WO2023203389A1 - A method for generating an automated survey and analysis of an opencast mine using an unmanned aerial vehicle - Google Patents

A method for generating an automated survey and analysis of an opencast mine using an unmanned aerial vehicle Download PDF

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Publication number
WO2023203389A1
WO2023203389A1 PCT/IB2023/050386 IB2023050386W WO2023203389A1 WO 2023203389 A1 WO2023203389 A1 WO 2023203389A1 IB 2023050386 W IB2023050386 W IB 2023050386W WO 2023203389 A1 WO2023203389 A1 WO 2023203389A1
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Prior art keywords
interest
total area
mine
aerial vehicle
cloud data
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PCT/IB2023/050386
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French (fr)
Inventor
Sarvesh SINDHU
Original Assignee
Sindhu Sarvesh
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Publication of WO2023203389A1 publication Critical patent/WO2023203389A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3826—Terrain data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B64U2101/32—UAVs specially adapted for particular uses or applications for imaging, photography or videography for cartography or topography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS

Definitions

  • the present invention generally relates to mine surveying, and particularly relates to a method for generating an automated survey and analysis of an opencast mine using an Unmanned Aerial Vehicle.
  • UAV Unmanned Aircraft Vehicle
  • the main objective of the present invention is to provide method for generating an automated survey and analysis of an opencast mine using an Unmanned Aerial Vehicle.
  • Another objective of the present invention is to provide an automated method that upgrades the capability and efficiency of mine surveying.
  • Yet another objective of the present invention is to provide a method that is free of manual error.
  • Yet another objective of the present invention is to provide a method that is safe for the use of mining surveyors, and allows the mining surveys to be protected from accidents during mining surveys.
  • Another objective of the present invention is to provide a method for generating automated survey of an opencast mine using a mine specific drone analytics tool which allows for specific analytics of mining surveys, which is essential in mine production management.
  • Another objective of the present invention is to able to accurately measure productivity of the opencast mine on a daily basis (24hrs) which in present scenario is just estimated. It can also help find the productivity and efficiency of the deployed Equipment which is a big key factor for any mine owner.
  • the main formula used is
  • Volume of the opencast mine Point Cloud Data Points obtained on Day 1 - Point Cloud Data Points obtained on Day 2
  • the present invention relates to a method for generating an automated survey and analysis of an opencast mine using an Unmanned Aerial Vehicle (UAV), and comprises the steps of carrying out a mission planning session, data acquisition, data processing and analysis to obtain an automated survey and analysis of the opencast mine.
  • the mission planning session may further comprise the steps of analyzing a total area of interest using a mission planning tool.
  • Ground Control Point(s) may be mapped using a Differential Global Positioning System survey.
  • the Ground Control Point(s) may be uniformly distributed within the total area of interest.
  • the Unmanned Aerial Vehicle may be set up for physically capturing images of the total area of interest using set parameters for the Unmanned Aerial Vehicle.
  • the Unmanned Aerial Vehicle may be operated to capture the images of the total area of interest and to capture the mapped Ground Control Point(s) obtained by using the Differential Global Positioning System.
  • the images of the total area of interest may be processed to generate point cloud data points using an image processing tool.
  • the point cloud data points may be added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine.
  • Figure 1 represents a schematic representation of flowchart of the methodology
  • the present invention relates to a method for generating an automated survey of an opencast mine using an Unmanned Aerial Vehicle (UAV), and comprises the steps of carrying out a mission planning session, data acquisition, data processing and analysis to obtain an automated survey and analysis of the opencast mine.
  • the mission planning session may further comprise the steps of analyzing a total area of interest using a mission planning tool.
  • Ground Control Point(s) may be mapped using a Differential Global Positioning System survey.
  • the Ground Control Point(s) may be uniformly distributed within the total area of interest.
  • the Unmanned Aerial Vehicle may be set up for physically capturing images of the total area of interest using set parameters for the Unmanned Aerial Vehicle.
  • the Unmanned Aerial Vehicle may be operated to capture the images of the total area of interest and to capture the mapped Ground Control Point(s) obtained by using the Differential Global Positioning System.
  • the UAV when flying, is distinctively able to capture the GCPs, which have been laid down in the area of interest.
  • the images of the total area of interest may be processed to generate point cloud data points using an image processing tool.
  • the point cloud data points may be added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine.
  • the UAV is set up for physically capturing the overlapping images of the total area of interest comprising the GCPs, using set parameters.
  • the UAV flies autonomously, with the set parameters fixed pre-flight of the UAV.
  • the UAV captures multiple images of the opencast mine with a pre-set overlap.
  • the images captured by the UAV of the opencast mine contain the images of the GCPs of the opencast mine, as well which were laid down in the area of interest before the flight with the help of DGPS.
  • the images may be processed to generate point cloud data points using an image processing tool.
  • the point cloud data points may be added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine, as referred to in Fig. 1.
  • the total area of interest may be obtained by measuring total area, elevation changes, shape of the total area of interest, aerial zone within the total area of interest, and permission structure.
  • the area of interest is defined as the area on the ground/land which needs to be surveyed.
  • the elevation changes are defined as the undulations of earth or the profile of the earth surface is not a smooth curve, and hence the changes in height are called as elevations changes, represented on the ‘Z’ axis on a Cartesian coordinate system, and is measured in metres.
  • the shape of area of interest may be of regular shape or of irregular shape. The more regular and smooth shape of area of interest, the easier it is to perform the automated survey and analysis.
  • the aerial zone is defined as the location where the automated survey and analysis needs to be performed. It is necessary to be aware if there are any restrictions imposed on the total area of interest. The information is available on the public sites run officially by the Indian Govt.
  • the permission structure is defined as the location is restricted then there is a specific way in which one can get permission.
  • the set parameters for the UAV include height, overlap of image, speed of drone, and angle of camera.
  • the height is defined as the distance from the takeoff point or the ground from which the survey is taken, and is measured using metres.
  • the overlap image is defined as the common area in two different photographs captured by the UAV. Overlap between the 2 images should ideally be more than 75% since only then the 3D information can be extracted from 2 photographs.
  • the Overlap is of two types, frontal overlap, and side overlap.
  • the frontal overlap is defined as the overlap observed in the image captured while the UAV is moving in a forward direction.
  • the side overlap is defined as the overlap observed in the image captured by the UAV, when the UAV shifts in a sideways direction.
  • the speed of drone is defined as the forward moving speed at which the drone moves while capturing photos, measured in m/s.
  • the angle of camera is defined as the angle of the camera mounted on the UAV through gimbal.
  • the angle of the camera mounted on the UAV is nadir, which is vertically facing downwards to the ground, measured in degrees.
  • the angle of camera for generating the automated survey and analysis is preferably 45 degrees.
  • the angle of camera set at 45 degrees is best able to capture building structures, slopes and other details of the geographical landscape.
  • the automated survey and analysis may be conducted at least two times with a minimum of 24 hours between the automated survey conducted on Day 1 and the automated survey conducted on Day 2.
  • cut quantity or fill quantity may be generated by calculating the difference between the point cloud data points obtained on Day 1 and the point cloud data points obtained on Day 2.
  • the Mine Specific Drone Analytics tool allows a user to edit, analyze and view the point cloud data points.
  • the Mine Specific Drone Analytics tool analyzes the Digital twin created using the point cloud data points.
  • the digital twin may be analyzed by determining true distance calculation, equipment filter, haul road quality report, contour, exportable features, and stock volume.
  • the true distance is defined as the actual distance on ground between two points, assessed both using the real-time distance as well as the distance between two point cloud data points, measured in meters or km.
  • the equipment filter is defined as the requirement to remove equipment used (preferably, the UAV) in order to or nullify the effect of the equipment, while generating the digital twin, which is otherwise present in real-time, and can affect the calculations.
  • the 3D points of the equipment are compressed and merged to the nearest level ground in the digital twin, thus giving us a smooth surface so that the earth works volume calculation can be done accurately.
  • the haul road quality is defined as the analysis of a main road amidst the location of the opencast mine, which connects a mine pit to a mine dump.
  • the haul road quality is determined by calculating gradient slope of the road (measured in degrees), condition of the main road, and whether it is free of any debris and potholes, and presence of any bottlenecks and banking present on the main road.
  • the contour is defined as lines joining points of the same elevation in the point cloud data points generated, represented in the Cartesian coordinate system on the Z-axis.
  • the stock volume is defined as the calculation of volume of stock for the desired material which shall be obtained from the opencast mine, and is pre-determined from datum or ground level, measured in tonnes, or cubic meters.
  • the opencast mine is one of an open-pit mine, large piles of aggregate matter, or a quarry.
  • the mission planning session further comprises the steps of analyzing a total area of interest using a mission planning tool.
  • the mission planning session is further comprise the steps of analyzing a total area of interest using a mission planning tool.
  • the total area of interest is analyzed by measuring total area, elevation changes, shape of the total area of interest, aerial zone within the total area of interest, and permission structure.
  • the area of interest is defined as the area on the ground/land which needs to be surveyed.
  • the elevation changes are defined as the undulations of earth or the profile of the earth surface is not a smooth curve, and hence the changes in height are called as elevations changes, represented on the ‘Z’ axis on a Cartesian coordinate system, and is measured in metres.
  • the shape of area of interest may be of regular shape or of irregular shape.
  • the aerial zone is defined as the location where the automated survey and analysis needs to be performed. It is necessary to be aware if there are any restrictions imposed on the total area of interest. The information is available on the public sites run officially by the Indian Govt. The permission structure is defined as the location is restricted then there is a specific way in which one can get permission.
  • the Ground Control Point(s) are be mapped using a Differential Global Positioning System survey. The Ground Control Point(s) may be uniformly distributed within the total area of interest.
  • the Unmanned Aerial Vehicle may be set up for physically capturing images of the total area of interest using set parameters for the Unmanned Aerial Vehicle.
  • the Unmanned Aerial Vehicle may be operated to capture the images of the total area of interest and to capture the mapped Ground Control Point(s) obtained by using the Differential Global Positioning System.
  • the UAV when flying, is distinctively able to capture the GCPs, which have been laid down in the area of interest.
  • the point cloud data points that are generated from the images via image processing tool are of the accurate to anywhere between 3-5cm mapped on a Cartesian coordinate system of (x, y, z).
  • the UAV is set up for physically capturing the images of the area of interest comprising the GCPs which are already laid down in the field using set parameters.
  • the set parameters for the UAV include height, overlap of image, speed of drone, and angle of camera.
  • the overlap of photos may be performed by overlapping of a frontal image and a side angle image.
  • the mission planning tool used is one of DJI Pilot, DJI Go 4, Pix4D capture or any other app/tool which falls into the category of flight mission planning for UAV/drones.
  • the UAV captures the images of the total area of interest, along with the GCPs established using the DGPS survey.
  • the UAV utilized is preferably one of quadcopter, hexacopter, or fixed wing.
  • the UAV is contains a high resolution camera as part of the UAV’s payload.
  • the high resolution camera may be operated by a user in an automated mode to capture the image of the opencast mine.
  • the UAV utilized is one of DJI Phantom 4 RTK, Matrice 300RTK, Phantom 4Pro or any other UAV.
  • the UAV, equipped with the high resolution camera captures an image of an open-pit mine or a quarry.
  • the UAV is configured with pre set overlapping percentages for the images to be generated, predetermined angle of camera and height. The set parameters for the UAV are decided based upon the required output in terms of the resolution, and accuracy.
  • the images may be processed to generate point cloud data points using an image processing tool.
  • the images captured by the UAV are added to the image processing tool, which processes the images and generates point cloud data points of the area of interest captured via the images by the UAV.
  • the image processing tool utilized is one of Pix4D Mapper, Agisoft, PCI Geomatica, Bentley MicroStation or any other image processing tools.
  • the image processing tool is preferably able to generate an orthophoto, an orthoimage, a Digital Terrain Model (DTM), Digital Surface Model (DSM), Digital Elevation Model (DEM), 3D textured mesh, and the point cloud data points.
  • the image processing tool is preferably able to generate realistic 3D model of the opencast mine, which is utilized to perform a virtual walkthrough of the opencast mine, and to assess any visual changes to the opencast mine.
  • the point cloud data points may be added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine.
  • the image processing tool preferably is able to use the orthophoto, the orthoimage, DTM, DSM, DEM, 3D textured mesh, and the point cloud data points, in order to generate a digital twin of the opencast mine.
  • the digital twin may be analyzed by determining true distance calculation, equipment filter, haul road quality report, contour, exportable features, and stock volume.
  • the automated survey may be conducted at least two times with any time interval difference, preferably a minimum of 24 hours between the automated surveys conducted on Day 1 and the automated survey conducted on Day 2.
  • the automated survey may be generated by calculating the difference between the point cloud data points obtained on Day 1 and the point cloud data points obtained on Day 2.
  • the Mine Specific Drone Analytics tool is used to calculate cut volume or fill volume of the opencast mine, which is defined by calculating the difference between the point cloud data points obtained on Day 1 and the point cloud data points obtained on Day 2.
  • the volume of the open cast mine is defined as below:
  • Volume of the opencast mine Point Cloud Data Points obtained on Day 1 - Point Cloud Data Points obtained on Day 2
  • the Mine Specific Drone Analytics tool is able to import at least two sets of point cloud data points simultaneously in order to calculate the volume of the opencast mine.
  • the volume of the opencast mine is one of cut volume of the opencast mine or a fill volume of the opencast mine.
  • the Mine Specific Drone Analytics tool is able to import the point cloud data points defined in a Cartesian co-ordinate system (x,y,z) format and all 3D representing coordinate system formats.
  • the Mine Specific Drone Analytics tool allows a user to edit, analyze and view the point cloud data points.
  • the Mine Specific Drone Analytics tool is preferably able to analyze the volume of the opencast mine, gradient, and other mining specific analytics.
  • the Mine Specific Drone Analytics tool is able to analyze the point cloud data points by determining true distance calculation, equipment filter, haul road quality report, contour, exportable features, and stock volume.
  • the true distance is defined as the actual distance on ground between two points, assessed both using the real-time distance as well as the distance between two point cloud data points, measured in meters or km.
  • the equipment filter is defined as the requirement to remove equipment used (preferably, the UAV) in order to or nullify the effect of the equipment, while generating the digital twin, which is otherwise present in realtime, and can affect the calculations.
  • the 3D points of the equipment are compressed and merged to the nearest level ground in the digital twin, thus giving us a smooth surface so that the earth works volume calculation can be done accurately.
  • the haul road quality is defined as the analysis of a main road amidst the location of the opencast mine, which connects a mine pit to a mine dump.
  • the haul road quality is determined by calculating gradient slope of the road (measured in degrees), condition of the main road, and whether it is free of any debris and potholes, and presence of any bottlenecks and banking present on the main road.
  • the contour is defined as lines joining points of the same elevation in the point cloud data points generated, represented in the Cartesian co-ordinate system on the Z-axis.
  • the stock volume is defined as the calculation of volume of stock for the desired material which shall be obtained from the opencast mine, and is pre-determined from datum or ground level, measured in tonnes, or cubic meters.
  • the automated survey is preferably utilized to generate the realistic 3D model of the opencast mine, and stockpile management, quarry management and operation planning, and drilling and blasting of the opencast mine.
  • the method to generate the automated survey of the opencast mine using the UAV is used to generate the automated survey of the large piles of aggregate matter.
  • the large piles of aggregate matter form a conical shape, which is difficult to estimate manually.
  • the automated survey allows a cost-effective and economical solution to an otherwise traditional approach of a manual technique of flying a manned aircraft over the large piles of aggregate matter to estimate the volume of the large piles of aggregate matter.
  • the method to generate the automated survey of the opencast mine using the UAV is utilized for the purpose of quarry management, and operation planning.
  • the UAV is able to generate an accurate model of the quarry, which allows mine surveyors to carry out the operation planning efficiently and in a safe manner in order to assess a volume of material to be extracted or moved from the quarry.
  • the automated survey also enables the mine surveyors to determine and optimize haul roads present in the vicinity of the quarry, in order to be cost efficient and fuel efficient, and to meet the required standards.
  • the method to generate the automated survey of the opencast mine using the UAV is used to generate the automated survey for the purpose of drilling and blasting of the opencast mine.
  • the automated survey is preferably used to determine blast sites and drill sites of the opencast mine.
  • the automated survey generated before blasting, and the automated survey generated after the blasting at the blast site, is compared to for calculating the volume of the blasted material at the opencast mine, and to determine the cost and the amount of explosives required for the blasting, the time required to be spent on the opencast mine, and the requirements of drilling at the opencast mine.
  • an advantage of the present invention is that the method is free of manual intervention during mine surveying, and is automated and void of errors.
  • an advantage of the present invention is that the method is cost-efficient and safe for mine surveyors.
  • an advantage of the present invention is that the method is less laborious, time -efficient, and automated.
  • an advantage of the present invention is that the method saves 60% of the cost per hour required in a manual mine surveying session.
  • an advantage of the present invention is that the method is easily repeatable, and doesn’t require highly skilled personnel required for manual surveying techniques.
  • an advantage of the present invention is that the method is able to accurately measure productivity of the opencast mine on a daily basis (24hrs) which in present scenario is just estimated. It can also help find the productivity and efficiency of the deployed Equipment which is a big key factor for any mine owner.

Abstract

The present invention relates to a method for generating an automated survey and analysis of an opencast mine using an Unmanned Aerial Vehicle (UAV), and comprises the steps of carrying out a mission planning session, data acquisition, data processing and analysis to obtain an automated survey and analysis of the opencast mine. The mission planning session further comprises the steps of analyzing a total area of interest using a mission planning tool. Ground Control Point(s) are mapped using a Differential Global Positioning System survey. The Ground Control Point(s) are uniformly distributed within the total area of interest. The Unmanned Aerial Vehicle is set up for physically capturing images of the total area of interest using set parameters for the Unmanned Aerial Vehicle. The Unmanned Aerial Vehicle is operated to capture the images of the total area of interest and to capture the mapped Ground Control Point(s) obtained by using the Differential Global Positioning System. The images of the total area of interest are processed to generate point cloud data points using an image processing tool. The point cloud data points are added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine.

Description

A METHOD FOR GENERATING AN AUTOMATED SURVEY AND ANAEYSIS OF AN OPENCAST MINE USING AN UNMANNED AERIAL VEHICLE
FIEED OF THE INVENTION
The present invention generally relates to mine surveying, and particularly relates to a method for generating an automated survey and analysis of an opencast mine using an Unmanned Aerial Vehicle.
BACKGROUND OF THE INVENTION
In the field of mining, a competitive market has resulted in a decrease in margins. Hence, there is a need for mining companies to increase their operational efficiencies. One of the ways to advance the techniques of mining is to introduce automation and technology into the mining industry. Survey is one such area of mining which can be revolutionized by using advanced methods of surveying. Additionally, mining has also proven to be an accident-prone industry. Therefore, using automated technology will aid the mine surveyors to be safe and out of harm’s way. Using advanced methodology, the mine surveyors will be able to generate mining surveys with an upgrade in its capability and efficiency. The mining survey industry currently utilizes instruments like AUTO-LEVEL, THEODOLITE and TOTAL STATION. The main limitation while using these instruments is, that they have to be operated manually, thus leaving room for human error. In order to eliminate any manual errors, the mining industry should rely on automated surveying methodologies and processes. One such automated methodology is the use of an Unmanned Aircraft Vehicle (UAV) for capturing the area of interest to be further analyzed by automated tools. The UAVs are equipped to carry non-dispensable payloads like a number of photogrammetric sensors for surveying, monitoring & mapping, and are able to deliver advanced, comprehensive, and real-time data, which can be used for generating precise and error-less mining surveys.
Furthermore, over the years, different tools and software have been utilized for generation, editing and analyzing the point cloud data points used in obtaining a mine survey. There are different software programs available for generation, viewing, editing and analyzing the data each, but a conducive tool is required to aid in smooth functioning and help the mine surveyor to generate the mine survey efficiently and in a lucid manner. OBJECTIVES OF THE INVENTION
The main objective of the present invention is to provide method for generating an automated survey and analysis of an opencast mine using an Unmanned Aerial Vehicle.
Another objective of the present invention is to provide an automated method that upgrades the capability and efficiency of mine surveying.
Yet another objective of the present invention is to provide a method that is free of manual error.
Yet another objective of the present invention is to provide a method that is safe for the use of mining surveyors, and allows the mining surveys to be protected from accidents during mining surveys.
Further another objective of the present invention is to provide a method for generating automated survey of an opencast mine using a mine specific drone analytics tool which allows for specific analytics of mining surveys, which is essential in mine production management.
Further another objective of the present invention is to able to accurately measure productivity of the opencast mine on a daily basis (24hrs) which in present scenario is just estimated. It can also help find the productivity and efficiency of the deployed Equipment which is a big key factor for any mine owner. The main formula used is
Volume of the opencast mine = Point Cloud Data Points obtained on Day 1 - Point Cloud Data Points obtained on Day 2
These and other objectives of the present invention will be apparent from the drawings and descriptions herein. Every objective of the invention is attained by at least one embodiment of the present invention.
SUMMARY OF THE PRESENT INVENTION The present invention relates to a method for generating an automated survey and analysis of an opencast mine using an Unmanned Aerial Vehicle (UAV), and comprises the steps of carrying out a mission planning session, data acquisition, data processing and analysis to obtain an automated survey and analysis of the opencast mine. The mission planning session may further comprise the steps of analyzing a total area of interest using a mission planning tool. Ground Control Point(s) may be mapped using a Differential Global Positioning System survey. The Ground Control Point(s) may be uniformly distributed within the total area of interest. The Unmanned Aerial Vehicle may be set up for physically capturing images of the total area of interest using set parameters for the Unmanned Aerial Vehicle. The Unmanned Aerial Vehicle may be operated to capture the images of the total area of interest and to capture the mapped Ground Control Point(s) obtained by using the Differential Global Positioning System. The images of the total area of interest may be processed to generate point cloud data points using an image processing tool. The point cloud data points may be added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine.
BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS
The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure. The present invention will be described in more detail herein after with the aid of the description which relates to preferred embodiments of the invention explained with reference to the accompanying schematic drawings, in which:
Figure 1 represents a schematic representation of flowchart of the methodology
Further, skilled artisans will appreciate that elements in the figures are illustrated for simplicity and may not have been necessarily been drawn to scale. For example, the flow chart illustrates the method in terms of the most prominent steps involved to help to improve understanding of aspects of the Present invention. Furthermore, in terms of the construction of the product, one or more components of the product may have been represented in the figures by conventional symbols, and the figures may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the figures with details that will be readily apparent to those of ordinary skill in the art having benefit of the description herein.
DETAILED DESCRIPTION OF THE INVENTION
The following description includes the preferred best mode of one embodiment of the present invention. It will be clear from this description of the invention that the invention is not limited to these illustrated embodiments but that the invention also includes a variety of modifications and embodiments thereto. Therefore, the present description should be seen as illustrative and not limiting. While the invention is susceptible to various modifications and alternative constructions, it should be understood, that there is no intention to limit the invention to the specific form disclosed, but, on the contrary, the invention is to cover all modifications, alternative constructions, and equivalents falling within the spirit and scope of the invention as defined in the claims.
As used herein, the singular forms “a”, “an” and “the” designate both the singular and the plural, unless expressly stated to designate the singular only.
Although the invention has been described with reference to specific embodiments, this description is not meant to be construed in a limiting sense. Various modifications of the disclosed embodiments, as well as alternate embodiments of the invention, will become apparent to persons skilled in the art upon reference to the description of the invention. It is therefore contemplated that such modifications can be made without departing from the spirit or scope of the present invention as defined.
The present invention relates to a method for generating an automated survey of an opencast mine using an Unmanned Aerial Vehicle (UAV), and comprises the steps of carrying out a mission planning session, data acquisition, data processing and analysis to obtain an automated survey and analysis of the opencast mine. In one embodiment, the mission planning session may further comprise the steps of analyzing a total area of interest using a mission planning tool. Ground Control Point(s) may be mapped using a Differential Global Positioning System survey. The Ground Control Point(s) may be uniformly distributed within the total area of interest. The Unmanned Aerial Vehicle may be set up for physically capturing images of the total area of interest using set parameters for the Unmanned Aerial Vehicle. The Unmanned Aerial Vehicle may be operated to capture the images of the total area of interest and to capture the mapped Ground Control Point(s) obtained by using the Differential Global Positioning System. Preferably, the UAV, when flying, is distinctively able to capture the GCPs, which have been laid down in the area of interest. The images of the total area of interest may be processed to generate point cloud data points using an image processing tool. The point cloud data points may be added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine.
In a preferred embodiment, The UAV is set up for physically capturing the overlapping images of the total area of interest comprising the GCPs, using set parameters. The UAV flies autonomously, with the set parameters fixed pre-flight of the UAV. The UAV captures multiple images of the opencast mine with a pre-set overlap. The images captured by the UAV of the opencast mine contain the images of the GCPs of the opencast mine, as well which were laid down in the area of interest before the flight with the help of DGPS. The images may be processed to generate point cloud data points using an image processing tool. The point cloud data points may be added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine, as referred to in Fig. 1.
In another embodiment, the total area of interest may be obtained by measuring total area, elevation changes, shape of the total area of interest, aerial zone within the total area of interest, and permission structure. In a preferred embodiment, the area of interest is defined as the area on the ground/land which needs to be surveyed. The elevation changes are defined as the undulations of earth or the profile of the earth surface is not a smooth curve, and hence the changes in height are called as elevations changes, represented on the ‘Z’ axis on a Cartesian coordinate system, and is measured in metres. The shape of area of interest may be of regular shape or of irregular shape. The more regular and smooth shape of area of interest, the easier it is to perform the automated survey and analysis. The aerial zone is defined as the location where the automated survey and analysis needs to be performed. It is necessary to be aware if there are any restrictions imposed on the total area of interest. The information is available on the public sites run officially by the Indian Govt. The permission structure is defined as the location is restricted then there is a specific way in which one can get permission.
In another embodiment, the set parameters for the UAV include height, overlap of image, speed of drone, and angle of camera. The height is defined as the distance from the takeoff point or the ground from which the survey is taken, and is measured using metres. The overlap image is defined as the common area in two different photographs captured by the UAV. Overlap between the 2 images should ideally be more than 75% since only then the 3D information can be extracted from 2 photographs. The Overlap is of two types, frontal overlap, and side overlap. The frontal overlap is defined as the overlap observed in the image captured while the UAV is moving in a forward direction. The side overlap is defined as the overlap observed in the image captured by the UAV, when the UAV shifts in a sideways direction. The speed of drone is defined as the forward moving speed at which the drone moves while capturing photos, measured in m/s. The angle of camera is defined as the angle of the camera mounted on the UAV through gimbal. Preferably, the angle of the camera mounted on the UAV is nadir, which is vertically facing downwards to the ground, measured in degrees. The angle of camera for generating the automated survey and analysis is preferably 45 degrees. The angle of camera set at 45 degrees is best able to capture building structures, slopes and other details of the geographical landscape.
In another embodiment, the automated survey and analysis may be conducted at least two times with a minimum of 24 hours between the automated survey conducted on Day 1 and the automated survey conducted on Day 2.
In another embodiment, using the automated survey and analysis obtained, cut quantity or fill quantity may be generated by calculating the difference between the point cloud data points obtained on Day 1 and the point cloud data points obtained on Day 2.
In another embodiment, the Mine Specific Drone Analytics tool allows a user to edit, analyze and view the point cloud data points.
In another embodiment, the Mine Specific Drone Analytics tool analyzes the Digital twin created using the point cloud data points.
In another embodiment, the digital twin (3D point cloud data) may be analyzed by determining true distance calculation, equipment filter, haul road quality report, contour, exportable features, and stock volume. The true distance is defined as the actual distance on ground between two points, assessed both using the real-time distance as well as the distance between two point cloud data points, measured in meters or km. The equipment filter is defined as the requirement to remove equipment used (preferably, the UAV) in order to or nullify the effect of the equipment, while generating the digital twin, which is otherwise present in real-time, and can affect the calculations. The 3D points of the equipment are compressed and merged to the nearest level ground in the digital twin, thus giving us a smooth surface so that the earth works volume calculation can be done accurately. The haul road quality is defined as the analysis of a main road amidst the location of the opencast mine, which connects a mine pit to a mine dump. The haul road quality is determined by calculating gradient slope of the road (measured in degrees), condition of the main road, and whether it is free of any debris and potholes, and presence of any bottlenecks and banking present on the main road. The contour is defined as lines joining points of the same elevation in the point cloud data points generated, represented in the Cartesian coordinate system on the Z-axis. The stock volume is defined as the calculation of volume of stock for the desired material which shall be obtained from the opencast mine, and is pre-determined from datum or ground level, measured in tonnes, or cubic meters.
In a preferred embodiment, the present invention relates to a method for generating an automated survey of an opencast mine using an Unmanned Aerial Vehicle (UAV) comprises the steps of carrying out a mission planning session. Preferably, the opencast mine is one of an open-pit mine, large piles of aggregate matter, or a quarry.
In another preferred embodiment, the mission planning session further comprises the steps of analyzing a total area of interest using a mission planning tool. The mission planning session is further comprise the steps of analyzing a total area of interest using a mission planning tool. The total area of interest is analyzed by measuring total area, elevation changes, shape of the total area of interest, aerial zone within the total area of interest, and permission structure. The area of interest is defined as the area on the ground/land which needs to be surveyed. The elevation changes are defined as the undulations of earth or the profile of the earth surface is not a smooth curve, and hence the changes in height are called as elevations changes, represented on the ‘Z’ axis on a Cartesian coordinate system, and is measured in metres. The shape of area of interest may be of regular shape or of irregular shape. The more regular and smooth shape of area of interest, the easier it is to perform the automated survey and analysis. Preferably, the aerial zone is defined as the location where the automated survey and analysis needs to be performed. It is necessary to be aware if there are any restrictions imposed on the total area of interest. The information is available on the public sites run officially by the Indian Govt. The permission structure is defined as the location is restricted then there is a specific way in which one can get permission. In a preferred embodiment, the Ground Control Point(s) are be mapped using a Differential Global Positioning System survey. The Ground Control Point(s) may be uniformly distributed within the total area of interest. The Unmanned Aerial Vehicle may be set up for physically capturing images of the total area of interest using set parameters for the Unmanned Aerial Vehicle. The Unmanned Aerial Vehicle may be operated to capture the images of the total area of interest and to capture the mapped Ground Control Point(s) obtained by using the Differential Global Positioning System. Preferably, the UAV, when flying, is distinctively able to capture the GCPs, which have been laid down in the area of interest.
In a preferred embodiment, the point cloud data points that are generated from the images via image processing tool are of the accurate to anywhere between 3-5cm mapped on a Cartesian coordinate system of (x, y, z). The UAV is set up for physically capturing the images of the area of interest comprising the GCPs which are already laid down in the field using set parameters. The set parameters for the UAV include height, overlap of image, speed of drone, and angle of camera. The overlap of photos may be performed by overlapping of a frontal image and a side angle image. Preferably, the mission planning tool used is one of DJI Pilot, DJI Go 4, Pix4D capture or any other app/tool which falls into the category of flight mission planning for UAV/drones.
In another preferred embodiment, the UAV captures the images of the total area of interest, along with the GCPs established using the DGPS survey. The UAV utilized is preferably one of quadcopter, hexacopter, or fixed wing. The UAV is contains a high resolution camera as part of the UAV’s payload. The high resolution camera may be operated by a user in an automated mode to capture the image of the opencast mine. Preferably, the UAV utilized is one of DJI Phantom 4 RTK, Matrice 300RTK, Phantom 4Pro or any other UAV. Preferably, the UAV, equipped with the high resolution camera, captures an image of an open-pit mine or a quarry. The UAV is configured with pre set overlapping percentages for the images to be generated, predetermined angle of camera and height. The set parameters for the UAV are decided based upon the required output in terms of the resolution, and accuracy.
In another preferred embodiment, the images may be processed to generate point cloud data points using an image processing tool. The images captured by the UAV are added to the image processing tool, which processes the images and generates point cloud data points of the area of interest captured via the images by the UAV. Preferably, the image processing tool utilized is one of Pix4D Mapper, Agisoft, PCI Geomatica, Bentley MicroStation or any other image processing tools. The image processing tool is preferably able to generate an orthophoto, an orthoimage, a Digital Terrain Model (DTM), Digital Surface Model (DSM), Digital Elevation Model (DEM), 3D textured mesh, and the point cloud data points. The image processing tool is preferably able to generate realistic 3D model of the opencast mine, which is utilized to perform a virtual walkthrough of the opencast mine, and to assess any visual changes to the opencast mine.
In another preferred embodiment, the point cloud data points may be added to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine. The image processing tool preferably is able to use the orthophoto, the orthoimage, DTM, DSM, DEM, 3D textured mesh, and the point cloud data points, in order to generate a digital twin of the opencast mine. The digital twin may be analyzed by determining true distance calculation, equipment filter, haul road quality report, contour, exportable features, and stock volume.
In another preferred embodiment, the automated survey may be conducted at least two times with any time interval difference, preferably a minimum of 24 hours between the automated surveys conducted on Day 1 and the automated survey conducted on Day 2. The automated survey may be generated by calculating the difference between the point cloud data points obtained on Day 1 and the point cloud data points obtained on Day 2. Preferably, the Mine Specific Drone Analytics tool is used to calculate cut volume or fill volume of the opencast mine, which is defined by calculating the difference between the point cloud data points obtained on Day 1 and the point cloud data points obtained on Day 2. The volume of the open cast mine is defined as below:
Volume of the opencast mine = Point Cloud Data Points obtained on Day 1 - Point Cloud Data Points obtained on Day 2
In another preferred embodiment, the Mine Specific Drone Analytics tool is able to import at least two sets of point cloud data points simultaneously in order to calculate the volume of the opencast mine. Preferably, the volume of the opencast mine is one of cut volume of the opencast mine or a fill volume of the opencast mine. Preferably, the Mine Specific Drone Analytics tool is able to import the point cloud data points defined in a Cartesian co-ordinate system (x,y,z) format and all 3D representing coordinate system formats. In another preferred embodiment, the Mine Specific Drone Analytics tool allows a user to edit, analyze and view the point cloud data points. The Mine Specific Drone Analytics tool is preferably able to analyze the volume of the opencast mine, gradient, and other mining specific analytics. The Mine Specific Drone Analytics tool is able to analyze the point cloud data points by determining true distance calculation, equipment filter, haul road quality report, contour, exportable features, and stock volume. The true distance is defined as the actual distance on ground between two points, assessed both using the real-time distance as well as the distance between two point cloud data points, measured in meters or km. The equipment filter is defined as the requirement to remove equipment used (preferably, the UAV) in order to or nullify the effect of the equipment, while generating the digital twin, which is otherwise present in realtime, and can affect the calculations. The 3D points of the equipment are compressed and merged to the nearest level ground in the digital twin, thus giving us a smooth surface so that the earth works volume calculation can be done accurately. The haul road quality is defined as the analysis of a main road amidst the location of the opencast mine, which connects a mine pit to a mine dump. The haul road quality is determined by calculating gradient slope of the road (measured in degrees), condition of the main road, and whether it is free of any debris and potholes, and presence of any bottlenecks and banking present on the main road. The contour is defined as lines joining points of the same elevation in the point cloud data points generated, represented in the Cartesian co-ordinate system on the Z-axis. The stock volume is defined as the calculation of volume of stock for the desired material which shall be obtained from the opencast mine, and is pre-determined from datum or ground level, measured in tonnes, or cubic meters. The automated survey is preferably utilized to generate the realistic 3D model of the opencast mine, and stockpile management, quarry management and operation planning, and drilling and blasting of the opencast mine.
Preferably, the method to generate the automated survey of the opencast mine using the UAV is used to generate the automated survey of the large piles of aggregate matter. The large piles of aggregate matter form a conical shape, which is difficult to estimate manually. The automated survey allows a cost-effective and economical solution to an otherwise traditional approach of a manual technique of flying a manned aircraft over the large piles of aggregate matter to estimate the volume of the large piles of aggregate matter.
Preferably, the method to generate the automated survey of the opencast mine using the UAV is utilized for the purpose of quarry management, and operation planning. The UAV is able to generate an accurate model of the quarry, which allows mine surveyors to carry out the operation planning efficiently and in a safe manner in order to assess a volume of material to be extracted or moved from the quarry. The automated survey also enables the mine surveyors to determine and optimize haul roads present in the vicinity of the quarry, in order to be cost efficient and fuel efficient, and to meet the required standards.
Preferably, the method to generate the automated survey of the opencast mine using the UAV is used to generate the automated survey for the purpose of drilling and blasting of the opencast mine. The automated survey is preferably used to determine blast sites and drill sites of the opencast mine. The automated survey generated before blasting, and the automated survey generated after the blasting at the blast site, is compared to for calculating the volume of the blasted material at the opencast mine, and to determine the cost and the amount of explosives required for the blasting, the time required to be spent on the opencast mine, and the requirements of drilling at the opencast mine.
The two features of the Mine Specific Drone Analytics tool are -
(a) To import two point clouds simultaneously and calculate the difference in cut/fill volume.
(b) To flatten the equipment so that the cut/fill volume estimation can be accurate. Preferably, the 3D points captured of the UAV itself are com pressed and merged with the nearest level possible of the GCPs available. This gives a smooth surface and emulates the surface of the opencast mine, as if the equipment was not present there.
It will be apparent to one with skill in the art that many changes, modifications and variations can be made without departing from the inventive concept disclosed in the embodiments described above. Accordingly, it is intended to embrace all such changes, modifications and variations that fall within the spirit and scope of the claims given below.
ADVANTAGES OF THE PRESENT INVENTION
Exemplary embodiments for providing a method for generating an automated survey of an opencast mine using an Unmanned Aerial Vehicle discussed above may provide certain advantages. Though not required to practice aspects of the disclosure, these advantages may include those provided by the following features. In one embodiment, an advantage of the present invention is that the method is free of manual intervention during mine surveying, and is automated and void of errors.
In another embodiment, an advantage of the present invention is that the method is cost-efficient and safe for mine surveyors.
In another embodiment, an advantage of the present invention is that the method is less laborious, time -efficient, and automated.
In another embodiment, an advantage of the present invention is that the method saves 60% of the cost per hour required in a manual mine surveying session.
In another embodiment, an advantage of the present invention is that the method is easily repeatable, and doesn’t require highly skilled personnel required for manual surveying techniques.
In another embodiment, an advantage of the present invention is that the method is able to accurately measure productivity of the opencast mine on a daily basis (24hrs) which in present scenario is just estimated. It can also help find the productivity and efficiency of the deployed Equipment which is a big key factor for any mine owner.

Claims

WE CLAIM:
1. A method for generating an automated survey and analysis of an opencast mine using an Unmanned Aerial Vehicle comprising the steps of:
(a) carrying out a mission planning session, wherein the mission planning session further comprises the steps of: analyzing a total area of interest using a mission planning tool; mapping Ground Control Point(s) using a Differential Global Positioning System survey, wherein the Ground Control Point(s) are uniformly distributed within the total area of interest; setting up the Unmanned Aerial Vehicle for physically capturing images of the total area of interest using set parameters for the Unmanned Aerial Vehicle;
(b) operating the Unmanned Aerial Vehicle to capture the images of the total area of interest and to capture the mapped Ground Control Point(s) obtained by using a Differential Global Positioning System;
(c) processing the images of the total area of interest to generate point cloud data points using an image processing tool; and
(d) adding the point cloud data points to a Mine Specific Drone Analytics tool to generate the automated survey and analysis of the opencast mine.
2. The method claimed in claim 1, wherein the total area of interest is obtained by measuring total area, elevation changes, shape of the total area of interest, aerial zone within the total area of interest, and permission structure.
3. The method as claimed in claim 1, wherein the set parameters for the Unarmed Aerial Vehicle include height, overlap of image, speed of drone, and angle of camera.
4. The method as claimed in claim 1, wherein the automated survey is conducted at least two times, with a minimum of 24 hours between the automated survey conducted on Day 1 and the automated survey conducted on Day 2.
5. The method as claimed in claim 4, wherein the automated survey is generated by calculating the difference between the point cloud data points obtained on Day 1 and the point cloud data points obtained on Day 2.
6. The method as claimed in claim 1, wherein the Mine Specific Drone Analytics tool allows a user to edit, analyze and view the point cloud data points.
7. The method as claimed in claim 1, wherein the Mine Specific Drone Analytics tool generates a digital twin of the opencast mine using the point cloud data points.
8. The method as claimed in claim 7, wherein the digital twin is analyzed by determining true distance calculation, equipment filter, haul road quality report, contour, exportable features, and stock volume.
PCT/IB2023/050386 2022-04-21 2023-01-17 A method for generating an automated survey and analysis of an opencast mine using an unmanned aerial vehicle WO2023203389A1 (en)

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