EP4684093A1 - Method, control node & computer program for aligning a feed beam in a drilling operation - Google Patents

Method, control node & computer program for aligning a feed beam in a drilling operation

Info

Publication number
EP4684093A1
EP4684093A1 EP23714121.3A EP23714121A EP4684093A1 EP 4684093 A1 EP4684093 A1 EP 4684093A1 EP 23714121 A EP23714121 A EP 23714121A EP 4684093 A1 EP4684093 A1 EP 4684093A1
Authority
EP
European Patent Office
Prior art keywords
mining
rig
virtual
feed beam
environment
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.)
Pending
Application number
EP23714121.3A
Other languages
German (de)
French (fr)
Inventor
Magnus KARLBERG
Björn SYSE
Peter ÖBERG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
Original Assignee
Epiroc Rock Drills AB
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills AB filed Critical Epiroc Rock Drills AB
Publication of EP4684093A1 publication Critical patent/EP4684093A1/en
Pending legal-status Critical Current

Links

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
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/302—Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral

Definitions

  • Embodiments described herein relate to a method, a control node, and a computer program for aligning a feed beam of a mining rig in a mining environment in accordance with a drill plan.
  • Drilling booms of a mining rig are conventionally mounted on a mobile carrier, such as a wheeled chassis, and have an articulated arm, a mounting at the remote end of the articulated arm on which a feed beam is mounted and means for moving the articulated arm.
  • the feed beam supports apparatus, such as a rock drill, and guides the drill steel as it is driven into a rock face.
  • a feed beam can be positioned for drilling straight ahead into the rock face (in line with the boom), or for drilling at right angles to the boom, into the roof, floor, and sides of a tunnel in a mine for example.
  • a drill plan is obtained or created.
  • a digital drill plan may for example be transferred to the operator of a mining rig via wi-fi or USB, or created in a control system of a mining rig.
  • the drill plan indicates an intended drill hole position, i.e. it provides coordinates indicating the drill hole start position, the direction in which the drill hole is to extend through a rock mass, and the dimensions of the drill hole, such as the length of the drill hole.
  • the mining rig Before drilling, the mining rig is placed in a suitable position from which an area to be drilled may be reached.
  • the feed beam of the mining rig is then translated and rotated until the correct position and orientation that is required to provide a drill hole in the intended drill hole position is achieved.
  • the feed beam must namely be oriented by an operator so as to achieve the correct elevation (the angle formed by the line of sight and the horizontal plane) and the correct azimuth (the horizontal angle from the vertical).
  • the alignment of the feed beam and the subsequent control of the mining rig may be carried out by an operator located on-board the mining rig, in a cabin of the mining rig, or located remotely to the mining rig, in a control room located at a distance from the mining rig.
  • the mining rig is usually equipped with one or more cameras enabling a remotely located operator to view live video feeds in the control room. This creates an operating environment similar to that of actually operating the mining rig from a cabin of the mining rig and may ensure the health and safety of the operator.
  • a factor that contributes significantly to accidents and injuries that occur during the alignment and subsequent control of a mining rig is poor or restricted visibility from the operator’s position.
  • a part of a mining rig may for example be moved into a position in front of a cabin window or camera, which obstructs the vision of an operator.
  • a part of the mining rig may be moved to a position outside the field of view of an operator or a camera. Both an on-board, and a remotely located operator may thereby experience a decrease in rig-to-environment-awareness while using the mining rig.
  • An object of embodiments described herein is to provide an improved method for aligning a feed beam of a mining rig in a mining environment in accordance with a drill plan.
  • the method comprises obtaining a drill plan indicating an intended drill hole position, obtaining sensor data from a sensor system comprising at least one sensor, the sensor system sensing the mining environment and at least the feed beam of the mining rig, generating a virtual mining model based on the obtained sensor data and drill plan, and producing a visual representation of the virtual mining model.
  • the virtual mining model comprises a combined three-dimensional real time representation of at least the feed beam of the mining rig, and the mining environment, and a three-dimensional representation of the intended drill hole position.
  • the virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam of the mining rig relative to the mining environment in real time to facilitate alignment of the feed beam to enable the mining rig to produce a drill hole in the intended drill hole position in accordance with the drill plan.
  • the method assists an operator in visualizing the position and orientation of the feed beam and boundaries within the mining environment by presenting a realistic and accurate visual representation of the prevailing situation in a mining environment, which increases operational safety.
  • the method consequently allows an operator to align the feed beam of a mining rig safely, reliably and efficiently, and perform complex mining operations, which may otherwise not be possible due to poor or otherwise obstructed visibility.
  • the method results in the production of drill holes according to a drill plan, a better tunnel profile without overbreak, and good fragmentation, which facilitates subsequent operations in the mining process.
  • the virtual mining model may comprise a three-dimensional representation of the entire mining rig, i.e., a digital twin of the mining rig.
  • the visual representation comprises a viewing position and a viewing orientation in the at least one coordinate system which corresponds to a location and orientation in the mining environment.
  • an operator can select any desired viewing position or viewing orientation. For example, a view from the inside of a tunnel or from a rock face can be used.
  • the visual representation comprises a plurality of viewing positions and a plurality of viewing orientations. An operator may move around freely within the virtual mining model and view the mining rig and the machine environment from any desired perspective, i.e. from viewing positions and/or viewing orientations, which may otherwise have been difficult or impossible to achieve.
  • the method comprises presenting the visual representation of the virtual mining model on a display, such as a monitor, or in a virtual reality (VR) device, such as a VR headset, to create a VR environment for an operator.
  • the method comprises obtaining a live camera or video feed from the sensor system, and providing the visual representation of the virtual mining model within the live camera or video feed, or superimposing the visual representation of the virtual mining model on the live camera or video feed, and presenting the combined live camera or video footage and visual representation of the virtual mining model on a display to create an augmented reality (AR) environment for an operator.
  • AR augmented reality
  • the method comprises obtaining at least one control input from an operator to move at least the feed beam of the mining rig in response to the operator observing the visual representation of the virtual mining model, and updating the visual representation of the virtual mining model based on the at least one control input such that the updated visual representation comprises any one or both of an updated viewing position and an updated viewing orientation in the at least one coordinate system.
  • the at least one control input may be used to control the mining rig and/or to control what to observe in the visual representation of the virtual mining model.
  • the at least one control input obtained from the operator may be associated with the operator performing one or more virtual operations in the virtual mining model, and the one or more virtual operations may correspond to one or more operations to be performed by the feed beam of the mining rig in the mining environment.
  • the at least one coordinate system comprises at least one of the following: a three-dimensional Cartesian coordinate system, a spherical coordinate system.
  • a Cartesian coordinate system may be used to position at least part of a mining rig in an exact position in a mining environment.
  • a spherical coordinate system may be used to align the feed beam of the mining rig with the intended drill hole position.
  • the method comprises indicating a predicted position of a drill hole based on a current position and orientation of the feed beam of the mining rig in the visual representation of the virtual mining model. An operator observing the predicted position of the drill hole can then move the feed beam of the mining rig until the predicted position of the drill hole coincides with the intended drill hole position.
  • generating the virtual mining model comprises obtaining one or more relative distances between one or more sensors of the sensor system and a reference point on the feed beam of the mining rig, estimating one or more distances from the feed beam of the mining rig and the mining environment based on the obtained sensor data and based on the one or more relative distances between the one or more sensors of the sensor system and the reference point on the feed beam of the mining rig, and determining one or more positions associated with the feed beam of the mining rig and the mining environment based on the one or more distances from the feed beam of the mining rig and the mining environment, wherein the one or more positions are determined relative to the reference point of the feed beam of the mining rig.
  • the drill plan includes information concerning at least one of the following: a hole start position of the intended drill hole, a direction of the intended drill hole, a dimension of the intended drill hole, a hole end point, a length of the intended drill hole, an azimuth of the intended drill hole, an elevation of the intended drill hole.
  • a drill plan may include any relevant information about one or more drill holes that are to be made in one or more mining environments.
  • the method comprises determining whether a collision between the mining rig and an object or person in the mining environment is imminent using the sensor system, and providing at least one of the following on obtaining sensor data from the sensor system indicating that a collision is imminent: a warning, an alarm, an automatic stop preventing movement of at least the feed beam of the mining rig, or a control input to automatically decrease the speed of a moving part of the mining rig.
  • the warning or alarm may be a visual, an audio or a haptic warning or alarm, or any combination thereof.
  • the method comprises presenting additional data relevant to virtual mining model with the visual representation of the virtual mining model, such as data concerning the one or more real time operations of the mining rig, data concerning previous operations of the mining rig in the same mining environment, data concerning the mining environment, real time data concerning an object or person in the mining environment.
  • the sensor system comprises one or more of the following: - a laser scanner, such as a rotating laser scanner, a plurality of two-dimensional cameras, a time-of-flight, triangulation, or interferometry sensor, a white-light digitizer, a Light Detection and Ranging (LIDAR) sensor, a satellite sensor, a structured light three- dimensional scanner, photogrammetry equipment, an infrared sensor, a handheld sensor, or any other suitable sensor.
  • a laser scanner such as a rotating laser scanner, a plurality of two-dimensional cameras, a time-of-flight, triangulation, or interferometry sensor
  • a white-light digitizer such as a white-light digitizer
  • LIDAR Light Detection and Ranging
  • the sensor system comprises a plurality of two-dimensional cameras
  • generating the virtual mining model comprises deriving the combined three-dimensional real time representation of the feed beam of the mining rig and the mining environment, based on a plurality of two-dimensional images captured by the plurality of two-dimensional cameras.
  • generating the virtual mining model comprises deriving information concerning one or both of at least the feed beam of the mining rig and the mining environment based on a combination of sensor data obtained from at least two different sensors in the sensor system.
  • the method comprises presenting at least one part of the mining rig and/or at least one part of the mining environment as at least partially transparent in the visual representation of the virtual mining model. In this way, it may be possible for an operator to see through any obstructing parts of the mining rig and mining environment when aligning the feed beam of the mining rig and/or when using the mining rig.
  • the embodiments described herein also concern a control node configured to facilitate the alignment of a feed beam of a mining rig in a mining environment in accordance with a drill plan.
  • the control node is configured to perform a method according to any of the embodiments of the method described herein.
  • the control node is namely configured to obtain a drill plan indicating an intended drill hole position, obtain sensor data from a sensor system comprising at least one sensor, the sensor system sensing the mining environment and at least the feed beam of a mining rig, generate a virtual mining model based on the obtained sensor data and drill plan, and produce a visual representation of the virtual mining model.
  • the virtual mining model comprises a combined three-dimensional real time representation of at least the feed beam of the mining rig and the mining environment, and a three-dimensional representation of the intended drill hole position.
  • the virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam of the mining rig relative to the mining environment in real time to facilitate alignment of the feed beam to enable the mining rig to produce a drill hole in the intended drill hole position in accordance with the drill plan.
  • the embodiments described herein also concern a computer program comprising instructions, which when executed by a processor, cause the processor to perform a method according to any of the embodiments of the method described herein.
  • the embodiments described herein further concern a carrier comprising the computer program, wherein the carrier is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.
  • mining rig as used herein is intended to mean a tool used in underground, underwater, or surface mining or civil engineering environment to work on a material.
  • a mining rig may be a powered machine, powered at least partially by compressed air, hydraulics, and/or electricity.
  • the mining rig may be stationary, or mobile, comprising a wheeled or crawler-based mobile carrier for example. It may comprise a cabin.
  • the mining rig may be a drill rig that comprises a rock drill that operates by percussion using a reciprocating motion, or abrasively using a rotary motion.
  • the mining rig may be one of the following:
  • a face drilling rig or tunnelling rig for drilling blast holes to drive the face of the drift in a mine or a tunnel at a construction work site
  • drilling hole as used herein is intended to mean any hollow place of any shape or size in a solid body or surface.
  • the drill hole may be a tunnel, or a cavity to accommodate a rock bolt or explosives.
  • mining environment as used herein is intended to mean any place in which geological materials, such as the ores of metals, coal, gemstones, limestone, chalk, rock salt or clay, petroleum, natural gas, or water, are being extracted. Mining materials may be extracted from an ore body, vein, or seam. Additionally, the term “mining environment” is intended to mean any civil engineering site where construction or excavation work is taking place, such as a building site where buildings, roads and/or bridges are being constructed. A mining environment can be an underground, underwater or surface mine or civil engineering site.
  • a mining environment may comprise a series of roadways or tunnels and spaces. It may contain one or more infrastructure objects for supporting mining or civil engineering operations, such as lighting elements and supporting beams. Various mining operations may be performed in the mining environment, such as drilling and blasting holes and reinforcing tunnels.
  • drill plan as used herein is intended to mean information indicating how a drill hole that is to be made is to extend through three-dimensional space.
  • the drill plan may specify the drill hole start position.
  • feed beam as used herein is intended to mean the inflexible profiled beam that is mounted on an arm or boom of a mining rig which supports and guides mining apparatus.
  • the mining apparatus may be a rock drill, bolting equipment for reinforcing rock strata by installing rock bolts or cables, a scaling hammer to hammer loose rock, or a shotcrete rig consolidating the rock surface by spraying layers of concrete onto the rock surface.
  • visual representation of the virtual mining model is intended to mean a schematic or realistic depiction of the mining environment and at least the feed beam of the mining rig and the intended drill hole position in the form of an image or graphics.
  • the visual representation may be detailed or non-detailed, or comprise a combination of detailed and non-detailed parts. It serves as a basis for simulating the alignment of the feed beam with the intended drill hole position in accordance with a drill plan.
  • the visual representation of the virtual mining model is a digital image created by a processor, such as a computer-aided design (CAD) drawing.
  • CAD computer-aided design
  • real time is intended to mean substantially the actual time during which a process or event occurs. Any real time condition mentioned herein may relate to ensuring a quick enough update such that it is possible for an operator to observe changes in the position and/or the orientation of at least the feed beam of the mining rig and/or the mining environment in the visual representation of the virtual mining model, and have time to control the mining rig in a safe manner.
  • real time means that the visual representation is representing a snapshot state of the mining rig that is not older than a certain time period, i.e.
  • the visual representation update frequency may be at least 10 Hz, or at least 20 Hz, or at least 30 Hz, or at least 40 Hz, or at least 50 Hz, or at least 60 Hz, or at least 70 Hz, or at least 80 Hz, or at least 90 Hz, or at least 100 Hz, or at least 110 Hz, or at least 120Hz.
  • the term “to sense at least the feed beam of the mining rig” is intended to mean that a sensor system comprising at least one sensor is configured to sense the position of at least one part, or a plurality of parts, of the feed beam of the mining rig, or the position of the entire mining rig. Additionally, the term is intended to mean that a sensor system comprising at least one sensor is configured to sense the orientation of at least one part, or a plurality of parts of the feed beam of the mining rig, or the entire mining rig.
  • a sensor system comprising at least one sensor is configured to sense the position of any part or parts of the mining environment relevant to the operation of the mining rig, such as the location of a wall, roof and/or side of a tunnel, the location of an ore seam, .and/or the location of people or objects, such as vehicles and equipment in the mining environment.
  • the same sensor system comprising at least one sensor may be used to sense both at least the feed beam of the mining rig and the mining environment.
  • a first sensor system-part comprising at least one sensor may be used to sense at least the feed beam of the mining rig
  • a second sensor system-part comprising at least one sensor may be used to sense the mining environment.
  • operator is intended to mean a human being, or an automatic control node that utilizes programming logic to automate the operation of an autonomous mining rig and image recognition software to interpret the visual representation of the virtual mining model.
  • Fig. 1 shows a mining rig, a mining environment, and a control node using a method according to an embodiment described herein,
  • Fig. 2 shows a visual representation of a virtual mining model
  • Fig. 3 shows a display that may be presented to an operator
  • Fig. 4 is a photograph showing an augmented view presented in accordance with an embodiment described herein.
  • Fig. 5 is a flow chart showing a method according to an embodiment described herein.
  • FIG 1 schematically shows a mining rig 10 in a mining environment 12.
  • the illustrated mining rig 10 comprises a mobile carrier 14 on which a cabin 16 for accommodating an operator 18 is mounted.
  • the mining rig 10 can be operated remotely from a control node 20, such as a control room.
  • the mining rig 10 and/or the control node 20 comprises a transmitter for communicating with at least one sensor of a sensor system 32.
  • a control node 20 may be configured to communicate with one or more mining rigs 10.
  • the mining rig 10 comprises a boom 22 that is secured to the mobile carrier 14.
  • One or more booms 22 can be mounted on a single mobile carrier 14 of a mining rig 10, although the illustrated example concerns a single boom-mining rig.
  • the boom 22 has an arm 24, such as a telescopic and/or articulated arm, which arm 24 may comprise a mounting device.
  • the mining rig 10 comprises means to raise, lower, turn, rotate and/or slide the arm 24 relative to its mounting in a conventional manner.
  • a feed beam 26 is mounted on the arm 24, such as on the mounting device at the distal end of the arm 24, whereby the feed beam 26 may be placed in any desired position and in any desired orientation by an operator 18.
  • a sensor system 32 comprising at least one sensor that is used to sense the mining environment 12 and at least the feed beam 26 of the mining rig 10.
  • the at least one sensor of the sensor system 32 may be located at any suitable location, such as on the cabin 16, on the boom 22, and/or on the feed beam 26 of the mining rig 10.
  • a sensor may be located at every joint of the mining rig 10.
  • the at least one sensor of the sensor system 32 may be located at any suitable location in the mining environment 12, such as on a wall 30, roof, and/or a floor of a tunnel, and/or on a vehicle operating in the mining environment 12, and/or on a person and/or object in the mining environment 12, such as on an operator 18. Any suitable sensor(s) and any suitable sensing technique may be used. A plurality of sensors of any type or types, and/or one or more sensing techniques may be used.
  • the at least one sensor of the sensor system 32 is placed at one or more locations such that the sensor system 32 has a complete view or a nearcomplete view of the environment surrounding the mining rig 10, i.e. a view of the part or parts of a mining rig 10 and the part of parts of a mining environment 12 which are necessary to enable an operator 18 to carry out a particular mining operation safely.
  • an operator 18 Before carrying out a mining operation, such as drilling at least one drill hole in a tunnel wall 30, an operator 18 must align the feed beam 26 of the mining rig 10 to ensure that each drill hole is drilled in an intended drill hole position.
  • the operator 18 may do this from the cabin 16 of the mining rig 10 and/or from the remotely located control node 20 using a visual representation 34 of a virtual mining model generated using a method according to the embodiments described herein.
  • the visual representation 34 may be presented to the operator 18 via at least one display unit, such as the screen of a computer, a hand-held device, such as a mobile telephone, a VR or an AR headset or glasses or any other suitable display means.
  • Figure 2 shows an example of a visual representation 34 of a virtual mining model generated using a method according to embodiments described herein. However, Figure 2 shows a two-dimensional visual representation of the virtual mining model for illustrative purposes, rather than a three-dimensional visual representation as required by the embodiments described herein.
  • the method according to the embodiments described herein comprises obtaining a drill plan, such as a digital drill plan.
  • the drill plan may indicate one or more intended drill hole positions 36, drill hole start positions 36s, drill hole end point 36e, and the length of each drill hole.
  • Figure 2 shows an intended rock bolt pattern to be installed in a rock surface 30, whereby two drill holes must be provided in the intended drill hole locations 36 indicated by dashed lines in Figure 2. Each drill hole may be from 2 to 6 metres long.
  • the method comprises obtaining sensor data from the sensor system 32 sensing the mining environment 12 and at least the feed beam 26 of the mining rig 10, generating a virtual mining model based on the obtained sensor data and drill plan, and producing a visual representation 34 of the virtual mining model.
  • the virtual mining model generated by the embodiments described herein comprises a combined three- dimensional real time representation of at least the feed beam 26 of the mining rig 10 and the mining environment 12 and a three-dimensional representation of each intended drill hole position 36.
  • the virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam 26 of the mining rig 10 relative to the mining environment 12 in real time to facilitate alignment of the feed beam 26 to enable the mining rig 10 to produce a drill hole in the intended drill hole position 36 in accordance with the drill plan.
  • a spherical coordinate system may be used for establishing the orientation of the feed beam 26 relative to the orientation of the intended drill hole position 36.
  • One or more instruments for measuring angles such as protractors (not shown), may be included in the visual representation 34 of the virtual mining model to indicate the degree of orientation of the feed beam 26 and the degree of orientation of the intended drill hole position 36.
  • a Cartesian coordinate system may be used for establishing the distance of at least part of the feed beam 26 relative to a reference point, such as the distance 38 between a tip of the feed beam 26 and the drill hole start position 36s.
  • the method comprises generating the virtual mining model by obtaining one or more relative distances between one or more sensors of the sensor system 32 and a reference point on the feed beam 26 of the mining rig 10.
  • the method then comprises estimating one or more distances from the feed beam 26 of the mining rig 10 and the mining environment 12 based on the obtained sensor data and on the one or more relative distances between the one or more sensors of the sensor system 32 and the reference point on the feed beam 26 of the mining rig.
  • the method further comprises determining one or more positions associated with the feed beam 26 of the mining rig 10 and the mining environment 12 based on the one or more distances from the feed beam 26 of the mining rig 10 and the mining environment 12, wherein the one or more positions are determined relative to the reference point of the feed beam 26 of the mining rig 10.
  • An operator 18 may provide at least one control input for controlling at least the feed beam 26 of a mining rig 10 and/or for controlling what to observe in the visual representation 34 of the virtual mining model.
  • the at least one control input may be obtained from the operator 18 by any suitable means, such as using a joystick, a voice command, a touchscreen, a touchpad, a button, a lever, or a gesture in a non-virtual environment or a VR or AR environment.
  • On inputting a control input the operator 18 may continue to observe the mining rig 10 and/or the mining environment 12 from any suitable perspective while operating the mining rig 10.
  • the position and orientation of at least the feed beam 26 of the mining rig 10 relative to the mining environment 12 is namely established in real time and the visual representation 34 is updated in real time to facilitate alignment of the feed beam 26 so that rock drill 28 of the mining rig (10) is able to produce a drill hole in the intended drill hole position (36) in accordance with the drill plan.
  • the at least one control input obtained from the operator 18 may be associated with the operator 18 performing one or more virtual operations in the virtual mining model, wherein the one or more virtual operations correspond to the one or more operations to be performed by the feed beam 26 of the mining rig 10 in the mining environment 12.
  • the method according to embodiments described herein may be used to train an operator 18 and/or an automatic control node 20 of an autonomous mining rig 10 to align a feed beam 26 of a mining rig 10 in a mining environment 12 in accordance with a drill plan.
  • the method may comprise indicating to an operator 18 that a real time update of the visual representation 34 cannot be provided. This may be done by means of an alert, an alarm, or an automatic stop to prevent further movement of at least the feed beam 26 of the mining rig 10 before the visual representation of the virtual mining model has been updated.
  • Figure 2 shows a visual representation 34 of a virtual mining model taken from particular viewing position and a viewing orientation, at a distance from the mining rig 10.
  • An operator 18 may however select a visual representation 34 comprising a different viewing position and viewing orientation.
  • an operator 18 may choose a first viewing position and a first viewing orientation as indicated by a first arrow 33 in Figure 2, which corresponds to a viewing position and a viewing orientation of an operator 18 in the cabin 16 of the mining rig 10.
  • An operator 18 may subsequently choose a second viewing position and a second viewing orientation as indicated by a second arrow 35 in Figure 2, which corresponds to a viewing position and a viewing orientation out of the rock in a direction along the intended drill hole position 40.
  • Any part of the mining rig 10 and/or the mining environment may be presented as being at least partially transparent in the visual representation 34 of the virtual mining model to facilitate the operator 18 in aligning the feed beam 26 in accordance with the drill plan.
  • the feed beam 26 and/or the boom 22 and/or the arm 24 and/or the rock in which drill holes are to be made may for example be presented as being at least partially transparent. According to an embodiment, only an outline of at least the feed beam 26 of a mining rig 10 may be shown in the visual representation 34 of the virtual mining mode.
  • Any viewing position and viewing orientation within the virtual mining model is possible, such as a viewing position and viewing orientation from any part of the mining rig 10, such as from inside the cabin 16, from the top of the cabin 16, from the innermost or outermost end of the feed beam 26, or from any part of the mining environment 12, such as from outside the mining rig or from a rock surface 20.
  • the method according to embodiments described herein may comprise presenting a plurality of viewing positions 33 and/or a plurality of viewing orientations to an operator 18 on one or more display units.
  • the method according to embodiments described herein comprises indicating a predicted position 40 of a drill hole based on a current position and orientation of the feed beam of the mining rig 10 in the visual representation 34 of the virtual mining model.
  • the method according to any of embodiments described herein may comprise presenting additional data 42 relevant to the virtual mining model with the visual representation 34 of the virtual mining model.
  • additional data 42 can be presented in real time.
  • the additional data 42 may relate to a hole that is being drilled, or one or more drill holes that have previously been drilled in the same mining environment, and can thereby provide feedback to an operator regarding one or more of the following for example: the penetration rate of the rock drill 28 of the mining rig 10, how fractured or compact a rock mass is, how stable a surrounding rock mass is, the location of fracture zones in a rock mass, and where extra rock reinforcement may be needed.
  • the method comprises determining whether a collision between a part of the mining rig 10 and an object 46 or person in the mining environment is imminent using the sensor system 32, and providing at least one of the following on obtaining sensor data from the sensor system 32 indicating that a collision is imminent: a warning, an alarm, an automatic stop preventing movement of at least the feed beam 26 of the mining rig 10, or a control input to automatically decrease the speed of a moving part of the mining rig 10.
  • Improved collision avoidance is thereby provided since, it is possible for an operator 18 to observe the mining environment 12 in three dimensions with depthperception, even if the operator 18 is not onboard the mining rig 10.
  • Figure 3 schematically shows information that may be presented to an operator 18 at least during the alignment and/or the use of the mining rig 10 to prevent an accident or collision.
  • Figure 3 indicates the location of a part of the mining rig 10 which is shown as being partially transparent and the location of an object, such as a vehicle 46, in the mining environment.
  • Figure 3 shows a two-dimensional visual representation of part of the virtual mining model for illustrative purposes, rather than a three-dimensional visual representation as required by the method described herein.
  • the mining rig 10, the mining environment 12 and any person or object 46 in the mining environment 12 will be presented to an operator 18 in three dimensions, which will provide increased rig-to environment awareness.
  • a mining rig 10 does not necessarily need to carry all of the processing resources, i.e. hardware and/or software, required to carry out a method according to embodiments described herein. At least a part of the required processing resources may be located at one or more locations external to the mining rig 10, such as at one or more remotely located control nodes 20. A mining rig 10 will only need to contain the processing resources necessary to communicate with at least one control node 20. This provides a cleaner and more secure environment for the processing resources, which may extend the working lifetime of the processing resources, and will result in a reduction of the weight that needs to be carried by the mining rig 10, which will in turn reduce energy consumption when moving the mining rig 10, and thereby lead to a reduction in fuel costs.
  • Figure 4 is a photograph of an augmented view of a mining environment presented to an operator using a method according to embodiments described herein.
  • a three-dimensional digital twin of a mining rig is provided in the camera or video image seen by the operator.
  • the augmented view may be additionally augmented by the method providing one or more audio and/or haptic signals during the alignment process to indicate when correct alignment has been achieved and/or to indicate whether the feed beam is moving in the right or wrong direction to achieve correct alignment.
  • Figure 5 shows the essential steps of a method according to embodiments described herein and an optional step (showed by means of dashed lines). It should be noted that the steps of the method described herein do not necessarily have to be carried out consecutively or in the order in which they are described or presented in Figure 4. The steps can be carried out in any suitable order and certain steps may be carried out in parallel.
  • the feed beam 26 of a mining rig 10, or the entire mining rig 10 can be moved to different location in the mining environment 12, and the feed beam 26 may be aligned so that the mining rig 10 can produce a second drill hole in a second intended drill hole position.
  • a drill plan does not necessarily have to be obtained each time a drill hole is to be produced if a previously obtained drill plan indicates the intended drill hole positions of more than one drill hole, or all of the drill holes that are to be produced in a mining environment 12.

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Abstract

A method for aligning a feed beam (26) of a mining rig (10) in a mining environment (12) in accordance with a drill plan, the method comprising obtaining a drill plan indicating an intended drill hole position (36), obtaining sensor data from a sensor system (32) comprising5 at least one sensor, the sensor system (32) sensing the mining environment (12) and at least the feed beam (26) of the mining rig (10), generating a virtual mining model based on the obtained sensor data and the drill plan, and producing a visual representation (34) of the virtual mining model. The virtual mining model comprises a combined three-dimensional real time representation of at least the feed beam (26) of the mining rig (10) and the mining environment (12), and a three-dimensional representation of the intended drill hole position (36). The virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam (26) of the mining rig (10) relative to the mining environment (12) in real time to facilitate alignment of the feed beam (26) to enable the mining rig (10) to produce a drill hole in the intended drill hole position (36) in accordance with the drill plan.

Description

METHOD, CONTROL NODE & COMPUTER PROGRAM FOR ALIGNING A FEED BEAM IN A DRILLING OPERATION
TECHNICAL FIELD
Embodiments described herein relate to a method, a control node, and a computer program for aligning a feed beam of a mining rig in a mining environment in accordance with a drill plan.
BACKGROUND
Drilling booms of a mining rig are conventionally mounted on a mobile carrier, such as a wheeled chassis, and have an articulated arm, a mounting at the remote end of the articulated arm on which a feed beam is mounted and means for moving the articulated arm. The feed beam supports apparatus, such as a rock drill, and guides the drill steel as it is driven into a rock face.
Various pivots and pivot control mechanisms enable an operator of a mining rig to position the feed beam at any desired position at the rock face. A feed beam can be positioned for drilling straight ahead into the rock face (in line with the boom), or for drilling at right angles to the boom, into the roof, floor, and sides of a tunnel in a mine for example.
Before a mining operation is performed, a drill plan is obtained or created. A digital drill plan may for example be transferred to the operator of a mining rig via wi-fi or USB, or created in a control system of a mining rig. The drill plan indicates an intended drill hole position, i.e. it provides coordinates indicating the drill hole start position, the direction in which the drill hole is to extend through a rock mass, and the dimensions of the drill hole, such as the length of the drill hole.
Before drilling, the mining rig is placed in a suitable position from which an area to be drilled may be reached. The feed beam of the mining rig is then translated and rotated until the correct position and orientation that is required to provide a drill hole in the intended drill hole position is achieved. The feed beam must namely be oriented by an operator so as to achieve the correct elevation (the angle formed by the line of sight and the horizontal plane) and the correct azimuth (the horizontal angle from the vertical). Once the alignment is complete, the mining rig is secured in position and the rock drill starts to drill the required hole in the intended drill hole position.
Ensuring the correct elevation is relatively straightforward as the feed beam of a mining rig can quite easily be angled upwardly or downwardly to the correct elevation. However, ensuring the correct azimuth is more problematic and even a small error in the azimuth can cause the rejection of a drill hole.
The alignment of the feed beam and the subsequent control of the mining rig may be carried out by an operator located on-board the mining rig, in a cabin of the mining rig, or located remotely to the mining rig, in a control room located at a distance from the mining rig. In the latter case, the mining rig is usually equipped with one or more cameras enabling a remotely located operator to view live video feeds in the control room. This creates an operating environment similar to that of actually operating the mining rig from a cabin of the mining rig and may ensure the health and safety of the operator.
A factor that contributes significantly to accidents and injuries that occur during the alignment and subsequent control of a mining rig is poor or restricted visibility from the operator’s position. A part of a mining rig may for example be moved into a position in front of a cabin window or camera, which obstructs the vision of an operator. Likewise, a part of the mining rig may be moved to a position outside the field of view of an operator or a camera. Both an on-board, and a remotely located operator may thereby experience a decrease in rig-to-environment-awareness while using the mining rig.
SUMMARY
An object of embodiments described herein is to provide an improved method for aligning a feed beam of a mining rig in a mining environment in accordance with a drill plan.
The method comprises obtaining a drill plan indicating an intended drill hole position, obtaining sensor data from a sensor system comprising at least one sensor, the sensor system sensing the mining environment and at least the feed beam of the mining rig, generating a virtual mining model based on the obtained sensor data and drill plan, and producing a visual representation of the virtual mining model. The virtual mining model comprises a combined three-dimensional real time representation of at least the feed beam of the mining rig, and the mining environment, and a three-dimensional representation of the intended drill hole position. Additionally, the virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam of the mining rig relative to the mining environment in real time to facilitate alignment of the feed beam to enable the mining rig to produce a drill hole in the intended drill hole position in accordance with the drill plan.
The method assists an operator in visualizing the position and orientation of the feed beam and boundaries within the mining environment by presenting a realistic and accurate visual representation of the prevailing situation in a mining environment, which increases operational safety. The method consequently allows an operator to align the feed beam of a mining rig safely, reliably and efficiently, and perform complex mining operations, which may otherwise not be possible due to poor or otherwise obstructed visibility. The method results in the production of drill holes according to a drill plan, a better tunnel profile without overbreak, and good fragmentation, which facilitates subsequent operations in the mining process.
According to an embodiment, the virtual mining model may comprise a three-dimensional representation of the entire mining rig, i.e., a digital twin of the mining rig.
According to an embodiment, the visual representation comprises a viewing position and a viewing orientation in the at least one coordinate system which corresponds to a location and orientation in the mining environment. Once a virtual mining model has been generated, an operator can select any desired viewing position or viewing orientation. For example, a view from the inside of a tunnel or from a rock face can be used. According to an embodiment the visual representation comprises a plurality of viewing positions and a plurality of viewing orientations. An operator may move around freely within the virtual mining model and view the mining rig and the machine environment from any desired perspective, i.e. from viewing positions and/or viewing orientations, which may otherwise have been difficult or impossible to achieve.
According to an embodiment, the method comprises presenting the visual representation of the virtual mining model on a display, such as a monitor, or in a virtual reality (VR) device, such as a VR headset, to create a VR environment for an operator. Alternatively, the method comprises obtaining a live camera or video feed from the sensor system, and providing the visual representation of the virtual mining model within the live camera or video feed, or superimposing the visual representation of the virtual mining model on the live camera or video feed, and presenting the combined live camera or video footage and visual representation of the virtual mining model on a display to create an augmented reality (AR) environment for an operator. In this way, relevant information is added to the sensor data obtained from the sensor system.
According to an embodiment, the method comprises obtaining at least one control input from an operator to move at least the feed beam of the mining rig in response to the operator observing the visual representation of the virtual mining model, and updating the visual representation of the virtual mining model based on the at least one control input such that the updated visual representation comprises any one or both of an updated viewing position and an updated viewing orientation in the at least one coordinate system. The at least one control input may be used to control the mining rig and/or to control what to observe in the visual representation of the virtual mining model.
The at least one control input obtained from the operator may be associated with the operator performing one or more virtual operations in the virtual mining model, and the one or more virtual operations may correspond to one or more operations to be performed by the feed beam of the mining rig in the mining environment.
According to an embodiment, the at least one coordinate system comprises at least one of the following: a three-dimensional Cartesian coordinate system, a spherical coordinate system. A Cartesian coordinate system may be used to position at least part of a mining rig in an exact position in a mining environment. A spherical coordinate system may be used to align the feed beam of the mining rig with the intended drill hole position.
According to an embodiment, the method comprises indicating a predicted position of a drill hole based on a current position and orientation of the feed beam of the mining rig in the visual representation of the virtual mining model. An operator observing the predicted position of the drill hole can then move the feed beam of the mining rig until the predicted position of the drill hole coincides with the intended drill hole position. According to an embodiment, generating the virtual mining model comprises obtaining one or more relative distances between one or more sensors of the sensor system and a reference point on the feed beam of the mining rig, estimating one or more distances from the feed beam of the mining rig and the mining environment based on the obtained sensor data and based on the one or more relative distances between the one or more sensors of the sensor system and the reference point on the feed beam of the mining rig, and determining one or more positions associated with the feed beam of the mining rig and the mining environment based on the one or more distances from the feed beam of the mining rig and the mining environment, wherein the one or more positions are determined relative to the reference point of the feed beam of the mining rig.
According to an embodiment, the drill plan includes information concerning at least one of the following: a hole start position of the intended drill hole, a direction of the intended drill hole, a dimension of the intended drill hole, a hole end point, a length of the intended drill hole, an azimuth of the intended drill hole, an elevation of the intended drill hole. A drill plan may include any relevant information about one or more drill holes that are to be made in one or more mining environments.
According to an embodiment, the method comprises determining whether a collision between the mining rig and an object or person in the mining environment is imminent using the sensor system, and providing at least one of the following on obtaining sensor data from the sensor system indicating that a collision is imminent: a warning, an alarm, an automatic stop preventing movement of at least the feed beam of the mining rig, or a control input to automatically decrease the speed of a moving part of the mining rig. The warning or alarm may be a visual, an audio or a haptic warning or alarm, or any combination thereof.
According to an embodiment, the method comprises presenting additional data relevant to virtual mining model with the visual representation of the virtual mining model, such as data concerning the one or more real time operations of the mining rig, data concerning previous operations of the mining rig in the same mining environment, data concerning the mining environment, real time data concerning an object or person in the mining environment.
According to an embodiment, the sensor system comprises one or more of the following: - a laser scanner, such as a rotating laser scanner, a plurality of two-dimensional cameras, a time-of-flight, triangulation, or interferometry sensor, a white-light digitizer, a Light Detection and Ranging (LIDAR) sensor, a satellite sensor, a structured light three- dimensional scanner, photogrammetry equipment, an infrared sensor, a handheld sensor, or any other suitable sensor.
According to an embodiment, the sensor system comprises a plurality of two-dimensional cameras, and wherein generating the virtual mining model comprises deriving the combined three-dimensional real time representation of the feed beam of the mining rig and the mining environment, based on a plurality of two-dimensional images captured by the plurality of two-dimensional cameras.
According to an embodiment, generating the virtual mining model comprises deriving information concerning one or both of at least the feed beam of the mining rig and the mining environment based on a combination of sensor data obtained from at least two different sensors in the sensor system.
According to an embodiment, the method comprises presenting at least one part of the mining rig and/or at least one part of the mining environment as at least partially transparent in the visual representation of the virtual mining model. In this way, it may be possible for an operator to see through any obstructing parts of the mining rig and mining environment when aligning the feed beam of the mining rig and/or when using the mining rig.
The embodiments described herein also concern a control node configured to facilitate the alignment of a feed beam of a mining rig in a mining environment in accordance with a drill plan. The control node is configured to perform a method according to any of the embodiments of the method described herein.
The control node is namely configured to obtain a drill plan indicating an intended drill hole position, obtain sensor data from a sensor system comprising at least one sensor, the sensor system sensing the mining environment and at least the feed beam of a mining rig, generate a virtual mining model based on the obtained sensor data and drill plan, and produce a visual representation of the virtual mining model. The virtual mining model comprises a combined three-dimensional real time representation of at least the feed beam of the mining rig and the mining environment, and a three-dimensional representation of the intended drill hole position. The virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam of the mining rig relative to the mining environment in real time to facilitate alignment of the feed beam to enable the mining rig to produce a drill hole in the intended drill hole position in accordance with the drill plan.
The embodiments described herein also concern a computer program comprising instructions, which when executed by a processor, cause the processor to perform a method according to any of the embodiments of the method described herein.
The embodiments described herein further concern a carrier comprising the computer program, wherein the carrier is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.
DEFINITIONS
The term "mining rig" as used herein is intended to mean a tool used in underground, underwater, or surface mining or civil engineering environment to work on a material. A mining rig may be a powered machine, powered at least partially by compressed air, hydraulics, and/or electricity. The mining rig may be stationary, or mobile, comprising a wheeled or crawler-based mobile carrier for example. It may comprise a cabin. The mining rig may be a drill rig that comprises a rock drill that operates by percussion using a reciprocating motion, or abrasively using a rotary motion. The mining rig may be one of the following:
- a face drilling rig or tunnelling rig for drilling blast holes to drive the face of the drift in a mine or a tunnel at a construction work site,
- a rock reinforcement rig for installing rock bolts and rock mesh,
- a production drill rig for drilling long holes for blasting or media holes,
- a scaling rig for removing loose rock from the rock surface, or
- a shotcrete rigs for consolidating the rock surface by spraying a layer of concrete or resin onto the rock surface.
The term "drill hole" as used herein is intended to mean any hollow place of any shape or size in a solid body or surface. The drill hole may be a tunnel, or a cavity to accommodate a rock bolt or explosives. The term "mining environment" as used herein is intended to mean any place in which geological materials, such as the ores of metals, coal, gemstones, limestone, chalk, rock salt or clay, petroleum, natural gas, or water, are being extracted. Mining materials may be extracted from an ore body, vein, or seam. Additionally, the term "mining environment" is intended to mean any civil engineering site where construction or excavation work is taking place, such as a building site where buildings, roads and/or bridges are being constructed. A mining environment can be an underground, underwater or surface mine or civil engineering site. A mining environment may comprise a series of roadways or tunnels and spaces. It may contain one or more infrastructure objects for supporting mining or civil engineering operations, such as lighting elements and supporting beams. Various mining operations may be performed in the mining environment, such as drilling and blasting holes and reinforcing tunnels.
The term "drill plan" as used herein is intended to mean information indicating how a drill hole that is to be made is to extend through three-dimensional space. The drill plan may specify the drill hole start position.
The term "feed beam" as used herein is intended to mean the inflexible profiled beam that is mounted on an arm or boom of a mining rig which supports and guides mining apparatus. The mining apparatus may be a rock drill, bolting equipment for reinforcing rock strata by installing rock bolts or cables, a scaling hammer to hammer loose rock, or a shotcrete rig consolidating the rock surface by spraying layers of concrete onto the rock surface.
The term "visual representation of the virtual mining model " as used herein is intended to mean a schematic or realistic depiction of the mining environment and at least the feed beam of the mining rig and the intended drill hole position in the form of an image or graphics. The visual representation may be detailed or non-detailed, or comprise a combination of detailed and non-detailed parts. It serves as a basis for simulating the alignment of the feed beam with the intended drill hole position in accordance with a drill plan. In an embodiment, the visual representation of the virtual mining model is a digital image created by a processor, such as a computer-aided design (CAD) drawing.
The term "real time " as used herein is intended to mean substantially the actual time during which a process or event occurs. Any real time condition mentioned herein may relate to ensuring a quick enough update such that it is possible for an operator to observe changes in the position and/or the orientation of at least the feed beam of the mining rig and/or the mining environment in the visual representation of the virtual mining model, and have time to control the mining rig in a safe manner. In some embodiments, real time means that the visual representation is representing a snapshot state of the mining rig that is not older than a certain time period, i.e. that the visual representation of the virtual mining model is updated at a frequency high enough to ensure safe operation of the mining rig in relation to operational speed of parts of the mining rig, time for signaling and signal processing, time for generating the virtual mining model, and time to visualize the virtual mining model. The visual representation update frequency may be at least 10 Hz, or at least 20 Hz, or at least 30 Hz, or at least 40 Hz, or at least 50 Hz, or at least 60 Hz, or at least 70 Hz, or at least 80 Hz, or at least 90 Hz, or at least 100 Hz, or at least 110 Hz, or at least 120Hz.
The term “to sense at least the feed beam of the mining rig” is intended to mean that a sensor system comprising at least one sensor is configured to sense the position of at least one part, or a plurality of parts, of the feed beam of the mining rig, or the position of the entire mining rig. Additionally, the term is intended to mean that a sensor system comprising at least one sensor is configured to sense the orientation of at least one part, or a plurality of parts of the feed beam of the mining rig, or the entire mining rig.
The term “to sense the mining environment” is intended to mean that a sensor system comprising at least one sensor is configured to sense the position of any part or parts of the mining environment relevant to the operation of the mining rig, such as the location of a wall, roof and/or side of a tunnel, the location of an ore seam, .and/or the location of people or objects, such as vehicles and equipment in the mining environment.
The same sensor system comprising at least one sensor may be used to sense both at least the feed beam of the mining rig and the mining environment. Alternatively, a first sensor system-part comprising at least one sensor may be used to sense at least the feed beam of the mining rig, and a second sensor system-part comprising at least one sensor may be used to sense the mining environment.
The term “operator” is intended to mean a human being, or an automatic control node that utilizes programming logic to automate the operation of an autonomous mining rig and image recognition software to interpret the visual representation of the virtual mining model. BRIEF DESCRIPTION OF THE DRAWINGS
The embodiments described herein will hereinafter be further explained by means of nonlimiting examples with reference to the appended schematic figures in which;
Fig. 1 shows a mining rig, a mining environment, and a control node using a method according to an embodiment described herein,
Fig. 2 shows a visual representation of a virtual mining model,
Fig. 3 shows a display that may be presented to an operator,
Fig. 4 is a photograph showing an augmented view presented in accordance with an embodiment described herein, and
Fig. 5 is a flow chart showing a method according to an embodiment described herein.
It should be noted that the drawings have not necessarily been drawn to scale and that the dimensions of certain features may have been exaggerated for the sake of clarity.
DETAILED DESCRIPTION
Figure 1 schematically shows a mining rig 10 in a mining environment 12. The illustrated mining rig 10 comprises a mobile carrier 14 on which a cabin 16 for accommodating an operator 18 is mounted. Alternatively, or additionally, the mining rig 10 can be operated remotely from a control node 20, such as a control room. The mining rig 10 and/or the control node 20 comprises a transmitter for communicating with at least one sensor of a sensor system 32. A control node 20 may be configured to communicate with one or more mining rigs 10.
The mining rig 10 comprises a boom 22 that is secured to the mobile carrier 14. One or more booms 22 can be mounted on a single mobile carrier 14 of a mining rig 10, although the illustrated example concerns a single boom-mining rig. The boom 22 has an arm 24, such as a telescopic and/or articulated arm, which arm 24 may comprise a mounting device. The mining rig 10 comprises means to raise, lower, turn, rotate and/or slide the arm 24 relative to its mounting in a conventional manner. A feed beam 26 is mounted on the arm 24, such as on the mounting device at the distal end of the arm 24, whereby the feed beam 26 may be placed in any desired position and in any desired orientation by an operator 18.
A sensor system 32 comprising at least one sensor that is used to sense the mining environment 12 and at least the feed beam 26 of the mining rig 10. The at least one sensor of the sensor system 32 may be located at any suitable location, such as on the cabin 16, on the boom 22, and/or on the feed beam 26 of the mining rig 10. A sensor may be located at every joint of the mining rig 10.
Additionally, or alternatively, the at least one sensor of the sensor system 32 may be located at any suitable location in the mining environment 12, such as on a wall 30, roof, and/or a floor of a tunnel, and/or on a vehicle operating in the mining environment 12, and/or on a person and/or object in the mining environment 12, such as on an operator 18. Any suitable sensor(s) and any suitable sensing technique may be used. A plurality of sensors of any type or types, and/or one or more sensing techniques may be used.
According to an embodiment, the at least one sensor of the sensor system 32 is placed at one or more locations such that the sensor system 32 has a complete view or a nearcomplete view of the environment surrounding the mining rig 10, i.e. a view of the part or parts of a mining rig 10 and the part of parts of a mining environment 12 which are necessary to enable an operator 18 to carry out a particular mining operation safely.
Before carrying out a mining operation, such as drilling at least one drill hole in a tunnel wall 30, an operator 18 must align the feed beam 26 of the mining rig 10 to ensure that each drill hole is drilled in an intended drill hole position. The operator 18 may do this from the cabin 16 of the mining rig 10 and/or from the remotely located control node 20 using a visual representation 34 of a virtual mining model generated using a method according to the embodiments described herein. The visual representation 34 may be presented to the operator 18 via at least one display unit, such as the screen of a computer, a hand-held device, such as a mobile telephone, a VR or an AR headset or glasses or any other suitable display means.
Figure 2 shows an example of a visual representation 34 of a virtual mining model generated using a method according to embodiments described herein. However, Figure 2 shows a two-dimensional visual representation of the virtual mining model for illustrative purposes, rather than a three-dimensional visual representation as required by the embodiments described herein.
The method according to the embodiments described herein comprises obtaining a drill plan, such as a digital drill plan. The drill plan may indicate one or more intended drill hole positions 36, drill hole start positions 36s, drill hole end point 36e, and the length of each drill hole.
Figure 2 shows an intended rock bolt pattern to be installed in a rock surface 30, whereby two drill holes must be provided in the intended drill hole locations 36 indicated by dashed lines in Figure 2. Each drill hole may be from 2 to 6 metres long.
The method comprises obtaining sensor data from the sensor system 32 sensing the mining environment 12 and at least the feed beam 26 of the mining rig 10, generating a virtual mining model based on the obtained sensor data and drill plan, and producing a visual representation 34 of the virtual mining model.
Even though Figure 2 shows a two-dimensional visual representation 34, the virtual mining model generated by the embodiments described herein comprises a combined three- dimensional real time representation of at least the feed beam 26 of the mining rig 10 and the mining environment 12 and a three-dimensional representation of each intended drill hole position 36. The virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam 26 of the mining rig 10 relative to the mining environment 12 in real time to facilitate alignment of the feed beam 26 to enable the mining rig 10 to produce a drill hole in the intended drill hole position 36 in accordance with the drill plan.
A spherical coordinate system may be used for establishing the orientation of the feed beam 26 relative to the orientation of the intended drill hole position 36. One or more instruments for measuring angles, such as protractors (not shown), may be included in the visual representation 34 of the virtual mining model to indicate the degree of orientation of the feed beam 26 and the degree of orientation of the intended drill hole position 36. A Cartesian coordinate system may be used for establishing the distance of at least part of the feed beam 26 relative to a reference point, such as the distance 38 between a tip of the feed beam 26 and the drill hole start position 36s.
For example, the method comprises generating the virtual mining model by obtaining one or more relative distances between one or more sensors of the sensor system 32 and a reference point on the feed beam 26 of the mining rig 10. The method then comprises estimating one or more distances from the feed beam 26 of the mining rig 10 and the mining environment 12 based on the obtained sensor data and on the one or more relative distances between the one or more sensors of the sensor system 32 and the reference point on the feed beam 26 of the mining rig. The method further comprises determining one or more positions associated with the feed beam 26 of the mining rig 10 and the mining environment 12 based on the one or more distances from the feed beam 26 of the mining rig 10 and the mining environment 12, wherein the one or more positions are determined relative to the reference point of the feed beam 26 of the mining rig 10.
An operator 18 may provide at least one control input for controlling at least the feed beam 26 of a mining rig 10 and/or for controlling what to observe in the visual representation 34 of the virtual mining model. The at least one control input may be obtained from the operator 18 by any suitable means, such as using a joystick, a voice command, a touchscreen, a touchpad, a button, a lever, or a gesture in a non-virtual environment or a VR or AR environment. On inputting a control input the operator 18 may continue to observe the mining rig 10 and/or the mining environment 12 from any suitable perspective while operating the mining rig 10.
The position and orientation of at least the feed beam 26 of the mining rig 10 relative to the mining environment 12 is namely established in real time and the visual representation 34 is updated in real time to facilitate alignment of the feed beam 26 so that rock drill 28 of the mining rig (10) is able to produce a drill hole in the intended drill hole position (36) in accordance with the drill plan.
The at least one control input obtained from the operator 18 may be associated with the operator 18 performing one or more virtual operations in the virtual mining model, wherein the one or more virtual operations correspond to the one or more operations to be performed by the feed beam 26 of the mining rig 10 in the mining environment 12. According to an embodiment, the method according to embodiments described herein may be used to train an operator 18 and/or an automatic control node 20 of an autonomous mining rig 10 to align a feed beam 26 of a mining rig 10 in a mining environment 12 in accordance with a drill plan.
According to an embodiment, the method may comprise indicating to an operator 18 that a real time update of the visual representation 34 cannot be provided. This may be done by means of an alert, an alarm, or an automatic stop to prevent further movement of at least the feed beam 26 of the mining rig 10 before the visual representation of the virtual mining model has been updated.
Figure 2 shows a visual representation 34 of a virtual mining model taken from particular viewing position and a viewing orientation, at a distance from the mining rig 10. An operator 18 may however select a visual representation 34 comprising a different viewing position and viewing orientation. For example, an operator 18 may choose a first viewing position and a first viewing orientation as indicated by a first arrow 33 in Figure 2, which corresponds to a viewing position and a viewing orientation of an operator 18 in the cabin 16 of the mining rig 10. An operator 18 may subsequently choose a second viewing position and a second viewing orientation as indicated by a second arrow 35 in Figure 2, which corresponds to a viewing position and a viewing orientation out of the rock in a direction along the intended drill hole position 40.
Any part of the mining rig 10 and/or the mining environment may be presented as being at least partially transparent in the visual representation 34 of the virtual mining model to facilitate the operator 18 in aligning the feed beam 26 in accordance with the drill plan. The feed beam 26 and/or the boom 22 and/or the arm 24 and/or the rock in which drill holes are to be made may for example be presented as being at least partially transparent. According to an embodiment, only an outline of at least the feed beam 26 of a mining rig 10 may be shown in the visual representation 34 of the virtual mining mode.
Any viewing position and viewing orientation within the virtual mining model is possible, such as a viewing position and viewing orientation from any part of the mining rig 10, such as from inside the cabin 16, from the top of the cabin 16, from the innermost or outermost end of the feed beam 26, or from any part of the mining environment 12, such as from outside the mining rig or from a rock surface 20.
The method according to embodiments described herein may comprise presenting a plurality of viewing positions 33 and/or a plurality of viewing orientations to an operator 18 on one or more display units.
Optionally, the method according to embodiments described herein comprises indicating a predicted position 40 of a drill hole based on a current position and orientation of the feed beam of the mining rig 10 in the visual representation 34 of the virtual mining model.
The method according to any of embodiments described herein may comprise presenting additional data 42 relevant to the virtual mining model with the visual representation 34 of the virtual mining model. Such additional data 42 can be presented in real time. The additional data 42 may relate to a hole that is being drilled, or one or more drill holes that have previously been drilled in the same mining environment, and can thereby provide feedback to an operator regarding one or more of the following for example: the penetration rate of the rock drill 28 of the mining rig 10, how fractured or compact a rock mass is, how stable a surrounding rock mass is, the location of fracture zones in a rock mass, and where extra rock reinforcement may be needed.
According to an embodiment, the method comprises determining whether a collision between a part of the mining rig 10 and an object 46 or person in the mining environment is imminent using the sensor system 32, and providing at least one of the following on obtaining sensor data from the sensor system 32 indicating that a collision is imminent: a warning, an alarm, an automatic stop preventing movement of at least the feed beam 26 of the mining rig 10, or a control input to automatically decrease the speed of a moving part of the mining rig 10. Improved collision avoidance is thereby provided since, it is possible for an operator 18 to observe the mining environment 12 in three dimensions with depthperception, even if the operator 18 is not onboard the mining rig 10.
Figure 3 schematically shows information that may be presented to an operator 18 at least during the alignment and/or the use of the mining rig 10 to prevent an accident or collision. Figure 3 indicates the location of a part of the mining rig 10 which is shown as being partially transparent and the location of an object, such as a vehicle 46, in the mining environment. However, Figure 3 shows a two-dimensional visual representation of part of the virtual mining model for illustrative purposes, rather than a three-dimensional visual representation as required by the method described herein. The mining rig 10, the mining environment 12 and any person or object 46 in the mining environment 12 will be presented to an operator 18 in three dimensions, which will provide increased rig-to environment awareness.
A mining rig 10 does not necessarily need to carry all of the processing resources, i.e. hardware and/or software, required to carry out a method according to embodiments described herein. At least a part of the required processing resources may be located at one or more locations external to the mining rig 10, such as at one or more remotely located control nodes 20. A mining rig 10 will only need to contain the processing resources necessary to communicate with at least one control node 20. This provides a cleaner and more secure environment for the processing resources, which may extend the working lifetime of the processing resources, and will result in a reduction of the weight that needs to be carried by the mining rig 10, which will in turn reduce energy consumption when moving the mining rig 10, and thereby lead to a reduction in fuel costs.
Figure 4 is a photograph of an augmented view of a mining environment presented to an operator using a method according to embodiments described herein. A three-dimensional digital twin of a mining rig is provided in the camera or video image seen by the operator.
According to an embodiment, the augmented view may be additionally augmented by the method providing one or more audio and/or haptic signals during the alignment process to indicate when correct alignment has been achieved and/or to indicate whether the feed beam is moving in the right or wrong direction to achieve correct alignment.
Figure 5 shows the essential steps of a method according to embodiments described herein and an optional step (showed by means of dashed lines). It should be noted that the steps of the method described herein do not necessarily have to be carried out consecutively or in the order in which they are described or presented in Figure 4. The steps can be carried out in any suitable order and certain steps may be carried out in parallel. Once a first drill hole has been produced in a first intended drill hole position, the feed beam 26 of a mining rig 10, or the entire mining rig 10, can be moved to different location in the mining environment 12, and the feed beam 26 may be aligned so that the mining rig 10 can produce a second drill hole in a second intended drill hole position. A drill plan does not necessarily have to be obtained each time a drill hole is to be produced if a previously obtained drill plan indicates the intended drill hole positions of more than one drill hole, or all of the drill holes that are to be produced in a mining environment 12.
Further modifications of the embodiments described herein within the scope of the claims would be apparent to a skilled person.

Claims

1. A method for aligning a feed beam (26) of a mining rig (10) in a mining environment (12) in accordance with a drill plan, the method comprising:
- obtaining a drill plan indicating an intended drill hole position (36),
- obtaining sensor data from a sensor system (32) comprising at least one sensor, the sensor system (32) sensing the mining environment (12) and at least the feed beam (26) of the mining rig (10),
- generating a virtual mining model based on the obtained sensor data and drill plan, and
- producing a visual representation (34) of the virtual mining model,
- wherein the virtual mining model comprises a combined three- dimensional real time representation of at least the feed beam (26) of the mining rig (10) and the mining environment (12), and a three-dimensional representation of the intended drill hole position (36), and
- wherein the virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam (26) of the mining rig (10) relative to the mining environment (12) in real time to facilitate alignment of the feed beam (26) to enable the mining rig (10) to produce a drill hole in the intended drill hole position (36) in accordance with the drill plan.
2. The method according to claim 1 , wherein the visual representation (34) comprises a viewing position (33) and a viewing orientation in the at least one coordinate system which corresponds to a location and orientation in the mining environment (12).
3. The method according to claim 1 or 2 wherein the method comprises:
- presenting the visual representation (34) of the virtual mining model on a display, or in a virtual reality (VR) device to create a VR environment for an operator (18), or
- obtaining a live camera or video feed from the sensor system (32) and providing the visual representation (34) of the virtual mining model within the live camera or video feed, or superimposing the visual representation (34) of the virtual mining model on, the live camera or video feed, and presenting the combined live camera or video footage and visual representation (34) of the virtual mining model on a display to create an augmented reality (AR) environment for an operator (18).
4. The method according to any of the preceding claims wherein the method comprises:
- obtaining at least one control input from an operator (18) to move at least the feed beam (26) of the mining rig (10) in response to the operator (18) observing the visual representation (34) of the virtual mining model, and
- updating the visual representation (34) of the virtual mining model based on the at least one control input such that the updated visual representation (34) comprises any one or both of an updated viewing position (33) and an updated viewing orientation in the at least one coordinate system.
5. The method according to claim 4, wherein the at least one control input obtained from the operator (18) is associated with the operator (18) performing one or more virtual operations in the virtual mining model, and wherein the one or more virtual operations correspond to the one or more operations to be performed by the feed beam (26) of the mining rig (10) in the mining environment (12).
6. The method according to any of the preceding claims, wherein the at least one coordinate system comprises at least one of the following: a three-dimensional Cartesian coordinate system, a spherical coordinate system.
7. The method according to any of the preceding claims, the method comprising: indicating a predicted position (40) of a drill hole based on a current position and orientation of the feed beam (26) of the mining rig (10) in the visual representation (34) of the virtual mining model.
8. The method according to any of the preceding claims, wherein generating the virtual mining model comprises:
- obtaining one or more relative distances between one or more sensors of the sensor system (32) and a reference point on the feed beam (26) of the mining rig (10), - estimating one or more distances from the feed beam (26) of the mining rig (10) and the mining environment (12) based on the obtained sensor data and based on the one or more relative distances between the one or more sensors of the sensor system (32) and the reference point on the feed beam (26) of the mining rig (10), and
- determining one or more positions associated with the feed beam (26) of the mining rig (10) and the mining environment (12) based on the one or more distances from the feed beam (26) of the mining rig (10) and the mining environment (12), wherein the one or more positions are determined relative to the reference point of the feed beam (26) of the mining rig (10).
9. The method according to any of the preceding claims, wherein the drill plan includes information concerning at least one of the following: a hole start position (36s) of the intended drill hole, a direction of the intended drill hole, a dimension of the intended drill hole, a hole end point (36e), a length of the intended drill hole, an azimuth of the intended drill hole, an elevation of the intended drill hole.
10. The method according to any of the preceding claims, wherein the method comprises: determining whether a collision between the mining rig (10) and an object (46) or person in the mining environment (12) is imminent using the sensor system (32), and providing at least one of the following on obtaining sensor data from the sensor system (32) indicating that a collision is imminent: a warning (44), an alarm, an automatic stop preventing movement of at least the feed beam (26) of the mining rig (10), or a control input to automatically decrease the speed of a moving part of the mining rig (10).
11. The method according to any of the preceding claims, wherein the method comprises:
- presenting additional data (42) relevant to virtual mining model with the visual representation (34) of the virtual mining model, such as data concerning the one or more real time operations of the mining rig (10), data concerning previous operations of the mining rig (10) in the same mining environment (12), data concerning the mining environment (12), real time data concerning an object (46) or person in the mining environment (12).
12. The method according to any of the preceding claims, wherein the sensor system (32) comprises one or more of the following:
- a laser scanner, such as a rotating laser scanner,
- a plurality of two-dimensional cameras,
- a time-of-flight, triangulation, or interferometry sensor,
- a white-light digitizer,
- a Light Detection and Ranging (LIDAR) sensor,
- a satellite sensor,
- a structured light three-dimensional scanner,
- photogrammetry equipment,
- an infrared sensor,
- a handheld sensor.
13. The method according to any of the preceding claims, wherein the sensor system (32) comprises a plurality of two-dimensional cameras, and wherein generating the virtual mining model comprises deriving the combined three- dimensional real time representation of the feed beam (26) of the mining rig (10) and the mining environment (12), based on a plurality of two-dimensional images captured by the plurality of two-dimensional cameras.
14. The method according to any of the preceding claims wherein generating the virtual mining model comprises deriving information concerning one or both of at least the feed beam (26) of the mining rig (10) and the mining environment (12) based on a combination of sensor data obtained from at least two different sensors in the sensor system (32).
15. The method according to any of the preceding claims wherein the method comprises presenting at least one part of the mining rig (10) and/or at least one part of the mining environment (12) as at least partially transparent in the visual representation (34).
16. The method according to any of the preceding claims wherein the virtual mining model comprises a three-dimensional representation of the entire mining rig (10), i.e., a digital twin of the mining rig (10).
17. A control node (20) configured to facilitate the alignment of a feed beam (26) of a mining rig (10) in a mining environment (12) in accordance with a drill plan, wherein the control node (20) is configured to:
- obtain a drill plan indicating an intended drill hole position (36),
- obtain sensor data from a sensor system (32) comprising at least one sensor, the sensor system (32) sensing the mining environment (12) and at least the feed beam (26) of a mining rig (10),
- generate a virtual mining model based on the obtained sensor data and drill plan, and
- produce a visual representation (34) of the virtual mining model,
- wherein the virtual mining model comprises a combined three- dimensional real time representation of at least the feed beam (26) of the mining rig (10) and the mining environment (12), and a three-dimensional representation of the intended drill hole position (36), and
- wherein the virtual mining model includes at least one coordinate system for establishing a positioning relationship of at least the feed beam (26) of the mining rig (10) relative to the mining environment (12) in real time to facilitate alignment of the feed beam (26) to enable the mining rig (10) to produce a drill hole in the intended drill hole position (36) in accordance with the drill plan.
18. The control node (20) according to claim 17, wherein the control node (20) is configured to perform the method according to any of claims 2-16.
19. A computer program comprising instructions, which when executed by a processor, cause the processor to perform actions according to any of claims 1- 16.
20. A carrier comprising the computer program of claim 19, wherein the carrier is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.
EP23714121.3A 2023-03-22 2023-03-22 Method, control node & computer program for aligning a feed beam in a drilling operation Pending EP4684093A1 (en)

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FI117570B (en) * 2005-06-29 2006-11-30 Sandvik Tamrock Oy A method for positioning a rock drilling device at a drilling site and a rock drilling machine
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SE1450818A1 (en) * 2011-12-28 2014-07-02 Sandvik Mining & Constr Oy Method and mining vehicle for post-drilling insertion
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US12146407B2 (en) * 2019-03-19 2024-11-19 Sandvik Mining And Construction Oy Mine vehicle boom positioning control
BE1027207B1 (en) * 2019-04-03 2020-11-23 Thyssenkrupp Ind Solutions Ag Method and device for the automatable operation of a material extraction system on the mining front of a material extraction site
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