A method for charging one or more mining or construction vehicles

Abstract

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

Description

[0001]A METHOD FOR CHARGING ONE OR MORE MINING OR CONSTRUCTIONVEHICLES Technical FieldThe disclosure relates to a method for charging one or more mining or constructionvehicles, wherein the mining or construction vehicle is configured carry one or moreelectric battery units for driving the mining or construction vehicle. Further, thedisclosure relates to a control arrangement and to a system comprising one or moremining or construction vehicles. BackgroundFor construction work, breaking or fracturing rock and excavating and drilling tunnelsor rooms under ground, or above ground, electric mining or construction vehicles,which have one or more electric battery units for driving the mining or constructionvehicle, may be used. The electric mining or construction vehicle may be a drilling righaving one or more drilling machines drilling into to a rock formation, or rock. Thedrilling machine may be a percussive or percussion drilling machine, or any other typeof drilling machine. However, other electric mining or construction vehicles may beused, such as vehicles for the transportation of fractured rock, or other materials. Theelectric mining or construction vehicle has means for propulsion, such as wheels orcontinuous tracks. SummaryThe inventors have found drawbacks in conventional solutions for charging one ormore electric mining or construction vehicles. For example, some conventionalsolutions are not efficient enough and can be further improved. An object of embodiments of the disclosure is to provide a solution which mitigates or solves drawbacks and problems of conventional solutions. The above and further objects are solved by the subject matter of the appended independent claims. Further advantageous embodiments can be found in the dependent claims. According to a first aspect of the disclosure, the above mentioned and other objectsare achieved with a method for charging one or more mining or construction vehicles,wherein the mining or construction vehicle is configured carry one or more electricbattery units for driving the mining or construction vehicle, wherein the methodcomprises: based on a deviation from a scheduled route of one or more of the one or more mining or construction vehicles, adjusting one or more charging schedules for thecharging of one or more of the one or more electric battery units via one or morecharging stations; and based on the one or more adjusted charging schedules, controlling the chargingof one or more of the one or more electric battery units via the one or more chargingstations. An advantage of the method according to the first aspect is an improved charging ofone or more electric mining or construction vehicles. An advantage of the methodaccording to the first aspect is an improved scheduling of the charging of one or moreelectric mining or construction vehicles. An advantage of the method according to thefirst aspect is an improved efficiency of the charging of one or more electric mining orconstruction vehicles. An advantage of the method according to the first aspect is animproved coordination and optimization of the charging of one or more electric miningor construction vehicles. By way of embodiments of the method according to the firstaspect, the electric mining or constructions vehicles can perform and carry on theirroutes, and / or assignments, in a more efficient manner with fewer or shorter breaks forcharging over time in relation to conventional solutions. An advantage of the methodaccording to the first aspect is an improved management of one or more electric mining or construction vehicles. An advantage of the method according to the first aspect is asubstantially seamless work performed by one or more electric mining or constructionvehicles with a minimized number of interruptions. An advantage of the methodaccording to the first aspect is an improved mining and / or construction work.The inventors have found that an adjustment of a charging schedule for the chargingan electric battery unit based on a deviation from a scheduled route of a construction vehicles improves the coordination and optimization of the charging of one or more electric mining or construction vehicles, whereby the efficiency of the charging of oneor more electric mining or construction vehicles is improved. By way of embodimentsof the method according to the first aspect, the right electric battery unit is charged atthe right (or most suitable) charging station at the right time. Embodiments of themethod according to the first aspect are advantageous for fully autonomous electricmining or construction vehicles. Embodiments of the method according to the firstaspect are advantageous for electric mining or construction vehicles monitored andfully controlled (manually controlled) by an operator. Embodiments of the methodaccording to the first aspect are advantageous for a mix between autonomous electricmining or construction vehicles and operator-controlled mining or construction vehicles. For some embodiments, the step of adjusting one or more charging schedules maycomprise one or more of the steps of: setting, altering, updating and changing one ormore charging schedules. It is to be understood that that a route may involve one ormore tasks and / or a travel route. Examples of charging schedules are disclosed in thedetailed description hereinbelow.According to an advantageous embodiment of the method according to the first aspect,the method further comprises: based on a deviation from a scheduled route of one ormore of the one or more mining or construction vehicles, adjusting one or more charging schedules associated with the one or more charging stations. An advantage of this embodiment is a further improved charging of one or more electric mining orconstruction vehicles. An advantage of this embodiment is that full utilization of the gridcapacity is ensured.According to a further advantageous embodiment of the method according to the firstaspect, the method further comprises: based on a deviation from a scheduled route ofone or more of the one or more mining or construction vehicles, adjusting one or more charging schedules associated with the one or more electric battery units. An advantage of this embodiment is a further improved charging of one or more electricmining or construction vehicles. An advantage of this embodiment is that sufficientcharge left in the electric battery unit to go back to the charging station is ensured.According to another advantageous embodiment of the method according to the firstaspect, the method further comprises: based on a deviation from a scheduled route of one or more of the one or more mining or construction vehicles, adjusting a first charging schedule of the one or more charging schedules associated with a first charging station of the one or more charging stations, and adjusting a second charging schedule of the one or more charging schedules associated with a second charging station of the one or more charging stations. An advantage of this embodiment is afurther improved charging of one or more electric mining or construction vehicles. Anadvantage of this embodiment is that proper balancing of the charging load among the charging stations is ensured.According to yet another advantageous embodiment of the method according to thefirst aspect, the first charging station has a first charging rate while the second charging station has a second charging rate different from the first charging rate. An advantage of this embodiment is a further improved charging of one or more electric mining orconstruction vehicles. An advantage of this embodiment is that it is ensured to reachsufficient charging levels without crossing the grid capacity limit.According to still another advantageous embodiment of the method according to thefirst aspect, the method further comprises: based on a deviation from a scheduled route of one or more of the one or more mining or construction vehicles, adjusting a third charging schedule of the one or more charging schedules associated with a first electric battery unit of the one or more electric battery units, and adjusting a fourth charging schedule of the one or more charging schedules associated with a secondelectric battery unit of the one or more electric battery units. An advantage of thisembodiment is a further improved charging of one or more electric mining or construction vehicles. According to an advantageous embodiment of the method according to the first aspect, the third charging schedule and the fourth charging schedule are associated with thesame charging station of the one or more charging stations. An advantage of thisembodiment is a further improved charging of one or more electric mining or construction vehicles.According to a further advantageous embodiment of the method according to the firstaspect, the method further comprises: based on one or more determined varyingphysical quantities of one or more of the one or more electric battery units, adjustingone or more of the one or more charging schedules. An advantage of this embodiment is a further improved charging of one or more electric mining or construction vehicles.According to another advantageous embodiment of the method according to the firstaspect, the method further comprises: determining one or more varying physicalquantities. An advantage of this embodiment is a further improved charging of one or more electric mining or construction vehicles.According to yet another advantageous embodiment of the method according to thefirst aspect, the method further comprises: based on one or more detected vehiclefailures of one or more of the one or more mining or construction vehicles, adjusting one or more of the one or more charging schedules. An advantage of this embodiment is a further improved charging of one or more electric mining or construction vehicles. The detected vehicle failure may be a failure occurring and / or detected at a charging station, during a route, or in the field when not charging at the charging station. According to another advantageous embodiment of the method according to the first aspect, the method further comprises: based on one or more detected charging station failures of one or more of the one or more charging stations, adjusting one or more of the one or more charging schedules. For example, detecting a charging station failuremay initiate an adjustment of, or a change in, the charging schedule and / or travel routeof the one or more mining or construction vehicles, such in the mine and in the field.According to still another advantageous embodiment of the method according to thefirst aspect, the method further comprises: detecting one or more vehicle failures ofone or more of the one or more mining or construction vehicles. An advantage of this embodiment is a further improved charging of one or more electric mining or construction vehicles. According to an advantageous embodiment of the method according to the first aspect,a local electric power grid comprises the one or more charging stations,wherein the local electric power grid is connectable to a utility grid,wherein the method further comprises: based on one or more determined parameters of one or more of the local electricpower grid and utility grid, adjusting one or more of the one or more chargingschedules. An advantage of this embodiment is a further improved charging of one or moreelectric mining or construction vehicles. For some embodiments, the method maycomprise: based on one or more determined parameters of one or more of a substationand power line, adjusting one or more of the one or more charging schedules. Forsome embodiments, the substation and / or the power line may be part of the localelectric power grid or the utility grid.According to another advantageous embodiment of the method according to the firstaspect, a local electric power grid comprises the one or more charging stations,wherein the local electric power grid is connectable to a utility grid,wherein the method further comprises: based on one or more forecasted parameters of one or more of the local electricpower grid and utility grid, adjusting one or more of the one or more chargingschedules.According to a further advantageous embodiment of the method according to the firstaspect, the method further comprises: determining one or more parameters of one ormore of the local electric power grid and utility grid. An advantage of this embodimentis a further improved charging of one or more electric mining or construction vehicles depending on grid conditions.According to another advantageous embodiment of the method according to the firstaspect, the method further comprises: communicating one or more of the one or more adjusted charging schedules from a first mining or construction vehicle of the one or more mining or construction vehicles to a second mining or construction vehicle of the one or more mining or construction vehicles. An advantage of this embodiment is afurther improved charging of one or more electric mining or construction vehicles. Anadvantage of this embodiment is that inter-vehicle communications to schedule thecharging is achieved.According to yet another advantageous embodiment of the method according to thefirst aspect, the deviation from a scheduled route comprises one or more of the group of: ^a rescheduling of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles; ^a postponement of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles; ^an advancement of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles; ^a move of one or more scheduled tasks scheduled before the charging of oneor more of the one or more electric battery units to a rescheduled, or new, time after the charging of one or more of the one or more electric battery units; ^a move of one or more scheduled tasks scheduled after the charging of one ormore of the one or more electric battery units to a rescheduled, or new, time before the charging of one or more of the one or more electric battery units; ^a cancellation of one or more scheduled tasks of one or more of the one or moremining or construction vehicles; ^an addition of one or more new tasks for one or more of the one or more miningor construction vehicles; ^a replacement of a scheduled, or original, travel route with a rescheduleddifferent travel route; and ^a charging of one or more of the one or more electric battery units of a firstmining or construction vehicle of the one or more mining or construction vehicles from one or more of the one or more electric battery units of a second mining or construction vehicle of the one or more mining or construction vehicles instead of from one of the one or more charging stations. An advantage of this embodiment is a further improved charging of one or more electricmining or construction vehicles. An advantage of this embodiment is that inter-vehiclecharging is achieved.According to still another advantageous embodiment of the method according to thefirst aspect, a local electric power grid comprises the one or more charging stations,wherein the local electric power grid is connectable to a utility grid, wherein the method further comprises: requesting one or more of the one or more mining or construction vehicles todischarge one or more of the one or more electric battery units at one or more of theone or more charging stations so as to support one or more of the local electric powergrid and utility grid by injecting electric power thereto for allowing another one of theone or more mining or construction vehicles to charge another one of the one or moreelectric battery units. An advantage of this embodiment is that the grid is supportedwith active and / or reactive power injections. An advantage of this embodiment is afurther improved charging of one or more electric mining or construction vehicles. Themining or construction vehicle being requested to discharge may be located at acharging station or in the field when not charging at the charging station, or may be making or traveling a route. According to an advantageous embodiment of the method according to the first aspect,the method further comprises: scheduling a route of one or more of the one or moremining or construction vehicles. An advantage of this embodiment is a further improved charging of one or more electric mining or construction vehicles.According to a further advantageous embodiment of the method according to the firstaspect, the method further comprises: setting up one or more charging schedules forthe charging of one or more of the one or more electric battery units via the one ormore charging stations. An advantage of this embodiment is a further improved charging of one or more electric mining or construction vehicles.According to another advantageous embodiment of the method according to the firstaspect, the method further comprises: if the adjustment of one or more of the one ormore charging schedules fails, sending an alarm to one or more of an operator or control system. An advantage of this embodiment is a further improved charging of one or more electric mining or construction vehicles. According to a second aspect of the disclosure, the above mentioned and other objects are achieved with a computer program or a computer-readable medium comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method according to any one of the embodiments disclosed above or below. Advantages of the computer program or the computer-readable medium according to the second aspect correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.According to an aspect of the present disclosure, the above-mentioned computerprogram or the computer-readable medium is configured to implement the method andits embodiments described herein.According to a third aspect of the disclosure, the above mentioned and other objects are achieved with a control arrangement for charging one or more mining orconstruction vehicles, wherein the mining or construction vehicle is configured carryone or more electric battery units for driving the mining or construction vehicle, whereinthe control arrangement is configured to: based on a deviation from a scheduled route of one or more of the one or more mining or construction vehicles, adjust one or more charging schedules for thecharging of one or more of the one or more electric battery units via one or morecharging stations; and based on the one or more adjusted charging schedules, control the charging ofone or more of the one or more electric battery units via the one or more chargingstations.It is to be appreciated that all the embodiments described for the method aspects ofthe disclosure are applicable also to the control arrangement aspects of the disclosure.Thus, all embodiments described for the method aspects of the disclosure may beperformed by the control arrangement, which may include one or more controllers,control units, or one or more control devices. The embodiments of the controlarrangement have advantages corresponding to advantages mentioned above for themethod and its embodiments.According to a fourth aspect of the disclosure, the above mentioned and other objects are achieved with a system comprising one or more mining or construction vehicles, wherein the mining or construction vehicle is configured carry one or more electric battery units for driving the mining or construction vehicle, and wherein the system comprises a control arrangement according to any one of the embodiments disclose above or below. Advantages of the system according to the fourth aspect and of its embodiments correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.The above-mentioned features and embodiments of the method, the computerprogram, the computer-readable medium, the control arrangement, and the system,respectively, may be combined in various possible ways providing furtheradvantageous embodiments.Further advantageous embodiments of the method, the computer program, thecomputer-readable medium, the control arrangement and the system and furtheradvantages of the embodiments emerge from the detailed description of embodiments.Brief Description of the DrawingsEmbodiments of the disclosure will now be illustrated, for exemplary purposes, in moredetail by way of embodiments and with reference to the enclosed drawings, wheresimilar references are used for similar parts, in which:Figure 1 is a schematic side view of a first embodiment of a mining or constructionvehicle;Figure 2 is a schematic side view of a second embodiment of a mining orconstruction vehicle;Figure 3 is a schematic side view of a third embodiment of a mining or constructionvehicle;Figure 4 is a schematic diagram illustrating an embodiment of the system accordingto the fourth aspect of the disclosure;Figure 5 is a schematic flow chart illustrating aspects of embodiments of themethod according to the first aspect of the disclosure;Figure 6 is another schematic flow chart illustrating further aspects of embodimentsof the method according to the first aspect of the disclosure;Figure 7 is yet another schematic flow chart illustrating further aspects ofembodiments of the method according to the first aspect of the disclosure;Figure 8-19 are schematic diagrams illustrating aspects of embodiments of the methodaccording to the first aspect of the disclosure; andFigure 20 is a schematic diagram illustrating an embodiment of the controlarrangement according to the third aspect of the disclosure, in which amethod according to any one of the herein described embodiments maybe implemented.Detailed DescriptionWith reference to figures 1 to 3, three different embodiments of a mining or constructionvehicle 100a, 100b, 100c are schematically illustrated. In general, the electric miningor construction vehicle 100a-c has equipment 170a-c, or means, for propulsion, suchas wheels 111, 113, 172b or continuous tracks 172c. Embodiments of the method 400,of the control arrangement 130 and of the system 100d may be utilised in combinationwith the above-described kinds of mining or construction vehicles 100a-c, but also incombination with any other kind of mining or construction vehicle. However, for thesake of simplicity, the disclosure of the embodiments of the method 400, of the controlarrangement 130 and of the system 100d is exemplified hereinbelow with reference tothe mining or construction vehicles 100a-c illustrated in figures 1 to 3.With reference to figure 1, the mining or construction vehicle 100a is schematicallyillustrated as a mining vehicle 100a, more specifically a drilling rig, which also may bereferred to as a rock drilling rig. The mining vehicle 100a, or drilling rig, may be utilisedin tunnelling, surface mining, underground mining, and rock reinforcement. The mining vehicle 100a, or drilling rig, may be used, for example, for drilling drill holes, blast holes,grout holes, holes for installing rock bolts, water wells and other wells, as well as forpiling and foundations drilling etc, in a rock formation 700a, for example duringtunnelling or mining. The mining vehicle 100a may rest and travel on a support surface109, such as ground.With reference to figure 1, in general, the mining vehicle 100a may comprise a carrier102 and one or more booms 101 attached to the carrier 102, where the booms 101may carry associated drilling machines 104b1 and / or other tools. The mining vehicle100a illustrated in figure 1 includes one boom 101. A first end 101a of the boom 101may be attached in such a way that the boom 101 can pivot in relation to the carrier 102, such as a vehicle, via one or more articulated connections (not shown). Themining vehicle 100a may include a feed beam 103 carrying and guiding a feeder 104a,which is movable in relation to the feed beam 103. The mining vehicle 100a mayinclude a drilling machine 104b1 attached to the feeder 104a and thus movable inrelation to the feed beam 103. The feed beam 103 may be attached to a second end 101b of the boom 101 via one or more articulated connections, such as one or morerotators (not shown). The drilling machine 104b1 may be moved along the feed beam103 as the drilling of a drill hole 160a progresses. The drilling machine 104b may comprise and / or hold a drill string 104c and / or a drill bit 104d for drilling a drill hole160a. It is to be understood that the embodiment of figures 1 is only exemplary, andthat the mining vehicle 100a may carry any kind of tool, such as a bolt installation toolfor installation of rock bolts. Other and / or additional tools may also be utilised. Themining vehicle 100a includes equipment 170a, or means, for the propulsion of themining vehicle 100a, which in figure 1 comprises wheels 111, 113.With reference to figure 1, the mining vehicle 100a is configured carry one or moreelectric battery units 106a for driving the mining vehicle 100a. For some embodiments,the drilling machine 104ba may be hydraulically driven and power supplied from oneor more hydraulic pumps 105, which in turn may be driven by one or more electric motors driven by the one or more electric battery units 106a. For other embodiments,the drilling machine 104ba may instead be driven pneumatically, electrically or by fluid.The drilling process may be controlled by an operator from a cabin 107 of the mining vehicle 100a. Alternatively, the mining vehicle 100a may be remotely controlled or be configured to operate autonomously.With reference to figure 1, the mining vehicle 100a may include, or be equipped with,one or more sensors 202a, or one or more detection systems 200 may be applied, orapplicable, to the mining vehicle 100a. The detection system 200 may include one ormore sensors 202a. As illustrated in figure 1, the sensor 202a may be attached to thecarrier 102, or to the boom 101. In figure 1, alternative positions of the sensors 202aare illustrated by dotted lines. The one or more sensors 202a, or detection system 200,may be used to obtain data sensed during drilling by the first drilling machine 104b1.The mining or construction vehicle 100a may comprise other sensors or detectors,such as one or more position sensors, for example a GPS receiver.With reference to figures 1, the feed beam 103 may comprise a first end 103a and asecond end 103b. The feed beam 103 may be configured to position the first end 103a of the feed beam 103 between the second end 103b of the feed beam 103 and therock formation 700b to be penetrated or drilled. For some embodiments, during drilling,the first end 103a of the feed beam 103 may abut, or rest, against the rock formation700a. For example, the drilling rig 100a may be utilised in tunnelling, surface mining,underground mining, rock reinforcement and raise boring.With reference to figure 2, the mining or construction vehicle 100b is schematicallyillustrated as a dump truck 100b, or dumper. The dump truck 100b may, for example, transport fractured rock, or rock material, or any other material used in mining orconstructions. The mining or construction vehicle 100b has equipment 170b, or means,for propulsion. In the embodiment of figure 2, the equipment 170b for propulsioncomprises wheels 172b. The mining or construction vehicle 100b is configured carryone or more electric battery units 106b for driving the mining or construction vehicle100b.With reference to figure 3, the mining or construction vehicle 100c is schematicallyillustrated as a drilling rig. The mining or construction vehicle 100c has equipment170c, or means, for propulsion. In the embodiment of figure 3, the equipment 170c forpropulsion comprises one or more continuous tracks 172c. The mining or constructionvehicle 100c may include a feed beam 174c and a drilling machine 104b3 connectedto the feed beam 174c. The drilling machine 104b may comprise and / or hold a drillstring 176c and / or a drill bit 178c for drilling a drill hole. The mining or construction vehicle 100c is configured carry one or more electric battery units 106c for driving themining or construction vehicle 100c. For example, the drilling rig 100c may be utilisedsurface mining, underground mining and raise boring.With reference to figures 1 to 3, the electric battery unit 106a; 106b; 106c may compriseone or more electric batteries. In general, the electric battery unit 106a-c is configuredfor at least the propulsion of the mining or construction vehicle 100a-c and may also be configured for driving equipment for performing tasks, when the mining orconstruction vehicle 100a-c is stationary / parked and / or moving. For someembodiments, the electric battery unit 106a; 106b; 106c may be defined as arechargeable electric battery unit 106a-c. For some embodiments, the electric batteryunit 106a-c may be detachable from the mining or construction vehicle 100a-c and maybe detached from the mining or construction vehicle 100a-c when to be charged. Forsome embodiments, the electric battery unit 106a-c may be charged when carriedand / or mechanically connected (and possibly also electrically connected) to the miningor construction vehicle 100a-c. For some embodiments, the electric battery unit 106a-c may be referred to as an electric battery pack. An electric battery pack may comprise,or be bult up by, a plurality of electric battery modules, which however is not alwaysthe case. The electrical battery unit 106a-c may include one or more electric batterycells which may be arranged in a module. Each electric battery cell can be seen as acontainer chemically storing energy and may be a rechargeable electric battery cell.The electrical battery cell may for example be a lead-acid battery cell, a Li-ion batterycell or a NiMH battery cell but are not limited thereto. The electric battery cells may beelectrically connected in series and in parallel, into the electric battery unit 106a-c, ormodule, in order to attain the desired voltage and energy capacity. For someembodiments, the electric battery unit may comprise one or more fuel cells, or anyother electrical energy storage.With reference to figure 4, an embodiment of the system 100d according to a fourthaspect of the disclosure is schematically illustrated. The system 100d includes one ormore, for example two or more, mining or construction vehicles 100a-c, wherein themining or construction vehicle 100a-c is configured carry one or more electric batteryunits 106a-c for driving the mining or construction vehicle 100a-c, at least for propellingthe mining or construction vehicle 100a-c. The system 100d includes a controlarrangement 130, 130a-c (for example, see figures 1 to 3) according to any one of theembodiments disclosed in further detail hereinbelow. The one or more electric batteryunits 106a-c of the one of the mining or construction vehicles 100a-c, which is / are configured carry the one or more electric battery units 106a-c for driving, for exampleat least for the propulsion of, the mining or construction vehicle 100a-c, can be charged(or is / are chargeable) via and / or at one or more charging stations 180a-c. For someembodiments, the mining or construction vehicle 100a-c may be described as anelectric mining or construction vehicles 100a-c. For example, the mining orconstruction vehicles 100a-c may be an electric vehicle, EV, for example a hybridvehicle or a hybrid electric vehicle, HEV, or a battery electric vehicle, BEV. For someembodiments, the charging station 180a-c may be referred to as a charger. Thecharging station 180a-c may include one or more ports for charging. The electricbattery unit 106a-c is connectable to the charging station 180a-c or the port of thecharging station 180a-c by conventional means, such as contacts.With reference to figures 5, 8 and 15, embodiments of the method 400 for chargingone or more mining or construction vehicles 100a-c according to the first aspect, themining or construction vehicle 100a-c being configured carry one or more electricbattery units 106a-c for driving the mining or construction vehicle 100a-c, include thesteps of: ^based on a deviation 302 from a scheduled route 304 (for example a plannedtravel path) of one 100a or more of the one or more mining or construction vehicles 100a-c, adjusting 403 one or more charging schedules for the chargingof one 106a, 106b, 106c or more of the one or more electric battery units 106a-c via, and / or at, one or more charging stations 180a, 180b; and^ based on the one or more adjusted charging schedules, controlling 404 thecharging of one 106a, 106b, 106c or more of the one or more electric batteryunits 106a-c via the one or more charging stations 180a, 180b.In figure 8, one mining or construction vehicle 100a and one charging station 180a areillustrated while in figure 15 three mining or construction vehicles 100a, 100b, 100cand two charging stations 180a, 180b are illustrated. However, it is to be understoodthat embodiments of the method 400 (and embodiments of the system 100d and ofcontrol arrangement 130, 130a-c disclosed hereinbelow) may be applied to two, fouror more mining or construction vehicles 100a-c and to three or more charging stations180a-c.For some embodiments, the step of adjusting 403, 403a-g one or more chargingschedules may comprise one or more of the steps of: setting, altering, updating andchanging one or more charging schedules. It is to be understood that that a route mayinvolve or include one or more tasks and / or a travel route, such as a travel path. Forsome embodiments, the scheduled route may be referred to as a planned orpredetermined route.With reference to figures 5 and 8, for some embodiments, the method 400 may furthercomprise: based on a deviation 302 from a scheduled route 304 of one or more of theone or more mining or construction vehicles 100a, adjusting 403 one or more chargingschedules associated with the one or more charging stations 180a. For someembodiments, the method 400 may further comprise: based on a deviation 302 from ascheduled route 304 of one or more of the one or more mining or construction vehicles 100a, adjusting 403 one or more charging schedules associated with the one or moreelectric battery units 106a-b.The charging schedule may, inter alia, specify one or more of the group of:^ which one of the electric battery units 106a-c to be charged;^ the sequence according to which the one or more electric battery units 106a-cis / are to be charged; ^which one of the charging stations 180a-c to be used for charging;^ which port of a charging station 180a-c to be used for charging; and^ the charging rate.With reference to figures 6, 9 and 14, some embodiments of the method 400 mayinclude the steps of:^ based on a deviation 302 from a scheduled route 304 of one or more of the oneor more mining or construction vehicles 100a, adjusting 403a a first charging schedule of the one or more charging schedules associated with a first charging station 180a of the one or more charging stations 180a-c, and adjusting 403b a second charging schedule of the one or more charging schedules associated with a second charging station 180b of the one or more charging stations 180a- c. For some embodiments, the first charging station 180a may have a first charging rate while the second charging station 180b may have a second charging rate different fromthe first charging rate. For example, the second charging rate of the second chargingstation 180b may exceed the first charging rate of the first charging station 180a, i.e.,the second charging station 180b may be a fast charger, or faster in relation to the firstcharging station 180a, and the first charging station 180a may be a slow charger, orslower in relation to the second charging station 180b, or vice versa. With reference to figures 6 and 10, some embodiments of the method 400 may includethe steps of:^ based on a deviation 302 from a scheduled route 304 of one or more of the oneor more mining or construction vehicles 100a, adjusting 403c a third charging schedule of the one or more charging schedules associated with a first electric battery unit 106b of the one or more electric battery units 106a-c, and adjusting 403d a fourth charging schedule of the one or more charging schedules associated with a second electric battery unit 106c of the one or more electric battery units 106a-c. For some embodiments, the third charging schedule and the fourth charging schedule may be associated with the same charging station 180a of the one or more charging stations 180a-c.With reference to figures 7 and 11, some embodiments of the method 400 may includeone or more of the steps of:^ based on one or more determined varying physical quantities (or parameters,or variables) of one or more of the one or more electric battery units 106a-c,adjusting 403e one or more of the one or more charging schedules; and ^determining 405 (for example by measuring) one or more varying physicalquantities. For some embodiments, the varying physical quantity may comprise State of Charge (SoC), State of Energy (SoE), State of Health (SoH), voltage, electric current, or temperature of the electric battery unit 106a-c.With reference to figures 7 and 12, some embodiments of the method 400 may includeone or more of the steps of:^ based on one or more detected vehicle failures of one or more of the one ormore mining or construction vehicles 100a-c, adjusting 403f one or more of the one or more charging schedules; and ^detecting 406 one or more vehicle failures of one or more of the one or moremining or construction vehicles 100a-c. For some embodiments, the vehicle failure of the mining or construction vehicle 100a-c may be a failure of an electric battery unit 106a-c carried by the mining or constructionvehicle 100a-c. For some embodiments, the detected vehicle failure may be a failureoccurring and / or detected at a charging station 180a-c, during a route, or in the fieldwhen not charging at the charging station 180a-c.With reference to figures 4, 8, 9, 13 and 18, for some embodiments, a local electricpower grid 182 may comprise the one or more charging stations 180a-c. The localelectric power grid 182 may be connectable or connected, more specifically electricallyconnectable / connected, to a utility grid 184. For some embodiments, the chargingstation 180a-c may be connectable or connected, more specifically electricallyconnectable / connected, to the utility grid 184 via power electronics 186, or via a powerelectronics unit 186 or module.With reference to figures 7 and 13, some embodiments of the method 400 may includeone or more of the steps of:^ based on one or more determined parameters of one or more of the local electricpower grid 182 and utility grid 184, adjusting 403g one or more of the one or more charging schedules; and ^determining 407 (such as by measuring or calculating) one or more parametersof one or more of the local electric power grid 182 and utility grid 184. For some embodiments, the determined parameter of one or more of the local electricpower grid 182 and utility grid 184 may comprise, or involve, voltage, electric current,or temperature, for example a voltage, electric current, or temperature of a power lineor cable of the local electric power grid 182 or of the utility grid 184. For someembodiments, the method 400 may include: based on one or more determinedparameters of one or more of a substation and power line, adjusting one or more of the one or more charging schedules. The substation and / or the power line may be partof the local electric power grid 182 or of the utility grid 184.With reference to figures 7 and 16, some embodiments of the method 400 may includethe step of: ^communicating 408 one or more of the one or more adjusted chargingschedules from a first mining or construction vehicle 100a of the one or more mining or construction vehicles 100a-c to a second mining or construction vehicle 100b, 100c of the one or more mining or construction vehicles 100a-c. For some embodiments, the scheduled route may be a scheduled travel route or scheduled travel path. As mentioned above, for some embodiments, the route mayinclude one or more tasks. For some embodiments, the deviation 302 from a scheduledroute 304 may include one or more of the group of: ^a rescheduling of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles 100a-c; ^a postponement of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles 100a-c; ^an advancement of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles 100a-c; ^a move of one or more scheduled tasks scheduled before the charging of oneor more of the one or more electric battery units 106a-c to a rescheduled (or new) time after the charging of one or more of the one or more electric battery units 106a-c; ^a move of one or more scheduled tasks scheduled after the charging of one ormore of the one or more electric battery units 106a-c to a rescheduled (or new) time before the charging of one or more of the one or more electric battery units; ^a cancellation of one or more scheduled tasks of one or more of the one or moremining or construction vehicles 100a-c; ^an addition of one or more new tasks for one or more of the one or more miningor construction vehicles 100a-c; and^ a replacement of a scheduled (or original) travel route with a rescheduleddifferent (or new) travel route. For some embodiments, the deviation 302 from a scheduled route 304 may comprise or involve a deviation in the beginning of the scheduled route 304, an intermediate deviation from a scheduled route 304 and / or a deviation in the end of the scheduled route 304. With reference to figure 19, for some embodiments, the deviation 302 from a scheduled route 304 may include: ^a charging of one 106a or more of the one or more electric battery units 106a-cof a first mining or construction vehicle 100a of the one or more mining orconstruction vehicles 100a-c from one 106b or more of the one or more electricbattery units 106a-c of a second mining or construction vehicle 100b of the oneor more mining or construction vehicles 100a-c instead of from one 180a of the one or more charging stations 180a-c.With reference to figures 7 and 18, some embodiments of the method 400 may includethe step of: ^requesting 410 one 100b, 100c or more of the one or more mining orconstruction vehicles 100a-c to discharge one 106b, 106c or more of the one or more electric battery units 106a-c at one 180a, 180b or more of the one or more charging stations 108a-b so as to support one 182, 184 or more of the local electric power grid 182 and utility grid 184 by injecting electric power (forexample active power) thereto for allowing another one 100a of the one or more mining or construction vehicles 100a-c to charge another one 106a of the one or more electric battery units 106a-c.With reference to figures 7 and 18, for some embodiments, the mining or constructionvehicle 100b, 100c being requested to discharge may be located at a charging station180a, 180b or in the field when not charging at the charging station 180a, 180b, or may be making (or performing, or executing) or traveling a route.With reference to figure 7, some embodiments of the method 400 may include one ormore of the steps of:^ scheduling 401 (or planning, or planning ahead) a route 304 of one or more ofthe one or more mining or construction vehicles 100a-c; ^setting up 402 one or more charging schedules for the charging of one or moreof the one or more electric battery units 106a-c via the one or more charging stations 180a-c, for example based on the scheduled route 304 from step 401; and ^if the adjustment of one or more of the one or more charging schedules fails,sending 409 an alarm, or alert, to one or more of an operator or control system.The above-mentioned features and embodiments of the method 400 may be combinedin various possible ways.Unless disclosed otherwise, it should be noted that the method steps illustrated infigures 5 to 7 and described herein do not necessarily have to be executed in the orderillustrated in figures 5 to 7. The steps may essentially be executed in any suitable order.Further, one or more steps may be added without departing from the scope of theappended claims. One or more steps may be excluded without departing from thescope of the appended claims.With reference to figures 1, 8 and 20, aspects of embodiments of the controlarrangement 130, 130a-c for charging one or more mining or construction vehicles100a-c according to the third aspect of the disclosure are schematically illustrated,wherein the mining or construction vehicle 100a-c is configured carry one or moreelectric battery units 106a-c for driving the mining or construction vehicle 100a-c.Embodiments of the control arrangement 130, 130-c are configured to:^ based on a deviation 302 from a scheduled route 304 of one 100a or more ofthe one or more mining or construction vehicles 100a-c, adjust 403 one or morecharging schedules for the charging of one or more of the one or more electric battery units 106a-c via one or more charging stations 180a-c; and ^based on the one or more adjusted charging schedules, control 404 thecharging of one or more of the one or more electric battery units 106a-c via the one or more charging stations 180a-c.For some embodiments, the control arrangement 130 may be stationary and, forexample, be located at a charging station 180a-c. The control arrangement 130 may be located in cloud, in a control system, or elsewhere. The control arrangement 130a-c may be located in the mining or construction vehicle 100a-c. The control arrangement130, 130-c may be located at two or more of said locations. With reference to figure17, for some embodiments, each mining or construction vehicle 100a-c may includean onboard control arrangement 130a-c and there may be a stationary central or maincontrol arrangement 130 configured to communicate with the onboard controlarrangements 130a-c.With reference to figures 1 and 8, some embodiments of the control arrangement 130,130a may include an adjustment unit 131 for adjusting 403, 403a-g one or morecharging schedules in order to perform steps 403 and 403a-g in figures 5 to 7. Someembodiments of the control arrangement 130, 130a may include a control unit 134 forcontrolling 404 the charging of one or more of the one or more electric battery units106a-c in order to perform step 404 in figures 5 to 7. Some embodiments of the controlarrangement 130, 130a may include a setting-up unit 133 for setting up 402 one ormore charging schedules in order to perform step 401 in figure 7. Some embodimentsof the control arrangement 130, 130a may include a scheduling unit 132 for scheduling401 a route 304 in order to perform step 401 in figure 7.With reference to figure 8, some embodiments of the control arrangement 130, 130a-c may include a determination unit 136 for determining one or more varying physicalquantities of one or more of the one or more electric battery units 106a-c and / or oneor more parameters of one or more of the local electric power grid 182 and utility grid184 in order to perform steps 405 and 407 in figure 7. Some embodiments of the controlarrangement 130, 130a-c may include a detection unit 138 for the detection of one ormore vehicle failures of one or more of the one or more mining or construction vehiclesin order to perform step 406 in figure 7. Some embodiments of the control arrangement130, 130a-c may include a communication unit 140 for in order to perform steps 408and 409 in figure 7. Some embodiments of the control arrangement 130, 130a-c mayinclude a request unit 142 for in order to perform step 410 in figure 7.With reference to figures 1, 8 and 5, for some embodiments, the control arrangement130, 130a-c may be configured to directly or indirectly communicate, for examplewirelessly or via signal lines (or cables, or wires), with one or more of the system 100d,mining or construction vehicle 100a-c, charging station 180a-c and detection system200. Thus, for some embodiments, there may be one or more signal connectionsbetween the control arrangement 130, 130a-c and one or more of the system 100d,mining or construction vehicle 100a-c, charging station 180a-c and detection system200.Figure 20 shows in schematic representation an embodiment of the controlarrangement 130 according to the third aspect of the disclosure, which may include acontroller 600, which may correspond to or may include one or more of the above-mentioned units 131 to 142 of the control arrangement 130. The controller 600 maycomprise a computing unit 601, which can be constituted by essentially any suitable type of processor or microcomputer, for example a circuit for digital signal processing (Digital Signal Processor, DSP), or a circuit having a predetermined specific function (Application Specific Integrated Circuit, ASIC). The computing unit 601 is connected to a memory unit 602 arranged in the controller 600. The memory unit 602 provides the computing unit 601 with, for example, the stored program code and / or the stored data which the computing unit 601 requires to be able to perform computations. The computing unit 601 is also arranged to store partial or final results of computations in the memory unit 602. With reference to figure 20, in addition, the controller 600 may be provided with devices 611, 612, 613, 614 for receiving and transmitting input and output signals. These input and output signals may contain waveforms, impulses, or other attributes which, by means of the devices 611, 613 for the reception of input signals, can be detected as information and can be converted into signals which can be processed by the computing unit 601. These signals are then made available to the computing unit 601. The devices 612, 614 for the transmission of output signals are arranged to convert signals received from the computing unit 601 in order to create output signals by, for example, modulating the signals, which, for example, can be transmitted to partsand / or systems of, or associated with, the mining or construction vehicles 100a-c, thesystem 100d, the charging stations 180a-c, a data storage device 150 (see figure 1)for storing data and / or the detection system 200. Each of the connections to thedevices for receiving and transmitting input and output signals can be constituted by one or more of the group of: a cable; a data bus; and a wireless connection. With reference to figure 1, the data stored in the data storage device 150, which may includedata about the drilling and / or routes, may be used for machine learning and / or AIapplications. Here and in this document, units are often described as being provided for performing steps of the method 400 according to embodiments of the disclosure. This also includes that the units are designed to and / or configured to perform these method steps.With reference to figures 1, the units 131 to 142 of the control arrangement 130 are infigure 1 illustrated as separate units. These sperate units may, however, be logically separated but physically implemented in the same unit, or can be both logically andphysically arranged together. The units 131 to 142 may for example correspond togroups of instructions, which can be in the form of programming code, that are inputinto, and are utilized by a processor / computing unit 601 (see figure 20) when the units are active and / or are utilized for performing its method step. With reference to figures 1 and 20, the control arrangement 130, which may includeone or more controllers 600, for example one or more devices, or control devices,according to embodiments of the present disclosure may be arranged to perform all of the method steps mentioned above, in the claims, and in connection with the herein described embodiments. The control arrangement 130 is associated with the above- described advantages for each respective embodiment of the method 400.With reference to figure 20, according to the second aspect of the disclosure, acomputer program 603 or a computer-readable medium is provided, comprisinginstructions which, when the program or the instructions is / are executed by acomputer, cause the computer to carry out the method 400 according to any one of the embodiments disclosed above. The person skilled in the art will appreciate that the herein described embodiments of the method 400 according to the first aspect may be implemented in a computer program 603 (see figure 8), which, when it is executed in a computer, instructs the computer to execute the method 400. The computer program is usually constituted by a computer program product 603 stored on a non-transitory / non-volatile digital storage medium, in which the computer program is incorporated in the computer-readable medium of the computer program product. The computer-readable medium comprises a suitable memory, such as, for example: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk unit, etc. Finally, it should be understood that the invention is not limited to the embodiments described above, but also relates to and incorporates all embodiments within the scope of the appended independent claims.

Claims

Claims1. A method (400) for charging one or more mining or construction vehicles (100a-c), wherein the mining or construction vehicle (100a-c) is configured carry one or moreelectric battery units (106a-c) for driving the mining or construction vehicle (100a-c),wherein the method (400) comprises: based on a deviation (302) from a scheduled route (304) of one or more of theone or more mining or construction vehicles (100a-c), adjusting (403) one or morecharging schedules for the charging of one or more of the one or more electric batteryunits (106a-c) via one or more charging stations (180a-c); andbased on the one or more adjusted charging schedules, controlling (404) the charging of one or more of the one or more electric battery units (106a-c) via the oneor more charging stations (180a-c).

2. A method (400) according to claim 1, wherein the method (400) furthercomprises: based on a deviation (302) from a scheduled route (304) of one or more of theone or more mining or construction vehicles (100a-c), adjusting (403) one or morecharging schedules associated with the one or more charging stations (180a-c).

3. A method (400) according to claim 1 or 2, wherein the method (400) furthercomprises: based on a deviation (302) from a scheduled route (304) of one or more of theone or more mining or construction vehicles (100a-c), adjusting (403) one or morecharging schedules associated with the one or more electric battery units (106a-c).

4. A method (400) according to any one of the claims 1 to 3, wherein the method(400) further comprises: based on a deviation (302) from a scheduled route (304) of one or more of theone or more mining or construction vehicles (100a-c), adjusting (403a) a first chargingschedule of the one or more charging schedules associated with a first charging station(180a) of the one or more charging stations (180a-c), and adjusting (403b) a secondcharging schedule of the one or more charging schedules associated with a secondcharging station (180b) of the one or more charging stations (180a-c).

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

6. A method (400) according to any one of the claims 1 to 5, wherein the method(400) further comprises: based on a deviation from a scheduled route of one or more of the one or moremining or construction vehicles (100a-c), adjusting (403c) a third charging schedule ofthe one or more charging schedules associated with a first electric battery unit (106a)of the one or more electric battery units (106a-c), and adjusting (403d) a fourthcharging schedule of the one or more charging schedules associated with a secondelectric battery unit (106b) of the one or more electric battery units (106a-c).

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

8. A method (400) according to any one of the claims 1 to 7, wherein the method(400) further comprises: based on one or more determined varying physical quantities of one or more ofthe one or more electric battery units (106a-c), adjusting (403e) one or more of the oneor more charging schedules.

9. A method (400) according to any one of the claims 1 to 8, wherein the method(400) further comprises: based on one or more detected vehicle failures of one or more of the one or moremining or construction vehicles (100a-c), adjusting (403f) one or more of the one ormore charging schedules.

10. A method (400) according to any one of the claims 1 to 9, wherein a local electricpower grid (182) comprises the one or more charging stations (180a-c),wherein the local electric power grid (182) is connectable to a utility grid (184),wherein the method (400) further comprises: based on one or more determined parameters of one or more of the local electricpower grid (182) and utility grid (184), adjusting (403g) one or more of the one or morecharging schedules.

11. A method (400) according to any one of the claims 1 to 10, wherein the deviationfrom a scheduled route comprises one or more of the group of: ^a rescheduling of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles (100a-c);^ a postponement of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles (100a-c);^ an advancement of one or more scheduled tasks of one or more of the one ormore mining or construction vehicles (100a-c);^ a move of one or more scheduled tasks scheduled before the charging of oneor more of the one or more electric battery units (106a-c) to a rescheduled time after the charging of one or more of the one or more electric battery units (106a-c); ^a move of one or more scheduled tasks scheduled after the charging of one ormore of the one or more electric battery units (106a-c) to a rescheduled time before the charging of one or more of the one or more electric battery units; ^a cancellation of one or more scheduled tasks of one or more of the one or moremining or construction vehicles (100a-c);^ an addition of one or more new tasks for one or more of the one or more miningor construction vehicles (100a-c);^ a replacement of a scheduled travel route with a rescheduled different travelroute; and ^a charging of one or more of the one or more electric battery units (106a-c) of afirst mining or construction vehicle (100a-c) of the one or more mining or construction vehicles (100a-c) from one or more of the one or more electric battery units (106a-c) of a second mining or construction vehicle (100a-c) of the one or more mining or construction vehicles (100a-c) instead of from one of the one or more charging stations.

12. A method (400) according to any one of the claims 1 to 11, wherein a local electricpower grid (182) comprises the one or more charging stations (180a-c),wherein the local electric power grid (182) is connectable to a utility grid (184),wherein the method (400) further comprises: requesting (410) one or more of the one or more mining or construction vehicles(100a-c) to discharge one or more of the one or more electric battery units (106a-c) atone or more of the one or more charging stations (180a-c) so as to support one ormore of the local electric power grid (182) and utility grid (184) by injecting electricpower thereto for allowing another one of the one or more mining or constructionvehicles (100a-c) to charge another one of the one or more electric battery units (106a-c).

13. A computer program (603) or a computer-readable medium comprisinginstructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method (400) according to any one of the claims 1 to 12.

14. A control arrangement (130) for charging one or more mining or constructionvehicles (100a-c), wherein the mining or construction vehicle (100a-c) is configuredcarry one or more electric battery units (106a-c) for driving the mining or construction vehicle, wherein the control arrangement (130) is configured to: based on a deviation from a scheduled route of one or more of the one or moremining or construction vehicles (100a-c), adjust (403) one or more charging schedulesfor the charging of one or more of the one or more electric battery units (106a-c) viaone or more charging stations (180a-c); andbased on the one or more adjusted charging schedules, control (404) the charging of one or more of the one or more electric battery units (106a-c) via the oneor more charging stations (180a-c).

15. A system (100d) comprising one or more mining or construction vehicles(100a-c), wherein the mining or construction vehicle (100a-c) is configured carry one ormore electric battery units (106a-c) for driving the mining or construction vehicle (100a-c), andwherein the system (100d) comprises a control arrangement (130) according to claim 14.

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