METHOD AND DEVICE FOR DETERMINING THE POSITION OF A Mining AND / OR CONSTRUCTION MACHINE

Abstract

The invention relates to a method for determining the position of a mining and / or construction machine (100), comprising: determining the presence of a first marking (M1 to M4) and a second marking (M1 to M4) in the surroundings of the mining and / or construction machine (100) by identifying the geometry of the marking (M1 to M4); determining a direction and a distance from the mining and / or construction machine (100) to the first marking and the second marking, respectively; calculating a mutual distance between the first marking (M1 to M4) and the second marking (M1 to M4) using the determined distance and direction from the mining and / or construction machine (100) to the marking; identifying the first mark (M1 to M4) and the second mark (M1 to M4) by comparing the calculated mutual distance (dxy) between the first mark and the second mark with the mutual distance between the marks obtained from the representation of the positions of the plurality of marks; and determining the position of the mining and / or construction machine (100) using said determined direction and distance to the identified first and second markers (M1 to M4).

Description

[0001] This application is a divisional application of the invention with a filing date of December 19, 2019, application number 201980084012.8 and name “Method and device for determining the position of mining and / or construction machinery”. Technical Field

[0002] The invention relates to a method and an apparatus for determining the position of a mining and / or construction machine. The invention also relates to a computer program and a computer program product implementing the method according to the invention. The invention also relates to a mining and / or construction machine such as a drilling rig. Background Art

[0003] When drilling in rock, for example in mining, tunnelling, and / or when performing rock reinforcement installations, for example by installing rock bolts, it is often desirable or required that a correct positioning of a machine, such as a rock drill, can be achieved. In some applications, satellite positioning systems, such as, for example, GPS, may be utilized, but satellite navigation is often not available underground and may not always be available in terrestrial applications, for example due to obstructions in the satellite's line of sight. The accuracy provided by satellite navigation systems may also not always correspond to set requirements.

[0004] For example, there may be a desire for correct positioning with respect to the installation of reinforcement bolts to ensure that rock reinforcement is actually carried out to the intended extent and preferably at predetermined locations which may have been determined in order to ensure that the desired rock reinforcement is obtained. There may also be a requirement with respect to the installation of rock reinforcement, for example, with respect to recording the position of the installed reinforcement bolts in a satisfactory manner.

[0005] Furthermore, with regard to eg tunnelling, correct positioning of the rock drilling rig increases the likelihood of drilling a hole so that subsequent blasting ensures that the resulting rock excavation corresponds to the intended extension of the tunnel.

[0006] Similarly, correct positioning of a drill rig can reduce the excavation of excess rock when excavating, for example, an ore body. For profitability reasons, it is often desirable to ensure that mining is carried out in locations where rock containing unprofitable ore content does not need to be mined. In addition, machinery utilized in, for example, spraying concrete on tunnel walls and other surfaces may require correct positioning to ensure that the concrete lining is applied to the desired extent.

[0007] Further examples of situations where correct positioning is desired may include, for example, LHD (Load-Haul-Dump) machinery and excavation of larger cavities (galleries) in rock.

[0008] The above situations have in common that the position of the drilling rig must be accurately determined; and therefore, the position of the drilling rig can be accurately measured after the drilling rig is maneuvered to a new location and before a new round of drilling begins.

[0009] This positioning can be performed by using a total station in combination with prisms arranged in the surroundings of the drilling rig, for example on a rock wall. In addition, prisms are arranged on the drilling rig. The total station can then be set in a position where at least two rock wall prisms are within the field of view of the total station and the prism of the drilling rig is also within the field of view of the total station. Positioning can then be performed in a conventional manner, for example by an ore surveyor using the total station to determine the position of the drilling rig. Alternatively, the total station can include a scanning function that enables the total station to automatically scan the surroundings and thereby identify the presence of rock wall prisms.

[0010] When a prism has been identified, the angular direction and the distance from the total station to the prism are determined. This determination is performed for at least two prisms arranged on a rock wall in the surroundings of the drilling rig.

[0011] Similarly, the prisms of the drilling rig are identified and the directions and distances to these prisms are determined in the same way by the total station. These data can then be sent, for example, from the total station to the drilling rig for processing, wherein the position of the drilling rig can be determined from the received data.

[0012] The resulting positioning of the drill rig can then be used to ensure drilling is performed at the desired location, and after completing a round of drilling, the drill rig can be moved to a subsequent position for drilling a new round of holes, where the position of the drill rig can be determined again as described above to ensure drilling is performed at the desired location. Summary of the invention

[0013] The object of the present invention is to provide a method and an apparatus enabling accurate and time-efficient determination of the position of a mining and / or construction machine, such as any of the machines exemplified above, and which may also allow positioning for use in navigation while the mining and / or construction machine is in motion.

[0014] According to the invention, this object and other objects are achieved by a method according to claim 1 .

[0015] According to the invention, a method for determining the position of a mining and / or construction machine is provided, wherein a first marker at a first position and a second marker at a second position different from the first position are arranged in the surroundings of the mining and / or construction machine. The markers have a defined geometric form, and the method comprises:

[0016] determining the presence of a first marker and a second marker in the surroundings of the mining and / or construction machine by recognizing a geometric form of the marker;

[0017] determining a direction and a distance from the mining and / or construction machine to the first marker and the second marker, respectively;

[0018] calculating a mutual distance between a first marker and a second marker using said determined distance and direction from the mining and / or construction machine to the marker;

[0019] identifying the first marker and the second marker by comparing the calculated mutual distance between the first marker and the second marker with known mutual distances between the markers obtained from a representation of the positions of the plurality of markers; and

[0020] The determined direction and distance to the identified first and second markers are used to determine the position of the mining and / or construction machine.

[0021] As mentioned above, there is generally a general desire to be able to accurately position mining and / or construction machinery, such as in particular drilling rigs, which may for example be drilling rigs used for rock excavation such as in mining and / or tunnelling and / or drilling rigs arranged for rock reinforcement by installing rock bolts or other reinforcement devices.

[0022] Furthermore, as described above, one method for locating a mining and / or construction machine is to use a total station that can be set at a distance from the mining and / or construction machine but still within its field of view and also within the field of view of at least two prisms, which can be attached to the rock wall, for example. The total station has traditionally been operated manually by an operator who uses rock wall markings and markings on the drill rig to locate the drill rig, but in order to automate this manual process, a system has been developed in which the total station is equipped with a rotating laser scanner to automatically scan the surroundings. The total station is then set up by the operator and a rotating laser is used to automatically detect a reflective prism that reflects a laser beam emitted by the rotating laser scanner.

[0023] When the rock wall prism and the drill rig prism have been detected and the distance and direction from the total station to these prisms have been determined, this data is sent to the drill rig, for example using Bluetooth or any other suitable and preferably wireless communication means.

[0024] The control system of the drilling rig uses the received data to calculate the position of the drilling rig in a coordinate system, for example the global coordinate system of the tunnel / mine. If a prism arranged on the drilling rig has a defined position in the local coordinate system of the drilling rig, the position of the drill head can also be determined according to the "global" coordinate system used in the mine / tunnel. In this way, an accurate positioning of the drill head and therefore also accurate knowledge of the installation of rock reinforcements such as bolts, for example, can be obtained in this way. However, although this method can provide an accurate positioning of the drilling rig, the process is also time-consuming.

[0025] Typically, it takes several minutes to identify, scan and determine the various distances and directions using a laser scanner. This in turn means that after the drill rig has moved to a new location, it will take several minutes before it can be established whether the drill rig is actually in a position where the desired drilling can take place, or whether it needs to be repositioned before drilling can begin.

[0026] Therefore, there exists a need for an improved method for positioning a mining and / or construction machine, such as a rock drill.

[0027] According to an embodiment of the invention, alternatively, a method for locating a mining and / or construction machine, such as a drilling rig, is provided, which method allows the position of the mining and / or construction machine to be determined within a relatively short period of time and which method can also be used when the machine is in motion and can therefore also be used as a navigation tool.

[0028] Similar to the above, according to the invention, markers arranged in the surroundings of the machine are utilized in the determination of the position, wherein the markers can be attached to, for example, a tunnel / rock wall or other suitable location in such a way that the position of the marker is fixed and does not change. However, these markers differ from prior art prisms in that the markers have a defined geometric form, i.e. the markers are three-dimensional (3D) objects.

[0029] The presence of these markers in the surroundings of the machine is then determined by identifying the geometric form of the markers, wherein a first marker is located at a first position and a second marker is located at a second position different from the first position. According to an embodiment of the present invention, a two-dimensional (2D) shape of the 3D form of the marker is detected and the 2D shape is used to identify the form of the marker and thereby the presence of the marker.

[0030] A direction and a distance from the mining and / or construction machine to each of the first and second markers are determined, and a mutual distance between the first and second markers, i.e. a distance between the first and second markers, is calculated using the determined distances and directions from the mining and / or construction machine to the markers.

[0031] The markers are then identified by comparing the calculated mutual distances between the markers with known mutual distances between the markers obtained from a representation of the positions of a plurality of markers in the surroundings of the mining and / or construction machine.

[0032] The representation of the markers may for example be a list representation comprising the position of each of the markers in the surroundings of the machine or any other suitable representation. The positions may be expressed as coordinates in a coordinate system such as for example a global coordinate system of the surroundings of the machine, for example a global coordinate system of a tunnel or a mine, or any other suitable coordinate system. Given such positioning data, it is straightforward to calculate the distances between the markers thus known.

[0033] When the calculated mutual distance between the first marker and the second marker corresponds to a mutual distance between two markers obtained from the representation of the plurality of markers, the first marker and the second marker may be determined as markers of the representation having a corresponding mutual distance.

[0034] In this way, the identities of the first and second markers and thus the positions of the first and second markers can be obtained from the representation of the markers in the surroundings of the machine. The determined directions and distances to the first and second markers are then used to determine the position of the mining and / or construction machine, the positions of the first and second markers being determined according to the above.

[0035] Thus, the present invention provides a method in which a marker is identified in such a way that the marker is detected by detecting a defined form of the marker, for example by detecting the shape of the marker. This enables the detection process to be much faster than other solutions, which not only shortens the time taken from the relocation of the machine until drilling can start, but can also be used in the navigation of the machine so that when the machine stops, it is essentially known that the machine is actually at the desired location.

[0036] According to an embodiment of the invention, the distance and direction are determined for more than two markers, and the mutual distance of more than one pair of markers can be determined, thereby determining the identity of more than two markers, and thereby determining the position of more than two markers, which can improve the accuracy of the determination of the position of the mining and / or construction machine. In this case, the position of the mining and / or construction machine can also make use of the distance and direction to more than two markers.

[0037] According to an embodiment of the invention, at least two camera devices arranged on a mining and / or construction machine are used to identify markers in the surroundings of the mining and / or construction machine.

[0038] According to an embodiment of the present invention, a first image is captured using a first camera arranged on a mining and / or construction machine, and a second image is captured using a second camera arranged on a mining and / or construction machine. The cameras are displaced a certain distance relative to each other. According to an embodiment of the present invention, the camera is an IR camera or a camera provided with an IR filter. According to an embodiment of the present invention, other types of cameras can be used. For example, a camera responsible for any other frequency / wavelength spectrum other than infrared radiation, such as visible light, can be used. The camera can also be a stereo camera.

[0039] The camera devices may be displaced relative to each other by a distance in a transverse direction relative to the longitudinal axis of the mining and / or construction machine and / or may be displaced in the longitudinal direction of said axis and / or be arranged at different heights of the mining and / or construction machine. The camera devices may be configured to point generally in the same parallel direction, e.g. parallel to the longitudinal axis of the mining and / or construction machine. Alternatively, the camera devices may be angled relative to each other and the camera devices may be configured to point inwards or outwards relative to a vertical plane passing through the longitudinal axis of the mining and / or construction machine. According to an embodiment of the invention, the camera devices are pointed along the horizontal plane of the mining and / or construction machine, but the camera devices may also be angled relative to the horizontal plane of the drilling rig, i.e. upwards or downwards.

[0040] According to an embodiment of the invention, the images are configured to be taken simultaneously. This is advantageous when the machine is in motion, avoiding reduced accuracy caused by movement of the machine between the points in time at which the images are taken. According to an embodiment of the invention, the images are taken sequentially instead. For example, when the machine is stationary, the images may be taken sequentially without an undesirable reduction in accuracy.

[0041] The presence of the first and second markings may then be determined by identifying the geometrical form of the first and second markings using image processing of the images captured by the camera device. For example, the markings may show a distinguishable brightness relative to the surroundings of the markings, which may be used to identify the markings. This may be the case, for example, if the markings are provided with a reflective coating.

[0042] As an alternative or in addition, the marker can be illuminated when the image is captured by the camera. This can be achieved, for example, by using a flash, such as an IR flash or other flash adapted to the wavelength sensitivity of the camera, and / or by using a self-luminous marker when capturing the image. The marker can also be configured to emit light when hit by a flash, that is, to start self-luminescence when triggered by the flash. The marker can include a detector that detects when the marker is hit by light of a specific wavelength, and the marker can start self-luminescence in response to the detection. The self-luminescence can then be maintained for a predetermined period of time to turn it off while waiting for a subsequent trigger of the self-luminescence. The marker can be configured to emit light with a wavelength suitable for detection by the camera and facilitating the distinction of the marker relative to other objects in the surrounding environment of the machine. The wavelength emitted by the marker can be IR or any other suitable wavelength, and the wavelength is adapted to the sensitivity of the camera. The marker can also be configured to be permanently illuminated, for example, as long as the marker is in use, which can be, for example, days or weeks. The marker can also be configured to emit an identifier, for example, by emitting light of a specific frequency, which can then be identified, for example, in image processing, so that the identification of the marker can be facilitated in this way. The marker may also transmit, for example, a radio beacon identifying the marker, thereby facilitating identification of a marker that has been detected, for example, by image processing.

[0043] The position of the marker in the image can then be used to determine the distance and direction to the marker.Due to the displacement of the cameras relative to each other, each marker will be located at a different position in the image taken by the camera.

[0044] According to an embodiment of the present invention, when determining the distance to the marker, the coordinates of a reference point of the marker, such as the center point of the marker, in the images captured by each of the cameras are determined and utilized. The reference point of the marker may be, for example, the center of a 3D marker, such as the center of a sphere.

[0045] The coordinates of the reference point of the marker can then be used to calculate the direction of the reference relative to the cameras, where the direction to the marker is calculated for each camera.

[0046] The direction may be determined relative to a reference of the camera, where the reference may be represented by a point in the image. For example, the reference may be the axis of a lens of the camera, which axis may be represented by a point in the image.

[0047] A mark placed in a straight line along the axis of the lens of the camera device will be located in the middle of the image, while the further to the left the mark is relative to the axis of the lens of the camera device, the further to the left the mark will be in the image, and vice versa. Thus, the direction regarding the azimuth relative to the axis of the camera device and regarding the direction regarding the elevation angle in a similar manner can be determined relative to a reference axis of the camera device, such as, for example, the axis of the lens of the camera device.

[0048] These directions and distances between the cameras are then used to determine the distance to the marker.

[0049] The mutual distance between the first marker and the second marker can be determined using the direction and distance to each of the first marker and the second marker, and the direction and distance to each of the first marker and the second marker have been determined based on the image captured by the camera device and the distance between the cameras.

[0050] To facilitate identification of the marker in the image, the marker may be illuminated when the image is captured, for example through the use of a flash or self-luminescence of the marker.

[0051] In addition, according to an embodiment, the inclination of the mining and / or construction machine in the transverse direction and / or longitudinal direction may also be used in the determination of the position of the machine. Knowledge of the inclination of the machine may reduce the likelihood of incorrectly identifying a marker, i.e. mistaking it for another marker. Furthermore, without knowing the inclination, there may be two possible solutions for the position of the machine. However, in case a previous position of the machine has been determined, this may be used to determine which of the possible positions is the correct position. Furthermore, in case one of the possible positions is determined to be, for example, inside rock, this may be used to infer that the other possible position is the position of the machine.

[0052] The markings may also be arranged always at different heights and or at different mutual distances relative to each other to facilitate identification of the markings.

[0053] However, in case three or more markers are identified, the position of the machine can always be correctly determined without requiring knowledge of the inclination of the machine.

[0054] With regard to at least the first and second markings, these markings may have the same geometrical form, for example the form of a sphere. However, the markings may also have different geometrical forms. For example, one marking may have the form of a sphere and the other marking may have the form of a cube or the form of a tetrahedron. A single marking may also consist of two or more objects, for example two or more spheres, and different markings may include different numbers of objects.

[0055] The camera device may be attached to the mining and / or construction machine in such a way that a specific position of the camera device, such as the center of the focal plane of the camera device or any other suitable position, is determined in the coordinates of the local coordinate system of the mining and / or construction machine. In this way, when the position of one or both cameras is determined in the coordinate system of the machine's surroundings, in principle any position on the machine can be converted into a position expressed in the coordinate system of the machine's surroundings. For example, in case the mining and / or construction machine is a drilling rig, the position and orientation of a drilled hole can be accurately determined in the coordinates of the coordinate system of the drilling rig's surroundings.

[0056] According to an embodiment of the invention, a laser, such as a rotating laser, is used instead of a camera. The laser can essentially be a laser of the type used in the prior art, but in which the laser does not scan a prism but instead scans a geometric shape / form of a marker, such as a sphere, for example. The laser can be configured to scan 360°, or any suitable fraction of a complete rotation. For example, the laser can be arranged to scan only backward relative to the general direction of movement / operation of the mining and / or construction machinery. It is also possible to use, for example, a laser array or any other suitable type of laser scanner for measurement. The reflected light from multiple points on the marker can then be detected by the laser and used in signal processing, so that the geometric shape / form can be identified based on the signal received by the laser. The marker can also be configured to emit light that can be detected by a scanning laser. Since the laser scanner does not need to scan specific reflection points of the prism, but instead scans the shape, the identification of the marker can be much faster than according to the prior art. The distance can be determined by conventional laser measurement and can therefore be automatically detected by the scanner. This solution therefore provides similar advantages as when using a camera. In this case, it is sufficient to use a single laser scanner, i.e., no pair of scanners is required. Having knowledge of the rig's tilt may also be beneficial when performing positioning.

[0057] According to an embodiment of the invention, the mining and / or construction machine is a rock drilling rig comprising a carrier and one or more booms, for example one, two or three or four booms attached to the carrier. At least one of the one or more booms may be configured to carry an associated tool, wherein the tool may be directly attached to the outer / distal end of the boom via one or more connections or may be displaceably arranged, for example, on a feed beam (feeder) carried at the outer end of the boom.

[0058] The tool may for example be a bolting tool, which may include a drilling machine for drilling holes for reinforcement bolts, and which may also include means for carrying and installing rock reinforcement bolts. Alternatively, the tool may also alternatively be a drilling machine for excavation, for example in mining and / or tunneling, or any other suitable kind of tool. The tool may for example be driven hydraulically or pneumatically.

[0059] Each of the one or more booms may be individually attached to the carrier in such a way that the boom may be pivoted relative to the carrier via one or more articulated connections, the connection members, to allow raising / lowering of the boom and / or swinging the boom left / right relative to the longitudinal direction of the drilling rig.

[0060] Similarly, the tool / feeder may be attached to the outer, distal end of the boom using one or more connections, where such connections may include one or more hydraulic cylinders and / or one or more rotators.

[0061] According to an embodiment of the invention, a feeder for carrying a tool is attached to the outer end of the boom by means of at least two rotators, each rotator comprising a motor, such as a hydraulic motor, for rotating a motor output shaft, wherein the motor output shaft is connected to a gearbox input shaft, and wherein the gearbox reduces the speed of rotation of the gearbox output shaft relative to the gearbox input shaft. The rotation of the rotator is achieved by the rotation of the rotator motor output shaft, wherein the gearbox output shaft rotates relative to the motor.

[0062] The rotators may be arranged so that the output shaft of the gearbox of one rotator is attached to the boom and the output shaft of the gearbox of the other rotator is attached to the feeder. The rotators may be arranged relative to each other in such a way that there is an angle between the longitudinal axes of the rotators, wherein there may also be a connection between the rotators to enable the angle to be varied.

[0063] The drilling machine may be driven hydraulically or pneumatically.

[0064] The boom may be a telescopic boom, such that the boom length can be extended.

[0065] The vehicle may include a cabin to enable an operator to control the drilling process from the cabin.

[0066] The vehicle may include a propulsion system for propulsion / traction of the drilling rig, wherein the propulsion system may include wheels and / or continuous tracks and one or more power sources for propelling the drilling rig, such as one or more internal combustion engines and / or electric motors and / or hydraulic motors, wherein, in the case of using a hydraulic motor, the hydraulic motor may be driven by the internal combustion engine or the electric motor, for example via one or more hydraulic pumps.

[0067] The one or more power sources may also power one or more hydraulic pumps, which may be used to power implements attached to the boom.

[0068] Means for determining the presence of the first marker, such as a stereo camera or two or more cameras or a laser scanner, may be arranged on the carrier of the drilling rig. According to an embodiment of the invention, alternatively or additionally, these means are arranged on the boom or feeder of the drilling rig.

[0069] The drill rig may include pairs of cameras in different directions, such as forwards, backwards or to the side.

[0070] The camera device may be attached to the drilling rig so that the position of the drilling rig is determined in the coordinates of the local coordinate system of the drilling rig. By additionally determining the tilt of the vehicle or at least taking the tilt into account directly or indirectly in the calculation, any position on the drilling rig can be converted into a position expressed in the coordinate system of the surroundings of the drilling rig. For example, the position of the drill head and thus the position and direction of the drilled hole can be accurately determined in the coordinates of the coordinate system of the surroundings of the drilling rig.

[0071] The drilling rig may comprise a control system comprising at least one control unit, wherein the control unit controls various functions of the drilling rig, e.g. by suitable control of various actuators / motors / pumps etc. The calculations performed when determining the position of the drilling rig may be performed in such a control system, e.g. by such a control unit.

[0072] Corresponding advantages are obtained by corresponding system / device features. In particular, the invention also relates to a system, wherein the system may comprise means for determining the presence of a marker in the surroundings of a mining and / or construction machine and means for determining the direction and distance from the mining and / or construction machine to the marker. The determination of the presence may be arranged to be carried out when the marker is present in the surroundings of the mining and / or construction machine. The means for determining the presence, such as, for example, one or more camera devices or at least one laser scanner according to above, may be arranged on the mining and / or construction machine.

[0073] The system may also include means for calculating the mutual distances between markers using the determined directions and distances to the markers and means for identifying markers using the calculated mutual distances as described above. In addition, the system may include means for determining the position of a mining and / or construction machine using the determined directions and distances to the identified markers. Such markers may be arranged in the surroundings of the machine for use when determining the position of a particular machine or for general use of various machines such as mines or tunnels operating in the surroundings, wherein the position of the machine is determined by the system according to the invention. According to an embodiment of the invention, the system includes markers to be positioned in the surroundings of the machine. The system may also include mining and / or construction machinery, such as a drilling rig.

[0074] Further features of the present invention and advantages thereof are indicated in the detailed description of exemplary embodiments set forth below and in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The invention will now be described in more detail with reference to exemplary embodiments and with the aid of the accompanying drawings, in which:

[0076] Figure 1 Schematically illustrates a rock drilling rig according to an embodiment of the invention;

[0077] Figure 2 Schematically shown from above Figure 1 rock drilling rigs;

[0078] Figure 3 Schematically shows the surrounding environment including the marker Figure 1 rock drilling rigs;

[0079] Figure 4 An exemplary method according to the present invention is shown;

[0080] FIG. 5A to FIG. 5B schematically illustrates an image utilized in determining the position of a drilling rig according to an embodiment of the present invention;

[0081] Figure 5C The distance and direction from the drilling rig to the marker are shown schematically. DETAILED DESCRIPTION

[0082] As mentioned above, drilling rigs are used, for example, in tunneling and mining. There are various types of drilling rigs that can be utilized, for example, depending on the task at hand. For example, large drilling rigs can be used in the excavation of tunnels, wherein the drilling rig may include a carrier and a plurality of booms, for example two or three or four, attached to the carrier, and wherein the booms have associated drilling machinery. Such drilling rigs typically drill a relatively large number of holes according to a predetermined drilling plan. After a round of drilling is completed, the drilled holes are filled with explosives for subsequent blasting. The drilling rig is then relocated, and before a new round of drilling of holes can be started, a new determination of the position of the drilling rig is required.

[0083] About ore mining, can utilize other types of drilling rigs, wherein, in one round of drilling, usually drill less hole.In addition, after one round of drilling, the drilling rig moves to the new position for drilling, wherein, need again the position of the drilling rig be newly determined.

[0084] Furthermore, rock reinforcement is usually carried out both in mining and tunnelling, where drilling rigs designed for this purpose can be used. Such rock reinforcement drilling rigs usually consist of fairly small drilling rigs that usually do not remain stationary for a long period of time before being moved to reinforce subsequent parts of the rock cavity. Similar to the above, accurate positioning of the rock reinforcement drilling rig is usually required to ensure proper rock reinforcement. The period of time that a drilling rig of this kind remains stationary depends in particular on the requirements regarding the distance between the bolts, but can be, for example, about 30 minutes. These drilling rigs still require an accurate measurement of the position, and since the use of a total station to determine the position of the drilling rig may take a long time, the time of measurement may correspond to a large part of the total working time of the drilling rig at a specific location.

[0085] According to an embodiment of the present invention, a method is provided, which can be used for any of the above described types of drilling machines, and can also be used for any other types of mining and / or construction machines, i.e. also for other types of machines than drilling machines. However, for the sake of simplicity, the present invention will be exemplified below with reference to a rock reinforcement drilling machine.

[0086] Figure 1A drilling rig 100 for the installation of rock reinforcement bolts, for example for rock reinforcement during tunneling and mining, is schematically shown. The drilling rig 100 comprises a boom 101, one end 101a of the boom 101 being attached in such a way that it can be pivoted relative to a carrier 102, for example a vehicle, via one or more articulated connections according to the present example, and a feeder 103 carrying an anchor installation tool 104 is arranged on the other end 101b of the boom 101. The anchor installation tool 104 may be movable along the feeder 103 and may include a drilling machine for drilling a hole for a reinforcement bolt. The anchor installation tool 104 may also include, for example, a device for carrying and installing a rock reinforcement bolt. It should be understood that the present embodiment is only exemplary and that the drilling rig may carry any kind of tool, for example one or more drilling machines for excavating in mining and / or tunneling. Other kinds and / or additional tools may also be utilized.

[0087] Drilling rigs of the kind disclosed are known per se. According to the present example, the bolting tool 104 is hydraulically driven and powered by one or more hydraulic pumps 105, which in turn are driven by one or more electric motors and / or internal combustion engines 106 in a manner known per se. According to an embodiment of the invention, the tool is alternatively driven pneumatically, electrically or by water. The drilling process can be controlled by an operator from a cabin 107. Alternatively, the rock drilling rig can be remotely controlled or configured to operate automatically.

[0088] The drilling rig 100 further comprises a control system comprising at least one control unit 110, which controls various functions of the drilling rig 100, for example by suitable control of various actuators / motors / pumps, etc. A drilling rig of the disclosed kind may comprise more than one control unit, wherein each control unit may be respectively arranged to be responsible for a different function of the drilling rig 100. According to embodiments of the invention, the determination of the position of the drilling rig described below may be implemented in any suitable control unit of the drilling rig, such as the control unit 110. The functionality of the invention may also be divided between more than one control unit. According to embodiments of the invention, the calculation may alternatively or partially be performed at a remote location, in which case the image data captured by the camera device or the laser measurement results discussed below may be sent to the remote location for processing and / or positioning. The position data / processed data may then be sent to the drilling rig 100 after processing, preferably by means of any suitable wireless interface. Such wireless interfaces are typically present in mining and tunneling.

[0089] The control unit 100 includes a data processing unit, which performs the positioning according to the present invention described below based on the received signals and with the help of suitable calculations, and the data processing unit can, for example, be composed of a processor such as a digital signal processor, which is controlled by a computer program product built into the processor or connected to it, for example, a computer program generated by a suitable programming language and stored in a non-transitory computer memory.

[0090] In addition, according to this example, the drilling machine 100 includes a pair of camera devices 111, 112, one of which is located at Figure 1 As indicated in FIG. 1 , and according to this non-limiting example, these cameras are arranged on the rear of the cabin 107 and are generally pointed in a direction towards the rear of the drilling rig. Figure 2 1 . The drilling rig 100 is schematically shown from above in , and according to the present example, the camera devices 111 , 112 are mounted on the upper rear part of the cabin 107 and furthermore are spaced a distance d1 from each other in a transverse direction B relative to the longitudinal axis A of the drilling rig 100 .

[0091] The cameras 111, 112 may be fixedly attached to the drill rig in such a way that the cameras do not move relative to the drill rig 100, and the cameras 111, 112 may be configured to point generally in the same parallel direction. According to the present example, the cameras point rearward and parallel to the longitudinal axis A. Alternatively, however, the cameras may be angled relative to each other and thus configured to point inwards or outwards relative to a vertical plane passing through the longitudinal axis A of the drill rig. Furthermore, the cameras 111, 112 may be pointed along the horizontal plane of the drill rig, but may also be angled relative to the horizontal plane of the drill rig, i.e. upwards or downwards. Furthermore, it is contemplated that the camera device may include means for controlling the direction of the photographing, for example by rotation, so that the camera device and therefore the direction of the photographing may be adjusted relative to the drill rig. In such a case, it is preferred to utilize suitable means for accurately determining changes in the direction of the photographing, so that the positioning of the drill rig may still be accurately performed by knowledge of the direction of the photographing relative to, for example, the longitudinal axis A or other suitable reference. Such a device may, for example, constitute a sensor of any suitable kind or be integrated in the controller of one or more connections enabling the camera device to rotate. Furthermore, the drilling rig may also be provided with markers of the kind in question, which are attached to the drilling rig in such a way that they are within the angle of the field of view of the camera device. These markers - the positions of which may be stored, for example, in the control system of the drilling rig - may then be used to calibrate the position of the camera device in the same way as the drilling rig is positioned in the tunnel / mine. In this way, the camera device may be removably attached to the drilling rig without the need to use a device external to the drilling rig to calibrate the attachment itself, since the position of the camera device after attachment may be determined using the markers on the drilling rig instead.

[0092] The cameras 111, 112 may also be configured to capture IR images, for example by using an IR filter or as an IR camera.The camera may also be a camera sensitive to any other frequency / wavelength spectrum, such as visible light or any other suitable wavelength spectrum.

[0093] According to an embodiment of the present invention, the mutual distance d1 between the cameras 111, 112, for example between the axes of the camera lenses or any other suitable reference, may be about 0.1m to 5m, but any other suitable distance may be used, and the positioning of the cameras may be adapted, for example, to the type and size of the drilling rig to which the cameras are attached, and also to the maximum distance to the marks that the cameras are expected to recognize. Generally, the greater the distance between the cameras, the higher the accuracy. Furthermore, with regard to the positioning of the cameras on the drilling rig, the cameras may be adapted to the type and size of the drilling rig to which the cameras are attached, and also to the maximum distance to the marks that the cameras are expected to recognize. In general, the greater the distance between the cameras, the higher the accuracy. Furthermore, with regard to the positioning of the cameras on the drilling rig, the cameras may be adapted to the type and size of the drilling rig to which the cameras are attached. Figure 2The cameras 111, 112 may be aligned along the transverse axis of the drilling rig, as in the example, but may alternatively or additionally be displaced along or parallel to the longitudinal axis A of the drilling rig. In this case, the camera device therefore does not need to be displaced in the transverse direction. The camera devices 111, 112 may also be arranged to be attached at substantially the same height in the horizontal plane of the drilling rig, but may also be displaced in the vertical direction relative to the horizontal plane of the drilling rig.

[0094] Figure 3 Exemplary embodiments of the present invention are disclosed, wherein: Figure 3 Shows Figure 1 The drilling rig 100 in the figure is in the process of reinforcing rock in an excavated rock cavity 300, which may, for example, form part of a tunnel and wherein excavation progresses towards the left in the figure. Typically, when reinforcing rock, after installing one or more rock reinforcement bolts at a first position, the drilling rig typically advances in the excavation direction to a subsequent position for installing the rock reinforcement bolts. For example, the bolts may be installed at predetermined positions along the extension of the cavity being excavated. Thus, after installing one or more bolts at a first position, the drilling rig may be advanced a suitable distance, for example a predetermined number of metres, where the drilling rig is set up for further installation of rock reinforcement bolts. Thus with reference to Figure 3 , rock reinforcement may have been performed at various rig locations prior to the current location shown. Each time the rig is moved to a new location, the rig's position needs to be re-determined.

[0095] Figure 3 Also shown are a number of markers M1 to M4 attached to the rock surface of the cavity. As excavation progresses, and as the need arises to ensure the possibility of continuing to position the drilling rig, the markers M1 to M4 can be added and / or moved. The markers can be provided specifically for use by a rock reinforcement drilling rig, but it is also possible that these markers are already in place after previous positioning by one or more drilling rigs carrying out the actual excavation, and that they are positioned in the same way as with respect to the drilling rig 100.

[0096] According to the present invention, the markers M1 to M4 have a different kind of prism than the kind of prism usually used according to the prior art. The prior art prism is designed to reflect incident light from a single point of reflection. The position of the single point of reflection is then determined using the laser scanner of the total station as described above. On the other hand, according to the present invention, the marker alternatively has a defined and recognizable geometric form, wherein the geometric shape can be configured to reflect light. The reflective form can, for example, consist of a sphere, but can also have any other suitable geometric form that can be identified and distinguished from other objects in the surrounding environment of the machine. According to this example, a sphere is used, and the sphere can have a reflective coating. In addition, with respect to the markers M1 to M4, these markers can all include a single sphere with the same radius, but a single marker can also include two or more spheres (or objects of other geometric forms), and different markers can have different forms. The object is therefore an object with a 3D form, so that a defined 2D shape is displayed, for example, in an image captured by a camera device as described below.

[0097] An exemplary method 400 for determining the position of the drilling rig 100 will now be described with reference to FIG. 400 .

[0098] The method 400 starts with step 401, in which it is established whether the position of the drilling rig 100 is to be determined. The determination of the position can be initiated, for example, by the drilling rig control system 110. As long as no determination of the position is to be performed, the method remains in step 400. This is the case, for example, as long as the drilling rig has not been set in motion since the last determination of the position was performed. On the other hand, if it is determined that the position of the drilling rig 100 is to be determined, the method continues to step 402. This is the case, for example, if the drilling rig 100 is maneuvered to a new position for the installation of a rock reinforcement bolt. According to an embodiment of the present invention, for example, a transition from step 401 to step 402 can also be performed if it is determined that the drilling rig 100 is currently in motion, so that positioning can also be performed when the drilling rig 100 is in motion, and thus, the drilling rig 100 can be navigated when it is in motion using the position data obtained according to an embodiment of the present invention. Positioning can also be initiated, for example, if a predetermined period of time has elapsed since the last positioning was performed.

[0099] According to an embodiment of the present invention, it is also determined whether other conditions for positioning are met. For example, it may be required that the drilling rig 100 is not currently in operation, because vibrations generated during drilling may reduce the accuracy of the measurement results. Other requirements may also apply.

[0100] In step 403, in the present example in the form of a digital image, a photograph is taken by each of the cameras 111, 112. FIG. 5A to FIG. 5B, and are discussed further below. The images 501, 502 may be configured to be captured simultaneously, i.e., captured at exactly or generally exactly the same time using the two cameras 111, 112. This may be advantageous, for example, in the case where the drilling rig 100 is in motion and the determination of the position is used for navigation of the drilling rig, so that the movement of the drilling rig between the points in time when the images are captured does not negatively affect the accuracy of the positioning. For example, if the drilling rig 100 is stationary, the images may also be arranged to be captured sequentially. When the images have been captured, the method continues to step 403, in which image processing is used to identify markers present in the images 501, 502. The image processing may be performed, for example, using suitable processing means in the control unit 110.

[0101] FIG. 5A to FIG. 5B Examples of images captured by the imaging devices 111 and 112 are shown. Figure 5A shows an image captured by the camera 112, and Figure 5B An image captured by a camera device 111 is shown. The figure shows only an image representation of the markers M1, M2. The image is highly simplified and, for reasons of simplicity, only the markers M1, M2 are disclosed. In principle, at least within the scope of the camera devices 111, 112, at least the marker M3 should also be present in the figure. However, it is taken into account that the following calculations are performed for more than one pair of markers, for example to increase the certainty of the determination and / or possibly to increase the accuracy of the determination. However, it may be advantageous to use the markers closest to the drilling rig 100 to reduce measurement errors. The image or any suitable digital representation thereof is analyzed to identify the markers. This is performed by recognizing the geometry of the markers captured by the image.

[0102] As mentioned above, the marking is preferably reflective, for example by a reflective layer. This can facilitate detection of the marking. In particular, detectability can be improved by using a flash by the camera device 111, 112, which can be an IR flash or other flash that illuminates the marking when the image is taken. In this way, the difference in brightness in the image can be used to facilitate detection of the marking.

[0103] The image may be pixel analyzed and when the analysis software identifies the presence of a marker by detecting the shape of the marker, the image may be pixel analyzed by areas of the image having similar brightness forming the 2D shape of the marker. It is also contemplated that the image may be converted to a negative prior to image processing if this facilitates image processing.

[0104] When step 404 determines that at least two markers have been identified in each of the images, the method continues to step 405 where the positions of the markers are determined.

[0105] This is done by determining the mutual distances between the markers. In image processing, the center point of the shape or form of the marker is determined based on its position in the coordinate system of the image. This is done in Figure 5A and Figure 5B , where the x and z positions of the centers of markers M1 and M2 are shown, Figure 5A The image 501 is captured by the camera 112, and Figure 5B The image 502 is captured by the camera 111.

[0106] For example, regarding the marker M1, the center c of the marker M1 in the image captured by the imaging device 112 is 112,M1 The coordinate is x 112,M1 ,z 112,M1 . The center point can represent the center point of a 2D shape, but can also represent the center point of a 3D form, i.e. the center of a sphere. The advantage of using, for example, a sphere as a marker is that the center identified in the 2D shape will also represent the coordinates of the center of the sphere, even without requiring specific knowledge of the dimensions of the sphere. However, it is also considered that other points of the identified object can be used. When the center of a sphere (or other 3D object) is used as the position in the representation of the marker, it is not necessary to know the actual size of the marker, since the size does not need to be used in the calculations.

[0107] Typically, images have a resolution in which each pixel has a given size, and this will impose restrictions on the determination of the coordinates of the center point and the radius / diameter of the marker. However, analysis software suitable for the types used herein may be able to determine the center position by pixel analysis at a resolution higher than the resolution provided by the pixel resolution of the image. For example, in practice, the marker may be offset by half or other proportions of the offset pixel, and such an offset may be identified using suitable image processing, thereby improving the accuracy of positioning. There is commercially available software for performing image analysis according to the above, and such software may therefore be integrated in a system according to the present invention.

[0108] Since the cameras are spaced apart on the drilling rig 100, the images will differ in terms of where the centres of the markers M1, M2 are located in the image. This is due to the difference in angle from the camera to the markers, which is Figure 3 And still Figure 5C For example, the angular direction from the camera 111 to the marker M1 is different from the angular direction relative to the camera 112.

[0109] The difference in position in the image is FIG. 5A to FIG. 5B , where in particular the x-axis position is different. That is, with respect to the center 503, 504 of the image, the x112,M2 With X 111,M2 Different, and X 112,M1 With X 111,M1 Similarly, the distances in the z direction may be different from each other, especially if the drilling rig is tilted, for example. That is, Z 112,M2 Can be used with Z 111,M2 Different, and Z 112,M1 Can be used with Z 111,M1 According to an embodiment of the invention, these differences in pixel positions in the images are used to determine the distance and direction from the camera 111 , 112 , and hence the distance and direction from the drilling rig 100 , to the marker.

[0110] Digital images typically consist of rows and columns of pixels, and the coordinates of a pixel can be specified by the row and column containing the pixel, and the pixel position can be used to determine the direction from the camera to the marker, where, as described, the pixel position of, for example, the center of a marker can be determined with higher accuracy than provided by the pixels.

[0111] In this case, the determined center coordinates of the markers M1, M2 and the distance d1 between the cameras 111, 112 are used to calculate the distance d from the cameras 111, 112 to the markers M1, M2. 112,M2 d 111,M2 d 112,M1 d 111,M1 Since the distance d1 between the cameras is known, this can be done in a straightforward manner using conventional geometry, and the angles α, β, γ, γ from the reference direction of the cameras to the markers M1, M2 ——See Figure 5C The directions are represented by the centers 503, 503 of the images - which can be based on Figure 5A , Figure 5B Calculate the coordinates of .

[0112] For example, the distance d 111,M2 d 112,M2 The distance d1 and the angle α can be used. Calculate. Similarly, the distance d 111,M1 d 112,M1 It can be calculated using the distance d1 and the angles β and γ.

[0113] Given the known distance d1 between the cameras 111, 112 arranged on the drilling rig 100 and the determined distances and directions from the cameras 111, 112 to the markers M1, M2, the mutual distance d1 between the markers M1 and M2 that have not yet been identified can be determined in a straightforward manner, for example using direct geometric / vector calculus. xyIt should be understood that the order in which the calculations are performed is irrelevant to the present invention. In addition, where conventional mathematics permits, it is possible to use, for example, a method in which the final result is directly the distance d xy The expression in the calculation of .

[0114] When the distance d between the unrecognized markers M1 and M2 has been calculated xy When xy For identifying the markers M1 and M2. According to an embodiment of the present invention, the calculated distance d xy The distances between known markers in the known tunnel / mine are compared. In this case, a representation of known markers in the tunnel / mine, arranged, for example, on the cavity wall, is utilized. The representation may, for example, consist of a list of positions of the markers, expressed, for example, in xyz coordinates of a global coordinate system of the tunnel / mine. These positions may, for example, be represented by the center of the marker, for example, the center of a sphere in this example.

[0115] In principle, the positions of all markers currently set up for use in a tunnel / mine, expressed in the coordinate system of the mine, can be stored in a memory. These coordinates can then be used to calculate known distances between pairs of markers, e.g. Figure 3 The distance d 12 d 13 d 23 d 24 d 34 The distance d can then be xy The known mutual distances between the markers of the marker representation can be calculated when performing the calculation, but the mutual distances between pairs of markers can also be configured to already exist in the marker representation, so that the comparison with the obtained distance d can be performed directly. xy When it is found that the distance d xy The mutual distance of the matches is, for example, distance d 12 When the mutual distance mark, i.e., the mark M1, M2, can be regarded as FIG. 5A to FIG. 5B The marks identified in the image.

[0116] In case more than two markers are identified in the image, the mutual distances between more than one marker can be utilized and in this way the certainty can be increased since the potential influence in the identity of the markers can be verified by the additional mutual distances. Figure 3 , in the case where the marker M3 is also identified, the mutual distance d can be used 13 d 23 To increase the certainty that the detected markers are actually markers M1, M2.

[0117] However, if it is concluded that more than one pair of markers provides a possible solution, the positions of the markers can be compared with the last known position of the drilling rig; and if the last known position of the drilling rig is near a pair of markers, it can be assumed that the pair is a marker that has been identified in the image with a high degree of certainty, since the drilling rig rarely moves any particularly long distance between measurements. Alternatively or in addition, information can be stored about which parts have been excavated and which parts of the tunnel mine consist of rock, and if a possible position is found to be within solid rock, this position can be excluded. Data containing the positions / coordinates of the markers in the surroundings of the drilling machine can be provided to the drilling rig in any suitable manner, for example by using a memory card such as a flash memory or by wireless transmission. This data can be updated each time a marker is deleted or a new marker is added to the surroundings of the drilling machine. This also applies to those parts of the mine / tunnel that have already been excavated.

[0118] When the markers M1 , M2 have been identified and their coordinates in the global coordinate system of the drilling rig's surroundings are therefore known, the method continues to step 406 , in which the position of the drilling rig 100 is determined.

[0119] This can be done in a straightforward manner by determining the position of the cameras 111, 112 in the global coordinate system of the tunnel / mine using the known coordinates of the markers M1, M2 and the already determined distances and directions from the cameras to the markers. In principle, it may be sufficient to determine the position of one of the cameras relative to the markers in order to obtain the coordinates of the camera in the global coordinate system of the tunnel / mine.

[0120] Furthermore, the positions, coordinates of the cameras 111 , 112 when the cameras 111 , 112 are fixedly attached to the drilling rig are preferably stored in the control system of the drilling rig, wherein the coordinates are defined in a local / internal coordinate system of the drilling rig. Figure 1 Drilling rigs of the kind disclosed in usually have an internal coordinate system which is used, for example, to control the boom and the drilling machine, so that, for example, the position of the drill bit / tool ​​can be determined relative to a zero point or a reference point of the drilling rig, thereby enabling the exact position and orientation of the drilled hole and / or the bolt installation to be determined. The coordinate system may thus comprise a reference point consisting of any suitable point from which the internal coordinate system of the drilling rig is derived, any other suitable position on the drilling rig, preferably the position of the carrier and thus not on a part attached to the carrier by means of one or more connections. The position of a camera device 111, 112, which may be fixedly attached to the drilling rig, in particular, for example, the position of a lens, such as the centre point of the lens of the camera device and / or the centre point of the film plane, may be defined in a local coordinate system of the drilling rig, wherein the direction in which the camera device is pointing relative to the coordinate system of the drilling rig may also be stored.

[0121] The result of this is that when the position of one or both of the cameras 111, 112 in the global coordinate system of the tunnel / mine is determined according to the above, the position of the drill rig reference point in the coordinate system of the tunnel / mine can also be determined, wherein the position of the drill rig is thus determined very accurately. Since the orientation of the camera can be determined from the distance and direction to the marker, the orientation of the drill rig can also be determined in a conventional manner using the internal coordinate system of the drill rig, including any transverse / longitudinal tilt, to determine the position of the drill head and thus also the position of, for example, the hole being drilled and the bolt to be installed, which are then transformed in a straightforward manner into coordinates of the global coordinate system of the tunnel / mine.

[0122] According to an embodiment of the invention, the established position of the camera device can therefore be used to determine the inclination of the drilling rig in terms of lateral and / or longitudinal tilt. Since the position of the camera device is known in the local coordinate system of the drilling rig, the inclination can be calculated based on the knowledge of the camera device in the global coordinate system.

[0123] However, according to an embodiment of the invention, the drilling rig is also provided with a tilt sensor device measuring the lateral and / or longitudinal tilt of the drilling rig 100. The tilt sensor device may, for example, consist of a gyroscope or one or more acceleration sensors. In this case, the tilt data may be utilized in the positioning of the drilling rig, thereby establishing the tilt of an axis passing through, for example, the center point of the global coordinate system of the camera device relative to the mine, thereby facilitating the identification of the markers being identified by the camera device. However, as described above, such a sensor is not necessary, since the tilt of the drilling rig may alternatively be determined by determining the tilt of the camera device relative to the markers via image analysis. However, knowledge of the inclination of the drilling rig may simplify positioning, in particular when there are only two markers being identified.

[0124] When the position of the drilling rig has been determined in step 406, the method returns to step 401 to determine whether the position of the drilling rig is to be determined again, such as when the drilling rig is in motion, which may be the case. The present invention provides a solution for determining the position of the drilling rig, which can be accurately located in a short period of time. The recognition of geometric shapes according to the present invention is much faster than scanning a prism and detecting a single point of light reflected from the prism. The present invention also provides additional features, such as, for different marks, the geometric form of the mark can be different, thereby directly providing the identity of the mark. For example, the mark can include two or more spheres, which are identifiable by the construction of the mark. In addition, although spherical marks have been illustrated, any suitable geometric form such as, for example, a cube, a tetrahedron, etc. or any combination of different geometric forms can be used. However, as described above, a sphere can provide advantages over other geometric forms.

[0125] Furthermore, positioning has been exemplified above in the manner of performing different steps. However, it should be understood that one or more of these steps may be performed simultaneously when the mathematics permit. For example, it is not necessary to explicitly determine the position of the camera in the global coordinate system, but a coordinate transformation may be performed so that the global coordinates of the drill rig reference point are instead directly obtained. All such changes in calculations and coordinate transformations are within the technical scope of those skilled in the art.

[0126] Thus, a very accurate determination of the position of the drilling rig can be made. Furthermore, this determination of the position can be used in any suitable way. For example, the determination of the position according to the above can be used to ensure that drilling is carried out precisely at the intended location. Since the positioning can be carried out in a very short period of time, the positioning can also be used when navigating the drilling rig. In this way, it can be determined, for example, that the drilling rig is approaching the desired position, so that the drilling rig can be stopped precisely at the desired position. The time-sensitive positioning according to an embodiment of the present invention also has the advantage that the waiting time between the time when the drilling rig arrives at the position for drilling and the time when drilling can actually start can be reduced to a minimum, and thus productivity is increased.

[0127] Furthermore, when a requirement allows for determination of position, embodiments of the invention may be used to set new markers in the surroundings of the drilling rig by setting new markers if the location of the drilling rig is known and then determining the position of the new markers in a similar manner as above. The position according to global coordinates may then be stored in the control system and may also be sent to a remote location, for example for downloading to other machines. In principle, therefore, the operator of the drilling rig may set new markers as required as drilling / excavation progresses.

[0128] So far, the present invention has been described according to an embodiment in which two cameras are utilized in the determination of the position of the drilling rig. It is also contemplated that more than two cameras are utilized. For example, the drilling rig may include pairs of cameras in different directions, such as forward, backward or to the side. However, according to an embodiment of the present invention, not all cameras are used. Alternatively, a laser scanner may be utilized, essentially a laser of the type used in the prior art, but in which the laser does not scan a prism but instead scans the geometric form of a mark. The laser scanner then measures the reflected light from multiple points on the mark, so that the geometric shape / form can be identified using processing of the signal received by the laser. The mark can also be configured to emit light that can be detected by a scanning laser. Since the laser scanner does not need to scan specific reflection points of the prism but can instead scan the shape, the identification of the mark can be much faster than using a laser according to the prior art. In addition, the distance is automatically detected by such a scanner, which simplifies the determination once the mark is identified. Therefore, embodiments according to the present solution provide similar advantages as above. In this case, it is sufficient to use a single laser scanner. Also similar to above, having knowledge of the rig inclination when performing positioning may be beneficial.

Claims

1. A method for determining the position of a mining and / or construction machine (100), wherein: A first marker at a first position and a second marker at a second position different from the first position are arranged in the surroundings of the mining and / or construction machine (100), wherein the first marker and the second marker have a defined geometric form, the method comprising: determining the presence of the first and second markers in the surroundings of the mining and / or construction machine (100) by identifying the geometrical form of the first and second markers using a laser scanner, wherein a plurality of reflections from the first and second markers received by the laser are used to identify the geometrical form of the first and second markers; determining the direction and distance from the mining and / or construction machine (100) to the first marker and the second marker, respectively, by measuring using the laser scanner; calculating a mutual distance between the first marker and the second marker using the determined distance and direction from the mining and / or construction machine (100) to the first marker and the second marker; By calculating the mutual distance (d xy ) identifying the first marker and the second marker by comparing the first marker and the second marker with a known mutual distance between the first marker and the second marker obtained from a representation of the positions of a plurality of markers; and The determined direction and distance to the identified first and second markers are used to determine the position of the mining and / or construction machine (100).

2. The method according to claim 1, further comprising: The geometric forms of the first and second markers in the surroundings of the mining and / or construction machine (100) are identified by identifying a two-dimensional geometry of the three-dimensional geometry of the first and second markers.

3. The method according to claim 1 or 2, in, The representation of the positions of the plurality of markers comprises coordinates of the plurality of markers in a coordinate system of the surroundings of the mining and / or construction machine (100); and Wherein, the known distance is determined according to the coordinates.

4. The method according to claim 1, further comprising: The position of the mining and / or construction machine (100) is also determined based on the inclination of the mining and / or construction machine (100) in the transverse direction and / or the longitudinal direction.

5. The method according to claim 1, further comprising: When determining the presence of the first and second markers in the surroundings of the mining and / or construction machine (100), the first and second markers are identified as having the same or different geometric forms.

6. The method according to claim 5, further comprising: determining a position of the mining and / or construction machine (100) when the mining and / or construction machine (100) is in motion; as well as Determination of the position of the mining and / or construction machine (100) while the mining and / or construction machine (100) is in motion is used in the navigation of the mining and / or construction machine (100).

7. The method according to claim 6, wherein: The representation of the positions of the plurality of markers is a representation of the first marker and the second marker arranged in the surroundings of the mining and / or construction machine (100).

8. A non-transitory computer-readable medium storing instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 7.

9. A system for determining a position of a mining and / or construction machine (100) in an environment, the environment comprising a first marker at a first position and a second marker at a second position, the second position being different from the first position, the system comprising: Means for determining the presence of the first and second markers in the surroundings of the mining and / or construction machine (100) by identifying the geometrical form of the first and second markers using a laser scanner when the first and second markers are present in the surroundings, wherein a plurality of reflections from the first and second markers received by a laser are used to identify the geometrical form of the first and second markers; Means for determining the direction and distance from the mining and / or construction machine (100) to the first and second markers, respectively, by measuring using the laser scanner; means for calculating a mutual distance between the first marker and the second marker using the determined distance and direction from the mining and / or construction machine (100) to the first marker and the second marker; means for: calculating the calculated mutual distance (d xy ) identifying the first marker and the second marker by comparing the first marker and the second marker with a known mutual distance between the first marker and the second marker obtained from a representation of the positions of a plurality of markers; and Means for determining the position of the mining and / or construction machine (100) using the determined direction and distance to the identified first and second markers.

10. A mining and / or construction machine, characterized in that The mining and / or construction machine comprises a system according to claim 9.

11. The mining and / or construction machine according to claim 10, characterized in that The mining and / or construction machine is a drilling rig.

Images