A mine borehole system

Abstract

The present invention relates to a mine hole system. The system includes a sensory probe for moving along a mine hole. The probe includes an Inertial Measurement Unit (IMU) for providing inertial data as the probe moves along the hole. The probe also includes a LidAR (Light Detection and Ranging) sensor for providing LiDAR data as the probe moves along the hole. The system includes a processor for processing the inertial data and the LiDAR data to generate a model of the hole. Advantageously, the model may relate to the geometry of the hole and may be more accurate and comprehensive than known caliper techniques.

Description

A MINE BOREHOLE SYSTEMTECHNICAL FIELD

[0001] The present invention generally relates to a mine borehole system.BACKGROUND

[0002] The reference to any prior art in this specification is not and should not be taken as an acknowledgement or any form of suggestion that the prior art forms part of the common general knowledge.

[0003] Detailed mineralogy detection is conventionally obtained by quantitative mineralogy assay performed in a laboratory. This process is slow, typically taking between several weeks to months to complete.

[0004] The preferred embodiment provides for more rapid mineralogy analysis.

[0005] Mine borehole geometry can be broken down to trajectory and cross- sectional area. Known probes that attempt to measure borehole cross sectional area typically include caliper arms that extend out from the probe body. Over the depth of the borehole, each caliper detects the width of the borehole along a vertical trajectory, generating one vertical line of hole width readings per arm. The maximum reading each arm can measure is restricted to the physical extension of the caliper arm. Changes in borehole geometry between caliper arms are not measured.

[0006] The preferred embodiment provides improved mapping of geological boreholes, improving the knowledge of the mine and thus improving safety among other benefits.SUMMARY OF THE INVENTION

[0007] According to one aspect of the present invention, there is provided a mine hole system including: a sensory probe for moving along a mine hole, the probe including:an Inertial Measurement Unit (IMU) for providing inertial data as the probe moves along the hole; and a LidAR (Light Detection and Ranging) sensor for providing LiDAR data as the probe moves along the hole; and a processor for processing the inertial data and the LiDAR data to generate a model of the hole.

[0008] Advantageously, the model may relate to the geometry of the hole and may be more accurate and comprehensive than known caliper techniques. The model may be a 3D model representing the surface of the hole. The processing may involve using the LiDAR data transformed using the inertial data and probe depth information.

[0009] The system may further include an encoder for sensing the depth of the probe moving along the hole. The system may further include at least one winch for winching the probe along the hole. The winch may include at least one winch line coupled to the probe. The winch line may include one or more cables in communication with the IMU and LidAR sensor.

[0010] The probe may further include an image capture device for capturing images as the probe moves along the hole. The system may further include a spectroradiometer for sensing and / or scanning spectral data as the probe moves along the hole. The model may relate to the mineralogy of the hole by performing classification of the sensed and / or scanned spectral data.

[0011] The model may be visual and include captured visual images, spectral data, and / or mineralogy. The model may be represented as a point cloud, or a mesh, including points that are geographically aligned to world coordinates or points that are aligned to a relative origin, as opposed to known single lines of trajectory which are less accurate. The model may include bore hole geometric surface data coupled with mineralogical data. The model may further include visual RGB images textured on the points. The model may further include spectral components, such as pseudo colour, superimposed on the points.

[0012] The system may be mobile, preferably carried by a vehicle, so that the model can be generated for analysis at the hole site.

[0013] According to another aspect of the present invention, there is provided a mine hole sensory probe for moving along a mine hole, the probe including: an Inertial Measurement Unit (IMU) for providing inertial data as the probe moves along the hole; and a LidAR (Light Detection and Ranging) sensor for providing LiDAR data as the probe moves along the hole; wherein the inertial data and the LiDAR data can be used to generate a model of the hole.

[0014] According to another aspect of the present invention, there is provided a mine hole method including: providing inertial data as a probe moves along a mine hole; providing LiDAR data as a probe moves along the hole; and processing the inertial data and the LiDAR data to generate a model of the hole.

[0015] The method may involve sensing the depth of the probe. The above step of processing may involve transforming points using the inertial data and the depth. The points may be processed to create the model, the model including a 3D surface model. The method may involve displaying the model as a 3D model illustrating the internal structure of the hole.

[0016] The points may be aligned to real-world geographical coordinates. The points may include mineralogical classification data. The mineralogical classification data may include image pixel RGB data and / or spectral information (e.g. pseudo RGB colour).

[0017] The method may involve overlaying mineralogical data on the model. The method may involve overlaying visual data on the model.

[0018] According to another aspect of the present invention, there is provided a mine hole sensory probe for moving along a mine hole, the probe including: an Inertial Measurement Unit (IMU) for providing inertial data as the probe moves along the hole; and a contactless sensor for providing range data without the need to contact the earth as the probe moves along the hole;wherein the inertial data and the range data can be used to generate a model of the hole.

[0019] Any of the features described herein can be combined in any combination with any one or more of the other features described herein within the scope of the invention.BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Preferred features, embodiments and variations of the invention may be discerned from the following Detailed Description which provides sufficient information for those skilled in the art to perform the invention. The Detailed Description is not to be regarded as limiting the scope of the preceding Summary of the Invention in any way. The Detailed Description will make reference to a number of drawings as follows:

[0021] Figure 1 is a rear view of a mine borehole system in accordance with an embodiment of the present invention;

[0022] Figure 2 is a 3D geometric view of a transportable model generated using the mine borehole system of Figure 1 ; and

[0023] Figure 3 shows spectral data of the model of Figure 2;

[0024] Figure 4 shows exemplary identification of borehole mineralogy and geometry using the model of Figure 2; and

[0025] Figure 5 is a flowchart showing the processing steps for generating the model of Figure 2.DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0026] According to an embodiment of the present invention, there is provided a transportable mine borehole system 100 as shown in Figure 1.

[0027] The system 100 includes a multi-sensor probe 102 for moving along a borehole 104. The descending probe 102 includes an Inertial Measurement Unit (IMU) 106 for sensing acceleration, orientation, angular rates, and other gravitational forcesand providing associated inertial data as the probe 102 moves down along the borehole 104. The probe 102 also includes a LiDAR (Light Detection and Ranging) sensor 108 for sensing ranges and providing associated borehole topographical LiDAR data as the probe 102 moves (ascends and / or descends) along the borehole 104. The LiDAR sensor 108 is a contactless sensor for providing the pulsed laser range data without the need to contact the earth as the probe moves along the hole 104. Further, the sensor probe 102 includes an image capture device 110 for capturing images as the probe 102 moves down along the borehole 104.

[0028] The system 100 also includes a laptop 112 for processing the inertial data and the LiDAR data to generate a three-dimensional (3D) model of the borehole 104. Advantageously, the model relates to the geometry of the borehole 104, and is more accurate and comprehensive than known caliper techniques.

[0029] The system 100 further includes a wireline winch 114 for winching the probe 102 by wire along the borehole 104. The winch 114 includes an encoder for sensing the depth of the probe 104 moving along the borehole. The system 100 further includes a fibre winch 116 for winching the probe 102 by optic fibre cable (fibre winch line) along the borehole 104. The winchlines are in communication with the IMU 106, LidAR sensor 108, image capture device 110 and processor 112.

[0030] Pulleys 118 mounted to a boom 120 are used to feed the optic fibre and wire winch lines.

[0031] The system 100 further includes a spectroradiometer 122, coupled to the optic fibre, for sensing radiation and providing associated scanning spectral data as the probe 102 moves up along the borehole 104. The model also relates to the mineralogy of the borehole 104 by performing spectral classification of this sensed spectral data which is light gathered from the internal wall of the borehole 104.

[0032] The mobile system 100 is carried by a four-wheel drive (4WD) vehicle 124, so that the model can be instantaneously generated for analysis at the site of the borehole 104 in the mine.

[0033] Turning to Figure 2, the 3D model 200 accurately represents the surface of the borehole 104. The model 200 is represented as a point cloud, or a mesh, includingpoints that are geographically aligned to world coordinates or points that are aligned to a relative origin, as opposed to known single lines of trajectory which are less accurate.

[0034] Turning to Figure 3, the model 200 includes bore hole geometric surface data coupled with mineralogical data. The 3D model 200 further includes visual RGB images textured on the points. Further, the 3D model includes spectral components, such as pseudo colour, superimposed on the points.

[0035] Aside from the capturedspectral data, Figure 4 shows that the model 200 also includes the geometry 400, mineralogy 402 and the captured visual images 404 along the depth of the borehole 104.

[0036] A mine borehole method using the system 100 is now briefly described.

[0037] As the probe is winched down along the borehole 104, the method involves sensing and providing: (1 ) the inertial data including rotation using IMU 106; (2) the LiDAR data using LiDAR sensor 108; (3) images using image capture device 110; (4) the depth of the probe using encoder of winch 114; and (5) spectral data using spectroradiometer 22.

[0038] In real time, the processor 112 processes the inertial data, LiDAR data, captured images, probe depth information and spectral data to generate the borehole model 200 as shown in the flowchart of Figure 5.

[0039] Turning to Figure 5A, the processing involves using the LiDAR data transformed using the inertial data and probe depth information. The processing involves transforming points using the rotational inertial data and the depth. The points are processed to create the 3D surface model which can be displayed to illustrate the internal structure of the borehole 104. The points are aligned to real-world geographical coordinates.

[0040] Turning to Figure 5B, the points include mineralogical classification data. The mineralogical classification data includes image pixel RGB data and spectral information (e.g. pseudo RGB colour). The method involves overlaying mineralogical data and visual data on the model 200.

[0041] Advantageously, the fused data from the probe 102 provides detailed mapping of mineralisation and hole geometry along the borehole 104. The fusion and interpretation of data from the probe 102 is used to create a detailed mineralogical model 200 of the ore body. The sensors 106, 108, 110 are conveniently packaged in the compact probe 102 that can robustly traverse the borehole 104.

[0042] Hardness, among other rock properties, can be inferred from the mineralogy. Knowledge of localised rock hardness and borehole geometry allow strategic placement of explosive energy. This in turn allows for optimal fragmentation and optimal bulk movement during blasting.

[0043] From the Lidar data, geological structures (e.g. faults, fractures, veins, bedding, etc.) can be mapped. Hence, a structural model can be built by correlating the structural mapping of a set of bore holes.

[0044] Knowledge of borehole mineralogy allows identification of the geometry and grade of ore body, which optimises efficiency and ore yield.

[0045] Construction of the detailed 3D mineralogy model 200 directly from the probe 102, rather than from chemical assay performed in a laboratory, allows faster decision making. The combination of the geographically aligned 3D mineralogy models provides a higher resolution of the mineralogy data than previously available through exploratory holes.

[0046] A person skilled in the art will appreciate that many embodiments and variations can be made without departing from the ambit of the present invention.

[0047] In compliance with the statute, the invention has been described in language more or less specific to structural or methodical features. It is to be understood that the invention is not limited to specific features shown or described since the means herein described comprises preferred forms of putting the invention into effect.

[0048] Reference throughout this specification to ‘one embodiment’ or ‘an embodiment’ means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrases ‘in one embodiment’ or ‘in anembodiment’ in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more combinations.

Claims

The claims defining the invention are as follows:1 . A mine hole system including: a sensory probe for moving along a mine hole, the probe including: an Inertial Measurement Unit (IMU) for providing inertial data as the probe moves along the hole; and a LidAR (Light Detection and Ranging) sensor for providing LiDAR data as the probe moves along the hole; and a processor for processing the inertial data and the LiDAR data to generate a model of the hole.

2. A mine hole system as claimed in claim 1 , wherein the model relates to the geometry of the hole.

3. A mine hole system as claimed in claim 1 , wherein the model is a 3D model representing the surface of the hole.

4. A mine hole system as claimed in claim 1 , wherein the processing involves using the LiDAR data transformed using the inertial data and probe depth information.

5. A mine hole system as claimed in claim 1 , further including an encoder for sensing the depth of the probe moving along the hole.

6. A mine hole system as claimed in claim 1 , further including at least one winch for winching the probe along the hole.

7. A mine hole system as claimed in claim 1 , further including at least one winch line coupled to the probe, the winch line including one or more cables in communication with the IMU and LidAR sensor.

8. A mine hole system as claimed in claim 1 , further including an image capture device for capturing images as the probe moves along the hole.

9. A mine hole system as claimed in claim 1 , further including a spectroradiometer for providing spectral data as the probe moves along the hole.

10. A mine hole system as claimed in claim 9, wherein the model relates to the mineralogy of the hole by performing classification of the spectral data.

11. A mine hole system as claimed in claim 1 , wherein the model is visual and includes captured visual images, spectral data, and / or mineralogy.

12. A mine hole system as claimed in claim 11 , wherein the model is represented as a point cloud, or a mesh, including points that are geographically aligned to world coordinates or points that are aligned to a relative origin, as opposed to known single lines of trajectory which are less accurate.

13. A mine hole system as claimed in claim 12, wherein the model includes: visual RGB images textured on the points; and / or spectral components superimposed on the points.

14. A mine hole system as claimed in claim 11 , wherein the model includes bore hole geometric surface data coupled with mineralogical data.

15. A mine hole system as claimed in claim 1 , wherein the system is mobile, being carried by a vehicle, so that the model can be generated for analysis at the hole site.

16. A mine hole sensory probe for moving along a mine hole, the probe including: an Inertial Measurement Unit (IMU) for providing inertial data as the probe moves along the hole; and a LidAR (Light Detection and Ranging) sensor for providing LiDAR data as the probe moves along the hole; wherein the inertial data and the LiDAR data can be used to generate a model of the hole.

17. A mine hole method including: providing inertial data as a probe moves along a mine hole; providing LiDAR data as a probe moves along the hole; and processing the inertial data and the LiDAR data to generate a model of the hole.

18. A method as claimed in claim 17, involving sensing the depth of the probe wherein the processing involves transforming points using the inertial data and the depth.

19. A method as claimed in claim 18, wherein the points are processed to create the model, the model including a 3D surface model, the method involving displaying the model as a 3D model illustrating the internal structure of the hole.

20. A method as claimed in claim 18, wherein the points are aligned to real-world geographical coordinates, the points including mineralogical classification data, the mineralogical classification data including image pixel RGB data and / or spectral information.21 . A method as claimed in claim 17, involving overlaying mineralogical data on the model and / or overlaying visual data on the model.

22. A mine hole sensory probe for moving along a mine hole, the probe including: an Inertial Measurement Unit (IMU) for providing inertial data as the probe moves along the hole; and a contactless sensor for providing range data without the need to contact the earth as the probe moves along the hole; wherein the inertial data and the range data can be used to generate a model of the hole.