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 to perform a post-drilling operation.
• 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 for producing drill holes or a loading device for loading an object into a drill hole.
• the feed beam guides the supported apparatus 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.
• a drill hole is produced in the intended drill hole position in accordance with the drill plan.
• deviations from the predetermined drill plan occur frequently during a drilling operation due to rock anisotropy and limitations of a drilling machine.
• the drill holes are not formed exactly according to the drill plan.
• a drilling operation proceeds continuously and is deemed complete when all drill holes are formed according to the drill plan.
• the drilling equipment is removed from the last drill hole to allow a post-drilling operation which often requires a separate process of alignment of the feed beam to enable loading of an object into each drill hole.
• a post-drilling operation may be a logging operation wherein a logging tool such as a sensing or measuring instrument, a sampling tool, an analysing tool, an inspecting tool or an imaging tool, is loaded into the drill hole to collect actual data concerning the drill hole.
• a logging tool such as a sensing or measuring instrument, a sampling tool, an analysing tool, an inspecting tool or an imaging tool
• Another post-drilling operation may be a blasting operation wherein an explosive package, a feeding or charging means for explosives is loaded into the drill hole.
• Yet another post-drilling operation may be an operation of rock bolt reinforcement wherein a rock bolt is loaded into the drill hole before or after a process of grouting.
• Yet another post-drilling operation may be a cleaning operation wherein a cleaning tool is loaded into the drill hole.
• the mining rig Before alignment of the feed beam for loading an object into a drill hole the mining rig is placed in a suitable position where a post-drilling operation is to be performed, which may be facilitated by using predetermined data obtained from the drill plan.
• the feed beam of the mining rig is then translated and rotated until the correct position and orientation that is required for loading the object into the drill hole 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 to enable a post-drilling operation performed by a post-drilling unit, which post-drilling unit comprises a loading device mounted on the feed beam and configured to load an object into a drill hole.
• the method comprises obtaining data concerning the drill hole, which drill hole data comprising a 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 hole data, 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 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 load the object into the drill hole.
• 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 loading an object into a drill hole, which facilitates a post-drilling operation 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 drill hole data is actual data obtained by means of at least one operation selected from a group consisting of a scanning operation, a logging operation and a drilling operation.
• the drill hole data is predetermined data obtained from a drill plan, which drill plan is predetermined before the drill hole is produced.
• 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/or 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.
• a display such as a monitor
• a virtual reality (VR) device such as a VR headset
• 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 drill hole position.
• the method comprises indicating a predicted position of a virtual 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 virtual drill hole can then move the feed beam of the mining rig until the predicted position of the virtual drill hole coincides with the actual 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 hole data includes information concerning at least one of the following: a hole start position of the drill hole, a direction of the drill hole, a dimension of the drill hole, such as a hole end point, a length of the drill hole, an azimuth of the drill hole, an elevation of the drill hole.
• the drill hole data may include any relevant information about one or more drill holes 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 order to enable a postdrilling operation performed by a post-drilling unit, which post-drilling unit comprises a loading device mounted on the feed beam and configured to load an object into a drill hole.
• 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 data concerning the drill hole, which drill hole data comprising a 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 hole data, 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 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 load the object into the drill hole.
• 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 comprise a post-drilling unit with a loading device configured to load an object into a drill hole,
• 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
• 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.
• 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 for producing drill holes, loading device for loading an object into a drill hole, 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 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 drill hole position.
• 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.
• 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.
• 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 For carrying out a post-drilling operation, it is often necessary to load an object into a drill hole in a tunnel wall 30.
• An operator 18 must align the feed beam 26 of the mining rig 10 to ensure that the object is loaded into the drill hole.
• 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.
• 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 data concerning a drill hole.
• the drill hole data may be obtained by means of at least one operation selected from the group consisting of a scanning operation, a logging operation and a drilling operation.
• the drill hole data may also be obtained from a drill plan, which drill plan is predetermined before the drill hole is produced.
• the drill hole data may comprise information concerning one or more intended drill hole positions 36, drill hole start positions 36s, drill hole end points 36e, and the length of each drill hole.
• Figure 2 shows a rock bolt pattern to be installed in a rock surface 30, whereby two drill holes are provided in the 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 hole data, 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 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 load an object into the drill hole for performing a postdrilling operation.
• a spherical coordinate system may be used for establishing the orientation of the feed beam 26 relative to the orientation of the 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 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 a loading device 28 of the mining rig 10 is able to load an object into the drill hole.
• 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 to enable loading of an object into a drill hole.
• 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 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 to enable loading of an object into a drill hole.
• 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 virtual 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 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 a different location in the mining environment 12, and the feed beam 26 may be aligned so that the mining rig 10 can load a second object into a second drill hole.

Landscapes

• Engineering & Computer Science (AREA)
• Mining & Mineral Resources (AREA)
• Life Sciences & Earth Sciences (AREA)
• Geology (AREA)
• General Life Sciences & Earth Sciences (AREA)
• Geochemistry & Mineralogy (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• Environmental & Geological Engineering (AREA)
• Fluid Mechanics (AREA)
• Earth Drilling (AREA)

Applications Claiming Priority (1)

Publications (1)

Family

ID=85873623

Family Applications (1)

Country Status (4)

Families Citing this family (2)

Family Cites Families (7)

• 2023
  • 2023-03-22 EP EP23715273.1A patent/EP4684094A1/de active Pending
  • 2023-03-22 WO PCT/SE2023/050248 patent/WO2024196287A1/en not_active Ceased
  • 2023-03-22 CN CN202380096232.9A patent/CN120917214A/zh active Pending
  • 2023-03-22 AU AU2023438436A patent/AU2023438436A1/en active Pending

Also Published As

Similar Documents

Legal Events