WO2020009645A1

WO2020009645A1 - Battery charge management of mining machines

Info

Publication number: WO2020009645A1
Application number: PCT/SE2019/050652
Authority: WO
Inventors: Anders Lindkvist; Martin Svensson; Erik SVEDLUND
Original assignee: Epiroc Rock Drills Aktiebolag
Priority date: 2018-07-04
Filing date: 2019-07-02
Publication date: 2020-01-09
Also published as: CN112385111A; SE543006C2; AU2019299826A1; AU2019299826B2; CA3103214A1; SE1850847A1

Abstract

The present disclosure relates to a system (200), method, control unit and computer program product for battery charge management of one or more battery operated mining machines (210a, 210b). The system for battery charge management comprises one or more batteries (220a-f), at least one battery management systems, BMSs (230a-f), arranged to gather battery data representative of an operating state of a respective battery, one or more battery chargers (240a-b), and a battery charge control unit (250). Each battery is configured for use in a respective battery operated mining machine configured to operate in a predetermined mining cycle and each BMS is configured to provide the battery data to the battery charge control unit. The battery charge control unit is configured to generate at least one charge model based on the battery data and to schedule charging of respective batteries of the one or more batteries via the one or more battery chargers based on the at least one charge model.

Description

BATTERY CHARGE MANAGEMENT OF MINING MACHINES

TECHNICAL FIELD

The present disclosure relates to a system, method, control unit and computer program product for battery charge management of one or more battery operated mining machines. BACKGROUND

There is ongoing work in adapting mining machines to operate using electricity and more specifically for, at least in part, operate in a battery-powered mode. Aside from the mining machines, there are other installations powered by electricity such as ventilation fans, hoists, lightning etc. These other installations may also, at least in part, be battery operated. The switch from fuel-powered machines (and installations) to electrically and battery-powered machines increases the electric energy consumption in the mine and the charging of the batteries will have a significant impact on the power consumption in the mine. Conventional battery charging solutions for mine applications disclose the use of battery/energy management systems (BMS/EMS) for optimized charging of a battery or battery operated vehicle, but without considering the load implications of the charging.

US2018/0111496 disclose a charge controller for an electric mining vehicle configured to determine an amount of charge to be provided to a battery of a mining. In the disclosed solution, charging of a battery is adapted to the specific load demands previously experienced by an electrical motor of the mining vehicle. The day-to-day operations of mining typically involve many more mining operations than the transportations for which mining vehicles are used. The operations comprise cycles of drilling, blasting, ventilating, as well as loading, transporting and dumping material that has been cut during the cycles of mining operations, i.e., mining cycles. The mining operations involve a wide variety of mining machines, such as face drill rigs, production drill rigs, rock bolting rigs, cable bolting rigs, concrete spraying machines, loaders, haulers and dumpers. The listed mining machines require considerable power during operation and the mining machines usually have high power demands during predictable phases of a mining cycle. When considering each mining machine individually, most of the mining machines may be perceived to operate according to recurring mining cycles, i.e., cycles of mining operations defined for the specific machines.

Multiple operations performed simultaneously within a mine, result in a corresponding plurality of mining cycles that place demands on power that are unique to mining. In the field of mining, the power grids are often on the edge of their capacity or even under-dimensioned to meet the power needs of multiple, simultaneous mining operations, especially in cases where the cycles of operations imply intermittent power needs in the power grid. Some of the power needs may result from one or more battery operated mining machines having simultaneous battery charging needs, which would result in high peak loads on the electrical power grid in the mine. Thus, within an existing, already highly loaded main mining grid, charging of one or more machines could lead to overloading especially when performed during times of operating other electrically powered tools in the mine.

Consequently, there is a need for improved charge management.

SUMMARY

It is an object of the present disclosure to solve or mitigate, alleviate, or eliminate at least some of the above-identified deficiencies in the art and to provide a solution for improved charge management.

According to a first aspect, this object is achieved by a system for battery charge management of one or more battery operated mining machines. The system comprises one or more batteries, at least one battery management systems (BMSs) arranged to gather battery data representative of an operating state of a respective battery, one or more battery chargers, and a battery charge control unit. Each battery is configured for use in a respective battery operated mining machine configured to operate in a predetermined mining cycle. Each battery management systems (BMSs) is configured to provide the battery data to the battery charge control unit. The battery charge control unit is configured to generate at least one charge model and to schedule charging of respective batteries of the one or more batteries via the one or more battery chargers based on the at least one charge model. The present disclosure provides the advantage of enabling improved battery charging/battery management for battery operated mining machines. Charging is controlled using charge models; each battery charge model being based on expected battery consumption during a mining cycle and an operative state of the battery.

In some embodiments, the battery management systems (BMSs) is configured to gather battery data over one or more mining cycles and the battery charge control unit is configured to schedule charging of respective batteries for at least one subsequent mining cycle based on the charge model, wherein the subsequent mining cycle comprise a set of mine operations similar to those performed during the gathering of data.

In some embodiments, battery data comprises at least one of a charge level and a temperature limit for the respective battery.

In some embodiments, the battery charge control unit is configured to adjust an internal temperature of the respective battery based on the temperature limit.

In some embodiments, the charge model comprises a prediction of an operating state of the battery during a future part of the predetermined mining cycle. The prediction is based on the battery data and historic operating state information for a respective mining machine of the one or more mining machines.

According to some embodiments, the prediction of the operating state of the battery is based on at least one of a vehicle model and a mine model. The vehicle model is representative of historic operating state information for the mining machine. The mine model is representative of historic operating state information corresponding to a mine route.

According to a second aspect of the disclosure, the object is achieved by a method, performed in a battery charge control unit of the system according to the first aspect. The method comprises receiving battery data from one or more battery management systems (BMSs) arranged to gather battery data representative of an operating state of a respective battery when used in a battery operated mining machine configured to operate in a predetermined mining cycle. The method further comprises generating at least one charge model for a battery configured for use in a battery operated mining machine based on the battery data and scheduling charging of respective batteries of the plurality of batteries based on the at least one charge model.

In some embodiments the generating of the at least one charge model comprises predicting an operating state of the battery during a subsequent mining cycle and determining charging requirements for the battery. The prediction is based on the battery data and historic operating state information for a respective mining machine of the one or more mining machines.

In some embodiments, the charging requirements comprises at least one of a time period for charging, a minimum level of charging, a maximum level of charging, an optimal working temperature of the battery and a temperature limit for the battery.

According to a third aspect of the disclosure, the object is achieved by a battery charge control unit for controlling battery charge management for batteries of one or more battery operated mining machines. The battery charge control unit comprising processing circuitry configured to receive battery data from one or more battery management systems (BMSs). Each battery management system (BMS) is arranged to gather battery data representative of an operating state of a respective battery when used in a battery operated mining machine that is configured to operate in a predetermined mining cycle. The BMS is further arranged to generate at least one charge model for a battery configured for use in a battery operated mining machine based on the battery data and to schedule charging of respective batteries of the plurality of batteries based on the at least one charge model.

According to a fourth aspect of the disclosure, the object is achieved by a computer program comprising computer program code which, when executed cause a battery charge control unit according to the third aspect to execute the method according to the first aspect.

Embodiments provide the advantage of controlling battery charge management of one or more battery operated mining machines based on battery data, the battery data representing power consumption of all battery operated equipment within a respective mining machine or a group of mining machines. The battery charge management provides for reduced wear on batteries used in the battery operated mining machines and can also be used to prolong work cycles or in other ways optimize a work cycle. BRIEF DESCRIPTION OF DRAWINGS

The foregoing will be more readily understood from the following detailed description of example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the example embodiments.

Figure 1 schematically illustrates an underground mine comprising a plurality battery operated mining machines;

Figure 2 schematically illustrates a battery charge management system;

Figure 3 schematically illustrates a battery operated mining machine comprising a battery charge control unit;

Figure 4 is a flowchart illustrating exemplary method steps for battery charge management for one or more mining machines;

Figure 5 is a block diagram illustrating an example battery charge control unit;

Figure 6 is a block diagram illustrating a module configured for generating a charge model;

Figure 7

a. illustrates aspects of signaling in an example charge management system; b. Illustrates aspects of signaling in an example charge management system; c. Illustrates aspects of signaling in an example charge management system.

DETAILED DESCRIPTION

Aspects of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. The apparatus and method disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the aspects set forth herein. Like numbers in the drawings refer to like elements throughout.

The terminology used herein is for the purpose of describing particular aspects of the disclosure only, and is not intended to limit the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. In some implementations and according to some aspects of the disclosure, the functions or steps noted in the blocks can occur out of the order noted in the operational illustrations. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality/acts involved. Also, the functions or steps noted in the blocks can according to some aspects of the disclosure be executed continuously in a loop.

It should be emphasized that the term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, integers, steps, or components, but does not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Figure 1 illustrates an underground mine comprising a battery charge management system (BMS). A plurality of battery operated mining machines are located in mine galleries A-D. One or more battery chargers 14 are provided for charging the batteries 12 of each battery operated mining machine, either at a charging station separated from the mining machines or at a charging station for on-board charging of the mining machines. Charging station are arranged near the work location of the mining machine for efficient charging. Mining machines are usually operated in mining cycles representing mining operations being performed in a repetitive sequence over a given time period. The charging cycle may change over time with the expansion of the mine and subsequent movement of a charging station, but such changes are slow and do not affect the functionality of the present invention. As illustrated in mine gallery C-D, operation of the mining machine may imply movement of the mining machine in such a way that that aspects of the mine may affect battery power consumption. Depending on the work cycle, the mining machine may be capable of generating energy that may be stored in a battery. In such situations, it would be preferable not to have a fully charged battery in order to allow storage of such regenerative energy. For the reversed situation when the battery operated mining machines needs to perform a high power operation, this high power operation may cause a temperature increase in the battery. In such situations, it may be beneficial to consider battery temperature as a parameter in the battery charge management, e.g., providing for cooling of a battery prior to initiating the operations. Pre-cooling of the battery to an initial temperature lower than that of the ambient air, may ensure that the batteries are operated within the temperature interval allowed for the battery. Optionally, the cooling of a battery during charging may be interrupted or reduced when the battery operated machine is to perform low power operations. A somewhat higher internal temperature of the battery reduces the inner resistance and may reduce power losses during operation. Consequently, there is a need to consider mine model aspects in battery charge management.

Turning to Figure 2, a system 200 for charge management of one or more battery operated mining machines 210a, 210b is disclosed. The system comprises one or more batteries 220 a- f, at least one BMS 230 a-f arranged to gather battery data representative of an operating state of a respective battery, one or more battery chargers 240 a-b, and a battery charge control unit 250. Each battery is configured for use in a respective battery operated mining machine configured to operate in a predetermined mining cycle. Each BMS is configured to provide the battery data to the battery charge control unit. The battery charge control unit is configured to generate at least one charge model and to schedule charging of respective batteries of the one or more batteries via the one or more battery chargers based on the at least one charge model.

In the present disclosure, the term battery is used to represent a rechargeable energy storage device capable of supplying energy/power for operating a power system of a mining machine. Such a power system may be configured to provide electrical power to electrical motors, e.g., of electrically powered tools, or electrical equipment in a mining machine. Thus, the term battery should be interpreted to represent any of a rechargeable battery, a super capacitor, a rechargeable fuel cell and a flywheel. It will also be understood that the term battery may also reflect a plurality of rechargeable batteries co-located within a mining machine or a single battery unit comprising a plurality of battery cells, wherein one or more battery cells of the plurality of battery cells may define a rechargeable battery. According to some aspects, the batteries are Lithium ion batteries. Each battery is configured for use in a respective battery operated mining machine configured to operate in a predetermined mining cycle. The one or more batteries may be provided on-board the mining machines but may also be detachable from the mining machines for charging at charging stations during the charging by the respective battery chargers.

In the present disclosure, a BMS is configured to monitor an operational status of the battery, e.g., a charge level or a temperature of the battery. According to aspects of the disclosure, the BMS may also be configured to control the operational status of a battery so that that the battery is protected from charging beyond a predetermined maximum charge level or depletion below a minimum charge level. Such control may also apply to an internal temperature of the battery, whereby the BMS may interrupt power supply from a battery when the internal temperature deviates from an optimal temperature of the battery, e.g., rises above or below predetermined temperature limits. In the most general context of the present disclosure, each BMS is configured to provide the battery data to the battery charge control unit. According to some aspects, each battery comprises a respective BMS.

According to some aspects, the battery data comprises at least one of state of charge (SoC), depth of discharge (DoD) state of health, and internal temperature. The battery data thereby reflects information on how much electrical energy is still available in each battery, as well as the working status of the battery. Rechargeable batteries will gradually loose health as they are recharged over many recharge cycles. The lifetime of the rechargeable batteries can be extended by not fully deplete before recharging. It should be recognized that the batteries provide electrical power also to auxiliary electrical system of the mining machine and that power consumption of these auxiliary systems must also be taken into consideration when developing the charge model. Consequently, an important aspect of the present invention is that the charge model is developed based on battery data rather than on consumption data from the electrical motors driving the tools or power train of the respective mining machines.

Furthermore, batteries are usually associated with state of charge intervals representing charging intervals associated with relatively low wear on the battery. When charging a battery to a higher charge level or allowing depletion of the battery to a lower charge level, the charging of the batteries may represent an undue wear of the specific batteries.

An important factor in maintaining maximum efficiency of mining operations is to ensure that there are as few interruptions as possible. One potential source of interruptions is a gradual reduction of battery lifetime. Two important factors having an impact on battery lifetime are state of charge of the battery and temperature of the battery. According to aspects of the disclosure, battery data comprises at least one of a charge level and a temperature of the respective battery. Completely draining or completely charging the battery would typically shorten the battery lifetime considerably. Therefore, only a part of the total energy of the battery is preferably used during operation of the mining machine. Likewise, too high temperatures or rapid temperature changes may have detrimental effects on battery lifetime. Thus, according to some aspects, the maximum charge levels and maximum discharge levels are based on a desired state of charge (SoC) of the rechargeable battery. According to some aspects, the maximum charge levels and maximum discharge levels are based on a temperature of the battery. Thus, a combination of state of charge and battery temperature may enable optimized wear reduction of the battery.

The battery charge control unit is configured to generate at least one charge model and to schedule charging of respective batteries of the one or more batteries via the one or more battery chargers based on the at least one charge model. According to aspects of the disclosure, the battery charge control unit may provide control of the respective one or more battery chargers to ensure that charging according to the charge model is observed. However, such control may also be distributed to the respective BMS, whereby the BMS controls charging of a respective battery based on information received from the battery charge control unit.

Optionally, the battery charge control unit may provide control of the respective one or more battery chargers based on a determined or predicted load in the main power grid of the mine or in a local power grid where the battery charger is connected.

According to the disclosure a charge model is created for one or more batteries of a mining machine or batteries of a plurality of mining machines. The charge model may comprise a number of partial charge models or sub-models that represent operational needs or requirements for a specific battery or mining machine. As will be discussed further below, the charge model may comprise a desired SoC and/or temperature of the battery, as well as a time interval when the charging may take place in order not to overload any parts of the power grid of the mine. Thus, the present disclosure acknowledges that there may be need for individual charge models for each individual battery, and that the use of a plurality of charge models in a system comprising a plurality of batteries will enable improved grid control in addition to optimizing operation and battery life of the individual mining machines. According to some aspects of the disclosure, each charge model is based on a mine model combined with a vehicle model, as will explained further below.

According to aspects of the present disclosure, the BMS is configured to gather battery data over one or more mining cycles and the battery charge control unit is configured to schedule charging of respective batteries for at least one subsequent mining cycle based on the charge model. The subsequent mining cycle comprises a set of mine operations similar to those performed during the gathering of data e.g., the mine operations of the subsequent mining cycle are performed with the same type of mining machines and in the same mining environment as the operations performed during the one or more mining cycles used for the gathering of the data. Consequently, the gathered battery data may be considered representative also of the subsequent mining cycles. According to aspects of the disclosure, the mining cycle and the subsequent mining cycle comprise a similar set of mine operations performed over a same time interval. Alternatively, the subsequent mining cycle may represent a sub-cycle of the one or more mining cycles, e.g., a time interval shorter than the time interval during which the battery data was gathered. These aspects of the disclosure will be further explained in relation to the disclosure in Figure 6.

According to aspects of the disclosure, the charge model comprises a predetermined initia l battery temperature, e.g., a temperature interval, and wherein battery charge control unit is configured to control a temperature of the battery when charging for a subsequent mining cycle so that the internal temperature of the battery is adjusted in conformity with the predetermined initial battery temperature.

According to some aspects of the disclosure, the charge model is based on battery data and operating state information for a respective mining machine of the one or more mining machines. The operating state of the battery may be based on at least one of a vehicle model and a mine model. The vehicle model is representative of historic operating state information for the mining machine. Logged data may be used to build generic models for vehicles. Such logged data may also be used for modelling of driver behaviour. The mine model is representative of historic operating state information corresponding to a mine route. The mine model may comprise route information relating to distance to be travelled by the mining machine, height differences along the route and road quality.

According to aspects of the disclosure, the battery charge control unit 250 is further configured to generate a charge model and schedule charging of batteries 220c-e used for the power supply to infrastructure installations used in the mine, for example ventilation fans (210c), hoists (210d) and lighting (210e).

The battery charge control unit is optionally arranged in a centralized data center 260. The actual charging of the batteries is primarily intended to be controlled and/or performed by battery chargers or BMS distributed in a mine. However, the battery control unit may, at least in part, be arranged as a centralized application capable of generating battery charge models for a plurality of battery chargers and of communicating such battery charge models to locally arranged functionality of the battery charge control units. According to some aspects, the battery charge control unit is arranged to generate charge models for one or more batteries used in different battery operated mining machines and/or infrastructure installations in the mine. The battery charge control unit may also be arranged to generate charge models for a plurality of batteries used in different parts of at least one mine or to generate charge models for a plurality of batteries used in a plurality of mines.

Figure 3 illustrates an implementation of the charge management system in a mining machine 310 comprising a battery 320, a BMS 330 arranged to gather battery data representative of an operating state of the battery 320. Optionally, a battery charge control unit 30 may be provided in the mining machine, e.g., as a separate entity or co-located with the BMS. According to aspects of the disclosure, the mining machine comprises at least one sensor 380 arranged to gather sensor data representative of an operating state of the mining machine, a microprocessor 390 arranged to determine operating state information for the battery operated mining machine based on the gathered sensor data and a communication unit 370 arranged to provide the operating state information to a battery charge control unit when located at a location remote from the mining machine. Figure 4 is a flowchart illustrating exemplary method steps for battery charge management for one or more mining machine. In its most general from, the method comprises receiving S41 battery data from one or more BMSs arranged to gather battery data representative of an operating state of a respective battery when used in a battery operated mining machine that is configured to operate in a predetermined mining cycle. Generating S42 one or more charge models for respective batteries based on the received battery data; and scheduling S45 charging of respective batteries of the plurality of batteries based on the one or more charge models.

According to aspects of the disclosure, generating of the at least one charge model comprises predicting S43 an operating state of the battery during a future part of the predetermined mining cycle, e.g., a subsequent mining cycle. The prediction is based on the battery data and historic operating state information for a mining cycle for a respective mining machine of the one or more mining machines. In the context of the present disclosure, the mining cycle and the subsequent mining cycle comprise a similar set of mine operations, e.g., the mine operations of the subsequent mining cycle are performed with the same type of mining machines and n the same mining environment as the operations performed during the gathering of the data. Consequently, the gathered battery data may be considered representative also of the subsequent mining cycles. The charging requirements of the battery are determined S44 from the predicted operating state. According to aspects of the disclosure, charging requirements comprises a time period for charging, a minimum level of charging and a maximum level of charging. According to further aspects of the disclosure, the charging requirements comprise a battery temperature, i.e., an initial battery temperature. The initial battery temperature may be a temperature interval. Thus, scheduling charging of a battery would optionally comprise scheduling an optimal working temperature of the battery and/or temperature limits of the battery. Optionally, the method for battery charge management comprises controlling S46 charging of respective batteries based on the charge model(s). The charge model may comprise a desired SoC and/or temperature of the battery, as well as a time interval when the charging may take place in order to not to overload any parts of the power grid of the mine. Accordingly, the battery charge control unit would be configured to control a temperature of the battery when charging for a subsequent mining cycle so that the internal temperature of the battery is adjusted in conformity with the predetermined initial battery temperature.

Figure 5 is a block diagram illustrating an example battery charge control unit 50 for controlling battery charge management for batteries of one or more battery operated mining machines. The battery charge control unit comprising processing circuitry 51 configured to receive battery data from one or more BMSs arranged to gather battery data representative of an operating state of a respective battery when used in a battery operated mining machine that is configured to operate in a predetermined mining cycle. The processing circuitry is further configured to generate at least one charge model for a battery configured for use in a battery operated mining machine; and to schedule charging of respective batteries of the plurality of batteries based on the at least one charge model.

Figure 5 also illustrates an example computer program product 52 having thereon a computer program comprising instructions. The computer program product comprises a computer readable medium such as, for example a universal serial bus (USB) memory, a plug-in card, an embedded drive or a read only memory (ROM). The computer readable medium has stored thereon a computer program comprising program instructions. The computer program is loadable into a processing circuitry 51 comprised in the arrangement 50. When loaded into the processing circuitry 51, the computer program may be stored in a memory 51b associated with or comprised in the processing circuitry and executed by the processor 51a. According to some embodiments, the computer program may, when loaded into and run by the processing circuitry, cause execution of method steps according to, for example, the method illustrated in Figure 4 or otherwise described herein.

Thus, the computer program is loadable into data processing circuitry, e.g., into the processing circuitry 51 of Figure 5, and is configured to cause execution of embodiments for battery charge management for one or more mining machine.

Figure 6 discloses a block diagram illustrating a charge model generation module. As illustrated, the charge model generation is based on battery data from a log database, e.g., residing in the battery charge control unit. The log database comprises historical data from defined mine positions as well as historical data from specific types of vehicles or mining machines. A charge model is generated by the battery charge control unit and provided to a battery charger. The charge model generation module comprises logic for generating mine models as well as vehicle models. As an alternative to basing the mine model on historical data representative of a route travelled by the mining machine or vehicle, the mine model may also be based on CAD-modelling. A mine model may comprises information relating to height and road quality of a mine route, e.g., for identified sections along the route or path. The model may be generated from logged data or extracted from a CAD-system comprising data relevant for the geometry of the mine. The mine model may be the same for all vehicle types. Consequently, while the mine model may be based on data retrieved by a specific machine or vehicle, the model may be used for any other type of machine or vehicle performing operations or travelling along the same route.

Modelling of the machine or vehicle comprises consideration of type of machine/vehicle and operative data, such as speed of the vehicle or load. Since aspects of the vehicle model may be dependent on driver preferences, the modelling may also include information relating to driver behavior as well a modelling adapted to the behavior of a specific driver. When considering aspects of a mine truck, the power requirements depend, e.g., on the amount of energy required during the loading/unloading of the mine truck, power losses in the power train of the vehicle, and power consumed for the heating/cooling of the vehicle cab. Figure 6 discloses general aspects of using logged data as input to optimize battery preparation for a specific mining cycle, e.g., based on previous experiences from the same mining cycle. The logged data for a specific route may be used to calculate input values for the charge management process. The logged data may also be used to build generic models for vehicles, mine geometry and driver behavior. The models are then used to calculate the input values for battery charge management, i.e., values relating to charging and temperature regulation in the battery.

Figures 7a to 7c illustrate aspects of signaling in an example charge management system.

As illustrated in Figure 7a, a BMS is configured to gather battery data and provide the battery data to a receiving battery charge control unit. The battery charge control unit is configured to generate at least one charge model based on the battery data and to schedule charging for at least one battery charger based on the battery charge model. Figure 7b discloses, in addition to the disclosure of Figure 7a, the providing of logged data to be used in the battery charge control unit for generating the charge model.

Figure 7c illustrates further details of battery charge management and charge model generation in the above disclosed battery charge management system. The description of the example embodiments provided herein have been presented for purposes of illustration. The description is not intended to be exhaustive or to limit example embodiments to the precise form disclosed; modifications and variations are possible in light of the above teachings or may be acquired from practice of various alternatives to the provided embodiments. The examples discussed herein were chosen and described in order to explain the principles and the nature of various example embodiments and its practical application to enable one skilled in the art to utilize the example embodiments in various manners and with various modifications as are suited to the particular use contemplated. The features of the embodiments described herein may be combined in all possible combinations of source nodes, target nodes, corresponding methods, and computer program products. It should be appreciated that the example embodiments presented herein may be practiced in combination with each other.

The described embodiments and their equivalents may be realized in software or hardware or a combination thereof. The embodiments may be performed by general purpose circuitry. Examples of general purpose circuitry include digital signal processors (DSP), central processing units (CPU), co-processor units, field programmable gate arrays (FPGA) and other programmable hardware. Alternatively or additionally, the embodiments may be performed by specialized circuitry, such as application specific integrated circuits (ASIC). The general purpose circuitry and/or the specialized circuitry may, for example, be associated with or comprised in an apparatus such as a wireless communication device or a network node. Embodiments may appear within an electronic apparatus comprising arrangements, circuitry, and/or logic according to any of the embodiments described herein. Alternatively or additionally, an electronic apparatus may be configured to perform methods according to any of the embodiments described herein. Generally, all terms used herein are to be interpreted according to their ordinary meaning in the relevant technical field, unless a different meaning is clearly given and/or is implied from the context in which it is used.

Reference has been made herein to various embodiments. However, a person skilled in the art would recognize numerous variations to the described embodiments that would still fall within the scope of the claims.

For example, the method embodiments described herein discloses example methods through steps being performed in a certain order. However, it is recognized that these sequences of events may take place in another order without departing from the scope of the claims. Furthermore, some method steps may be performed in parallel even though they have been described as being performed in sequence. Thus, the steps of any methods disclosed herein do not have to be performed in the exact order disclosed, unless a step is explicitly described as following or preceding another step and/or where it is implicit that a step must follow or precede another step.

In the same manner, it should be noted that in the description of embodiments, the partition of functional blocks into particular units is by no means intended as limiting. Contrarily, these partitions are merely examples. Functional blocks described herein as one unit may be split into two or more units. Furthermore, functional blocks described herein as being implemented as two or more units may be merged into fewer (e.g. a single) unit.

Any feature of any of the embodiments disclosed herein may be applied to any other embodiment, wherever suitable. Likewise, any advantage of any of the embodiments may apply to any other embodiments, and vice versa.

In the drawings and specification, there have been disclosed exemplary aspects of the disclosure. However, many variations and modifications can be made to these aspects without substantially departing from the principles of the present disclosure. Thus, the disclosure should be regarded as illustrative rather than restrictive, and not as being limited to the particular aspects discussed above. Accordingly, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation. Hence, it should be understood that the details of the described embodiments are merely examples brought forward for illustrative purposes, and that all variations that fall within the scope of the claims are intended to be embraced therein.

Claims

1. A system (200) for battery charge management of one or more battery operated mining machines (210a-b), the system (200) comprising one or more batteries (220a-f), at least one battery management systems, BMSs, (230a-f) arranged to gather battery data representative of an operating state of a respective battery, one or more battery chargers (240a-b), and a battery charge control unit (250), wherein

each battery is configured for use in a respective battery operated mining machine configured to operate in a predetermined mining cycle;

each BMS is configured to provide the battery data to the battery charge control unit; and

the battery charge control unit is configured to generate at least one charge model based on the battery data and to schedule charging of respective batteries of the one or more batteries via the one or more battery chargers based on the at least one charge model.

2. The system of claim 1, wherein the BMS is configured to gather battery data over one or more mining cycles, wherein the battery charge control unit is configured to schedule charging of respective batteries for at least one subsequent mining cycle based on the charge model and wherein the subsequent mining cycle comprise a set of mine operations similar to those performed during the gathering of data.

3. The system of claim 2, wherein battery data comprises at least one of a charge level and a temperature of the respective battery.

4. The system of claim 3, wherein the charge model comprises a predetermined initial battery temperature for the subsequent mining cycles and wherein battery charge control unit is configured to adjust the temperature to the predetermined initial battery temperature.

5. A system according to any of the preceding claims, wherein the charge model is based on battery data and operating state information for a respective mining machine of the one or more mining machines.

6. A system according to claim 5, wherein the operating state of the battery is based on at least one of a vehicle model and a mine model, and wherein the vehicle model is representative of historic operating state information forthe mining machine and wherein the mine model is representative of historic operating state information corresponding to a mine route.

7. The system of any of the preceding claims, wherein the battery charge control unit is further configured to generate a charge model and schedule charging of batteries used for the power supply to infrastructure installations used in the mine.

8. The system of claim 7, wherein the infrastructure installations comprise ventilation fans (210c), hoists (210d) and lighting (210e).

9. The system of any of the preceding claims, wherein the battery charge control unit is comprised in the battery operated mining machine or in the BMS of a battery for the battery operated mining machine.

10. The system of any of claims 1-8, wherein the battery charge control unit is arranged in a centralized data center (260).

11. The system of claim 10, wherein the battery charge control unit is arranged to generate charge models for one or more batteries used in different battery operated mining machines and/or infrastructure installations in the mine.

12. The system of claim 10 or 11, wherein the battery charge control unit is arranged to generate charge models for a plurality of batteries used in different parts of at least one mine and/or for a plurality of batteries used in a plurality of mines.

13. The system of any of the preceding claims, wherein each mining machine comprises at least one sensor (270, 370) arranged to gather sensor data representative of an operating state of the mining machine, a microprocessor (280, 380) arranged to determine operating state information for the battery operated mining machine based on the gathered sensor data and a communication unit (290, 390) arranged to provide the operating state information to the battery charge control unit (250).

14. A method performed in a battery charge control unit of the system according to any of claims 1-13, the method comprising:

receiving (S41) battery data from one or more battery management systems, BMSs, arranged to gather battery data representative of an operating state of a respective battery when used in a battery operated mining machine that is configured to operate in a predetermined mining cycle;

generating (S42) one or more charge models for respective batteries based on the received battery data; and

scheduling (S45) charging of respective batteries of the plurality of batteries based on the one or more charge models.

15. The method of claim 14, wherein the generating of the at least one charge model comprises:

- predicting (S43) an operating state of the battery during a future part of the predetermined mining cycle, wherein the prediction is based on the battery data and historic operating state information fora respective mining machine of the one or more mining machines, and

- determining (S44) charging requirements for the battery.

16. The method of claim 15 or 16 further comprising:

- controlling (S46) charging of respective batteries based on the one or more charge models.

17. The method of any of claims 14 to 16, wherein the charging requirements comprises one or more of a time period for charging, a minimum level of charging, a maximum level of charging, an optimal working temperature of the battery and a temperature limit for the battery.

18. A battery charge control unit (50) for controlling battery charge management for batteries of one or more battery operated mining machines, the battery charge control unit comprising processing circuitry (51) configured to:

receive battery data from one or more battery management systems, BMSs, arranged to gather battery data representative of an operating state of a respective battery when used in a battery operated mining machine that is configured to operate in a predetermined mining cycle;

generate at least one charge model for a battery configured for use in a battery operated mining machine; and

- schedule charging of respective batteries of the plurality of batteries based on the at least one charge model.

19. A computer program product (52) comprising computer program code which, when executed cause a battery charge control unit according to claim 18 to execute the method according to any of claims 14-17.