surface for allowing the target to be added to the surface at the predetermined location.

5. The method of claim 4, wherein the target is disposed on the adhesive patch, the adhesive patch being adhesively attached to the surface at the predetermined position.

6. The method according to any one of claims 1 to 5, wherein processing the image data to determine the target data includes scanning the target to obtain a lining identifier for the mill lining.

7. The method of claim 6, wherein processing the image data to determine the target data includes scanning the target to additionally obtain lining data for the mill lining.

8. The method of claim 6, wherein the method comprises using one or more electronic processing devices to obtain lining data for the mill lining from a database based on the lining identifier.

9. The method of claim 7 or 8, wherein the lining data comprises at least one of the following: a) Liner installation location data; b) Liner movement path data; c) Liner geometry data; d) Lining material data; e) Lining weight data; and f) Lining manufacturing data.

10. The method of any one of claims 7 to 9, wherein the method comprises using the one or more electronic processing devices to determine a movement trajectory for automatically moving the mill relining machine to move the mill lining to an installation position for the mill lining using lining data associated with the mill lining.

11. The method of claim 10, wherein the method includes determining the movement trajectory based on an installation plan, the installation plan including a plurality of predetermined movement trajectories for different mill liner installation locations.

12. The method according to any one of claims 7 to 11, wherein the method comprises: The one or more electronic processing devices are used to determine, using the lining data associated with the mill lining, operating parameters for the movement of the mill relining machine when the mill lining is engaged using the grappling hook tool; and to generate the control data based at least in part on the operating parameters.

13. The method according to any one of claims 6 to 12, wherein processing the image data to determine the target data includes scanning the target to additionally obtain target construction data for the target.

14. The method according to any one of claims 6 to 12, wherein the method includes using the one or more electronic processing devices to obtain target construction data for the target from a database based on the lining identifier.

15. The method of claim 13 or 14, wherein the target construction data comprises at least one of the following: a) Target size data; b) Target shape data; and c) Target location data.

16. The method of any one of claims 6 to 15, wherein the target comprises a code element, and wherein processing the image data to determine the target data includes scanning the code element to at least obtain the lining identifier for the mill lining.

17. The method of claim 16, wherein the code element is provided in at least one of the following forms: a) Numeric codes; b) Alphanumeric codes; c) Hieroglyphic codes; d) Barcode; e) Matrix code; and f) QR code.

18. The method of any one of claims 1 to 17, wherein processing the image data to determine the target data includes determining the position and orientation data of the target relative to the image sensor, the method including generating the control data based at least in part on the position and orientation data.

19. The method of claim 18, wherein processing the image data to determine the target data includes determining at least one of the following: a) The approximate position of the target relative to the image sensor; b) The approximate range of the target relative to the image sensor; and c) The approximate orientation of the target relative to the image sensor.

20. The method of claim 19, wherein the method includes determining the approximate position of the target relative to the image sensor based on the orientation of the target in the image relative to an image frame.

21. The method of claim 19 or 20, wherein the method includes determining the approximate range of the target relative to the image sensor based on the size of the target in the image relative to the image frame.

22. The method of claim 21, wherein the method includes obtaining target size data for the target and determining the approximate range of the target relative to the image sensor based on a comparison of the target size data with the size of the target in the image.

23. The method of any one of claims 19 to 22, wherein the method includes determining the approximate orientation of the target relative to the image sensor based on the shape of the target in the image relative to the image frame.

24. The method of claim 23, wherein the method includes obtaining target shape data for the target and determining the approximate orientation of the target relative to the image sensor based on a comparison of the target shape data with the shape of the target in the image.

25. The method according to any one of claims 1 to 24, wherein processing the image data to determine the target data comprises: a) Detect the target in the image; b) Determine the edge geometry of the target in the image; as well as c) Determine at least some of the target data based on the edge geometry.

26. The method according to any one of claims 1 to 25, wherein the method includes using a display device to display an indicator based on the control data.

27. The method of claim 26, wherein the indicator comprises at least one of the following: a) An indication of whether the target has been detected in the image; b) An indication of the approximate position of the target relative to the image sensor; c) An indication of the approximate range of the target relative to the image sensor; and d) An indication of the approximate orientation of the target relative to the image sensor.

28. The method of claim 26 or 27, wherein the indicator comprises at least one of the following: a) An indication of whether the gripping tool is in an engagement position that allows the gripping tool to engage with the mill liner; and b) An indication of whether the mill liner is in an installation position that allows the mill liner to be installed.

29. The method according to any one of claims 26 to 28, wherein the method includes using the display device to display the image and overlaying the indicator on the image.

30. The method according to any one of claims 1 to 29, wherein the method further comprises generating at least one of the following: a) an audio signal based on the control data; and b) Tactile feedback signals based on the control data.

31. The method according to any one of claims 1 to 30, wherein the method includes the control system causing the mill relining machine to move automatically according to the control data to facilitate the installation of the mill lining.

32. The method according to any one of claims 1 to 31, wherein the method comprises the control system causing the mill relining machine to automatically move according to the control data to at least one of the following: a) Move the hook tool to the mill liner on the liner carriage; b) Orienting the gripping tool relative to the mill liner on the liner carriage; and c) Push the hook tool into the engagement position to allow the hook tool to engage with the mill liner.

33. The method according to any one of claims 1 to 32, wherein when the grabbing tool engages with the mill liner, the method includes the control system causing the mill relining machine to automatically move according to the control data to at least one of the following: a) Move the mill liner from the liner trolley to the mounting position on the mill wall; b) Orienting the mill liner relative to the mill wall at the installation location; and c) Push the mill liner into the mounting position to allow installation of the mill liner.

34. The method according to any one of claims 1 to 33, wherein the grabbing tool includes a lining engagement element configured to engage with a corresponding lifting lug of the mill lining, and the control system is further configured to control the operation of the lining engagement element.

35. The method of claim 34, wherein the target is positioned on the mill liner at a predetermined position relative to the lifting lug, and the method includes generating the control data based on the target data and the predetermined position, thereby allowing the liner engagement element to be aligned with the lifting lug.

36. The method of claim 34, wherein the method includes obtaining target position data for the target indicating the position of the target relative to the lifting lug, and generating the control data based on the target data and the target position data, thereby allowing the lining engagement element to be aligned with the lifting lug.

37. The method according to any one of claims 34 to 36, wherein the method comprises the control system causing the lining engagement element to operate according to the control data to achieve at least one of the following: a) engaging the liner engagement element with the lifting lug of the mill liner; and b) Disengage the lining engagement element from the lifting lug of the mill lining.

38. A system for automatically moving a mill relining machine during the installation of a mill liner within a mill, the mill relining machine including a gripping tool for engaging with the mill liner and a control system for controlling the movement of the mill relining machine, the mill liner including a target positioned on its surface, the system comprising: a) An image sensor for capturing an image of the target, the image sensor generating image data indicative of the image; as well as b) One or more electronic processing devices configured to: i) Obtain the image data from the image sensor;    ii) Process the image data to determine target data for the target;    iii) Generate control data based at least in part on the target data; as well as iv) Provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

39. The system of claim 38, wherein the image sensor is mounted on the grappling hook tool.

40. The system of claim 38 or 29, wherein the system further comprises an orientation sensor for providing orientation data, and wherein the one or more electronic processing devices are configured to determine the approximate orientation of the target relative to the image sensor based on the orientation data and the target data.

41. The system of claim 40, wherein the orientation sensor comprises an accelerometer.

42. The system of any one of claims 38 to 41, wherein the system further comprises a proximity sensor for providing proximity data, and wherein the one or more electronic processing means are configured to determine the approximate range of the target relative to the image sensor based on the proximity data and the target data.

43. The system according to any one of claims 38 to 42, wherein the system is configured to perform the method according to any one of claims 1 to 37.

44. A method for automatically moving a mill relining machine during mill lining installation, the mill relining machine including a gripping tool for engaging with the mill lining and a control system for controlling the movement of the mill relining machine, the method comprising: a) Provide mill linings; b) Provide a target proximate to the mill lining, the target being associated with the mill lining; c) Capture an image of the target using an image sensor, the image sensor generating image data indicative of the image; as well as d) In one or more electronic processing devices: i) Obtain the image data from the image sensor;    ii) Process the image data to determine target data for the target;    iii) Generate control data based at least in part on the target data; as well as iv) Provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

45. The method of claim 44, wherein the target is in at least one of the following situations: a) Attached to the mill lining; b) Positioned on the surface of the mill liner; and c) Positioned at a predetermined location relative to the mill liner.

46. ​​The method of claim 44 or 45, wherein the mill liner and the target are disposed on a liner carriage.

47. The method of claim 46, wherein the target is attached to the liner carriage at a predetermined target position, and the liner carriage is configured such that the mill liner can be placed on the liner carriage at a predetermined liner position, thereby enabling the position of the mill liner to be determined based on the position of the target.

48. A system for automatically moving a mill relining machine during the installation of a mill liner within a mill, the mill relining machine including a gripping tool for engaging with the mill liner and a control system for controlling the movement of the mill relining machine, a target being positioned to approach the mill liner, the target being associated with the mill liner, the system comprising: a) An image sensor for capturing an image of the target, the image sensor generating image data indicative of the image; as well as b) One or more electronic processing devices configured to: i) Obtain the image data from the image sensor;    ii) Process the image data to determine target data for the target;    iii) Generate control data based at least in part on the target data; as well as iv) Provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

49. The system of claim 48, wherein the system is configured to perform the method of any one of claims 44 to 47.

50. A method for automatically moving a mill relining machine during mill lining installation, the mill relining machine including a gripping tool for engaging with the mill lining and a control system for controlling the movement of the mill relining machine, the method comprising: a) Providing mill liners with multiple lining features associated therewith; b) Detect one or more of the lining features using one or more sensors, the one or more sensors generating sensor data indicative of the lining features; as well as c) In one or more electronic processing devices: i) Obtain the sensor data from the one or more sensors;    ii) Generate control data based at least in part on the sensor data; as well as iii) Provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

51. The method of claim 50, wherein the lining feature comprises at least one of the following: a) A target positioned on the surface of the mill liner; b) The predetermined visual characteristics of the mill lining; c) the predetermined geometric features of the mill lining; and d) The predetermined sensor in the mill lining can detect features.

52. The method of claim 50 or 51, wherein the one or more sensors comprise at least one of the following: a) An image sensor, used to capture images of the lining features and generate image data indicating the images; b) A range sensor for scanning the mill liner and generating range data indicating the characteristics of the liner; and c) A proximity sensor, which generates proximity data indicating the degree of proximity of the lining feature relative to the proximity sensor.

53. A system for automatically moving a mill relining machine during the installation of a mill liner within a mill, the mill relining machine including a gripping tool for engaging with the mill liner and a control system for controlling the movement of the mill relining machine, the mill liner having a plurality of liner features associated therewith, the system comprising: a) One or more sensors for detecting one or more of the lining features, the one or more sensors generating sensor data indicative of the lining features; as well as b) One or more electronic processing devices configured to: i) Obtain the sensor data from the one or more sensors;    ii) Generate control data based at least in part on the sensor data; as well as iii) Provide the control data to the control system, thereby allowing the mill relining machine to move automatically according to the control data.

54. The system of claim 53, wherein the system is configured to perform the method of any one of claims 50 to 52.

Images