EP4596796A1

EP4596796A1 - Determining a dumping position for a loader

Info

Publication number: EP4596796A1
Application number: EP24155209.0A
Authority: EP
Inventors: Olli Snellman
Original assignee: Sandvik Mining and Construction Oy
Current assignee: Sandvik Mining and Construction Oy
Priority date: 2024-02-01
Filing date: 2024-02-01
Publication date: 2025-08-06
Also published as: WO2025163185A1

Abstract

Example embodiments related to controlling of a loader. A method may comprise: monitoring a position of a loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; causing movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; causing scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determining, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determining a position for dumping a load of mining material based on the position of the stockpile of mining material; and outputting an indication of the position for dumping the load of mining material.

Description

TECHNICAL FIELD

Various example embodiments generally relate to the field of mining loaders configured to transport mining materials. Some example embodiments relate to determining a position for dumping mining material configured to be carried by a loader.

BACKGROUND

In various applications, such as for example underground mining, it may be desired to move materials from one location to another. A loader may comprise a bucket for loading and transporting mining materials, such as waste rock, mineral ore, or the like. A human operator operating the loader may manually control the loader in order to fill the bucket with mining material, transport the mining material, and dump the mining material at a suitable position determined by the human operator.

SUMMARY

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
According to a first aspect, an apparatus for controlling a loader is disclosed. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and output an indication of the position for dumping the load of mining material.
According to a second aspect, a loader is disclosed. The loader may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the loader at least to: monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and output an indication of the position for dumping the load of mining material.
According to a third aspect, a remote control device is disclosed. The remote control device may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the remote control device at least to: monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and output an indication of the position for dumping the load of mining material.
According to a fourth aspect, a method for controlling a loader is disclosed. The method may comprise: monitoring a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; causing movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; causing scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determining, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determining a position for dumping the load of mining material based on the position of the stockpile of mining material; and outputting an indication of the position for dumping a load of mining material.
According to a fifth aspect, an apparatus for controlling a loader is disclosed. The apparatus may comprise: means for monitoring a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; means for causing movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; means for causing scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; means for determining, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; means for determining a position for dumping a load of mining material based on the position of the stockpile of mining material; and means for outputting an indication of the position for dumping the load of mining material.
According to a sixth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium for controlling a loader is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and output an indication of the position for dumping the load of mining material.
According to some aspects, there is provided the subject matter of the independent claims. Some further aspects are defined in the dependent claims. Many of the attendant features will be more readily appreciated as they become better understood by reference to the following description considered in connection with the accompanying drawings.

LIST OF DRAWINGS

The accompanying drawings, which are included to provide a further understanding of the example embodiments and constitute a part of this specification, illustrate example embodiments and, together with the description, help to explain the example embodiments. In the drawings:

FIG. 1 illustrates an example of a loader;
FIG. 2 illustrates an example of a loader communicatively coupled to a remote control device;
FIG. 3 illustrates an example of a bucket of a loader obstructing a view from a scanning device of the loader towards a stockpile of mining material;
FIG. 4 illustrates an example of a method for determining a position for dumping a load of mining material;
FIG. 5 illustrates an example of a stockpiling area located at a tunnel;
FIG. 6 illustrates an example of moving a bucket of a loader to enable scanning a stockpile of mining material;
FIG. 7 illustrates an example of scanning a stockpile of mining material after dumping a load of mining material;
FIG. 8 illustrates an example of an apparatus configured to practise one or more example embodiments; and
FIG. 9 illustrates an example of a method for controlling a loader.

Like references are used to designate like parts in the accompanying drawings.

DESCRIPTION

Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.
A mining loader, or a loader for short, may be used for transporting mining materials such as minerals, other extracted ores, or rock waste during mining. A loader may have a bucket where the material is loaded for transporting it to another location. A loader may also include a scanning device for scanning environment of the loader. Stockpiling of mining materials may be difficult due to limited visibility while driving the bucket lifted up and filled with mining material. In case of autonomous stockpiling it may be desired to enable automatic determination of dumping positions for a loader, or a group of loaders operating at the same area, regardless of such difficulties.
Example embodiments of the present disclosure enable automatic and accurate determination of a dumping position by providing methods for enabling scanning of stockpiles of mining material. For example, the bucket and/or boom(s) of the loader may be configured to be controlled to move to a position that enables scanning of stockpiles. This may be done at different phases of a sequence of operations configured for loading, transporting, and dumping mining material. Furthermore, determined dumping positions may be shared among a group of loaders, for example via a remote server, to enable more efficient transport and storage of mining materials, for example by multiple autonomous loader machines configured to operate in a mine.
FIG. 1 illustrates an example of a loader. Example embodiments disclosed herein may relate to mining loaders, such as loader 100; however, it is appreciated that the example embodiments may be applied to other types of loaders as well.
Loader 100 may be an automated loader machine, for example an automated vehicle, e.g., a mining vehicle, equipped with tools configured for loading and transporting mining materials. An automated vehicle such as an automated loader machine operating in an automatic mode may be configured to, for example, receive a task to be performed, perceive (portions) of the environment of the automated vehicle, and autonomously perform the task while taking the environment into account. An automated vehicle operating in an automatic mode may be configured to operate independently but may be taken under external control at certain operation areas or conditions, such as during states of emergencies. Example embodiments of the present disclosure may be however applied also in non-autonomous or semi-autonomous loader machines, for example remote-controllable loader machines.
Loader 100 may comprise a movable carrier 110 and at least one boom 120 connected to movable carrier 110. Loader 100 may comprise a bucket 122, for example coupled to boom 120. Movable carrier 110 may comprise equipment for moving loader 100, such as for example a motor and wheels. Movable carrier 110 may be configured to move autonomously or it may be configured to be controlled by a human operator, either remotely or locally at loader 100. Boom 120 and bucket 122 may be configured to be controlled with, for example, mechanical switches or manual controllers installed at a user interface of loader 100 or a remote operator station, or by a controller 114 (e.g., a control apparatus) configured to control operation of loader 100. Controller 114 may be also configured to control other aspects of loader 100, such as parts of movable carrier 110 like the motor and wheels.
Loader 100 may comprise at least one scanning device 112 for capturing and providing a representation of objects around scanning device 112, for example at a particular direction or a range of directions from scanning device 112. Scanning device 112 may be coupled to loader 100 at any suitable position, for example at the roof of loader 100. Scanning device 112 may comprise, for example, one or more of the following: one or more cameras, one or more radio detection and ranging (radar) sensors, or one or more light detection and ranging (lidar) sensors. Scanning device 112 may therefore comprise a single sensor or a group of two or more sensors. Scanning device 112 may be configured to scan the environment of loader 100, for example towards the forward driving direction of loader and/or at the direction of bucket 122. Scanning device 112 may be for example configured to scan a stockpile 130 of mining material.
Scanning device 112 may comprise at least one camera, which may be used to extract an image of the environment of loader 100. The camera may be alternatively configured to capture video data comprising a representation of the environment of loader 100, e.g., one or more video frames. Alternatively, scanning device 112 may comprise a time-of-flight (ToF) camera, which may be configured to determine a distance between the camera and an object, e.g., stockpile 130, by measuring a round-trip time of an artificial light signal provided by a laser or a light-emitting diode (LED). A lidar sensor may be configured to determine a distance to an obj ect by targeting the obj ect with a laser and measuring the time for the reflected light to return to a receiver of the lidar sensor. A radar sensor may be configured to transmit electromagnetic energy towards object(s) at the environment of loader 100 and to observe the echoes returned from the object(s). Based on the scanning, controller 114, or loader 100 in general, may be configured to obtain point cloud data that represents the scanned environment. The point cloud data may for example comprise a three-dimensional representation of the objects observable in the environment of loader 100.
Scanning device 112, or loader 100 in general, may be configured to perform the scanning at any suitable time during transport or dumping of the mining material, or after dumping of the mining material. The scanning may be implemented, for example, with a simultaneous localization and mapping (SLAM) system, which may be configured to scan environment of loader 100 to obtain point cloud data of surrounding surfaces or objects and to detect the position of loader 100. The obtained point cloud data may be used for determining position of loader 100 based on comparing the scanning data to reference data, such as for example a 3D model of a mining tunnel. The position of loader 100 may be defined in an external coordinate frame (F _ext), which may be stationary with respect to ground, for example on a map of a mine.
As already noted above, loader 100 may comprise a controller (C) 114. Controller 114 may be communicatively coupled to scanning device 112, for example to receive scanned sensor data from scanning device 112, or, to request scanning device 112 to initiate scanning. Controller 114 may be for example provided as a software application residing on a memory and being executable by a processor. An example of an apparatus suitable for implementing controller 114 is provided in FIG. 8. Controller 114 may comprise, or be communicatively coupled to, various functions, blocks, or applications for implementing functionality of controller 114. For example, controller 114 may comprise or be communicatively coupled to a data management server, which may be configured to store information such as a map of the mining tunnel. Controller 114 may comprise a navigation application configured to control, or enable a human operator to control, navigation of loader 100, for example to move loader 100 to a loading position or dumping position, and/or to move bucket 122 by controlling boom 120, or component(s) thereof.
Controller 114 may be configured to obtain position data of bucket 122 indicative of the position of bucket 122 relative to the scanning device 112. The position data may comprise, for example, the height of bucket 122 (e.g., vertical distance from ground or scanning device 112), and/or a tilt angle of bucket 122. The tilt angle may comprise, for example, the current angle of bucket 122 with respect to a reference, such as ground, boom 120, or scanning device 112. The tilt angle may be measured for example with respect to an axis horizontal to ground and perpendicular to driving direction of loader 100. For example, loader 100 may be configured fill or empty bucket 122 by changing the tilt angle of bucket 122. Controller 114 may be configured to determine, based on the position data of bucket 122, whether bucket 122, at its current position, obstructs scanning of stockpile 130 (e.g., a predetermined height range from ground). Accordingly, controller 114 may be configured to cause bucket 122 to move to a more favourable position, in order to enable scanning of stockpile 130. For example, controller 114 may be configured cause bucket 122 to move to a position, where bucket 122 is not between scanning device 112 and a presumed position of stockpile 130, e.g., not within a predetermined portion of a field of view from scanning device 112 towards the front-end of loader 100.
Controller 114 may be configured to determine and/or maintain a 3D model of boom(s) 120 and/or a kinematic model of loader 100, or component(s) thereof. A 3D model of bucket 122 of loader 100 may comprise 3D geometry data of bucket 122, obtained for example from a computer aided design (CAD) model of bucket 122. Controller 114 may be configured to use the kinematic model to determine the current position of bucket 122 based on control inputs provided to boom 120 for moving bucket 122. Controller 114 may be configured to determine, based on the 3D model data and the kinematic model, whether bucket 112, boom(s) 120, or any other component of loader 100 obstructs scanning of stockpile 130.
Loader 100 may be configured to be controlled by a remote control device (R) 200, which may be external to loader 100, as illustrated in FIG. 2. Remote control device 200 may be for example a server located remote from loader 100, for example outside the mine. Functionality of controller 114 may be distributed between loader 100, for example a local controller of loader 100, and remote control device 200. Information may be exchanged between remote control device 200 and loader 100 over a communication interface including any suitable wireless and/or wired connection. Examples of suitable communication interfaces are described with reference to FIG. 8. Example embodiments of the present disclosure may be thus implemented locally at loader 100 (e.g., by controller 114 integrated at loader 100), by loader 100, by remote control device 200, or by a system comprising loader 100 and remote control device 200.
FIG. 3 illustrates an example of a bucket of a loader obstructing a view from a scanning device of the loader towards a stockpile of mining material. Loader 100 may be configured to carry a load 132 of mining material in bucket 122. Load 132 may comprise mining material loaded in bucket 122, for example for transporting it to another location. As illustrated in FIG. 3, loader 100 may be configured to lift bucket 122 up during transport, for example in order to move bucket 122 in a position where load 132 is securely supported in bucket 122 or in order to avoid bucket 122 colliding with bumps or obstacles on the ground or floor of a tunnel. Even though this may be beneficial for transport, it may however cause stockpile 130 to be obstructed by bucket 122 or load 132. This may prevent scanning device 112 from capturing a representation of stockpile 130, which may cause controller 114 to be unable to determine the position of stockpile 130 and a therefore also prevent determining a position for dumping load 132. Example embodiments of the present disclosure enable to control movement of bucket 122 such that the position of bucket 122 enables scanning of stockpile 130. Controller 114 may be for example configured to control position of bucket 122 based on location of loader 100 with respect to a stockpiling area 140 (see FIG. 5) or at a particular point of a sequence of operations configured for loading, transporting, and releasing mining material at a desired dumping position.
FIG. 4 illustrates an example of a method for determining a position for dumping a load of mining material. Even though operations of this procedure have been described to be performed by controller 114, it is understood that similar functionality may be, at least partially, provided other component(s) of loader 100 or remote control device 200.
At operation 401, controller 114 may be configured to obtain information about location of a stockpiling area. The stockpiling area may comprise a location for storing mining material, at least temporarily. An example of stockpiling area 140 is illustrated in FIG. 5. In this example, stockpiling area 140 comprises a closed section of a tunnel defined by a border 142. It is however understood that any suitable method for defining a stockpiling area may be used. In general, a stockpiling area may be defined by border(s) at a coordinate system, for example a map of a mine or a map of a geographical location comprising the mine. Note that even though an underground mine map is illustrated in FIG. 5, example embodiments of the present disclosure may be alternatively applied for opencast mines. It is also noted that stockpiling area 140, or a part thereof, might be located outside the mine.
Controller 114 may obtain the information on stockpiling area 140 by retrieving preconfigured location information of stockpiling area 140 from a memory of controller 114 or loader 100. Alternatively, controller 114 may be configured to receive the information on stockpiling area 140 from a device external to loader 100, for example remote control device 200 or another loader 102.
At operation 402, controller 114 may be configured to obtain a preliminary dumping position for load 132. The preliminary dumping position may comprise a position, which is initially determined for dumping load 132, for example before, during, or after filling bucket 122 with load 132, or before or during movement of loader 100 towards stockpiling area 140 (e.g., when loader 100 outside stockpiling area 140). Controller 114 may be configured to control loader 100 to dump the load at the preliminary dumping position. Alternatively, controller 114 may be configured to determine another, e.g., more accurate, position for dumping load 132 when loader 100 is in proximity of stockpile 130, as will be further described with reference to operation 407.
Upon initiating stockpiling, controller 114 may be configured to determine a position for dumping an initial load, also referred to as an initial dumping position. The initial load may for example be the first load to be dumped at stockpiling area 140, the first load of a particular mining material, or the first load of mining material having a particular level of concentration. In this case, there might not be any previous stockpiles in stockpiling area 140 or a particular part of stockpiling area 140. While the initial dumping position may refer to a position for dumping the initial load, e.g., upon initiation of stockpiling, the preliminary dumping position may generally refer to a position, which controller 114 is configured to preliminary determine for the initial load or any subsequent load. The initial dumping position is therefore one example of a preliminary dumping position. Controller 114 may be configured to adjust the preliminary dumping position to obtain a final dumping position. Note that the preliminary dumping position may be the final dumping position, if controller 114 does not adjust the preliminary dumping position.
Controller 114 may be configured to determine the initial dumping position based on a configured distance to a wall of a tunnel or a border of stockpiling area 140. For example, with reference to FIG. 5, controller 114 might be configured to determine the position for dumping the initial load to be at a position that is located at a configured distance (e.g., 2 m) from the back wall of the section of the tunnel comprising stockpiling area 140. This provides the benefit of controlling initiation of stockpiling, for example such that stockpiles will not prevent dumping further stockpiles at stockpiling area 140, thereby enabling to maximize the amount of mining material that can be stored at stockpiling area 140.
Alternatively, controller 114 may be configured to determine the position for dumping the initial load based on receiving an indication of the initial dumping position, for example from remote control device 200, another loader 102, or via a user interface of loader or a remote operator station. For example, controller 114 may be configured to receive the indication as a position pointed by a human operator on a map of the mine or stockpiling area 140, which may be displayed on the user interface. A remote operator station may be configured to enable a human operator to remotely control and/or monitor operation of loader 100. This provides the benefit of enabling the human operator to control the initiation of stockpiling, for example to maximize the amount of mining material that can be stored at stockpiling area 140, as described above.
At operation 403, controller 114 may be configured to control and/or monitor position of loader 100. The position of loader 100 may comprise a position with respect to the external coordinate frame (F _ext). Controller 114 may be configured to control position of loader by controlling movement of loader 100, for example by providing control instructions to motor and wheels of movable carrier 110 to cause loader 100 to move to, or towards, a desired position (e.g., the preliminary dumping position).
Controller 114 may be configured to monitor position of loader 100, for example based on the SLAM system or based on a positioning device (e.g., a satellite positioning receiver) coupled to loader 100. Monitoring the position of loader 100 may comprise monitoring the current position of loader 100, for example with respect to stockpiling area 140, e.g., border(s) thereof, or the preliminary dumping position. Controller 114 may be configured to continue controlling and/or monitoring the position of loader 100 throughout the procedure of FIG. 4, for example continuously or intermittently.
At operation 404, controller 114 may be configured to determine whether the position of loader 100 meets a condition. The condition may relate to a position of loader 100 with respect to stockpiling area 140 or a position within stockpiling area 140. Examples of possible conditions include detecting loader 100 to enter (e.g., to have entered) stockpiling area 140, detecting loader 100 to be approaching stockpiling area 140 in proximity of stockpiling area 140, or detecting loader 100 to enter proximity of the preliminary dumping position.
Controller 114 may be configured to determine that loader 100 has entered stockpiling area, in response to determining that previous position(s) of loader 100 were out of stockpiling area 140 and that the current position of loader 100 is inside stockpiling area 140.
Controller 114 may be configured to determine whether loader 100 is in proximity of stockpiling area 140 or in proximity of the preliminary dumping position based on a proximity threshold (e.g., a threshold distance) relative to stockpiling area 140, e.g., border(s) thereof, or the preliminary dumping position. The threshold distance may be for example within a range of 10 m to 50 m. For example, controller 114 may be configured to determine that loader 100 has entered proximity of stockpiling area 140, in response to determining that previous position(s) of loader 100 were beyond the threshold distance from stockpiling area 140 and that the current position of loader 100 is within the threshold distance from stockpiling area 140. Controller 114 may be configured to determine that loader 100 has entered proximity of the preliminary dumping position, in response to determining that previous position(s) of loader 100 were beyond the threshold distance from the preliminary dumping position and that the current position of loader 100 is within the threshold distance from the preliminary dumping position.
Controller 114 may be configured to continue controlling and/or monitoring the position of loader at operation 403, in response to determining that the condition of operation 404 is not met, for example that loader 100 is not at stockpiling area 140, in proximity of stockpiling area 140, or in proximity of the preliminary dumping position. Controller 114 may be configured to move to execution of operation 405, in response to determining the condition of operation 404 (e.g., one of the described conditions) is met.
At operation 405, controller 114 may be configured to cause bucket 122 to move to a scanning position. The scanning position may comprise a position configured to enable scanning of stockpile 130 by scanning device 112. The scanning position of bucket 122 may refer to a relative position of bucket 122 with respect to scanning device 112 that enables scanning of stockpile 130 by scanning device 112. Controller 114 may be configured to provide control instructions to component(s) of loader 100, e.g., boom 120 or actuator(s) coupled to boom 120, to cause movement of bucket 122 to the scanning position. Controller 114 may be configured to perform operation 405, in response to determining the condition of operation 404 to be met.
An example of operations 404 and 405 is illustrated in FIG. 6, where loader 100 approaches stockpiling area 140 and controller 114 is configured to cause bucket 122 to move to the scanning position, in response to detecting loader 100 to cross border 142 of stockpiling area 140.
At operation 406, controller 114 may be configured to cause scanning of stockpile 130 to obtain scanning data. The scanning data may comprise image data, video data, or 3D scanning data (e.g., point cloud data), obtained by scanning device 112. Scanning of stockpile 130 may result in obtaining scanning data comprising a representation of stockpile 130. Controller 114 may be configured to cause scanning of stockpile 130, for example by transmitting, to scanning device 112, a request to initiate scanning. Transmitting the request to initiate the scanning may be in response to detecting, by controller 114, that bucket 122 has been moved to the scanning position. Controller 114 may be configured to perform both of operations 405 and 406, in response to determining the condition of operation 404 to be met.
Scanning device 112 may be positioned such that its sensor signal(s) are configured to be directed towards bucket 122 or position(s) within reach of bucket 122 when loader 100 is operated. The scanning data may comprise data captured by scanning device 112 during the scanning. Controller 114 may be configured to obtain the scanning data, for example by receiving the scanning data from scanning device 112. Controller 114 may be however configured to process, for example select or filter, raw sensor data provided by scanning device 112 to obtain the scanning data.
At operation 407, controller 114 may be configured to determine a position for dumping load 132, also referred to as the dumping position. The dumping position determined at operation 407 may be referred to as a final dumping position, in contrast to the preliminary dumping position at operation 402. The final dumping position may comprise a position to which loader 132 actually dumps load 132. Note however that controller 114 may be configured to use the preliminary dumping position for actually dumping load 132 and therefore the preliminary dumping position determined at operation 402 may, in some example embodiments, be the final dumping position. In this case, controller 114 might not be configured to perform operations 406 or 407.
Alternatively, controller 114 might not be configured to determine the preliminary dumping position. For example, controller 114 may be configured to instruct loader 100 to move to stockpiling area 140 and determine, based on scanning, a suitable stockpile 130 for dumping load 132. In this case, controller 114 may be configured to determine the final dumping position directly, without determining a preliminary dumping position at operation 402.
Controller 114 may be configured to determine, based on the representation of stockpile 130 in the scanning data, a position of stockpile 130 before determining the dumping position. The position of stockpile 130 may comprise the position of a predefined point of stockpile such as the highest point of stockpile 130. The position of stockpile 130 may comprise a horizontal position of stockpile 130, for example a position at ground level, at floor level of the mine, or with respect to a 2D map of the mine or stockpiling area 140. The position of stockpile 130 may comprise the height of stockpile 130, for example the height of the highest point of stockpile 130. The height of stockpile 130 may be provided for example with respect to the ground level, floor level, or height level of scanning device 112 or another reference point of loader 100. The height may therefore comprise a vertical distance between the highest point of stockpile 130 and the ground level, floor level, or other reference height level such as the height level of scanning device 112 or another reference point of loader 100.
Controller 114 may be configured to detect the height of stockpile 130 based on detecting, e.g., by computer vision methods such as pattern recognition, the tip of stockpile 130. Detecting stockpile 130 may comprise obtaining, based on the scanning data, a depth map of the scanned environment. Controller 114 may be configured to use the depth map for determining a distance between scanning device 112 and stockpile 130, e.g., the tip of stockpile 130. Alternatively, controller 114 may be configured to determine the distance between scanning device 112 and stockpile 130 based on the point cloud data determined based on the scanning data.
Controller 114 may be configured to determine the horizontal position of stockpile 130 based on the position of loader 100 and the determined distance between scanning device 112 and stockpile 130. The position of loader 100 may comprise orientation of the loader, which may be determined by controller 114, for example, based monitoring movement of loader 100 or based on reading of a compass coupled to loader 100. Controller 114 may be configured to determine the horizontal position of stockpile 130 based on determining a position, e.g., on the ground or floor level, which is at the determined distance from the horizontal position of scanning device 112 in a direction of scanning, which may be for example substantially the same as the forward driving direction of loader 100. Controller 114 may be configured to determine the position of scanning device 112 based on the detected position of the positioning device and information about the position of scanning device 112 relative to the positioning device. In case the position of stockpile 130 comprises the height of stockpile 130, controller 114 may be configured to associate the height of stockpile 130 with the determined horizontal position of stockpile 130, in order to obtain the position of stockpile 130.
Controller 114 may be configured to determine the (final) dumping position based on the position of stockpile 130. Controller 114 may be, for example, configured to determine whether to dump load 132 at stockpile 130 or at another location. This may be dependent on current height of stockpile 130. Controller 114 may be for example configured to determine the horizontal position for dumping load 132 to be substantially same as the horizontal position of stockpile 130, in response to determining that the height of stockpile 130 is below a threshold. On the other hand, controller 114 may be configured to determine the horizontal position for dumping load 132 to be substantially different from the horizontal position of stockpile 130, in response to determining that the height of stockpile 130 is above the threshold. Determining whether to dump load 132 at the position of stockpile 130 may be dependent on whether it is still desired to increase the height of stockpile 130. Dumping load 132 at substantially same horizontal position as stockpile 130 may comprise dumping load at a position that increases, or is expected to increase, the height of stockpile 130. Dumping load 132 at substantially different horizontal position as stockpile 132 may comprise dumping load at a position that does not increase, or is expected not to increase, the height of stockpile 130. Determining the dumping position based on the height of stockpile 130 provides the benefit of enabling to control height of stockpile 130. This may be beneficial for example in order to prevent bucket 122 from colliding with the roof of a tunnel, when trying to dump load 132 at a stockpile that is too high.
At operation 408, controller 114 may be configured to cause loader 100 to dump load 132 at the determined position, e.g., the final dumping position determined at operation 407 or the preliminary dumping position determined at operation 402. For example, controller 114 may be configured to provide control instructions to component(s) of loader 100, e.g., boom 120 or actuator(s) coupled to boom 120, to cause load 132 to be released from bucket 122, for example by controlling the tilt angle of bucket 122.
Controller 114 may be configured to control the height of bucket 122 based on the height of stockpile 130. For example, controller 114 may be configured to control bucket 122 to be lifted higher (e.g., by a margin such as one metre) than the height of stockpile 130, when dumping load 132 at substantially same horizontal position as stockpile 130.
Additionally, controller 114 may be configured to control movement of loader 100, for example by providing control instructions to motor and wheels of movable carrier 110, to cause loader 100 to move to a position from which bucket 122 reaches the dumping position.
At operation 409, controller 114 may be configured to reverse away from the dumping position, e.g., stockpile 130. Controller 114 may be configured to cause bucket 122 to move to the scanning position, for example while loader 100 reverses away from the dumping position. This may be in response to completing dumping of load 132 at operation 408. This provides the benefit of enabling quick determination of the position of the stockpile to which load 132 was just dumped (e.g., stockpile 130 or a new stockpile), for example for the purpose of determining (e.g., preliminary) a dumping position for next load of mining material. Controller 114 may be configured to determine dumping of load 132 to be completed, for example in response to detecting bucket 132 to be in a position that enables load 132 to fall from bucket 122, or in response to detecting bucket 122 not to carry load 132 anymore (e.g., based on weight measurement).
At operation 410, controller 114 may be configured to cause scanning of the stockpile, for example stockpile 130 or a new stockpile created by dumping load 132. Controller 114 may be configured to cause loader 100 to stop reversing, for example at a configured distance (e.g., 5 m to 10 m) from the stockpile. Controller 114 may be configured to cause scanning of the stockpile, in response to detecting loader 100 to stop reversing. An example of operations 409 and 410 is illustrated in FIG. 7, where loader 100 reverses away from stockpile 130 and scans stockpile 130 after dumping load 132 at stockpile 130.
At operation 411, controller 114 may be configured to determine a position for dumping a next load of mining material, also referred to as the next dumping position. Controller 114 may be configured to determine the next dumping position similar to operation 407. Controller 114 may be configured to use the next dumping position as the preliminary dumping position of operation 402, when initiating a new round of operations 402 to 411. Alternatively, controller 114 may be configured to use the next target position as the final dumping position of operation 407 during the next round of operations 402 to 411. Controller 114 may be therefore configured to use the next dumping position for controlling stockpiling performed by loader 100.
Alternatively, controller 114 may be configured to output an indication of the next dumping position. Controller 114 may be for example configured to cause loader 100 to transmit the indication of the next dumping position to remote control device 200 or another loader 102. The indication of the next dumping position may be configured to be transmitted to a remote server, e.g., remote control device 200, which may be configured to transmit control instructions comprising the indication of the next dumping position to another loader 102 to cause it to dump its load at this position. Alternatively, controller 114 may be configured to output a control instruction comprising the next dumping position to cause another loader 102 to dump the load of mining material to the position for dumping the load of mining material. Controller 114 may be for example configured to cause loader 100 to transmit the control instruction to another loader 102. These example embodiments provide the benefit of enabling to inform other loader(s) about the next dumping position, thereby enabling to optimise stockpiling in case of multiple co-operative loaders. Alternatively, controller 114 may be configured to cause visualization of the next dumping position on a display of loader 100. This provides the benefit of enabling a human operator to monitor or manually control the stockpiling procedure.
When operations of FIG. 4 are configured to be performed by remote control device 200, for example by integrating controller 114 therein, remote control device 200 may be configured to remotely control movement of loader 100 and bucket 122 and scanning of stockpile 130. Remote control device 200 may be configured to receive, from loader 100, information for determining the dumping position, e.g., the scanning data obtained by scanning device 112 and an indication of the position of loader 100. Remote control device 200 may be configured to output an indication of the determined dumping position, e.g., by transmitting the indication to loader 100 or another loader 102. Alternatively, or additionally, remote control device 200 may be configured to visualize the dumping position on a display of remote control device 200. Remote control device 200 may comprise or be included in a remote operator station.
It is noted that the procedure of FIG. 4 includes several options of when to perform scanning of a stockpile and determining a dumping position for a load configured to be carried by a bucket of a loader.
For example, controller 114 might be configured to obtain a preliminary dumping position at operation 402 and dump load 132 at this position at operation 408, for example without performing any or some of operations 404 to 407. At operation 410, controller 114 might be however configured to cause scanning of the resulting stockpile subsequent to dumping the load at the stockpile at operation 408, for example while loader is reversing away from the stockpile, as described with reference to operation 409. Controller 114 might be then configured to determine a position for dumping a next load of mining material. Controller 114 might be configured to use the determined position for causing loader 100 to dump its next load at this position, or output the determined dumping position to another loader 100 or remote control device 200 to cause the other loader 100, or yet another loader, to use the position determined by controller 114 for dumping their next load.
According to another example, controller 114 might be configured to scan a stockpile before dumping the load, e.g., based on operations 405 and 406 and optionally considering the position of loader at operation 404 for determining when to trigger movement of bucket 122 to the scanning position and scanning of the stockpile. Controller 114 might be then configured to determine the (final) dumping position at operation 408 and cause dumping of the load at this position at operation 408. Controller 114 might be then configured to use this position as the preliminary dumping position for its next load of material (cf. operation 402) or to output this position as the next dumping position by transmitting an indication of it to another loader 102 or remote control device 200. In this case, controller 114 might not be configured to perform operations 409 or 410. Alternatively, controller 114 might be configured to cause scanning of the stockpile before and after dumping the load at operation 408, for example in order to determine the (final) dumping position at operation 407 and the next dumping position at operation 411.
Some operations of FIG. 4 may be therefore optional and the operations may be also performed in different order or in parallel, where appropriate.
FIG. 8 illustrates an example of an apparatus 800 configured to practise one or more example embodiments. Apparatus 800 may be or comprise a control device, such as for example a server, communicatively coupled to loader 100, a control apparatus located at loader 100, controller 114, loader 100 itself, remote control device 200, a remote operator station, or in general any apparatus or system configured to implement the functionality described herein. Although apparatus 800 is illustrated as a single device, it is appreciated that, wherever applicable, functions of apparatus 800 may be distributed to a plurality of physically separate apparatuses, for example loader 100 and remote control device 200.
Apparatus 800 may comprise at least one processor 802. The at least one processor 802 may comprise, for example, one or more of various processing devices, such as for example a co-processor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, or the like.
Apparatus 800 may further comprise at least one memory 804. The at least one memory 804 may be configured to store, for example, computer program code or the like, for example operating system software and application software. The at least one memory 804 may comprise one or more volatile memory devices, one or more non-volatile memory devices, and/or a combination thereof. For example, the memory may be embodied as magnetic storage devices (such as hard disk drives, etc.), optical magnetic storage devices, or semiconductor memories (such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). Memory 804 is provided as an example of a (non-transitory) computer readable medium. The term "non-transitory," as used herein, is a limitation of the medium itself (i.e., tangible, not a signal) as opposed to a limitation on data storage persistency (e.g., RAM vs. ROM). The at least one memory 804 may be also embodied separate from apparatus 800, for example as a computer readable (storage) medium, examples of which include memory sticks, compact discs (CD), or the like.
When apparatus 800 is configured to implement some functionality, some component and/or components of apparatus 800, such as for example the at least one processor 802 and/or the at least one memory 804, may be configured to implement this functionality. Furthermore, when the at least one processor 802 is configured to implement some functionality, this functionality may be implemented using program code 806 comprised, for example, in the at least one memory 804.
The functionality described herein may be performed, at least in part, by one or more computer program product components such as software components. According to an example embodiment, apparatus 800 comprises a processor or processor circuitry, such as for example a microcontroller, configured by the program code 806, when executed, to execute the embodiments of the operations and functionality described herein. Program code 806 is provided as an example of instructions which, when executed by the at least one processor 802, cause performance of apparatus 800.
For example, control apparatus 114 may be at least partially implemented as program code 806 configured to cause apparatus 800 to perform functionality of controller 114. Similarly, transmission or reception of data (e.g., scanning data or an indication of a dumping position, e.g., the preliminary dumping position or next dumping position) over an internal or external communication interface of loader 100 may be controlled by software.
Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing unit (NPU), tensor processing unit (TPU), or the like.
Apparatus 800 may comprise a communication interface 808 configured to enable apparatus 800 to transmit and/or receive information. Communication interface 808 may comprise an internal or external communication interface, such as for example a radio interface between loader 100 and remote control device 200. Apparatus 800 may further comprise other components and/or functions such as for example user interface 810 comprising at least one input device and/or at least one output device. The input device may take various forms such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may for example comprise a display, a speaker, or the like. User interface 810 may enable a human operator to monitor various functions and data, such as for example any type of dumping position, or the like.
Apparatus 800 may be configured to perform or cause performance of any aspect of the method(s) described herein. Further, a computer program or a computer program product may comprise instructions for causing, when executed by apparatus 800, apparatus 800 to perform any aspect of the method(s) described herein. Further, apparatus 800 may comprise means for performing any aspect of the method(s) described herein. In one example, the means comprises the at least one processor 802, the at least one memory 804 including program code 806 (instructions) configured to, when executed by the at least one processor 802, cause apparatus 800 to perform the method(s). In general, computer program instructions may be executed on means providing generic processing functions. Such means may be embedded for example in a computer, a server, or the like. The method(s) may be thus computer-implemented, for example based algorithm(s) executable by the generic processing functions, an example of which is the at least one processor 802. Apparatus 800 may comprise means for transmitting or receiving information, for example one or more wired of wireless (e.g., radio) transmitters or receivers, which may be coupled or be configured to be coupled to one or more antennas, or transmitter(s) or receiver(s) of a wired communication interface.
According to a first aspect of the present disclosure, apparatus may be configured to control a loader, e.g., a loading machine. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and output an indication of the position for dumping the load of mining material.
According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: output a control instruction comprising the indication of the position for dumping the load of mining material to cause another loader to dump the load of mining material to the position for dumping the load of mining material, or cause the loader to dump the load of mining material to the determined position for dumping the load of mining material.
According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine a position for dumping an initial load of mining material based on a configured distance to a wall of a tunnel.
According to an example embodiment of the first aspect, the position of the stockpile of mining material comprises a horizontal position and a height of the stockpile of mining material, and wherein the position for dumping the load of mining material comprises a horizontal position and a height for the position for dumping the load of mining material.
According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine the horizontal position for dumping the load of mining material to be substantially same as the horizontal position of the stockpile of mining material, in response to determining that the height of the stockpile of mining material is below a threshold, or determine the horizontal position for dumping the load of mining material to be substantially different from the horizontal position of the stockpile of mining material, in response to determining that the height of the stockpile of mining material is above the threshold.
According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: obtain information on a location of a stockpiling area for storing mining material; cause the movement of the bucket to the position configured to enable the scanning of the stockpile of mining material by the scanning device and the scanning of the stockpile of mining material, in response to determining, based on the position of the loader and the location of the stockpiling area, that the loader has entered the stockpiling area or is approaching the stockpiling area in proximity of the stockpiling area.
According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: cause the movement of the bucket to the position configured to enable the scanning of the stockpile of mining material by the scanning device and the scanning of the stockpile of mining material, in response to completing dumping of a previous load of mining material to the stockpile of mining material.
According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: cause the loader to reverse away from the stockpile of mining material, in response to completing dumping of a previous load of mining material to the stockpile of mining material; and cause the movement of the bucket to the position configured to enable scanning of the stockpile of mining material by the scanning device and/or the scanning of the stockpile of mining material while the loader reverses away from the stockpile of mining material.
According to a second aspect of the present disclosure, a loader comprises the apparatus according to any example embodiment of the first aspect. For example, the loader may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the loader at least to: monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and output an indication of the position for dumping the load of mining material.
According to an example embodiment of the second aspect, the computer program code is configured to, with the at least one processor, cause the loader to: transmit the indication of the position for dumping the load of mining material to another loader or a remote control device; or visualize the position for dumping the load of material on a display of the loader.
According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the loader to: receive an indication of a position for dumping an initial load of mining material from a remote control device external to the loader.
According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the loader to: control at least a boom of the loader during movement of the loader towards the position for dumping the load of mining material to cause movement of the bucket to a relative position with respect to a movable carrier of the loader configured to enable dumping of the load by adjusting a tilt angle of the bucket.
According to a third aspect of the present disclosure, a remote control device configured to remotely control a loader comprises the apparatus according to any example embodiment of the first aspect. For example, the remote control device may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the remote control device at least to: monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and output an indication of the position for dumping the load of mining material.
According to an example embodiment of the third aspect, the computer program code is configured to, with the at least one processor, cause the remote control device to: transmit the indication of the position for dumping the load of mining material to the loader or another loader; or visualize the position for dumping the load of material on a display of the remote control device.
FIG. 9 illustrates an example of a method for controlling a loader, according to a fourth aspect of the present disclosure. The method may comprise a computer-implemented method performed by, for example, apparatus 800 such as controller 114.
At 901, the method may comprise monitoring a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material.
At 902, the method may comprise causing movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device.
At 903, the method may comprise causing scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material.
At 904, the method may comprise determining, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material.
At 905, the method may comprise determining a position for dumping a load of mining material based on the position of the stockpile of mining material.
At 906, the method may comprise outputting an indication of the position for dumping the load of mining material.
According to an example embodiment of the fourth aspect, the method comprises: outputting a control instruction comprising the indication of the position for dumping the load of mining material to cause another loader to dump the load of mining material to the position for dumping the load of mining material, or causing the loader to dump the load of mining material to the determined position for dumping the load of mining material.
According to an example embodiment of the fourth aspect, the method comprises: determining a position for dumping an initial load of mining material based on a configured distance to a wall of a tunnel.
According to an example embodiment of the fourth aspect, the position of the stockpile of mining material comprises a horizontal position and a height of the stockpile of mining material, and the position for dumping the load of mining material comprises a horizontal position and a height for the position for dumping the load of mining material.
According to an example embodiment of the fourth aspect, the method comprises: determining the horizontal position for dumping the load of mining material to be substantially same as the horizontal position of the stockpile of mining material, in response to determining that the height of the stockpile of mining material is below a threshold, or determine the horizontal position for dumping the load of mining material to be substantially different from the horizontal position of the stockpile of mining material, in response to determining that the height of the stockpile of mining material is above the threshold.
According to an example embodiment of the fourth aspect, the method comprises: obtaining information on a location of a stockpiling area for storing mining material; causing the movement of the bucket to the position configured to enable the scanning of the stockpile of mining material by the scanning device and the scanning of the stockpile of mining material, in response to determining, based on the position of the loader and the location of the stockpiling area, that the loader has entered the stockpiling area or is approaching the stockpiling area in proximity of the stockpiling area.
According to an example embodiment of the fourth aspect, the method comprises: causing the movement of the bucket to the position configured to enable the scanning of the stockpile of mining material by the scanning device and the scanning of the stockpile of mining material, in response to completing dumping of a previous load of mining material to the stockpile of mining material.
According to an example embodiment of the fourth aspect, the method comprises: causing the loader to reverse away from the stockpile of mining material, in response to completing dumping of a previous load of mining material to the stockpile of mining material; and causing the movement of the bucket to the position configured to enable scanning of the stockpile of mining material by the scanning device and/or the scanning of the stockpile of mining material while the loader reverses away from the stockpile of mining material.
The method may be performed by control apparatus 114, loader 100, or remote control device 200, for example based on program code 806, when executed by processor 802. Various examples of the methods are explained above with regard to functionalities of controller 114, loader 100, and/or remote control device 200, and are therefore not repeated here. It should be understood that example embodiments described may be combined in different ways unless explicitly disallowed.
According to a fifth aspect, an apparatus may comprise means for monitoring a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; means for causing movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; means for causing scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; means for determining, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; means for determining a position for dumping a load of mining material based on the position of the stockpile of mining material; and means for outputting an indication of the position for dumping the load of mining material. The apparatus may comprise means for performing any example embodiment of the method of the fourth aspect.
According to a sixth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and output an indication of the position for dumping the load of mining material. The computer program, the computer program product, or the (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus to perform any example embodiment of the method of the fourth aspect.
Although the subject matter has been described in language specific to structural features and/or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as examples of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.
It will be understood that the benefits and advantages described above may relate to one embodiment or may relate to several embodiments. The embodiments are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages. It will further be understood that reference to 'an' item may refer to one or more of those items.
The steps or operations of the methods described herein may be carried out in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the example embodiments described above may be combined with aspects of any of the other example embodiments described to form further example embodiments without losing the effect sought.
The term 'comprising' is used herein to mean including the method, blocks, or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.
As used herein, "at least one of the following: <a list of two or more elements>" and "at least one of <a list of two or more elements>" and similar wording, where the list of two or more elements are joined by "and" or "or", mean at least any one of the elements, or at least any two or more of the elements, or at least all the elements. Term "or" may be understood to also cover a case where both of the items separated by "or" are included. Hence, "or" may be understood as an inclusive "or" rather than an exclusive "or".
Although subjects may be referred to as 'first' or 'second' subjects, this does not necessarily indicate any order or importance of the subjects. Instead, such attributes may be used solely for the purpose of making a difference between subjects.
It will be understood that the above description is given by way of example only and that various modifications may be made by those skilled in the art. The above specification, examples and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above with a certain degree of particularity, or with reference to one or more individual embodiments, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from scope of this specification.

Claims

An apparatus for controlling a loader, the apparatus comprising:
at least one processor; and

at least one memory including program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:
monitor a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material;

cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device;

cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material;

determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material;

determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and

output an indication of the position for dumping the load of mining material.
The apparatus according to claim 1, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
output a control instruction comprising the indication of the position for dumping the load of mining material to cause another loader to dump the load of mining material to the position for dumping the load of mining material, or

cause the loader to dump the load of mining material to the determined position for dumping the load of mining material.
The apparatus according to claim 1 or 2, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
determine a position for dumping an initial load of mining material based on a configured distance to a wall of a tunnel.
The apparatus according to any of claims 1 to 3, wherein the position of the stockpile of mining material comprises a horizontal position and a height of the stockpile of mining material, and wherein the position for dumping the load of mining material comprises a horizontal position and a height for the position for dumping the load of mining material.
The apparatus according to claim 4, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
determine the horizontal position for dumping the load of mining material to be substantially same as the horizontal position of the stockpile of mining material, in response to determining that the height of the stockpile of mining material is below a threshold, or

determine the horizontal position for dumping the load of mining material to be substantially different from the horizontal position of the stockpile of mining material, in response to determining that the height of the stockpile of mining material is above the threshold.
The apparatus according to any of claims 1 to 5, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
obtain information on a location of a stockpiling area for storing mining material;

cause the movement of the bucket to the position configured to enable the scanning of the stockpile of mining material by the scanning device and the scanning of the stockpile of mining material, in response to determining, based on the position of the loader and the location of the stockpiling area, that the loader has entered the stockpiling area or is approaching the stockpiling area in proximity of the stockpiling area.
The apparatus according to any of claims 1 to 5, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
cause the movement of the bucket to the position configured to enable the scanning of the stockpile of mining material by the scanning device and the scanning of the stockpile of mining material, in response to completing dumping of a previous load of mining material to the stockpile of mining material.
The apparatus according to any of claims 1 to 5, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
cause the loader to reverse away from the stockpile of mining material, in response to completing dumping of a previous load of mining material to the stockpile of mining material; and

cause the movement of the bucket to the position configured to enable scanning of the stockpile of mining material by the scanning device and/or the scanning of the stockpile of mining material while the loader reverses away from the stockpile of mining material.
A loader comprising the apparatus according to any of claims 1 to 8.
The loader according to claim 9, wherein the computer program code is further configured to, with the at least one processor, cause the loader to:
transmit the indication of the position for dumping the load of mining material to another loader or a remote control device; or

visualize the position for dumping the load of material on a display of the loader.
The loader according to claim 9 or 10, wherein the computer program code is further configured to, with the at least one processor, cause the loader to:
receive an indication of a position for dumping an initial load of mining material from a remote control device external to the loader.
The loader according to any of claims 9 to 11, wherein the computer program code is further configured to, with the at least one processor, cause the loader to:
control at least a boom of the loader during movement of the loader towards the position for dumping the load of mining material to cause movement of the bucket to a relative position with respect to a movable carrier of the loader configured to enable dumping of the load by adjusting a tilt angle of the bucket.
A remote control device comprising the apparatus according to any of claims 1 to 8 and configured to remotely control the loader.
The remote control device according to claim 12, wherein the computer program code is further configured to, with the at least one processor, cause the remote control device to:
transmit the indication of the position for dumping the load of mining material to the loader or another loader; or

visualize the position for dumping the load of material on a display of the remote control device.
A method for controlling a loader, the method comprising:
monitoring a position of the loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material;

causing movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device;

causing scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material;

determining, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material;

determining a position for dumping a load of mining material based on the position of the stockpile of mining material; and

outputting an indication of the position for dumping the load of mining material.
A computer program comprising instructions which, when executed by an apparatus, cause the apparatus at least to:
monitor a position of a loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material;

cause movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device;

cause scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material;

determine, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material;

determine a position for dumping a load of mining material based on the position of the stockpile of mining material; and

output an indication of the position for dumping the load of mining material.