Method and system for determining a geofence

Abstract

This disclosure relates to a method (200) for determining a geofence (303), the method comprising: detecting (210) the geometry (GM) of at least a portion of the surface (110) of a mining or engineering site (302) by means of at least an aerial sensor (151); creating (220) a digital representation (DR) of at least the detected portion of the mining or engineering site (302) based on the detected geometry (GM); determining (230) a drivable area (304) of the mining or engineering site (302) based on the created digital representation (DR), within which a mining or engineering machine (100) can safely move; and determining (240) a geofence (303) as the outer boundary of the determined drivable area (304). This disclosure also relates to a corresponding system for performing the method, a drilling rig including the system, a borehole operator station including the system, and computer programs and computer-readable media relating to implementing the method.

Description

Technical Field

[0001] This disclosure relates to improved autonomous and remotely controlled mining, and more specifically, to a method for determining geofences associated with a mining or engineering site. This disclosure also relates to systems for determining geofences, drilling rigs including such systems, and borehole operator stations including such systems. Furthermore, this disclosure also relates to corresponding computer programs and computer-readable media for enabling a computer to perform the methods. Background Technology

[0002] In the mining industry, there are ongoing processes to improve efficiency, productivity, and safety. This is achieved through the full or partial automation and / or remote control of various processes occurring in mining or engineering. Therefore, it is generally expected that at least a portion of the machinery used in mining or engineering can be driven more or less autonomously, i.e., without requiring operator intervention to more or less in control / operation. It is also expected, for example, through the utilization of so-called remote borehole control, to remotely control mining or engineering machinery. This allows operators to remain largely away from the high-risk areas where drilling and blasting occur.

[0003] Autonomous and remotely controlled mining / drilling is typically carried out by a fleet of vehicles operating autonomously / remotely and simultaneously, deployed within a shared mining or engineering site—that is, multiple mining or engineering machines such as open-pit drilling rigs. Rock / ore excavation usually involves drilling a series of holes within a mining or engineering site. This series of holes (also known as blasting holes) is then filled with explosive material, which is detonated after the holes have been drilled. Following the blast, the ore is removed and processed for mineral extraction.

[0004] In drilling / mining systems utilizing autonomous and remote control, the outer boundary / perimeter of the geographic area to which mining or engineering machinery should be confined can be indicated by a so-called geofence. A geofence can be described as a virtual boundary. The size, shape, and location of the geographic mining area are thus defined by the geofence encompassing that area. A geofence indicates restrictions on the permitted movement of active mining or engineering machinery to avoid accidents and / or collisions. For safety reasons, mining or engineering machinery is not permitted to cross a geofence. Active mining or engineering machinery can instead be actively controlled to remain within the geofence. The geofence application can also be configured to issue an alert on a specific mobile device if a worker and / or mining or engineering machinery inadvertently crosses the geofence, for example, if the worker and / or machine thus gets too close to a hazardous area.

[0005] Geofencing is typically determined along with a drilling plan (also known as a drilling pattern) before drilling begins. The drilling plan is a theoretical scheme that includes parameters such as the number of holes to be drilled, the spacing between holes, and the location of the holes. The drilling plan is sent to one or more mining or engineering machines specifically designed to perform drilling according to the plan on a mining or engineering site, such as a drilling rig, which may be controlled autonomously or remotely. The drilling rig is the physical area, such as a physical rock area, to be drilled and / or excavated according to the drilling plan. Geofencing is typically determined manually, either by drawing it on a map in an office or by manually driving around the geomining area using vehicles specifically equipped for geofencing determination. These conventional methods of geofencing are time-consuming and therefore expensive. Summary of the Invention

[0006] The purpose of this disclosure is to provide solutions that mitigate or resolve the drawbacks of conventional solutions.

[0007] Another objective of the embodiments of this disclosure is to provide a definitive solution for improving geofencing.

[0008] Another objective of this disclosure is to increase workplace safety, efficiency, and productivity.

[0009] Another objective of this disclosure is to provide a novel and advantageous solution for determining geofencing.

[0010] Another objective of this disclosure is to provide a flexible solution for determining geofencing.

[0011] Another objective of this disclosure is to provide a robust and reliable solution for determining geofencing.

[0012] Another objective of this disclosure is to provide an alternative solution for determining geofencing.

[0013] Another objective of this disclosure is to improve the automation of the process of determining geofencing.

[0014] The above and further objectives are addressed by the subject matter of the appended independent claims.

[0015] According to a first aspect of this disclosure, the above-mentioned and other objectives are achieved by a method for determining a geofence, the method comprising:

[0016] The geometry of at least a portion of the surface of a mining or engineering site is detected by utilizing at least one aerial sensor.

[0017] Based on the detected geometry, create a digital representation of at least the detected portion of the mining or engineering site;

[0018] Based on the created digital representation, the drivable area of ​​a mining or engineering site is determined, enabling mining or engineering machinery to move safely throughout the drivable area; and

[0019] Geofencing is defined as the outer boundary of the identified drivable area.

[0020] The advantage of the method for determining geofencing according to the first aspect is that at least one aerial sensor can be deployed at low cost to detect the geometry of the surface. This allows the surface to be scanned / monitored / mapped as frequently as necessary, keeping drivable areas and geofencing up-to-date with significant changes at mining or engineering sites such as drilling rigs.

[0021] Another advantage of the method for determining geofences according to the first aspect is that at least one aerial sensor provides greater flexibility in detecting the geometry of the surface compared to manually driving around the geomining area with vehicles specifically equipped for geofence determination.

[0022] Another advantage of the method for determining geofences according to the first aspect is that at least one aerial sensor provides enhanced security in detecting the geometry of the surface compared to manually driving around the geomining area with vehicles specifically equipped for geofence determination.

[0023] Initially, the drilling plan is sent to mining or engineering machinery, enabling them to execute the plan autonomously. Alternatively, the drilling plan is sent to an operator station, allowing the mining or engineering machinery to be remotely controlled to execute the plan. However, real-world changes can occur within the drilling plan and / or the mining or engineering site during drilling operations. These changes can be dynamically detected according to the proposed method for determining geofencing. For example, the drilling sequence, the location of the boreholes, and / or the surface of the drilling rig at the mining or engineering site can change during drilling operations. These changes are detected by performing repeated scans / monitoring / mapping of the drilling rig using aerial sensors.

[0024] Therefore, the method for determining geofencing according to the first aspect has the advantage of providing robust and reliable determination of geofencing.

[0025] For example, if a portion of the drilling rig, and therefore a portion of the drivable area, is excavated, causing the previous surface of that portion of the rig to no longer exist, this will be detected by surface detection performed by aerial sensors. In this way, the drivable area can be updated accordingly to match the current state of the drilling rig, ensuring that the rock available for carrying out drilling plans remains.

[0026] Furthermore, by using the aerial sensor proposed in this paper to scan / map / monitor the surface from a bird's-eye view, high-quality surface detection is provided, which in turn leads to high-quality geofencing determination. At least one aerial sensor can be deployed autonomously without a pilot, for example, mounted on a drone, which saves time and therefore also reduces the costs associated with conventional geofencing determination, which is performed by personnel traveling around the rig in special geofencing-equipped vehicles. Thus, at least one aerial sensor can be deployed as frequently as necessary to keep the geofencing determined and updated in near real-time, ensuring it is always relevant to the current rig and thus matches the surface of the drivable area currently used for the safe passage of mining or engineering machinery.

[0027] Thanks to the precise and high-quality determination of geofencing, which is constantly updated to match the current state of the drilling rig, the risk of geofencing-related accidents is significantly reduced. Furthermore, the burden of creating geofencing shifts from a manual process to an automated machine process, reducing the risk of errors.

[0028] In an implementation of the method according to the first aspect, the method further includes:

[0029] The identified geofence is provided to one or more mining or engineering machines, which are configured to perform mining operations according to a drilling plan associated with the mining or engineering site.

[0030] The advantage of this implementation is that it allows for the control of one or more mining or engineering machines based on the latest geofencing, thereby avoiding accidents caused by changing conditions at the mining or engineering site.

[0031] In an embodiment of the method according to the first aspect, one or more mining or engineering machines include one or more of the following group:

[0032] Autonomous mining or engineering machinery; and

[0033] Remotely controlled mining or engineering machinery.

[0034] By utilizing the method described herein for determining geofencing in autonomous and / or remotely controlled mining operations, the risk of geofencing-related accidents is significantly reduced. Autonomous and / or remotely controlled mining or engineering machinery lacks on-site human eye control, which typically prevents accidents in locally controlled mining and engineering machinery. Therefore, the method proposed herein provides high-quality geofencing that can be updated at a frequency that allows it to cover relevant changes at the mining or engineering site during mining or engineering operations, compensating for the absence of human eye control in autonomous and / or remotely controlled mining or engineering machinery.

[0035] In an implementation of the method according to the first aspect, the determined geofence is an initial geofence determined for an initially determined drivable area.

[0036] The advantage of this implementation is that the high-quality and efficient geofencing proposed herein can be used to map drilling plans to the geographic area to be drilled, i.e., to determine the geofencing before drilling begins according to the drilling plan. In conventional solutions, such geofencing determination consumes significant human resources and therefore incurs substantial costs, as it has traditionally been performed by driving specially equipped vehicles around the boundaries of the geographic area to be drilled. According to the geofencing determination proposed herein, aerial sensors mounted, for example, on drones, can be simply deployed to scan / map / monitor the surface of the mining or engineering site, a significantly faster and less costly procedure.

[0037] In an implementation of the method according to the first aspect, the determined geofence is a subsequent geofence determined for a subsequently determined drivable area.

[0038] The advantage of this implementation is that the geofencing proposed herein can be used to update previously determined geofencing at a frequency that allows it to cover physical changes in the drilling rig at the mining or engineering site. In other words, as drilling operations proceed, the geofencing follows and matches the changing appearance of the drilling rig.

[0039] In an implementation of the method according to the first aspect, the method further includes:

[0040] Compare the subsequent geofences with the previously determined geofences;

[0041] One or more differences were detected between the subsequent geofence and the previously determined geofence; and

[0042] Indicates one or more differences detected.

[0043] The advantage of this implementation is that relevant changes to the geofence are indicated to the operators and / or systems controlling at least one mining or construction machine, alerting / notifying them of the significant changes. This reduces, for example, the risk of mining or construction machinery falling / tilting over a ridge on a free face.

[0044] In an implementation of the method according to the first aspect, the detected geometry includes information associated with one or more of the following groups:

[0045] slope;

[0046] inclination;

[0047] Tilt angle change;

[0048] megaliths; and

[0049] crack.

[0050] The advantage of this implementation is that, for mining or construction machinery, critical geometric parameters are detected by aerial sensors. Mining or construction machinery requires relatively flat ground with only moderate inclination and variations in inclination to enable efficient and safe execution of drilling plans. By detecting these parameters with aerial sensors, these critical geometric parameters are taken into account when determining drivable areas, resulting in high-quality determination of drivable zones.

[0051] In an embodiment of the method according to the first aspect, at least one airborne sensor is mounted on at least one airborne entity from the group consisting of:

[0052] Drones;

[0053] Helicopters; and

[0054] Aircraft.

[0055] The advantage of this implementation is that a suitable flight entity can be selected based on the current situation at the mining or engineering site. Pilot-free drones can be a low-cost and efficient option in many cases. One or more drones can, for example, dock at mining or engineering machinery and / or operator stations, enabling rapid deployment and operation within the mining or engineering site, i.e., close to the surface to be scanned / monitored / mapped. In some cases, pilot-controlled helicopters and / or aircraft, which can fly over the mining or engineering site anyway, may then be the best choice for installing aerial sensors.

[0056] In an embodiment of the method according to the first aspect, at least one airborne sensor is one or more of the following:

[0057] Light detection and ranging sensors; and

[0058] Photogrammetric sensor.

[0059] Therefore, aerial sensors can be selected based on the current conditions and / or cost at the mining or engineering site, enabling high-quality detection of geometry (GM) at a reasonable cost.

[0060] In an implementation of the method according to the first aspect, the digital representation includes point clouds.

[0061] A point cloud is a set of data points in space that can represent a three-dimensional digital twin of a surface detected by an aerial sensor, such as a photogrammetric sensor. Based on a digital copy of the surface in the form of a point cloud, high-quality determination of drivable areas can be performed.

[0062] In an implementation of the method according to the first aspect, geometry detection is performed multiple times during mining or engineering according to a drilling plan associated with the mining or engineering site.

[0063] This allows the geofence to be updated according to the drilling plan as the mining process progresses, ensuring that there is always an up-to-date geofence. Because the geofence changes dynamically along with the drilling rig, the risk of accidents caused by changes in the drilling rig at the mining or engineering site is significantly reduced.

[0064] In an implementation of the method according to the first aspect, geometry detection is performed at one of the following group of intervals:

[0065] Test every 12 hours;

[0066] Tested once a day; and

[0067] Test every 2 days.

[0068] This allows for the selection of an appropriate update frequency for geofencing updates based on the rhythm of changes in the appearance of the drilling rig at the mining or engineering site during drilling. Therefore, when correctly selected, the update frequency covers all changes related to the drivable area and the mining or engineering machinery operating within it.

[0069] In an embodiment of the method according to the first aspect, the mining or engineering site includes a drilling rig having a free face at the ridge, and the method includes:

[0070] Detect at least the ridge by utilizing at least one aerial sensor;

[0071] Based on the detection of at least the top ridge, create a digital representation of the drilling rig that includes at least a portion of the top ridge;

[0072] Determine the drivable area such that there is an offset distance between the drivable area and the ridge;

[0073] Geofencing is determined based on the identified drivable area.

[0074] The advantage of this implementation is that free faces and ridges are rapidly detected through scanning / monitoring / mapping performed repeatedly, for example, by aerial sensors deployed on drones. Furthermore, the drivable area is determined with a safety margin at the ridge, making it safe for mining or construction machinery to travel within the defined drivable area. Understanding new free faces is crucial for autonomous and / or remotely controlled mining or construction machinery to avoid movement across ridges, which would cause the machinery to tilt.

[0075] In an implementation of the method according to the first aspect, the offset distance is in the range of 0.5 meters to 3 meters, or in the range of 1 meter to 2 meters.

[0076] The advantage of this implementation is that the offset distance can be selected as a safety margin based on, for example, the type of rock at the ridge, so that the entire defined drivable area can be safely traversed by mining or engineering machinery.

[0077] In an implementation of the method according to the first aspect, the following steps precede the step of detecting the geometry:

[0078] Prepare one or more characteristics of a mining or engineering site such that one or more parameters associated with the mining or engineering site are satisfied.

[0079] Many characteristics of mining or engineering sites have numerous rules / restrictions / requirements that must be met for mining or engineering machinery to navigate within permissible inclination angles, slopes, angles, and other features. Therefore, preparing the mining or engineering site is often necessary before drilling can commence, resulting in a larger potential drivable area and more efficient drilling.

[0080] According to a second aspect of this disclosure, the above-mentioned and other objectives are achieved by a system for determining geofencing, the system being configured to perform the methods described herein.

[0081] The system according to the second aspect can be extended to an implementation corresponding to the implementation of the method according to the first aspect. Therefore, the implementation of the system includes the features of the corresponding implementation of the method.

[0082] The advantages of the system and its implementation according to the second aspect are the same as the advantages of the corresponding aspects and implementations of the method according to the first aspect mentioned above.

[0083] According to a third aspect of this disclosure, the above-mentioned and other objectives are achieved by a drilling rig that includes the system described herein for determining geofencing.

[0084] The advantages of the drilling rig and its implementation method according to the third aspect are the same as the advantages of the corresponding aspects and implementation methods according to the first aspect mentioned above.

[0085] According to the fourth aspect of this disclosure, the above-mentioned and other objectives are achieved by a borehole operator station that includes the system described herein for determining geofencing.

[0086] The advantages of the drilling operator station and its implementation according to the fourth aspect are the same as the advantages of the corresponding aspects and implementations of the method according to the first aspect mentioned above.

[0087] Embodiments of this disclosure also relate to computer programs characterized by program code that, when run by at least one processor, causes the at least one processor to perform any method according to embodiments of this disclosure. Furthermore, embodiments of this disclosure also relate to computer program products comprising a computer-readable medium and the aforementioned computer program, wherein the computer program is contained in a computer-readable medium and may include one or more from the group consisting of: read-only memory (ROM), programmable ROM (PROM), erasable ROM (EPROM), flash memory, electrically erasable ROM (EEPROM), hard disk drive, etc.

[0088] Computer programs have the advantage of automating the methods / processes for determining geofencing.

[0089] Further applications and advantages of the embodiments disclosed herein will become apparent from the following detailed description. Attached Figure Description

[0090] The accompanying drawings are intended to illustrate and explain different embodiments of this disclosure, wherein:

[0091] Figure 1 A flowchart illustrating an exemplary method for an embodiment of this disclosure is shown;

[0092] Figures 2a to 2b The illustrations are non-limiting examples of drilling rigs and geofences;

[0093] Figure 3 The illustration depicts exemplary mining or engineering machinery and operator stations in which embodiments of this disclosure may be utilized;

[0094] Figure 4 A flowchart illustrating an exemplary method for an embodiment of this disclosure is provided; and

[0095] Figure 5 The control unit is illustrated in some embodiments of the present disclosure. Detailed Implementation

[0096] As mentioned above, a borehole plan is a theoretical / ideal plan typically determined by, for example, a mining / drilling engineer before drilling occurs. Geofencing is typically determined before drilling according to the borehole plan by having personnel draw geofencing based on maps or by having personnel drive around a geographic mining or engineering site, such as a drilling rig, and mark geofencing coordinates. Conventional geofencing determination is therefore time-consuming and / or expensive.

[0097] Furthermore, due to dynamically changing conditions and / or unforeseen circumstances when the drilling plan was determined before actual drilling occurred, a mismatch may exist between the surface of the area for which the theoretical drilling plan was determined and the real-world surface of the drilling rig at the mining or engineering site during drilling / mining operations. Therefore, after some time of drilling / mining, the surface of the real-world drilling rig may no longer correspond to the surface that existed or was anticipated when the drilling plan was determined. Consequently, previously determined geofencing may no longer be applicable to the current drilling rig. This mismatch can lead to hazardous situations and / or accidents.

[0098] Therefore, a drilling plan is a theoretical / ideal scenario typically determined before drilling occurs. The drilling plan is sent to one or more milling machines dedicated to performing drilling on a drill rig, potentially autonomously or remotely. However, after some time of drilling / mining, the surface of the real-world drill rig may no longer correspond to the surface for which the drilling plan and geofencing were conventionally determined, rendering the previously determined geofencing ineffective and unsafe for the current appearance of the drill rig.

[0099] Figure 1 A flowchart illustrating method 200 for determining geofencing is provided. Figure 2 schematically shows some characteristics of the borehole area mentioned in the steps of the method. Figure 2 will be explained in more detail below.

[0100] In the first step 210, the geometry GM of at least a portion of the surface 110 of a mining or engineering site 302, such as a drilling rig, is detected by utilizing at least one aerial sensor 151. As described above, the mining or engineering site 302 is a physical area to be drilled and / or excavated according to the drilling plan 301. The mining or engineering site 302 may be, for example, rectangular, and as a non-limiting example, may have dimensions in the range of 50 x 200 meters to 200 x 1000 meters. The geometry GM may include a variety of forms associated with the detected surface 110, as described below.

[0101] In the second step 220, a digital representation (DR) of at least the detected portion of the mining or engineering site 302 is created based on the detected geometry GM. The digital representation DR can be of various types and can include various information, as described below.

[0102] In the third step 230, a drivable area 304 of the mining or engineering site 302 is determined based on the created digital representation DR, within which the mining or engineering machinery 100 can safely move. As described below, there are several ways to determine the drivable area 304. Essentially, the ground must meet several requirements to be classified as a drivable area. Because mining or engineering machinery needs to operate on substantially flat ground, there are requirements regarding slope / inclination that need to be met, such as the maximum permissible angle of inclination that can be compensated for by the jacks of the mining or engineering machinery. As another example, there should be no large boulders or cracks / voids within the drivable area. Basically, a drivable area can be defined as an area within which the mining or engineering machinery can safely move and perform its mining or engineering tasks, such as drilling.

[0103] In step 240, a geofence 303 is defined as the outer boundary of the defined drivable area 304. This geofence defines the boundary of the defined drivable area 304, ensuring safety for mining or construction machinery operating within the geofence 303 (i.e., within the defined drivable area 304).

[0104] Figures 2a to 2b A non-limiting example illustrating the drilling area is provided to explain the disclosure herein. Here, a mining or engineering site 302 of the drilling rig is exemplified as the physical area associated with the drilling plan 301. Therefore, the drilling plan 301 is executed on the physical drilling rig 302. According to the disclosure herein, a drivable area 304 is defined as an area where it is safe for the mining or engineering machinery 100 to move around the drilling rig 302. The drivable area 304 is confined within a defined geofence 303, such as a polygon, meaning that the mining or engineering machinery 100 is restricted from crossing the geofence 303; that is, the mining or engineering machinery 100 is not permitted to leave the drivable area 303 while operating.

[0105] Among other parameters, the drilling plan 301 may include the number of holes 310 to be drilled, the spacing 311 between these holes in multiple directions, and the location of each hole 310. The mining or engineering machinery 100 is then sent to a physical drill rig 302 to be autonomously and / or remotely controlled to execute the previously determined drilling plan 301. Figures 2a to 2b In the driving area 304, two mining or engineering machines 100, such as drilling machines, are illustrated. However, in practice, any number of mining or engineering machines 100 can be deployed as a coordinated fleet of mining or engineering machines 100 to carry out drilling plan 301.

[0106] By determining the geofence 303 according to the proposed method 200, the mining or engineering machinery 100 will always operate safely within the geofence 303 (i.e., within the determined drivable area 304), because the geofence 303 will be updated based on the current state of the drilling rig 302. Therefore, if from the previous 303 prev Or initial 303 init Since the geofence was established, the geometry GM of drill rig 302 has changed, and the subsequently established geofence 303... subseq It will also be updated accordingly.

[0107] Figure 3 The schematic illustration is based on the system 130 disclosed herein for determining a geofence 303. Therefore, system 130 is configured to perform the method steps described herein.

[0108] System 130 can be described as including a detection entity 131 configured to detect, 210, the geometry GM of at least a portion of the surface 100 of a mining or engineering site 302, such as a drilling rig, by utilizing at least one aerial sensor 151. System 130 may further include a creation entity 132 configured to create, 220, a digital representation DR of at least the detected portion of the mining or engineering site 302 based on the detected geometry GM. System 130 may further include a determination entity 133 configured to determine, 230, a drivable area 304 of the mining or engineering site 302 within which the mining or engineering machinery 100 can safely move. System 130 may further include a determination entity 134 configured to define a geofence 303 as the outer boundary of the defined drivable area 304, 240 such as a polygon surrounding the drivable area 304.

[0109] Therefore, the system 130 for determining the geofence 303 utilizes at least one aerial sensor 151, which can be mounted on at least one suitable aerial entity 150, such as a drone, helicopter, and / or aircraft. The sensor 151 can be substantially in any manner to allow it to monitor / scan / survey the mining or engineering site 302. Thus, the sensor 151 can also be mounted on a balloon, wire, or any other suitable arrangement to allow it to monitor / scan / survey the surface 110 of the mining or engineering site 302 from above. An aerial entity, such as a drone, can dock on the mining or engineering machinery 100 or operator station 160, placing it locally at the drilling site for rapid and short-distance deployment.

[0110] At least one aerial sensor 151 can be any suitable sensor configured to detect the form and / or shape (i.e., geometry GM) of a surface / area. One such sensor 151 is a light detection and ranging (LIDAR) sensor, also known as a laser imaging detection and ranging sensor. A LIDAR sensor determines distance by aiming a laser at a surface and measuring the time it takes for the reflected light to return to the sensor. A LIDAR sensor can operate in a fixed direction (e.g., vertical) and / or it can scan in multiple directions, a process known as LIDAR scanning or 3D laser scanning.

[0111] Another example of this sensor 151 is a photogrammetric sensor. Photogrammetry obtains reliable information about physical objects and surfaces by recording, measuring, and interpreting photographic images and electromagnetic radiation images and / or patterns of other phenomena. For example, three-dimensional measurements can be extracted from two-dimensional data (i.e., images) by photogrammetry.

[0112] Therefore, by using at least one aerial sensor 151 for monitoring / scanning / mapping, the geometry GM of at least a portion of the surface 110 of the mining or engineering site 302 can be detected. In this way, any shape, form, or structure of the surface 110 can be detected as geometry GM and included therein, including, for example, the slope, dip angle, dip angle variation, boulders, and / or cracks of the surface 110.

[0113] As described above, based on the detected geometry GM, a digital representation DR (Digital Representation DR) can be created for at least a portion of the mining or engineering site 302. The digital representation DR can be any suitable virtual and / or digital twin / copy / model of the surface 110, which is at least a portion of the mining or engineering site 302. For example, the digital representation DR can include a point cloud, which is a set of discrete data points in space representing a three-dimensional twin / copy / model of the surface 110. The location of each point can then be defined by its Cartesian coordinate set (X, Y, Z). The point cloud can be generated, for example, by utilizing a photogrammetric sensor, by measuring and analyzing multiple points on the surface 110.

[0114] Depending on the aspect, the system 130 for determining geofence 303 may be included on mining or engineering machinery such as drilling rig 100. Therefore, the onboard system 130 for determining geofence 303 is then configured to communicate with airborne sensor 151 via suitable communication equipment 140 according to any suitable communication method / scheme / protocol to control sensor 151 to detect 210 geometry GM and provide / transmit / send the detected geometry GM to system 130. The system is further configured to receive the detected geometry GM from sensor 151 as explained herein to create 220 digital representation DR to determine 230 drivable area 304 and to determine 240 geofence 303. Because geofence 303 is determined 240 by onboard system 130, geofence 303 can be directly utilized within drilling rig 100 when controlling movement within drivable area 304.

[0115] Figure 3 The diagram illustrates this drilling rig 100. The drilling rig 100 can be used for drilling applications such as... Figures 2a to 2b The drilling rig 100 shown is used to drill holes 310 at a mining or engineering site 302. The illustrated drilling rig 100 is merely an exemplary mining or engineering machine, and the disclosure herein can be implemented using various types of mining or engineering machinery and / or drilling rigs of various designs. Figure 3 The drilling rig 100 described herein is a surface drilling rig 100 used to drill vertical or substantially vertical holes 310 using drill strings attached to the drilling machine via a drill string. The drilling machine can be slidably arranged along the feed beam. These components are conventional and not explicitly described. These conventional components are... Figure 3 The intermediate location is typically indicated by the drill rig 102, which illustrates the ongoing drilling, and the drill string 103, which schematically indicates the location. In use, as... Figure 3 The general techniques used by the drilling rig 100 shown in the figure when drilling are well known. The turret 102 and the drill string 103 are carried by a carrier 101, which includes tracks and / or wheels 104 that facilitate the movement of the drilling rig 100 from one position to another (e.g., between holes 310 of the drill rig 302 to be drilled).

[0116] Depending on the aspect, the system 130 for determining geofence 303 can be configured off-board within the borehole operator station 160. The borehole operator station 160 can be positioned relatively close to the mining or engineering site 302 and the mining or engineering machinery 100, for example, in a local field operator facility, or it can be positioned remotely from the mining or engineering site 302 and the mining or engineering machinery 100, for example, in a distant field office. The off-board system 130 for determining geofence 303 is then configured to communicate with the airborne sensor 151 according to any suitable communication method / scheme / protocol and device 140 to control the sensor 151 to detect 210 geometry GM and transmit / send the detected geometry GM to the system 130. The system 130 is further configured to receive the detected geometry GM from the sensor 151 to create 220 digital representation DR to determine 230 drivable area 304 and to determine 240 geofence 303. Because geofence 303 is determined by non-airborne system 130 240, system 130 is further configured to communicate geofence 303 to drilling rig 100 according to any suitable communication method / scheme / protocol and device 140. In this way, drilling rig 100 is controlled to move only within drivable area 304.

[0117] Figure 4 A flowchart of a method 200 according to various embodiments is shown. The first step 210 of detecting the geometry GM of surface 110, the second step 220 of creating a digital representation DR, the third step 230 of determining the drivable area 304, and the fourth step 240 of determining the geofence 303 are described above.

[0118] According to the implementation, one or more characteristics of the mining or engineering site 302 are prepared in preparation step 205 before the first step 210 of geometry GM detection. Preparation 205 satisfies one or more parameter requirements associated with the mining or engineering site 302. Generally, there are requirements / restrictions on many parameters that determine whether an area is drivable. Preparation 205 facilitates the satisfaction of one or more of these parameters with their respective requirements / restrictions. For example, the slope / gradient can be reduced, loose ground can be cleared, and / or gaps / voids can be filled. Before performing geometry GM detection 210, one or more bulldozers can be used here to level / grade the ground, removing excessively steep slopes and / or boulders from the mining or engineering site 302. Proper ground preparation can provide a larger drivable area 304, and therefore also a wider / longer geofence 303, which enhances the productivity of the mining process.

[0119] According to an implementation, method 200 further includes a fifth step 250 of providing the determined geofence 303 to one or more mining or construction machinery 100, wherein these one or more mining or construction machinery 100 are configured to perform mining operations according to a drilling plan 301 associated with a mining or construction site 302. As described above, the mining or construction machinery can essentially be any machine 100 that moves autonomously and / or remotely controlled within a drivable area 304, such as a drilling rig 100, a truck, or an inspection vehicle. These mining or construction machinery 100 are controlled to remain within the drivable area 304, i.e., not to move outside the determined geofence 303.

[0120] According to the implementation method, the geofence 303 determined in the fourth step 240 can be an initial geofence 303. init That is, in the initially defined drivable area 304 init The first geofence is determined at the start of the drilling operation. Therefore, the initial geofence 303 init Encompassing the drivable area 304 defined at the start of the drilling operation. init Or at least the first geographical fence that has been identified for a mining or engineering site 302.

[0121] According to the implementation, during drilling, i.e., during mining operations according to drilling plan 301, the detection 210 of geometry GM is performed multiple times. Therefore, the creation 220 of digital representation 230 and the determination 240 of geofence 303 can also be performed during mining operations. Thus, after a period of mining, an updated drivable area 304 and a corresponding updated geofence 303 can also be provided.

[0122] For example, the detection 210 of the geometry GM can be performed every 12 hours, daily, every two days, or at another suitable interval. Generally, the update frequency of the geometry GM detection 210 and the resulting determination 240 of the geofencing 303 can be selected based on the rhythm / speed of the current mining operation. Therefore, if the mining operation is relatively fast, a higher update frequency, i.e., a shorter interval, can be selected. Conversely, if the mining operation is relatively slow, a lower update frequency, i.e., a longer interval, can be selected. By selecting the detection frequency based on the speed of the mining operation, an adaptation to the detection frequency for a specific mining operation is provided; for the mining operation, this can be considered near real-time detection 210 of the geometry GM. Therefore, if an appropriate detection update frequency is selected, a near real-time geofencing 303 determination 240 for the current mining operation can be provided.

[0123] According to the implementation, if the geometry GM detection 210 is performed more than once, the geofence 303 determined in the fourth step 240 can therefore be for the subsequently determined drivable area 304. subseq The subsequently determined geofence 303 subseq Therefore, for example, after the period including drilling activities has passed, subsequent geofencing 303 subseq Then it encompasses the subsequently determined drivable area 304. subseq .

[0124] When geofence 303 is subsequently determined subseq At the same time, method 200 may further include subsequently geofencing 303 subseq Compared with the previously identified geofence 303 prev The sixth step of the comparison 260. The previously determined geofence 303 prev This could be the initial geofence 303. init Or the preceding / preceding geofence 303 subseq .

[0125] The method then further includes detecting in subsequent geofence 303 subseq Compared with the previously identified geofence 303 prev The seventh step 270 involves detecting one or more differences. Detecting these differences 270 may here include checking subsequent geofencing 303. subseq And the previous geofence 303 prev Compare them and identify one or more differences between them.

[0126] Method 200 then further includes an eighth step 280 indicating one or more differences detected by 280. Thus, one or more differences detected can be indicated here to, for example, an operator and / or a system controlling geofence 303. In this way, the operator and / or system controlling geofence 303 is then alerted when a significant change to the geofence has occurred.

[0127] According to the combination Figures 2a to 2b and Figure 4The explained implementation defines a geofence 303 for drilling rig 302, which includes a free face 305 at the ridge 306 of drilling rig 302. According to the implementation, the first step 210 includes detecting 211 at least the ridge 306 by utilizing at least one aerial sensor 151, i.e., at least the ridge 306 is included in the detected geometry GM. The second step 220 includes creating 221 a digital representation DR of drilling rig 302 including at least a portion of the ridge 306, wherein the creation 221 is based on the detection 211 of at least the ridge 306. The third step 230 includes determining 231 a drivable area 304 such that an offset distance 307 exists between the drivable area 304 and the ridge 306. According to various implementations, depending on various properties / characteristics of the rock at and / or near the ridge 306, the offset distance 307 may be in the range of 0.5 meters to 3 meters, or in the range of 1 meter to 2 meters. In addition, the fourth step 240 includes the step of determining a geofence 303 based on the determined drivable area 304.

[0128] Figures 2a to 2b This is a schematic, non-limiting example of a geographic fence 303 for a drilling rig 302 including a free face 305. Figure 2a Schematic illustration of the initial or prior drivable area 304 of drilling platform 302 init / 304 prev Among them, the initial or previously drivable area 304 init / 304 prev This indicates that the area was initially or previously (i.e., at the start of the drilling operation or at an earlier time during the drilling operation) was identified as safe for the mining or engineering machinery to travel around.

[0129] After a period of mining operations, free face 305 has been created through mining operations, as follows. Figure 2b As explained in the text, the free face 305 begins at the top ridge 306 of the drilling rig 302. In conventional solutions, where the geofence 303 is initially defined and subsequently not updated, or updated at very long intervals, the mining or construction equipment 100 may be unaware that a large portion of the drilling rig 302 has disappeared, i.e., it may be unaware of the existence of the free face 305 and the top ridge 306. Therefore, there is a risk that the mining or construction equipment 100 may drive over the top ridge 305 and fall onto the free face 305, as they may perceive the initial or previously drivable area 304 as drivable. init / 304 prev It remains intact.

[0130] However, according to the aspects and implementations presented herein, the update frequency of the determination 240 of the geofence 303 can be selected to provide near real-time determination 240 of the geofence 303 for slowly changing mining conditions. This is made possible by utilizing, for example, at least one aerial sensor 151 carried by a drone 150 for simple and low-cost detection 210 of the geometry GM, which can be performed as frequently as necessary to keep the geofence 303 correctly updated.

[0131] Therefore, according to various implementation methods, in subsequent time instances, for the subsequently determined drivable area 304 subseq Subsequently, geofence 303 was determined. subseq Such as Figure 2b The drivable area is as described in the diagram. Because the aerial sensor 151 scans / maps / monitors the surface 110 of the drilling rig 302 from above, it will be easily detected. Figure 2b The free surface 305 and its ridge 306 are schematically illustrated. Therefore, taking the free surface 305 and the ridge 306 into account, the determination of the drivable area 230 leads to the subsequently determined drivable area 304. subseq Therefore, as Figure 2b As explained in the document, the subsequently drivable area 304 was determined. subseq Significantly smaller than Figure 2a The initial or previously drivable area 304 as explained in the text init / 304 prev Furthermore, the subsequently identified geographic fence 303 subseq Effectively protect mining or construction machinery 100 from running over the ridge 306 and out of the free face 305, because of the established subsequent geofencing 303. subseq There is a safe offset distance of 307 between the ridge 306 and the top ridge.

[0132] As mentioned above, it can be Figure 2b The subsequent geographical fence 303 explained in the middle subseq and Figure 2a The previously defined geographical fence 303 as explained in the text prev The system compares 260 and can detect 270 differences and instruct 280 to the operator and / or system controlling the mining or engineering machinery 100, thereby alerting the operator and / or system to a critical change that has occurred in the drivable area during mining operations.

[0133] Therefore, by repeatedly defining the geofence 303 during mining operations and by deploying aerial sensors 151 mounted on, for example, drones to detect the geometry GM 210, the risk of accidents related to controlling mining or construction machinery 100 based on outdated geofence data is significantly reduced. Essentially, there will always be an up-to-date geofence 303, within which driving will be safe.

[0134] Figure 5 The control unit 130 is illustrated. Figure 3 The drilling rig 100 and / or operator station 160 shown herein include a control system comprising at least one control unit 130, which controls various functions of the drilling rig 100, for example, through suitable control of various actuators / motors / pumps, etc. Drilling rigs of the disclosed type may include more than one control unit, wherein each control unit may be arranged to be responsible for a different function of the drilling rig 100. According to examples of this disclosure, first method step 210, second method step 220, third method step 230, and fourth method step 240, as well as any other steps described herein, may be controlled by any suitable control unit of the drilling rig 100 and / or operator station 160, such as control unit 130. Correspondingly, the detection entity 131, creation entity 132, determination entity 133, and determination entity 134 disclosed herein may be implemented as one or more segments of programming code within any suitable control unit of the drilling rig 100 and / or operator station 160, such as control unit 130. The functionality of this disclosure may also be divided among more than one control unit. According to examples of this disclosure, a control unit may include at least a portion of the functions of detecting entity 131, creating entity 132, determining entity 133, and determining entity 134, while another control unit may include at least a portion of the functions of detecting entity 131, creating entity 132, determining entity 133, and determining entity 134, and so on.

[0135] Control unit 130 includes a data processing unit 141 that performs steps according to the examples of this disclosure described herein based on received signals and through appropriate calculations. Processing unit 141 can be configured, for example, by a processor such as a digital signal processor. Control unit 140 can be controlled by, for example, a computer program 142 built into or connected to the processor. The computer program can be generated using a suitable programming language and stored in a non-transitory computer memory 143 integrated into the processor or forming a separate portion of control unit 130. Control unit 130 may further include a transceiver module 144 for receiving / transmitting signals. Transceiver module 144 may also, for example, also constitute an interface for other signals received and / or transmitted by control unit 130.

[0136] Processing unit 141 may be referred to as and / or may include one or more general-purpose central processing units (CPUs), one or more digital signal processors (DSPs), one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), one or more programmable logic devices, or any other one or more discrete or logic devices / components / circuits / chipsets. Computer memory 143 may be read-only memory (ROM), random access memory (RAM), or non-volatile RAM (NVRAM). Transceiver module 144 may be transceiver circuitry, a power controller, or an interface providing the ability to communicate with other communication modules or communication devices. Transceiver module 144, computer memory 143, and / or processing unit 141 may be implemented in separate components or in common components.

[0137] Finally, it should be understood that this disclosure is not limited to the embodiments described above, but also relates to all embodiments that are incorporated within the scope of the appended independent claims.

Claims

1. A method (200) for determining a geofence (303), the method comprising: The geometry (GM) of at least a portion of the surface (110) of a mining or engineering site (302) is detected (210) by using at least one aerial sensor (151). Based on the detected geometry (GM), (220) a digital representation (DR) of at least the detected portion of the mining or engineering site (302) is created; Based on the created digital representation (DR), the drivable area (304) of the mining or engineering site (302) is determined (230), within which the mining or engineering site (302) can move safely; and The geofence (303) is defined (240) as the outer boundary of the defined drivable area (304).

2. The method (200) according to claim 1, further comprising: The determined geofence (303) is provided (250) to one or more mining or engineering machines (100), which are configured to perform mining operations according to a drilling plan (301) associated with the mining or engineering site (302).

3. The method (200) according to claim 2, wherein, The one or more mining or engineering machines (100) include one or more of the following groups: Autonomous mining or engineering machinery; and Remotely controlled mining or engineering machinery.

4. The method (200) according to any one of claims 1 to 3, wherein, The determined geofence (303) is for the initially determined drivable area (304). init The initial geofence determined (303) init ).

5. The method (200) according to any one of claims 1 to 3, wherein, The geofence (303) determined is for the subsequently determined drivable area (304). subseq The subsequent geofence (303) was determined. subseq ).

6. The method (200) according to claim 5, further comprising: The subsequent geofence (303) subseq ) and the previously identified geofence (303) prev ) for comparison (206); Detection (270) to the subsequent geofence (303) subseq ) and the previously determined geofence (303) prev There are one or more differences between them; and Indication (280) of the detected one or more differences.

7. The method (200) according to any one of claims 1 to 6, wherein, The detected geometry (GM) includes information associated with one or more of the following groups: slope; inclination; Tilt angle change; megaliths; and crack.

8. The method (200) according to any one of claims 1 to 7, wherein, The at least one airborne sensor (151) is mounted on at least one airborne entity (150) from the following group: Drones; Helicopters; and Aircraft.

9. The method (200) according to any one of claims 1 to 8, wherein, The at least one air sensor (151) is one or more of the following: Light detection and ranging sensors; and Photogrammetric sensor.

10. The method (200) according to any one of claims 1 to 9, wherein, The digital representation (DR) includes point clouds.

11. The method (200) according to any one of claims 1 to 10, wherein, The detection (210) of the geometry (GM) is performed multiple times during mining in accordance with the drilling plan (301) associated with the mining or engineering site (302).

12. The method (200) according to any one of claims 1 to 11, wherein the detection (210) of the geometry (GM) is performed at an interval of one of the following groups: Test every 12 hours (210); Tested once a day (210); and Test every 2 days (210).

13. The method (200) according to any one of claims 1 to 12, wherein, The mining or engineering site (302) includes a drilling rig (302) having a free face (305) at its ridge (306), and the method includes: The at least one air sensor (151) is used to detect (211) at least the ridge (306). Based on the detection (211) of at least the top ridge (306), a digital representation (DR) of the drill rig (302) including at least a portion of the top ridge (306) is created (221). Determine (231) a drivable area (304) such that there is an offset distance (307) between the drivable area (304) and the ridge (306). The geofence (303) is determined (241) based on the determined drivable area (304).

14. The method (200) according to claim 13, wherein, The offset distance (307) is in the range of 0.5 meters to 3 meters, or in the range of 1 meter to 2 meters.

15. The method (200) according to any one of claims 1 to 14, wherein, Prior to the step of detecting (210) the geometry (GM), the following steps are performed: Prepare (205) one or more characteristics of the mining or engineering site (302) such that one or more parameters associated with the mining or engineering site (302) are satisfied.

16. A computer program comprising instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 15.

17. A computer-readable medium (142) including instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 15.

18. A system (130) for determining a geofence (303), the system (130) being configured to perform the method according to any one of claims 1 to 15.

19. A drilling rig (100) comprising a system (130) for determining a geofence (303) as described in claim 18.

20. A borehole operator station (160) comprising a system (130) for determining a geofence (303) as claimed in claim 18.

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