A method for the localization of a mining vehicle in an underground mine

Abstract

A method (400) for the localization of a mining vehicle (100a-d) in an underground mine (200) The mining vehicle (100a-d) comprises one or more scanners (102, 104) for scanning the surroundings (116). The method comprises: obtaining (401) first data generated by scanning; processing (403a) the obtained first data so at to align and add the obtained first data to a local map (302); processing (404a) third data associated with the local map and associated with a mine map (300) of the environment of the underground mine (200) so as to align the local map (302) with the mine map (300), wherein the mine map (300) is a three-dimensional mine map (300) locally cropped to a single plane around the height of one of the one or more scanners (102, 104); and based on the processing of the third data and the alignment of the local map (302) with the mine map (300), updating (405) an estimation of the position and / or orientation of the mining vehicle (100a-d) in the mine map (300) so as to locate the mining vehicle (100a-d).

Description

[0001] A METHOD FOR THE LOCALIZATION OF A MINING VEHICLE IN AN UNDERGROUND MINE

[0002] Technical Field

[0003] The disclosure relates to a method for the localization of a mining vehicle in an underground mine. Further, the disclosure relates to a control arrangement and to a system comprising one or more mining vehicles.

[0004] Background

[0005] For breaking or fracturing rock and excavating and drilling tunnels or rooms under ground, or above ground, mining vehicles may be used. The mining vehicle may be a drilling rig having one or more drilling machines drilling into to a rock formation, or rock. The drilling machine may be a percussive or percussion drilling machine, or any other type of drilling machine. However, other mining vehicles may be used, such as vehicles for the transportation of fractured rock, or other materials. The mining vehicle has means for propulsion, such as wheels or continuous tracks.

[0006] Summary

[0007] The inventors have found drawbacks in conventional solutions for the localization of a mining vehicle in an underground mine. For example, some conventional solutions are not efficient enough and can be further improved.

[0008] An object of embodiments of the disclosure is to provide a solution which mitigates or solves drawbacks and problems of conventional solutions.

[0009] 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.

[0010] According to a first aspect of the disclosure, the above mentioned and other objects are achieved with a method for the localization of a mining vehicle in an underground mine. The mining vehicle comprises one or more scanners for scanning the surroundings of the mining vehicle so as to produce one or more range scans. The method comprises: obtaining, from the one or more scanners, first data generated by scanning performed by the one or more scanners; processing the obtained first data so at to align and add the obtained first data to a local map; processing third data associated with the local map and associated with a mine map of the environment of the underground mine so as to align the local map with the mine map, wherein the mine map is a three-dimensional mine map locally cropped to a single plane around the height of one of the one or more scanners; and based on the processing of the third data and the alignment of the local map with the mine map, updating an estimation of the position and / or orientation of the mining vehicle in the mine map so as to locate, or localize, the mining vehicle in the underground mine.

[0011] The inventors have identified that a problem with some conventional two-dimensional localization methods, which use a two-dimensional mine map (or map of the mine), is that only the horizontal position and horizontal orientation of the mining vehicle are determined. The inventors have found that a conventional two-dimensional localization method will therefore not work in a satisfactory manner when the mining vehicle travels in a vertical direction, such as along a helical ramp of an underground mine, which is often used by the mining vehicles to travel between different horizontal levels of the underground mine. The inventors have found that in such a helical ramp, multiple horizontal tunnels will overlap one another in a vertical direction and cannot be separated, or distinguished, when the horizontal tunnels are only represented as a horizonal, or two-dimensional, mine map, for example, when viewing the helical ramp from above in a vertical direction.

[0012] In general, the position of the mining vehicle is the spatial or geographical position of the mining vehicle, such in a three-dimensional coordinate system, and may, for example, be defined by three-dimensional coordinates, such as x, y and z, of the three- dimensional coordinate system. In general, the orientation of the mining vehicle is the direction, angle, or alignment, of the mining vehicle, such as the angle of the mining vehicle in a horizonal, or two-dimensional, plane, such as the angle in an xy-plane. In three dimensions, the orientation of the mining vehicle may, for example, be represented by a roll angle, a pitch angle, and a yaw angle. In general, the pose of the mining vehicle refers to both the position of the mining vehicle and the orientation of the mining vehicle.

[0013] According to the method according to the first aspect, the mine map is a three- dimensional mine map locally cropped to a single plane around (or at) the height (or vertical position) of one of the one or more scanners, i.e. , at the height at which one of the one of the one or more scanners is positioned or mounted to the mining vehicle. A locally cropped three-dimensional mine map is neither a conventional two-dimensional mine map nor a conventional three-dimensional mine map. In a local context, the locally cropped three-dimensional mine map is a two-dimensional mine map describing one or more tunnel segments, but in a global context, positions in the two-dimensional mine map are further represented by a coordinate, such as a z-coordinate, specifying the vertical position of a tunnel segment, such as the depth under ground. As stated above, the locally cropped three-dimensional mine map is not a conventional three- dimensional mine map, where the full three-dimensional tunnel segment, or profile, is described, or defined, by a much larger set of three-dimensional points, i.e., points defined by x-, y- and z-coordinates. A conventional three-dimensional mine map is three-dimensional both in a local and global context, or sense.

[0014] An advantage of the method according to the first aspect is an improved localization of a mining vehicle in an underground mine without any excessive increase of the amount of data to be processed, such as an improved localization of the mining vehicle in the underground mine in three dimensions without any three-dimensional scanners (such as three-dimensional light detection and ranging, LIDAR, scanners) generating three-dimensional scanner data. An advantage of the method according to the first aspect is a more efficient and faster localization of a mining vehicle in an underground mine without any excessive increase of the amount of data to be processed in relation to conventional methods for the localization of a mining vehicle in an underground mine. An advantage of the method according to the first aspect is an improved control of the movement of the mining vehicle, both an improved control of the movement of the mining vehicle while remaining at the same location, for example when changing orientations of the mining vehicle, and of the movement of the mining vehicle between two locations spaced apart from one another, for example when changing positions of the mining vehicle. Embodiments of the method according to the first aspect are advantageous for remotely controlled mining vehicles in underground mines. Embodiments of the method according to the first aspect are especially advantageous for autonomous, or self-driving, mining vehicles in underground mines.

[0015] According to an advantageous embodiment of the method according to the first aspect, the underground mine comprises one or more tunnel segments having side walls, wherein in the mine map the underground mine is represented by spatial points, wherein in the mine map a set of the spatial points form a line representing one of the side walls, and wherein the mine map is a locally cropped three-dimensional mine map in that the spatial points of the set of spatial points are represented by three-dimensional coordinates of a three-dimensional coordinate system.

[0016] According to a further advantageous embodiment of the method according to the first aspect, the underground mine comprises one or more tunnel segments having side walls, wherein in the mine map one of the side walls is represented by a set of spatial points forming a line, and wherein the mine map is a locally cropped three-dimensional mine map in that the spatial points of the set of spatial points are represented by three-dimensional coordinates of a three-dimensional coordinate system.

[0017] According to another advantageous embodiment of the method according to the first aspect, the underground mine comprises one or more tunnel segments, wherein in the mine map each tunnel segment is represented by one or more polygonal lines, and wherein the mine map is a locally cropped three-dimensional mine map in that spatial points on each polygonal line of the one or more polygonal lines are represented by three-dimensional coordinates of a three-dimensional coordinate system.

[0018] According to still another advantageous embodiment of the method according to the first aspect, the underground mine comprises one or more tunnel segments, wherein each tunnel segment has side walls, wherein in the mine map one of the side walls is represented by a polygonal line, and wherein the mine map is a locally cropped three-dimensional mine map in that spatial points on the polygonal line are represented by three-dimensional coordinates of a three-dimensional coordinate system.

[0019] According to yet another advantageous embodiment of the method according to the first aspect, the method comprises: obtaining, from the one or more scanners, first data comprising two-dimensional scanner data generated by the one or more scanners.

[0020] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine without any excessive increase of the amount of data to be processed. More specifically, an advantage of this embodiment is an improved localization of the mining vehicle in three dimensions, such as to estimate the position and / or orientation of the mining vehicle in three dimensions, but without any increase, or without any excessive increase, of the amount of data to be processed in relation to conventional two-dimensional localization schemes.

[0021] According to an advantageous embodiment of the method according to the first aspect, the method comprises: obtaining, from the one or more scanners, first data consisting of two-dimensional scanner data generated by the one or more scanners.

[0022] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine without any excessive increase of the amount of data to be processed.

[0023] According to a further advantageous embodiment of the method according to the first aspect, the local map is a two-dimensional local map. An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine without any excessive increase of the amount of data to be processed. An advantage of this embodiment is a more robust localization because of the local map, since the local map is mapped towards the global mine map, and not just a single sensory reading towards the global mine map. According to another advantageous embodiment of the method according to the first aspect, the method comprises: based on the processing of the third data, determining the three-dimensional position and three-dimensional orientation of the local map within the mine map.

[0024] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine.

[0025] According to yet another advantageous embodiment of the method according to the first aspect, the method comprises: processing the obtained first data so at to align and add the obtained first data to a local map by the usage of a two-dimensional optimization procedure.

[0026] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine without any excessive increase of the amount of data to be processed. An advantage of this embodiment is that is when building the local map, sensor data are aligned to sensory data, which in general provides a higher accuracy in terms on alignment compared to aligning a global mine map, which in general is not built by sensory data, at least not similar data and also most likely not at the same height.

[0027] According to still another advantageous embodiment of the method according to the first aspect, the method comprises: processing third data associated with the local map and associated with the mine map so as to align the local map with the mine map by the usage of a three-dimensional optimization procedure.

[0028] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine without any excessive increase of the amount of data to be processed.

[0029] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: finding an optimal geometric transformation that aligns the present content of the local map with the mine map by the usage of the three-dimensional optimization procedure. An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine.

[0030] According to a further advantageous embodiment of the method according to the first aspect, the method further comprises: converting the obtained first data into a normal-distribution representation; and processing the normal-distribution representation of the obtained first data so at to align and add the obtained first data to the local map.

[0031] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine. An advantage of this embodiment is a further improved or enhanced computational efficiency.

[0032] According to another advantageous embodiment of the method according to the first aspect, the mining vehicle comprises two or more scanners for scanning the surroundings of the mining vehicle so as to produce two or more range scans, wherein the method further comprises: obtaining, from the two or more scanners, first data generated by scanning performed by the two or more scanners; and aggregating the first data from the two or more scanners.

[0033] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine.

[0034] According to yet another advantageous embodiment of the method according to the first aspect, the mining vehicle comprises an odometry arrangement for estimating the motion and / or movement of the mining vehicle, the odometry arrangement comprising one or more motion measurement units, wherein the method comprises: obtaining second data from the odometry arrangement; and processing the obtained first and second data so at to align and add the obtained first data to the local map.

[0035] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine. According to still another advantageous embodiment of the method according to the first aspect, the method comprises: obtaining, from the odometry arrangement, second data regarding the motion and / or movement of the mining vehicle.

[0036] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine. An advantage of this embodiment is that an improved estimate of how the mining vehicle has moved is obtained.

[0037] According to an advantageous embodiment of the method according to the first aspect, the method comprises: obtaining, from the odometry arrangement, second data regarding the motion and / or movement of the one or more scanners.

[0038] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine.

[0039] According to a further advantageous embodiment of the method according to the first aspect, wherein the method comprises: processing the obtained first and second data so at to align and add the obtained first data to a local map by the usage of a two-dimensional optimization procedure. An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine. An advantage of this embodiment is that problems of wheel spinning are overcome. In some cases, if the odometry arrangement is based on wheel encoders, a wrong estimation may arise in case the mining vehicle is scoping rock formation material while wheel spin or because of wheel slippage. For some embodiments, it is not needed to rely on odometry reading. Instead, the mining vehicle velocity can be estimated by the relative position and / or orientation increments by aligning scans. Having a good estimate of the movement of the mining vehicle aids the optimization to find the optimal in a more robust way and to find its optimality faster, because of being closer to the optimal point in the beginning.

[0040] According to another advantageous embodiment of the method according to the first aspect, the mining vehicle comprises two or more scanners for scanning the surroundings of the mining vehicle so as to produce two or more range scans, wherein the method further comprises: obtaining, from the two or more scanners, first data generated by scanning performed by the two or more scanners; and based on the second data, aggregating the first data from the two or more scanners.

[0041] An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine.

[0042] According to yet another advantageous embodiment of the method according to the first aspect, the method is performed recurringly, or iteratively. An advantage of this embodiment is a further improved localization of a mining vehicle in an underground mine. Having an efficient alignment approach allows to run the update more frequently. Having a more frequent update means that less movement has to be considered, thus making a faster approach to be of great importance.

[0043] According to still another advantageous embodiment of the method according to the first aspect, the method further comprises: scanning by usage of the one or more scanners so as to generate the first data.

[0044] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: moving the mining vehicle between scans performed by the one or more scanners.

[0045] According to a further advantageous embodiment of the method according to the first aspect, wherein the method further comprises: based on the updated estimation of the position and / or orientation of the mining vehicle in the mine map, controlling the movement of the mining vehicle.

[0046] An advantage of this embodiment is an improved control of the movement of the mining vehicle. A better and also smoother estimate of the position and / or orientation of the mining vehicle is advantageous in order to provide an efficient steering of the mining vehicle.

[0047] 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.

[0048] According to an aspect of the present disclosure, the above-mentioned computer program or the computer-readable medium is configured to implement the method and its embodiments described herein.

[0049] According to a third aspect of the disclosure, the above mentioned and other objects are achieved with a control arrangement for the localization of a mining vehicle in an underground mine. The mining vehicle comprises one or more scanners scanning the surroundings of the mining vehicle so as to produce one or more range scans. The control arrangement is configured to: obtain, from the one or more scanners, first data generated by scanning performed by the one or more scanners; process the obtained first data so at to align and add the obtained first data to a local map ; process third data associated with the local map and associated with a mine map of the environment of the underground mine so as to align the local map with the mine map, wherein the mine map is a three-dimensional mine map locally cropped to a single plane around the height of one of the one or more scanners; and based on the processing of the third data and the alignment of the local map (302) with the mine map, update an estimation of the position and / or orientation of the mining vehicle in the mine map so as to locate, or localize, the mining vehicle in the underground mine.

[0050] It is to be appreciated that all the embodiments described for the method aspects of the disclosure are applicable also to the control arrangement aspects of the disclosure. Thus, all embodiments described for the method aspects of the disclosure may be performed by the control arrangement, which may include one or more controllers, control units, or one or more control devices. The embodiments of the control arrangement have advantages corresponding to advantages mentioned above for the method and its embodiments.

[0051] According to a fourth aspect of the disclosure, the above mentioned and other objects are achieved with a system comprising one or more mining vehicles. The mining vehicle comprises one or more scanners for scanning the surroundings of the mining vehicle so as to produce one or more range scans. The system comprises a control arrangement according to any one of the embodiments disclosed above or below.

[0052] 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.

[0053] The above-mentioned features and embodiments of the method, the computer program, the computer-readable medium, the control arrangement, and the system, respectively, may be combined in various possible ways providing further advantageous embodiments.

[0054] Further advantageous embodiments of the method, the computer program, the computer-readable medium, the control arrangement and the system and further advantages of the embodiments emerge from the detailed description of embodiments.

[0055] Brief Description of the Drawings

[0056] Embodiments of the disclosure will now be illustrated, for exemplary purposes, in more detail by way of embodiments and with reference to the enclosed drawings, where similar references are used for similar parts, in which:

[0057] Figure 1 is a schematic top view of a first embodiment of a mining vehicle;

[0058] Figure 2 is a schematic side view of a second embodiment of a mining vehicle;

[0059] Figure 3 is a schematic side view of a third embodiment of a mining vehicle;

[0060] Figure 4 is a schematic side view of a fourth embodiment of a mining vehicle;

[0061] Figure 5 is a schematic diagram illustrating an underground mine;

[0062] Figures 6A-B are schematic diagrams illustrating sections of embodiments of a mine map in digital format; Figure 7A is a schematic diagram illustrating first data generated by scanning performed by one or more scanners;

[0063] Figure 7B is a schematic diagram illustrating an embodiment of a local map in digital format;

[0064] Figure 8A is a schematic diagram illustrating the process of alignment of the first data of figure 7A with the local map of figure 7B;

[0065] Figure 8B is a schematic diagram illustrating an updated local map resulting from the process of alignment of figure 8A;

[0066] Figure 9 is a schematic diagram illustrating the alignment of the updated local map of figure 8B with the mine map of figure 6B;

[0067] Figure 10 is a schematic flow chart illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0068] Figure 11 is another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure;

[0069] Figure 12 is yet another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure;

[0070] Figure 13 is still another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure;

[0071] Figure 14 is a schematic diagram illustrating an embodiment of the system according to the fourth aspect of the disclosure; and

[0072] Figure 15 is a schematic diagram illustrating an embodiment of the control arrangement according to the third aspect of the disclosure, in which a method according to any one of the herein described embodiments may be implemented.

[0073] Detailed Description

[0074] With reference to figures 1 to 4, four different embodiments of a mining vehicle 100a, 100b, 100c, 100d are schematically illustrated. In general, the mining vehicle 100a-d has equipment 170a-d, or means, for propulsion, such as wheels 111 , 113, 172b, 172d or continuous tracks 172c. Embodiments of the method 400, of the control arrangement 130, 130a-d and of the system 100e may be utilized in combination with the above- and below-described kinds of mining vehicles 100a-d, but also in combination with any other kind of mining vehicle. However, for the sake of simplicity, the disclosure of the embodiments of the method 400, of the control arrangement 130, 130a-d and of the system 100e is exemplified hereinbelow with reference to the mining vehicles 100a-d illustrated in figures 1 to 4.

[0075] With reference to figure 1 , the mining vehicle 100d is schematically illustrated as a center-articulated mining vehicle 100d, wherein the mining vehicle 100d may include two vehicle carriers 180, 182, which are pivotable in relation to one another by a changeable angle a. The mining vehicle 100d includes one or more scanners 102, 104 for scanning the surroundings 116 of the mining vehicle 100d so as to produce one or more range scans 108, 110. In the embodiment of figure 1 , the mining vehicle 100d includes two or more scanners 102, 104 for scanning the surroundings 116 of the mining vehicle 100d so as to produce two or more range scans 108, 110. More specifically, in the embodiment of figure 1 , the mining vehicle 100d includes two scanners 102, 104 for scanning the surroundings 116 of the mining vehicle 10Od so as to produce two range scans 108, 110. For some embodiments, each scanner 102, 104 may have a horizontal field-of-view of 180 degrees. For some embodiments, one 102 of the scanners 102, 104 may be attached to and located at one end of the mining vehicle 10Od, for example an end of one 180 of the two vehicle carriers 180, 182 while the other one 104 may be attached to and located at the other end of the mining vehicle 100d, for example an end of the other one 182 of the two vehicle carriers 180, 182. For some embodiments, each scanner 102, 104 may produce two-dimensional range scans 108, 110 in a horizontal plane at regular time intervals. For some embodiments, a range scan 108, 100 may comprise a set of spatial points described by an angle and a range value. For some embodiments, the scanner 102, 104 may comprise a laser scanner, such as a light detection and ranging, LIDAR, scanner, or any other scanner, such as scanners not based on laser or light, for example a radar.

[0076] With reference to figure 1 , for some embodiments, it may be defined that the mining vehicle 100d includes equipment 170d, or means, for the propulsion of the mining vehicle 100d, which in figure 1 comprises wheels 172d. For some embodiments, the mining vehicle 100d may include an odometry arrangement 112 for estimating, or determining, the motion and / or movement of the mining vehicle 100d, for example, the change in position and / or orientation over time of the mining vehicle 100d. The odometry arrangement 112 comprises one or more motion measurement units 114a, or motion sensors. For some embodiments, the one or more motion measurement units 114a may comprise one or more rotary shaft encoders, connected to one or more drive axes of the mining vehicle 100d, and one or more inertia measurement units. For some embodiments, the mining vehicle 100d may include a steering articulation measurement unit 184, which may include a rotary encoder for measuring the changeable angle a of the center articulation of the mining vehicle 100d.

[0077] With reference to figure 2, the mining vehicle 100a is schematically illustrated as a drilling rig, which also may be referred to as a rock drilling rig. The mining vehicle 100a, or drilling rig, may be utilised in 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 for piling and foundations drilling etc, in a rock formation 700a, for example during tunnelling or mining. The mining vehicle 100a may rest and travel on a support surface 109, such as ground.

[0078] With reference to figure 2, in general, the mining vehicle 100a may comprise a carrier 115 and one or more booms 101 attached to the carrier 115, where the booms 101 may carry associated drilling machines 104b1 and / or other tools. The mining vehicle 100a illustrated in figure 2 includes one boom 101. A first end 101 a of the boom 101 may be attached in such a way that the boom 101 can pivot in relation to the carrier 115, such as a vehicle, via one or more articulated connections (not shown). The mining 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 may include a drilling machine 104b1 attached to the feeder 104a and thus movable in relation to the feed beam 103. The feed beam 103 may be attached to a second end 101 b of the boom 101 via one or more articulated connections, such as one or more rotators (not shown). The drilling machine 104b1 may be moved along the feed beam 103 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 hole 160a. It is to be understood that the embodiment of figure 2 is only exemplary, and that the mining vehicle 100a may carry any kind of tool, such as a bolt installation tool for installation of rock bolts. Other and / or additional tools may also be utilised. The mining vehicle 100a includes equipment 170a, or means, for the propulsion of the mining vehicle 100a, which in figure 2 comprises wheels 111 , 113. With reference to figure 2, the mining vehicle 100a may be configured carry one or more electric battery units 106a for driving the mining vehicle 100a. For some embodiments, the drilling machine 104ba may be hydraulically driven and power supplied from one or 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.

[0079] With reference to figures 2, the feed beam 103 may comprise a first end 103a and a second 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 the rock 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 formation 700a. For example, the drilling rig 100a may be utilised in tunnelling, surface mining, underground mining, rock reinforcement and raise boring. The mining vehicle 100a includes a scanner 102 for scanning the surroundings 116 of the mining vehicle 100a so as to produce a range scan.

[0080] With reference to figure 3, the mining vehicle 100b is schematically illustrated 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 or constructions. The mining vehicle 100b has equipment 170b, or means, for propulsion. In the embodiment of figure 3, the equipment 170b for propulsion comprises wheels 172b. The mining vehicle 100b may be configured carry one or more electric battery units 106b for driving the mining vehicle 100b. For other embodiments, the mining vehicle 100b may comprise an internal combustion engine for driving the mining vehicle 100b. The mining vehicle 100b includes two scanners 102, 104 for scanning the surroundings 116 of the mining vehicle 100a so as to produce two or more range scans.

[0081] With reference to figure 4, the mining vehicle 100c is schematically illustrated as a drilling rig. The mining vehicle 100c has equipment 170c, or means, for propulsion. In the embodiment of figure 4, the equipment 170c for propulsion comprises one or more continuous tracks 172c. The mining vehicle 100c may include a feed beam 174c and a drilling machine 104b3 connected to the feed beam 174c. The drilling machine 104b3 may comprise and / or hold a drill string 176c and / or a drill bit 178c for drilling a drill hole. The mining vehicle 100c may be configured carry one or more electric battery units 106c for driving the mining vehicle 100c. For other embodiments, the mining vehicle 100c may comprise an internal combustion engine for driving the mining vehicle 100c. For example, the drilling rig 100c may be utilised surface mining, underground mining and raise boring. The mining vehicle 100c includes a scanner 102 for scanning the surroundings 116 of the mining vehicle 100a so as to produce one or more range scans.

[0082] With reference to figures 1 to 4, for some embodiments, the mining vehicle 10Oa-d may include a control arrangement 130a-d, for example, for controlling the mining vehicle 100a-d. Embodiments of the control arrangement 130a-d are disclosed in further detail hereinbelow.

[0083] With reference to figure 5, an example of an underground mine 200 is schematically illustrated, provided in a rock formation 700a. The underground mine 200 includes a plurality of tunnels or tunnel segments 204a, 204b, 204c, which are connected to one another by one or more helical ramps 202 of the underground mine 200. The tunnel segments 204a, 204b, 204c are at different levels, or at different distances below the ground surface. A mining vehicle 100a-d may travel in a vertical direction along the helical ramp 202 so as to travel between the tunnel segments 204a, 204b, 204c and between different levels of the underground mine 200.

[0084] Figures 6A and 6B schematically illustrate embodiments, or sections of embodiments, of a mine map 300 in digital format, or a map 300 of a mine. The mine map 300 may be referred to as a global mine map, or a digital format mine map. In general, the mine map 300 includes representations of more than a single tunnel segment 204a, 204b, 204c. More specifically, in general, the mine map 300 includes representations of several tunnels 204a-c and one or more helical ramps 202. However, for illustrative purposes, the sections in figures 6A and 6B may be regarded as embodiments of a mine map 300 in digital format. With reference to figure 6A, for some embodiments, the illustrated solid polygonal line 314a and the broken polygonal line 314b may represent the mine map 300 in digital format, wherein the solid and broken polygonal lines 314a, 314b describe or define the location of side walls 206a, 206b of a tunnel segment 204a-c. In figure 6A, the solid polygonal line 314a represents a right-side side wall 206a when travelling the direction of the arrow 208 while the broken polygonal line 314b represents a left-side side wall 206b when travelling the direction of the arrow 208.

[0085] With reference to figures 10 to 13, embodiments of the method 400 for the localization of a mining vehicle 100a-d in an underground mine 200 are schematically illustrated in flow charts. The mining vehicle 100a-d includes one or more scanners 102, 104 for scanning the surroundings 116 of the mining vehicle 10Oa-d so as to produce one or more range scans 108, 110, for example as illustrated for any one of the embodiments of figures 1 to 4.

[0086] With reference to figure 10, embodiments of the method 400 for the localization of a mining vehicle 100a-d in an underground mine 200 include the steps of:

[0087] • obtaining 401 , from the one or more scanners 102, 104, first data generated by scanning performed by the one or more scanners 102, 104;

[0088] • processing 403a the obtained first data so at to align and add the obtained first data to a local map 302, such as a local map 302 in digital format;

[0089] • processing 404a third data associated with the local map and associated with a mine map 300, such as a global mine map 300 in digital format, of the environment of the underground mine 200 so as to align the local map 302 with the mine map 300, wherein the mine map 300 is a three-dimensional mine map 300 locally cropped to a single plane (or a two-dimensional surface) around (or at) the height (or the vertical position) of one of the one or more scanners 102, 104, i.e., at the height at which one 102, 104 of the scanners 102, 104 is positioned or mounted; and

[0090] • based on the processing of the third data (and / or based on the processed third data) and the alignment of the local map 302 with the mine map 300, updating 405 an estimation of the position and / or orientation of the mining vehicle 100a- d in the mine map 300 so as to locate, or localize, the mining vehicle 100a-d in the underground mine 200. With reference figure 6B, for some embodiments, it may be defined that the underground mine 200 includes one or more tunnel segments 204a, 204b, 204c (see figures 5 and 6B) having side walls 206a, 206b, wherein in the mine map 300 the underground mine 200 is represented by spatial points 308a, 308b, wherein in the mine map 300 a set 310a, 310b of the spatial points 308a, 308b form a line 312a, 312b representing one 206a, 206b of the side walls 206a, 206b, and wherein the mine map 300 is a locally cropped three-dimensional mine map 300 in that the spatial points 308a, 308b of the set 310a, 310b of spatial points 308a, 308b are represented by three- dimensional coordinates of a three-dimensional coordinate system.

[0091] With reference figure 6B, for some embodiments, it may be defined that the underground mine 200 includes one or more tunnel segments 204a-c having side walls 206a, 206b, wherein in the mine map 300, one 206a, 206b of the side walls 206a, 206b, or each side walls 206a, 206b, is represented by a set 310a, 310b of spatial points 308a, 308b forming a line 312a, 312b, and wherein the mine map 300 is a locally cropped three-dimensional mine map 300 in that the spatial points 308a, 308b of the set 310a, 310b of spatial points 308a, 308b are represented by three-dimensional coordinates of a three-dimensional coordinate system.

[0092] With reference figure 6B, for some embodiments, it may be defined that the underground mine 200 includes one or more tunnel segments 204a-c, wherein in the mine map 300, each tunnel segment is represented by one or more polygonal lines 314a, 314b, and wherein the mine map 300 is a locally cropped three-dimensional mine map 300 in that spatial points 308a, 308b on each polygonal line 314a, 314b of the one or more polygonal lines 314a, 314b are represented by three-dimensional coordinates of a three-dimensional coordinate system.

[0093] With reference figure 6B, for some embodiments, it may be defined that the underground mine 200 includes one or more tunnel segments 204a-c, wherein each tunnel segment 204a-c has side walls 206a, 206b, wherein in the mine map 300, one 206a, 206b of the side walls 206a, 206b, or each side wall 206a, 206b, is represented by a polygonal line 314a, 314b, and wherein the mine map 300 is a locally cropped three-dimensional mine map 300 in that spatial points 308a, 308b on the polygonal line 314a, 314b are represented by three-dimensional coordinates of a three-dimensional coordinate system.

[0094] With reference figure 6B, for some embodiments, it may be defined that the side walls 206a, 206b are represented by spatial points, or spatial information associated with respective spatial points, along an intersection of the side wall(s) 206a, 206b with an imaginary (flat or curved) two-dimensional surface. The two-dimensional surface may be described to be substantially parallel to the floor of the tunnel segments 204a-c and / or to have a substantially perpendicular intersection with the side walls 206a, 206b and / or to be at a specific height relative to the floor of the tunnel segments 204a-c.

[0095] With reference figure 6B, for some embodiments, each spatial point 308a, 308b may be represented by, or represent, one or more points, a cloud of points, a blob of separate points and / or one or more surface normals. For example, for some embodiments, the blob or cloud of points may represent a separate point distribution of a normal-distribution representation.

[0096] By way of the embodiments of the locally cropped three-dimensional mine map 300 disclosed above, it may be described that each spatial point 308a, 308b on the polygonal lines 314a, 314b has three-dimensional coordinates of a three-dimensional coordinate system (for example, x, y, z), but not all parts of the tunnel interior wall 206a, 206b are represented by the locally cropped three-dimensional mine map 300. In general, only points 308, 208b of the tunnel walls 206a, 206b roughly vertically centered in the vertical direction are represented. In particular, it may be described that the locally cropped three-dimensional mine map 300 contains no data representing the floor or the roof of the tunnel or tunnel segment 204a-c. It may be described that this effectively creates a locally cropped three-dimensional mine map 300, or a 2.5- dimensional model of the mine 200. For example, one may imagine a fictitious curved surface between the two tunnel walls 206a, 206b, for example, by hanging a piece of cloth horizontally across the tunnel segment 204a-c such that the piece of cloth is held up by the two polygonal lines 314a, 314b. This curved surface (or cloth) is thus two- dimensional, but lives and “moves” in the three-dimensional space, giving a 2.5- dimensional effect, i.e. , a locally cropped three-dimensional map 300. Figures 7A to 8B schematically illustrate embodiments of the generation, or production, or updating, of the local map 302 in digital format.

[0097] Figure 7A schematically illustrates the mining vehicle 100a-d as viewed from above together with a set of dots 316a, 316b representing scanned first data collected by the one or more scanners 102, 104 of the mining vehicle 100a-d at the current position and obtained in step 401 of the method disclosed above. The dotted circle surrounding the mining vehicle 100a-d is not part of the scanned first data but is added for illustrative purposes only, so as to visualize the rough shape of the first data. For some embodiments, the scanned first data may be two-dimensional and then represent side walls 206a, 206b of a segment 204a-c in purely horizontal directions from the mining vehicle 100a-d.

[0098] Figure 7B schematically illustrates a local map 302, comprising dots 318a, 318b representing previously scanned first data collected by the one or more scanners 102, 104 of the mining vehicle 100a-d at previous positions of the mining vehicle 100a-d. The dotted oval is not part of the previously scanned first data but is added for illustrative purposes only, so as to visualize the rough shape of the previously scanned first data. For some embodiments, the local map 302 may be two-dimensional.

[0099] With reference to figure 8A, the two-dimensional scanned first data is being aligned with the two-dimensional local map 302 of figure 7B by the processing in step 403a of the method disclosed above, for example by usage of a two-dimensional optimization procedure, which is illustrated in figure 8A and further disclosed hereinbelow.

[0100] Figure 8B schematically illustrates the updated local map 302 in digital format after the new scanned first data have been aligned with and added to the local map 302 as a result of the processing in step 403a of the method disclosed above. The alignment of the new scanned first data with the local map 302 also determines the two-dimensional position and orientation of the mining vehicle 100a-d with respect to the local map 302.

[0101] With reference to figure 9, the updated local map 302 is then aligned with the locally cropped three-dimensional mine map 300 of figure 6B based on processing in step 404a of the method disclosed above, for example by usage of a three-dimensional optimization procedure, which is further disclosed hereinbelow. Figure 9 schematically illustrates how a three-dimensional position and a three-dimensional orientation of the local map 302 with respect to the mine map 300 have been determined, i.e. , that the updated local map 302 has been aligned with the locally cropped three-dimensional mine map 300. In figure 9, it is also illustrated that the alignment of the local map 302 with the locally cropped three-dimensional mine map 300 also determines the three- dimensional position and orientation of the mining vehicle 100a-d with respect to the locally cropped three-dimensional mine map 300.

[0102] For some embodiments, the local map 302 may be defined as, or to be, a two- dimensional local map 302.

[0103] With reference to figure 11 , embodiments of the method 400 for the localization of a mining vehicle 100a-d in an underground mine 200 may include one or more of the steps of:

[0104] • obtaining 401 , from the one or more scanners 102, 104, first data comprising two-dimensional scanner data generated by the one or more scanners 102, 104;

[0105] • obtaining 401 , from the one or more scanners 102, 104, first data consisting of two-dimensional scanner data generated by the one or more scanners 102, 104;

[0106] • based on the processing of the third data, such as in connection with step 404a disclosed above, determining 404b the three-dimensional position and three- dimensional orientation of the local map 302 within the mine map 300;

[0107] • processing 403a the obtained first data so at to align and add the obtained first data to a local map 302 by the usage of a two-dimensional optimization procedure;

[0108] • processing 404a third data associated with the local map 302 and associated with the mine map 300 so as to align the local map 302 with the mine map 300 by the usage of a three-dimensional optimization procedure;

[0109] • finding 404c an optimal geometric transformation that aligns the present (or current) content of the local map 302 with the mine map 300 by the usage of the three-dimensional optimization procedure, such as in connection with step 404a disclosed above; • converting 403b the obtained first data into a normal-distribution representation; and processing 403a the normal-distribution representation of the obtained first data so at to align and add the obtained first data to the local map 302;

[0110] • when the mining vehicle 100a-d comprises an odometry arrangement 112 for estimating the motion and / or movement (for example, the change in position and / or orientation over time) of the mining vehicle 100a-d, the odometry arrangement 112 comprising one or more motion measurement units 114a, obtaining 402 second data from the odometry arrangement 112; and processing 403a the obtained first and second data so at to align and add the obtained first data to the local map 302;

[0111] • when the mining vehicle 100a-d comprises the odometry arrangement 112 for estimating the motion and / or movement of the mining vehicle 100a-d, obtaining 402, from the odometry arrangement 112, second data regarding the motion and / or movement (for example the change in position and / or orientation over time) of the mining vehicle 100a-d;

[0112] • when the mining vehicle 100a-d comprises the odometry arrangement 112 for estimating the motion and / or movement of the mining vehicle 100a-d, obtaining 402, from the odometry arrangement 112, second data regarding the motion and / or movement of the one or more scanners 102, 104;

[0113] • when the mining vehicle 100a-d comprises the odometry arrangement 112 for estimating the motion and / or movement of the mining vehicle 100a-d, processing 403a the obtained first and second data so at to align and add the obtained first data to a local map 302 by the usage of a two-dimensional optimization procedure;

[0114] • scanning 406 by usage of the one or more scanners 102, 104 so as to generate the first data;

[0115] • moving 407 the mining vehicle 100a-d between scans performed by the one or more scanners 102, 104; and

[0116] • based on the updated estimation of the position and / or orientation of the mining vehicle 100a-d in the mine map 300, controlling 408 the movement of the mining vehicle 100a-d.

[0117] With reference to figure 12, wherein the mining vehicle 100a-d comprises two or more scanners 102, 104 for scanning the surroundings 116 of the mining vehicle 10Oa-d so as to produce two or more range scans 108, 110, embodiments of the method 400 for the localization of a mining vehicle 100a-d in an underground mine 200 may include one or more of the steps of:

[0118] • obtaining 401 , from the two or more scanners 102, 104, first data generated by scanning performed by the two or more scanners 102, 104;

[0119] • aggregating 403c the first data from the two or more scanners 102, 104;

[0120] • based on the second data, aggregating 403c the first data from the two or more scanners 102, 104;

[0121] • obtaining 401 , from the two or more scanners 102, 104, first data comprising two-dimensional scanner data generated by the one or more scanners 102, 104;

[0122] • obtaining 401 , from the two or more scanners 102, 104, first data consisting of two-dimensional scanner data generated by the one or more scanners 102, 104;

[0123] • scanning 406 by usage of the two or more scanners 102, 104 so as to generate the first data; and

[0124] • moving 407 the mining vehicle 100a-d between scans performed by the two or more scanners 102, 104.

[0125] With reference to figure 13, embodiments of the method 400 for the localization of a mining vehicle 100a-d in an underground mine 200 may be performed recurringly, or iteratively.

[0126] With reference to figure 13 and the mining vehicle 100d illustrated in figure 1 , some embodiments of the method 400 for the localization of a mining vehicle 100d in an underground mine 200 may include one or more of the steps of:

[0127] • obtaining, for example at a control arrangement 130, 130d (or at a processing unit), a sensor reading, or scans, from the two scanners 102, 104, a sensor reading from the odometry arrangement 112, and a sensor reding, or measurement, of a steering articulation angle a from the steering articulation measurement unit 184. For this embodiment, the scans by the two scanners 102, 104 are two-dimensional;

[0128] • By usage of the measured steering articulation angle a and knowledge about the physical location of the two scanners 102, 104 on the mining vehicle 100d, aggregating the data from the two scans and then converting said data into a normal-distribution representation, which is more suitable for performing subsequent steps of the embodiment of the method;

[0129] • Aligning the converted scans to a local map 302 by usage of a two-dimensional optimization procedure, which may be referred to as a two-dimensional scan registration, and adding the converted scans to the local map 302 based on the two-dimensional alignment. Providing the sensor reading from the odometry arrangement 112 as an input to the two-dimensional optimization procedure or the two-dimensional scan registration) so as to provide an initial estimation (or estimate) of the spatial alignment between consecutive scans. Then adding the aligned scans to the local map 302. As the mining vehicle 100d is in motion, the local map 302 will create a larger spatial context of the local environment than the data provided by single scans. For this embodiment, the local map 302 is two-dimensional;

[0130] • Updating the global estimation (or estimate) of the pose of the mining vehicle 100d in the mine map 300 by adding the mining vehicle movement estimated from the two-dimensional optimization procedure (or the two-dimensional scan registration) to the pose of the mining vehicle 100d estimated in the previous iteration;

[0131] • Applying a three-dimensional optimization procedure, which be referred to as a three-dimensional scan registration, to find the optimal geometrical transformation that aligns the current content of the aggregated local map 302 with the mine map 300. Expressed alternatively, aligning the local map 302 with the global mine map 300 based on the three-dimensional optimization (or the three-dimensional scan registration). This effectively determines the three- dimensional position and three-dimensional orientation of the two-dimensional local map 302 within the global mine map 300. For the three-dimensional optimization procedure (or the three-dimensional scan registration), a previous estimate of the three-dimensional position and three-dimensional orientation of the local map 302 may be used as an initial guess / estimation. At startup, the initial or previous guess / estimation may be inputted by an operator, or user, who knows the three-dimensional position and three-dimensional orientation of the mining vehicle 100d. Then, as the method iteratively repeats, or is performed recurringly, the three-dimensional position and three-dimensional orientation of the previous iteration may be used; and • Updating the global estimation (estimate) of the pose of the mining vehicle 100d in the mine map 300 with the result of the three-dimensional optimization procedure (or the three-dimensional scan registration), Expressed alternatively, the alignment of the local map 302 with the global mine map 300 determines the three-dimensional position (x- y- z-position) and three-dimensional orientation of the mining vehicle 100d.

[0132] The above-mentioned features and embodiments of the method 400 may be combined in various possible ways.

[0133] Unless disclosed otherwise, it should be noted that the method steps illustrated in figures 10 to 13 and described herein do not necessarily have to be executed in the order illustrated in figures 10 to 13. The steps may essentially be executed in any suitable order. Further, one or more steps may be added without departing from the scope of the appended claims. One or more steps may be excluded without departing from the scope of the appended claims.

[0134] With reference to figures 2, 14 and 15, aspects of embodiments of the control arrangement 130, 130a-d for the localization of a mining vehicle 100a-d in an underground mine 200 are schematically illustrated, wherein the mining vehicle 100a- d includes one or more scanners 102, 104 for scanning the surroundings 116 of the mining vehicle 100a-d in order to produce one or more range scans 108, 110. Embodiments of the control arrangement 130, 130-c are configured to:

[0135] • obtain 401 , from the one or more scanners 102, 104, first data generated by scanning performed by the one or more scanners 102, 104;

[0136] • process 403a the obtained first data so at to align and add the obtained first data to a local map 302;

[0137] • process 404a third data associated with the local map and associated with a mine map 300 of the environment of the underground mine 200 so as to align the local map 302 with the mine map 300, wherein the mine map 300 is a three- dimensional mine map (300) locally cropped to a single plane around the height of one of the one or more scanners 102, 104; and

[0138] • based on the processing of the third data and the alignment of the local map 302 with the mine map 300, update 405 an estimation of the position and / or orientation of the mining vehicle 100a-d in the mine map 300 so as to locate, or localize, the mining vehicle 100a-d in the underground mine 200.

[0139] For some embodiments, the control arrangement 130 may be stationary. The control arrangement 130 may be located in cloud, in a control system, or elsewhere. The control arrangement 130a-d may be located in the mining vehicle 100a-d. The control arrangement 130, 130-d may be located at two or more of said locations.

[0140] With reference to figures 2 and 14, some embodiments of the control arrangement 130, 130a-d may include reception unit 131 for obtaining first and / or second data in order to perform steps 401 and 402 in figures 10 to 13. Some embodiments of the control arrangement 130, 130a-d may include a processing unit 132 in order to perform steps 403a, 404a, 404b and 404c in figures 10 to 13. Some embodiments of the control arrangement 130, 130a-d may include an updating unit 133 in order to perform step 405 in figures 10 to 13.

[0141] With reference to figures 2 and 14, some embodiments of the control arrangement 130, 130a-d may include a controlling unit 134 in order to perform steps 406, 407 and 408 in figures 11 to 13. Some embodiments of the control arrangement 130, 130a-d may include a conversion unit 135 in order to perform step 403b in figures 10 to 13. Some embodiments of the control arrangement 130, 130a-d may include an aggregating unit 136 in order to perform step 403c in figures 10 to 13.

[0142] With reference to figures 2 and 14, for some embodiments, the control arrangement 130, 130a-d may be configured to directly or indirectly communicate, for example wirelessly or via signal lines (or cables, or wires), with one or more of the system 10Oe, mining vehicle 100a-d, one or more scanners 102, 104, odometry arrangement 112 and steering articulation measurement unit 184. Thus, for some embodiments, there may be one or more signal connections between the control arrangement 130, 130a- d and one or more of the system 100e and mining vehicle 100a-d.

[0143] Figure 15 shows in schematic representation an embodiment of the control arrangement 130, 130a-d according to the third aspect of the disclosure, which may include a controller 600, which may correspond to or may include one or more of the above-mentioned units 131 to 136 of the control arrangement 130, 130a-d. The controller 600 may comprise 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.

[0144] With reference to figure 15, 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 parts and / or systems of, or associated with, the mining vehicles 100a-d, the system 100e and / or a data storage device 150 (see figure 2) for storing data. Each of the connections to the devices 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 2, the data stored in the data storage device 150, which may include data about the routes of the one or more mining vehicles 100a-d, may be used for machine learning and / or Al applications.

[0145] 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 2 and 14, the units 131 to 136 of the control arrangement 130, 130a are in figure 2 and 14 illustrated as separate units. These sperate units may, however, be logically separated but physically implemented in the same unit, or can be both logically and physically arranged together. The units 131 to 136 may for example correspond to groups of instructions, which can be in the form of programming code, that are input into, and are utilized by a processor / computing unit 601 (see figure 15) when the units are active and / or are utilized for performing its method step.

[0146] With reference to figures 2, 14 and 15, the control arrangement 130, 130a-d which may include one 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, 130a-d is associated with the above-described advantages for each respective embodiment of the method 400.

[0147] With reference to figure 15, according to the second aspect of the disclosure, a computer program 603 or a computer-readable medium is provided, comprising instructions 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 embodiments disclosed above.

[0148] 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 15), 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. With reference to figure 14, an embodiment of the system 100e is schematically illustrated. The system 100e includes one or more mining vehicles 100a-d. The mining vehicle 100a-d, or each mining vehicle 100a-d, includes one or more scanners 102, 104 for scanning the surroundings 116 of the mining vehicle 100a-d so as to produce one or more range scans 108, 110. The system 100e includes a control arrangement 130, 130a-d according to any one of the embodiments disclosed above or below.

[0149] 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 the localization of a mining vehicle (1 OOa-d) in an underground mine (200), wherein the mining vehicle (1 OOa-d) comprises one or more scanners (102, 104) for scanning the surroundings (116) of the mining vehicle (1 OOa-d) so as to produce one or more range scans (108, 110), wherein the method comprises: obtaining (401 ), from the one or more scanners (102, 104), first data generated by scanning performed by the one or more scanners (102, 104); processing (403a) the obtained first data so at to align and add the obtained first data to a local map (302); processing (404a) third data associated with the local map and associated with a mine map (300) of the environment of the underground mine (200) so as to align the local map (302) with the mine map (300), wherein the mine map (300) is a three- dimensional mine map (300) locally cropped to a single plane around the height of one of the one or more scanners (102, 104); and based on the processing of the third data and the alignment of the local map (302) with the mine map (300), updating (405) an estimation of the position and / or orientation of the mining vehicle (1 OOa-d) in the mine map (300) so as to locate the mining vehicle (1 OOa-d) in the underground mine (200).

2. A method (400) according to claim 1 , wherein the underground mine (200) comprises one or more tunnel segments (204) having side walls (206a, 206b), wherein in the mine map (300) the underground mine (200) is represented by spatial points (308a, 308b), wherein in the mine map (300) a set (310a, 310b) of the spatial points (308a, 308b) form a line (312a, 312b) representing one (206a, 206b) of the side walls (206a, 206b), and wherein the mine map (300) is a locally cropped three-dimensional mine map (300) in that the spatial points (308a, 308b) of the set (310a, 310b) of spatial points (308a, 308b) are represented by three-dimensional coordinates of a three-dimensional coordinate system.

3. A method (400) according to claim 1 or 2, wherein the underground mine (200) comprises one or more tunnel segments (204) having side walls (206a, 206b), wherein in the mine map (300) one (206a, 206b) of the side walls (206a, 206b) is represented by a set (310a, 310b) of spatial points (308a, 308b) forming a line (312a, 312b), and wherein the mine map (300) is a locally cropped three-dimensional mine map (300) in that the spatial points (308a, 308b) of the set (310a, 310b) of spatial points (308a, 308b) are represented by three-dimensional coordinates of a three-dimensional coordinate system.

4. A method (400) according to any one of the claims 1 to 3, wherein the underground mine (200) comprises one or more tunnel segments (204), wherein in the mine map (300) each tunnel segment is represented by one or more polygonal lines (314a, 314b), and wherein the mine map (300) is a locally cropped three-dimensional mine map (300) in that spatial points (308a, 308b) on each polygonal line (314a, 314b) of the one or more polygonal lines (314a, 314b) are represented by three-dimensional coordinates of a three-dimensional coordinate system.

5. A method (400) according to any one of the claims 1 to 4, wherein the underground mine (200) comprises one or more tunnel segments (204), wherein each tunnel segment (204) has side walls (206a, 206b), wherein in the mine map (300) one (206a, 206b) of the side walls (206a, 206b) is represented by a polygonal line (314a, 314b), and wherein the mine map (300) is a locally cropped three-dimensional mine map (300) in that spatial points (308a, 308b) on the polygonal line (314a, 314b) are represented by three-dimensional coordinates of a three-dimensional coordinate system.

6. A method (400) according to any one of the claims 1 to 5, wherein the method (400) comprises: obtaining (401 ), from the one or more scanners (102, 104), first data comprising two-dimensional scanner data generated by the one or more scanners (102, 104).

7. A method (400) according to any one of the claims 1 to 6, wherein the local map (302) is a two-dimensional local map (302).

8. A method (400) according to any one of the claims 1 to 7, wherein the method (400) comprises: based on the processing of the third data, determining (404b) the three- dimensional position and three-dimensional orientation of the local map (302) within the mine map (300).

9. A method (400) according to any one of the claims 1 to 8, wherein the method (400) comprises: processing (403a) the obtained first data so at to align and add the obtained first data to a local map (302) by the usage of a two-dimensional optimization procedure.

10. A method (400) according to any one of the claims 1 to 9, wherein the method (400) comprises: processing (404a) third data associated with the local map (302) and associated with the mine map (300) so as to align the local map (302) with the mine map (300) by the usage of a three-dimensional optimization procedure.

11. A method (400) according to claim 10, wherein the method (400) further comprises: finding (404c) an optimal geometric transformation that aligns the present content of the local map (302) with the mine map (300) by the usage of the three-dimensional optimization procedure.

12. A method (400) according to any one of the claims 1 to 11 , wherein the method (400) further comprises: converting (403b) the obtained first data into a normal-distribution representation; and processing (403a) the normal-distribution representation of the obtained first data so at to align and add the obtained first data to the local map (302).

13. A method (400) according to any one of the claims 1 to 12, wherein the mining vehicle (100a-d) comprises two or more scanners (102, 104) for scanning the surroundings (116) of the mining vehicle (1 OOa-d) so as to produce two or more range scans (108, 110), wherein the method (400) further comprises: obtaining (401 ), from the two or more scanners (102, 104), first data generated by scanning performed by the two or more scanners (102, 104); and aggregating (403c) the first data from the two or more scanners (102, 104).

14. A method (400) according to any one of the claims 1 to 13, wherein the mining vehicle (1 OOa-d) comprises an odometry arrangement (112) for estimating the motion and / or movement of the mining vehicle (100a-d), the odometry arrangement (112) comprising one or more motion measurement units (114a), wherein the method comprises: obtaining (402) second data from the odometry arrangement (112); and processing (403a) the obtained first and second data so at to align and add the obtained first data to the local map (302).

15. A method (400) according to claim 14, wherein the method (400) comprises: obtaining (402), from the odometry arrangement (112), second data regarding the motion and / or movement of the mining vehicle (1 OOa-d).

16. A method (400) according to claim 14 or 15, wherein the method (400) comprises: processing (403a) the obtained first and second data so at to align and add the obtained first data to a local map (302) by the usage of a two-dimensional optimization procedure.

17. A method (400) according to any one of the claims 1 to 16, wherein the method (400) is performed recurringly.

18. A computer program (603) 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 (400) according to any one of the claims 1 to 17.

19. A control arrangement (130; 130a-d) for the localization of a mining vehicle (100a-d) in an underground mine (200), wherein the mining vehicle (100a-d) comprises one or more scanners (102, 104) for scanning the surroundings (116) of the mining vehicle (100a-d) so as to produce one or more range scans (108, 110), wherein the control arrangement (130; 130a-d) is configured to: obtain (401 ), from the one or more scanners (102, 104), first data generated by scanning performed by the one or more scanners (102, 104); process (403a) the obtained first data so at to align and add the obtained first data to a local map (302); process (404a) third data associated with the local map and associated with a mine map (300) of the environment of the underground mine (200) so as to align the local map (302) with the mine map (300), wherein the mine map (300) is a three- dimensional mine map (300) locally cropped to a single plane around the height of one of the one or more scanners (102, 104); and based on the processing of the third data and the alignment of the local map (302) with the mine map (300), update (405) an estimation of the position and / or orientation of the mining vehicle (100a-d) in the mine map (300) so as to locate the mining vehicle (100a-d) in the underground mine (200).

20. A system (100e) comprising one or more mining vehicles (100a-d), wherein the mining vehicle (100a-d) comprises one or more scanners (102, 104) for scanning the surroundings (116) of the mining vehicle (100a-d) so as to produce one or more range scans (108, 110), and wherein the system (100e) comprises a control arrangement (130; 130a-d) according to claim 19.

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