Apparatus and method for selecting a location for a mining vehicle

Abstract

An exemplary embodiment provides an apparatus for selecting a position for a mining vehicle in a mine for drilling, the apparatus comprising at least one processor and at least a memory, the at least one memory including instructions that, when executed by the at least one processor, cause the apparatus to select a drilling plan associated with a tunnel line of a tunnel to be excavated, select a position of a navigation plane of the drilling plan relative to the tunnel line, determine a first position of the mining vehicle based on the drilling plan and the position of the navigation plane, obtain information about a plurality of predetermined variations of the first position, determine a plurality of second positions for the mining vehicle based on the first position and the information about the plurality of variations, and select a target position for the mining vehicle from the plurality of second positions based on the first position and at least one criterion.

Description

[Technical Field]

[0001] FIELD OF THE INVENTION This application relates generally to mining vehicles. In particular, some exemplary embodiments of this application relate to selecting a position for a mining vehicle. [Background technology]

[0002] In development drilling and tunneling in mines, the tunnel is constantly changing and advancing with each blast. Operating mining vehicles in the changing conditions within the mine can be difficult. Furthermore, selecting the optimal depth location for the relative drilling pattern and the optimal location for the drilling rig to drill the pattern is difficult, affecting the effectiveness of the tunneling process. Summary of the Invention

[0003] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] Exemplary embodiments may enable automatically selecting a position for a mining vehicle within a tunnel. The position may be selected such that the mining vehicle may be able to navigate to and be positioned at the selected position. Furthermore, the selection of the drilling plan and navigation plane position may be automated to improve the efficiency and accuracy of drilling by the mining vehicle.

[0005] According to a first aspect, there is provided an apparatus for selecting a position of a mining vehicle in a mine for drilling, the apparatus comprising at least one processor and at least a memory, the at least one memory comprising instructions that when executed by the at least one processor cause the apparatus to select a drilling plan associated with a tunnel line of a tunnel to be excavated, select a position of a navigation plane of the drilling plan relative to the tunnel line, determine a first position of the mining vehicle based on the drilling plan and the position of the navigation plane, obtain information related to a plurality of predetermined variations of the first position, determine a plurality of second positions of the mining vehicle based on the first position and the information related to the plurality of predetermined variations, and select a target position for the mining vehicle from the plurality of second positions based on the first position and at least one predetermined criterion.

[0006] In one embodiment, selecting a drilling plan includes identifying a profile of the tunnel to be excavated and selecting a drilling plan based on the profile.

[0007] In one embodiment, additionally or alternatively, the at least one memory further includes instructions that, when executed by the at least one processor, cause the apparatus to identify a profile of the tunnel to be excavated based on the depth of the tunnel already excavated and the direction of the tunnel to be excavated.

[0008] In one embodiment, additionally or alternatively, selecting a position of the navigation plane for the drilling plan includes varying the position of the navigation plane in the tunnel depth direction until the number of starting points of drill holes in the drilling plan located inside the excavated tunnel exceeds at least one predetermined limit.

[0009] In one embodiment, additionally or alternatively, the plurality of predetermined variations include a change in at least one of a position, a heading, or an articulation of the mining vehicle relative to the first position.

[0010] In one embodiment, additionally or alternatively, the at least one predetermined criterion includes information regarding at least one obstacle located at the first location or at least one of the plurality of second locations.

[0011] In one embodiment, additionally or alternatively, the at least one predetermined criterion includes that each drill hole in the drilling plan is reachable for drilling by a mining vehicle.

[0012] In one embodiment, additionally or alternatively, the at least one criterion includes that each drill hole in the drilling plan is drillable by the mining vehicle based on the location, depth, and direction of the drill holes in the drilling plan and the dimensions of the machine parts.

[0013] In one embodiment, additionally or alternatively, the at least one criterion includes a priority of the plurality of second locations.

[0014] In one embodiment, additionally or alternatively, the priority of the plurality of second locations is determined based on distance from the first location.

[0015] In one embodiment, additionally or alternatively, the at least one predetermined criterion includes the space required by the mining vehicle.

[0016] In one embodiment, additionally or alternatively, the at least one memory further includes instructions that, when executed by the at least one processor, cause the apparatus to determine a new target location in response to determining, based on the floor map data, that the mining vehicle cannot drive to the target location.

[0017] According to a second aspect, there is provided a computer-implemented method for selecting a position of a mining vehicle in a mine for drilling, the method including: selecting a drilling plan associated with a tunnel line of a tunnel to be excavated, selecting a position of a navigation plane of the drilling plan relative to the tunnel line, determining a first position of the mining vehicle based on the drilling plan and the position of the navigation plane, obtaining information regarding a plurality of predetermined variations of the first position, determining a plurality of second positions of the mining vehicle based on the first position and the information regarding the plurality of predetermined variations, and selecting a target position for the mining vehicle from the plurality of second positions based on the first position and at least one predetermined criterion.

[0018] According to a third aspect, there is provided a computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the method according to the second aspect.

[0019] Many of the attendant features will be more readily appreciated as the same becomes better understood by reference to the following detailed description considered in connection with the accompanying drawings.

[0020] The accompanying drawings, which are included to provide a further understanding of the exemplary embodiments and constitute a part of this specification, illustrate exemplary embodiments and, together with the description, serve to explain the principles of the exemplary embodiments. [Brief explanation of the drawings]

[0021] [Figure 1] 1 illustrates an example of an apparatus configured to implement at least one exemplary embodiment. [Figure 2] 1 illustrates an example of selecting a target location for a mining vehicle in a mine by an apparatus for drilling according to an exemplary embodiment; [Figure 3] 10 illustrates another example of selecting a target location for a mining vehicle in a mine by an apparatus in accordance with an exemplary embodiment; [Figure 4]10 illustrates an example of multiple tunnels with multiple profiles and associated drilling plans in accordance with an illustrative embodiment; [Figure 5] 10 illustrates an example of selecting a navigation plane position for drilling planning by an apparatus in accordance with an exemplary embodiment; [Figure 6] 1 illustrates an example of a method for selecting a location of a mining vehicle within a mine for drilling, according to an illustrative embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] Like reference numerals are used to denote like parts in the accompanying drawings.

[0023] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. The detailed description provided below in connection with the accompanying drawings is intended as a description of the examples and is not intended to represent the only manner in which the examples may be constructed or utilized. The description sets forth functions of the examples and possible sequences of operations for constructing and operating the examples. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0024] It can be difficult to predefine where a mining vehicle will travel to drill holes. Driving a mining vehicle to the wrong location for drilling can mean that the boom of the mining vehicle cannot reach to drill all of the drill holes planned in the drilling plan. Furthermore, an incorrectly selected position of the mining vehicle can make drilling more difficult than necessary. A human driver of the mining vehicle can estimate the best position to start drilling and manually test the reach of the boom to drill the drill holes. If the mining vehicle cannot reach to drill all of the drill holes, the mining vehicle may need to be moved, which means a loss of time and effort.

[0025] For example, there may be something in a tunnel that prevents a mining vehicle from parking in a desired location, such as the center of the tunnel, which may be the desired location for drilling. The obstacle that prevents the mining vehicle from parking in the desired location may be as simple as, for example, debris left over from the debris stage of blasting, or there may be a hole in the floor of the tunnel.

[0026] In an exemplary embodiment, the apparatus is configured to automatically select a target location for the mining vehicle based on the first location, at least one second location, and at least one criterion. The apparatus may be further configured to provide navigation instructions for the mining vehicle to arrive at the selected target location from the current location of the mining vehicle. The target location for the mining vehicle may be automatically selected within the tunnel based on the latest mapping results of the mine model and the drilling plan. The target location may be accessible to the mining vehicle and may not be limited by ground conditions, obstacles, or height restrictions within the tunnel. Thus, it may be possible for the mining vehicle to reach the drilling plan's drill holes to drill them in a desired manner. In the case of an automated or autonomous mining vehicle, the mining vehicle may be provided with instructions to drive to the selected target location. Alternatively, instructions to arrive at the target location may be provided to a human operator of the mining vehicle.

[0027] FIG. 1 illustrates an example of an apparatus 100 configured to implement at least one exemplary embodiment.

[0028] The apparatus 100 may include at least one processor 102. The at least one processor 102 may include one or more of a variety of processing devices, such as, for example, a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), processing circuitry with or without a DSP, or a variety of other processing devices including integrated circuits, such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a dedicated computer chip, or the like.

[0029] The device 100 may further comprise at least one memory 104. The memory 104 may be configured to store, for example, computer program code 106, such as, for example, operating system software and application software. The memory 104 may comprise one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination thereof. For example, the memory may be embodied as a magnetic storage device (such as a hard disk drive or magnetic tape), a magneto-optical storage device, or a semiconductor memory (such as a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash ROM, a RAM (Random Access Memory), etc.).

[0030] The apparatus 100 may further comprise a communication interface 108 configured to enable the apparatus 100 to transmit information to and / or receive information from other devices. The apparatus may be configured to receive information, for example, from a positioning system of the mining vehicle. The information may include, for example, data regarding the operation of the mining vehicle. The apparatus 100 may be configured to receive data from a server that stores at least one of a mine model, a floor map, or a plurality of drilling plans. The apparatus 100 may be configured to transmit data, for example, to a control device of the mining vehicle.

[0031] The communication interface 108 may be configured to provide at least one wireless radio connection, such as, for example, a 3GPP mobile broadband connection (e.g., 3G, 4G, 5G). However, the communication interface 108 may also be configured to provide one or more other types of connections, such as a wireless local area network (WLAN) connection, such as those standardized by the IEEE 802.11 series or the Wi-Fi Alliance; a short-range wireless network connection, such as, for example, a Bluetooth, NFC (Near Field Communication), or RFID connection; a wired connection, such as, for example, a local area network (LAN) connection, a universal serial bus (USB) connection, or an optical network connection; or a wired Internet connection. The communication interface 108 may comprise, or be configured to be coupled to, at least one antenna for transmitting and / or receiving radio frequency signals. One or more of the various types of connections may also be implemented as separate communication interfaces that may be coupled to, or configured to be coupled to, multiple antennas.

[0032] When device 100 is configured to implement some functionality, some and / or multiple components of device 100 may be configured to implement the functionality, such as, for example, at least one processor 102 and / or memory 104. Furthermore, when at least one processor 102 is configured to implement some functionality, this functionality may be implemented using, for example, program code 106 included in memory 104.

[0033] The functionality described herein may be performed, at least in part, by one or more computer program product components, such as software components. According to one embodiment, the apparatus 100 includes a processor 102 or processor circuitry, such as a microcontroller, configured by program code 106, when executed, to perform embodiments of the described operations and functionality. Alternatively, or in addition, the functionality described herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), and graphics processing units (GPUs).

[0034] Apparatus 100 may include, for example, a server device, a client device, a mobile phone, a tablet computer, a laptop, etc. In one embodiment, apparatus 100 may include a mining vehicle. Although apparatus 100 is shown as a single device, it should be understood that, wherever applicable, the functionality of apparatus 100 may be distributed across multiple devices.

[0035] The apparatus 100 comprises means for performing at least one method described herein. In one example, the means comprises at least one processor 102 and at least one memory 104 containing program code 106 configured, when executed by the at least one processor 102, to cause the apparatus 100 to perform the method.

[0036] FIG. 2 illustrates an example of selecting a target position 200 for a mining vehicle within a mine by an apparatus, according to an exemplary embodiment. The target position 200 may be determined, for example, by the apparatus 100. The target position may refer to the most appropriate position for the mining vehicle within the mine to perform a particular task. The mining vehicle may be configured to perform drilling, bolting, and / or tunneling operations in the mine. For example, drilling may be performed by a rock drilling rig. A rock drilling rig is an example of a mining vehicle. The rock drilling rig may include at least one boom for drilling, such as one to three booms. The boom may be attached to a carrier of the rock drilling rig. The apparatus 100 may include the rock drilling rig.

[0037] The apparatus 100 may be configured to select a drilling plan 212 associated with the tunnel line 208 of the tunnel to be excavated.

[0038] The drilling plan includes drill hole information regarding the holes to be drilled. The drill hole information may include, for example, the number of holes, the location of the holes, the direction and / or length of the holes to be drilled. The drilling plan may, for example, define the start point, length, and direction in a three-dimensional coordinate system of the holes included in the drilling plan. As another example, the drilling plan may define the start point and end point of the holes included in the drilling plan. The drilling plan may include information regarding the selected hole or each hole to be drilled. The holes included in the drilling plan may be referred to as drill holes.

[0039] A tunnel line may refer to the planned line of a tunnel. A tunnel design may determine the tunnel line to be excavated in the mine's project coordinate system. Because tunnels are excavated in rounds, a drilling plan may be pre-designed for each round. A tunnel may refer to the excavated portion of a tunnel line. While shown in FIG. 2 as the centerline of tunnel 216, tunnel line 208 may be located at the edge of tunnel 216 or even outside of tunnel 216. Tunnel line 208 may indicate a reference line in space along which excavation of tunnel 216 may occur. A mine may be associated with multiple drilling plans for tunnel line 208. Multiple drilling plans may be associated with multiple tunnel profiles. A tunnel profile may indicate characteristics of a tunnel at a particular depth, such as the tunnel contour, tunnel shape, and / or tunnel cross-sectional area.

[0040] In one embodiment, selecting a drilling plan includes identifying a profile of the tunnel to be excavated and selecting a drilling plan based on the profile.

[0041] In one embodiment, the device 100 is configured to identify the profile of the tunnel to be excavated based on the depth of the tunnel already excavated and the direction of the tunnel to be excavated.

[0042] For example, the apparatus 100 may be configured to determine, based on the tunnel line, what type of tunnel profile is associated with the detected depth. The apparatus 100 may then be configured to select a drilling plan having a profile that matches the tunnel profile associated with the detected depth. The apparatus 100 may be configured to prioritize a drilling plan that includes the name of the tunnel line in the drilling plan when multiple drilling plans with matching profiles exist. The apparatus 100 may be configured to select the most recent drilling plan when multiple drilling plans include the name of the tunnel line.

[0043] The apparatus 100 may be configured to select a drilling plan 212 from the plurality of drilling plans based on at least one of, for example, a tunnel profile associated with the drilling plan, a timestamp associated with the drilling plan, such as the most recent drilling plan for the tunnel line 208, the position of the mining vehicle relative to the tunnel line 208, or the depth of the tunnel line 208.

[0044] The apparatus 100 may be further configured to select a position of a navigation plane 210 of the drilling plan 212 relative to the tunnel line 208. The navigation plane may include a virtual plane that includes a start point of a hole included in the drilling plan. The hole length is defined based on the start point of the hole. The navigation plane may also be referred to as a start profile of the drilling plan 212. The apparatus 100 may be further configured to acquire a mine model. The apparatus 100 may be configured to acquire a position of the navigation plane 210 in a coordinate system of the mine model.

[0045] In one embodiment, selecting a position of the navigation plane for the drilling plan includes changing the position of the navigation plane in the tunnel depth direction until the number of hole start points in the drilling plan located inside the excavated tunnel exceeds at least one predetermined limit.

[0046] The number of starting points may include, for example, an absolute number of holes or a proportional number, such as a percentage.

[0047] Varying the position of the navigation plane in the tunnel depth direction may be referred to as navigation plane depth adjustment. In one embodiment, the goal of navigation plane depth adjustment is to ensure that hole endpoints are within the undrilled rock and that many hole start points are within the tunnel within the already excavated volume, based on the latest 3D mine model. This allows holes to be drilled to the target length while maximizing advancement.

[0048] The apparatus 100 may be configured to determine a first position 204 of the mining vehicle based on the drilling plan 212 and the position of the navigation plane 210.

[0049] The first position may include, for example, an initial position of the mining vehicle, a default position of the mining vehicle, etc. For example, the apparatus 100 may be configured to determine a center point and a heading direction of the drilling plan 212 relative to the tunnel line 208. The center point and heading direction may be determined based on drill hole information obtained from the drilling plan 212. The apparatus 100 may be configured to determine the first position 204, for example, to be aligned with the center point and heading direction of the drilling plan 212. The first position 204 may be aligned with the center point according to the heading direction of the drilling plan 212. Thus, the first position 204 may be located on the same axis as the center point of the drilling plan 212 and have the same heading direction as the drilling plan 212. The heading direction of the drilling plan may include a depth direction of the navigation plane. The depth direction may point to the drilling direction. The apparatus 100 may be configured to determine the position of the navigation plane 210 relative to the depth direction of the tunnel 216. The position of the navigation plane 210 may be defined as a peg number. The peg number may indicate the distance along the tunnel 216 to the navigation plane location 210 .

[0050] The apparatus 100 may be further configured to determine the first position 204 based on the dimensions of the mining vehicle and the position of the navigation plane 210. Based on the dimensions of the mining vehicle, the apparatus 100 may be configured to determine a distance between the position of the navigation plane 210 and the position of the mining vehicle such that each drill hole in the drilling plan 212 is reachable for drilling by the mining vehicle. The dimensions of the mining vehicle may include at least one of the dimensions of one or more carriers of the mining vehicle, the dimensions of a boom base of the mining vehicle, or the length of one or more booms of the mining vehicle. The boom base may be a portion of the boom from which the boom is attached to the carrier. The length of the boom may be determined from the attachment point of the boom base to the carrier to the drill bit of the boom at its extreme position. The extreme position may refer to a position where the boom is adjusted to its minimum length. Thus, the apparatus 100 may be configured to determine that the first position 204 is located within a distance from the position of the navigation plane 210.

[0051] Alternatively, the apparatus 100 may be configured to use a default distance to the tunnel face to determine the first position 204. The apparatus 100 may be configured to obtain a default distance to the tunnel face, for example, based on the dimensions of the mining vehicle. The default distance may include the length of one or more booms of the mining vehicle, plus a margin. Different mining vehicles may have different boom lengths, such as booms that are 5 to 15 meters long. The margin may be, for example, 0.1 to 1.5 meters, such as 0.2 meters, 0.5 meters, 0.7 meters, or 1 meter. The length and margin are examples, and the values ​​may depend on the mining vehicle used. The tunnel face may refer to the end wall of the tunnel.

[0052] In one embodiment, the device 100 is configured to obtain information regarding a plurality of predetermined variations of the first position.

[0053] The information regarding variations of the plurality of predetermined positions may include, for example, a list of variations of the predetermined position of the mining vehicle relative to at least one of the center point and heading of the drilling plan 212 or the first position 204 .

[0054] The plurality of predetermined variations may include, for example, changes in at least one of the position, heading, or articulation of the mining vehicle relative to a default first position.

[0055] The apparatus 100 may be configured to compare the first location 204 to at least one second location 202 of the mining vehicle. The at least one second location may include, for example, at least one candidate location of the mining vehicle. The candidate location may include a predetermined location of the mining vehicle.

[0056] The apparatus 100 can be configured to determine at least one second position 202 based on the first position 204. In one embodiment, the apparatus 100 is configured to determine a plurality of second positions 202 of the mining vehicle based on the first position 204 and information related to the plurality of variations.

[0057] The apparatus 100 may be configured to determine the at least one second position 202 based on a list of predetermined variations in the position of the mining vehicle relative to at least one of the center point and heading of the drilling plan 212 or the first position 204. The predetermined variations in position may include at least one change in at least one of the position, heading, or articulation of the first position 204. For example, the apparatus 100 may be configured to determine the at least one second position by varying information regarding the position of the mining vehicle relative to the first position 204 to at least one of the left, right, or back relative to the center point of the drilling plan 212, the heading of the drilling plan 212, and / or the position of the navigation plane 210 based on the predetermined position variations. The apparatus 100 may further be configured to determine the at least one second position 202 by varying at least one of the heading or articulation of the mining vehicle relative to the center point and heading of the drilling plan 212 based on the predetermined position variations.

[0058] The apparatus 100 may be configured to determine a target location 200 for the mining vehicle based on a first location 204, at least one second location 202, and / or at least one criterion. The target location 200 may indicate a most suitable location for drilling from a plurality of location options including the first location 204 and the at least one second location 202. The apparatus 100 may be configured to discard one or more location options based on at least one criterion, such as one or more unsuitable second locations 214.

[0059] In one embodiment, the apparatus is configured to select a target location for the mining vehicle from a plurality of second locations based on the first location and at least one predetermined criterion.

[0060] In an exemplary embodiment, the at least one criterion relates to the suitability of a first position and / or at least one second position of the mining vehicle for performing rock drilling based on the drilling plan 212 .

[0061] In one embodiment, the at least one predetermined criterion includes information regarding at least one obstacle located at the first location or at least one of the plurality of second locations.

[0062] For example, the at least one criterion may include information about one or more obstacles 206 located at the first location 204 or the at least one second location 202. The apparatus 100 may be configured to acquire floor map data of the mine model. The floor map data may include a traversability map including a floor map with additional information regarding, for example, height, floor slope, etc. The traversability map may include, for example, data regarding the floors of the tunnel 216 with obstacle height, slope, and roof height information encoded into the floor points. The apparatus 100 may be configured to determine, based on the traversability map, whether either the first location 204 or the at least one second location 202 is located at a location of an obstacle 206. The obstacle 206 may comprise, for example, an obstacle on the floor, or the roof or wall of the tunnel 216. The apparatus 100 may also be configured to determine a temporary traversability map based on real-time data obtained from the mining vehicle, such as obstacles detected by the mining vehicle from around the mining vehicle.

[0063] In one embodiment, the at least one predetermined criterion includes the space required by the mining vehicle.

[0064] For example, the apparatus 100 may be configured to check location options where the mining vehicle can be located, e.g., based on the dimensions of the mining vehicle and a traversability map. For example, the apparatus 100 may be configured to obtain a mechanical part envelope for the mining vehicle. The mechanical part envelope may include at least a carrier envelope. Generally, the envelope indicates the space required by the mechanical part or mining vehicle at its current location. The space required by the mechanical part or mining vehicle may include a margin that is added to the outer dimensions of the mechanical part / mining vehicle. The apparatus 100 may be configured to discard the first location 204 or the second location 202, for example, if the mechanical part envelope includes a space occupied by an obstacle having predetermined characteristics or if the mechanical part envelope is not located within the tunnel 216 based on the traversability map. The apparatus 100 may be configured to check, for example, whether the mechanical part envelope is at least partially located inside the wall of the tunnel 216 or overlaps with an obstacle or wall of the tunnel 216 at the second location 202 of the mining vehicle. Furthermore, the apparatus 100 may be configured to check, based on the dimensions of the mining vehicle, for example, whether there are any obstacles on the floor that are located below the machine part envelope and have a height that exceeds a predetermined limit, or whether the roof height prevents the mining vehicle from being positioned at least one of the second 202 or first position 204. Different parts of the mining vehicle (machine part envelope of the complete machine envelope) may have different limitations in ground clearance / obstacle height or roof height requirements. The apparatus 200 may be configured to obtain the limitations related to the dimensions of the mining vehicle.

[0065] In one embodiment, the at least one predetermined criterion includes that each drill hole in the drilling plan is drillable by the mining vehicle based on the location, depth, and direction of the holes in the drilling plan and the dimensions of the machine parts.

[0066] In one embodiment, the at least one criterion may include a priority, for example, the first location 204 may have the highest priority.

[0067] In one embodiment, the at least one predetermined criterion includes prioritizing the plurality of second locations. In one embodiment, the prioritization of the plurality of second locations is determined based on distance from the first location. For example, the device 100 may be configured to prioritize at least one second location 202 based on the proximity of the second location 202 to the first location 204. For example, the device 100 may be configured to prioritize a second location closer to the first location 204 over another second location farther away from the first location. Additionally or alternatively, the device 100 may be configured to prioritize the first location 204 and the at least one second location 202 based on obstacles 206 located at or near the respective locations. For example, the device 100 may be configured to prioritize a location with fewer obstacles near the location over a location with more obstacles near the location. The device 100 may further be configured to prioritize the first location in at least one second location based on characteristics of the obstacles 206 at the first location and / or the second location. The characteristics of the obstacle 206 may include, for example, the dimensions or location of the obstacle 206 obtained from a traversability map by the apparatus 100. For example, a second location 202 located over a relatively small hole in the ground but close to the first location 204 may be prioritized over a second location 202 located immediately next to the wall of the tunnel 216.

[0068] In one embodiment, the at least one predetermined criterion includes each drill hole in the drilling plan 212 being reachable for drilling by the mining vehicle. For example, the apparatus 100 may be configured to determine that each drill hole in the drilling plan 212 is reachable for drilling by at least one boom of the mining vehicle. The apparatus 100 may be configured to determine which second locations 202 are located within a default distance to, for example, the tunnel face. For example, the apparatus 100 may be configured to determine a distance between a boom base coordinate of the mining vehicle at the second location 202 and a coordinate of a drill hole in the drilling plan 212 based on the position of the navigation plane 210. The apparatus 100 may then be configured to compare the distance with a default distance. Instead of the default distance, the distance between the second location 202 and the drill hole based on the position of the navigation plane 210 may be compared, for example, with the length of one or more booms of the mining vehicle. The apparatus 100 may be configured to discard second locations 202 that are not within the default distance or boom length. Thus, it may be determined that one or more booms of a mining vehicle can reach to drill the planned drill holes using the associated boom lengths.

[0069] The apparatus 100 may be configured to select the target location 200 from among the first location 204 and the at least one second location 202 based on at least one criterion. For example, the apparatus 100 may be configured to select the first location 204 as the target location 200 unless the traversability map indicates that the first location 204 is not suitable for the mining vehicle. The apparatus 100 may be configured to select the at least one second location 202 when the first location 204 is not suitable for the mining vehicle. The apparatus 100 may be configured to select one second location 202 as the target location 200 based on, for example, the proximity of the second location 202 to the first location 204. Alternatively, the apparatus 100 may be configured to select the target location 200 based on a priority, such that, for example, a location where the mining vehicle is compatible with the tunnel 216 based on the traversability map has a higher priority than a location where the mining vehicle is not compatible with the tunnel 216.

[0070] In crosscuts or other cases where drilling is not performed in the mining vehicle's forward direction, selecting a location for the mining vehicle to optimize boom reachability for drilling can be difficult. FIG. 3 shows an example in which first and second locations 204, 202 are determined by the apparatus 100 for a crosscut. The apparatus 100 may have discarded the first location 204 and several unsuitable second locations 214 where the mining vehicle cannot fit into the tunnel 216 due to obstacles 206, such as the tunnel's side and end walls. The apparatus 200 may then be configured to select the target location 200 from among the remaining second locations 202, for example, based on priority. The apparatus 100 may be configured to determine priority based, for example, on the mining vehicle's ability to drill according to the drilling plan 212 and the position of the navigation plane 210 from the second location. Thus, the device 100 may enable finding the most suitable position of the mining vehicle for drilling in different situations based on the determined first position 204 and at least one second position 202 and at least one criterion.

[0071] In one embodiment, the apparatus 100 may be configured to determine a route for the mining vehicle to the target location 200. The apparatus 100 may be configured to obtain a current location of the mining vehicle. The apparatus 100 may then be configured to determine a route from the current location to the target location 200 based on the traversability map. Thus, the target location 200 may also be determined to be accessible to the mining vehicle. For example, the target location 200 may not be accessible to the mining vehicle if the walls of the tunnel 216 are too close to the rear of the mining vehicle, preventing the mining vehicle from reaching that particular target location. The apparatus 100 may be configured to take into account obstacles included in the traversability map along the route when determining the route to the target location. Furthermore, the apparatus 100 may be configured to add a margin to the dimensions of the mining vehicle to determine that the mining vehicle is suitable for traveling to the target location 200.

[0072] The apparatus 100 may be configured to determine a new target location if the selected target location 200 is not accessible to the mining vehicle.

[0073] In one embodiment, the apparatus 100 is configured to determine a new target location in response to determining, based on the floor map data, that the mining vehicle cannot drive to the target location. The new target location may be determined from among the remaining second locations 202, for example, based on priority.

[0074] The apparatus 100 may be configured to automatically drive the mining vehicle to the target location 200 when the apparatus 100 determines that the target location 200 is accessible to the mining vehicle. Alternatively, the apparatus 100 may be configured to provide the operator of the mining vehicle with information regarding the target location 200 and a route to the target location 200.

[0075] Mining vehicles, such as underground development and tunnel drilling rigs, may require information about the tunnel line and drilling plan so that drilling can be performed automatically. Additionally, information about the tunnel line may be required to display the boom associated with the drilling plan to the rig operator. Both the tunnel line and the drilling plan may comprise a theoretical profile. The profile may vary along the length of the tunnel. For example, consider a railroad tunnel where the majority of the tunnel is small but the tunnels are wider at the stations. Thus, a tunnel in a mine may require different types of drilling plans at different depths of the tunnel. In a mine tunnel, the profile may vary, for example, in the pass-through section. FIG. 4 shows an example of multiple tunnels 400. Tunnel 400 of multiple tunnels 216 may have different profiles and associated drilling plans 212 along the length of tunnel 216. For example, a tunnel in a mine may start larger and then narrower toward the end. Additionally, the different drilling plans 212 may be updated over time. Thus, it may be necessary to determine the tunnel profile at the exact drilling location as well as the exact drilling plan before drilling begins.

[0076] For example, an operator may select a tunnel line for a tunnel from among all tunnel lines based on available information about tunnels in a mine. The operator may mistakenly select an outdated tunnel line even though updated information about the tunnel line is available. The tunnel line may have changed, for example, due to a mining plan. Drilling based on the incorrect tunnel line may cause delays. The operator may manually select a drilling plan from among information about all drilling plans. For example, the operator may mistakenly select an incorrect one for the depth in the tunnel, causing the incorrect profile to be drilled. The incorrect selection of a drilling plan may further cause an underbreak or overbreak, resulting in project delays and additional work to correct it. The operator may also accidentally select an outdated pattern even though an updated one is available, resulting in suboptimal blast results.

[0077] The apparatus 100 may be configured to receive information regarding multiple tunnel lines within a mine. The apparatus 100 may be configured to select a correct tunnel line for drilling from the multiple tunnel lines. The apparatus 100 may then be configured to select a profile based on the depth within the tunnel and the direction of the tunnel. The depth within the tunnel may correspond to the depth of the deepest drilled point of the tunnel projected onto the tunnel line. The tunnel and tunnel line may include multiple profiles, from which the accurate profile may be determined by the apparatus 100 based on the depth. For example, the apparatus 100 may be configured to detect the deepest point within the tunnel by comparing the mapped mine with the selected tunnel line. Finally, the apparatus 100 may be configured to select a drilling plan that matches the selected profile.

[0078] In one embodiment, the apparatus 100 may be configured to obtain information from a mining vehicle's positioning system. For example, the mining vehicle may drive to the end of a tunnel. The apparatus 100 may then select the correct tunnel line based on at least one of the mining vehicle's position or heading at the end of the tunnel. Coarse positioning may be sufficient to determine the position and heading. For example, a positioning system with a meter-level error may be sufficient for this purpose.

[0079] The apparatus 100 may be configured to obtain the latest data for a tunnel line associated with at least one of the location or heading of the mining vehicle. For example, different data for a tunnel line may have the same identifier, such as the name of the tunnel line. Also, some of the tunnel lines may overlap. Thus, the apparatus 100 may be configured to select a tunnel line that has the same heading as the mining vehicle. The apparatus 100 may be configured to obtain the latest data based on, for example, an edit date or other content that indicates which is the latest version of the data.

[0080] Thus, the selection of the tunnel line may be performed automatically by the apparatus 100. Alternatively, the selection may be performed by the operator of the mining vehicle. In one embodiment, the apparatus 100 may be configured to analyze all tunnel line information for unique identifiers. The operator can indicate the correct tunnel line to the apparatus 100 by selecting from a list of unique identifiers extracted by the apparatus 100 from all tunnel line information.

[0081] In one embodiment, the device 100 can be configured to determine the depth and direction of the excavation portion of a selected tunnel line based on information received from a positioning system. For example, the device 100 can be configured to obtain the position of the drill bit of a mining vehicle. Furthermore, the device 100 can be configured to obtain the direction of travel of the mining vehicle on the tunnel line, which indicates the direction of excavation. The device 100 can be configured to calculate the position of the drill bit based on the position of the mining vehicle within the mine. For example, three-dimensional (3D) points of the drill bit position can be projected onto a tunnel line spline by the device 100. The tunnel line can be defined as a series of points and depths through which the tunnel line passes. The spacing between the points can be, for example, 5 meters or 10 meters. The tunnel between the defined points can be extrapolated by a spline, line, or arc. The device 100 can then be configured to extract the depth of the tunnel from the projected 3D points.

[0082] In one embodiment, the apparatus 100 may be configured to compare the mine model with a selected tunnel line to determine the deepest excavation point within each tunnel. For example, the apparatus 100 may extract a subset of a point cloud from the mine model that is close to the tunnel line. For example, all points within a threshold distance to the selected tunnel line may be picked up by the apparatus 100. The points of the point cloud may be projected onto the tunnel line by the apparatus 100. For example, all selected points may be projected onto a spline formed by the tunnel line. The apparatus 100 may then be configured to identify the deepest excavation point within the tunnel based on the projection. The apparatus 100 may then extract a depth from the projected points. For example, the apparatus 100 may calculate a peg number indicating the depth of the projected points. The apparatus 100 may be configured to select the largest peg number and the corresponding depth. The apparatus 100 may use, for example, outlier removal or clustering to reduce erroneous results.

[0083] The tunnel line information may include a theoretical profile for each peg number and a depth within the tunnel. The apparatus 100 may be configured to extract and select a profile associated with a depth closest to the indicated position of the mining vehicle or drill bit within the tunnel. Once a profile is extracted, the apparatus 100 may be configured to retrieve available drilling plan information for a matching tunnel line identifier (e.g., included in the IREDES drilling plan format). If a matching tunnel line identifier is not found, the apparatus 100 may be configured to select a drilling plan that includes a profile that matches the selected tunnel profile. The apparatus 100 may be configured to select the most recent drilling plan associated with the matching profile and, optionally, the tunnel line identifier. The selected drilling plan may be provided by the apparatus 100 to the mining vehicle for navigation of one or more booms.

[0084] Exemplary embodiments can improve the selection of correct information for operating a mining vehicle in a mine. For example, an operator may not need to know which specific file to use to obtain an accurate drilling plan. The naming of the file may not be important, only the data content of the drilling plan. The device 100 may be able to ensure that the latest available data is used, for example, after automatic synchronization to a planning program. This allows the operator to simply select a tunnel line and automate the navigation of the mining vehicle. Alternatively, the correct tunnel line may be selected automatically by the device 100.

[0085] However, drilling plans are not typically designed in mine coordinates. A drilling plan can include a relative drilling pattern that is repeated within the mine in actual drilling situations. As mentioned above, the start of a drill hole in a drilling plan can be referred to as the navigation plane or start profile. The start profile can be smaller than the profile at the end of the drill hole. The end of the drill hole is sometimes referred to as the round end. The difference between the start and end profiles can define the lookout angle. The lookout angle can be used to fit the mining vehicle's drill feed and rock drill into the tunnel. It can be difficult to drill a hole directly adjacent to the tunnel wall at a zero angle relative to the tunnel direction. For this reason, the selection of the navigation plane depth, or the start profile depth, can be important to the drilling results.

[0086] For example, if the navigation plane is positioned too deep within the tunnel, the mining vehicle may not be able to fully reach the designed length of the drill hole in the drilling plan. If the navigation plane is positioned too deep within the tunnel line, the target hole depth may be too deep to be drilled with the length of the drill rod, resulting in a rounded, misshapen tunnel face. In addition, if the navigation plane is positioned too deep within the tunnel line, the navigation plane position may lead to a blast failure. For example, an underbreak on the tunnel profile after the start profile may be caused by the lookout angle extrapolated from the navigation plane position to the actual rock surface of the tunnel.

[0087] On the other hand, if the navigation plane is not positioned deep enough in the tunnel, this can lead to an insufficient round length. Insufficient round length can cause extended project time and increased costs for tunnel excavation projects. Furthermore, drilling can be difficult because the drill hole may ultimately start at the tunnel sidewall and not the tunnel face. If the drilling is started at too steep an angle, this can lead to the drill bit sliding within the wall instead of striking the wall.

[0088] 5 illustrates an example of selecting a position of the navigation plane 210 of the drilling plan 212 by the device, according to an exemplary embodiment. The selection may be performed by the device 100, for example.

[0089] As described above, a mine may include multiple tunnel lines and associated tunnels. The apparatus 100 may acquire a mine model in the same coordinate system as the tunnel lines. The apparatus 100 may be configured to locate a selected drilling plan 212 in tunnel line coordinates, for example, using a navigation curve calculation. In the navigation curve calculation, the tunnel line is determined by a curve table containing points spaced a predetermined distance from each other and their coordinate information, such as peg numbers. The depth of the tunnel line 208, such as the peg number, may be changed in the navigation curve calculation. For example, the apparatus 100 may be configured to iterate a fixed number of pegs from the planned end of the tunnel line 208 toward the start of the tunnel line 208. Alternatively, the apparatus 100 may iterate a fixed number of pegs from the identified deepest drilling point 500 in the tunnel line 208 opposite the drilling direction.

[0090] The drilling plan 212 may include locations of drill hole start points 502. The drill hole start points may be provided in a three-dimensional format. The apparatus 100 may be configured to analyze the locations of the 3D start points 502 by comparing them with a mine model mapped with the tunnel line. The apparatus 100 may be configured to continue iterations by moving the drilling plan 212 backward along the tunnel line 208 until a predetermined number of start points 502 are located inside the tunnel 216. In one embodiment, the predetermined number may include having all of the drill hole start points 502 inside the tunnel 216. The apparatus 100 may be configured to determine that the predetermined number of start points are located inside a measured model of the tunnel 216. The model may be a 3D model of the tunnel 216 or a simplified 2D wall model showing the progress of the tunnel 216 at that time. In other words, at least a predetermined number of drill holes in the navigation plane may be determined by the apparatus 100 to start inside the excavated portion of the tunnel line 208 based on the latest model of the tunnel 216. In one embodiment, the predetermined number may include having a certain percentage of starting points 502 inside the excavated portion of the tunnel 216. In one embodiment, the predetermined number may include having all but the profile or contour drilled holes inside the excavated portion of the tunnel 216. The profile or contour drilled holes may include at least the outermost drilled holes of the drilling plan 212.

[0091] The device 100 may be configured to stop the iterations and store the peg numbers when a predetermined number of starting points 502 are located inside the tunnel 216. The device 100 may then determine the position of the navigation plane 210 based on the stored peg numbers / depth of the tunnel line 208. The position of the navigation plane 210 may be further used by the device 100 to determine the final drilling plan placement for drilling navigation.

[0092] By determining the location of the navigation plane 210 and / or the placement of the final drilling plan based on a predetermined number of starting points 502 located inside the tunnel 216, a balance can be achieved between the advancement per round, the tunnel face shape after blasting, and the drilling feasibility of the mining vehicle. Because at least most of the drill holes can be drilled to the target depth, maximum advancement can be achieved relative to the tunnel face shape after blasting. Furthermore, because the drilling plan is not positioned too far back, minimum underbreak can be achieved. Selecting the location of the navigation plane 210 within the tunnel line 208 based on a predetermined number of starting points 502 located inside the tunnel 216 allows the tunnel face shape after blasting to be optimized to the planned flat shape, making the drilling and loading of subsequent rounds easier.

[0093] FIG. 6 illustrates an example of a method 600 for selecting a location of a mining vehicle within a mine for drilling, according to an illustrative embodiment.

[0094] In operation 602, the method may include selecting a drilling plan associated with the tunnel line for the tunnel to be excavated. The drilling plan may be selected based on, for example, the depth and direction of the tunnel line selected for drilling.

[0095] At operation 604, the method may include selecting a position of a navigation plane of the drilling plan relative to the tunnel line. The position of the navigation plane may be selected based on, for example, the depth of the tunnel, such that at least a predetermined number of the drill holes of the navigation plane are located inside the tunnel 216.

[0096] In operation 606, the method may include determining a first position of the mining vehicle based on the drilling plan and the position of the navigation plane.

[0097] In operation 608, the method may include obtaining information regarding a plurality of predetermined variations of the first position.

[0098] In operation 610, the method may include determining a plurality of second positions of the mining vehicle based on the first position and information about the plurality of predetermined variations.

[0099] In operation 612, the method may include selecting a target location for the mining vehicle from a plurality of second locations based on the first location and at least one predetermined criterion. The at least one predetermined criterion may include, for example, a detected obstacle that prevents positioning the mining vehicle at the first location or the at least one second location based on a traversability map of the mine.

[0100] It will be obvious to those skilled in the art that with the advancement of technology, the basic idea of ​​the present invention can be implemented in various ways. Therefore, the present invention and its embodiments are not limited to the above examples, but can be modified within the scope of the claims.

[0101] Further features of the method result directly from the functions and parameters of the apparatus described in the appended claims and throughout the specification, and therefore will not be repeated here. It should be noted that one or more actions of the method may be performed in a different order.

[0102] The apparatus may be configured to perform or cause the performance of any aspect of the method(s) described herein. Further, a computer program may comprise instructions that, when executed, cause an apparatus to perform any aspect of the method(s) described herein. Further, the apparatus may comprise means for performing any aspect of the method(s) described herein. According to an exemplary embodiment, the means comprises at least one processor and a memory containing program code, the at least one memory and the program code, when executed by the at least one processor, being configured to cause the performance of any aspect of the method(s).

[0103] Any range or device value given herein may be expanded or modified without losing the effect sought, and any embodiment may be combined with another embodiment unless expressly prohibited.

[0104] Although the subject matter has been described in language specific to structural features and / or acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims, and other equivalent features and acts are intended to be within the scope of the claims.

[0105] It will be understood that the benefits and advantages described above may relate to one embodiment or to multiple embodiments. Embodiments are not limited to those that solve any or all of the described problems or that have any or all of the described benefits and advantages. It will be further understood that reference to "an" or "an" item may refer to one or more of those items.

[0106] The actions of the methods described herein may be performed in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the above-described embodiments may be combined with aspects of any of the other embodiments described to form further embodiments without losing the desired effect.

[0107] The term "comprising" is used herein to mean including identified methods, blocks, or elements, but that such blocks or elements do not comprise an exclusive list and that a method or apparatus may include additional blocks or elements.

[0108] As used in this application, the term “circuitry” can refer to one or more or all of the following: (a) hardware-only circuit implementations (such as implementations with only analog and / or digital circuitry), and (b) (where applicable) (i) combinations of analog and / or digital hardware circuit(s) with software / firmware, and (ii) combinations of hardware circuitry and software, such as any portion of a hardware processor(s) having software (including digital signal processor(s)), software, and memory that cooperate to cause a device such as a cell phone or server to perform various functions, and (c) hardware circuit(s) and / or processor(s), such as a microprocessor(s) or portion of a microprocessor(s), that requires software (e.g., firmware) to operate but may not be present when software is not required for operation. This definition of circuit applies to all uses of the term in this application, including any claims.

[0109] As a further example, as used in this application, the term circuit also encompasses simply a hardware circuit or processor (or processors), or a portion of a hardware circuit or processor, and its (or their) accompanying software and / or firmware implementations. The term circuit also encompasses, for example, a baseband or processor integrated circuit for a mobile device, or a similar integrated circuit in a server, cellular network device, or other computing or network device, if applicable to certain claim elements.

[0110] It will be understood that the above description is given by way of example only, and that various modifications may be made by those skilled in the art. The above specification, examples, and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above with a particular degree of particularity, or with reference to one or more individual embodiments, those skilled in the art can make numerous modifications to the disclosed embodiments without departing from the scope of the present specification.

Claims

1. A device for selecting the position of a mining vehicle in a mine for drilling, the device comprising at least one processor and at least one memory, wherein the at least one memory, when executed by the at least one processor, provides the device, Select a drilling plan associated with the tunnel line of the tunnel to be excavated. The position of the navigation plane of the drilling plan relative to the tunnel line is selected. Based on the drilling plan and the position on the navigation plane, the first position of the mining vehicle is determined. Information regarding a plurality of predetermined fluctuations of the first position is obtained, Based on the information relating to the first position and the plurality of predetermined fluctuations, the plurality of second positions of the mining vehicle are determined. An apparatus including a command to cause the mining vehicle to select a target position from a plurality of second positions based on the first position and at least one predetermined criterion.

2. The apparatus according to claim 1, wherein selecting the drilling plan includes identifying the profile of the tunnel to be excavated and selecting the drilling plan based on the profile.

3. The apparatus according to claim 2, wherein the at least one memory further includes instructions, when executed by the at least one processor, causing the apparatus to identify the profile of the tunnel to be excavated based on the depth of the tunnel already excavated and the direction of the tunnel to be excavated.

4. The apparatus according to any one of claims 1-3, wherein selecting the position of the navigation plane for the drilling plan includes changing the position of the navigation plane in the tunnel depth direction until the number of starting points for drilling holes in the drilling plan located inside the excavated tunnel exceeds at least one predetermined limit.

5. The apparatus according to claim 1, wherein the plurality of predetermined fluctuations include at least one change in the position, direction of travel, or joint movement of the mining vehicle relative to the first position.

6. The apparatus according to claim 1, wherein the at least one predetermined criterion includes information relating to at least one obstacle located at the first position or at least one of the plurality of second positions.

7. The apparatus according to claim 1, wherein the at least one predetermined criterion includes that each of the drilling holes in the drilling plan is reachable for drilling by the mining vehicle.

8. The apparatus according to claim 1, wherein the at least one predetermined criterion includes that each of the drilling holes in the drilling plan is drillable by the mining vehicle based on the position, depth, and direction of the drilling holes in the drilling plan, as well as the dimensions of the machine parts.

9. The apparatus according to claim 1, wherein the at least one predetermined criterion includes the priority of the plurality of second positions.

10. The apparatus according to claim 9, wherein the priority of the plurality of second positions is determined based on the distance from the first position.

11. The apparatus according to claim 1, wherein the at least one predetermined standard includes the space required by the mining vehicle.

12. The apparatus according to claim 1, wherein the at least one memory further includes an instruction, when executed by the at least one processor, to cause the apparatus to determine a new target position in response to the determination, based on floor map data, that the mining vehicle cannot travel to the target position.

13. A computer implementation method for selecting the position of a mining vehicle in a mine for drilling, wherein the method is Selecting a drilling plan associated with the tunnel line of the tunnel to be excavated, Selecting the position of the navigation plane of the drilling plan relative to the tunnel line, Based on the drilling plan and the position on the navigation plane, the first position of the mining vehicle is determined. To obtain information regarding a plurality of predetermined variations of the first position, Based on the information relating to the first position and the plurality of predetermined fluctuations, a plurality of second positions of the mining vehicle are determined, Selecting a target position for the mining vehicle from the plurality of second positions based on the first position and at least one predetermined criterion, Methods that include...

14. A computer program product that, when executed by a computer, includes instructions causing the computer to perform the method described in claim 13.

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