Methods, systems and mining and / or construction machines for controlling movement of feed beams of mining and / or construction machines during a folding sequence

Abstract

A method for controlling movement of a feed beam (103) of a mining and / or construction machine (100) during a folding sequence, wherein the feed beam (103) is moved to a transport position in which the feed beam (103) rests against a transport support (105) on a carrier (101) of the mining and / or construction machine (100), the feed beam (103) being mounted on a boom (102) of the mining and / or construction machine (100) and movable relative to the boom (102), wherein at least one signal transmitter (120, 122) is arranged on the feed beam (103) and at least one signal receiver (124, 126) is arranged on the transport support (105) and / or the boom (102), or vice versa; the method comprising: moving (302) the feed beam (103) towards the transport position; sending (304), by the at least one signal transmitter (120, 122), at least one signal; receiving (306), by the at least one signal receiver (124, 126), the at least one signal from the at least one signal transmitter (120, 122), the at least one signal indicating the distance between the at least one signal transmitter (120, 122) and the at least one signal receiver (124, 126); and determining (308), if the feed beam (103) is in the transport position based on the distance indicated by the at least one signal received by the at least one signal receiver (124, 126).

Description

METHODS, SYSTEMS AND MINING AND / OR CONSTRUCTION MACHINES FOR CONTROLLING MOVEMENT OF FEED BEAMS OF MINING AND / OR CONSTRUCTION MACHINES DURING A FOLDING SEQUENCETechnical Field

[0001] The present disclosure relates generally to methods, systems and mining and / or construction machines for controlling movement of feed beams of mining and / or construction machines during a folding sequence.Background

[0002] Mining machines are widely used in mines including surface mines and underground mines. Mining machines may include production, rotary drilling and rotary exploration mining rigs. Construction machines may include rigs for quarrying, civil engineering e.g. construction of roads and railways and urban development e.g. construction of housing and trenching. A mining and / or construction machine may comprise a carrier, a boom, a feed beam and one or more work implements, such as a feeder, a drill bit, a drill rod, a rock drill, etc. During use, the feed beam may be actuated by the boom and the work implement may be actuated by the feed beam. The feed beam can be moved between different working positions, as well as a transport position. In the transport position, in order to make the mining and / or construction machine move flexibly, the feed beam needs to be arranged in an optimal position for transport, i.e. which folds the feed beam and minimizes space requirement and improves stability and handling of the mining and / or construction machine during transport. In the transport position, the feed beam is often supported against a transport support arranged on the mining and / or construction machine. The transport support can be a bracket or other similar structure.

[0003] As discussed above, it is needed to ensure that the feed beam is arranged on the transport support when in transport position. However, the feed beam is actuated by the boom and controlling the boom is a demanding and timeconsuming task, because the boom structure is complex comprising multiple boomjoints and actuators for performing the movements. Therefore, determining whether the feed beam is in the transport position is complicated and may require convoluted modeling of the boom joints.

[0004] Furthermore, when folding the feed beam into transport position, there is risk of the feed beam hitting the transport support and / or the carrier, which may cause damage of the mining and / or construction machine.

[0005] Thus, there is a need for a simple and direct solution for arranging the feed beam in the transport position during folding sequence, and avoiding the feed beam hitting the transport support and / or the carrier during folding sequence.Summary

[0006] It is an object of the invention to address at least some of the problems and issues outlined above. It is an object of embodiments of the invention to a simple and direct solution for arranging the feed beam in the transport position during folding sequence. It is another object of embodiments of the invention to avoid the feed beam hitting any mechanical structure, e.g., the transport support and / or the carrier. It is possible to achieve one or more of these objects and possibly others by using methods and loading systems as defined in the attached independent claims.

[0007] In a first aspect of the disclosure there is provided a method for controlling movement of a feed beam of a mining and / or construction machine during a folding sequence, wherein the feed beam is moved to a transport position in which the feed beam rests against a transport support on a carrier of the mining and / or construction machine. The feed beam is mounted on a boom of the mining and / or construction machine and movable relative to the boom. At least one signal transmitter is arranged on the feed beam and at least one signal receiver is arranged on the transport support and / or the boom, or vice versa. The method comprises moving the feed beam towards the transport position; sending, by the at least one signal transmitter, at least one signal; receiving, by the at least one signal receiver, the at least one signal from the at least one signal transmitter, theat least one signal indicating the distance between the at least one signal transmitter and the at least one signal receiver; and determining, if the feed beam is in the transport position based on the distance indicated by the at least one signal received by the at least one signal receiver.

[0008] The disclosure is based on the insight that the at least one signal received by the at least one signal receiver indicates the distance between the signal transmitter and the signal receiver. Since the signal transmitter is arranged on the feed beam and the signal receiver is arranged on the transport support and / or the boom, or vice versa, the distance between the signal transmitter and the signal receiver actually indicates the distance between the feed beam and the transport support and / or the boom. When the distance between the feed beam and the transport support and / or the boom is within a proper range, it is determined that the feed beam is correctly and safely resting on the transport support and is in the transport position. Otherwise the feed beam is not in the transport position and not applicable for transporting. The signal transmitters can be arranged on the feed beam, and the signal receivers can be arranged on the transport support and / or the boom, and vice versa, as long as the signal can indicate the distance in between. By this method, the distance between the feed beam and the transport support / the boom is simply and directly defined, and the transport position of the feed beam is also simply determined.

[0009] In some embodiments, a plurality of signal transmitters is arranged on the feed beam and a plurality of signal receivers is arranged on the carrier and / or the boom, or vice versa, the step of determining comprising: estimating a relative position of the feed beam to the transport support based on the at least one signal received by the plurality of signal receivers or a plurality of signals transmitted by the plurality of signal transmitters; and determining if the feed beam is in the transport position based on the estimated relative position of the feed beam to the transport support.

[0010] In these embodiments, multiple signal transmitters and multiple signal receivers are arranged, not only on the feed beam, the transport support and / or the boom, but also on the carrier. The positions of the transmitters / receivers arealready known, so that the estimation of the relative position of the feed beam to the transport support becomes more accurate with more transmitters / receivers, thus the determination of transport position also becomes more accurate.

[0011] In some embodiments, the distance is based on transmission time, signal strength and / or direction of the at least one signal received by the at least one signal receiver. Longer transmission time and / or weaker signal strength indicates longer distance between the signal transmitters and the signal receivers, and vice versa. The direction of the received signal indicates the relative direction between the feed beam and the transport support and / or the boom.

[0012] In some embodiments, the method further comprises estimating a relative position of the feed beam to the carrier based on the at least one signal received by at least two signal receivers arranged on the transport support, the boom and / or the carrier, respectively, or estimating a relative position of the feed beam to the carrier based on the at least one signal transmitted by at least two signal transmitters arranged on the transport support, the boom and / or the carrier, respectively.

[0013] In these embodiments, a relative position of the feed beam and the carrier is also estimated, since it is also desired to avoid feed beam hitting the carrier. The estimation is based on signals received / transmitted by at least two receivers / transmitters, so that a triangle calculation can be performed, based on the positions of the two receivers / transmitters and the position of corresponding transm itter / receiver.

[0014] In some embodiments, a plurality of signal transmitters is arranged on the feed beam and a plurality of signal receivers is arranged on the transport support and / or the boom, or vice versa, the method further comprises: determining, a relative angle between the feed beam and the boom based on the at least one signal received by the plurality of signal receivers or a plurality of signals transmitted by the plurality of signal transmitters and if the determined relative angle between the feed beam and the boom is outside a predeterminedrange, moving the feed beam and / or the boom so that the relative angle is within the predetermined range.

[0015] In these embodiments, a relative angle between the feed beam and the boom is estimated based on the signals received / transmitted by the receivers / transmitters. When the relative angle is outside a predetermined range, it is determined that the position of the feed beam and / or the boom is improper, and the mining and / or construction machine may be damaged. The feed beam and / or the boom is moved so that the relative angle return to the predetermined range.

[0016] In some embodiments, the method further comprises: if the determined relative angle between the feed beam and the boom is outside a predetermined range, indicating a warning. By this method, the status of the feed beam and / or the boom is indicated to a driver or an external controller.

[0017] In some embodiments, the boom is further arranged with a signal transmitter or signal receiver which is of the opposite type as the one arranged on the transport support, the method further comprises: estimating a relative position of the boom to the transport support based on the at least one signal sent by the signal transmitter and received by the signal receiver arranged on the transport support, or based on the at least one signal sent by the signal transmitter arranged on the transport support and received by the signal receiver arranged on the boom.

[0018] In these embodiments, the boom and the transport support are further arranged with opposite type of transmitter / receiver, i.e., the boom is arranged with a transmitter and the transport support is arranged with a receiver, or vice versa. Based on the signal received by the boom or the transport support, the relative position of the boom and the transport support is estimated, so that collision between the boom and the transport support is avoided.

[0019] In some embodiments, the mining and / or construction machine is an autonomous drill rig.

[0020] In some embodiments, the at least one signal comprises radio signal, audio signal, optical signal radar signal and / or electromagnetic signal.

[0021] In a second aspect of the disclosure there is provided a control system for controlling movement of a feed beam of a mining and / or construction machine during a folding sequence, wherein the feed beam is moved to a transport position in which the feed beam rests against a transport support on a carrier of the mining and / or construction machine, the feed beam being mounted on a boom of the mining and / or construction machine and movable relative to the boom, the control system comprises at least on signal transmitter and at least one signal receiver, wherein the at least one signal transmitter is arranged on the feed beam and the at least one signal receiver is arranged on the transport support and / or the boom, or vice versa; the control system further comprises a processing circuitry and a memory, the memory containing instructions executable by the processing circuitry, whereby the control system is operative for: moving the feed beam towards the transport position; sending, by the at least one signal transmitter, at least one signal; receiving, by the at least one signal receiver, the at least one signal from the at least one signal transmitter, the at least one signal indicating the distance between the at least one signal transmitter and the at least one signal receiver; and determining, if the feed beam is in the transport position based on the distance indicated by the at least one signal received by the at least one signal receiver.

[0022] In some embodiment, the control system is operative for the methods according to above embodiments.

[0023] In a third aspect of the disclosure there is provided a mining and / or construction machine comprising the control system according to above embodiments.

[0024] In a fourth aspect of the disclosure there is provided a computer program comprising instructions, which, when executed by a processing circuitry of a control system, is operative for performing the methods according to above embodiments.

[0025] In a fifth aspect of the disclosure there is provided a data carrier containing the computer program above, wherein the data carrier is one of an electronic signal, an optical signal, a radio signal, an electric signal, or a computer readable storage medium.Brief Description of Drawings

[0026] The invention is now described, by way of example, with reference to the accompanying drawings, in which:

[0027] Fig. 1 schematically shows a mining and / or construction machine in a non-transport position, according to possible embodiments.

[0028] Fig. 2 schematically shows a mining and / or construction machine in a non-transport position with more details, according to possible embodiments.

[0029] Fig. 3 schematically shows a mining and / or construction machine in a transport position, according to possible embodiments.

[0030] Fig. 4 shows a flow chart of the method for controlling movement of a feed beam of a mining and / or construction machine, according to possible embodiments.Detailed Description

[0031] Figs. 1 and 2 respectively shows a mining and / or construction machine 100 in a non-transport position. The mining and / or construction machine 100 comprises a carrier 101 , a boom 102, a feed beam 103 and a work implement 107. Alternatively, the mining and / or construction machine 100 further comprises a cabin 114. The boom 102 is movable relative to the carrier 101 and the feed beam 103 is movable relative to the boom 102. As fig. 1 shows, the boom 102 can consist of two parts with a joint in-between so that the boom 102 can be foldable. It should be understood that the boom also may have more parts than two with joints in-between so that the boom can be foldable. The boom 102 can also be an extended boom or a single boom. The work implement 107 is attached to the feed beam 103 and is a rock drilling device in fig. 2. It can also be other type of workimplement, e.g., a drill rod, a rock drill, drill bit, etc. To be specific, in top hammer drilling, it can be a rock drill, a drill rod, a drill bit, etc. In down hole drilling, it can be a down-the-hole (DTH) hammer, a rotation unit, a drill rod, a drill bit, etc. In rotary drilling / exploration core drilling, it can be a rotation unit, a drill rod, a drill bit with or without percussive hammer, etc. A transport support 105 is arranged on the carrier 101 . In this non-transport position, the feed beam 103 is not resting on the transport support 105. At least one signal transmitters 120, 122 are arranged on the feed beam 103 to send at least one signal. The number of the signal transmitters is not limited to two. At least one signal receivers 124, 126, 128 are arranged on the transport support 105, the boom 102 and the carrier 101 , for receiving the at least one signal sent by the at least one signal transmitters 120, 122. Similarly, the feed beam 103 can be arranged with signal receivers, the transport support 105, the boom 102 and the carrier 101 can be arranged with signal transmitters.

[0032] Fig. 3 shows the mining and / or construction machine 100 in a transport position. The feed beam 103 is moved towards the transport support 105 by means of the boom 102 and rests on the transport support 105 in the transport position. As discussed in Background, in the transport position the feed beam 103 is folded and the space requirement of the mining and / or construction machine is minimized. This is used to transport safely and improve the stability of the mining and / or construction machine when transporting. Furthermore, the feed beam 103 should rests safely on the transport support 105 without hitting the transport support 105 or the carrier 101 / the cabin 114 during the folding sequence.

[0033] Referring to fig. 4, in combination with figs. 1-3, a method for controlling movement of a feed beam 103 of a mining and / or construction machine 100 during a folding sequence, wherein the feed beam 103 is moved to a transport position in which the feed beam 103 rests against a transport support 105 on a carrier 101 of the mining and / or construction machine 100, the feed beam 103 being mounted on a boom 102 of the mining and / or construction machine 100 and movable relative to the boom 102, wherein at least one signal transmitter 120, 122 is arranged on the feed beam 103 and at least one signal receiver 124, 126 is arranged on thetransport support 105 and / or the boom 102, or vice versa; the method comprising: moving 302 the feed beam 103 towards the transport position; sending 304, by the at least one signal transmitter 120, 122, at least one signal; receiving 306, by the at least one signal receiver 124, 126, the at least one signal from the at least one signal transmitter 120, 122, the at least one signal indicating the distance between the at least one signal transmitter 120, 122 and the at least one signal receiver 124, 126; and determining 308, if the feed beam 103 is in the transport position based on the distance indicated by the at least one signal received by the at least one signal receiver 124, 126.

[0034] The disclosure is based on the insight that the at least one signal received by the at least one signal receiver 124, 126 indicates the distance between the signal transmitter 120, 122 and the signal receiver 124, 126. Since the signal transmitter 120, 122 is arranged on the feed beam 103 and the signal receiver 124, 126 is arranged on the transport support 105 and / or the boom 102, or vice versa, the distance between the signal transmitter 120, 122 and the signal receiver 124, 126 actually indicates the distance between the feed beam 103 and the transport support 105 and / or the boom 102. When the distance between the feed beam 103 and the transport support 105 and / or the boom 102 is within a proper range, it is determined that the feed beam 103 is correctly and safely resting on the transport support 105 and is in the transport position. Otherwise the feed beam 103 is not in the transport position and not applicable for transporting. The signal transmitters 120, 122 can be arranged on the feed beam 103, and the signal receivers can be arranged on the transport support 105 and / or the boom 102, and vice versa, as long as the signal can indicate the distance in between. By this method, the distance between the feed beam 103 and the transport support 105 / the boom 102 is simply and directly defined, and the transport position of the feed beam 103 is also simply determined.

[0035] According to other embodiments, a plurality of signal transmitters 120, 122 is arranged on the feed beam 103 and a plurality of signal receivers 124, 126, 128 is arranged on the carrier 101 and / or the boom 102, or vice versa, the step of determining 308 comprising: estimating a relative position of the feed beam 103 tothe transport support 105 based on the at least one signal received by the plurality of signal receivers 124, 126, 128 or a plurality of signals transmitted by the plurality of signal transmitters 120, 122; and determining if the feed beam 103 is in the transport position based on the estimated relative position of the feed beam 103 to the transport support 105.

[0036] In these embodiments, multiple signal transmitters 120, 122 and multiple signal receivers 124, 126, 128 are arranged, not only on the feed beam 103, the transport support 105 and / or the boom 102, but also on the carrier 101 . The positions of the transmitters 120, 122 / receivers 124, 126, 128 are already known, so that the estimation of the relative position of the feed beam 103 to the transport support 105 becomes more accurate with more transmitters / receivers, thus the determination of transport position also becomes more accurate.

[0037] According to other embodiments, the distance is based on transmission time, signal strength and / or direction of the at least one signal received by the at least one signal receiver 124, 126, 128.

[0038] Longer transmission time and / or weaker signal strength indicates longer distance between the signal transmitters 120, 122 and the signal receivers 124, 126, 128, and vice versa. The direction of the received signal indicates the relative direction between the feed beam 103 and the transport support 105 and / or the boom 102.

[0039] According to other embodiments, the method further comprises estimating a relative position of the feed beam 103 to the carrier 101 based on the at least one signal received by at least two signal receivers 124, 126, 128 arranged on the transport support 105, the boom 102 and / or the carrier 101 , respectively, or estimating a relative position of the feed beam 103 to the carrier 101 based on the at least one signal transmitted by at least two signal transmitters arranged on the transport support 105, the boom 103 and / or the carrier 101 , respectively.

[0040] In these embodiments, a relative position of the feed beam 103 and the carrier 101 is also estimated, since it is also desired to avoid feed beam 103 hitting the carrier 101. The estimation is based on signals received / transmitted by at least two receivers 124, 126, 128 / transmitters 120, 122, so that a triangle calculation can be performed, based on the positions of the at least two receivers 124, 126, 128 / transmitters 120, 122 and the position of corresponding transmitter / receiver. Alternatively, a relative position of the feed beam 103 and the cabin 114 can also be estimated, based on the received signals and the relative position between the receiver and the cabin 114.

[0041] According to other embodiments, a plurality of signal transmitters 120, 122 is arranged on the feed beam 103 and a plurality of signal receivers 124, 126, 128 is arranged on the transport support 105 and / or the boom 102, or vice versa, the method further comprises: determining, a relative angle between the feed beam 103 and the boom 102 based on the at least one signal received by the plurality of signal receivers 124, 126, 128 or a plurality of signals transmitted by the plurality of signal transmitters 120, 122 and if the determined relative angle between the feed beam 103 and the boom 102 is outside a predetermined range, moving the feed beam 103 and / or the boom 102 so that the relative angle is within the predetermined range.

[0042] In these embodiments, a relative angle between the feed beam 103 and the boom 102 is estimated based on the signals received / transmitted by the receivers 124, 126, 128 / transmitters 120, 122. When the relative angle is outside a predetermined range, it is determined that the position of the feed beam 103 and / or the boom 102 is improper, and the mining and / or construction machine 100 may be damaged. The feed beam 103 and / or the boom 102 is moved so that the relative angle return to the predetermined range.

[0043] According to other embodiments, the method further comprises: if the determined relative angle between the feed beam 103 and the boom 102 is outside a predetermined range, indicating a warning. By this method, the status of the feed beam 103 and / or the boom 102 is indicated to a driver or an operatoreither onboard or that controls the rig remotely, or an external controller, with software that do this automatically.

[0044] According to other embodiments, the boom 102 is further arranged with a signal transmitter or signal receiver 130 which is of the opposite type as the one arranged on the transport support 105, the method further comprises: estimating a relative position of the boom 102 to the transport support 105 based on the at least one signal sent by the signal transmitter 130 and received by the signal receiver 124 arranged on the transport support 105, or based on the at least one signal sent by the signal transmitter arranged on the transport support 105 and received by the signal receiver arranged on the boom 102.

[0045] In these embodiments, the boom 102 and the transport support 105 are further arranged with opposite type of transmitter / receiver, i.e., the boom 102 is arranged with a transmitter 130 and the transport support is arranged with a receiver 124, or vice versa. Based on the signal received by the boom 102 or the transport support 105, the relative position of the boom 102 and the transport support 105 is estimated, so that collision between the boom 102 and the transport support 105 is avoided.

[0046] According to other embodiments, the mining and / or construction machine 100 is an autonomous drill rig.

[0047] According to other embodiments, the at least one signal comprises radio signal, audio signal, optical signal, radar signal and / or electromagnetic signal. That is, the distance can be indicated by the strength of the radio signal, the audio signal, the optical signal, the radar signal, the electric field and / or the magnetic field.

[0048] According to other embodiments, a control system for controlling movement of a feed beam 103 of a mining and / or construction machine 100 during a folding sequence is provided. The feed beam 103 is moved to a transport position in which the feed beam 103 rests against a transport support 105 on a carrier 101 of the mining and / or construction machine 100, the feed beam 103being mounted on a boom 102 of the mining and / or construction machine 100 and movable relative to the boom 103, the control system comprises at least on signal transmitter 120, 122 and at least one signal receiver 124, 126, wherein the at least one signal transmitter 120, 122 is arranged on the feed beam 103 and the at least one signal receiver 124, 126 is arranged on the transport support 105 and / or the boom 102, or vice versa; the control system further comprises a processing circuitry and a memory, the memory containing instructions executable by the processing circuitry, whereby the control system is operative for: moving the feed beam 103 towards the transport position; sending, by the at least one signal transmitter 120, 122, at least one signal; receiving, by the at least one signal receiver 124, 126, the at least one signal from the at least one signal transmitter 120, 122, the at least one signal indicating the distance between the at least one signal transmitter 120, 122 and the at least one signal receiver 124, 126; and determining, if the feed beam 103 is in the transport position based on the distance indicated by the at least one signal received by the at least one signal receiver 124, 126.

[0049] According to other embodiments, the control system is operative for the methods according to above embodiments.

[0050] According to other embodiments, a mining and / or construction machine 100 is provided, comprising the control system according to above embodiments.

[0051] According to other embodiments, there is provided a computer program comprising instructions, which, when executed by a processing circuitry of a control system, is operative for performing the methods according to above embodiments. The computer program can be provided locally on the mining and / or construction machine or on a remote server, so that the method for controlling the movement of the feed beam during the folding sequence can be automatically performed by the mining and / or construction machine.

[0052] According to other embodiments, there is provided a data carrier containing the computer program according to the embodiments above, whereinthe data carrier is one of an electronic signal, an optical signal, a radio signal, an electric signal, or a computer readable storage medium.

[0053] Although the description above contains a plurality of specificities, these should not be construed as limiting the scope of the concept described herein but as merely providing illustrations of some exemplifying embodiments of the described concept. It will be appreciated that the scope of the presently described concept fully encompasses other embodiments which may become obvious to those skilled in the art, and that the scope of the presently described concept is accordingly not to be limited. Reference to an element in the singular is not intended to mean "one and only one" unless explicitly so stated, but rather "one or more." Further, the term “a number of”, such as in “a number of wireless devices” signifies one or more devices. All structural and functional equivalents to the elements of the above-described embodiments that are known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed hereby. Moreover, it is not necessary for an apparatus or method to address each and every problem sought to be solved by the presently described concept, for it to be encompassed hereby.

Claims

CLAIMS1 . A method for controlling movement of a feed beam (103) of a mining and / or construction machine (100) during a folding sequence, wherein the feed beam (103) is moved to a transport position in which the feed beam (103) rests against a transport support (105) on a carrier (101 ) of the mining and / or construction machine (100), the feed beam (103) being mounted on a boom (102) of the mining and / or construction machine (100) and movable relative to the boom (102), wherein at least one signal transmitter (120, 122) is arranged on the feed beam (103) and at least one signal receiver (124, 126) is arranged on the transport support (105) and / or the boom (102), or vice versa; the method comprising: moving (302) the feed beam (103) towards the transport position; sending (304), by the at least one signal transmitter (120, 122), at least one signal; receiving (306), by the at least one signal receiver (124, 126), the at least one signal from the at least one signal transmitter (120, 122), the at least one signal indicating the distance between the at least one signal transmitter (120, 122) and the at least one signal receiver (124, 126); and determining (308), if the feed beam (103) is in the transport position based on the distance indicated by the at least one signal received by the at least one signal receiver (124, 126).

2. The method according to claim 1 , wherein a plurality of signal transmitters (120, 122) is arranged on the feed beam (103) and a plurality of signal receivers (124, 126, 128) is arranged on the carrier (101) and / or the boom (102), or vice versa, the step of determining (308) comprising: estimating a relative position of the feed beam (103) to the transport support (105) based on the at least one signal received by the plurality of signal receivers (124, 126, 128) or a plurality of signals transmitted by the plurality of signal transmitters (120, 122); anddetermining if the feed beam (103) is in the transport position based on the estimated relative position of the feed beam (103) to the transport support (105).

3. The method as claimed in claim 1 or 2, wherein the distance is based on transmission time, signal strength and / or direction of the at least one signal received by the at least one signal receiver (124, 126, 128).

4. The method as claimed in claim 2, further comprising: estimating a relative position of the feed beam (103) to the carrier (101 ) based on the at least one signal received by at least two signal receivers (124, 126, 128) arranged on the transport support (105), the boom (102) and / or the carrier (101 ), respectively, or estimating a relative position of the feed beam (103) to the carrier (101 ) based on the at least one signal transmitted by at least two signal transmitters arranged on the transport support (105), the boom (103) and / or the carrier (101 ), respectively.

5. The method as claimed in any one of the claims 1-5, wherein a plurality of signal transmitters (120, 122) is arranged on the feed beam (103) and a plurality of signal receivers (124, 126, 128) is arranged on the transport support (105) and / or the boom (102), or vice versa, the method further comprises: determining, a relative angle between the feed beam (103) and the boom (102) based on the at least one signal received by the plurality of signal receivers (124, 126, 128) or a plurality of signals transmitted by the plurality of signal transmitters (120, 122) and if the determined relative angle between the feed beam (103) and the boom (102) is outside a predetermined range, moving the feed beam (103) and / or the boom (102)so that the relative angle is within the predetermined range.

6. The method as claimed in claim 5, the method further comprises: if the determined relative angle between the feed beam (103) and the boom (102) is outside a predetermined range, indicating a warning.

7. The method as claimed in any one of the preceding claims, the boom (102) is further arranged with a signal transmitter (130) or signal receiver which is of the opposite type as the one arranged on the transport support (105), the method further comprises: estimating a relative position of the boom (102) to the transport support (105) based on the at least one signal sent by the signal transmitter (130) and received by the signal receiver (124) arranged on the transport support (105), or based on the at least one signal sent by the signal transmitter arranged on the transport support (105) and received by the signal receiver arranged on the boom (102).

8. The method as claimed in any one of the claims 1-7, wherein the mining and / or construction machine (100) is an autonomous drill rig.

9. The method as claimed in any one of the claims 1-8, wherein the at least one signal comprises radio signal, audio signal, optical signal, radar signal and / or electromagnetic signal.

10. A control system for controlling movement of a feed beam (103) of a mining and / or construction machine (100) during a folding sequence, wherein the feed beam (103) is moved to a transport position in which the feed beam (103) rests against a transport support (105) on a carrier (101) of the mining and / or construction machine (100), the feed beam (103) being mounted on a boom (102) of the mining and / or construction machine (100) and movable relative to the boom (103), the control system comprises at least on signal transmitter (120, 122) and at least one signal receiver (124, 126), wherein the at least one signal transmitter (120, 122) is arranged on the feed beam (103) and the at least one signal receiver (124, 126) is arranged on the transport support (105) and / or the boom (102), or vice versa; the control system further comprises a processing circuitry and a memory, the memory containing instructions executable by the processing circuitry, whereby the control system is operative for: moving the feed beam (103) towards the transport position;sending, by the at least one signal transmitter (120, 122), at least one signal; receiving, by the at least one signal receiver (124, 126), the at least one signal from the at least one signal transmitter (120, 122), the at least one signal indicating the distance between the at least one signal transmitter (120, 122) and the at least one signal receiver (124, 126); and determining, if the feed beam (103) is in the transport position based on the distance indicated by the at least one signal received by the at least one signal receiver (124, 126).11 . The control system as claimed in claim 10, the control system is operative for the methods according to any one of the claims 2-9.

12. A mining and / or construction machine (100) comprising the control system according to any one of the claims 10 or 11 .

13. A computer program comprising instructions, which, when executed by a processing circuitry of a control system for controlling movement of a feed beam (103) of a mining and / or construction machine (100) during a folding sequence, wherein the feed beam (103) is moved to a transport position in which the feed beam (103) rests against a transport support (105) on a carrier (101 ) of the mining and / or construction machine (100), the feed beam (103) being mounted on a boom (102) of the mining and / or construction machine (100) and movable relative to the boom (103), the control system comprises at least on signal transmitter (120, 122) and at least one signal receiver (124, 126), wherein the at least one signal transmitter (120, 122) is arranged on the feed beam (103) and the at least one signal receiver (124, 126) is arranged on the transport support (105) and / or the boom (102), or vice versa, causes the loading system (106) to perform the method according to any of the claims 1-9.

14. A data carrier containing the computer program according to claim 13, wherein the data carrier is one of an electronic signal, an optical signal, a radio signal, an electric signal, or a computer readable storage medium.

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