Providing control information

Abstract

An apparatus, method, and computer program product for determining a reference position of a feed beam, the feed beam being connected to a boom of a mobile mining machine, receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating movement of the inertial measurement unit based on the measurement information, and providing joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE This application relates generally to providing control information. More specifically, this application relates to providing joint control information. [Background technology]

[0002] Mobile mining machines operate in difficult environments, such as underground mines.

[0003] Rock drilling is typically performed by using a drilling installation comprising a carrier provided with at least one boom having a rock drilling unit at a distal end of the at least one boom. The rock drilling unit comprises a feed system configured to keep a drill bit in contact with the rock during drilling. The feed system comprises a feed beam configured to support and guide a rock drilling device configured to move along the feed beam during the drilling procedure. Controlling the position of the feed beam plays a role in efficient operations, since precise control of the feed beam enables precise rock drilling. Summary of the Invention

[0004] Various aspects of the examples of the invention are set out in the claims. The scope of protection sought for the various embodiments of the invention is set out in the independent claims. To the extent that there are examples and features described herein that are not included in the scope of the independent claims, they should be interpreted as examples useful for understanding the various embodiments of the invention.

[0005] According to a first aspect of the present invention, there is provided an apparatus for controlling a mobile mining machine comprising means for determining a reference position of a feed beam connected to a boom of the mobile mining machine, receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating movement of the inertial measurement unit based on the measurement information, and providing joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0006] According to a second aspect of the invention, there is provided a method including determining a reference position of a feed beam connected to a boom of a mobile mining machine, receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating movement of the inertial measurement unit based on the measurement information, and providing joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0007] According to a third aspect of the invention, there is provided a computer program comprising instructions to cause an apparatus to at least determine a reference position of a feed beam connected to a boom of a mobile mining machine; receive measurement information provided by an inertial measurement unit associated with the feed beam; estimate movement of the inertial measurement unit based on the measurement information; and provide joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0008] According to a fourth aspect of the present invention, there is provided an apparatus comprising at least one processor and at least one memory containing computer program code, the at least one memory and the computer program code configured to: use the at least one processor to cause the apparatus to at least determine a reference position of a feed beam connected to a boom of a mobile mining machine, receive measurement information provided by an inertial measurement unit associated with the feed beam, estimate movement of the inertial measurement unit based on the measurement information, and provide joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0009] According to a fifth aspect of the invention, there is provided a non-transitory computer readable medium including program instructions to cause an apparatus to at least determine a reference position of a feed beam connected to a boom of a mobile mining machine; receive measurement information provided by an inertial measurement unit associated with the feed beam; estimate movement of the inertial measurement unit based on the measurement information; and provide joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0010] According to a sixth aspect of the invention, there is provided a computer readable medium including program instructions to cause an apparatus to at least determine a reference position of a feed beam connected to a boom of a mobile mining machine; receive measurement information provided by an inertial measurement unit associated with the feed beam; estimate movement of the inertial measurement unit based on the measurement information; and provide joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0011] Some exemplary embodiments will now be described with reference to the accompanying drawings. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram of an exemplary device in which examples of the disclosed embodiments can be applied. [Diagram 2] FIG. 2 is a block diagram of another exemplary device in which example embodiments of the disclosed embodiments can be applied. [Diagram 3] FIG. 1 illustrates an exemplary drilling rig. [Figure 4] FIG. 1 illustrates an exemplary system incorporating aspects of the exemplary embodiments. [Diagram 5] FIG. 1 illustrates an exemplary method incorporating example aspects of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] The following embodiments are exemplified. Although the specification may refer to "an", "one" or "some" embodiments in several places in the text, this does not necessarily mean that each reference refers to the same embodiment or that a particular feature applies only to a single embodiment. Single features of different embodiments may also be combined to provide other embodiments.

[0014] An exemplary embodiment relates to controlling a position of a feed beam of a mobile mining machine. The mobile mining machine comprises at least one boom, e.g. a drilling boom, with a rock drilling unit provided at a distal end of the at least one boom. The rock drilling unit comprises a feed system configured to keep a drill bit in contact with the rock during drilling. The feed system comprises a feed beam configured to support and guide a rock drilling device arranged to move along the feed beam during a drilling procedure.

[0015] Currently, feed beam position control is based on hydraulic or electronic control with joint sensors. Hydraulic control only works with a specific boom kinematics, while electronic control requires sensors for at least every rotary joint, which in turn requires rotation sensors and wiring for each joint axis. However, wiring and angle sensors are prone to damage, especially in underground environments. In addition, the sensors need to be calibrated separately.

[0016] An exemplary embodiment relates to an apparatus configured to determine a reference position of a feed beam, the feed beam being connected to a boom via at least one joint of a mobile mining machine, receive measurement information provided by an inertial measurement unit associated with the feed beam, estimate movement of the inertial measurement unit based on the measurement information, and provide joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0017] 1 is a block diagram illustrating an apparatus 100 operating according to an exemplary embodiment of the present invention. The apparatus 100 may be an electronic device, such as, for example, an automation or control system, a chip, or a module constituted by a chipset. The apparatus 100 comprises one or more control circuits, such as at least one processor 110 and at least one memory 160, including one or more algorithms, such as computer program instructions 120, configured to cause the apparatus, using the at least one processor 110, to perform any of the exemplary functions described below.

[0018] 1, processor 110 is a control unit operatively connected to read and write to memory 160. Processor 110 may also be configured to receive control signals received via an input interface, and / or processor 110 may be configured to output control signals via an output interface. In an exemplary embodiment, processor 110 may be configured to convert received control signals into appropriate commands for controlling functions of the device.

[0019] At least one memory 160 stores computer program instructions 120 that, when loaded into the processor 110, control the operation of the apparatus 100 as described below. In other examples, the apparatus 100 may include multiple memories 160 or different types of storage devices.

[0020] The computer program instructions 120 or parts of such computer program instructions for enabling implementation of exemplary embodiments of the present invention may be loaded into the device 100 by a manufacturer of the device 100, by a user of the device 100, or by the device 100 itself based on a download program, or the instructions may be pushed to the device 100 by an external device. The computer program instructions may reach the device 100 via an electromagnetic carrier signal, or may be copied from a physical entity such as a computer program product, memory device, or recording medium, e.g. a USB stick, a compact disc (CD), a compact disc read only memory (CD-ROM), a digital versatile disc (DVD), or a Blu-ray disc.

[0021] 2 is a block diagram illustrating an apparatus 200 according to an exemplary embodiment of the present invention. The apparatus 200 may be an electronic device such as an automation or control system, a personal computer (PC), a laptop, a desktop, a wireless terminal, a communication terminal, a module constituted by a computing device, etc. In the following examples, it is assumed that the apparatus 200 is a computing device.

[0022] 2, apparatus 200 is shown as including apparatus 100, a display 210, and a user interface 220 for interacting with computing device 200. Display 210 may also be configured to act as a user interface. For example, the display may be a touch screen display. In the exemplary embodiment, display 210 and / or user interface 220 may be external to apparatus 200, but may be in communication with apparatus 200.

[0023] Additionally or alternatively, the user interface may also include manually operable controls, such as buttons, keys, touchpad, joystick, stylus, pen, roller, rocker, keypad, keyboard, or any suitable input mechanism for entering and / or accessing information.

[0024] 2 may also be configured to establish wireless communication with another device using, for example, a cellular network, a Bluetooth, or a WiFi connection, etc. Alternatively or additionally, the device 200 may be configured to communicate with another device using a wired connection.

[0025] According to an exemplary embodiment, apparatus 200 comprises a module operably connected to a mobile mining machine. For example, apparatus 200 may be implemented in a control system of the mobile mining machine, or apparatus 200 may be configured to communicate with the control system of the mobile mining machine via a wired or wireless connection.

[0026] In accordance with an exemplary embodiment, a mobile mining machine comprises a drilling rig.

[0027] In accordance with an exemplary embodiment, a mobile mining machine includes a carrier and at least one boom.

[0028] As described above, the mobile mining machine comprises at least one boom with a rock drilling unit provided at a distal end of the at least one boom. The rock drilling unit comprises a feed system configured to keep a drill bit in contact with rock during drilling. The feed system comprises a feed beam configured to move relative to a feed cradle connected to the at least one boom via one or more rotatable joints. The feed beam is configured to support and guide a rock drilling device arranged to move along the feed beam during a drilling procedure. The feed beam may comprise a feed rail.

[0029] Accurate rock drilling is necessary to avoid inaccurate tunnel profiles. Therefore, the apparatus 200 is configured to monitor and control the position of the feed beam. The monitoring and control of the position of the feed beam may be performed based on a reference position of the feed beam.

[0030] According to an exemplary embodiment, the position of the feed beam includes an orientation of the feed beam relative to a reference position of the feed beam.

[0031] The reference position of the feed beam can include a desired position of the feed beam. The reference position can include a predetermined reference position, or the apparatus 200 can be configured to determine the reference position based on, for example, measurement data, sensor data, a simulation, a machine learning algorithm, operator input, one or more environmental factors, a procedure for setting the reference position, such as a navigation procedure, etc.

[0032] According to an exemplary embodiment, the device 200 is configured to determine a reference position based on information provided by a magnetometer and / or a gyrocompass. For example, the device 200 may be configured to receive information provided by a magnetometer and / or a gyrocompass and determine a reference position based on the received information.

[0033] According to an exemplary embodiment, apparatus 200 is configured to determine a reference position based on a navigation procedure. The navigation procedure may include, for example, aligning a boom to a desired position. For example, apparatus 200 may be configured to determine a reference position based on the aligned boom position in response to receiving an indication that the aligned boom position has been accepted by an operator.

[0034] As another example, the apparatus 200 may be configured to determine a reference position based on the aligned boom position in response to receiving an indication that the aligned boom position corresponds to a predetermined alignment. The predetermined alignment may be indicated with, for example, a laser beam.

[0035] According to an exemplary embodiment, apparatus 200 is configured to determine a reference position of a feed beam, the feed beam being connected to a boom of a mobile mining machine.

[0036] The reference position of the feed beam may include location information and / or orientation information. The location information may include an absolute location, such as a location in the coordinates of a coordinate system, or a relative location, such as a location relative to a particular reference point. The orientation information may include an angular position relative to a particular reference point.

[0037] According to an exemplary embodiment, the reference position includes an angle of the feed beam relative to the mobile mining machine. The angle of the feed beam relative to the mobile mining machine may include an angle of the feed beam relative to a predetermined reference point associated with the mobile mining machine.

[0038] According to another exemplary embodiment, the reference position includes an angle of the feed beam with respect to gravity. The angle of the feed beam with respect to gravity may include an angle of the feed beam with respect to a direction of gravity at the geographic location.

[0039] The direction of gravity is substantially stable and predictable on Earth, at least within limited geographic regions, and may be considered to be substantially the same over time.

[0040] Although not limiting to the scope of the claims, an advantage of a reference position that includes the angle of the feed beam relative to gravity is that gravity allows for accurate and repeatable positioning independent of the position of the mobile mining machine.

[0041] According to an exemplary embodiment, the reference position includes a drilling angle, which may include an orientation of the feed beam relative to the mobile mining machine that is drilling or an orientation of the feed beam relative to gravity.

[0042] According to an exemplary embodiment, the drilling angle includes at least one of a vertical angle or a horizontal angle.

[0043] The vertical angle includes the angle between the feed beam and a horizontal plane, and the horizontal angle includes the angle between the feed beam and a vertical plane.

[0044] According to an exemplary embodiment, the feed beam is mechanically connected to the boom, for example, the feed beam may be connected to the boom directly via different types of joints and / or a feed cradle.

[0045] According to an exemplary embodiment, the apparatus 200 is configured to receive measurement information provided by an inertial measurement unit associated with the feed beam. The measurement information may include, for example, measurement data and / or metadata related to the measurement data, and the apparatus 200 may be configured to receive the measurement information provided by the inertial measurement unit via a wireless or wired connection.

[0046] Although not limiting the scope of the claims, an advantage of associating an inertial measurement unit with the feed beam is that the position and / or movement of the feed beam can be determined based on measurement information provided by the inertial measurement unit.

[0047] The inertial measurement unit associated with the feed beam may comprise an inertial measurement unit mounted to the feed system. According to an exemplary embodiment, the inertial measurement unit is mounted to the feed rail. According to another exemplary embodiment, the inertial measurement unit is mounted to the feed cradle.

[0048] Although not limiting the scope of the claims, an advantage of mounting the inertial measurement unit on the feed rail or feed cradle is that the structure of the feed system can protect the inertial measurement unit from, for example, falling rocks, thereby making the inertial measurement unit less susceptible to damage.

[0049] The inertial measurement unit is configured to detect linear acceleration and angular velocity using a number of inertial sensors, such as one or more accelerometers and one or more gyroscopes. The inertial measurement unit may further comprise a magnetometer for detecting compass orientation.

[0050] According to an exemplary embodiment, the inertial measurement unit comprises at least one accelerometer and at least one gyroscope. According to an exemplary embodiment, the inertial measurement unit further comprises at least one magnetometer.

[0051] According to an exemplary embodiment, the apparatus 200 is configured to determine a position of the inertial measurement unit based on measurement information provided by the inertial measurement unit. The position of the inertial measurement unit may include, for example, a six degree of freedom (6DOF) position of the inertial measurement unit. The apparatus 200 is further configured to determine a position of the feed beam based on a position of the inertial measurement unit relative to the feed beam.

[0052] The apparatus 200 may be further configured to determine or estimate a movement of the inertial measurement unit based on a change in position of the inertial measurement unit.

[0053] According to an exemplary embodiment, the apparatus 200 is configured to estimate a movement of the at least one inertial measurement unit based on the measurement information.

[0054] The apparatus 200 may be configured to estimate the movement of the at least one inertial measurement unit by using one or more sensor fusion algorithms.

[0055] The sensor fusion algorithm may be configured to combine data from multiple sensors, such as one or more accelerometers, gyroscopes, and / or magnetometers, to estimate the position of the object. Because an inertial measurement unit is associated with the feed beam, the sensor fusion algorithm can be used to estimate the orientation and movement of the feed beam.

[0056] Although not limiting the scope of the claims, an advantage of using an inertial measurement unit to estimate the orientation and movement of the feed beam is that a single inertial measurement unit can replace rotary joint sensors, which require a sensor and wiring for each joint axis. Furthermore, because rotary joint sensors and wiring are prone to damage in underground mining environments, proper placement of the inertial measurement unit can reduce the number of interruptions caused by damaged sensors and / or wiring. Furthermore, the use of an inertial measurement unit allows for more efficient operation because calibration of multiple separate sensors is not required.

[0057] According to an exemplary embodiment, apparatus 200 is configured to determine joint control information for controlling a position of the feed beam based on a reference position of the feed beam and an estimated movement of the inertial measurement unit.

[0058] Determining the joint control information may include, for example, determining a position of the feed beam based on measurement information provided by an inertial measurement unit, comparing the position of the feed beam to a reference position of the feed beam, and determining a control signal to maintain the position of the feed beam relative to the mobile mining machine or relative to gravity.

[0059] According to an exemplary embodiment, apparatus 200 is configured to provide joint control information for controlling a position of the feed beam based on a reference position of the feed beam and an estimated movement of the inertial measurement unit.

[0060] Although not intended to be limiting of the scope of the claims, an advantage of providing joint control information for controlling the position of the feed beam based on the feed beam reference position and the estimated movement of the inertial measurement unit is that the position of the feed beam may be substantially maintained while operating the mobile mining machine, for example, while controlling at least one boom.

[0061] The joint control information can include at least one control signal for controlling at least one valve configured to control an orientation of the feed beam and / or a position offset of the feed beam relative to a reference point of the feed beam. The at least one valve can comprise, for example, a valve configured to control an orientation of the feed beam.

[0062] According to an example embodiment, the joint control information includes a joint control signal for controlling an orientation of the feed beam and / or for controlling a position offset of the feed beam.

[0063] The apparatus 200 may be configured to provide the joint control information to a dedicated controller configured to control the at least one valve, or the apparatus 200 may be configured to directly control the at least one valve.

[0064] According to an exemplary embodiment, the apparatus 200 is configured to control at least one valve based on the joint control information. Controlling the at least one valve can include controlling the at least one valve directly or through a dedicated controller.

[0065] Apparatus 200 may be configured to control the at least one valve continuously or when at least one predetermined criterion is met. The at least one predetermined criterion may relate to, for example, a particular control mode, a particular state of the mobile mining machine, etc. For example, apparatus 200 may be configured to control the at least one valve when the mobile mining machine is stationary but the boom is moving, or when the mobile mining machine is in a control mode aimed at keeping the feed beam in a desired orientation as the boom is moving.

[0066] According to an exemplary embodiment, apparatus 200 is configured to control at least one valve during boom movement.

[0067] Although not limiting to the scope of the claims, an advantage of controlling at least one valve during boom movement is that the position of the feed beam relative to the mobile mining machine can be maintained as the operator moves the boom, thereby maintaining excavation accuracy as the boom moves.

[0068] In addition to measurement information received from the inertial measurement unit, the apparatus 200 may be configured to utilize information from other sources to provide joint control information for controlling the position of the feed beam.

[0069] The information from other sources may include, for example, context information about the mobile mining machine. The context information may include, for example, information about the environment or information about the configuration of the mobile mining machine. The information about the environment may include, for example, a model of the working environment of the mobile mining device, such as a mine model. The information about the configuration of the mobile mining machine may include, for example, information about the current position of one or more other booms of a multi-boom mobile mining machine.

[0070] According to an exemplary embodiment, apparatus 200 is configured to adjust joint control information based on contextual information regarding the mobile mining machine.

[0071] Although not limiting the scope of the claims, an advantage of using additional information to provide joint control information is that it can, for example, avoid collisions with the floor or ceiling of a tunnel, or with other booms.

[0072] According to an exemplary embodiment, apparatus 200 is configured to monitor a position and / or movement of a feed beam. Monitoring the position and / or movement of the feed beam may include, for example, providing information regarding the position and / or movement of the feed beam to a display. For example, apparatus 200 may be configured to provide, on the display, information regarding a reference position of the feed beam, an estimated position of the feed beam, a difference between the reference position and the estimated position of the feed beam, etc. Additionally, apparatus 200 may be configured to provide information of joint control information on the display.

[0073] According to an exemplary embodiment, the apparatus 200 is configured to provide information regarding an estimated orientation and / or an estimated position offset of the feed beam on a display.

[0074] The monitoring can further include indicating when the position of the feed beam meets at least one criterion. The apparatus 200 can be configured to provide a notification to an operator, for example, in response to the movement of the feed beam reaching a predetermined threshold. For example, assuming an operator has set a threshold of 70 cm between holes being drilled, the apparatus 200 can be configured to notify the operator when the feed beam has moved 70 cm, thereby assisting the operator in more efficiently performing the drilling of the hole.

[0075] According to an exemplary embodiment, the apparatus 200 is configured to determine when a movement of the feed beam reaches a threshold. The threshold may include an orientation of the feed beam or a distance traveled by the feed beam.

[0076] According to an exemplary embodiment, the apparatus 200 is configured to provide a notification on a display in response to determining that the movement of the feed beam has reached a threshold.

[0077] According to an exemplary embodiment, the apparatus 200 comprises means for performing features of the apparatus 200, the means for performing comprising at least one processor 110 and at least one memory 160 including computer code 120 configured to cause the performance of the apparatus 200 using the at least one processor 110.

[0078] According to an exemplary embodiment, apparatus 200 comprises means for determining a reference position of a feed beam, the feed beam being connected to a boom via at least one joint of a mobile mining machine, means for receiving measurement information provided by an inertial measurement unit associated with the feed beam, means for estimating movement of the inertial measurement unit based on the measurement information, and means for providing joint control information for controlling a position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0079] According to an exemplary embodiment, apparatus 200 may further comprise means for controlling at least one valve based on the joint control information, means for adjusting the joint control information based on context information regarding the mobile mining machine, and / or means for controlling at least one valve during boom movement. Apparatus 200 may further comprise means for providing information regarding an estimated orientation and / or an estimated position offset of the feed beam on the display. Apparatus 200 may further comprise means for determining that a movement of the feed beam has reached a threshold and / or means for providing a notification on the display in response to determining that a movement of the feed beam has reached a threshold.

[0080] FIG. 3 shows an exemplary drilling rig. In the example of FIG. 3, the drilling rig comprises a rock drilling rig 1 comprising a carrier 2, one or more drilling booms 3 and a drilling unit 4 associated with the drilling boom 3. The boom can comprise two or more parts, objects or parts 3a, 3b connected by a joint. In the example of FIG. 3, the boom is further connected to the drilling unit 4 by a joint. The drilling unit 4 comprises a feed beam 5, which allows the rock drilling device 6 to be moved by a feed device. Furthermore, the drilling unit 4 comprises a tool 7, by which the impact pulse given by the striking device of the rock drilling device 6 is transmitted to the rock to be drilled. As mentioned above, the inertial measurement unit can be associated to the feed beam 5, for example by installing the inertial measurement unit on the feed rail or on the feed cradle 10a.

[0081] In the example of Figure 3, the rock drilling rig 1 further comprises at least one control unit 8 arranged to, for example, control actuators of the rock drilling rig 1. The control unit 8 may, for example, comprise an apparatus 200 comprising one or more processors executing computer program code stored in a memory, and may comprise or be connected to a user interface with a display device 9 for receiving operator commands and information to the control unit 8, as well as an operator input interface. In some embodiments, the control unit 8 is configured to control at least boom automation control related operations, although one or more other control units may be present in the rig for controlling other operations.

[0082] Furthermore, one or more sensors 10 may be arranged to determine the current position and orientation of part of the boom 3, and also the tool 7. Such sensors 10 may be located in relation to the boom 3, or alternatively the measurements may be performed remotely from the carrier, or even from another location. The measurement data may be provided to a control unit 8 (or another control unit for positioning) which may perform the appropriate calculations.

[0083] 4 illustrates an exemplary system 400 incorporating aspects of the previously disclosed embodiments. In the example of FIG. 4, the device 200 receives measurement information from an inertial measurement unit (IMU) 410.

[0084] As described above, the inertial measurement unit is configured to detect linear acceleration and angular velocity using multiple inertial sensors, such as one or more accelerometers and one or more gyroscopes. The inertial measurement unit may further include a magnetometer for detecting compass orientation. In the example of FIG. 4, the inertial measurement unit 410 includes at least one three-dimensional (3D) accelerometer and at least one 3D gyroscope.

[0085] The apparatus 200 is configured to determine a reference position of a feed beam, the feed beam being connected to a boom via at least one joint of a mobile mining machine, receive measurement information provided by an inertial measurement unit associated with the feed beam, estimate movement of the inertial measurement unit based on the measurement information, and provide joint control information for controlling the position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0086] 4, the position of the feed beam is controlled using valves 420 and 430. Valves 420 and 430 may comprise, for example, valves configured to control the orientation of the feed beam.

[0087] 5 illustrates an example method 500 incorporating aspects of the previously disclosed embodiments. More specifically, the example method 500 illustrates providing control information. The method 500 may be performed by the device 200.

[0088] The method begins with determining 510 a reference position of a feed beam, the feed beam being connected to a boom of a mobile mining machine.

[0089] The reference position of the feed beam may include location information and / or orientation information. The location information may include an absolute location, such as a location in the coordinates of a coordinate system, or a relative location, such as a location relative to a particular reference point. The orientation information may include an angular position relative to a particular reference point.

[0090] In the example of Figure 5, the reference position includes a digging angle relative to the mobile mining machine. The digging angle may include a vertical angle or a horizontal angle.

[0091] The method continues with receiving 520 measurement information provided by an inertial measurement unit associated with the feed beam. The inertial measurement unit associated with the feed beam may comprise an inertial measurement unit mounted to the feed system, such as an inertial measurement unit mounted to a feed rail or a feed cradle.

[0092] The method further continues with estimating 530 a movement of the inertial measurement unit based on the measurement information. The movement of the inertial measurement unit may be estimated using, for example, one or more sensor fusion algorithms.

[0093] The method further continues at 540 with providing joint control information for controlling the position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit.

[0094] The joint control information can include at least one control signal for controlling at least one valve configured to control an orientation of the feed beam and / or a position offset of the feed beam relative to a reference point of the feed beam. The at least one valve can comprise, for example, a valve configured to control an orientation of the feed beam.

[0095] Although not intended to be limiting of the scope of the claims, an advantage of providing joint control information for controlling the position of the feed beam based on measurement information received from an inertial measurement unit associated with the feed beam is that multiple rotary joint sensors can be replaced with a single inertial measurement unit. Another advantage is that the inertial measurement unit can be installed such that the structure of the mobile mining machine can protect the inertial measurement unit from external shocks.

[0096] Without limiting in any way to the scope, interpretation, or application of the claims appearing below, one or more technical effects of the exemplary embodiments disclosed herein may be that disruptions in controlling the position of the feed beam may be reduced because the inertial measurement unit is protected by the structure of the mobile mining machine. A further technical effect may be that the number of components required to control the position of the feed beam may be reduced.

[0097] As used in this application, the term "circuitry" may refer to one or more or all of: (a) a hardware-only circuit implementation (such as an implementation with only analog and / or digital circuitry); (b) a combination of hardware circuitry and software, such as (where applicable) (i) a combination of analog and / or digital hardware circuitry and software / firmware, and (ii) software (including digital signal processors), any portion of a hardware processor having software and memory that cooperates to cause a device such as a cell phone or a server to perform various functions; and (c) a hardware circuit and a processor, such as a microprocessor or portion of a microprocessor that requires software (e.g., firmware) to operate, although the software may not be present if it is not required for operation.

[0098] This definition of circuitry applies to all uses of the term in this application, including any claims. As a further example, the term circuitry as used in this application also encompasses merely a hardware circuit or processor (or processors), or a portion of a hardware circuit or processor, as well as its (or their) associated software and / or firmware implementations. The term circuitry also encompasses, for example, specific claim elements, where applicable, baseband or processor integrated circuits for mobile devices, or similar integrated circuits in servers, cellular network devices, or other computing or network devices.

[0099] An embodiment of the invention may be implemented in software, hardware, application logic, or a combination of software, hardware, and application logic. The software, application logic, and / or hardware may reside on an apparatus, separate devices, or multiple devices. As desired, portions of the software, application logic, and / or hardware may reside on an apparatus, portions of the software, application logic, and / or hardware may reside on separate devices, and portions of the software, application logic, and / or hardware may reside on multiple devices. In an exemplary embodiment, the application logic, software, or instruction set is maintained on any one of a variety of conventional computer-readable media. In the context of this specification, a "computer-readable medium" may be any medium or means that can contain, store, communicate, propagate, or convey instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer, with an example computer as described and illustrated in FIG. 2. A computer-readable medium may include a computer-readable storage medium, which may be any medium or means that can contain or store instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer.

[0100] If desired, different functions described herein may be performed in different orders and / or concurrently with one another. Further, if desired, one or more of the functions described above may be optional or combined.

[0101] Various aspects of the invention are set out in the independent claims, but other aspects of the invention include other combinations of features from the described embodiments and / or the dependent claims with features of the independent claims, not just the combinations explicitly set out in the claims.

[0102] It is obvious to those skilled in the art that as technology advances, the concept of the present invention can be implemented in various ways. The present invention and its embodiments are not limited to the above examples but may vary within the scope of the claims.

Claims

1. An apparatus for controlling a mobile mining machine comprising a carrier and at least one boom, said apparatus comprising at least one processor and at least one memory comprising computer program code, said at least one memory and said computer program code causing said at least one processor to cause the apparatus to, at least determine a reference position of a feed beam connected to the boom of the mobile mining machine, said reference position of the feed beam including a desired position of the feed beam, receive measurement information provided by an inertial measurement unit associated with the feed beam, estimate the movement of the inertial measurement unit associated with the feed beam based on the measurement information, provide joint control information for controlling the position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit An apparatus configured as such.

2. The apparatus according to claim 1, wherein the reference position includes an angle of the feed beam relative to the mobile mining machine or relative to gravity.

3. The apparatus according to claim 1, wherein the reference position includes a drilling angle.

4. The apparatus according to claim 3, wherein the drilling angle includes at least one of a vertical angle or a horizontal angle.

5. The apparatus according to claim 1, wherein the at least one memory and the computer program code are further configured to cause the at least one processor to cause the apparatus to control at least one valve based on the joint control information.

6. The apparatus according to claim 5, wherein the at least one memory and the computer program code are configured to cause the at least one processor to cause the apparatus to control the at least one valve during boom movement.

7. The apparatus according to claim 1, wherein the joint control information includes a joint control signal for at least one of controlling the orientation of the feed beam or controlling the position offset of the feed beam.

8. The at least one memory and the computer program code are configured to cause the apparatus, using the at least one processor, to provide information regarding the estimated orientation and / or the estimated position offset of the feed beam on a display, for the apparatus according to claim 1.

9. The inertial measurement unit is installed on a feed rail or a feed cradle, for the apparatus according to claim 1.

10. The at least one memory and the computer program code are configured to cause the apparatus, using the at least one processor, to determine that movement of the feed beam has reached a threshold value, for the apparatus according to claim 1.

11. The at least one memory and the computer program code are configured to cause the apparatus, using the at least one processor, to adjust the joint control information based on context information regarding the mobile mining machine, for the apparatus according to claim 1.

12. The inertial measurement unit includes at least one accelerometer and at least one gyroscope, for the apparatus according to claim 1.

13. An excavation rig comprising the apparatus according to any one of claims 1 to 12.

14. A method for controlling a feed beam of a mobile mining machine, the mobile mining machine comprising a carrier and at least one boom, the method comprising: determining a reference position of a feed beam connected to the boom of the mobile mining machine, the reference position of the feed beam including a desired position of the feed beam; receiving measurement information provided by an inertial measurement unit associated with the feed beam; estimating movement of the inertial measurement unit associated with the feed beam based on the measurement information; providing joint control information for controlling the position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit including.

15. To the apparatus, at least Determining a reference position of a feed beam connected to a boom of a mobile mining machine, the reference position of the feed beam including a desired position of the feed beam, and Receiving measurement information provided by an inertial measurement unit associated with the feed beam, and Estimating movement of the inertial measurement unit associated with the feed beam based on the measurement information, and Providing joint control information for controlling the position of the feed beam based on the reference position of the feed beam and the estimated movement of the inertial measurement unit A computer program including instructions for causing the above to be carried out.

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