WO2024181900A1

WO2024181900A1 - Charge capacity warning for mining machine in a mining environment

Info

Publication number: WO2024181900A1
Application number: PCT/SE2023/050179
Authority: WO
Inventors: Hans WAHLQUIST
Original assignee: Epiroc Rock Drills Aktiebolag
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2024-09-06

Abstract

A method (400) performed by a system (300) for warning of a lack of available capacity for an electrically powered mining machine (100) configured to travel in a mining environment (200), the mining environment (200) comprising charging zones, each charging zone (220) comprising at least one charging station (221) for charging of electrically powered machines, the method (400) comprising determining that the mining machine (100) enters or is planned to enter a first charging zone (220), determining a first energy need of the mining machine (100) at a time at which the mining machine (100) enters or is planned to enter the first charging zone (220), determining an available capacity of the first charging zone (220) at the time at which the mining machine (100) enters or is planned to enter the first charging zone (220), determining that the available capacity is insufficient to satisfy the first energy need, and transmitting a warning of a lack of capacity for the mining machine (100) in the first charging zone (220).

Description

CHARGE CAPACITY WARNING FOR MINING MACHINE IN A MINING ENVIRONMENT

Technical field

[0001] The present invention relates generally to charging of electrically powered machines, and planning of said charging.

Background art

[0002] For work in mining environments, a shift to electrically powered machines and vehicles is underway. This shift aims at least at improving the working environment as well as a step to lessen a dependence on fossil fuel. Furthermore, there are many additional positive effects of electrification. The working environment is not only cleaner from removing exhaust gases, but also having less noise. Removing exhaust gases furthermore lowers the demands on ventilation system capacity.

[0003] Using electrically powered machines in mines naturally also presents challenges such as ensuring each machine always has a sufficient power supply to travel to its designated destination and/or perform planned operations. This is made more difficult as infrastructure to charge the machines is costly, especially in mining environments. Furthermore, there are limitations on charging capacity of the infrastructure, both in terms of the number of charging points and their respective capacity. As such, there is a risk of a machine arriving at a charging point having insufficient capacity, or even a risk of the machine not being able to reach the charging point at all.

[0004] A machine being stationary due to lack of power, or for other reasons is blocking a passage, is especially detrimental in a mining environment where maneuverability is limited and there are rarely alternative routes to choose between. A stationary machine therefore risks leading to traffic jams and loss of production. [0005] In recent years, technological advancements have been made to optimize charging to determine when and where electrically powered machines should charge. Optimization may for example comprise planning of travel routes to ensure that each machine’s power supply is sufficient to reach a given destination. Planning may also relate to a charging station and the machines arriving there, such as determining how many machines are at the station and which machine is more or less prioritized to charge at a given moment. Optimization naturally also relates to analyzing machine parameters such as charging level or energy consumption and comparing such parameters between machines. The advancements of recent years are at least partly made possible by the availability of data, for example relating to mapping of the environment, positions of the machines, or destinations where the machines are planned to travel. However, there is a need for solutions adapted for the special conditions of a mining environment.

[0006] Furthermore, problems remain in predicting and planning the charging of electrically powered mining machines. Many times, planning is not sufficient to predict events which may take place in a mining environment. Unforeseen events, such as a sudden need for repair or maintenance, may force a machine to travel longer distances or to unplanned locations. Thus, auxiliary system and solutions may be required in order to handle unforeseen events.

[0007] Thus, there is need for solutions for preventing unintentionally stationary machines in the mining environment.

Summary of invention

[0008] An object of the present invention is to overcome at least some of the problems outline above. This and other objects are achieved by means of a method, a system, a computer program, a computer-readable medium and a mining machine as defined in the appended claims.

[0009] In a first aspect of the disclosure there is provided a method performed by a system for warning of a lack of available capacity for an electrically powered mining machine configured to travel in a mining environment. The mining environment comprises charging zones, each charging zone comprising at least one charging station for charging of electrically powered machines. The method comprises determining that the mining machine enters or is planned to enter a first charging zone, determining a first energy need of the mining machine at a time at which the mining machine enters or is planned to enter the first charging zone, determining an available capacity of the first charging zone at the time at which the mining machine enters or is planned to enter the first charging zone, determining that the available capacity is insufficient to satisfy the first energy need, and transmitting a warning of a lack of capacity for the mining machine in the first charging zone.

[0010] The disclosure is based on the insight that providing information that a mining machine will enter, or has already entered, an area where the machine may not be able/allowed to charge, gives the possibility to choose that the machine should not enter said area. The disclosure is at least made possible by the large amount of data available in mining environments today. Such data relates for example to the physical environment, such as a layout of a network of tunnels, to operational data of the machine, such as a position or a charge level, or data relating to charging infrastructure in the mining environment. As such, the present disclosure provides a warning for a mining machine when traveling into, or planning to travel into, a zone where there is a risk that it might not be able/allowed to charge. An advantage of the present disclosure is that the warning may be triggered when the mining machine travels into, or plans to travel into, the zone and does. Potential problems are thus discovered early, for example before the machine arrives at a charging station. This is beneficial for example when the mining machine enters or is about to enter an area it was not planned to enter.

Furthermore, since the warning is transmitted at an early stage, there is still time to find and alternative place to charge or in another way avoid being unintentionally stationary.

[0011] In some embodiments, determining that the mining machine enters or is planned to enter the first charging zone comprises determining a position of the mining machine, and determining that the machine is within a predetermined distance from a boundary of the first charging zone.

[0012] The predetermined distance from the boundary may be outside the boundary, on the boundary or inside the boundary. By transmitting a warning at an early stage that the mining machine is about to enter a zone where the capacity to charge is insufficient, the risk of unintentionally stationary machines in the mining environment is decreased.

[0013] In some embodiments, determining the position of the mining machine comprises determining, by the mining machine, a movement path of the mining machine by tracking movements of the mining machine; and comparing the tracked movement with possible movement paths for the mining machine in the mining environment to determine the position.

[0014] In some embodiments, determining that the mining machine is planned to enter the first charging zone comprises planning a travel route for the mining machine, and determining that the planned travel route comprises travelling, by the mining machine, into the first charging zone.

[0015] By transmitting a warning already at a planning stage that the mining machine will enter a zone where the capacity to charge is insufficient, the risk of unintentionally stationary machines in the mining environment is decreased.

[0016] In some embodiments, transmitting the warning comprises transmitting, by a control unit, a signal to a receiver of the mining machine.

[0017] In some embodiments, the receiver displays the warning as a sensorial warning such as a light or a sound or an icon on a display.

[0018] In some embodiments, transmitting the warning comprises alerting a route planning system for mining machines.

[0019] In this way, an alternative travel route may be planned for the mining machine, such as to an alternative charging zone. [0020] In some embodiments, determining the available capacity of the first charging zone comprises determining a capacity of at least one charging station of the first charging zone, and wherein determining that the available capacity is insufficient to satisfy the first energy need comprises determining that the electrical energy, that the at least one charging station may provide to the mining machine, is below the first energy need.

[0021 ] In some embodiments, wherein the capacity of the at least one charging station is based on at least one of: a transmission rate of infrastructure supplying the at least one charging station with power, a charge level of an energy storage at the at least one charging station, and a number of occupied charging outlets of the at least one charging station.

[0022] A warning may thus be sent to the mining machine preventing it from arriving at a charging station where the transmission rate is insufficient to satisfy the energy need. Furthermore, if the charging station has more than one charging outlet, the capacity of the at least one charging station can be based on the transmission rate of each outlet, or that of an available outlet. Some charging stations have supplementary batteries, for example in case the transmission capacity is insufficient. A warning may thus be sent to the mining machine if the battery at the charging station zone is discharged or for example if the remaining charge is planned for another machine.

[0023] In some embodiments, determining the available capacity of the first charging zone comprises determining a priority between mining machines which enter or are planned to enter the first charging zone. Determining that the available capacity is insufficient to satisfy the first energy need comprises assigning a priority to the mining machine, determining, based on the time at which the mining machine enters or is planned to enter the first charging zone, and a time at which at least one additional mining machine enters or is planned to enter the first charging zone, that the mining machine and the at least one additional mining machine are or will be in the first charging zone at the same time, determining that the at least one additional mining machine has a higher priority than the mining machine, and determining, when a number of the at least one additional mining machine exceed a predetermined number of mining machines, that the available capacity is insufficient.

[0024] In a mining environment, it is more critical for some machines to charge, than others. For example, the larger machines might block passage ways. Alternatively, a machine could have task a being crucial to prevent production stops or delays. A warning is thus sent to the mining machine if the charging zone has a number of these high priority machines which prevent the mining machine from charging there.

[0025] In some embodiments, determining the available capacity of the first charging zone is based on a plurality of predicted capacities during a predetermined period of time, wherein the predetermined period of time starts at the time at which the mining machine enters or is planned to enter the first charging zone, and wherein determining that the available capacity is insufficient to satisfy the first energy need comprises determining that each of the predicted capacities is insufficient to satisfy the first energy need.

[0026] As such, it is possible to determine if a future available capacity may be sufficient to satisfy a future energy need, and transmit a warning if it is not.

[0027] In some embodiments, when the warning is transmitted, determining a second energy need of the mining machine at a time at which the mining machine enters or is planned to enter a second charging zone, determining an available capacity of the second charging zone at the time at which the mining machine enters or is planned to enter the second charging zone, determining that the available capacity of the second charging zone is sufficient to satisfy the second energy need, and transmitting a suggested travel route for the mining machine towards the second charging zone.

[0028] In a second aspect of the disclosure there is provided a method performed by a system for warning of a lack of available capacity for an electrically powered mining machine configured to travel in a mining environment. The mining environment comprises charging zones, each charging zone comprising at least one charging station for charging of electrically powered machines. The method comprises determining that a position of the mining machine is or is planned to be in a first charging zone, determining a first energy need of the mining machine at a time at which the position of the machine is determined, determining an available capacity of the first charging zone at the time at a time at which the position of the machine is determined, determining that the available capacity is insufficient to satisfy the first energy need, and transmitting a warning of a lack of capacity for the mining machine in the first charging zone.

[0029] In some embodiments, determining that a position of the mining machine is or is planned to be in a first charging zone is triggered by an instruction transmitted to the mining machine. In some embodiments, the instruction comprises an updated travel route and/or an updated task for the mining machine. All embodiments of the first aspect shall be seen as applicable to the second aspect, as long as they are not contradictory.

[0030] In a third aspect of the disclosure there is provided a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out a method according to the disclosure.

[0031 ] In a fourth aspect of the disclosure there is provided a computer-readable medium comprising instructions which, when executed by a computer, cause a computer to carry out the method according to the disclosure.

[0032] In a fifth aspect of the disclosure there is provided a system for warning of a lack of available capacity for an electrically powered mining machine configured to travel in a mining environment. The mining environment comprises charging zones, each charging zone comprising at least one charging station for charging of electrically powered machines. The system comprises a remote control unit comprising processing circuitry and a memory, wherein said memory contains instructions executable by said processing circuitry. The system is operative for determining, by the control unit, that the mining machine enters or is planned to enter a first charging zone, determining, by the control unit, a first energy need of the mining machine at a time at which the mining machine enters or is planned to enter the first charging zone, determining, by the control unit, an available capacity of the first charging zone at the time at which the mining machine enters or is planned to enter the first charging zone, determining, by the control unit, that the available capacity is insufficient to satisfy the first energy need, and transmitting, by the control unit, a warning of a lack of capacity in the first charging zone.

[0033] In some embodiments, the system is further operative for performing the method according to the disclosure.

[0034] In some embodiments, the control unit is a remote control unit configured to communicate with a plurality of mining machines in the mining environment.

[0035] In some embodiments, a transmitter and a receiver are comprised in a handheld unit, such as a consumer tablet or smartphone device, arranged to be mounted on the mining machine, wherein the transmitter is operative for transmitting at least one of a position of the mining machine and an energy need of the machine, and the receiver is operative for receiving the warning of a lack of capacity.

[0036] In some embodiments, a transmitter and a receiver are comprised in the mining machine, wherein the transmitter is operative for transmitting at least one of a position of the mining machine and an energy need of the machine, and the receiver is operative for receiving the warning of a lack of capacity.

[0037] In some embodiments, the receiver is operative for receiving, from the control unit, a suggested travel route of the mining machine to a second charging zone, wherein an available capacity of the second charging zone is sufficient to satisfy a second energy need of the mining machine at a time at which the mining machine enters or is planned to enter the second charging zone.

[0038] In a sixth aspect of the disclosure there is provided an electrically powered mining machine configured to travel in a mining environment, the mining machine comprising at least one transmitter and a receiver, each comprised in a system for warning of a lack of available capacity according to the disclosure.

Brief description of drawings

[0039] The invention is now described, by way of example, with reference to the accompanying drawings, in which:

Fig. 1 displays an embodiment of a mining machine.

Fig. 2 displays an embodiment of a system for warning of lack of capacity.

Fig. 3 displays a mining environment.

Fig. 4 displays a charging zone.

Fig. 5 displays a method according to the disclosure.

Description of embodiments

[0040] In the following, a detailed description of a method, a system, a computer program, a computer-readable medium and a mining machine is provided. In the figures, like reference numerals designate identical or corresponding elements throughout the figures. Optional features are displayed with dashed lines. It will be appreciated that these figures are for illustration only and do not in any way restrict the scope of the present disclosure.

[0041] With reference to Fig. 1 there is displayed a mining machine 100. According to the embodiment in Fig.1 the mining machine 100 is exemplified as a loader. The loader is arranged to load blasted rock into a mining truck at a blasting site. To this end, the loader comprises a bucket 110 into which blasted rock may be loaded and subsequently emptied into e.g. a mining truck. In an alternative embodiment, the mining machine 100 is a mining truck arranged for transporting blasted rock from the blasting site and through the mining environment 200. It will be understood that the exemplary mining machine 100 is not limiting to the scope of the disclosure, and that other types of mining machines are encompassed by the present disclosure. Examples of mining machines include loaders, dumpers, trucks, excavators, drill rigs, haulers. In one embodiment, the mining machine 100 is any machine 100 in the mining environment 200 which may require charging.

[0042] The mining machine 100 is arranged for travelling and operating in a mining environment 200 (seen e.g. in Fig. 3). In one embodiment, the mining environment 200 is an area where the mining machine 100 may normally travel during operation. In one embodiment, the mining environment 200 is an underground mine. In one embodiment, the mining environment 200 is a surface mine. In one embodiment, the mining environment 200 is an open-pit mine. In one embodiment, the mining environment 200 is an area adjacent to or in connection to a mine. In one embodiment, the mining environment 200 comprises a communication network, such as a local area network (LAN). In one embodiment, the mining environment 200 comprises fixed communication units arranged at known positions in the mining environment. In one embodiment, the fixed communication units are connected to the communication network.

[0043] In one embodiment the mining machine 100 is operated by an operator sitting inside the mining machine 100. In one embodiment the mining machine 100 is operated by a remote operator. In one embodiment the mining machine 100 is autonomously operated.

[0044] The mining machine 100 is an electrically powered mining machine 100. An electrically powered mining machine 100 should be understood as a mining machine 100 at least being powered by a source of electrical energy. In one embodiment the mining machine 100 is powered only by electrical energy. In one embodiment the mining machine 100 is powered by more than one source of electrical energy, such as both electrical energy from a battery 140 and electrical energy from a remote, high voltage power source.

[0045] The mining machine 100 comprises an electrical drive system. The electrical drive system generally comprises at least one traction motor, at least one battery 140 and at least one inverter. In one embodiment the electrical drive system comprises one traction motor. In one embodiment the electrical drive system comprises more than one traction motor, each being connected to a respective inverter. In one embodiment the electrical drive system comprises one battery 140. In one embodiment the electrical drive system comprises more than one battery 140.

[0046] The mining machine 100 is associated with an energy need of the mining machine 100. The energy need is associated with a charge level of the battery the at least one battery 140 of the electrical drive system. The energy need is a parameter which may describe how much the mining machine 100 needs to charge in order to have a fully charged battery. The energy need may also describe how much the mining machine 100 needs to charge in order to be able to perform a task or operation, for example reach a given destination. In one embodiment, the energy need is a difference, in ampere-hours (Ah), between an actual capacity the at least one battery 140, and a capacity of the at least one battery 140 when it is fully charged and/or sufficiently charged to perform a planned task/operation. In one embodiment, the energy need is a ratio, in percent, between the actual capacity of the at least one battery 140, and the capacity of the at least one battery 140 when it is fully charged and/or sufficiently charged to perform a planned task/operation. In one embodiment, the charge level of the battery 140 is based on a state of charge of the battery 140. In one embodiment, the charge level is based on a temperature of the battery 140. In one embodiment, the mining machine 100 comprises more than one battery 140 and the energy need is based on the battery having the highest charge level. In one embodiment, the mining machine 100 comprises more than one battery 140 and the energy need is based on the battery having the lowest charge level. In one embodiment, the mining machine 100 comprises more than one battery 140 and the energy need is based on a calculated average charge level of the batteries.

[0047] In one embodiment, the mining machine 100 comprises a transmitter for transmitting information relating to the mining machine 100. In one embodiment, the mining machine 100 comprises a receiver to receive information relating to the mining machine 100. In one embodiment, the transmitter and/or receiver is arranged to communicate with the communication network of the mining environment 200. In one embodiment, the transmitter and/or receiver is releasably attachable to the mining machine 100. In one embodiment, the transmitter and/or receiver is integrated in the mining machine 100. In one embodiment, the transmitter and receiver are arranged in the same communication unit. In one embodiment, the communication unit is part of a portable device such as a smartphone or tablet.

[0048] In one embodiment, the mining machine 100 comprises means for tracking a movement path of the mining machine 100. In one embodiment, the means for tracking a movement path may operate without connection to the communication network of the mining environment 200. In one embodiment, the means for tracking comprises a gyroscope. In one embodiment, the means for tracking comprises an accelerometer. In one embodiment, the movement path may be in 2D or 3D. In one embodiment, the mining machine 100 comprises means for comparing the determined movement path to possible movement paths in the mining environment 200.

[0049] With reference to Fig. 2, there is displayed an embodiment of a system 300. The system is arranged to perform operations relating to charging of mining machines 240 in the mining environment 200. The system 300 generally comprises a remote control unit 310 comprising processing circuitry 320 and a memory 330. The memory 330 contains a computer program 340 comprising instructions executable by said processing circuitry 320. In one embodiment, the system 300 is a module in a central system arranged for controlling additional operations in the mining environment 200, such as route planning or positioning.

[0050] In one embodiment, the system 300 comprises communication means 350. In one embodiment, the system 300 is arranged to receive and transmit information via the communication means 350. In one embodiment, the system 300 is arranged to request to receive information via the communication means 350. In one embodiment, the system 300 is arranged to receive a request to transmit information via the communication means 350. In one embodiment, the communication means 350 is arranged to communicate with mining machines 240 in the mining environment 200. In one embodiment, the communication means 350 is arranged to communicate with the transmitter 120 and/or receiver 130 of the mining machine 100. In one embodiment, the communication means 350 is arranged to communicate with/via the communication network of the mining environment 200.

[0051] In one embodiment, the system 300 comprises means for positioning of mining machines 240 in the mining environment 200. In one embodiment, the system 300 is arranged to receive a position and/or information relating to a position of the mining machine 100. In one embodiment, the position and/or information relating to the position is received from the from the mining machine 100. In one embodiment, the position and/or information relating to the position is received from the fixed communication units in the mining environment 200.

[0052] With reference to Fig. 3, an embodiment of the mining environment 200 is displayed. In the embodiment displayed in Fig. 3, the mining environment 200 is an underground mine comprising a network of tunnels 210 where mining machines 240 are arranged to travel.

[0053] The mining environment 200 comprises a first charging zone 220, displayed in Fig. 3. The dashed line represents an outer boundary of the first charging zone 220. The advantage of dividing the mining environment 200 into charging zones is that planning of charging of the machines in the mining environment 200 is facilitated, for example because positions and operations of mining machine may be related to zones rather than specific geographical coordinates. Another advantage is that traveling into or out of a zone may be associated with certain triggers and/or actions.

[0054] The first charging zone 220 comprises at least one charging station 221 for charging of electrically powered mining machines 240. In one embodiment, the mining environment 200 comprises infrastructure for supplying the at least one charging station 221 with electrical energy. In one embodiment, the infrastructure comprises power lines 230 for transmission of electrical energy from a high voltage power source. In one embodiment, the at least one charging station 221 is connected to at least one of said power lines 230. In one embodiment, the at least one charging station 221 comprises an electrical energy storage 222. In one embodiment, the at least one charging station 221 comprises a charging outlet arranged to supply one machine 100 with electrical energy simultaneously. In one embodiment, the at least one charging station 221 comprises a plurality of charging outlets arranged to supply a plurality of mining machines with electrical energy simultaneously.

[0055] The first charging zone 220 is associated with an available capacity of the first charging zone 220. The available capacity describes if it is possible for the mining machine 100 to charge in the first charging zone 220. As will be described below, the available capacity relates both to the first charging station, if and for how long the mining machine 100 may charge there, and relates to if there is room in the first charging zone for the mining machine 100, or if other mining machines 240 are prioritized. Associating the first charging zone 220 with an available capacity thus provides that the energy need of the mining machine 100 may be compared to what the first charging zone 220 can offer to the mining machine 100. As such, the available capacity of the first charging zone 220 may be different in relation to different mining machines 240. Furthermore, the available capacity of the first charging zone 220 changes over time.

[0056] In one embodiment, the available capacity comprises a charging station capacity associated with the at least one charging station 221 . In one embodiment, the charging station capacity is comprises an electric current, in Ah, that the at least one charging station 221 may output to the mining machine 100 at a given time. In one embodiment, the charging station capacity comprises a time defined as how long the mining machine 100 can/is allowed to charge at the at least one charging station. By determining both the current output at the at least one charging station 221 and a time which the mining machine is allowed to reside there, it is possible to determine if the energy need of the mining machine 100 can be satisfied by the at least one charging station 221 . In one embodiment, determining for how long the mining machine 100 is allowed to charge at the at least one charging station is based on respective charging priorities between mining machines 240 which enter or are planned to enter the first mining zone, which will be further described below.

[0057] In one embodiment, the at least one charging station 221 is arranged to determine, and optionally communicate, the charging station capacity of the at least one charging station 221 . In one embodiment, the system 300 is arranged to determine the charging station capacity of the at least one charging station 221 .

[0058] In one embodiment, the charging station capacity is based on a current or possible transmission rate of electrical energy in a power line connected to the at least one charging station 221 . In one embodiment, the transmission rate is used in a calculation to determine the electric current output that the at least one charging station 221 may provide to the mining machine 100 at a given time. In one embodiment, a higher transmission rate provides that the mining machine 100 needs to charge for a shorter time at the at least one charging station to satisfy the energy need. In one embodiment, the charging station capacity is based on a charge level of the electrical energy storage 222 of the at least one charging station 221. In one embodiment, the charge level of the electrical energy storage 222 is used in a calculation to determine the electric current output that the at least one charging station 221 may provide to the mining machine 100 at a given time. In one embodiment, the charging station capacity is based on a number of occupied charging outlets at the at least one charging station 221 . In one embodiment, the number of occupied charging outlets is used to determine if the mining machine 100 may charge at the at least one charging station 221 at a given time. In one embodiment, the number of occupied charging outlets and the transmission rate are used in a calculation to determine the electric current output that the at least one charging station 221 may provide to the mining machine 100 at a given time.

[0059] In one embodiment, the available capacity comprises a spatial capacity associated to the mining machines 240 traveling in the first charging zone 220. In one embodiment, the spatial capacity is defined by a number of mining machines 240 which are in or planned to be in the first charging zone 220 at a given time. In one embodiment, the spatial capacity is defined by a charging priority of the mining machines 240 in the first charging zone 220. In one embodiment, a mining machine 100 entering or planning to enter the first charging zone 220 is associated with a charging priority. In one embodiment, the charging priority is determined and/or assigned by the system 300. In one embodiment, the charging priority is based on a respective energy need of each of the mining machines 240. In one embodiment, the charging priority is based on a respective time at which each of the mining machines 240 enters or will enter the first charging zone 220. In one embodiment, the charging priority is based on a respective task which each of the mining machines 240 is performing or is planned to perform. In one embodiment, the charging priority is based on a respective type of each of the mining machines 240. In one embodiment, the charging priority is based on an availability for each of the mining machines 240 to charge in a second charging zone.

[0060] In Fig. 4 there is displayed a schematic illustration of the first charging zone 220. The dashed line represents an outer boundary of the first charging zone 220. In one embodiment, the first charging zone 220 is a dynamic zone, meaning the first charging zone 220 may move, grow, decrease or change shape over time. In one embodiment the first charging zone 220 is defined based on an operation performed or planned to be performed in the first charging zone 220. In one embodiment, the first charging zone 220 is defined based on a depth level, that is, a distance from ground level. In one embodiment, the first charging zone 220 is defined as all geographic points being at, or less than, a predetermined distance from the charging station. In one embodiment, the first charging zone 220 is defined as all geographic points along possible travel routes for mining machines 240 being at, or less than, a predetermined distance from the charging station. In one embodiment, the first charging zone 220 is automatically defined based on a predetermined set of rules. In one embodiment the first charging zone 220 is defined manually by an operator. In one embodiment, the first charging zone 220 may overlap with at least one additional charging zone. In one embodiment, the first charging zone 220 may be in 2D or in 3D. In one embodiment, the first charging zone 220 may be a section of the network of tunnels 210 of the mining environment 200.

[0061] With reference to Fig. 5 there is displayed a flow chart schematically showing method steps of an embodiment of a method 400 for warning of a lack of capacity, performed by the system 300.

[0062] The method 400 comprises determining S1 that the mining machine 100 enters or is planned to enter the first charging zone 220. In one embodiment, determining that the mining machine 100 enters the first charging zone 220 comprises determining the position of the mining machine 100.

[0063] In one embodiment, determining the position of the mining machine 100 comprises tracking a movement path of the mining machine 100. In one embodiment, tracking the movement path is performed by the mining machine 100. In one embodiment, the mining machine 100 stores the tracked movement path and transmits the tracked movement path to the system 300 when the mining machine 100 is connected to the communication means 350 of the system 300. In one embodiment, determining the position of the mining machine 100 comprises comparing the tracked movement path with possible movement paths of the mining environment 200 to determine the position. In one embodiment, comparing the tracked movement path is performed by the mining machine 100. In one embodiment, the mining machine 100 stores the determined position and transmits the determined position to the system 300 when the mining machine 100 is connected to the communication means 350 of the system 300. In one embodiment, comparing the tracked movement path is performed by the system 300.

[0064] In one embodiment, determining the position comprises comparing a signal strength of two or more fixed communication units, measured from the mining machine 100. In other embodiments, the position is determined by methods know to the skilled person. [0065] In one embodiment, determining a position of the mining machine 100 comprises determining a plurality of position of the mining machine 100, wherein the plurality of positions are earlier positions, a current position, predicted future positions or combinations thereof. In one embodiment, determining that the mining machine 100 enters the first charging zone 220 comprises comparing a first position and a second position of the plurality of positions and determining that the first position is outside the first charging zone 220 and the second position is in the first charging zone 220. In one embodiment, determining that the mining machine 100 enters the first charging zone 220 comprises determining that the mining machine 100 is within a predetermined distance of the first charging zone 220.

[0066] In one embodiment, determining that the mining machine 100 is planned to enter the first charging zone 220 comprises planning a travel route of the mining machine 100. In one embodiment, planning the travel route is performed by the system 300 and/or an operator thereof. In one embodiment, planning the travel route is performed by the mining machine 100 and/or an operator thereof.

[0067] The method 400 further comprises determining S2 the energy need of the mining machine 100 at a time at which the mining machine 100 enters or is planned to enter the first charging zone 220.

[0068] In one embodiment, determining the energy need comprises determining the charge level of the battery 140. In one embodiment, determining the energy need comprises determining a predicted power consumption of a planned operation of the mining machine 100. In one embodiment, determining the energy need comprises determining a predicted charge level after a planned operation. In one embodiment, determining the energy need comprises determining a predicted power consumption for traveling to a predetermined position, for example to the at least one charging station 221 . In one embodiment, determining the energy need comprises determining a predicted charge level after traveling to the predetermined position. In one embodiment, determining the energy need comprises determining a predicted charge level after traveling to a charging station of a second charging zone. [0069] The method 400 further comprises determining S3 the available capacity of the first charging zone 220 at the time at which the mining machine 100 enters or is planned to enter the first charging zone 220. In one embodiment, the available capacity is determined by the system 300.

[0070] In one embodiment, determining the available capacity comprises determining the available capacity at a time being another time than that at which the mining machine 100 enters or is planned to enter the first charging zone 220, for example a future time. In one embodiment, the determining the available capacity comprises determining a plurality of available capacities during a period of time. In one embodiment, the plurality of available capacities are predicted, future capacities and the period of time is a future period of time. In one embodiment, the period of time starts at the time at which the mining machine 100 enters or is planned to enter the first charging zone 220. Providing future available capacities has the advantage that, even though it may not be possible for the mining machine 100 to charge when it enters the zone, it may still be possible to charge at a later time. In other words, a future available capacity may be sufficient to satisfy a future energy need.

[0071] In one embodiment, determining the available capacity comprises determining the charging station capacity of the at least one charging station 221 . In one embodiment, determining the available capacity comprises determining the charging station capacity of each the plurality of charging stations in the first charging zone 220. In one embodiment, the available capacity is based on one charging station capacity. In one embodiment, the available capacity is based on an average of a plurality of charging station capacities.

[0072] In one embodiment, determining the available capacity comprises determining the spatial capacity. In one embodiment, determining the spatial capacity comprises determining a number of mining machines 240 in the first charging zone 220. In one embodiment, determining the spatial capacity comprises determining a number of mining machines 240 in the first charging zone 220 having a charging priority above a predetermined priority. In one embodiment, the predetermined priority is the charging priority associated with the mining machine 100.

[0073] The method 400 further comprises determining S4 that the available capacity is insufficient to satisfy the first energy need. Determining that the available capacity is insufficient to satisfy the first energy need should be understood as there being a lack of capacity for the mining machine 100 in the first charging zone 220.

[0074] In one embodiment, when at least one of the charging station capacity and the spatial capacity is insufficient to satisfy the first energy need, it is determined that the available capacity is insufficient to satisfy the first energy need. In one embodiment, when the electrical energy that the at least one charging station 221 may provide the mining machine 100, is below the energy need of the mining vehicle, it is determined that the charging station capacity is insufficient to satisfy the energy need of the mining machine 100. In one embodiment, when the number of mining machines 240 is above a predetermined number at a given time, it is determined that the spatial capacity is insufficient to satisfy the energy need of the mining machine 100. In one embodiment, when the number of mining machines 240 having a charging priority above the predetermined priority is above a predetermined number, it is determined that the spatial capacity is insufficient to satisfy the energy need of the mining machine 100.

[0075] In one embodiment, when none of the plurality of available capacities is sufficient to satisfy the energy need of the mining machine 100, it is determined that the available capacity of the first charging zone 220 is insufficient to satisfy the energy need of the mining machine 100. In one embodiment, when at least one available capacity of the plurality of available capacities is sufficient to satisfy the energy need of the mining machine 100, information relating to said at least one available capacity is communicated, wherein the information for example is when the mining machine 100 may charge and/or where it may charge to satisfy the energy need. [0076] The method 400 further comprises transmitting S5 a warning of a lack of capacity for the mining machine 100 in the first charging zone 220. In one embodiment, the warning is transmitted from the communication means 350 of the system 300 to the receiver 130 of the mining machine 100 and/or an operator thereof. In one embodiment, the warning is transmitted internally in the system 300 or to an operator thereof. In one embodiment, the warning is a sensorial warning such as a light or a sound or an icon on a display of the mining machine 100. In one embodiment, the warning is an electronic/digital warning. In one embodiment, the warning triggers an action such as a change of planned route or change of planned operation.

[0077] In one embodiment, when the warning is transmitted, a second energy need of the mining machine 100 is determined. In one embodiment, determining the second energy need comprises predicting the second energy need at a time at which the mining machine 100 enters or is planned to enter a second charging zone. In one embodiment, an available capacity of the second charging zone is predicted at the time at which the mining machine 100 enters or is planned to enter the second charging zone. In one embodiment, when it is determined that the available capacity of the second charging zone is sufficient to satisfy the second energy need, a suggested travel route towards the second charging zone is determined. In one embodiment, the suggested travel route is transmitted to the mining machine 100 and/or an operator thereof. In one embodiment, the suggested travel route is transmitted to the system 300 and/or an operator thereof.

[0078] Exemplary embodiments of the disclosure will now be described. These should not be seen as limiting to the scope, but as illustrations of the disclosure.

[0079] The mining machine 100 travels in the mining environment and drives into the first charging zone 220 by passing over a boundary of the first charging zone 220. When the mining machine 100 does so, the system 300 is triggered to request the energy need of the mining machine 100 and determine if the first charging zone has enough capacity for the mining machine to charge there. The system does so by determining the available capacity of the first charging zone. The system determines that the first charging zone comprises three charging stations 221 and that all charging outlets at the charging stations 221 are occupied. The system 300 transmits a warning to the mining machine that there is a lack of capacity in the first charging zone. The system 300 subsequently predicts a plurality of available capacities during a predetermined time period of 30 minutes and determines that a charging outlet of one of the charging stations 221 will be available in 25 minutes. This information is transmitted to the mining machine 100. The system furthermore determines that the available capacity of a second charging zone is sufficient to satisfy the energy need of the mining machine in 5 minutes, and a suggests and transmits a travel route to the second charging zone.

[0080] In another example, the system 300 plans a travel route for the mining machine 100 comprising traveling into the first charging zone 220 and determines a time at which the mining machine is planned to pass over the boundary of the first charging zone 220 and associates the mining machine with a charging priority. The system 300 is triggered to predict an energy need of the mining machine 100 at the time at which the mining machine is planned to enter the first charging zone 220. The system 300 furthermore predicts an available capacity at the time at which the mining machine 100 is planned to enter the first charging zone. The first charging zone comprises one charging station having one charging outlet. The charging outlet is available at the time at which the mining machine is planned to enter the first charging zone 220. However, an additional mining machine 240 is planned to enter the first mining zone 20 minutes after the mining machine 100. The additional mining machine 240 is associated with a higher charging priority. The system 300 determines that it will take the mining machine 100 5 minutes to travel to the charging station 221 , and that the remaining 15 is not sufficient time to charge the mining machine to satisfy the energy need. An operator of the system 300 receives a warning of lack of available capacity for the mining machine if it were to execute the planned travel route.

[0081] Preferred embodiments of a method, a system, a computer program, a computer-readable medium and a mining machine have been described. Although the description above contains a plurality of specificities, these should not be construed as limiting the scope of the concept described herein but as merely providing illustrations of some exemplifying embodiments of the described concept. It will be appreciated that the scope of the presently described concept fully encompasses other embodiments which may become obvious to those skilled in the art and that the scope of the presently described concept is accordingly not to be limited. Reference to an element in the singular is not intended to mean "one and only one" unless explicitly so stated, but rather "one or more." All structural and functional equivalents to the elements of the above-described embodiments that are known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed hereby. Moreover, it is not necessary for a system or method to address each and every problem sought to be solved by the presently described concept, for it to be encompassed hereby.

Claims

1 . A method (400) performed by a system (300) for warning of a lack of available capacity for an electrically powered mining machine (100) configured to travel in a mining environment (200), the mining environment (200) comprising charging zones, each charging zone (220) comprising at least one charging station (221 ) for charging of electrically powered machines, the method (400) comprising: determining that the mining machine (100) enters or is planned to enter a first charging zone (220), determining a first energy need of the mining machine (100) at a time at which the mining machine (100) enters or is planned to enter the first charging zone (220), determining an available capacity of the first charging zone (220) at the time at which the mining machine (100) enters or is planned to enter the first charging zone (220), determining that the available capacity is insufficient to satisfy the first energy need, and transmitting a warning of a lack of capacity for the mining machine (100) in the first charging zone (220).

2. The method (400) according to claim 1 , wherein determining that the mining machine (100) enters or is planned to enter the first charging zone (220) comprises: determining a position of the mining machine (100), and determining that the machine is within a predetermined distance from a boundary of the first charging zone (220).

3. The method (400) according to claim 2, wherein determining the position of the mining machine (100) comprises: determining, by the mining machine (100), a movement path of the mining machine (100) by tracking movements of the mining machine (100); and comparing the tracked movement with possible movement paths for the mining machine (100) in the mining environment (200) to determine the position.

4. The method (400) according to claim 1 , wherein determining that the mining machine (100) is planned to enter the first charging zone (220) comprises: planning a travel route for the mining machine (100), and determining that the planned travel route comprises travelling, by the mining machine (100), into the first charging zone (220).

5. The method (400) according to any one of the preceding claims, wherein transmitting the warning comprises: transmitting, by a control unit (310), a signal to a receiver (130) of the mining machine (100).

6. The method (400) according to any one of the preceding claims, wherein transmitting the warning comprises alerting a route planning system (300) for mining machines.

7. The method (400) according to any one of the preceding claims, wherein determining the available capacity of the first charging zone

(220) comprises determining a capacity of at least one charging station (221 ) of the first charging zone (220), and wherein determining that the available capacity is insufficient to satisfy the first energy need comprises determining that the electrical energy, that the at least one charging station (221 ) may provide to the mining machine (100), is below the first energy need.

8. The method (400) according to claim 7, wherein the capacity of the at least one charging station (221 ) is based on at least one of: a transmission rate of infrastructure supplying the at least one charging station (221 ) with power, a charge level of an energy storage at the at least one charging station (221 ), and a number of occupied charging outlets of the at least one charging station (221 ).

9. The method (400) according to any one of the preceding claims, wherein determining the available capacity of the first charging zone (220) comprises determining a priority between mining machines which enter or are planned to enter the first charging zone (220), and wherein determining that the available capacity is insufficient to satisfy the first energy need comprises: assigning a priority to the mining machine (100), determining, based on the time at which the mining machine (100) enters or is planned to enter the first charging zone (220), and a time at which at least one additional mining machine (100) enters or is planned to enter the first charging zone (220), that the mining machine (100) and the at least one additional mining machine (100) are or will be in the first charging zone (220) at the same time, determining that the at least one additional mining machine (100) has a higher priority than the mining machine (100), and determining, when a number of the at least one additional mining machine (100) exceeds a predetermined number of mining machines, that the available capacity is insufficient.

10. The method (400) according to any one of the preceding claims, wherein the available capacity of the first charging zone (220) comprises a plurality of predicted capacities during a predetermined period of time, wherein the predetermined period of time starts at the time at which the mining machine (100) enters or is planned to enter the first charging zone (220), and wherein determining that the available capacity is insufficient to satisfy the first energy need comprises: determining that each of the plurality of predicted capacities is insufficient to satisfy the first energy need.

11 . The method (400) according to any one of the preceding claims, the method (400) further comprising, when the warning is transmitted: determining a second energy need of the mining machine (100) at a time at which the mining machine (100) enters or is planned to enter a second charging zone (220), determining an available capacity of the second charging zone (220) at the time at which the mining machine (100) enters or is planned to enter the second charging zone (220), determining that the available capacity of the second charging zone (220) is sufficient to satisfy the second energy need, and transmitting a suggested travel route for the mining machine (100) towards the second charging zone (220).

12. A computer program (340) comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method (400) according to any one of the preceding claims.

13. Computer-readable medium comprising instructions which, when executed by a computer, cause a computer to carry out the method (400) according to any one of the claims 1-11.

14. A system (300) for warning of a lack of available capacity for an electrically powered mining machine (100) configured to travel in a mining environment (200), the mining environment (200) comprising charging zones, each charging zone (220) comprising at least one charging station (221 ) for charging of electrically powered machines, the system (300) comprising: a control unit (310) comprising processing circuitry (320) and a memory (330), wherein said memory (330) contains instructions executable by said processing circuitry (320), wherein the system (300) is operative for: determining, by the control unit (310), that the mining machine (100) enters or is planned to enter a first charging zone (220), determining, by the control unit (310), a first energy need of the mining machine (100) at a time at which the mining machine (100) enters or is planned to enter the first charging zone (220), determining, by the control unit (310), an available capacity of the first charging zone (220) at the time at which the mining machine (100) enters or is planned to enter the first charging zone (220), determining, by the control unit (310), that the available capacity is insufficient to satisfy the first energy need, and transmitting, by the control unit (310), a warning of a lack of capacity in the first charging zone (220).

15. The system (300) according to claim 14, wherein the system (300) is further operative for performing the method (400) according to any one of the claims 1-11.

16. The system (300) according to claim 14 or 15, wherein the control unit (310) is a remote control unit (310) configured to communicate with a plurality of mining machines in the mining environment (200).

17. The system (300) according to any one of claims 14-16, further comprising a transmitter (130) and a receiver (130) comprised in a handheld unit, such as a consumer tablet or smartphone device, arranged to be mounted on the mining machine (100), wherein the transmitter (130) is operative for transmitting at least one of a position of the mining machine (100) and an energy need of the machine, and the receiver (130) is operative for receiving the warning of a lack of capacity.

18. The system (300) according to any one of claims 14-16, further comprising a transmitter (130) and a receiver (130) comprised in the mining machine (100), wherein the transmitter (130) is operative for transmitting at least one of a position of the mining machine (100) and an energy need of the machine, and the receiver (130) is operative for receiving the warning of a lack of capacity.

19. The system (300) according to claim 17 or 18, wherein the receiver (130) is furthermore operative for receiving, from the control unit (310), a suggested travel route of the mining machine (100) to a second charging zone (220), wherein an available capacity of the second charging zone (220) is sufficient to satisfy a second energy need of the mining machine (100) at a time at which the mining machine (100) enters or is planned to enter the second charging zone (220).

20. An electrically powered mining machine (100) configured to travel in a mining environment (200), the mining machine (100) comprising at least one transmitter (130) and a receiver (130), each comprised in a system (300) for warning of a lack of available capacity according to any one of claims 14-19.