Method for setting up an electrical transportation infrastructure of a mine, method of mining in a mine, and a planning system for a mine

Abstract

A method (2000) for setting up an electrical transportation infrastructure (TI) of a mine (500, 500', 500'') is provided. The method includes receiving (2100) mining data for the mine, for different time periods (Δtj) of a given mining time interval (Δt). The mining data includes respective expected source locations (S1, S2) of the mine, where a material is to be taken from, and a respective destination location (D1, D2), where the material is to be taken to. Using the mining data, a time-dependent 3D network of the mine is determined (2200), for each of the different periods. The time-dependent 3D network includes a respective network (G1, G2, G3) of available paths connecting the expected source locations (S1, S2) with the destination location (D1, D2) during the respective time period (Δtj). Using the time-dependent 3D network, a planned placement of the electrical transportation infrastructure (TI) is numerically determined (2300) a so that expected total costs of the mine over the given mining time interval are at least approximately minimized. The expected total costs of the mine include estimated environmental costs resulting from transporting the material between the expected source locations and the destination location (D1, D2) during the given mining time interval (Δt) subject to mining constraints during the given mining time interval (Δt). Placing the electrical transportation infrastructure in the mine is initialized (2400) based on the planned placement of the electrical transportation infrastructure.

Description

[0001] Method for setting up an electrical transportation infrastructure of a mine, method of mining in a mine, and a planning system for a mine Aspects of the invention relate to a method for setting up an electrical transportation infrastructure (TI) of a mine, in particular a mine with more than one source location of the material to be mined, a corresponding computer program product and / or a computer-readable medium, a planning system for the mine, and a method of mining. Technical background: In a mine, material is dug out of the ground and moved to specific locations. From there the material may be transferred to a processing plant where the minerals can be extracted. The mining process is comparatively energy-intensive and associated with a corresponding ecological footprint. Currently, the mining industry is responsible for several percent of greenhouse gas emissions, in particular CO2emissions. Any reduction in the emission of these gases due to mining can be very beneficial for the climate. Accordingly, not only customer increasingly request CO2-neutral value chains but there are already legal requirements for compensating CO2emissions. Accordingly, further improving mining processes is desired. Summary of the invention In view of the above, and for other reasons, there is a need for the present invention. Thus, according to the independent claims, respective typically computer-implemented methods, and a planning system for performing said methods as well as respective computer program products and computer-readable media are provided. According to an aspect of a method for setting up an electrical transportation infrastructure of a mine, the method includes receiving, for different time periods of a given mining time interval, in particular subsequent time periods of the given mining time interval, mining data for the mine, the mining data including respective expected source locations, where a material is to be taken from, and at least one respective destination location, where the material is to be taken to. The method further includes determining, using the mining data, a time-dependent 3D network of the mine. For each of the different periods, the time-dependent 3D network includes a respective network of available paths connecting the expected source locations with the at least one destination location during the respective time period. The method further includes numerically determining, using the time-dependent 3D network, a planned placement of the electrical transportation infrastructure so that expected total costs of the mine over the given mining time interval are at least approximately minimized. The expected total costs of the mine includes estimated environmental costs resulting from transporting the material between the expected source locations and the at least one destination location during the given mining time interval. In particular, the expected total costs of the mine typically includes estimated environmental costs resulting from transporting the material between the expected source locations and the at least one destination location during the given mining time interval subject to mining constraints during the given mining time interval (when taking into account the mining constraints during the given mining time interval). Further, the method typically includes (at least) initializing placing the electrical transportation infrastructure in the mine based on the planned placement of the electrical transportation infrastructure. Initializing placing the electrical transportation infrastructure in the mine may, for example, include generating respective planning documents for the electrical transportation infrastructure, coordinating building (setting up) the electrical transportation infrastructure and / or coordinating changing the electrical transportation infrastructure during the given mining time interval. The method for setting up the electrical transportation infrastructure allows for efficient electrification of transportation of the mine and / or reducing the ecological footprint during mining in the mine. In particular, the transport of the material in a mine can at least partly be covered electrically, e.g. by an electric power supply infrastructure such as electric trolley lines or an electric rail system in combination with electrified haulage trucks. Thereby fossil fuel consumption such as diesel consumption of respective trucks or any other respective mining vehicle infrastructure can be reduced. As the rated electric output power of renewable electrical energies sources (sources of green energy) such as wind farms (wind power plants) and solar farms (solar power plants) and combinations thereof increases and are even becoming more competitive in terms of costs, the ecological footprint of mining can be significantly reduced by providing an appropriate electrical transportation infrastructure. In a longer term perspective, many trucks are expected to be equipped with an electrical battery, which is able to get charged in motion by a electric trolley lines or an electric rail system, or at stationary charging stations. In this case, the fossil fuel consumption can be lowered to zero. Since the mine changes over time and especially the source locations (also known as in-pit mining locations) typically vary over time, the placement of the electrical transportation infrastructure, more particular an electric power supply infrastructure of the electrical transportation infrastructure, which may also be referred to as electric transport infrastructure, such as trolley lines is often challenging. The term “electrical transportation infrastructure” as used in this specification intends to describe an electric power supply infrastructure for vehicles that may be used to transport the material in the mine. By using the mining data, for example a planned mining schedule to (numerically) determine the time-dependent 3D network of the mine and determining the planned placement of the electrical transportation infrastructure (TI) based on the time-dependent 3D network so that the expected total costs of the mine (including the estimated environmental costs) over the given mining time interval are at least approximately minimized, the resulting placement of the electrical transportation infrastructure allows for significantly reducing the mine’s consumption of fossil fuels and its ecological footprint, respectively. While the placement of the electrical transportation infrastructure is typically fixed during the respective time period, it may also either be fixed for the given mining time interval, or, more typically time-dependent. The latter may be due to changing the source location(s). Likewise, the time-dependent 3D network is typically a time-dependent 3D road network. The planned placement of the electrical transportation infrastructure may be determined using known (numerical) optimizations algorithms to find a local or even a global minimum of the expected total costs of the mine (including the estimated environmental costs) over the given mining time interval so that the constraints of mining (mining constraints), typically most of, more typically all of the mining constraints are met during the given mining time interval. Typically, the given mining time interval, which may also be referred to as given mining time horizon, is larger than one year, two years or even several years, and / or refers to an expected overall mining time of the mine. The mining constraints may in particular refer to transportation time for the material, production schedule of the mine, production capacity of the mine, production efficiency of the mine, and cost information such as (spot) market price(s) or projected commodity price(s) and capital costs. In particular, at least (weighted) production capacity and efficiency of the mine, which should typically be as high as possible (be maximized) may form mining constrains to be met. Typically, the environmental costs refer to (expected) greenhouse gas (GHG) emissions, in particular carbon dioxide (CO2) emissions during the given mining time interval. For example, the environmental costs may include the (expected) costs for compensating GHG (CO2) emissions during the given mining time interval such as costs for CO2certificates often considered as a key instrument in decarbonising or a CO2tax. For the sake of simplicity, this specification focusses with respect to environmental costs on CO2as GHG. This is however not to be understood as limiting. The environmental costs may also refer to emissions of other GHGs such as nitrous oxide (N2O) resulting from transporting the material during the given mining time interval, as well as any other environmental costs associated with the mining processes. The expected total costs of the mine that is to be at least approximately minimized typically includes capital expenditures (CapEx) of the mine, in particular costs for fixed assets such as equipment, machinery, and trucks, and operating expenses (OpEx) of the mine, in particular costs for running the mine’s day-to-day operations such as energy costs. Further, the estimated environmental costs may also be considered as providing parts of CapEx and OpEx. More particular, the CapEx of the mine may include CapEx of the electrical transportation infrastructure provided by a first portion of the estimated environmental costs, and the OpEx of the mine may include OpEx of the electrical transportation infrastructure provided by a second (remaining) portion of the estimated environmental costs. Performing the optimization in terms of costs for finding the electrical transportation infrastructure to be used in the mine not only allows for reducing the GHG (CO2) emissions and / or finding an (at least approximately / substantially) optimal trade-off between costs and the emissions, but also comes along with the additional benefit that the cost-planning of the mine may partially be shifted from the (regular) OpEx costs to (one-time) CapEx costs. In particular, OpEx costs (as well as expected total costs) may be reduced by using the electrical transportation infrastructure, e.g. trolley lines, and CapEx costs for building as well as changing the electrical transportation infrastructure during the lifetime of the mine may be increased. Optimizing may be performed by at least approximately minimizing the total cost including the environmental costs. For example, numerically determining the planned placement of the electrical transportation infrastructure may include using a placement algorithm for the electrical transportation infrastructure at least approximately minimizing the total costs including the estimated environmental costs resulting from transporting the material (between the expected source locations and the destination location(s)) during the given mining time interval for a given budget of the electrical transportation infrastructure. Alternatively, optimizing may be performed for a given (fixed, financial) budget (for the transportation infrastructure) by numerically determining the electric transportation infrastructure for the mine at the given budget so that the estimated environmental costs (in particular for GHG emissions) are (at least approximately) minimized. Optionally, this optimizing may be performed for different budgets to find a good trade-off between the budget for the transportation infrastructure and the estimated environmental costs (ecological footprint). In this aspect, the method for setting up the electrical transportation infrastructure of the mine typically includes receiving mining data for the mine, for different time periods of a given mining time interval, in particular subsequent time periods of the given mining time interval, the mining data comprising respective expected source locations, where a material is to be taken from, and at least one respective destination location, where the material is to be taken to; determining, using the mining data, a time-dependent 3D network of the mine, for each of the different periods, the time-dependent 3D network including a respective network of available paths connecting the expected source locations with the at least one destination location during the respective time period; and numerically determining, for a given budget of the electrical transportation infrastructure and using the time-dependent 3D network, a planned placement of the electrical transportation infrastructure, using a placement algorithm, the placement algorithm at least approximately minimizing estimated environmental costs resulting from transporting the material between the expected source locations and the at least one destination location during the given mining time interval subject to mining constraints during the given mining time interval. In this aspect, the planned placement of the electrical transportation infrastructure is typically also determined such that expected total costs of the mine over the given mining time interval are at least approximately minimized. Further, the given budget typically includes the CapEx of the electrical transportation infrastructure, and the OpEx of the electrical transportation infrastructure such as expected energy costs for transporting the material using the electrical transportation infrastructure (during the given mining time interval). The OpEx of the mine may also include expected energy costs for transporting the material without using the electrical transportation infrastructure, e.g. fuel cost of a conventional or hybrid trucks if used. Typically, the placement algorithm is an optimization algorithm with respective penalty terms for the budget of the electrical transportation infrastructure and the environmental costs, in particular the GHG emissions. In typical embodiments, the electrical transportation infrastructure includes conductor rails and / or power lines, in particular trolley lines for the transport vehicles such as respective trucks. Alternatively or in addition, the electrical transportation infrastructure may include at least one charging station for electric trucks. During optimizing, a typically at least substantially optimal placement of the charging station(s) may be determined so that charging / waiting times of the electric trucks are (substantially) minimized. Further, the location of material storage (as destination location), which is used to shift loads in time for optimization of the mining schedule, may be determined during optimization. Furthermore, even electrical grid planning in combination with the location of the conductor rails or trolley lines to ensure robustness and efficiency of the grid may be considered during optimizing. According to an embodiment, the placement algorithm is a heuristic algorithm. In this embodiment, the placement algorithm may include at least one, typically all of the following steps: a. assigning a weight for each edge of the respective networks, the weights indicating how desired it is to transport the material on the edges using a respective electrical transportation infrastructure of the edge; b. determining an overlay of the respective networks; c. using the weights to select an edge of the overlay which is most desired to be equipped with a respective electrical transportation infrastructure; d. updating the expected total costs or costs (CB) of building the electrical transportation infrastructure in accordance with costs for installing the respective electrical transportation infrastructure at the selected edge; and e. repeating steps c and d until the expected total cost at least reaches a total budget or the costs (CB) of building the electrical transportation infrastructure at least reaches the given budget. The weights typically depend on at least one of, typically several of or even all of: a length of the edge, a slope of the edge, an elevation profile of the edge, the time periods, an expected energy consumption and / or emitted amount GHG for using the electrical transportation infrastructure of the respective edge, and an expected energy consumption and / or emitted amount GHG for using an alternative energy source for transporting the material along the respective edge, in particular a respective fossil fuel consumption, for example a diesel consumption. According to another embodiment, the placement algorithm uses mixed integer linear programming (MILP). In this embodiment, the placement algorithm may include at least one, typically all of: - for each of the different time periods, determining, for each edge of a graph representing the time-dependent 3D network during the respective time period, costs of building the electrical transportation infrastructure at and / or along the edge; - for each of the different time periods, determining, for each edge of the graph, respective costs referring to an emitted GHG amount resulting from transporting the material along the edge when the electrical transportation infrastructure is used and when a non-electrical transportation infrastructure is used such as a diesel truck, in particular a respective emitted CO2amount; and - using a MILP solver to minimize a function comprising the costs of building the electrical transportation infrastructure and the costs referring to the emitted GHG at the constrain that a given budget for the electrical transportation infrastructure is not exceeded The MILP solver may in particular be a Gurobi, CPLEX, Highs, or CBC – solver. Compared to the heuristic approach, the use of a MILP solver is typically more numerically intensive, but is expected to provide a more accurate solution. According to an aspect of a method of mining in a mine, which is in the following also referred to as mining method, the method includes at least one of: - determining mining data relating to the mine; - storing the mining data in a database; - receiving the mining data from the database; and - selecting the time periods in accordance with expected life times of expected source locations of the mine. The mining method further includes: - setting up an electrical transportation infrastructure of the mine or adapting the electrical transportation infrastructure of the mine according to any of the methods for setting up an electrical transportation infrastructure of a mine as explained herein; and - transporting the material using the electrical transportation infrastructure of the mine. Setting up the electrical transportation infrastructure of the mine may be performed prior to starting mining the material, but also after starting mining the material, in particular repeated after detecting an unexpected material quality at one of the expected source locations of the mine and / or regularly. Accordingly, the optimizing as described herein may be performed not only prior to mining but also during mining. The material or a part or fraction thereof may be transported as raw material (excavated material) or as processed material, e.g. crushed raw material, in particular by corresponding vehicles, which are at least temporarily supplied with electric power from an electric power supply infrastructure of the electrical transportation infrastructure, such as corresponding rails or trolleys. According to another aspect, a computer program product or a (non-transitory) computer- readable medium includes instructions which, when executed by a computer, cause the computer to carry out any of the methods as explained herein. According to an aspect of a planning system for a mine including a time-dependent road network with edges formed by roads connecting source locations with at least one destination location of the mine, wherein at least one edge of the road network is, for at least one time period of a given (expected) mining time interval, to be provided with a respective electrical transportation infrastructure such as a conductor rail and / or a power line (for transporting material), in particular a trolley line, the planning system is configured for carrying out any of the methods as explained herein. According to another aspect, a mine includes a typically time-dependent road network comprising edges formed by roads connecting source locations with at least one destination location of the mine. At least one edge of the road network is, for at least one time period of a given (expected) mining time interval, provided with a respective electrical transportation infrastructure for electrical supply of vehicles for transporting material between the expected source locations and the at least one destination location during mining (transport vehicles, e.g. respective trucks), such as a conductor rail and / or a power line, in particular a trolley line. Typically, the respective electrical transportation infrastructure is placed in accordance with any of the methods for setting up the electrical transportation infrastructure as explained herein. The methods, devices and systems described herein allow for a cost reduction or even minimization in the electrification of mines as well as a reduction of GHG (CO2) emissions, which is increasingly important with ongoing efforts and regulations to reduce those emissions and other environmental impacts. Further advantages, features, aspects and details that can be combined with embodiments described herein are evident from the dependent claims, the description and the drawings. Brief description of the Figures: The details will be described in the following with reference to the figures, wherein Fig.1A is a flow chart of a method for setting up an electrical transportation infrastructure of a mine according to an embodiment. Fig.1B is a schematic view of a mine according to an embodiment. Fig.1C is a flow chart of a method for setting up an electrical transportation infrastructure of a mine according to an embodiment. Fig.1D is a flow chart of a method for setting up an electrical transportation infrastructure of a mine according to an embodiment. Fig.1E illustrates a method for setting up an electrical transportation infrastructure of a mine according to an embodiment. Fig.1F is a flow chart of a method of mining in a mine according to an embodiment. Fig.2A and Fig.2B further illustrates the method for setting up an electrical transportation infrastructure of the mine shown in Fig.1D according to embodiments. Fig.3A and 3B illustrates a method for setting up an electrical transportation infrastructure of a mine according to an embodiment. Detailed description of the Figures and of embodiments: Reference will now be made in detail to the various embodiments, one or more examples of which are illustrated in each figure. Each example is provided by way of explanation and is not meant as a limitation. For example, features illustrated or described as part of one embodiment can be used on or in conjunction with any other embodiment to yield yet a further embodiment. It is intended that the present disclosure includes such modifications and variations. Within the following description of the drawings, the same reference numbers refer to the same or to similar components. Generally, only the differences with respect to the individual embodiments are described. Unless specified otherwise, the description of a part or aspect in one embodiment applies to a corresponding part or aspect in another embodiment as well. Further, in the below given embodiments, trolley lines are used exemplary for the mine’s electrical transportation infrastructure to illustrate the general aspects described above. The described method and system can be equally applicable for other types of electrical transportation infrastructure such as electric charging stations for battery-powered transport vehicles (trucks). Referring to Fig. 1A, an exemplary method 2000 for setting up an electrical transportation infrastructure of an exemplary mine 500 as shown in Fig.1B (at a particular time, with source locations S1, S2 and destination location D1, D2, D3 connected with each other via unpaved roads) is explained. In a block 2100, (previously collected) mining data for the mine 500 are received. For each of subsequent time periods of a given mining time interval, for example the (remaining) expected overall mining time of the mine, the mining data include respective expected source locations S1, S2, where a material is to be taken from (excavated), and one or more respective destination location D1, D2, D3 where the material is to be taken (transported) to, for example stockpile(s) and crusher(s). In particular, the source location(s) S1, S2, but also the destination location(s) D1, D2, D3 may change over time. The source locations S1, S2 and the destination locations D1, D2, D3 may be considered as nodes (vertices) of a network or graph for the material transport during the respective time period. In a subsequent block 2200, the mining data are used to determine a time-dependent 3D network of the mine 500. For each of the subsequent time periods, the time-dependent 3D network may be represented by a respective network of available paths (forming edges) connecting the source location(s) with the destination location(s) (nodes) during the respective time period. In a subsequent block 2300, the time-dependent 3D network is used to numerically determine a planned placement of the electrical transportation infrastructure for mine 500, trolleys in the exemplary embodiment, so that expected total costs of the mine 500 over the given mining time interval are at least approximately minimized and mining constraints during the given mining time interval are met as good as possible, e.g. at least substantially met. The expected total costs of the mine include estimated environmental costs resulting from transporting the material between the expected source and destination locations S1, S2, D1, D2, D3 during the given mining time interval. More particular the expected total costs of the mine may be formed by the sum of the estimated environmental costs and any other (expected) OpEx and CapEx of mine 500 during the given mining time interval. In a subsequent block 2400, the electrical transportation infrastructure for the mine 500 is built in place and adapted over time if necessary (as indicated by the dashed-dotted arrow in Fig. 1A), in accordance with the numerically determined planned placement of the electrical transportation infrastructure. In a block 2500, the material may be transported during the mining from source to destination locations S1, S2, D1, D2, D3 and, if desired, between the destination locations D1, D2, D3 using the electrical transportation infrastructure of the mine. Referring to Fig.1C, another exemplary method 1000 for setting up an electrical transportation infrastructure of exemplary mine 500 shown in Fig.1B is explained. Similar as explained above for block 2100 of method 2000, mining data for the mine 500 are received in block 1100 of method 1000. Further, the time-dependent 3D network of mine 500 may be determined in block 1200 at least substantially similar as explained for block 2200. Thereafter, in block 1300, the time-dependent 3D network is used as input for a placement algorithm to numerically determine the planned placement of the electrical transportation infrastructure for mine 500. In the exemplary embodiment, the placement algorithm at least approximately minimizes estimated environmental costs resulting from transporting the material between the expected source locations S1, S2 and the at least one destination location D1, D2, D3 during the given mining time interval taking into account the relevant mining constraints during the given mining time interval such as production capacity of the mine, production efficiency of the mine etc. Thereafter, in a subsequent blocks 1400 and 1500, the electrical transportation infrastructure for the mine 500 may be built in place and adapted over time if necessary (as indicated by the dashed-dotted arrow in Fig. 1C), and the material may be transported during the mining, respectively. Blocks 1400 and 1500 may at least substantially correspond to blocks 2400 and 2500 explained above with regard to Fig.1A. With regard to Fig. 1D and Figs. 2A to 2A an exemplary heuristic placement algorithm (method) 1310 for a mine 500’ with source locations S1, S2 and destination locations D1, D2 is explained. Method 1310 may be used in block 1300 of method 1000, but also in block 2300 of method 2000, for determining the planned placement of the electrical transportation infrastructure is explained in detail. In a block 1311, for exemplary three subsequent (mining) time periods ^t1, ^t2, ^t3( ^tjwith time index j=1..3) of mine 500’, a respective weight wijis assigned to each edge eijof the respective networks (network representing graphs) G1, G2, G3(Gjwith j=1..3, each having exemplary four edges eij, i=1..4 at time period ^tj) of the time-dependent 3D network. The length of the time periods ^t1, ^t2, ^t3typically depend on the geological conditions of mine 500’, may be different, and / or may be in arrange from about a month to at least about a year. In the exemplary embodiment shown in Fig. 2A, the source locations S1, S2 vary over time while the destination locations D1, D2 are fixed. As further indicated in Fig.2A, the resulting network networks G1, G2, G3can also have nodes or vertices for road intersections and between road sections. The weights wijindicating how desired it is to transport the material along the respective edge eijduring the respective time period ^tjusing a respective electrical transportation infrastructure at the edge eij. The weights wijtypically depend on multiple factors, for example on at least one of: a. the length and slope (3D-profile) of the edge eij(the longer and steeper the slope, the higher is the weight wij), b. the energy required by (different types of) diesel and electric trucks (the higher the required energy, the higher is the weight wij), and c. the time period ^tj(the longer the time period and / or the earlier the time period (closer in the future / closer to start of mining), the higher is the weight wij). In this embodiment, the higher the weights wijthe more attractive it is to build a trolley line or other electrical infrastructure to supply energy to a vehicle along the edge eij. Other factors that may influence the weights wijare the energy / fuel consumed of an electric / diesel truck when traversing over an edge, the emitted CO2of a diesel truck when traversing over an edge, and the cost profile for electricity and fuel. In a block 1312, the networks G1, G2, G3may be overlaid. The resulting overlay is shown in Fig.2B. Thereafter, the edges may be selected in a greedy manner, i.e., from edges with highest to lowest wijand build a trolley line TI along each selected edge. This may be continued until the construction cost of the trolley lines TI exceeds an available budget B for the exemplary trolley line TI shown in Fig.2B. In the exemplary embodiment, the trolley line TI is only (to be) built at a section of the road between destination location D2 and the crossing with the road between source location S1 and destination location D2 during the first mining time period ^t1, but is also used for material transport during the later time period ^t2, ^t3. In other words, the weights wijmay be used to select an edge of the overlay which is most desired to be equipped with a respective electrical transportation infrastructure, in a block 1313 of Fig.1D, and the costs CBfor installing the respective electrical transportation infrastructure at the selected edge (or the expected total costs including the costs for installing the respective electrical transportation infrastructure) at the selected edge may be updated, in a block 1314. Thereafter, at block 1315, it may be decided depending on whether the respective costs CBare smaller or not as the budget B, if the method returns to block 1313 (CB< B) or is finished. As illustrated in Fig.1E, method 1310 may be performed for different budgets B to find a good trade-off between the budget B (or costs) and the expected CO2emission of the mine. Alternatively to the heuristic approach, a MILP solver may be used for optimizing. This is explained in the following with respect to Figs. 3A, 3B illustrating a mine 500’’ also having two source locations s1j, s2jand two destination locations d1j, d2j. For sake of simplicity, there are only two subsequent time periods ^t1, ^t2of the given mining time interval ^t ( ^tjwith ^^ ∈ ^^ = {1, 2}). The main advantage of using this optimizing approach is that it guarantees optimality of the solution. On the other hand, the underlying problem is quite complex and may require many binary / integer variables to formulate the problem. Thus, solving may require a lot of computing power. In the following, it is demonstrated how a dynamic trolley line placement problem (material transport on mine 500’’ is changing over time) can be modeled and solved by MILP formulation. To this end, we consider the following simple dynamic trolley line placement problem: The two transport networks are defined via graphs ^^^^= ( ^^^^, ^^^^) for j ∈ {1, 2}. The vertices and edges, and thus the entire graphs, are given by the figures 3A, 3B for time periods ^t1, ^t2. The graph ^^1is given by vertices and edges E1: ▪^^1= { ^^11, ^^21, ^^11, ^^21, ^^21, ^^31, ^^41, ^^11} The graph ^^2is given by vertices V2and edges E2: ▪^^2= { ^^12, ^^22, ^^12, ^^22, ^^32, ^^42, ^^22, ^^12} Note that in ^^1and ^^2, the second index corresponds to the time and is thus always 1 and 2, respectively. For convenience, for an edge ∈ ^^1, we write ∈ ^^2if the road, corresponding to ∈ ^^1, is still present in ^^2. This applies for ^^1= { ^^31, ^^21} and ^^1= { ^^21, ^^21}. In the following, there are two identical trucks considered. They are referred to by ^^ ∈ ^^ = {1, 2}. The mapping ^^ ^^( ^^, ^^)→ ^^^^defines on which edges truck ^^ is assigned to travel at time ^^ (during time period ^tj) according to a given production schedule (plan). In the exemplary embodiment, the mapping is defined as follows: o^^ ^^(1,1) = {{ ^^11, ^^11},{ ^^11, ^^11}}o ^^ ^^(2,1) = {{ ^^21, ^^41},{ ^^41, ^^31}, { ^^31, ^^21}, { ^^21, ^^21}}o ^^ ^^(1,2) = {{ ^^12, ^^12},{ ^^12, ^^12}}o ^^ ^^(2,2) = {{ ^^22, ^^42},{ ^^42, ^^32}, { ^^32, ^^22}, { ^^22, ^^22}}Note that edges { ^^11, ^^11} and { ^^12, ^^22} are obsolete as no truck traverses over them according to the production schedule. The function indicates the costs of building a trolley line on edge ^^^^∈ ^^^^. In the exemplary embodiment, these costs (where ^^ > 0 is a scaling factor) are given by: o^^({ ^^11, ^^11}) = ^^o ^^({ ^^11, ^^11}) = 3 ^^ o^^({ ^^21, ^^11}) = 4 ^^o ^^({ ^^21, ^^41})= ^^o^^({ ^^41, ^^31})= 2^^ o^^( { ^^21, ^^21}) = ^^({ ^^22, ^^22}) = ^^o ^^({ ^^12, ^^12})= ^^o^^({ ^^22, ^^42})= 3^^ o^^({ ^^22, ^^12}) = ^^o ^^({ ^^42, ^^32}) = ^^o ^^({ ^^22, ^^42})= ^^Note that the cost typically depend on many aspects (e.g. length of a road, elevation, ground material, accessibility) as already explained above. Thus, it is not to be assumed that the costs, which are also shown next to the respective edge in Figs. 3A, 3B, have a somewhat linear relationship with the visual length of the edge in the figures. The function ^^ ^^2( ^^^^) indicates the CO2emissions of a vehicle traversing over an edge ^^^^∈ ^^^^, if there is no trolley line. If there is a trolley line, we assume that the CO2emission is0.In the exemplary embodiment, these costs (where^^ > 0is a scaling factor) are given by: o ^^ ^^2({ ^^11, ^^11})= 4^^ o ^^ ^^2({ ^^11, ^^11}) = 5 ^^ o^^ ^^2({ ^^21, ^^11}) = 6 ^^o ^^ ^^2({ ^^21, ^^41})= 4 ^^o^^ ^^2({ ^^41, ^^31})= 7^^ o ^^ ^^2( { ^^31, ^^21}) = ^^({ ^^32, ^^22}) = 8 ^^ o^^ ^^2( { ^^21, ^^21}) = ^^({ ^^22, ^^22}) = ^^o ^^ ^^2({ ^^12, ^^12})= 4 ^^o^^ ^^2({ ^^22, ^^42})= 5^^ o ^^ ^^2({ ^^22, ^^12}) = 20 ^^ o ^^ ^^2({ ^^42, ^^32}) = 6 ^^ o^^ ^^2({ ^^22, ^^42})= 5 ^^Note that the CO2emissions / CO2costs, which are also shown next to the respective edge in Figs.3A, 3B, may also depend on many variables. Thus, it is also not to be expected that the CO2emissions have a linear relationship with the visual length of the edge in the figures 3A, B. A budget^^is given that can be spent at time^^ = 1(once, for time period ^t1, typically immediately before or at the beginning of time period ^t1in the exemplary embodiment) to build a trolley line. The dynamic trolley line placement problem is then to decide which trolley lines should be built on which edges at time j = 1 (for time period ^t1) such that the available budget ^^ is not exceeded and such that the overall CO2-emmission, expected based on the production schedule, over the lifetime of the mine is minimized. To formulate this problem, we introduce binary variables ^^^^ ^^∈ {0,1} for ^^^^∈ ^^^^, which are equal to 1 if a trolley line should be built at time ^^ (for time period ^tj) and zero otherwise. Additionally, we introduce binary variables ^^^^ ^^∈ {0,1} for ^^^^∈ ^^^^, which are equal to 1 if a trolley line has been built at time ^^ or (only applicable if ^^ = 2 and if the edge exists in both graphs ^^1and ^^2) has already been built at time ^^ ―1 (for time period ^tj-1) and zero otherwise. Then, the dynamic trolley line placement problem can be formulated as follows: ∑ ^^∈{1,2}∑ ^^^^∈ ^^^^∑^^∈ ^^^^( ^^^^) × ^^^^≤ ^^(1)^^^^ ^^= ^^^^ ^^for ^^^^∈ ( ^^1∪ ^^2) ∖ {{ ^^32, ^^22}, { ^^12, ^^12}} (2)^^{ ^^32, ^^22}= ^^{ ^^31, ^^21}+ ^^{ ^^32, ^^22}(3)^^{ ^^12, ^^12}= ^^{ ^^21, ^^21}+ ^^{ ^^12, ^^12}(4)^^^^ ^^∈ {0,1}, ^^^^ ^^∈ {0,1} for ^^^^∈ ^^^^In the objective function, the total CO2-emissions over the lifetime of the mine are minimized. CO2is only emitted, if a vehicle travels over a road with no trolley line, i.e., if ^^^^ ^^= 0. In Constraint (1), the construction costs C for building trolley lines are ensured to stay within the available budget ^^. For the two roads, that do not change from ^^ = 1 to ^^ = 2 , Equations (3) and (4) ensure that a trolley line built at time ^^ = 1 on remains in place also at ^^ = 2. All other roads only exist either for ^^ = 1 or for ^^ = 2. For these edges, variables ^^^^ ^^and ^^^^ ^^are to be equal, see Equation (2). This Mixed Integer Linear Programming formulation can then be solved using a MILP solver (e.g., Gurobi, CPLEX, Highs, or CBC).In the present embodiment, the optimal solution is obtained for ^^{ ^^31, ^^21}= ^^{ ^^32, ^^42}= 1 withall other ^^^^ ^^variables set to 0. Thus, there is a trolley line built at the road corresponding to edge { ^^31, ^^21} in ^^1at time ^^ = 1 (dashed double line in Fig.3A, 3B). This is also intuitive as traversing over this road has a high CO2cost (8 ^^) and the road is present in both time periods.Another trolley line is built at the new road corresponding to edge { ^^32, ^^42} in ^^2 at time j= 2 (dashed line in Fig. 3A, 3B). Note, that, as this trolley line is only built at time j = 2, itdoes not have an impact on the CO2emission at ^^ = 1. However, this road is new and contributes high CO2emissions (6 ^^). Therefore, it is better to wait until ^^ = 2 to invest the budget to build a trolley line along this edge. Both trolley lines cost 2 ^^, which is the full budget. The CO2emissions for ^^ = 1 are 4 ^^ + 5 ^^ = 9 ^^ and ^^ + 0 + 7 ^^ + 4 ^^ = 12 ^^ for vehicles 1 and 2, respectively, which is 21 ^^ in total.Similarly, the CO2 emissions for ^^ = 2 are 4 ^^ + 5 ^^ = 9 ^^ and ^^ + 0 + 0 + 5 ^^ = 6 ^^ for vehicles1 and 2, respectively, which is 15 ^^ in total.Thus, the optimal construction of a trolley line leads to an overall minimized CO2emission of 15 ^^ over the given mining time interval (lifetime of a mine). Referring now to Fig.1F, an exemplary method 3000 of mining in a mine as shown in Fig.1B is explained. In first blocks, mining data relating to the mine 500 may be determined (in a block 3001), stored in a database (in a block 3002), and / or received in a block 3003, e.g. from the database. Further, in accordance with the mining data, in particular expected life times of expected source locations S1, S2 of the mine 500, time periods may be selected, in a block 3004. In a subsequent block 3200, an electrical transportation infrastructure TI of the mine 500 may be determined and set up as explained above. Thereafter, material may be transported using the electrical transportation infrastructure of the mine, in a block 3500. A number of embodiments and examples have been described. Nevertheless, it is understood that various modifications may be made without departing from the scope of the invention, which is defined by the claims that follow.

[0002] Reference signs: D1, D2, D3, d11, d21, d12, d22destination location ej, eijedge G1, G2, G3 graph / network S1, S2, S3, s11, s21, s12, s22source location v11, v21, v31, v41, v12, v22, v32, v42vertices on edges between source and destination locations wijweight of edge eij500, 500’, 500’’ mine >999 method, method steps

Claims

Claims:

1. A method (2000) for setting up an electrical transportation infrastructure (TI) of a mine (500, 500’, 500’’), the method comprising: - receiving (2100) mining data for the mine (500, 500’, 500’’), for different time periods ( ^tj) of a given mining time interval ( ^t), the mining data comprising respective expected source locations (S1, S2), where a material is to be taken from, and at least one respective destination location (D1, D2), where the material is to be taken to; - determining (2200), using the mining data, a time-dependent 3D network of the mine (500, 500’, 500’’), for each of the different time periods ( ^tj), the time-dependent 3D network comprising a respective network (G1, G2, G3) of available paths connecting the expected source locations (S1, S2) with the at least one destination location (D1, D2) during the respective time period ( ^tj); - numerically determining (2300), using the time-dependent 3D network (G1, G2, G3), a planned placement of the electrical transportation infrastructure (TI) so that expected total costs (C) of the mine (500, 500’, 500’’) over the given mining time interval ( ^t) are at least approximately minimized, the expected total costs (C) of the mine (500, 500’, 500’’) comprising estimated environmental costs resulting from transporting the material between the expected source locations (S1, S2) and the at least one destination location (D1, D2) during the given mining time interval ( ^t) subject to mining constraints during the given mining time interval ( ^t); and - initializing (2400) placing the electrical transportation infrastructure in the mine (500, 500’, 500’’) based on the planned placement of the electrical transportation infrastructure (TI).

2. The method (2000) of claim 1, wherein the expected total costs (C) of the mine (500, 500’, 500’’) comprise capital expenditures, CapEx, of the mine (500, 500’, 500’’) and operating expenses, OpEx, of the mine (500, 500’, 500’’).

3. The method (2000) of claim 1 or 2, wherein numerically determining (2300) the planned placement of the electrical transportation infrastructure comprises using (1300, 1310) a placement algorithm, the placement algorithm at least approximately minimizing the estimated environmental costs resulting from transporting the material between the expected source locations (S1, S2) and the at least one destination location (D1, D2)during the given mining time interval ( ^t) for a given budget (B) of the electrical transportation infrastructure (TI).

4. A method (1000) for setting up an electrical transportation infrastructure (TI) of a mine (500, 500’, 500’’), the method comprising: - receiving (1100) mining data for the mine (500, 500’, 500’’), for different time periods ( ^tj) of a given mining time interval ( ^t), the mining data comprising respective expected source locations (S1, S2), where a material is to be taken from, and at least one respective destination location (D1, D2), where the material is to be taken to; - determining (1200), using the mining data, a time-dependent 3D network of the mine (500, 500’, 500’’), for each of the different time periods ( ^tj), the time-dependent 3D network comprising a respective network (G1, G2, G3) of available paths connecting the expected source locations (S1, S2) with the at least one destination location (D1, D2) during the respective time period ( ^tj); - numerically determining (1300, 1310), for a given budget (B) of the electrical transportation infrastructure (TI) and using the time-dependent 3D network (G1, G2, G3), a planned placement of the electrical transportation infrastructure (TI), using a placement algorithm, the placement algorithm at least approximately minimizing estimated environmental costs resulting from transporting the material between the expected source locations (S1, S2) and the at least one destination location (D1, D2) during the given mining time interval ( ^t) subject to mining constraints during the given mining time interval ( ^t); and - initializing (1400) placing the electrical transportation infrastructure in the mine (500, 500’, 500’’) based on the planned placement of the electrical transportation infrastructure (TI).

5. The method of claim 3 or 4, wherein the planned placement of the electrical transportation infrastructure (TI) is determined such that expected total costs of the mine (500, 500’, 500’’) over the given mining time interval ( ^t) are at least approximately minimized, wherein the expected total costs of the mine (500, 500’, 500’’) comprise capital expenditures, CapEx, of the mine (500, 500’, 500’’), and operating expenses, OpEx, of the mine (500, 500’, 500’’), and wherein the CapEx of the mine (500, 500’, 500’’) comprise CapEx of the electrical transportation infrastructure (TI) provided by a first portion of the estimated environmental costs, and the OpEx of the mine (500, 500’,500’’) comprise OpEx of the electrical transportation infrastructure (TI) provided by a second portion of the estimated environmental costs.

6. The method (1000, 2000) of any of the claims 3 to 5, comprising varying the given budget (B) to at least approximately minimize the expected total costs of the mine (500, 500’, 500’’) over the given mining time interval ( ^t).

7. The method (1000, 2000) of any of the claims 3 to 6, wherein the given budget (B) comprises the CapEx of the electrical transportation infrastructure (TI), and the OpEx of the electrical transportation infrastructure (TI) during the given mining time interval ( ^t) such as expected energy costs for transporting the material using the electrical transportation infrastructure (TI).

8. The method (1000, 2000) of any of the claims 3 to 7, wherein the OpEx of the mine (500, 500’, 500’’) comprises expected energy costs for transporting the material without using the electrical transportation infrastructure (TI).

9. The method (1000, 2000) of any of the preceding of claims, wherein the electrical transportation infrastructure comprises an electric power supply for vehicles transporting the material.

10. The method (1000, 2000) of any of the preceding of claims, wherein the electrical transportation infrastructure comprises conductor rails and / or power lines, in particular trolley lines.

11. The method (1000, 2000) of any of the preceding claims, wherein the environmental costs refer to greenhouse gas, GHG, emissions, in particular carbon dioxide, CO2, emissions.

12. The method (1000, 2000) of any of the preceding claims, wherein the mining constraints refer to at least one of: a transportation time for the material, a production schedule of the mine, a production capacity of the mine, a production efficiency of the mine, and a cost information.

13. The method (1000, 2000) of any of the claims 3 to 12, wherein the placement algorithm is an optimization algorithm comprising respective penalty terms for the given budget (B) of the electrical transportation infrastructure and the environmental costs, in particular the GHG emissions.

14. The method (1000, 2000) of claim 13, wherein the placement algorithm comprises determining a respective placement of the electrical transportation infrastructure for different given budgets (B).

15. The method (1000, 2000) of any of the preceding claims, wherein the time-dependent 3D network is a time-dependent 3D road network, and / or wherein the placement of the electrical transportation infrastructure is fixed for the given mining time interval ( ^t).

16. The method (1000, 2000) of any of the claims 3 to 15, wherein the placement algorithm is a heuristic algorithm for numerically determining the planned placement of the electrical transportation infrastructure.

17. The method (1000, 2000) of claim 16, the placement algorithm comprising at least one of the following steps: a. assigning (1311) a weight (wij) for each edge (eij) of the respective networks (G1, G2, G3), the weights (wij) indicating how desired it is to transport the material on the edges using a respective electrical transportation infrastructure of the edge; b. determining (1312) an overlay of the respective networks (G1, G2, G3); c. using (1313) the weights (wij) to select an edge of the overlay which is most desired to be equipped with a respective electrical transportation infrastructure; d. updating (1314) the expected total costs (C) or costs (CB) of building the electrical transportation infrastructure in accordance with costs for installing the respective electrical transportation infrastructure at the selected edge; and e. repeating (1315) steps c and d until the expected total cost (C) at least reaches a total budget or the costs (CB) of building the electrical transportation infrastructure at least reaches the given budget (B).

18. The method (1000, 2000) of claim 17, wherein the weights (wij) depend on at least one of: a length of the edge, a slope of the edge, an elevation profile of the edge, the time periods ( ^tj), an expected energy consumption and / or emitted amount GHG for using the electrical transportation infrastructure of the respective edge, and an expected energy consumption and / or emitted amount GHG for using an alternative energy source for transporting the material along the respective edge, in particular a respective fossil fuel consumption, for example a diesel consumption.

19. The method (1000, 2000) of any of the claims 3 to 15, wherein the placement algorithm uses mixed integer linear programming, MILP.

20. The method (1000, 2000) of claim 19, comprising at least one of: - for each of the different time periods ( ^tj), determining, for each edge of a graph representing the time-dependent 3D network during the respective time period ( ^tj), costs (CB) of building the electrical transportation infrastructure (TI) at and / or along the edge;- for each of the different time periods ( ^tj), determining, for each edge of the graph, respective costs (CE) referring to an emitted GHG amount resulting from transporting the material along the edge when the electrical transportation infrastructure (TI) is used and when a non-electrical transportation infrastructure (TI) is used such as a diesel truck, in particular a respective emitted CO2amount; and - using a MILP solver to minimize a function comprising the costs (CB) of building the electrical transportation infrastructure (TI) and the costs (CE) referring to the emitted GHG at the constrain that a given budget (B, C) for the electrical transportation infrastructure (TI) is not exceeded.

21. The method (1000, 2000) of any of the preceding claims, wherein the given mining time interval ( ^t) is larger than one year, two years or even several years, and / or refers to an expected overall mining time of the mine (500, 500’, 500’’).

22. A method (3000) of mining in a mine (500, 500’, 500’’), the method comprising at least one of: - determining (3001) mining data relating to the mine (500, 500’, 500’’); - storing (3002) the mining data in a database; - receiving (3003) the mining data from the database; and - selecting (3004) the time periods ( ^tj) in accordance with expected life times of expected source locations (S1, S2) of the mine (500, 500’, 500’’), the method (2000) further comprising: - setting up (3200) an electrical transportation infrastructure (TI) of the mine (500, 500’, 500’’) according to the method (1000, 2000) of any of the preceding claims; and - transporting (1500, 2500, 3500) the material using the electrical transportation infrastructure of the mine (500, 500’, 500’’).

23. The method (3000) of claim 22, wherein setting up (3200) the electrical transportation infrastructure (TI) of the mine (500, 500’, 500’’) is performed prior to starting mining the material, and / or after starting mining the material, in particular after detecting an unexpected material quality at one of the expected source locations (S1, S2) of the mine (500, 500’, 500’’) and / or regularly.

24. A computer program product and / or a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method of any of the preceding claims.

25. A planning system for a mine (500, 500’, 500’’) comprising a time-dependent road network comprising edges formed by roads connecting source locations (S1, S2) withat least one destination location (D1, D2), wherein at least one edge of the road network is to be provided with an electrical transportation infrastructure such as a conductor rail and / or a power line, in particular a trolley line, the planning system being configured for carrying out the method of any of the claims 1 to 23.

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