Just in time assistance for mining machine

Abstract

A method for handling tasks in a mining process performed by mining and construction machines, the method comprising collecting data relating to time consumption for performing tasks in the mining process, based on the data, determining an expected time consumption for performing a first task and a second task, respectively, based on the expected time consumption for the first task, determining, a first expected completion time T1 when a first mining / construction machine will complete the first task, based on the expected time consumption for the second task, determining a second expected completion time T2 when a second mining / construction machine will complete the second task, adjusting, or suggesting an adjustment of, a speed at which the first mining / construction machine and / or the second mining / construction machine is performing the first and / or second task, respectively, such that a time difference between T1 and T2 is minimized.

Description

JUST IN TIME ASSISTANCE FOR MINING MACHINETechnical field

[0001] The present invention relates generally to task management in mining environments.Background art

[0002] Mining processes are planned to a high degree and follow a recurring pattern, including drilling in the bedrock, positioning explosives in drilled holes, removing the blasted rock from the blasting site. Furthermore, travel paths for mining and construction machines in a mining environment are restricted and thus well defined. As such, the machines repeat the same or similar tasks several times, and travel the same or similar routes many times.

[0003] Because tasks and travel routes reoccur, each specific process step can be associated with large amounts of data, generated during the process, describing in detail for example how a task is performed, how long it takes to perform it, and variations in the execution of the given task. The generated data can be used for planning the work in a mine to a high degree and controlling the mining processes.

[0004] In addition, when the mining environment is an underground mine, additional technical challenges are presented. The underground environments comprise vast networks of ever-growing tunnels and shafts, and thick mountain walls make connectivity and communication difficult. Therefore, advanced systems for positioning, tracking and controlling machines are under constant development, leading to more accurate data on which planning, predictions and decision making can me based.

[0005] The processes in a mining environment are often performed in sequence, where a process step performed by one machine is followed by another step, which is thus dependent on the completion of the first. When consecutive process steps are performed by two different machines, the latter machine naturally has towait for the first to finish, in order to perform its assigned task. As such, downtime in the mining workflow occurs when the completion of a first task does not match the start of a succeeding task. Downtime, when a first machine has to wait for a second machine to finish, is associated with several issues. Energy consumption of the mining machines is increased. Furthermore, when the machine is driven by a combustion engine, more exhaust gases are released. This is not only an environmental hazard, but also puts higher demands on ventilation for example in underground mines. For electrified machines, charging is required more often, and wear on batteries is increased, among other things. Furthermore, machines standing idle is naturally negative from an efficiency and thus economical perspective.

[0006] Thus, there is a need for more efficient work in mining environments. Furthermore, there is a need for methods and system do decrease waiting time, or down time, for mining and construction machines.Summary of invention

[0007] An object of the present invention is to overcome at least some of the problems outlined above.

[0008] This and other objects are achieved by providing, in a first aspect of the disclosure, a method for handling tasks in a mining process performed by mining and construction machines. The method comprises collecting data relating to time consumption for performing tasks in the mining process and based on the data, determining an expected time consumption for performing a first task and a second task, respectively. Based on the expected time consumption for the first task, determining, a first expected completion time T1 when a first mining / construction machine will complete the first task. Based on the expected time consumption for the second task, determining a second expected completion time T2 when a second mining / construction machine will complete the second task. Adjusting, or suggesting an adjustment of, a speed at which the first mining / construction machine and / or the second mining / construction machine isperforming the first and / or second task, respectively, such that a time difference between T1 and T2 is minimized.

[0009] The disclosure is based on the insight that, by utilizing data to determine when the optimal time is to finish a task, downtime can be minimized. For example, according to the present disclosure, the scenario is avoided in which a machine completes its task as quickly as possible, only to be kept waiting when the task is finished. In another example, the scenario is avoided in which a machine could have had the possibility to increase its working speed to minimize downtime, but such information was unavailable and could not be taken into account.

[0010] For example, the first mining / construction machine completes the first task at the time T1 and cannot continue with a subsequent task before the second mining / construction machine has completed the second task. As such, the first mining / construction machine has to wait from the time T1 until the time T2 to continue working. The time difference between T1 and T2 is thus unwanted downtime which, according to the present disclosure, can be minimized.

[0011] By collecting data relating to time consumption, it is possible to predict how long it will take mining / construction machines to perform different tasks. The data can additionally be associated with different conditions affecting time consumption, such as, but not limited to, road conditions, or a geographical position, or machine parameters. Such conditions are thus possible to take into account when the expected time consumption for performing a task is determined.

[0012] The collected data can be utilized in real time, to determine when a mining / construction machine is expected to complete a task it is performing, and compare it with other machines operating in the same mining environment.

[0013] By adjusting the speed at which a mining / construction machine performs its assigned task, it is possible to control the machines to finish / arrive “just in time” for their subsequent task and thus minimizing, or even completely removing, downtime.

[0014] In one embodiment, the method comprises determining if the first mining / construction machine and / or the second mining / construction machine should adjust the speed at which it is performing its respective task. In one embodiment, the method comprises determining if the difference between T1 and T2 should be minimized by increasing a speed or decreasing a speed. Generally, the difference between T1 and T2 can be minimized by making an adjustment such that T1 is moved closer to T2, or an adjustment such that T2 is moved closer to T1 . This translates to determining if it is preferred that one machine should operate faster, or another machine should operate slower, or if both machines should adjust the speed.

[0015] In one embodiment, the adjustment or suggested adjustment of the speed is to decrease the speed.

[0016] In a case in which T1 is earlier than T2, it may be preferable to minimize the difference between T1 and T2 by decreasing the speed at which the first mining / construction machine performs the first task, that is, making an adjustment such that T1 is moved closer to T2. A machine performing a task at a lower speed provides a safer working environment, for example, a machine travelling at a lower speed. As such, the present disclosure provides a safer working environment without compromising efficiency.

[0017] In one embodiment, the adjustment or suggested adjustment of the speed is to increase the speed.

[0018] In a case in which T1 is earlier than T2, it may be preferable to minimize the difference between T1 and T2 by increasing the speed at which the second mining / construction machine performs the second task, that is, making an adjustment such that T2 is moved closer to T1 .

[0019] In one embodiment, the method comprises determining that the difference between T1 and T2 is below a predetermined value, and that no adjustment of speed is required.

[0020] Even though it is desirable that T1 and T2 are as close as possible, it may not be practical to aim at an exact overlap. Determining and setting an allowable time difference for example has the advantage that less processing power is needed.

[0021] In one embodiment, the first and / or second task is one of transportation to a predefined location in a mining environment, and a process step in the mining process.

[0022] The workflow for a mining machine is comprised of several tasks where a process step in the mining process is commonly followed by transportation, which in turn is followed by another (or the same) process step in the mining process. As such, defining transportation as its own task, separate from the process steps, provides that the various tasks may be based on parameters which are relevant to each task, and optimization is thus facilitated and improved.

[0023] In one embodiment, the method comprises adjusting, or suggesting an adjustment of, a traction speed.

[0024] In one embodiment, the expected completion time for the first and / or second task is determined a plurality of times. In one embodiment, the expected completion time is updated during the time which the task is performed. In one embodiment, the method comprises updating the expected completion time for the first and / or second task when it is determined that the speed at which the first mining / construction machine and / or the second mining / construction machine is performing the first and / or second task, respectively, has been adjusted.

[0025] In one embodiment, determining an expected completion time is based on real time data relating to an actual speed at which the first and / or second task is being performed.

[0026] As the adjustment or suggested adjustment is provided in real time, it is beneficial if the most recent information is utilized.

[0027] In one embodiment, determining an expected completion time is furthermore based on real time data relating to conditions affecting time consumption, such as, but not limited to, road conditions, or a geographical position, or machine parameters. In one embodiment, the real time data relating to conditions affecting time consumption is utilized to determine which of a set of expected time consumptions should be applied. In one embodiment, the conditions affecting time consumption are in themselves associated to an increase or decrease in time consumption.

[0028] As such, a new expected completion time can be determined. Specifically, a new expected completion time can be determined during the time a task is performed and by utilizing the most relevant data for the task at hand.Since a task may be performed in different locations, and during different conditions, the expected time consumption and thus the expected completion time may vary.

[0029] In one embodiment, the method comprises iterating the method when a new expected completion time is determined as long as the difference between T1 and T2 is above a predetermined value.

[0030] When the difference between T1 and T2 is below the predetermined value it is determined that no further adjustment of speed is required. The method may be initiated again when the difference between T1 and T2 is above the predetermined value.

[0031] In one embodiment, adjusting, or suggesting an adjustment, comprises comparing the real time data relating to the actual speed at which the first and / or second task is being performed with data relating to a speed at which the first and / or second task is preferably performed. In one embodiment, the collected data relating to time consumption for performing tasks in the mining process comprises the data relating to a speed at which the first and / or second task is preferably performed.

[0032] By comparing the actual speed to a preferred speed, real time data is used to determine if the actual speed deviates from an average speed for a comparable machine and task. This information can in turn be used in a determination regarding which of the first mining / construction machine and the second mining / construction machine should adjust the speed at which it is performing its respective task, or if both should. For example, if the actual speed at which the first task is being performed deviates from a preferred speed, and the actual speed at which the second task is performed does not deviate, it may be preferable to adjust the speed at which the first task is being performed to deviate less. Alternatively, it may be preferable to adjust the speed at which the second task is being performed such that the speed at which the first task is being performed does not deviate even more. A preferred speed may be interpreted either an average or typical or normal speed determined by processing the collected data, or it may be interpreted as an ideal speed for example determined based on what is a safe or energy efficient speed or determined based on the operations of other mining / construction machines. The preferred speed may thus be predetermined, or determined in real time.

[0033] In one embodiment, the method comprises displaying the suggested adjustment of the speed to an operator of the first and / or the second mining machine. As such, the operator may decide whether to adjust the speed or not. In one embodiment, the method comprises displaying at least one of: the suggested adjustment of the speed, the actual speed, the expected completion time, and corresponding parameters for other mining / construction machines.

[0034] In one embodiment, determining the expected time consumption for performing a task comprises processing the collected data by means of a machine learning method.

[0035] In a second aspect of the disclosure, there is provided a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out a method according to the disclosure.

[0036] In a third aspect of the disclosure, there is provided a computer-readable medium comprising instructions which, when executed by a computer, cause a computer to carry out a method according to the disclosure.

[0037] In a fourth aspect of the disclosure, there is provided a system for handling tasks in a mining process performed by mining and construction machines. The system comprises a control unit comprising processing circuitry and a memory, wherein said memory contains instructions executable by said processing circuitry. The system is operative for collecting data relating to time consumption for performing tasks in the mining process. Based on the data, determining an expected time consumption for performing a first and a second task, respectively. Based on the expected time consumption for the first task, determining, for a first mining / construction machine, a first expected completion time T1 when the first mining / construction machine will complete the first task. Based on the expected time consumption for the second task, determining, for a second mining / construction machine, a second expected completion time T2 when the second mining / construction machine will complete the second task. Adjusting, or suggesting an adjustment, of a speed at which the first mining / construction machine and / or the second mining / construction machine is performing the first and / or second task, respectively, such that a time difference between T1 and T2 is minimized.

[0038] In one embodiment, the system is operative for performing the method according to the disclosure.

[0039] In one embodiment, the control unit is a remote-control unit configured to communicate with a plurality of mining machines in the mining environment.

[0040] In one embodiment, the system further comprises at least one handheld unit arranged to be mounted on the first and / or second mining machine, the at least one handheld unit comprising a transmitter and a receiver, wherein the transmitter is operative for transmitting at least one of a position of the first and / or second mining machine and a speed at which the first and / or second mining machine is performing its respective task, and the receiver is arranged to receivean instruction or suggestion to adjust the speed at which the first and / or second mining machine is performing its respective task.

[0041] In one embodiment, the system further comprises at least one transmitter and receiver pair, comprised in the first and / or second mining machine, wherein the transmitter is operative for transmitting at least one of a position of the first and / or second mining machine, and a speed at which the first and / or second mining machine is performing its respective task, and the receiver is arranged to receive an instruction or suggestion to adjust the speed at which the first and / or second mining machine is performing its respective task.

[0042] In a fifth aspect of the disclosure, there is provided a mining and construction machine configured to travel in a mining environment, the mining and construction machine comprising at least one transmitter and a receiver, each comprised in a system for handling tasks in a mining process according to the disclosure.Brief description of drawings

[0043] The invention is now described, by way of example, with reference to the accompanying drawings, in which:Figs. 1a-1c displays embodiment of mining / construction machines.Fig. 2 displays an underground mine.Fig. 3 displays a surface mine.Fig. 4 displays a method according to the disclosure.Description of embodiments

[0044] In the following, a detailed description of the different embodiments of the invention is disclosed under reference to the accompanying drawings. All examples herein should be seen as part of the general description and are therefore possible to combine in any way in general terms. Individual features of the variousembodiments may be combined or exchanged unless such combination or exchange is clearly contradictory.

[0045] With reference to Figs. 1a-1c there is displayed embodiments of a mining and construction machine. When reference is made to a mining / construction machine, this will be understood as a machine arranged to operate, including travelling, in a mining environment. Thus, the mining / construction machine may for example perform operations specifically related to the mining cycle, such as drilling, loading, hauling and dumping, or other operations necessary for the operations in a mining environment, such as related to construction. The mining environment may be, but is not limited to, an underground mine, a surface mine, or an open-pit mine. The mining environment may be an area adjacent to or in connection to a mine. As such, the mining environment could be seen as any area where the mining / construction machine may normally be operating. In Fig. 1a, the mining / construction machine is exemplified as a drill rig 110. In Fig. 1b, the mining / construction machine is exemplified as a loader 120. In Fig. 1c, the mining / construction machine is exemplified as a dumper 130.

[0046] The operation of a mining / construction machine is divided into a plurality of tasks. A task is defined as having a start, associated with a starting time, and a finish, associated with a completion time. As such, a time consumption for performing each task can be measured as the time difference between the starting time and the completion time. In one example, a task comprises transportation. A transportation task may be defined as the mining / construction machine travelling from point a to point b and as such, the time consumption for performing the task is the time it takes for the machine to travel from point a to point b. In one example, a task is a work task. A work task may be defined as the mining / construction machine performing a task from start to finish, wherein the start and finish are previously defined. In one example, the mining / construction machine is a drill rig and the task is drilling a predefined number of holes. In one example, the mining / construction machine is a loader and the task is loading a predefined mass. In one example, the mining / construction machine is a dumper and the task is receiving a predefined mass.

[0047] The tasks performed by one mining / construction machine may be associated with the tasks performed by other mining / construction machines, as will be exemplified below with reference to Fig. 2 and Fig. 3

[0048] In Fig. 2 there is displayed an underground mine UM. In the underground mine UM, a plurality of mining / construction machines operate. A first loader 101 is collecting blasted rock from the blasting site. A second loader 102 is loading blasted rock into a first dumper 103. A second dumper 104 is travelling to the blasting site to be filled with blasted rock. A third dumper 105 is dumping blasted rock at the surface.

[0049] In one example, a series of tasks performed by the first loader 101 comprises collecting blasted rock, travelling from the blasting site to the first dumper, and loading the blasted rock into the first dumper.

[0050] In one example, only one loader at a time can load blasted rock into a dumper. As such, the second loader 102 has to complete its task of loading into the first dumper 103, before the first loader 101 can start loading into the first dumper 103. As such, if the first loader 101 arrives at the first dumper 103 before the second loader 102 is finished, the first loader 101 has to wait. Alternatively, if the second loader 102 is finished before the first loader 101 arrives, the first dumper 103 has to wait for the first loader 101 .

[0051] In one example, the task of the first loader 101 is to load into the second dumper 104. As such, the second dumper 104 has completed its task of travelling to the blasting site, before the first loader 101 can start loading blasted rock into the second dumper 104.

[0052] In one example, the second dumper 104 cannot enter the blasting site until the first dumper 103 has left.

[0053] In Fig. 3 there is displayed a surface mine SM. In the surface mine SM, a plurality of mining / construction machines operate. A drill rig 106 is drilling holes in the surface. A first loader 101 is collecting blasted rock from the blasting site. A second loader 102 is loading blasted rock into a first dumper 103. A seconddumper 104 is travelling to the blasting site to be filled with blasted rock. A third dumper 105 is leaving the blasting site, filled with blasted rock.

[0054] With reference to Fig. 4, a method for handling tasks according to the disclosure will now be described. The method is preferably performed by a system for handling tasks comprising a control unit comprising processing circuitry and a memory.

[0055] The method comprises:- collecting data relating to time consumption for performing tasks in the mining process,- determining an expected time consumption for performing a first task- determining an expected time consumption for performing a second task,- determining a first expected completion time T1 when a first mining / construction machine will complete the first task,- determining a second expected completion time T2 when a second mining / construction machine will complete the second task,- adjusting, or suggesting an adjustment of, a speed at which the first mining / construction machine and / or the second mining / construction machine is performing the first and / or second task such that a time difference between T1 and T2 is minimized.

[0056] The method comprises collecting data from the mining environment. Data is generated in several locations. The mining / construction machines generate data relating to machine parameters such as traveling speed, energy consumption, wear, when tasks are started and finished. Service stations, gas stations, charging stations and the like generate data relating to for example utilization degree and storage levels. Devices for connectivity arranged throughout the mining environment, such as connection nodes and positioning equipment, generate data for example relating to the positions of machines, objects and people in the mining environment.

[0057] By collecting and processing large amounts of data, it is possible to determine a typical time consumption for performing tasks. The typical timeconsumption for performing a given task may additionally be associated with other aspects affecting the time consumption such as type of machine, road conditions, a geographical position, or machine parameters such as wear or load. As such, it is for example possible to determine a typical time consumption for performing a task for a given machine, at a given position, having a given charging level, and carrying a given load.

[0058] The method comprises determining a first expected completion time when a first mining machine will complete a first task. This is preferably carried out by determining a starting time, when the first mining machine starts, or is expected to start, the first task. Subsequently, the typical time consumption for performing the first task is determined. The first expected completion time is thus calculated by adding the typical time consumption to the starting time. In one embodiment, the first mining machine starting the first task triggers the system to determine the first expected completion time. In one embodiment, the first mining machine receiving an instruction to perform the first task triggers the system to determine the first expected completion time.

[0059] The method comprises determining a second expected completion time when a second mining machine will complete a second task. This is done in a corresponding way to determining the first completion time for the first machine performing the first task.

[0060] The first task and second task are associated. In one embodiment, the second mining machine cannot start a task being subsequent to the second task, until the first task has been completed. In one embodiment, the first mining machine cannot start a task being subsequent to the first task, until the second task has been completed.

[0061] Since the first task and second task are associated, there is a need to minimize downtime between the first expected completion time of the first task and the second expected completion time of the second task. To this end, the method comprises determining a time difference between the first expected completion time and the second expected completion time. In one example, the timedifference arises because the first expected completion time is before the second expected completion time. In one example, the time difference arises because the first expected completion time is after the second expected completion time.

[0062] The method further comprises minimizing said time difference. This is achieved by adjusting a speed at which the first mining machine is performing the first task and / or adjusting a speed at which the second machine is performing the second task. Alternatively, this is achieved by suggesting an adjustment of a speed at which the first mining machine is performing the first task and / or suggesting an adjustment of a speed at which the second machine is performing the second task.

[0063] Preferred embodiments of the invention have been disclosed above. However, a person skilled in the art realizes that this can be varied within the scope of the appended claims without departing from the inventive idea.

[0064] All the described alternative embodiments above or parts of an embodiment can be freely combined or employed separately from each other without departing from the inventive idea as long as the combination is not contradictory.

Claims

CLAIMS1 . A method for handling tasks in a mining process performed by mining and construction machines, the method comprising: collecting data relating to time consumption for performing tasks in the mining process, based on the data, determining an expected time consumption for performing a first task and a second task, respectively, based on the expected time consumption for the first task, determining, a first expected completion time T1 when a first mining / construction machine will complete the first task, based on the expected time consumption for the second task, determining a second expected completion time T2 when a second mining / construction machine will complete the second task, adjusting, or suggesting an adjustment of, a speed at which the first mining / construction machine and / or the second mining / construction machine is performing the first and / or second task, respectively, such that a time difference between T1 and T2 is minimized.

2. The method according to claim 1 , wherein the first and / or second task is one of: transportation between two predefined locations in a mining environment, and a process step in the mining process.

3. The method according to claim 1 or 2, comprising adjusting, or suggesting an adjustment of, a traction speed.

4. The method according to any one of the preceding claims, wherein determining an expected completion time is furthermore based on real time data relating to an actual speed at which the first and / or second task is being performed.

5. The method according to claim 4, wherein adjusting, or suggesting an adjustment, comprises comparing the real time data relating to the actual speed at which the first and / or second task is being performed with a preferred speed at which the first and / or second task is preferably performed.

6. The method according to any one of the preceding claims, further comprising displaying the suggested adjustment of the speed to an operator of the first and / or the second mining machine.

7. The method according to any one of the preceding claims, wherein determining the expected time consumption for performing a task comprises processing the collected data by means of a machine learning method.

8. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out a method according to any one of the preceding claims.

9. Computer-readable medium comprising instructions which, when executed by a computer, cause a computer to carry out a method according to any one of the claims 1-7.

10. A system for handling tasks in a mining process performed by mining and construction machines, the system comprising: a control unit comprising processing circuitry and a memory, wherein said memory contains instructions executable by said processing circuitry, wherein the system is operative for: collecting data relating to time consumption for performing tasks in the mining process, based on the data, determining an expected time consumption for performing a first and a second task, respectively, based on the expected time consumption for the first task, determining, for a first mining machine, a first expected completion time T1 when the first mining machine will complete the first task, based on the expected time consumption for the second task,determining, for a second mining machine, a second expected completion time T2 when the second mining machine will complete the second task, adjusting or suggesting an adjustment of a speed at which the first and / or the second mining machine is performing the first and / or second task, respectively, such that a time difference between T1 and T2 is minimized.11 . The system according to claim 10, further being operative for performing the method according to any one of the claims 2-7.

12. The system according to any one of claims 10 or 11 , wherein the control unit is a remote-control unit configured to communicate with a plurality of mining machines in the mining environment.

13. The system according to any one of claims 10-12, further comprising at least one handheld unit arranged to be mounted on the first and / or second mining machine, the at least one handheld unit comprising a transmitter and a receiver, wherein the transmitter is operative for transmitting at least one of a position of the first and / or second mining machine and a speed at which the first and / or second mining machine is performing its respective task, and the receiver is arranged to receive an instruction or suggestion to adjust the speed at which the first and / or second mining machine is performing its respective task.

14. The system according to any one of claims 10-12 further comprising at least one transmitter and receiver pair, comprised in the first and / or second mining machine, wherein the transmitter is operative for transmitting at least one of a position of the first and / or second mining machine, and a speed at which the first and / or second mining machine is performing its respective task, and the receiver is arranged to receive an instruction or suggestion to adjust the speed at which the first and / or second mining machine is performing its respective task.

15. A mining and construction machine configured to travel in a mining environment, the mining and construction machine comprising at least one transmitter and a receiver, each comprised in a system for handling tasks in a mining process according to any one of claims 10-14.

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