Selection of a travel path for an electric mining / construction vehicle

Abstract

The present disclosure relates to a control device (100) for selecting a travel path for an electric mining / construction vehicle. The control device (100) is configured to interchange a first planned travel path (P1) for a first electric mining / construction vehicle (300) with a second planned travel path (P2) for a second electric mining / construction vehicle (300') based on a battery state (B1) of the first electric mining / construction vehicle (300) and / or a battery state (B2) of the second electric mining / construction vehicle (300'). Furthermore, the present disclosure also relates to a first electric mining / construction vehicle (300) and a corresponding method for interchanging the first planned travel path (P1) with the second planned travel path (P2).

Description

Technical Field

[0001] This disclosure relates to a control device for selecting a travel path for an electric mining / construction vehicle and a first electric mining / construction vehicle configured to travel according to the travel path. Furthermore, this disclosure also relates to a corresponding method for the control device and the first electric mining / construction vehicle. Background Technology

[0002] Electric mining / construction vehicles offer opportunities to reduce environmental footprint and create healthier working environments in mining / construction settings. These vehicles are driven by one or more electric motors, which in turn can be powered by an electrical grid system and / or an onboard energy storage system (ESS) including, for example, a battery pack. Compared to diesel vehicles, electric mining / construction vehicles emit no emissions and can therefore offer significant savings, particularly in terms of ventilation and cooling in mining / construction environments.

[0003] When electric mining / construction vehicles travel around a mining / construction site performing one or more tasks, the onboard battery storage system's charge level decreases, and the electric mining / construction vehicles need to be charged periodically. Charging can be performed at charging stations, and for this purpose, mining / construction sites typically include multiple charging stations in different locations.

[0004] Properly planning the tasks and charging schedules of electric mining / construction vehicles at the mining / construction site can ensure the effective utilization of the electric mining / construction vehicle fleet and guarantee continuous operation at the mining / construction site. Summary of the Invention

[0005] The purpose of the embodiments disclosed herein is to provide solutions that mitigate or resolve the drawbacks of conventional solutions.

[0006] Another objective of embodiments of this disclosure is to provide a solution for optimizing the travel paths of electric mining / construction vehicles.

[0007] The foregoing and other objectives are addressed by the subject matter of the appended independent claims.

[0008] According to a first aspect of this disclosure, the above and other objectives are achieved by a control device for selecting the travel path of an electric mining / construction vehicle, the control device being configured to:

[0009] Based on the battery status of the first electric mining / construction vehicle and / or the battery status of the second electric mining / construction vehicle, the first planned driving path of the first electric mining / construction vehicle is interchanged with the second planned driving path of the second electric mining / construction vehicle.

[0010] The advantage of the control device according to the first aspect is that the travel paths of different electric mining / construction vehicles can be optimized by taking into account their battery states. In particular, the switching of paths between different electric mining / construction vehicles makes it possible to improve the planning of the mining vehicle's travel paths. Thus, for example, power consumption in the electric mining / construction vehicles can be reduced and optimized. Furthermore, tasks assigned to the mining vehicles can be executed more efficiently and without interruption.

[0011] In an embodiment of the control device according to the first aspect, the control device is configured to:

[0012] The first driving command is transmitted to the first electric mining / construction vehicle, which instructs a second planned driving path; and / or

[0013] The second driving command is transmitted to the second electric mining / construction vehicle, which instructs the first planned driving path.

[0014] The advantage of this embodiment is that it provides a communication program for controlling the travel path of mining / construction vehicles, especially when the control device is the central controller of the mining / construction vehicle.

[0015] In an embodiment of the control device according to the first aspect, the control device is configured to:

[0016] Based on the charging status threshold, the first planned driving route and the second planned driving route are swapped.

[0017] The advantage of this embodiment is that it takes into account additional relevant parameters for improved driving path planning.

[0018] In an embodiment of the control device according to the first aspect, the first planned driving route includes a first battery charging station, and the second planned driving route includes a second battery charging station.

[0019] The advantage of this embodiment is that it optimizes the charging of mining / construction vehicles because the planned driving route includes charging stations.

[0020] In an embodiment of the control device according to the first aspect, the first battery charging station and the second battery charging station are the same battery charging station or different battery charging stations.

[0021] The advantage of this embodiment is that it provides flexibility in the selection of charging stations.

[0022] In an embodiment of the control device according to the first aspect,

[0023] The first planned driving route includes the first power grid connection, and

[0024] The second planned driving route includes a second power grid connection.

[0025] The advantage of this embodiment is that, since the planned travel path includes a power grid connection, mining / construction vehicles can be powered by the power grid in a more optimized manner.

[0026] In an embodiment of the control device according to the first aspect, the control device is configured to:

[0027] Further, based on the measurements of the first power grid connection and / or the second power grid connection, the first planned driving path and the second planned driving path are interchanged.

[0028] The advantage of this embodiment is that it can optimize the power supply to mining / construction vehicles by taking into account grid connection measurements.

[0029] In an embodiment of the control device according to the first aspect, the control device is configured to:

[0030] Based on the grid voltage threshold, the first planned driving route and the second planned driving route are swapped.

[0031] The advantage of this embodiment is that, by taking into account the grid voltage threshold, it can more effectively optimize the power supply to mining / construction vehicles. Furthermore, the threshold can be adapted to different applications.

[0032] In an embodiment of the control device according to the first aspect, the first power grid connection and the second power grid connection are the same power grid connection or different power grid connections.

[0033] The advantage of this embodiment is that it provides flexibility in the selection of power grid connections.

[0034] In an embodiment of the control device according to the first aspect, the control device is configured to:

[0035] Further, based on any one of the following: mining operator commands, renewable power generation from renewable energy sources, fault indications of the first electric mining / construction vehicle, fault indications of the second electric mining / construction vehicle, grid measurements, and grid service requests, the first planned driving path and the second planned driving path are interchanged.

[0036] The advantage of this embodiment is that more relevant parameters are considered when determining the interchangeable planned driving routes. Therefore, more optimized planning of driving routes is possible.

[0037] In an embodiment of the control device according to the first aspect, the control device is configured to:

[0038] Transmit a path swap request indicating the first planned driving route;

[0039] Receive path interchange responses from two or more second electric mining / construction vehicles, each path interchange response indicating a second planned travel path; and

[0040] Choose the second planned driving route from two or more second planned driving routes.

[0041] The advantage of this embodiment is that it provides a communication program that enables the control device to use information from mining / construction vehicles for the optimal selection of driving routes.

[0042] In an embodiment of the control device according to the first aspect, the first planned driving path and the second planned driving path include the tasks of mining / construction vehicles.

[0043] The advantage of this embodiment is that tasks other than the travel paths of mining / construction vehicles can also be optimized according to this solution.

[0044] According to a second aspect of this disclosure, the above and other objectives are achieved using a first electric mining / construction vehicle, which is configured to travel according to a first planned travel path and is further configured to:

[0045] Based on the battery status of the first electric mining / construction vehicle and / or the battery status of the second electric mining / construction vehicle, the first planned travel path is interchanged with the second planned travel path of the second electric mining / construction vehicle; and

[0046] Drive according to the second planned driving route.

[0047] The advantages of the first electric mining / construction vehicle according to the second aspect are: the travel paths of different electric mining / construction vehicles, including the first electric mining / construction vehicle, can be optimized by taking into account their battery states. In particular, the switching of paths between different electric mining / construction vehicles makes it possible to improve the planning of the mining vehicle's travel paths. Thus, for example, power consumption in the electric mining / construction vehicles can be reduced and optimized. Furthermore, tasks assigned to the mining vehicles can be executed more efficiently and without interruption.

[0048] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first electric mining / construction vehicle is configured as follows:

[0049] Based on the charging status threshold, the first planned driving route and the second planned driving route are swapped.

[0050] The advantage of this embodiment is that it takes into account additional relevant parameters for improved driving path planning.

[0051] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first electric mining / construction vehicle is configured as follows:

[0052] Upon receiving a first driving command from the control device, the first planned driving route and the second planned driving route are interchanged, and the first driving command instructs the second planned driving route.

[0053] The advantage of this embodiment is that it provides a communication program for controlling the travel path of mining / construction vehicles. This is especially true when the control device is the central controller of the mining / construction vehicle.

[0054] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first planned driving route includes a first battery charging station, and the second planned driving route includes a second battery charging station.

[0055] The advantage of this embodiment is that it optimizes the charging of mining / construction vehicles because the planned driving route includes charging stations.

[0056] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first battery charging station and the second battery charging station are the same battery charging station or different battery charging stations.

[0057] The advantage of this embodiment is that it provides flexibility in the selection of charging stations.

[0058] In an embodiment of the first electric mining / construction vehicle according to the second aspect,

[0059] The first planned driving route includes the first power grid connection, and

[0060] The second planned driving route includes a second power grid connection.

[0061] The advantage of this embodiment is that, since the planned travel path includes a power grid connection, mining / construction vehicles can be powered by the power grid in a more optimized manner.

[0062] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first electric mining / construction vehicle is configured as follows:

[0063] Further, based on the measurements of the first power grid connection and / or the second power grid connection, the first planned driving path and the second planned driving path are interchanged.

[0064] The advantage of this embodiment is that it can optimize the power supply to mining / construction vehicles by taking into account grid connection measurements.

[0065] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first electric mining / construction vehicle is configured as follows:

[0066] Based on the grid voltage threshold, the first planned driving route and the second planned driving route are swapped.

[0067] The advantage of this embodiment is that, by taking into account the grid voltage threshold, it can more effectively optimize the power supply to mining / construction vehicles. Furthermore, the threshold can be adapted to different applications.

[0068] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first power grid connection and the second power grid connection are the same power grid connection or different power grid connections.

[0069] The advantage of this embodiment is that it provides flexibility in the selection of power grid connections.

[0070] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first electric mining / construction vehicle is configured as follows:

[0071] Further, based on any one of the following: mining operator commands, renewable power generation from renewable energy sources, fault indications of the first electric mining / construction vehicle, fault indications of the second electric mining / construction vehicle, grid measurements, and grid service requests, the first planned driving path and the second planned driving path are interchanged.

[0072] The advantage of this embodiment is that more relevant parameters are considered when determining the interchangeable planned driving routes. Therefore, more optimized planning of driving routes is possible.

[0073] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first electric mining / construction vehicle is configured as follows:

[0074] Transmit a path swap request indicating the first planned driving route;

[0075] Receive path interchange responses from two or more second electric mining / construction vehicles, each path interchange response indicating a second planned travel path; and

[0076] Choose the second planned driving route from two or more second planned driving routes.

[0077] The advantage of this embodiment is that it provides a communication program that enables the first electric mining / construction vehicle to use information from other mining / construction vehicles for the optimal selection of driving routes.

[0078] In an embodiment of the first electric mining / construction vehicle according to the second aspect, the first planned driving path and the second planned driving path include the tasks of the mining / construction vehicle.

[0079] The advantage of this embodiment is that tasks other than the travel paths of mining / construction vehicles can also be optimized according to this solution.

[0080] According to a third aspect of this disclosure, the above and other objectives are achieved by a method for a control device, the method comprising:

[0081] Based on the battery status of the first electric mining / construction vehicle and / or the battery status of the second electric mining / construction vehicle, the first planned driving path of the first electric mining / construction vehicle is interchanged with the second planned driving path of the second electric mining / construction vehicle.

[0082] This method can be adjusted according to the above-described embodiment of the control device. The advantages of this method are the same as those of the corresponding embodiment of the control device.

[0083] According to a fourth aspect of this disclosure, the above and other objectives are achieved by a method for a first electric mining / construction vehicle, the first electric mining / construction vehicle being configured to travel according to a first planned travel path of the first electric mining / construction vehicle, the method comprising:

[0084] Based on the battery status of the first electric mining / construction vehicle and / or the battery status of the second electric mining / construction vehicle, the first planned travel path is interchanged with the second planned travel path of the second electric mining / construction vehicle; and

[0085] Drive according to the second planned driving route.

[0086] This method can be adapted from the above-described embodiment of the first electric mining / construction vehicle. The advantages of this method are the same as those of the corresponding embodiment of the first electric mining / construction vehicle.

[0087] According to aspects of the invention, the above and other objectives are achieved by one or more control units arranged to control the control device and / or the first electric mining / construction vehicle to perform the method according to any embodiment of the method aspect.

[0088] According to another aspect of the invention, the methods described herein are implemented using a computer program product including instructions that, when executed by a computer such as the control unit mentioned herein, cause the computer to perform the steps of the method according to any of the embodiments described herein.

[0089] Further applications and advantages of the embodiments of this disclosure will become apparent from the following detailed description. Attached Figure Description

[0090] The accompanying drawings are intended to illustrate and explain different embodiments of this disclosure, in which:

[0091] Figure 1a and Figure 1b A control device according to an embodiment of the present invention is shown;

[0092] Figure 2 A control device according to another embodiment of the present invention is shown;

[0093] Figure 3 The signaling of the control device according to an embodiment of the present invention is shown;

[0094] Figure 4 The signaling of a first electric mining / construction vehicle according to an embodiment of the present invention is shown;

[0095] Figure 5 A flowchart illustrating a method for controlling a device according to an embodiment of the present invention is shown;

[0096] Figure 6 A flowchart illustrating a method for a first electric mining / construction vehicle according to an embodiment of the present invention is shown; and

[0097] Figure 7 A non-limiting example of an electric mining / construction vehicle according to an embodiment of the present invention is shown. Detailed Implementation

[0098] According to embodiments of this disclosure, a control device 100 is provided for selecting the travel path of an electric mining / construction vehicle. Figure 1a and Figure 1b A control device 100 according to an embodiment of the present disclosure is shown, wherein the control device 100 is configured to interchange a first planned travel path P1 of a first electric mining / construction vehicle 300 with a second planned travel path P2 of a second electric mining / construction vehicle 300'. The interchange of the planned travel paths P1 and P2 is based on the battery state B1 of the first electric mining / construction vehicle 300 and the battery state B2 of the second electric mining / construction vehicle 300'.

[0099] refer to Figure 1a At a first time T1, the first electric mining / construction vehicle 300 is configured to travel according to a first planned travel path P1, and the second electric mining / construction vehicle 300' is configured to travel according to a second planned travel path P2. The travel path may include a start position and an end position. The travel path may also include one or more intermediate positions between the start and end positions. The planned travel path can be understood as a travel path previously determined or selected for the electric mining / construction vehicle 300, and therefore can also be represented as a predetermined travel path. The planned travel path may have been determined using a general scheduling algorithm for one or more electric mining / construction vehicles.

[0100] In one embodiment, the first planned driving route P1 may include a first battery charging station 120, and the second planned driving route P2 may include a second battery charging station 120'. (See reference...) Figure 1a and Figure 1b The first battery charging station 120 and the second battery charging station 120' can be the same battery charging station; that is, the first planned driving path P1 and the second planned driving path P2 can include or lead to the same battery charging station. However, in an embodiment, alternatively, the first battery charging station 120 and the second battery charging station 120' can be different battery charging stations. Figure 2 As shown, the first battery charging station 120 and the second battery charging station 120' may be geographically separated, i.e., in different locations. Therefore, in an embodiment, the first planned driving route P1 may include the first battery charging station 120, and the second planned driving route P2 may include the second battery charging station 120', which is different from the first battery charging station 120.

[0101] In this embodiment, the first planned travel path P1 and the second planned travel path P2 also include tasks for the mining / construction vehicle 300. Therefore, the first planned travel path P1 may include one or more tasks to be performed by the first electric mining / construction vehicle 300 as it travels along the first planned travel path P1, and the second planned travel path P2 may include one or more tasks to be performed by the second electric mining / construction vehicle 300' as it travels along the second planned travel path P2. Each task may include one or more actions to be performed by the mining / construction vehicles 300, 300'. One task may be charging the mining / construction vehicles 300, 300' at battery charging stations 120, 120'. Other non-limiting examples of tasks are drilling, loading, transporting, moving, etc.

[0102] The battery state B1 of the first electric mining / construction vehicle 300 and the battery state B2 of the second electric mining / construction vehicle 300' can be monitored as they travel according to their respective planned travel paths P1, P2. Based on the battery state B1 of the first electric mining / construction vehicle 300 and the battery state B2 of the second electric mining / construction vehicle 300', the control device 100 interchanges the first planned travel path P1 of the first electric mining / construction vehicle 300 with the second planned travel path P2 of the second electric mining / construction vehicle 300'. The battery state B1 of the first electric mining / construction vehicle 300 can, for example, indicate that the state of charge of the first electric mining / construction vehicle 300 is too low to complete the first planned travel path P1.

[0103] As the driving paths are exchanged, the first electric mining / construction vehicle 300 and the second electric mining / construction vehicle 300' exchange driving paths with each other. Therefore, after the driving paths are exchanged at the second time T2, as... Figure 1b As shown, the first electric mining / construction vehicle 300 travels according to the second planned travel path P2, and the second electric mining / construction vehicle 300' travels according to the first planned travel path P1. In one example, the travel paths can be interchanged from the start position to the end position. In another example, the travel paths are interchanged after the electric mining / construction vehicles have started their predetermined planned travel paths.

[0104] Control device 100 may be one or more control nodes or a central controller or distributed controller in a mining / construction vehicle. Control device 100 may acquire information related to the travel paths and battery status of multiple electric mining / construction vehicles 300 (e.g., a fleet of electric mining / construction vehicles). Travel path and battery status information may be collected by control device 100 or transmitted from the electric mining / construction vehicles 300 to control device 100. The first electric mining / construction vehicle 300 and the second electric mining / construction vehicle 300' may, for example, report their respective battery statuses B1, B2 to control device 100 directly or via one or more other vehicles or nodes. Battery statuses B1, B2 may, for example, be reported or collected periodically, in real-time, and / or upon request from control device 100.

[0105] Control device 100 can use driving command 510 to notify the first electric mining / construction vehicle 300 and the second electric mining / construction vehicle 300' of the interchange of driving paths. (Reference) Figure 2 The control device 100 can transmit a first driving command 510 to the first electric mining / construction vehicle 300. The first driving command 510 indicates a second planned driving path P2. The control device 100 can further transmit a second driving command 510' to the second electric mining / construction vehicle 300'. The second driving command 510' indicates a first planned driving path P1.

[0106] When the control device 100 receives the first driving command 510 indicating the second planned driving path P2, as follows: Figure 2 As shown, the first electric mining / construction vehicle 300 swaps the first planned travel path P1 with the second planned travel path P2. Figure 2In the illustrated embodiment, the second planned driving path P2 includes a second battery charging station 120', and therefore, the first electric mining / construction vehicle 300, based on the received first driving command 510, travels along the second planned driving path P2 toward the second battery charging station 120'. Similarly, when the second driving command 510', indicating a first planned driving path P1, is received from the control device 100, the second electric mining / construction vehicle 300' swaps the second planned driving path P2 with the first planned driving path P1 and begins traveling toward the first battery charging station 120 according to the first planned driving path P1. Therefore, the driving command includes the necessary information to enable the electric mining / construction vehicle 300 to travel along the indicated driving path. This information may include location data, position data, positioning data, tracking data, timing data, synchronization data, etc.

[0107] As previously described, the interchange of planned travel paths P1 and P2 of the first electric mining / construction vehicle 300 and the second electric mining / construction vehicle 300' is based on their respective battery states B1 and B2. Battery states B1 and B2 may include, for example, one or more of the following: charging state, health state, battery fault indication, fault indication of connected power electronic devices configured to provide power, and fault indication of the battery control system. In an embodiment, the control device 100 may further interchange the first planned travel path P1 with the second planned travel path P2 based on a charging state threshold. Therefore, the control device 100 may compare the battery state B1 of the first electric mining / construction vehicle 300 and / or the battery state B2 of the second electric mining / construction vehicle 300' with a charging state threshold, and if the battery state B1 and / or the battery state B2 is lower than or higher than the charging state threshold, determine that the first planned travel path P1 and the second planned travel path P2 should be interchanged. For example, when it is determined that the battery state B1 of the first electric mining / construction vehicle 300 is lower than the charging state threshold and the battery state B2 of the second electric mining / construction vehicle 300' is higher than the charging state threshold, the control device 100 can interchange the first planned driving path P1 with the second planned driving path P2, and vice versa.

[0108] In this embodiment, the first planned driving path P1 includes a first power grid connection 130, and the second planned driving path P2 includes a second power grid connection 130'. The first power grid connection 130 and the second power grid connection 130' can be the same power grid connection providing DC or AC power, or different power grid connections.

[0109] Figure 2 This illustrates an embodiment where the first power grid connection 130 and the second power grid connection 130' are different power grid connections. Figure 2In the illustrated embodiment, the first planned driving path P1 includes a first battery charging station 120 connected to a first grid connection 130, and the second planned driving path P2 includes a second battery charging station 120' connected to a second grid connection 130'. The first battery charging station 120 is different from the second battery charging station 120', and the first grid connection 130 is different from the second grid connection 130'. Because charging capacity depends on conditions such as power availability in the respective grid connections 130, 130', the charging capacity of battery charging stations 120, 120' may differ.

[0110] In an embodiment, such as Figure 2 As indicated, control device 100 may further swap the first planned driving path P1 with the second planned driving path P2 based on the measurement value M1 of the first grid connection 130 and the measurement value M2 of the second grid connection 130'. Grid measurements may include, for example, grid voltage, grid current, grid frequency, power flow, or any other parameter indicating the condition of the grid. Control device 100 may obtain the measurement values ​​M1 and M2 of grid connections 130, 130' directly or via one or more other nodes or vehicles, for example, from the controllers of grid connections 130, 130'. Based on the measurement value M1 of the first grid connection 130 and the measurement value M2 of the second grid connection 130', control device 100 may determine whether to swap the first planned driving path P1 with the second planned driving path P2. In an embodiment, this determination may be based on a grid voltage threshold. Therefore, control device 100 may further swap the first planned driving path P1 with the second planned driving path P2 based on a grid voltage threshold. The control device 100 may, for example, swap the first planned driving path P1 with the second planned driving path P2 based on the grid voltage of the first grid connection 130 and / or the second grid connection 130' being lower than and / or higher than the grid voltage threshold.

[0111] When determining whether to swap driving routes, the control device 100 may consider additional information / data. In an embodiment, the control device 100 may further swap the first planned driving route P1 with the second planned driving route P2 based on any parameters related to:

[0112] Mining operator commands;

[0113] Renewable power generation;

[0114] Fault indication of the first electric mining / construction vehicle 300;

[0115] Fault indication for the second electric mining / construction vehicle 300';

[0116] Power grid measurements;

[0117] Power grid services.

[0118] Therefore, the control device 100 can swap the first planned driving path P1 with the second planned driving path P2 based on one or more conditions, parameters and / or triggering events.

[0119] For example, a mining operator may determine to swap a first planned travel path P1 with a second planned travel path P2, and may issue a mining operator command to initiate the swap. Therefore, a mining operator command may, for example, instruct two or more electric mining / construction vehicles to exchange planned travel paths based on a change in the operational plan. Furthermore, the mining operator command includes the necessary information as described above.

[0120] The interchange of driving routes can be further initiated based on the generation of renewable energy sources connected to the first grid connection 130 and / or the second grid connection 130'. The generation of renewable energy sources may affect the charging capacity of charging stations, which in turn may affect the allocation of driving routes to electric mining / construction vehicles. For example, changes in the access of renewable energy generation will alter the available grid power and may therefore initiate changes in the planned driving routes to accommodate changes in charging schedules and / or grid connection plans.

[0121] Fault indications can, for example, indicate that an electric mining / construction vehicle is unable to complete the planned task associated with the planned travel route. This may trigger a change in the planned travel route.

[0122] Similarly, grid measurements and / or grid services can affect the charging capacity of charging stations and thus trigger changes in the travel routes of one or more electric mining / construction vehicles. Grid measurements, such as grid voltage, can indicate the need for a change in travel route, allowing the electric mining / construction vehicle to connect to another grid point. Grid services include reactive power support and frequency support. Requests for grid services can initiate travel route exchanges, allowing, for example, the electric mining / construction vehicle to travel to a charging station that provides grid services.

[0123] Figure 3 The diagram illustrates signaling from a control device 100 according to an embodiment of the invention for exchanging the first planned travel path P1 of the first electric mining / construction vehicle 300. Figure 3 In the illustrated embodiment, the switching of the first planned travel path P1 is performed based on a request and acceptance procedure with two or more second electric mining / construction vehicles 300'. The switching of the first planned travel path P1 can be initiated based on the detection that the first planned travel path P1 is no longer suitable for the first electric mining / construction vehicle 300. The first electric mining / construction vehicle 300 may, for example, lack sufficient battery power to complete the first planned travel path P1.

[0124] exist Figure 3 In step I, the control device 100 transmits a path-swapping request 520 instructing the first planned travel path P1. The control device 100 may transmit the path-swapping request 520 to request and obtain information about a second electric mining / construction vehicle 300' that can be used to take over the first planned travel path P1. The path-swapping request 520 may be broadcast directly or transmitted to two or more second electric mining / construction vehicles 300'. The path-swapping request 520 may, for example, be broadcast to multiple second electric mining / construction vehicles 300' that are similar in type to the first electric mining / construction vehicle 300 or capable of performing similar tasks. The path-swapping request 520 may further be broadcast or transmitted to second electric mining / construction vehicles 300' located in a specific area (e.g., in the area surrounding the first electric mining / construction vehicle 300).

[0125] exist Figure 3 In step II, the control device 100 receives a path exchange response 530 from two or more second electric mining / construction vehicles 300'. Each path exchange response 530 indicates a second planned travel path P2'. The two or more second electric mining / construction vehicles 300' that respond to the path exchange request 520 with the path exchange response 530 can be second electric mining / construction vehicles 300' that are available and / or suitable for the exchange of travel paths (i.e., capable of taking over the first travel path P1). Therefore, the path exchange response 530 can be regarded as confirmation or acceptance that the second electric mining / construction vehicle 300' is capable of participating in the exchange of travel paths. The path exchange response 530 further indicates the second planned travel path P2' of the responding second electric mining / construction vehicle 300', i.e., the travel path that the second electric mining / construction vehicle 300' is currently configured to travel according to.

[0126] exist Figure 3 In step III, the control device 100 selects a second planned driving path P2 from two or more second planned driving paths P2' indicated in the path exchange response 530; that is, the control device 100 selects the driving path that will be exchanged with the first planned driving path P1. When selecting a second planned driving path P2 from multiple second planned driving paths, the control device 100 may consider one or more of the factors described previously (i.e., battery status, grid measurements, mining operator commands, etc.).

[0127] exist Figure 3 In step IV, the control device 100 transmits a first travel command 510 to the first electric mining / construction vehicle 300. The first travel command 510 indicates that... Figure 3The second planned driving path P2 selected in step III. The control device 100 can further transmit a second driving command 510' indicating the first planned driving path P1 to the second electric mining / construction vehicle 300'.

[0128] Based on the received first driving command 510, the first electric mining / construction vehicle 300... Figure 3 In step V, the first planned driving path P1 is interchanged with the second planned driving path P2 indicated in the first driving command 510. Similarly, based on the received second driving command 510', the second electric mining / construction vehicle 300'... Figure 3 In step VI, the second planned driving path P2 is swapped with the first planned driving path P1 indicated in the second driving command 510'.

[0129] Figure 1 to Figure 3 An embodiment is shown in which the control device 100 selects the travel path of an electric mining / construction vehicle and controls the interchange of travel paths between electric mining / construction vehicles. However, in this embodiment, the interchange of travel paths can be further performed directly between the electric mining / construction vehicles. For example, a first electric mining / construction vehicle 300 can be configured to control the interchange of its travel path with that of another electric mining / construction vehicle.

[0130] According to embodiments of this disclosure, the first electric mining / construction vehicle 300 is thus configured to swap the first planned travel path P1 that the first electric mining / construction vehicle 300 is traveling on with the second planned travel path P2 of the second electric mining / construction vehicle 300', based on the battery state B1 of the first electric mining / construction vehicle 300 and the battery state B2 of the second electric mining / construction vehicle 300'. After the swap, the first electric mining / construction vehicle 300 travels according to the second planned travel path P2.

[0131] In addition to battery status, the first electric mining / construction vehicle 300 can swap the first planned travel path P1 with the second planned travel path P2 based on one or more of the parameters and triggering events described above by the reference control device 100. Therefore, the first electric mining / construction vehicle 300 can further swap the first planned travel path P1 with the second planned travel path P2 based on a charging status threshold and / or a grid voltage threshold. The first electric mining / construction vehicle 300 can further swap the first planned travel path P1 with the second planned travel path P2 based on any of the following: mining operator commands, renewable power generation from a renewable source, a fault indication from the first electric mining / construction vehicle 300, a fault indication from the second electric mining / construction vehicle 300', grid measurements, and grid services. Grid measurements may include a measurement value M1 from the first grid connection 130 and a measurement value M2 from the second grid connection 130'.

[0132] Furthermore, the first planned driving path P1 and the second planned driving path P2 can be compared with reference to Figure 1 and Figure 2 The first planned driving path P1 and the second planned driving path P2 described correspond to each other. Therefore, the first planned driving path P1 may include a first battery charging station 120, and the second planned driving path P2 may include a second battery charging station 120', wherein the first battery charging station 120 and the second battery charging station 120' may be the same battery charging station or different battery charging stations. The first planned driving path P1 may include a first power grid connection 130, and the second planned driving path P2 includes a second power grid connection 130', wherein the first power grid connection 130 and the second power grid connection 130' may be the same power grid connection or different power grid connections. Additionally, the first planned driving path P1 and the second planned driving path P2 may include the tasks of mining / construction vehicles.

[0133] Figure 4 The diagram illustrates signaling for exchanging a first planned travel path P1 by a first electric mining / construction vehicle 300 according to an embodiment of the present invention. The first electric mining / construction vehicle 300 is configured to travel according to the first planned travel path P1, but it may be determined, based on one or more of the factors described above, that the first planned travel path P1 is no longer suitable or usable for the first electric mining / construction vehicle 300. For example, the first electric mining / construction vehicle 300 may not have sufficient battery power for the first planned travel path P1.

[0134] exist Figure 4In step I, the first electric mining / construction vehicle 300 transmits a path-swapping request 520 instructing the first planned travel path P1. The first electric mining / construction vehicle 300 may transmit the path-swapping request 520 to request and obtain information about a second electric mining / construction vehicle 300' that can be used to take over the first planned travel path P1. The path-swapping request 520 may be broadcast directly or transmitted to two or more second electric mining / construction vehicles 300'. The path-swapping request 520 may, for example, be broadcast to multiple second electric mining / construction vehicles 300' that are similar in type to the first electric mining / construction vehicle 300 or capable of performing similar tasks. The path-swapping request 520 may further be broadcast or transmitted to second electric mining / construction vehicles 300' located in a specific area (e.g., in the area surrounding the first electric mining / construction vehicle 300).

[0135] exist Figure 4 In step II, the first electric mining / construction vehicle 300 receives a route exchange response 530 from two or more second electric mining / construction vehicles 300'. Each route exchange response 530 indicates a second planned travel path P2'. The two or more second electric mining / construction vehicles 300' that respond to the route exchange request 520 with the route exchange response 530 can be second electric mining / construction vehicles 300' that are available and / or suitable for the exchange of travel paths (e.g., capable of taking over the first travel path P1). Therefore, the route exchange response 530 can be regarded as confirmation or acceptance that the second electric mining / construction vehicle 300' is capable of participating in the exchange of travel paths. The route exchange response 530 further indicates the second planned travel path P2' of the responding second electric mining / construction vehicle 300', i.e., the travel path that the second electric mining / construction vehicle 300' is currently configured to travel according to.

[0136] exist Figure 4 In step III, the first electric mining / construction vehicle 300 selects a second planned driving path P2 from two or more second planned driving paths P2, that is, the first electric mining / construction vehicle 300 selects a driving path that will be interchanged with the first planned driving path P1. When selecting the second planned driving path P2, the first electric mining / construction vehicle 300 may consider one or more of the factors described previously (i.e., battery status, grid measurements, mining operator commands, etc.).

[0137] Based on the selected second planned driving path P2, the first electric mining / construction vehicle 300... Figure 4 In step IV, the first planned driving path P1 and the second planned driving path P2 are interchanged. Therefore, the first electric mining / construction vehicle 300 begins to travel according to the second planned driving path P2.

[0138] According to aspects of this disclosure, a method 200 for controlling a device 100 is provided according to any embodiment of the embodiments described herein. Figure 5 A flowchart of method 200 is shown. Method 200 includes swapping the first planned driving path P1 of the first electric mining / construction vehicle 300 with the second planned driving path P2 of the second electric mining / construction vehicle 300' based on the battery state B1 of the first electric mining / construction vehicle 300 and the battery state B2 of the second electric mining / construction vehicle 300'.

[0139] According to another aspect of this disclosure, a method 400 for a first electric mining / construction vehicle 300 is provided according to any embodiment of the embodiments described herein. The first electric mining / construction vehicle 300 is configured to travel according to a first planned travel path P1 of the first electric mining / construction vehicle 300. Figure 6 A flowchart of method 400 is shown. Method 400 includes, 402, swapping a first planned driving path P1 with a second planned driving path P2 of the second electric mining / construction vehicle 300' based on the battery state B1 of the first electric mining / construction vehicle 300 and the battery state B2 of the second electric mining / construction vehicle 300'. Method 400 further includes, 404, driving according to the second planned driving path P2.

[0140] According to embodiments of the present invention, the control device 100 and / or the first electric mining / construction vehicle 300 may include or be connected to a control unit arranged to control the control device 100 and / or the first electric mining / construction vehicle 300 to perform one or more of the steps of method 200 and method 400, respectively. Therefore, the control unit can be arranged / configured / programmed with instructions to control the control device 100 and / or the first electric mining / construction vehicle 300 to perform the steps of any of the embodiments described herein.

[0141] The first electric mining / construction vehicle 300 and / or the second electric mining / construction vehicle 300' can be any type of electric vehicle used in a mining and / or construction environment / site, such as drilling rigs, trucks, loaders, excavators, etc.

[0142] refer to Figure 7 The first electric mining / construction vehicle 300 and / or the second electric mining / construction vehicle 300' may be, for example, a drilling rig, a load-transport-dump (LHD) machine, or a mining truck, but are not limited thereto. The first electric mining / construction vehicle 300 and / or the second electric mining / construction vehicle 300' may further be vehicles of the same type or different types.

[0143] In embodiments of this disclosure, any suitable communication protocol and interface can be used when communication is performed between the control device 100 and the electric mining / construction vehicle. This communication can be performed using wired and / or wireless communication, and can be based on a standardized communication system.

[0144] Finally, it should be understood that this disclosure is not limited to the above embodiments, but also relates to and includes all embodiments within the scope of the appended independent claims.

Claims

1. A control device (100) for selecting the travel path of an electric mining / construction vehicle, said control device (100) being configured to: Based on the battery state (B1) of the first electric mining / construction vehicle (300) and / or the battery state (B2) of the second electric mining / construction vehicle (300'), the first planned driving path (P1) of the first electric mining / construction vehicle (300) is interchanged with the second planned driving path (P2) of the second electric mining / construction vehicle (300').

2. The control device (100) according to claim 1 is configured as follows: The first driving command (510) is transmitted to the first electric mining / construction vehicle (300), the first driving command (510) indicating the second planned driving path (P2); and / or The second driving command (510') is transmitted to the second electric mining / construction vehicle (300'), and the second driving command (510) indicates the first planned driving path (P1).

3. The control device (100) according to claim 1 or 2 is configured as follows: Further, based on the charging state threshold, the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

4. The control device (100) according to any one of the preceding claims, wherein, The first planned driving route (P1) includes a first battery charging station (120), and the second planned driving route (P2) includes a second battery charging station (120').

5. The control device (100) according to claim 4, wherein, The first battery charging station (120) and the second battery charging station (120') are the same battery charging station or different battery charging stations.

6. The control device (100) according to any one of the preceding claims, wherein, The first planned driving path (P1) includes a first power grid connection (130), and The second planned driving path (P2) includes a second power grid connection (130').

7. The control device (100) according to claim 6 is configured as follows: Further, based on the measured value (M1) of the first power grid connection (130) and / or the measured value (M2) of the second power grid connection (130'), the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

8. The control device (100) according to claim 7 is configured as follows: Further based on the grid voltage threshold, the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

9. The control device (100) according to any one of claims 6 to 8, wherein, The first power grid connection (130) and the second power grid connection (130') are the same power grid connection or different power grid connections.

10. The control device (100) according to any one of the preceding claims is configured to: Further, based on any one of the following: mining operator command, renewable power generation from renewable energy source, fault indication of the first electric mining / construction vehicle (300), fault indication of the second electric mining / construction vehicle (300'), power grid measurement value, and power grid service request, the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

11. The control device (100) according to any one of the preceding claims is configured as follows: Transmit a path swap request (520) indicating the first planned driving path (P1); Receive path switching responses (530) from two or more second electric mining / construction vehicles (300'), each path switching response (530) indicating a second planned travel path (P2'); and Select the second planned driving path (P2) from two or more second planned driving paths (P2').

12. The control device (100) according to any one of the preceding claims, wherein, The first planned driving route (P1) and the second planned driving route (P2) include tasks for mining / construction vehicles.

13. A first electric mining / construction vehicle (300), configured to travel according to a first planned travel path (P1) of the first electric mining / construction vehicle (300), and further configured to: Based on the battery state (B1) of the first electric mining / construction vehicle (300) and / or the battery state (B2) of the second electric mining / construction vehicle (300'), the first planned driving path (P1) is interchanged with the second planned driving path (P2) of the second electric mining / construction vehicle (300'); and Drive according to the second planned driving route (P2).

14. The first electric mining / construction vehicle (300) according to claim 13 is configured as follows: Further, based on the charging state threshold, the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

15. The first electric mining / construction vehicle (300) according to claim 13 or 14 is configured to: When a first driving command (510) indicating the second planned driving path (P2) is received from the control device (100), the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

16. The first electric mining / construction vehicle (300) according to any one of claims 13 to 15, wherein, The first planned driving route (P1) includes a first battery charging station (120), and the second planned driving route (P2) includes a second battery charging station (120').

17. The first electric mining / construction vehicle (300) according to claim 16, wherein, The first battery charging station (120) and the second battery charging station (120) are the same battery charging station or different battery charging stations.

18. The first electric mining / construction vehicle (300) according to any one of claims 13 to 17, wherein, The first planned driving path (P1) includes a first power grid connection (130), and The second planned driving path (P2) includes a second power grid connection (130').

19. The first electric mining / construction vehicle (300) according to claim 18 is configured as follows: Further, based on the measured value (M1) of the first power grid connection (130) and / or the measured value (M2) of the second power grid connection (130'), the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

20. The first electric mining / construction vehicle (300) according to claim 18 or 19 is configured as follows: Further based on the grid voltage threshold, the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

21. The first electric mining / construction vehicle (300') according to any one of claims 18 to 20, wherein, The first power grid connection (130) and the second power grid connection (130') are the same power grid connection or different power grid connections.

22. The first electric mining / construction vehicle (300) according to any one of claims 13 to 21 is configured as follows: Further, based on any of the following: mining operator commands, renewable power generation from renewable energy sources, fault indications of the first electric mining / construction vehicle (300), fault indications of the second electric mining / construction vehicle (300'), grid measurements, and grid services, the first planned driving path (P1) and the second planned driving path (P2) are interchanged.

23. The first electric mining / construction vehicle (300) according to any one of claims 13 to 22 is configured as follows: Transmit a path swap request (520) indicating the first planned driving path (P1); Receive path switching responses (530) from two or more second electric mining / construction vehicles (300'), each path switching response (530) indicating a second planned travel path (P2'); and Select the second planned driving path (P2) from two or more second planned driving paths (P2').

24. The first electric mining / construction vehicle (300) according to any one of claims 13 to 23, wherein, The first planned driving route (P1) and the second planned driving route (P2) include tasks for mining / construction vehicles.

25. A method (200) for controlling a device (100), the method (200) comprising: Based on the battery state (B1) of the first electric mining / construction vehicle (300) and / or the battery state (B2) of the second electric mining / construction vehicle (300'), the first planned driving path (P1) of the first electric mining / construction vehicle (300) is swapped with the second planned driving path (P2) of the second electric mining / construction vehicle (300') (202).

26. A method (400) for a first electric mining / construction vehicle (300), the first electric mining / construction vehicle (300) being configured to travel according to a first planned travel path (P1) of the first electric mining / construction vehicle (300), the method (400) comprising: Based on the battery state (B1) of the first electric mining / construction vehicle (300) and / or the battery state (B2) of the second electric mining / construction vehicle (300'), the first planned driving path (P1) is interchanged with the second planned driving path (P2) of the second electric mining / construction vehicle (300') (402); and Drive according to the second planned driving route (P2) (404).

27. A computer program having program code, wherein when the computer program is run on a computer, the program code is used to perform the method according to claim 25 or 26.

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