Method for charging one or more mining or engineering vehicles

Abstract

A method (400) for charging one or more mining or engineering vehicles (100a-c), wherein the mining or engineering vehicles (100a-c) are configured to carry one or more battery units (106a-c) for powering the mining or engineering vehicles (100a-c). The method (400) comprises: adjusting (403) one or more charging schedules for charging one or more of the one or more battery units (106a-c) via one or more charging stations (180a-c) based on a deviation from a scheduled route of one or more of the one or more mining or engineering vehicles (100a-c); and controlling (404) charging of one or more of the one or more battery units (106a-c) via the one or more charging stations (180a-c) based on the adjusted one or more charging schedules.

Description

Technical Field

[0001] This disclosure relates to a method for charging one or more mining or engineering vehicles, wherein the mining or engineering vehicles are configured to carry one or more battery cells for driving the mining or engineering vehicles. Furthermore, this disclosure relates to control devices and systems comprising one or more mining or engineering vehicles. Background Technology

[0002] For engineering work, breaking or fracturing rock, and excavating and drilling underground or above-ground tunnels or spaces, electric mining or engineering vehicles with one or more battery units for powering the vehicle can be used. The electric mining or engineering vehicle can be a drilling rig with one or more drilling machines for drilling into rock formations or rock. The drilling rig can be a percussion drill or impact drill or any other type of drilling rig. However, other electric mining or engineering vehicles, such as vehicles for transporting rock or other materials, can be used. Electric mining or engineering vehicles have propulsion devices such as wheels or tracks. Summary of the Invention

[0003] The inventors have identified drawbacks in conventional solutions for charging one or more electric mining or engineering vehicles. For example, some conventional solutions are not efficient enough and can be further improved.

[0004] The purpose of this disclosure is to provide solutions that mitigate or resolve the drawbacks and problems of conventional solutions.

[0005] The above and further objectives are achieved by the subject matter of the appended independent claims. Further advantageous embodiments can be found in the dependent claims.

[0006] According to a first aspect of this disclosure, the aforementioned and other objectives are achieved by a method for charging one or more mining or engineering vehicles, wherein the mining or engineering vehicles are configured to carry one or more battery cells for powering the mining or engineering vehicles, wherein the method includes: Based on deviations from the scheduled routes of one or more of the mining or engineering vehicles, adjust one or more charging schedules for charging one or more of the one or more battery cells via one or more charging stations; and Based on one or more adjusted charging schedules, control the charging of one or more of one or more battery cells via one or more charging stations.

[0007] The advantages of the method according to the first aspect lie in the improved charging of one or more electric mining or engineering vehicles. The advantages of the method according to the first aspect lie in the improved charging scheduling of one or more electric mining or engineering vehicles. The advantages of the method according to the first aspect lie in the improved charging efficiency of one or more electric mining or engineering vehicles. The advantages of the method according to the first aspect lie in the improved coordination and optimization of the charging of one or more electric mining or engineering vehicles. Through the implementation of the method according to the first aspect, electric mining or engineering vehicles can perform and carry out their routes and / or tasks more efficiently compared to conventional solutions, with fewer or shorter charging interruptions over time. The advantages of the method according to the first aspect lie in the improved management of one or more electric mining or engineering vehicles. The advantages of the method according to the first aspect lie in the substantially seamless operation performed by one or more electric mining or engineering vehicles with minimal interruptions. The advantages of the method according to the first aspect lie in improved mining and / or engineering work.

[0008] The inventors have discovered that adjusting the charging schedule for battery cell charging based on deviations from the scheduled routes of engineering vehicles improves the coordination and optimization of charging for one or more electric mining or engineering vehicles, thereby increasing the charging efficiency of one or more electric mining or engineering vehicles. By implementing the method according to the first aspect, the correct battery cell is charged at the correct (or most suitable) charging station at the correct time. The method according to the first aspect is advantageous for fully automated electric mining or engineering vehicles. The method according to the first aspect is advantageous for electric mining or engineering vehicles that are monitored and fully controlled (manually controlled) by an operator. The method according to the first aspect is advantageous for hybrid operations between autonomous electric mining or engineering vehicles and operator-controlled mining or engineering vehicles.

[0009] In some implementations, adjusting one or more charging schedules may include one or more of the following steps: setting, changing, updating, and modifying one or more charging schedules. It should be understood that a route may involve one or more tasks and / or driving routes. Examples of charging schedules are disclosed in the detailed description below.

[0010] According to an advantageous embodiment of the method according to the first aspect, the method further includes: adjusting one or more charging schedules associated with one or more charging stations based on deviations from the scheduled routes of one or more of the mining or engineering vehicles. This embodiment offers the advantage of further improved charging for the one or more electric mining or engineering vehicles. It also ensures full utilization of grid capacity.

[0011] According to a further advantageous embodiment of the method according to the first aspect, the method further includes: adjusting one or more charging schedules associated with one or more battery cells based on deviations from the scheduled routes of one or more of the mining or engineering vehicles. This embodiment offers the advantage of further improved charging for the one or more electric mining or engineering vehicles. It also ensures that sufficient charge remains in the battery cells for return to the charging station.

[0012] According to another advantageous embodiment of the method according to the first aspect, the method further includes: adjusting a first charging schedule associated with a first charging station among one or more charging stations in one or more charging schedules based on deviations from the scheduled routes of one or more of the mining or engineering vehicles; and adjusting a second charging schedule associated with a second charging station among one or more charging stations in one or more charging schedules. This embodiment offers the advantage of further improved charging for one or more electric mining or engineering vehicles. It also ensures a proper balance of charging load among charging stations.

[0013] According to another advantageous embodiment of the method according to the first aspect, the first charging station has a first charging rate, while the second charging station has a second charging rate different from the first charging rate. This embodiment offers the advantage of further improved charging for one or more electric mining or engineering vehicles. It also ensures sufficient charging levels are achieved without exceeding grid capacity limitations.

[0014] According to another advantageous embodiment of the method according to the first aspect, the method further includes: adjusting a third charging schedule associated with a first battery cell among one or more battery cells in one or more charging schedules based on deviations from the scheduled routes of one or more of the mining or engineering vehicles; and adjusting a fourth charging schedule associated with a second battery cell among the one or more battery cells in one or more charging schedules. This embodiment offers the advantage of further improved charging for the one or more electric mining or engineering vehicles.

[0015] According to an advantageous embodiment of the method according to the first aspect, the third and fourth charging schedules are associated with the same charging station among one or more charging stations. The advantage of this embodiment lies in the further improved charging of one or more electric mining or engineering vehicles.

[0016] According to a further advantageous embodiment of the method according to the first aspect, the method further includes: adjusting one or more of one or more charging schedules based on one or more determined or varying physical quantities of one or more of one or more battery cells. This embodiment offers the advantage of further improved charging for one or more electric mining or engineering vehicles.

[0017] According to another advantageous embodiment of the method of the first aspect, the method further includes: determining one or more varying physical quantities. This embodiment offers the advantage of further improved charging of one or more electric mining or engineering vehicles.

[0018] According to another advantageous embodiment of the method according to the first aspect, the method further includes: adjusting one or more of one or more charging schedules based on one or more detected vehicle faults in one or more of one or more mining or engineering vehicles. This embodiment offers the advantage of further improved charging for the one or more electric mining or engineering vehicles. The detected vehicle faults can be faults that occur and / or are detected at a charging station, during a route, or while not charging at a charging station.

[0019] According to another advantageous embodiment of the method according to the first aspect, the method further includes: adjusting one or more of one or more charging schedules based on the detected faults of one or more of one or more charging stations. For example, detecting a charging station fault may initiate adjustments or changes to the charging schedules and / or travel routes of one or more mining or engineering vehicles, such as in mines and sites.

[0020] According to another advantageous embodiment of the method according to the first aspect, the method further includes: detecting one or more vehicle malfunctions in one or more of one or more mining or engineering vehicles. This embodiment offers the advantage of further improved charging of the one or more electric mining or engineering vehicles.

[0021] According to an advantageous embodiment of the method according to the first aspect, the local power grid includes one or more charging stations. The local power grid can be connected to the public power grid. The method further includes: Adjust one or more of the charging schedules based on one or more parameters determined from one or more of the local power grid and the public power grid.

[0022] The advantage of this implementation lies in the further improved charging of one or more electric mining or engineering vehicles. In some implementations, the method may include adjusting one or more of one or more charging schedules based on determined parameters of one or more of the substations and power lines. In some implementations, the substations and / or power lines may be part of a local power grid or a public power grid.

[0023] According to another advantageous embodiment of the method according to the first aspect, the local power grid includes one or more charging stations. The local power grid can be connected to the public power grid. The method further includes: Adjust one or more of the charging schedules based on one or more forecast parameters from the local power grid and the public power grid.

[0024] According to a further advantageous embodiment of the method according to the first aspect, the method further includes: determining one or more parameters of one or more of the local power grid and the public power grid. The advantage of this embodiment lies in the further improved charging of one or more electric mining or engineering vehicles depending on the power grid conditions.

[0025] According to another advantageous embodiment of the method according to the first aspect, the method further includes: transferring one or more of the adjusted charging schedules from a first mining or engineering vehicle to a second mining or engineering vehicle among one or more mining or engineering vehicles. This embodiment offers the advantage of further improved charging for the one or more electric mining or engineering vehicles. It also offers the advantage of enabling inter-vehicle communication for scheduling charging.

[0026] According to yet another advantageous embodiment of the method according to the first aspect, the deviation from the scheduled route includes one or more of the following: The rescheduling of one or more scheduled tasks in one or more mining or engineering vehicles; The postponement of one or more scheduled tasks in one or more mining or engineering vehicles; The advance scheduling of one or more tasks in one or more mining or engineering vehicles; One or more scheduled tasks that were scheduled before the charging of one or more of the battery cells will be moved to a rescheduled time or a new time after the charging of one or more of the battery cells. One or more scheduled tasks that were scheduled after the charging of one or more of the battery cells will be moved to a rescheduled time or a new time before the charging of one or more of the battery cells. Cancellation of one or more scheduled tasks in one or more mining or engineering vehicles; Adding one or more new tasks to one or more of one or more mining or engineering vehicles; Replace the already scheduled or original travel routes with different rescheduled routes; and Charging of one or more battery cells of one or more of the first mining or engineering vehicle from one or more of the battery cells of the second mining or engineering vehicle, rather than from one or more charging stations.

[0027] The advantage of this implementation lies in the further improved charging of one or more electric mining or engineering vehicles. The advantage of this implementation is the ability to enable inter-vehicle charging.

[0028] According to another advantageous embodiment of the method according to the first aspect, the local power grid includes one or more charging stations. The local power grid can be connected to the public power grid. The method further includes: This implementation requests that one or more of one or more of the mining or engineering vehicles discharge power from one or more of ...

[0029] According to an advantageous embodiment of the method according to the first aspect, the method further includes: scheduling routes for one or more of one or more mining or engineering vehicles. The advantage of this embodiment lies in the further improved charging of the one or more electric mining or engineering vehicles.

[0030] According to a further advantageous embodiment of the method according to the first aspect, the method further includes: establishing one or more charging schedules for charging one or more of the one or more battery cells via one or more charging stations. This embodiment offers the advantage of further improved charging for one or more electric mining or engineering vehicles.

[0031] According to another advantageous embodiment of the method according to the first aspect, the method further includes: sending an alarm to one or more operators or control systems if adjustment of one or more of the one or more charging schedules fails. This embodiment offers the advantage of further improved charging for one or more electric mining or engineering vehicles.

[0032] According to a second aspect of this disclosure, the aforementioned and other objectives are achieved by a computer program or computer-readable medium comprising instructions that, when executed by a computer, cause the computer to perform any of the methods according to the embodiments disclosed above or below. The advantages of the computer program or computer-readable medium according to the second aspect correspond to the advantages of the methods according to the first aspect and the embodiments mentioned above or below.

[0033] According to aspects of this disclosure, the aforementioned computer programs or computer-readable media are configured to implement the methods and implementations thereof described herein.

[0034] According to a third aspect of this disclosure, the aforementioned and other objectives are achieved by a control device for charging one or more mining or engineering vehicles, wherein the mining or engineering vehicles are configured to carry one or more battery cells for driving the mining or engineering vehicles, and wherein the control device is configured to: Based on deviations from the scheduled routes of one or more of the mining or engineering vehicles, adjust one or more charging schedules for charging one or more of the one or more battery cells via one or more charging stations; and Based on one or more adjusted charging schedules, control the charging of one or more of one or more battery cells via one or more charging stations.

[0035] It is recognized that all embodiments described with respect to the method aspects of this disclosure are also applicable to the control device aspects of this disclosure. Therefore, all embodiments described with respect to the method aspects of this disclosure can be executed by a control device, which may include one or more controllers, control units, or one or more control devices. Embodiments of the control device have advantages corresponding to those mentioned above regarding the method and its embodiments.

[0036] According to the fourth aspect of this disclosure, the aforementioned and other objectives are achieved by a system comprising one or more mining or engineering vehicles. The mining or engineering vehicle is configured to carry one or more battery cells for powering the vehicle. The system includes a control device according to any one of the embodiments disclosed above or below.

[0037] The advantages of the system and its implementation according to the fourth aspect correspond to the advantages of the method and its implementations mentioned above or below according to the first aspect.

[0038] The features and implementation methods mentioned above for the methods, computer programs, computer-readable media, control devices, and systems can be combined in various possible ways to provide further advantageous implementation methods.

[0039] Further advantageous embodiments of the method, computer program, computer-readable medium, control device, and system, as well as further advantages of the embodiments, will become apparent from the detailed description of the embodiments. Attached Figure Description

[0040] For illustrative purposes, embodiments of the present disclosure will now be explained in more detail by way of implementation and with reference to the included drawings, wherein similar reference numerals are used for similar components, wherein:

[0041] Figure 1 This is a schematic side view of a first embodiment of a mining or engineering vehicle;

[0042] Figure 2 This is a schematic side view of a second embodiment of a mining or engineering vehicle;

[0043] Figure 3 This is a schematic side view of a third embodiment of a mining or engineering vehicle;

[0044] Figure 4 This is a schematic diagram illustrating an implementation of the system according to the fourth aspect of this disclosure;

[0045] Figure 5 This is a schematic flowchart illustrating various aspects of the implementation of the method according to the first aspect of this disclosure;

[0046] Figure 6 This is another illustrative flowchart illustrating a further aspect of an implementation of the method according to the first aspect of this disclosure;

[0047] Figure 7 This is yet another illustrative flowchart illustrating a further aspect of an implementation of the method according to the first aspect of this disclosure;

[0048] Figures 8 to 19 These are schematic diagrams illustrating various aspects of an implementation of the method according to the first aspect of this disclosure; and

[0049] Figure 20 This is a schematic diagram illustrating an embodiment of the control device according to a third aspect of the present disclosure, wherein any of the methods described herein can be implemented. Detailed Implementation

[0050] refer to Figures 1 to 3 The diagram illustrates three different embodiments of mining or engineering vehicles 100a, 100b, and 100c. Generally, electric mining or engineering vehicles 100a to 100c have propulsion devices 170a to 170c or apparatuses such as wheels 111, 113, 172b or tracks 172c. Embodiments of method 400, control device 130, and system 100d can be used in conjunction with mining or engineering vehicles 100a to 100c of the types described above, or with any other type of mining or engineering vehicle. However, for simplicity, reference is made below. Figures 1 to 3 The disclosure of embodiments of the mining or engineering vehicles 100a to 100c, including the illustrative method 400, control device 130, and system 100d.

[0051] refer to Figure 1 The mining or engineering vehicle 100a is schematically illustrated as a mining vehicle 100a, more specifically a drilling rig, which may also be called a rock drilling rig. The mining vehicle 100a or drilling rig can be used for tunnel construction, open-pit mining, underground mining, and rock reinforcement. The mining vehicle 100a or drilling rig can be used, for example, to drill boreholes, blasting holes, grouting holes, holes for installing anchor bolts, water wells, and other wells in rock strata 700a during tunnel construction or mining, as well as for piling and foundation drilling. The mining vehicle 100a can rest and travel on a supporting surface 109, such as the ground.

[0052] refer to Figure 1 Generally speaking, a mining vehicle 100a may include a carrier 102 and one or more booms 101 attached to the carrier 102, wherein the booms 101 may carry an associated drilling machine 104b1 and / or other tools. Figure 1The mining vehicle 100a illustrated herein includes a boom 101. A first end 101a of the boom 101 may be attached via one or more articulated connections (not shown) to allow the boom 101 to pivot relative to a carrier 102, such as a vehicle. The mining vehicle 100a may include a feed beam 103 that carries and guides a feeder 104a, which is movable relative to the feed beam 103. The mining vehicle 100a may include a drill 104b1 attached to the feeder 104a and thus movable relative to the feed beam 103. The feed beam 103 may be attached to a second end 101b of the boom 101 via one or more articulated connections (not shown), such as one or more rotators. As drilling of a borehole 160a proceeds, the drill 104b1 may move along the feed beam 103. The drilling machine 104b may include and / or hold a drill string 104c and / or a drill bit 104d for drilling the borehole 160a. It should be understood that... Figure 1 The implementation described is merely exemplary, and the mining vehicle 100a may carry any type of tool, such as an anchor bolt installation tool for installing anchor bolts. Other and / or additional tools may also be used. The mining vehicle 100a includes a device 170a or apparatus for propulsion of the mining vehicle 100a. Figure 1 In this context, the device or apparatus includes wheels 111 and 113.

[0053] refer to Figure 1 The mining vehicle 100a is configured to carry one or more battery units 106a for driving the mining vehicle 100a. In some embodiments, the drill rig 104ba can be hydraulically driven and powered by one or more hydraulic pumps 105, which in turn can be driven by one or more electric motors powered by one or more battery units 106a. In other embodiments, the drill rig 104ba can alternatively be pneumatically, electrically, or fluid-driven. The drilling process can be controlled by an operator from the cab 107 of the mining vehicle 100a. Alternatively, the mining vehicle 100a can be remotely controlled or configured for autonomous operation.

[0054] refer to Figure 1 The mining vehicle 100a may include or be equipped with one or more sensors 202a, or one or more detection systems 200 may be applied to or suitable for the mining vehicle 100a. The detection system 200 may include one or more sensors 202a. For example... Figure 1 As explained, sensor 202a can be attached to carrier 102 or boom 101. Figure 1In the diagram, alternative locations of sensor 202a are illustrated by dashed lines. One or more sensors 202a or detection systems 200 can be used to acquire data sensed by the first drilling machine 104b1 during drilling. The mining or engineering vehicle 100a may include other sensors or detectors, such as one or more position sensors, for example, a GPS receiver.

[0055] refer to Figure 1 The feed beam 103 may include a first end 103a and a second end 103b. The feed beam 103 may be configured to position the first end 103a between the second end 103b and the rock stratum 700b to be penetrated or drilled. In some embodiments, during drilling, the first end 103a of the feed beam 103 may abut against or support the rock stratum 700a. For example, the drilling rig 100a may be used for tunnel construction, open-pit mining, underground mining, rock reinforcement, and riser drilling.

[0056] refer to Figure 2 The mining or engineering vehicle 100b is schematically illustrated as a dump truck 100b or a dump vehicle. The dump truck 100b can, for example, transport crushed rock or rock material or any other material used for mining or engineering. The mining or engineering vehicle 100b has a propulsion device 170b or apparatus. Figure 2 In one embodiment, the propulsion device 170b includes wheels 172b. The mining or engineering vehicle 100b is configured to carry one or more battery units 106b for driving the mining or engineering vehicle 100b.

[0057] refer to Figure 3 The mining or engineering vehicle 100c is schematically illustrated as a drilling rig. The mining or engineering vehicle 100c has equipment 170c or devices for propulsion. Figure 3 In one embodiment, the propulsion device 170c includes one or more tracks 172c. The mining or engineering vehicle 100c may include a feed beam 174c and a drilling rig 104b3 connected to the feed beam 174c. The drilling rig 104b3 may include and / or hold a drill string 176c and / or a drill bit 178c for drilling a borehole. The mining or engineering vehicle 100c is configured to carry one or more battery units 106c for driving the mining or engineering vehicle 100c. For example, the drilling rig 100c may be used for open-pit mining, underground mining, and riser drilling.

[0058] refer to Figures 1 to 3Battery cells 106a, 106b, and 106c may include one or more batteries. Generally, battery cells 106a to 106c are configured to at least propel mining or engineering vehicles 100a to 100c, and may also be configured to drive equipment for performing tasks when the mining or engineering vehicles 100a to 100c are stationary / parked and / or moving. In some embodiments, battery cells 106a, 106b, and 106c may be defined as rechargeable battery cells 106a to 106c. In some embodiments, battery cells 106a to 106c are detachable from the mining or engineering vehicles 100a to 100c and are detachable from the mining or engineering vehicles 100a to 100c during charging. In some embodiments, battery cells 106a to 106c can be charged while being carried and / or mechanically connected (and possibly also electrically connected) to the mining or engineering vehicles 100a to 100c. In some embodiments, battery cells 106a to 106c may be referred to as a battery pack. A battery pack may include or be assembled from multiple battery modules; however, this is not always the case. Battery cells 106a to 106c may include one or more individual battery cells that can be arranged within a module. Each individual battery cell can be considered as a container for chemically storing energy and may be a rechargeable battery cell. Individual battery cells may be, for example, lead-acid battery cells, lithium-ion battery cells, or nickel-metal hydride battery cells, but are not limited thereto. Individual battery cells may be connected in series and parallel to battery cells 106a to 106c or the module to obtain the desired voltage and energy capacity. In some embodiments, the battery cell may include one or more fuel cells, or any other energy storage.

[0059] refer to Figure 4 This illustration schematically depicts an implementation of system 100d according to a fourth aspect of this disclosure. System 100d includes one or more (e.g., two or more) mining or engineering vehicles 100a to 100c, wherein the mining or engineering vehicles 100a to 100c are configured to carry one or more battery units 106a to 106c for driving the mining or engineering vehicles 100a to 100c and at least for propulsion of the mining or engineering vehicles 100a to 100c. System 100d includes control devices 130, 130a to 130c according to any of the embodiments disclosed in further detail below (e.g., see...). Figures 1 to 3One or more battery cells 106a to 106c of one of the mining or engineering vehicles 100a to 100c, configured to carry one or more battery cells 106a to 106c for driving, for example, at least for propulsion, can be charged (or rechargeable) via and / or at one or more charging stations 180a to 180c. In some embodiments, the mining or engineering vehicles 100a to 100c may be described as electric mining or engineering vehicles 100a to 100c. For example, the mining or engineering vehicles 100a to 100c may be electric vehicles (EVs) (e.g., hybrid vehicles or hybrid electric vehicles (HEVs)) or battery electric vehicles (BEVs). In some embodiments, the charging stations 180a to 180c may be referred to as chargers. The charging stations 180a to 180c may include one or more ports for charging. Battery cells 106a to 106c can be connected to the charging station 180a to 180c or the port of the charging station 180a to 180c via conventional means such as contacts.

[0060] refer to Figure 5 , Figure 8 and Figure 15 An embodiment of the method 400 for charging one or more mining or engineering vehicles 100a to 100c according to the first aspect includes the following steps, wherein the mining or engineering vehicles 100a to 100c are configured to carry one or more battery cells 106a to 106c for driving the mining or engineering vehicles 100a to 100c: Based on deviation 302 from the scheduled route 304 (e.g., planned travel path) of one or more mining or engineering vehicles 100a to 100c, adjustment 403 is made for one or more charging schedules to charge one or more battery cells 106a to 106c via and / or at one or more charging stations 180a, 180b; and Based on one or more adjusted charging schedules, control 404 charges one or more of one or more battery cells 106a to 106c via one or more charging stations 180a, 180b.

[0061] exist Figure 8 The text describes a mining or engineering vehicle 100a and a charging station 180a, while... Figure 15The text describes three mining or engineering vehicles 100a, 100b, and 100c, and two charging stations 180a and 180b. However, it should be understood that embodiments of method 400 (and embodiments of system 100d and control devices 130, 130a to 130c disclosed below) can be applied to two, four, or more mining or engineering vehicles 100a to 100c and three or more charging stations 180a to 180c.

[0062] In some implementations, adjusting one or more charging schedules (403, 403a to 403g) may include one or more of the following steps: setting, changing, updating, and modifying one or more charging schedules. It should be understood that a route may involve or include one or more tasks and / or a driving route such as a travel path. In some implementations, a scheduled route may be referred to as a planned route or a predetermined route.

[0063] refer to Figure 5 and Figure 8 In some implementations, method 400 may further include: adjusting one or more charging schedules associated with one or more charging stations 180a based on deviations 302 from the scheduled routes 304 of one or more of the mining or engineering vehicles 100a. In some implementations, method 400 may further include: adjusting one or more charging schedules associated with one or more battery cells 106a to 106b based on deviations 302 from the scheduled routes 304 of one or more of the mining or engineering vehicles 100a.

[0064] Charging scheduling can specifically specify one or more of the following groups: Which of battery cells 106a to 106c needs to be charged? The order in which one or more battery cells 106a to 106c are charged; Which of the charging stations 180a to 180c is used for charging? Which ports on the charging station (180a to 180c) are used for charging? Charging rate.

[0065] refer to Figure 6 , Figure 9 and Figure 14 Some implementations of method 400 may include the following steps: Based on the deviation 302 of the scheduled route 304 of one or more of the mining or engineering vehicles 100a, adjust 403a the first charging schedule associated with the first charging station 180a among one or more charging stations 180a to 180c in one or more charging schedules, and adjust 403b the second charging schedule associated with the second charging station 180b among one or more charging stations 180a to 180c in one or more charging schedules.

[0066] In some implementations, the first charging station 180a may have a first charging rate, while the second charging station 180b may have a second charging rate different from the first charging rate. For example, the second charging rate of the second charging station 180b may exceed the first charging rate of the first charging station 180a; that is, the second charging station 180b may be a fast charger, or faster than the first charging station 180a, and the first charging station 180a may be a slow charger, or slower than the second charging station 180a, and vice versa.

[0067] refer to Figure 6 and Figure 10 Some implementations of method 400 may include the following steps: Based on the deviation 302 of the scheduled route 304 of one or more of the mining or engineering vehicles 100a, adjust the third charging schedule of one or more charging schedules associated with the first battery cell 106b of one or more battery cells 106a to 106c, and adjust the fourth charging schedule of one or more charging schedules associated with the second battery cell 106c of one or more battery cells 106a to 106c.

[0068] In some implementations, the third charging schedule and the fourth charging schedule may be associated with the same charging station 180a among one or more charging stations 180a to 180c.

[0069] refer to Figure 7 and Figure 11 Some implementations of method 400 may include one or more of the following steps: Based on a determined change in a physical quantity (or parameter or variable) of one or more of the battery cells 106a to 106c, adjust one or more of the charging schedules in 403e; and (For example, by measurement) determine one or more changing physical quantities.

[0070] For some implementations, the varying physical quantities may include the state of charge (SoC), state of energy (SoE), state of health (SoH), voltage, current, or temperature of the battery cells 106a to 106c.

[0071] refer to Figure 7 and Figure 12 Some implementations of method 400 may include one or more of the following steps: Based on the detected faults of one or more of the mining or engineering vehicles 100a to 100c, adjust one or more of the charging schedules in 403f; and Detect one or more vehicle malfunctions of one or more mining or engineering vehicles 100a to 100c.

[0072] In some implementations, a vehicle malfunction of mining or engineering vehicles 100a to 100c may be a malfunction of battery cells 106a to 106c carried by the mining or engineering vehicles 100a to 100c. In some implementations, a detected vehicle malfunction may be a malfunction that occurs and / or is detected at charging stations 180a to 180c, during a route, or while not charging at charging stations 180a to 180c.

[0073] refer to Figure 4 , Figure 8 , Figure 9 , Figure 13 and Figure 18 In some implementations, the local power grid 182 may include one or more charging stations 180a to 180c. The local power grid 182 may be able to connect to or be connected to a public power grid 184, more specifically, it may be electrically connected to / connected to the public power grid 184. In some implementations, the charging stations 180a to 180c may be able to connect to or be connected to the public power grid 184 via power electronic devices 186 or via power electronic device units 186 or modules, more specifically, they may be electrically connected to / connected to the public power grid 184.

[0074] refer to Figure 7 and Figure 13 Some implementations of method 400 may include one or more of the following steps: Based on one or more parameters determined from one or more of the local power grid 182 and the public power grid 184, adjust one or more of the charging schedules in 403g; and (Such as by measurement or calculation) determine one or more parameters of one or more of the local power grid 182 and the public power grid 184.

[0075] In some implementations, determined parameters of one or more of the local power grid 182 and the public power grid 184 may include or relate to voltage, current, or temperature, such as the voltage, current, or temperature of power lines or cables in the local power grid 182 or the public power grid 184. In some implementations, method 400 may include adjusting one or more of one or more charging schedules based on determined parameters of one or more of the substations and power lines. The substations and / or power lines may be part of the local power grid 182 or the public power grid 184.

[0076] refer to Figure 7 and Figure 16 Some implementations of method 400 may include the following steps: One or more of the adjusted charging schedules will transfer 408 from the first mining or engineering vehicle 100a among one or more mining or engineering vehicles 100a to 100c to the second mining or engineering vehicles 100b, 100c among one or more mining or engineering vehicles 100a to 100c.

[0077] In some implementations, the scheduled route can be a scheduled travel route or a scheduled travel path. As described above, in some implementations, the route may include one or more tasks. In some implementations, the deviation 302 from the scheduled route 304 may include one or more of the following: The rescheduling of one or more tasks already scheduled for one or more mining or engineering vehicles 100a to 100c; The postponement of one or more scheduled tasks of one or more mining or engineering vehicles 100a to 100c; One or more mining or engineering vehicles 100a to 100c have been scheduled for one or more tasks ahead of schedule. One or more scheduled tasks that were scheduled before the charging of one or more of the battery cells 106a to 106c will be moved to a rescheduled (or new) time after the charging of one or more of the battery cells 106a to 106c. One or more scheduled tasks that were scheduled after the charging of one or more of the battery cells 106a to 106c will be moved to a rescheduled (or new) time before the charging of one or more of the battery cells 106a to 106c. Cancellation of one or more scheduled tasks for one or more mining or engineering vehicles 100a to 100c; The addition of one or more new tasks to one or more mining or engineering vehicles 100a to 100c; and Replace the already scheduled (or original) route with a different (or new) route that is rescheduled.

[0078] In some implementations, deviation 302 from the scheduled route 304 may include or involve deviation at the beginning of the scheduled route 304, intermediate deviation from the scheduled route 304, and / or deviation at the end of the scheduled route 304.

[0079] refer to Figure 19 In some implementations, the deviation 302 from the scheduled route 304 may include: Charging of one or more of the battery cells 106a to 106c of the first mining or engineering vehicle 100a among one or more mining or engineering vehicles 100a to 100c from one or more battery cells 106a to 106c of the second mining or engineering vehicle 100b, rather than from one or more charging stations 180a to 180c.

[0080] refer to Figure 7 and Figure 18 Some implementations of method 400 may include the following steps: Request 410 one or more of the mining or engineering vehicles 100a to 100c, 100b, 100c or more, to release power from one or more of the battery cells 106a to 106c, 106b, 106c or more at one or more charging stations 108a to 108b, 180a, 180b or more, in order to support one or more of the local power grid 182 and the public power grid 184 by injecting power (e.g., active power) into one or more of the local power grid (182) and the public power grid (184), so as to allow another vehicle 100a of one or more mining or engineering vehicles 100a to 100c to charge another battery cell 106a of one or more battery cells 106a to 106c.

[0081] refer to Figure 7 and Figure 18 In some implementations, the mining or engineering vehicles 100b, 100c that are requested to discharge may be located at charging stations 180a, 180b, or on site when not charging at charging stations 180a, 180b, or may be developing (or carrying out or executing) or traveling a route.

[0082] refer to Figure 7Some implementations of method 400 may include one or more of the following steps: Dispatch 401 (or plan or pre-plan) one or more mining or engineering vehicles 100a to 100c on route 304; For example, based on the scheduled route 304 from step 401, 402 is established for one or more charging schedules for charging one or more of one or more battery cells 106a to 106c via one or more charging stations 180a to 180c; and If one or more of the adjustments in one or more of the charging schedules fail, a 409 alarm or warning is sent to one or more of the operators or control systems.

[0083] The features and implementation methods described above in method 400 can be combined in various possible ways.

[0084] Unless disclosed in other ways, it should be noted that... Figures 5 to 7 The methods and steps explained and described in this article do not necessarily have to be followed. Figures 5 to 7 The steps are performed in the order described herein. The steps can be performed in virtually any suitable order. Furthermore, one or more steps may be added without departing from the scope of the appended claims. One or more steps may be excluded without departing from the scope of the appended claims.

[0085] refer to Figure 1 , Figure 8 and Figure 20 This illustration schematically depicts an embodiment of a control device 130, 130a to 130c for charging one or more mining or engineering vehicles 100a to 100c according to a third aspect of this disclosure, wherein the mining or engineering vehicles 100a to 100c are configured to carry one or more battery cells 106a to 106c for driving the mining or engineering vehicles 100a to 100c. The embodiment of the control device 130, 130a to 130c is configured as follows: Based on the deviation 302 from the scheduled route 304 of one or more of the mining or engineering vehicles 100a to 100c, adjustment 403 is made to one or more charging schedules for charging one or more of the battery cells 106a to 106c via one or more charging stations 180a to 180c; and Based on one or more adjusted charging schedules, control 404 charges one or more of one or more battery cells 106a to 106c via one or more charging stations 180a to 180c.

[0086] In some implementations, the control device 130 may be fixed, for example, located at charging stations 180a to 180c. The control device 130 may be located in the cloud, within a control system, or elsewhere. The control devices 130a to 130c may be located within mining or engineering vehicles 100a to 100c. The control devices 130, 130a to 130c may be located at two or more of the aforementioned locations. Reference Figure 17 In some implementations, each mining or engineering vehicle 100a to 100c may include on-board control units 130a to 130c, and may have a fixed central or main control unit 130 configured to communicate with the on-board control units 130a to 130c.

[0087] refer to Figure 1 and Figure 8 Some embodiments of the control devices 130, 130a may include adjustments to one or more charging schedules from 403, 403a to 403g to perform... Figures 5 to 7 The adjustment unit 131 in steps 403 and 403a to 403g. Some embodiments of the control devices 130, 130a may include control of charging of one or more of the battery cells 106a to 106c by 404 in order to perform Figures 5 to 7 The control unit 134 in step 404. Some embodiments of the control devices 130, 130a may include establishing one or more charging schedules in step 402 to perform... Figure 7 The setting unit 133 in step 401. Some embodiments of the control devices 130, 130a may include a method for scheduling route 304 of 401 to perform... Figure 7 The scheduling unit 132 in step 401.

[0088] refer to Figure 8 Some embodiments of control devices 130, 130a to 130c may include physical quantities for determining one or more variations of one or more of one or more battery cells 106a to 106c and / or one or more parameters of one or more of the local power grid 182 and the public power grid 184 in order to perform Figure 7 The determining unit 136 in steps 405 and 407. Some embodiments of control devices 130, 130a to 130c may include detection of one or more vehicle malfunctions in one or more mining or engineering vehicles in order to perform... Figure 7 The detection unit 138 in step 406. Some embodiments of the control devices 130, 130a to 130c may include those for performing... Figure 7The communication unit 140 in steps 408 and 409. Some embodiments of the control devices 130, 130a to 130c may include a means for performing... Figure 7 The request unit 142 in step 410.

[0089] refer to Figure 1 , Figure 8 and Figure 5 In some implementations, control devices 130, 130a to 130c may be configured to communicate directly or indirectly (e.g., wirelessly or via signal lines (or cables or wires)) with one or more of system 100d, mining or engineering vehicles 100a to 100c, charging stations 180a to 180c, and detection system 200. Therefore, in some implementations, one or more signal connections may exist between control devices 130, 130a to 130c and one or more of system 100d, mining or engineering vehicles 100a to 100c, charging stations 180a to 180c, and detection system 200.

[0090] Figure 20 The schematic diagram illustrates an embodiment of the control device 130 according to a third aspect of this disclosure, which may include a controller 600. The controller 600 may correspond to or include one or more of the aforementioned units 131 to 142 of the control device 130. The controller 600 may include a computing unit 601, which may be composed of substantially any suitable type of processor or microcomputer, such as circuitry for digital signal processing (digital signal processor, DSP) or circuitry with a predetermined specific function (application-specific integrated circuit, ASIC). The computing unit 601 is connected to a memory unit 602 disposed in the controller 600. The memory unit 602 provides the computing unit 601 with, for example, stored program code and / or stored data required by the computing unit 601 to perform calculations. The computing unit 601 is also arranged to store portions or final results of calculations in the memory unit 602.

[0091] Additionally, refer to Figure 20The controller 600 may be equipped with devices 611, 612, 613, and 614 for receiving and transmitting input and output signals. These input and output signals may contain waveforms, pulses, or other attributes. These waveforms, pulses, or other attributes can be detected as information and converted into signals that can be processed by the computing unit 601 via the devices 611 and 613 for receiving input signals. These signals are then available for use by the computing unit 601. The devices 612 and 614 for transmitting output signals are arranged to convert the signals received from the computing unit 601 to create output signals, for example, by modulating the signals. These output signals can be transmitted, for example, to mining or engineering vehicles 100a to 100c, system 100d, charging stations 180a to 180c, and data storage devices 150 for storing data (see...). Figure 1 ) and / or components and / or systems of detection system 200, or components and systems associated therewith. Each connection of the device for receiving and transmitting input signals and output signals may consist of one or more of the following groups: cable; data bus; and wireless connection. Reference Figure 1 The data stored in the data storage device 150 (which may include data about drilling and / or routes) can be used for machine learning and / or AI applications.

[0092] Here and in this document, units are generally described as steps provided for performing method 400 according to embodiments of this disclosure. This also includes units designed and / or configured to perform these method steps.

[0093] refer to Figure 1 Units 131 to 142 of control device 130 are in Figure 1 The text describes these as separate units. However, these separate units can be logically separated but physically implemented in the same unit, or they can be logically and physically arranged together. Units 131 to 142 can, for example, correspond to instruction sets, which can be in the form of programming code. When the unit is active and / or used to execute its method steps, the instruction sets are input to the processor / computing unit 601 (see...). Figure 20 It is used by the processor / computing unit 601.

[0094] refer to Figure 1 and Figure 20 According to embodiments of this disclosure, a control device 130, which may include one or more controllers 600 (e.g., one or more devices or control devices), may be arranged to perform all the method steps mentioned above in the claims and in connection with the embodiments described herein. The control device 130 is associated with the aforementioned advantages of each corresponding embodiment of method 400.

[0095] refer to Figure 20 According to a second aspect of this disclosure, a computer program 603 or computer-readable medium including instructions is provided, which, when executed by a computer, cause the computer to perform method 400 according to any of the above embodiments.

[0096] Those skilled in the art will understand that the implementation of the method 400 according to the first aspect described herein can be applied in computer program 603 (see...). Figure 8 Implemented in a computer, the program instructs the computer to perform method 400 when executed in a computer. The computer program typically consists of a computer program product 603 stored on a non-transitory / non-volatile digital storage medium, wherein the computer program is incorporated into a computer-readable medium of the computer program product. The computer-readable medium includes suitable memory, such as, for example: read-only memory (ROM), programmable read-only memory (PROM), erasable PROM (EPROM), flash memory, electrically erasable PROM (EEPROM), hard disk unit, etc.

[0097] Finally, it should be understood that the present invention is not limited to the embodiments described above, but also relates to all embodiments that are incorporated within the scope of the appended independent claims.

Claims

1. A method (400) for charging one or more mining or engineering vehicles (100a to 100c), wherein, The mining or engineering vehicle (100a to 100c) is configured to carry one or more battery cells (106a to 106c) for driving the mining or engineering vehicle (100a to 100c), wherein the method (400) includes: Based on the deviation (302) from the scheduled routes (304) of one or more of the mining or engineering vehicles (100a to 100c), one or more charging schedules for charging one or more of the battery cells (106a to 106c) via one or more charging stations (180a to 180c) are adjusted (403); and Based on the adjusted charging schedule, control (404) performs the charging of one or more of the one or more battery cells (106a to 106c) via the one or more charging stations (180a to 180c).

2. The method (400) according to claim 1, wherein, The method (400) further includes: Based on the deviation (302) from the scheduled routes (304) of one or more of the mining or engineering vehicles (100a to 100c), adjust (403) one or more charging schedules associated with the one or more charging stations (180a to 180c).

3. The method (400) according to claim 1 or 2, wherein, The method (400) further includes: Based on the deviation (302) from the scheduled route (304) of one or more of the mining or engineering vehicles (100a to 100c), adjust (403) one or more charging schedules associated with the one or more battery cells (106a to 106c).

4. The method (400) according to any one of claims 1 to 3, wherein, The method (400) further includes: Based on the deviation (302) of the scheduled route (304) of one or more of the mining or engineering vehicles (100a to 100c), adjust (403a) the first charging schedule associated with the first charging station (180a) of the one or more charging stations (180a to 180c) in the one or more charging schedules, and adjust (403b) the second charging schedule associated with the second charging station (180b) of the one or more charging stations (180a to 180c) in the one or more charging schedules.

5. The method (400) according to claim 4, wherein, The first charging station (180a) has a first charging rate, while the second charging station (180b) has a second charging rate different from the first charging rate.

6. The method (400) according to any one of claims 1 to 5, wherein, The method (400) further includes: Based on the deviation from the scheduled routes of one or more of the mining or engineering vehicles (100a to 100c), adjust (403c) the third charging schedule associated with the first battery cell (106a) of the one or more battery cells (106a to 106c) in the one or more charging schedules, and adjust (403d) the fourth charging schedule associated with the second battery cell (106b) of the one or more battery cells (106a to 106c) in the one or more charging schedules.

7. The method (400) according to claim 6, wherein the third charging schedule and the fourth charging schedule are associated with the same charging station (180a) among the one or more charging stations (180a to 180c).

8. The method (400) according to any one of claims 1 to 7, wherein, The method (400) further includes: Based on one or more determined varying physical quantities of one or more of the one or more battery cells (106a to 106c), adjust (403e) one or more of the one or more charging schedules.

9. The method (400) according to any one of claims 1 to 8, wherein, The method (400) further includes: Based on one or more vehicle malfunctions detected in one or more of the one or more mining or engineering vehicles (100a to 100c), adjust (403f) one or more of the one or more charging schedules.

10. The method (400) according to any one of claims 1 to 9, wherein, The local power grid (182) includes the one or more charging stations (180a to 180c). The local power grid (182) can be connected to the public power grid (184). The method (400) further includes: Based on one or more parameters determined from one or more of the local power grid (182) and the public power grid (184), adjust (403g) one or more of the one or more charging schedules.

11. The method (400) according to any one of claims 1 to 10, wherein, The deviation from the scheduled route includes one or more of the following groups: The rescheduling of one or more of the scheduled tasks of one or more of the one or more mining or engineering vehicles (100a to 100c); The postponement of one or more of the scheduled tasks of one or more of the one or more mining or engineering vehicles (100a to 100c); The advance scheduling of one or more tasks by one or more of the one or more mining or engineering vehicles (100a to 100c); One or more scheduled tasks scheduled before the charging of one or more of the battery cells (106a to 106c) will be moved to a rescheduled time after the charging of one or more of the battery cells (106a to 106c). One or more scheduled tasks scheduled after the charging of one or more of the one or more battery cells (106a to 106c) will be moved to a rescheduled time before the charging of one or more of the one or more battery cells. Cancellation of one or more scheduled tasks of one or more of the one or more mining or engineering vehicles (100a to 100c); The addition of one or more new tasks for one or more of the one or more mining or engineering vehicles (100a to 100c); Replace the already scheduled travel routes with different rescheduled travel routes; and Charging of one or more of the battery cells (106a to 106c) of the first mining or engineering vehicle (100a to 100c) from one of the first or more mining or engineering vehicles (100a to 100c) from one of the first or more mining or engineering vehicles (100a to 100c), rather than from one of the first or more charging stations.

12. The method (400) according to any one of claims 1 to 11, wherein, The local power grid (182) includes the one or more charging stations (180a to 180c). The local power grid (182) can be connected to the public power grid (184). The method (400) further includes: Request (410) one or more of the one or more mining or engineering vehicles (100a to 100c) to release power from one or more of the one or more battery cells (106a to 106c) at one or more of the one or more charging stations (180a to 180c) in order to support one or more of the local power grid (182) and the public power grid (184) by injecting power into one or more of the local power grid (182) and the public power grid (184) to allow another mining or engineering vehicle (100a to 100c) to charge another battery cell (106a to 106c).

13. A computer program (603) or computer-readable medium comprising instructions which, when executed by a computer, cause the computer to perform the method (400) according to any one of claims 1 to 12.

14. A control device (130) for charging one or more mining or engineering vehicles (100a to 100c), wherein, The mining or engineering vehicle (100a to 100c) is configured to carry one or more battery cells (106a to 106c) for driving the mining or engineering vehicle, wherein the control device (130) is configured to: Based on deviations from the scheduled routes of one or more of the mining or engineering vehicles (100a to 100c), adjust (403) one or more charging schedules for charging one or more of the battery cells (106a to 106c) via one or more charging stations (180a to 180c); and Based on the adjusted charging schedule, control (404) performs the charging of one or more of the one or more battery cells (106a to 106c) via the one or more charging stations (180a to 180c).

15. A system (100d) comprising one or more mining or engineering vehicles (100a to 100c). in, The mining or engineering vehicles (100a to 100c) are configured to carry one or more battery cells (106a to 106c) for driving the mining or engineering vehicles (100a to 100c), and The system (100d) includes a control device (130) according to claim 14.

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