Providing control information

Abstract

An apparatus, method and computer program product for: determining a reference position of a feed beam, the feed beam being connected to a boom of a mobile mining machine; receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating, based on the measurement information, movement of the inertial measurement unit; and providing, based on the reference position of the feed beam and the estimated movement of the at inertial measurement unit, joint control information for controlling a position of the feed beam.

1 . An apparatus for controlling a mobile mining machine comprising a carrier and at least one boom, the apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to with the at least one processor, cause the apparatus at least to:
 determine a reference position of a feed beam connected to a boom of the mobile mining machine, the reference position of the feed beam comprising a desired position of the feed beam;   receive measurement information provided by an inertial measurement unit associated with the feed beam;   estimate, based on the measurement information, movement of the inertial measurement unit associated with the feed beam; and   provide, based on the reference position of the feed beam and the estimated movement of the inertial measurement unit, joint control information for controlling a position of the feed beam.   
     
     
         2 . The apparatus according to  claim 1 , wherein the reference position comprises an angle of the feed beam with respect to the mobile mining machine or with respect to gravity. 
     
     
         3 . The apparatus according to  claim 1 , wherein the reference position comprises a drilling angle. 
     
     
         4 . The apparatus according to  claim 3 , wherein the drilling angle comprises at least one of the following: a vertical angle or a horizontal angle. 
     
     
         5 . The apparatus according to  claim 1 , wherein the at least one memory and the computer program code are further configured to with the at least one processor, cause the apparatus to control at least one valve based on the joint control information. 
     
     
         6 . The apparatus according to  claim 5 , wherein the at least one memory and the computer program code are configured to with the at least one processor, cause the apparatus to control the at least one valve during boom movement. 
     
     
         7 . The apparatus according to  claim 1 , wherein the joint control information comprises joint control signals for at least one of the following:
 controlling an orientation of the feed beam or controlling a position offset of the feed beam.   
     
     
         8 . The apparatus according to  claim 1 , wherein the at least one memory and the computer program code are configured to with the at least one processor, cause the apparatus to provide information on an estimated orientation and/or estimated position offset of the feed beam on a display. 
     
     
         9 . The apparatus according to  claim 1 , wherein the inertial measurement unit is installed to a feed rail or feed cradle. 
     
     
         10 . The apparatus according to  claim 1 , wherein the at least one memory and the computer program code are configured to with the at least one processor, cause the apparatus to determine that movement of the feed beam has reached a threshold value. 
     
     
         11 . The apparatus according to  claim 1 , wherein the at least one memory and the computer program code are configured to with the at least one processor, cause the apparatus to adjust the joint control information based contextual information relating to the mobile mining machine. 
     
     
         12 . The apparatus according to  claim 1 , wherein the inertial measurement unit comprises at least one accelerometer and at least one gyroscope. 
     
     
         13 . A drilling rig comprising an apparatus according to  claim 1 . 
     
     
         14 . A method for controlling a feed beam of a mobile mining machine, the mobile mining machine comprising a carrier and at least one boom, the method comprising:
 determining a reference position of a feed beam connected to a boom of the mobile mining machine, the reference position of the feed beam comprising a desired position of the feed beam;   receiving measurement information provided by an inertial measurement unit associated with the feed beam;   estimating, based on the measurement information, movement of the inertial measurement unit associated with the feed beam; and   providing, based on the reference position of the feed beam and the estimated movement of the at inertial measurement unit, joint control information for controlling a position of the feed beam.   
     
     
         15 . A computer program comprising instructions for causing an apparatus to perform at least the following:
 determining a reference position of a feed beam connected to a boom of a mobile mining machine, the reference position of the feed beam comprising a desired position of the feed beam;   receiving measurement information provided by an inertial measurement unit associated with the feed beam;   estimating, based on the measurement information, movement of the inertial measurement unit associated with the feed beam; and   providing, based on the reference position of the feed beam and the estimated movement of the inertial measurement unit, joint control information for controlling a position of the feed beam.