CA2089105A1 - Borehole laser cavity monitoring system - Google Patents
Borehole laser cavity monitoring systemInfo
- Publication number
- CA2089105A1 CA2089105A1 CA002089105A CA2089105A CA2089105A1 CA 2089105 A1 CA2089105 A1 CA 2089105A1 CA 002089105 A CA002089105 A CA 002089105A CA 2089105 A CA2089105 A CA 2089105A CA 2089105 A1 CA2089105 A1 CA 2089105A1
- Authority
- CA
- Canada
- Prior art keywords
- borehole
- probe
- cable
- laser
- micro
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 15
- 239000000523 sample Substances 0.000 claims abstract description 64
- 238000004891 communication Methods 0.000 claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000010354 integration Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 7
- 238000005065 mining Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000005422 blasting Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010790 dilution Methods 0.000 description 2
- 239000012895 dilution Substances 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/003—Determining well or borehole volumes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Geophysics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
Abstract of the Disclosure:
A borehole laser cavity monitoring system comprises a probe adapted to be lowered by means of a cable extending into a borehole leading to an underground cavity and having a fixed portion attached at one end to the cable and a rotary head located at the other end. The probe contains a navigation module for providing a signal representing the orientation of the probe with respect to a reference position, a laser rangefinder mounted in the rotary head for generating data signals representing distance measurements permitting to obtain the shape and volume of the cavity, a micro-processor for controlling the operation of the rotary head and for collecting the data generated by the navigation module and the rangefinder, and a communication interface for transmitting the output signals collected by the micro-processor over the cable and for receiving control signals transmitted from the upper edge of the borehole over the cable for controlling the operation of the micro-processor. A control unit is located at the upper edge of the borehole and includes a host computer which generates such control signals and a second communication interface for linking the host computer to the probe. A depth counter is located at the upper edge of the borehole and connected to the host computer.
A borehole laser cavity monitoring system comprises a probe adapted to be lowered by means of a cable extending into a borehole leading to an underground cavity and having a fixed portion attached at one end to the cable and a rotary head located at the other end. The probe contains a navigation module for providing a signal representing the orientation of the probe with respect to a reference position, a laser rangefinder mounted in the rotary head for generating data signals representing distance measurements permitting to obtain the shape and volume of the cavity, a micro-processor for controlling the operation of the rotary head and for collecting the data generated by the navigation module and the rangefinder, and a communication interface for transmitting the output signals collected by the micro-processor over the cable and for receiving control signals transmitted from the upper edge of the borehole over the cable for controlling the operation of the micro-processor. A control unit is located at the upper edge of the borehole and includes a host computer which generates such control signals and a second communication interface for linking the host computer to the probe. A depth counter is located at the upper edge of the borehole and connected to the host computer.
Description
2 0 8 9 i ~
....
. ~ ., ....-.
~OREHOL~ LAS~R CAVITY MONITORING SYSTEM
This invention relates to a system for measuring, through a borehole, the dimensions of a mined stope, or any other underground cavity in development or once terminated, or to evaluate the stage of a mining development such as a raise or a drift. ~.
There is no system to date permitting to measure ~
:: . ::.: .: .: .:, rapidly and with precision the dimensions and volume of a mined stope or any other underground cavity through a borehole. The evaluation of such data would permit to estimate the efficiency of a mining method. -Actually, the efficiency of a mining method may .:
be estimated by evaluating the dilution originating from the back breaks of mined walls and roof, by estimating the damages caused by blasting and by observing the size and type of the broken rock in the mine drawpoints. All these evaluations are, however, based on visual observations and on the experience of an operator or miner. These measurements are thus not very objective and vary greatly.
Other methods permit to obtain a more precise 20~91~
measurement of what has been mined in the stope. The measurement of the output tonnage and of the tonnage treated by the concentrator in comparison to what has been planned permits to obtain a good estimate of the situation. However, this method has several disadvantages such as: (1) it is necessary to wait several days or weeks before obtaining the tonnage from the mill, (2) the values obtained are only qualitative and no information concerning the source or origin of the dilution or of the blasts back breaks may be obtained. Furthermore, little information helping to optimise future planning may be derived.
An apparatus using ultrasonic waves has been recently developed by Noranda Inc. (US Patent No.
4,845,990 granted July 11, 1989). However, several disadvantages have been experienced during use of such an apparatus such as: (1) the apparatus may not be effectively used for measuring distances over 55 feet, ~2) the measurements are inaccurate when the surfaces to be measured are inclined with respect to the apparatus resulting in false results, (3) its orientation during measurement is often inaccurate, and (4) the weight and size of the apparatus are not well suited to be used underground.
For some years, another measurement technique originating from a sophisticated surveying apparatus (called total station) seems to have gained a certain interest for some mining operations. This apparatus is a prismless laser theodolite called EDM (Electronic Distance Measurement) which permits to measure the distance separating such apparatus from the wall or the roof of a mined stope as well as the angle of sight. However, this apparatus has the following disadvantages: (1) the apparatus is sensible to the mining environment, (2) the apparatus must be installed on a tripod base in a safe area away from the underground cavity, which reduces even more its field of sight, (3) many accesses to the mined stope must be available (which is rarely the case in a mine) to be able to cover the full underground cavity, and (4) for some mining methods such as the well known VCR
(Vertical Craters Retreat) mining method, there is no access to the mined stope except through blasting boreholes and such apparatus cannot therefore be used.
Furthermore, the apparatus does not work automatically following a pattern of laser measurement permitting to calculate the volume and to rapidly interpret the measurements.
It is therefore the object of the present invention to provide a system which would permit to rapidly measure the dimensions and determine the shape and volume of an underground cavity through a borehole leading to such cavity without the disadvantages of the 2 ~
above mentioned apparatus.
The system in accordance with the present invention comprises a probe adapted to be lowered by means of a cable into a borehole leading to an underground cavity and having a fixed portion attached at one end to the cable and a rotary head located at the other end. The probe contains a navigation module for providing a signal representing the orientation of the probe with respect to a reference position, a laser rangefinder mounted in the rotary head for generating data signals representing distance measurements to obtain the shape and volume of the cavity, a micro-processor for controlling the operation of the rotary head and for collecting the data generated by the navigation module and the rangefinder, and a communication interface for transmitting the output signals collected by the micro-processor over the cable and for receiving control signals transmitted from the collar of the borehole over the cable for controlling the operation of the micro-processor. A control unit is located at the collar of the borehole and includes a host computer which generates the above mentioned control signals and a second communication interface linking the host computer to the probe. Such second communication interface includes means for transmitting the control signals over the cable and means for receiving the output signals transmitted over the cable. A depth counter is . 20~ t~3 .
located at the collar of the borehole and connected to the host computer for providing information relating to the depth of the laser rangefinder with respect to the upper edge of the borehole.
The probe further comprises drive means for ~ ;
rotating the laser head 360 around the axis of the probe, a motion encoder mounted on the laser head for detecting the angular rotation of the laser head and a rotating disk :~
supporting the laser rangefinder and adapted for rotation around an axis perpendicular to the axis of the probe, such rotating disk permitting to direct the laser rangefinder at the wall of the cavity at angles varying from 0 to 145 from the axis of the probe to scan concentric circles on the wall of the cavity permitting to take series of distance measurements to obtain the shape and volume of the cavity.
The navigation module comprises two inclinometers mounted 90 from each other and a gyroscope for measuring the axial rotation of the probe, the integration of the signals of the two inclinometers, the gyroscope and the depth counter permitting to determine the exact position of the probe with respect to the collar ::
of the borehole. :
Proximity switches are installed at different locations on the probe and connected to the micro-processor to inform a user of the position of the probe :,,, ,,:
6 2089~
with respect to the lower end of the borehole. A CCD
(Charge Coupled Device) camera is located at the end of the laser head for viewing the condition of the borehole during lowering of the probe so as to avoid the possibility of the probe getting jammed in a damaged borehole.
The communication interface of the probe includes bi-directional speed adapters used to adapt the speed of the signals from and to the micro-processor to a suitable transmission speed.
The communication interface of the control unit comprises a serial transmitter for transmitting the control signals over the cable and a serial receiver for passing the output signals of the micro-processor to the host computer.
The invention will now be disclosed, by way of example, with reference to the accompanying drawings in which:
Figures 1, la and lb illustrate an overall view of the borehole laser cavity monitoring system in accordance to the present invention;
Figure 2 is a block diagram of the control unit of the borehole laser cavity monitoring system;
Figure 3 is a drawing showing the different parts of the probe of the borehole laser cavity monitoring system;
2 0 ~ ~ :L O ~
Figure 4 is a view showing the end of the probe partly out of a borehole in its scanning position; '~
Figure 5 is a block diagram of the probe control ' circuit; and Figures 6a and 6b are block diagrams of the communication interfaces of the probe and the control unlt. -' ' Referring to Figures 1, la and lb, the borehole laser c,avity monitoring system comprises a probe 10 adapted to be lowered into a borehole 11 leading to a mined stope 12 by means of a single communication cable 13 containing several mini-coaxial cables for data and video transmission, and containing also suitable wiring for power transmission. The communication cable is reinforced with a Kelvar (trademark) cord for providing good tensile strength in case the probe is jammed into the borehole.
The user of the borehole laser cavity monitoring system is usually located in a drift 14 just over the mined stope or any underground cavity to be surveyed. The probe is lowered using the communication cable 13 to the position ' ,'~
.
shown in Figure 1. The cable is normally rolled on a reel ~ ,, 15 for easy manipulation and transportation. The cable , ,,~
passes through a depth counter 16 fixed to a holder-17 . .
installed at the collar of the borehole. The depth ';~
counter is usually a wheel in contact with the cable and ,'~
is used for providing'a digital signal to measure the ,' . ::.
8 2~8~l~3 length of cable paid off into the borehole.
Located in the drift at the collar of the hole is a control unit 18 which is connected to cable 13 wound on reel 15. As shown in Figure 2, the control unit includes a communication interface 20 linking the probe to a host computer 22 with a key board 24 and a screen 26.
The depth counter 16 is connected to the host computer 22 via a suitable interface 27. A video output jack 28 is also provided on the control unit for viewing video signals from a CCD camera located on the probe ~to be disclosed later). A separate power battery pack 32 provides dc voltage to the system.
Referring to Figure 3, probe 10 is made of two detachable parts A and B joined together by clamps 34 for easy transportation. A survey pointer 36 is mounted on part A to align the probe toward a surveyed target located in the drift 14 (not shown) before lowering the instrument into the borehole. Mounted on a printed circuit board (PCB) inside the probe is a communication interface 38 to be disclosed later. Also mounted on a printed circuit board inside the probe is a navigation module 40 of conventional type and including two inclinometers 42 mounted 90 from each other, and a gyroscope 44 for measuring the axial rotation of the probe. By integrating the signals of the two inclinometers 42, the gyroscope 44 and the depth counter 16 (shown in Figure 2) the exact `` 2 0 ~ ,3 ~
g position of the probe with respect to the collar of the borehole may be derived. Three sets of proximity switches 46 are also installed at different locations on the probe -~
to inform the user of the position of the probe with respect to the end or the toe of the borehole. A laser . .:
head 48 is mounted on a rotating joint 50 at the lower end of the probe. The rotating joint is operated by a motor 52 which allows the laser head to turn 360 around the axis of the probe. The laser head 48 contains a motion encoder 54 to detect the angular rotation of the laser head, a CCD camera 56 for viewing the condition of the borehole during lowering of the probe and a rotary disk 58 supporting a laser rangefinder 60 including transmitter and receiver optics. The rotary disk is operated by a motor 62. Rotation of the disk 62 is sensed by an encoder 64. The laser rangefinder is controlled by a probe control circuit board 66 including a micro-processor 68 and a motion controller 70 to be discloser later (see Figure 5).
The laser rangefinder is a known instrument permitting to measure distances on natural surfaces (prismless) like rock faces. Based on time of flight technology, the transmitter optic pulses a signal toward an opposite wall of the cavity and the receiver optic receives the echo signal. The time taken by the signal to travel toward the rock face and return to the receiver is --`". 208~
converted to distance reading in known manner.
As shown in Figure 4, the probe is lowered until it is located partly outside of the borehole toe in position to scan the cavity. The fixed part of the probe 10 is maintained in position during the scanning process.
The rotating head 48 is pivoted 360 around the axis "Y"
of the probe while the rotary disk 58 suppor~ing the laser rangefinder optics turn 145 around the ~X~ axis of the probe. The combination of these two motions allows the laser rangefinder to take series of distance measurements to obtain the shape and volume of the cavity. The data may be transferred to any CAD system for processing.
As shown in Figure 5, the operation of motor 52 which drives the laser head is controlled by micro~
processor 68 through motion controller 70 which is connected to motor 52. Motion controller 70 also drives, through slip ring 72, motor 62 which is coupled to rotary disk 58 supporting the laser rangefinder optics.
Horizontal motion encoder 54 which is coupled to motor 52 provides an output signal representing the horizontal position of the laser head around the "y" axis (Figure 4). This signal is fed to micro-processor 68 for transmission to the communication interface. Similarly, vertical motion encoder 64 which is coupled to the rotary disk of the laser head provides a signal representing the position of the rotary disk 58 around axis '~x~' (Figure 4).
208~5 This signal is fed to the micro-processor 68 through motion controller 70 for transmission to the communication interface.
The data generated by the rangefinder optics is fed to the micro-processor 68 for transmission to the communication interface.
The signals generated by the proximity switches 46 located on the fixed part of the probe are fed directly to the micro-processor while the signals generated by the proximity switches located on the rotating part of the probe are fed to the micro-processor through the slip ring 72.
The data signals generated by the navigation module 40 are also fed to the micro-processor 68 for lS transmission to the communication interface 38.
Referring to Figure 6a, the data signals originating from the micro-processor 68 (see Figure 5) are fed to the communication interface 38. The video signal originating from the camera 56 (see Figure 5) is also fed to the communication interface. The communication interface includes bi-directional speed adaptors 74 and 76 both used to adapt a high speed serial communication link to a lower suitable transmission speed. The signals originating from the micro-processor 68 pass through the serial speed adaptor 74 prior to being fed to a buffer 78 and transmitted over the cable 13. In the reverse ~ "
direction, the signals originating from the control unit communication interface 20 and transmitted over the coaxial cable are passed through a buffer 80 prior to being fed to the serial speed adaptor 76. The probe communication interface 38 further comprises a buffer 82 to adapt the video signal originating from the probe camera 56 for transmission over the cable. In the control unit, the communication interface 20 is used to link the probe to the host computer.
Referring to Figure 6b, the signals including the data from the probe micro-processor (laser rangefinder, orientation module and proximity switches) which are carried over the cable 13 pass through a receiving buffer 84 in order to adapt the signal amplitudes. The buffered signals pass through the serial receiver 86 prior to being fed to the host computer 22.
In the same way, the control signals from the host computer 22 pass through the serial transmitter 88 prior to being passed through a buffer 90 and carried over the cable. The communication interface of the control unit 20 also includes a buffer 92 to adapt the video signal originating from the probe camera 56 (see Figure 5). The video signal is fed to a video output jack 28 which is also shown in Figure 2.
Although the invention has been disclosed, by way of example, with reference to a preferred embodiment, 208~ ~5 it is to be understood that it ~is not limited to such embodiment and that other alternatives, within the scope of the claims, are also envisaged.
'.~;''` ~' ''~''~ ., '' ;'`; '," , '" ,', ' .;: ,:, ~:
, - . .
....
. ~ ., ....-.
~OREHOL~ LAS~R CAVITY MONITORING SYSTEM
This invention relates to a system for measuring, through a borehole, the dimensions of a mined stope, or any other underground cavity in development or once terminated, or to evaluate the stage of a mining development such as a raise or a drift. ~.
There is no system to date permitting to measure ~
:: . ::.: .: .: .:, rapidly and with precision the dimensions and volume of a mined stope or any other underground cavity through a borehole. The evaluation of such data would permit to estimate the efficiency of a mining method. -Actually, the efficiency of a mining method may .:
be estimated by evaluating the dilution originating from the back breaks of mined walls and roof, by estimating the damages caused by blasting and by observing the size and type of the broken rock in the mine drawpoints. All these evaluations are, however, based on visual observations and on the experience of an operator or miner. These measurements are thus not very objective and vary greatly.
Other methods permit to obtain a more precise 20~91~
measurement of what has been mined in the stope. The measurement of the output tonnage and of the tonnage treated by the concentrator in comparison to what has been planned permits to obtain a good estimate of the situation. However, this method has several disadvantages such as: (1) it is necessary to wait several days or weeks before obtaining the tonnage from the mill, (2) the values obtained are only qualitative and no information concerning the source or origin of the dilution or of the blasts back breaks may be obtained. Furthermore, little information helping to optimise future planning may be derived.
An apparatus using ultrasonic waves has been recently developed by Noranda Inc. (US Patent No.
4,845,990 granted July 11, 1989). However, several disadvantages have been experienced during use of such an apparatus such as: (1) the apparatus may not be effectively used for measuring distances over 55 feet, ~2) the measurements are inaccurate when the surfaces to be measured are inclined with respect to the apparatus resulting in false results, (3) its orientation during measurement is often inaccurate, and (4) the weight and size of the apparatus are not well suited to be used underground.
For some years, another measurement technique originating from a sophisticated surveying apparatus (called total station) seems to have gained a certain interest for some mining operations. This apparatus is a prismless laser theodolite called EDM (Electronic Distance Measurement) which permits to measure the distance separating such apparatus from the wall or the roof of a mined stope as well as the angle of sight. However, this apparatus has the following disadvantages: (1) the apparatus is sensible to the mining environment, (2) the apparatus must be installed on a tripod base in a safe area away from the underground cavity, which reduces even more its field of sight, (3) many accesses to the mined stope must be available (which is rarely the case in a mine) to be able to cover the full underground cavity, and (4) for some mining methods such as the well known VCR
(Vertical Craters Retreat) mining method, there is no access to the mined stope except through blasting boreholes and such apparatus cannot therefore be used.
Furthermore, the apparatus does not work automatically following a pattern of laser measurement permitting to calculate the volume and to rapidly interpret the measurements.
It is therefore the object of the present invention to provide a system which would permit to rapidly measure the dimensions and determine the shape and volume of an underground cavity through a borehole leading to such cavity without the disadvantages of the 2 ~
above mentioned apparatus.
The system in accordance with the present invention comprises a probe adapted to be lowered by means of a cable into a borehole leading to an underground cavity and having a fixed portion attached at one end to the cable and a rotary head located at the other end. The probe contains a navigation module for providing a signal representing the orientation of the probe with respect to a reference position, a laser rangefinder mounted in the rotary head for generating data signals representing distance measurements to obtain the shape and volume of the cavity, a micro-processor for controlling the operation of the rotary head and for collecting the data generated by the navigation module and the rangefinder, and a communication interface for transmitting the output signals collected by the micro-processor over the cable and for receiving control signals transmitted from the collar of the borehole over the cable for controlling the operation of the micro-processor. A control unit is located at the collar of the borehole and includes a host computer which generates the above mentioned control signals and a second communication interface linking the host computer to the probe. Such second communication interface includes means for transmitting the control signals over the cable and means for receiving the output signals transmitted over the cable. A depth counter is . 20~ t~3 .
located at the collar of the borehole and connected to the host computer for providing information relating to the depth of the laser rangefinder with respect to the upper edge of the borehole.
The probe further comprises drive means for ~ ;
rotating the laser head 360 around the axis of the probe, a motion encoder mounted on the laser head for detecting the angular rotation of the laser head and a rotating disk :~
supporting the laser rangefinder and adapted for rotation around an axis perpendicular to the axis of the probe, such rotating disk permitting to direct the laser rangefinder at the wall of the cavity at angles varying from 0 to 145 from the axis of the probe to scan concentric circles on the wall of the cavity permitting to take series of distance measurements to obtain the shape and volume of the cavity.
The navigation module comprises two inclinometers mounted 90 from each other and a gyroscope for measuring the axial rotation of the probe, the integration of the signals of the two inclinometers, the gyroscope and the depth counter permitting to determine the exact position of the probe with respect to the collar ::
of the borehole. :
Proximity switches are installed at different locations on the probe and connected to the micro-processor to inform a user of the position of the probe :,,, ,,:
6 2089~
with respect to the lower end of the borehole. A CCD
(Charge Coupled Device) camera is located at the end of the laser head for viewing the condition of the borehole during lowering of the probe so as to avoid the possibility of the probe getting jammed in a damaged borehole.
The communication interface of the probe includes bi-directional speed adapters used to adapt the speed of the signals from and to the micro-processor to a suitable transmission speed.
The communication interface of the control unit comprises a serial transmitter for transmitting the control signals over the cable and a serial receiver for passing the output signals of the micro-processor to the host computer.
The invention will now be disclosed, by way of example, with reference to the accompanying drawings in which:
Figures 1, la and lb illustrate an overall view of the borehole laser cavity monitoring system in accordance to the present invention;
Figure 2 is a block diagram of the control unit of the borehole laser cavity monitoring system;
Figure 3 is a drawing showing the different parts of the probe of the borehole laser cavity monitoring system;
2 0 ~ ~ :L O ~
Figure 4 is a view showing the end of the probe partly out of a borehole in its scanning position; '~
Figure 5 is a block diagram of the probe control ' circuit; and Figures 6a and 6b are block diagrams of the communication interfaces of the probe and the control unlt. -' ' Referring to Figures 1, la and lb, the borehole laser c,avity monitoring system comprises a probe 10 adapted to be lowered into a borehole 11 leading to a mined stope 12 by means of a single communication cable 13 containing several mini-coaxial cables for data and video transmission, and containing also suitable wiring for power transmission. The communication cable is reinforced with a Kelvar (trademark) cord for providing good tensile strength in case the probe is jammed into the borehole.
The user of the borehole laser cavity monitoring system is usually located in a drift 14 just over the mined stope or any underground cavity to be surveyed. The probe is lowered using the communication cable 13 to the position ' ,'~
.
shown in Figure 1. The cable is normally rolled on a reel ~ ,, 15 for easy manipulation and transportation. The cable , ,,~
passes through a depth counter 16 fixed to a holder-17 . .
installed at the collar of the borehole. The depth ';~
counter is usually a wheel in contact with the cable and ,'~
is used for providing'a digital signal to measure the ,' . ::.
8 2~8~l~3 length of cable paid off into the borehole.
Located in the drift at the collar of the hole is a control unit 18 which is connected to cable 13 wound on reel 15. As shown in Figure 2, the control unit includes a communication interface 20 linking the probe to a host computer 22 with a key board 24 and a screen 26.
The depth counter 16 is connected to the host computer 22 via a suitable interface 27. A video output jack 28 is also provided on the control unit for viewing video signals from a CCD camera located on the probe ~to be disclosed later). A separate power battery pack 32 provides dc voltage to the system.
Referring to Figure 3, probe 10 is made of two detachable parts A and B joined together by clamps 34 for easy transportation. A survey pointer 36 is mounted on part A to align the probe toward a surveyed target located in the drift 14 (not shown) before lowering the instrument into the borehole. Mounted on a printed circuit board (PCB) inside the probe is a communication interface 38 to be disclosed later. Also mounted on a printed circuit board inside the probe is a navigation module 40 of conventional type and including two inclinometers 42 mounted 90 from each other, and a gyroscope 44 for measuring the axial rotation of the probe. By integrating the signals of the two inclinometers 42, the gyroscope 44 and the depth counter 16 (shown in Figure 2) the exact `` 2 0 ~ ,3 ~
g position of the probe with respect to the collar of the borehole may be derived. Three sets of proximity switches 46 are also installed at different locations on the probe -~
to inform the user of the position of the probe with respect to the end or the toe of the borehole. A laser . .:
head 48 is mounted on a rotating joint 50 at the lower end of the probe. The rotating joint is operated by a motor 52 which allows the laser head to turn 360 around the axis of the probe. The laser head 48 contains a motion encoder 54 to detect the angular rotation of the laser head, a CCD camera 56 for viewing the condition of the borehole during lowering of the probe and a rotary disk 58 supporting a laser rangefinder 60 including transmitter and receiver optics. The rotary disk is operated by a motor 62. Rotation of the disk 62 is sensed by an encoder 64. The laser rangefinder is controlled by a probe control circuit board 66 including a micro-processor 68 and a motion controller 70 to be discloser later (see Figure 5).
The laser rangefinder is a known instrument permitting to measure distances on natural surfaces (prismless) like rock faces. Based on time of flight technology, the transmitter optic pulses a signal toward an opposite wall of the cavity and the receiver optic receives the echo signal. The time taken by the signal to travel toward the rock face and return to the receiver is --`". 208~
converted to distance reading in known manner.
As shown in Figure 4, the probe is lowered until it is located partly outside of the borehole toe in position to scan the cavity. The fixed part of the probe 10 is maintained in position during the scanning process.
The rotating head 48 is pivoted 360 around the axis "Y"
of the probe while the rotary disk 58 suppor~ing the laser rangefinder optics turn 145 around the ~X~ axis of the probe. The combination of these two motions allows the laser rangefinder to take series of distance measurements to obtain the shape and volume of the cavity. The data may be transferred to any CAD system for processing.
As shown in Figure 5, the operation of motor 52 which drives the laser head is controlled by micro~
processor 68 through motion controller 70 which is connected to motor 52. Motion controller 70 also drives, through slip ring 72, motor 62 which is coupled to rotary disk 58 supporting the laser rangefinder optics.
Horizontal motion encoder 54 which is coupled to motor 52 provides an output signal representing the horizontal position of the laser head around the "y" axis (Figure 4). This signal is fed to micro-processor 68 for transmission to the communication interface. Similarly, vertical motion encoder 64 which is coupled to the rotary disk of the laser head provides a signal representing the position of the rotary disk 58 around axis '~x~' (Figure 4).
208~5 This signal is fed to the micro-processor 68 through motion controller 70 for transmission to the communication interface.
The data generated by the rangefinder optics is fed to the micro-processor 68 for transmission to the communication interface.
The signals generated by the proximity switches 46 located on the fixed part of the probe are fed directly to the micro-processor while the signals generated by the proximity switches located on the rotating part of the probe are fed to the micro-processor through the slip ring 72.
The data signals generated by the navigation module 40 are also fed to the micro-processor 68 for lS transmission to the communication interface 38.
Referring to Figure 6a, the data signals originating from the micro-processor 68 (see Figure 5) are fed to the communication interface 38. The video signal originating from the camera 56 (see Figure 5) is also fed to the communication interface. The communication interface includes bi-directional speed adaptors 74 and 76 both used to adapt a high speed serial communication link to a lower suitable transmission speed. The signals originating from the micro-processor 68 pass through the serial speed adaptor 74 prior to being fed to a buffer 78 and transmitted over the cable 13. In the reverse ~ "
direction, the signals originating from the control unit communication interface 20 and transmitted over the coaxial cable are passed through a buffer 80 prior to being fed to the serial speed adaptor 76. The probe communication interface 38 further comprises a buffer 82 to adapt the video signal originating from the probe camera 56 for transmission over the cable. In the control unit, the communication interface 20 is used to link the probe to the host computer.
Referring to Figure 6b, the signals including the data from the probe micro-processor (laser rangefinder, orientation module and proximity switches) which are carried over the cable 13 pass through a receiving buffer 84 in order to adapt the signal amplitudes. The buffered signals pass through the serial receiver 86 prior to being fed to the host computer 22.
In the same way, the control signals from the host computer 22 pass through the serial transmitter 88 prior to being passed through a buffer 90 and carried over the cable. The communication interface of the control unit 20 also includes a buffer 92 to adapt the video signal originating from the probe camera 56 (see Figure 5). The video signal is fed to a video output jack 28 which is also shown in Figure 2.
Although the invention has been disclosed, by way of example, with reference to a preferred embodiment, 208~ ~5 it is to be understood that it ~is not limited to such embodiment and that other alternatives, within the scope of the claims, are also envisaged.
'.~;''` ~' ''~''~ ., '' ;'`; '," , '" ,', ' .;: ,:, ~:
, - . .
Claims (7)
1. A borehole laser cavity monitoring system comprising:
a) a probe adapted to be lowered by means of a cable extending into a borehole leading to an underground cavity and having a fixed portion attached at one end to the cable and a rotary head located at the other end, said probe containing a navigation module for providing a signal representing the orientation of the probe with respect to a reference position, a laser rangefinder mounted in the rotary head for generating data signals representing distance measurements permitting to obtain the shape and volume of the cavity, a micro-processor for controlling the operation of the rotary head and for collecting the data generated by the navigation module and the rangefinder, and a communication interface for transmitting the output signals collected by the micro-processor over the cable and for receiving control signals transmitted from the upper edge of the borehole over the cable for controlling the operation of the micro-processor;
b) a control unit located at the upper edge of the borehole and including a host computer which generates said control signals and a second communication interface for linking the host computer to the probe, said second communication interface including means for transmitting said control signal over the cable and means for receiving the data signals transmitted over the cable; and c) a depth counter located at the upper edge of the borehole and connected to the host computer for providing information relating to the depth of the laser rangefinder with respect to the upper edge of the borehole.
a) a probe adapted to be lowered by means of a cable extending into a borehole leading to an underground cavity and having a fixed portion attached at one end to the cable and a rotary head located at the other end, said probe containing a navigation module for providing a signal representing the orientation of the probe with respect to a reference position, a laser rangefinder mounted in the rotary head for generating data signals representing distance measurements permitting to obtain the shape and volume of the cavity, a micro-processor for controlling the operation of the rotary head and for collecting the data generated by the navigation module and the rangefinder, and a communication interface for transmitting the output signals collected by the micro-processor over the cable and for receiving control signals transmitted from the upper edge of the borehole over the cable for controlling the operation of the micro-processor;
b) a control unit located at the upper edge of the borehole and including a host computer which generates said control signals and a second communication interface for linking the host computer to the probe, said second communication interface including means for transmitting said control signal over the cable and means for receiving the data signals transmitted over the cable; and c) a depth counter located at the upper edge of the borehole and connected to the host computer for providing information relating to the depth of the laser rangefinder with respect to the upper edge of the borehole.
2. A borehole laser cavity monitoring system as defined in claim 1, wherein said probe further comprises drive means for rotating said laser head 360° around the axis of the probe, a motion encoder mounted on the laser head for detecting the angular rotation of the laser head and a rotating disk supporting the laser rangefinder and adapted for rotation around an axis perpendicular to the axis of the probe, said rotating disk permitting to direct the laser rangefinder at the wall of the cavity at angles varying from 0 to 145° from the axis of the probe to scan concentric circles on the wall of the cavity permitting to take series of distance measurements to obtain the shape and volume of the cavity.
3. A borehole laser cavity monitoring system as defined in claim 1, wherein said navigation module comprises two inclinometers mounted 90° from each other and a gyroscope for measuring the axial rotation of the probe, the integration of the signals of the two inclinometers, the gyroscope and the depth counter permitting to determine the exact position of the probe with respect to the collar of the borehole.
4. A borehole laser cavity monitoring system as defined in claim 1, 2 or 3 further comprising proximity switches installed at different locations on the probe and connected to the micro-processor to inform a user of the position of the probe with respect to the lower end of the borehole.
5. A borehole laser cavity monitoring system as defined in claim 1, 2 or 3, further comprising a CCD camera located at the end of the laser head for viewing the condition of the borehole during lowering of the probe and for transferring a video signal to the host computer.
6. A borehole laser cavity monitoring system as defined in claim 1, 2 or 3, wherein said communication interface includes bi-directional speed adapters used to adapt the speed of the signals from and to the micro-processor to a suitable transmission speed.
7. A borehole laser cavity monitoring system as defined in claim 1, 2 or 3, wherein said second communication interface comprises a serial transmitter for transmitting said control signal over the cable and a serial receiver for passing the output signals of the micro-processor to said host computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002089105A CA2089105A1 (en) | 1993-02-09 | 1993-02-09 | Borehole laser cavity monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002089105A CA2089105A1 (en) | 1993-02-09 | 1993-02-09 | Borehole laser cavity monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2089105A1 true CA2089105A1 (en) | 1994-08-10 |
Family
ID=4151130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002089105A Abandoned CA2089105A1 (en) | 1993-02-09 | 1993-02-09 | Borehole laser cavity monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2089105A1 (en) |
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