A mining machine and a system for insertion of an object into a drilled hole

Abstract

The present invention relates to a mining machine (1) for insertion of an explosive charge or a rock reinforcement device into a drilled hole, comprising a working arm (10) comprising a feed (11) and an imaging means (12) provided on the feed, the feed (11) is rotatable with respect to the working arm (10), the imaging means (12) providing an image data stream of a two-dimensional plane on an imaging means reference system based on a position of the feed (11), a controlling means (20) for controlling the movement of the working arm (10), the controlling means (20) having a controlling means reference system, a control unit (30) configured to transform the image data stream of said two-dimensional plane such that the imaging means reference system aligns with the controlling means reference system, and a display unit (40) configured to display the transformed image data stream.

Description

A MINING MACHINE AND A SYSTEM FOR INSERTION OF AN OBJECT INTO A DRILLED HOLETechnical field

[0001] The present invention relates generally to mining machines and in particular to a mining machine for insertion of an explosive charge or a rock reinforcement device into a drilled hole, a system for insertion of an explosive charge or a rock reinforcement device into a drilled hole, and a method for assisting an operator with insertion of an explosive charge or a rock reinforcement device into a drilled hole.Background art

[0002] Mining activities often involve the use of explosive charges or the installation of rock reinforcement device s to ensure structural stability. Conventionally, these elements are inserted into a drilled hole by a feed mechanism of a working arm. A user is generally involved in positioning the feed mechanism such that it aligns with the drilled hole so that insertion of the explosive charge or rock reinforcement device is done correctly. The rock reinforcement device may be a rock bolt, a cable bolt, or the like. The user may be located in a remote location or in the mining machine itself and may perform positioning of the feed mechanism by a controlling means, such as joystick, to control the motion of the working arm and thereby the feed mechanism. The feed mechanism is often equipped with an imaging means to capture an image data stream, for example a video steam which the user can view on a display unit.

[0003] It is imperative to safely and reliably insert the explosive charge or the rock reinforcement device into the drilled hole. Should the user, for example, hit the cave wall where the drilled hole is located, the feed mechanism and / or the imaging means and / or other parts of the mining machine or system may be damaged. As such, it is important to give the user an accurate visual representation of the drilled hole and its surroundings on the display unit and enable good means for controlling the motion of the working arm and thereby the feed mechanism.Summary of invention

[0004] An object of the present invention is to provide a user an accurate visual representation of a drilled hole and its surroundings on the display unit and good means for controlling the motion of the working arm to enable safe and reliable insertion of the explosive charge or the rock reinforcement device into the drilled hole.

[0005] This object is achieved by means of the subject matter of the independent claims of the present disclosure, wherein further aspects of the present disclosure are incorporated in the dependent claims.

[0006] According to a first aspect of the present disclosure it is provided a mining machine for insertion of an explosive charge or a rock reinforcement device into a drilled hole, wherein the mining machine comprising a working arm movable in at least a two-dimensional plane, the working arm comprising a feed and an imaging means provided on the feed, the feed is rotatable with respect to the working arm, the imaging means is configured to provide an image data stream of at least said two-dimensional plane from an imaging means reference system based on a position of the feed, a controlling means for controlling the movement of the working arm, the controlling means having a controlling means reference system, a control unit configured to transform the image data stream of said two- dimensional plane such that the imaging means reference system aligns with the controlling means reference system, and a display unit configured to display the transformed image data stream.

[0007] The advantage of this embodiment is that a user is provided with an accurate visual representation drilled hole and its surroundings on the display unit and good means for controlling the motion of the working arm to enable safe and reliable insertion of the explosive charge or the rock reinforcement device into the drilled hole.

[0008] In various example embodiments the working arm may comprise means for measurement of a position of the feed, the control unit may be configured to determine an angular displacement between of the imaging means referencesystem and the controlling means reference system based on a measured position of the feed, and the control unit may be configured to transform the image data stream based on the angular displacement.

[0009] The advantage of these embodiments is that an effective means of which the image data stream may be transformed is provided.

[0010] In various example embodiments the control unit may be configured to transform the image data stream of said two-dimensional plane by rotating the image data stream based on the angular displacement.

[0011] The advantage of these embodiments is that a simple, yet effective operation to transform the image data stream is provided.

[0012] In various example embodiments the imaging means reference system may comprise a first image reference system direction and a second image reference system direction, and the controlling means reference system may comprise a first controlling means reference system direction and a second controlling means reference system direction, wherein the control unit may be configured to transform the image data stream such that the first image reference system direction is transformed to the be the same as the first controlling means system direction and the second image reference system direction is transformed to the be the same as the second controlling means system direction.

[0013] In various example embodiments the controlling means reference system may be a cartesian plane, and the first and second controlling means reference system directions correspond to a first and second display unit reference system directions.

[0014] According to a second aspect of the present disclosure it is provided a system for insertion of an explosive charge or a rock reinforcement device into a drilled hole comprising a working arm movable in at least a two-dimensional plane, the working arm comprising a feed and an imaging means provided on the feed, the feed being configured rotate with respect to the working arm, the imaging means configured to provide an image data stream of said two-dimensional planefrom an imaging means reference system based on a position of the feed, a controlling means for controlling the movement of the working arm, the controlling means having a controlling means reference system, wherein the system comprising a control unit configured to transform the image data stream of said two-dimensional plane such that the imaging means reference system aligns with the controlling means reference system, and a display unit configured to display the transformed image data stream.

[0015] The advantage of this embodiment is that a user is provided with an accurate visual representation drilled hole and its surroundings on the display unit and good means for controlling the motion of the working arm to enable safe and reliable insertion of the explosive charge or the rock reinforcement device into the drilled hole.

[0016] In various example embodiments the controlling means and / or the control unit and / or the display unit may be remote from the working arm.

[0017] The advantage of these embodiments is that insertion of an explosive charge or a rock reinforcement device into a drilled hole may be done reliably and safely from a distance.

[0018] In various example embodiments the working arm may be part of a remotely controlled mining machine.

[0019] In various example embodiments the working arm may comprise a means for measurement of the position of the working arm, the control unit may comprise configured to determine an angular displacement between of the imaging means reference system and the controlling means reference system based on the measured position of the feed, the control unit may be configured to transform the image data stream based on the angular displacement.

[0020] The advantage of these embodiments is that an effective means of which the image data stream may be transformed is provided.

[0021] In various example embodiments the control unit may be configured to transform the image data stream of said two-dimensional plane by rotating the image data stream based on the angular displacement.

[0022] The advantage of these embodiments is that a simple, yet effective operation to transform the image data stream is provided.

[0023] In various example embodiments the imaging means reference system may comprise a first image reference system direction and a second image reference system direction, and the controlling means reference system may comprise a first controlling means reference system direction and a second controlling means reference system direction, wherein the control unit may be configured to transform the image data stream such that the first image reference system direction is transformed to the be the same as the first controlling means system direction and the second image reference system direction is transformed to the be the same as the second controlling means system direction.

[0024] In various example embodiments the controlling means reference system may be a cartesian plane, and the first and second controlling means reference system directions may correspond to a first and second display unit reference system directions.

[0025] According to a third aspect of the present disclosure it is provided a method for assisting an operator with insertion of an explosive charge or a rock reinforcement device into a drilled hole comprising a working arm movable in at least a two-dimensional plane, the working arm comprising a feed and an imaging means provided on the feed, the feed being configured rotate with respect to the working arm, a controlling means for controlling the movement of the working arm, the controlling means having a controlling means reference system, the method comprising receiving, by a control unit, an image stream of said two-dimensional plane from an imaging means reference system from said imaging means, transforming the image data stream of said two-dimensional plane such that the imaging means reference system aligns with the controlling means reference system, displaying, by a display unit, the transformed image data stream.

[0026] The advantage of this embodiment is that a user is provided with an accurate visual representation drilled hole and its surroundings on the display unit and good means for controlling the motion of the working arm to enable safe and reliable insertion of the explosive charge or the rock reinforcement device into the drilled hole.

[0027] In various example embodiments the working arm may comprise a means for measurement of the position of the working arm, the method may further comprise determining, by the control unit, an angular displacement between of the imaging means reference system and the controlling means reference system based on a measured position of the working arm, and transforming the image data stream based on the angular displacement.

[0028] The advantage of these embodiments is that an effective means of which the image data stream may be transformed is provided.

[0029] In various example embodiments transforming the image data stream may comprise rotating the image data stream such the imaging means reference system aligns with the controlling means reference system.

[0030] The advantage of these embodiments is that a simple, yet effective operation to transform the image data stream is provided.

[0031] Further advantages with and features of the invention will be apparent from the following detailed description of preferred embodiments.Brief description of drawings

[0032] A more complete understanding of the abovementioned and other features and advantages of the present invention will be apparent from the following detailed description of preferred embodiments in conjunction with the appended drawings, wherein:Fig. 1 depicts a mining machine for insertion of an explosive charge or a rock reinforcement device into a drilled hole according to various example embodiments of the present disclosure.Fig. 2 depicts a system for insertion of an explosive charge or a rock reinforcement device into a drilled hole according to various example embodiments of the present disclosure.Fig. 3a depicts a drilled hole display and according to the prior art.Fig. 3b depicts a display unit and a controlling means according to the prior art.Fig. 4a depicts a drilled hole according to various example embodiments of the present disclosure.Fig 4b depicts a controlling means and a display displaying transformed image data stream according to various example embodiments of the present disclosure.Fig. 5 depicts a schematic block diagram of a method for assisting an operator with insertion of an explosive charge or a rock reinforcement device into a drilled hole according to various example embodiments of the present disclosure.Description of embodiments

[0033] The invention is not limited only to the embodiments described above and shown in the drawings, which primarily have an illustrative and exemplifying purpose. This patent application is intended to cover all adjustments and variants of the preferred embodiments described herein; thus, the present invention is defined by the wording of the appended claims and the equivalents thereof. Thus, the apparatus and system may be modified in all kinds of ways within the scope of the appended claims.

[0034] Figure 1 depicts a mining machine 1 for insertion of an explosive charge or a rock reinforcement device into a drilled hole. The explosive charge may be of a conventional type used in the art, e.g., dynamite, Ammonium Nitrate / Fuel Oil (ANFO), explosive gels, or the like. The drilled hole may be pre-drilled by another mining machine (not shown) or by the mining machine 1 as seen in figure 1 of the present disclosure.

[0035] The mining machine 1 of figure 1 may comprise a working arm 10 movable in at least a two-dimensional plane. In other words, the working arm 10 may move in a horizontally and vertically such that it can be displaced to be positioned at the location of the drilled hole in order insert the explosive charge or the rock reinforcement device. The working arm 10 may also be movable in a depth direction as viewed from the two-dimensional plane. The working arm 10 may further comprise a feed 11 . The feed 11 , also known as a feed mechanism, controls the insertion of the explosive charge or the rock reinforcement device into the drilled hole. Any suitable feed may be used, e.g., a linear feed, a rotational feed, or a hydraulic feed, the choice depending on various factors known to the person skilled in the art. The feed 11 may be with respect to the working arm 10. Rotation of the feed 11 may be achieved around a pivot point on the working arm 10 using conventional mechanisms such as a motor-driven rotation (not shown).

[0036] As depicted in figure 1 , an imaging means 12, e.g., a suitable camera, may be provided on the feed 11 . Further, the imaging means 12 may be configured to provide an image data stream of at least said two-dimensional plane from an imaging means reference system based on a position of the feed 11 . The two-dimensional plane may therefore be represented by the image data stream provided by the imaging means 12. In other words, the image data stream may be a video stream of the operation of the working arm for insertion of the explosive charge or rock reinforcement device into the drilled hole. Rotation of the feed 11 may be required to align the feed 11 to the drilled hole in such a way that the explosive charge or the rock reinforcement device may be inserted. However, as the feed 11 is rotatable and the imaging means 12 is provided on the feed 11 , the imaging means reference system may change depending on the rotation of the feed 11 . In other words, the imaging means 12 may rotate equivalently with the feed 11. Therefore, the directions of the imaging means reference system, i.e., captured images within the image data stream may comprise different directions as the imaging means 12 may be rotated with the feed 11 .

[0037] The mining machine 1 depicted in figure 1 may further comprise a controlling means 20 for controlling the movement of the working arm 10. Thecontrolling means 20 may be a joystick as is depicted in e.g., figure 4b. The controlling means 20 may comprise a controlling means reference system, meaning that the directions a user inputs will control the working arm 10 in accordance with the controlling means reference system. For example, in the context of a joystick as the controlling means 20 in figure 4b, a user input of the joystick away from the user will result in an downwards motion of the working arm within the two-dimensional plane, a user input to the left will result in a leftwards movement of the working arm 10 in the two-dimensional plane, a user input of the joystick towards the user will result in an upwards motion of the working arm within the two-dimensional plane, and so forth. This type of motion of conventional and it should be understood that there is a realm of possibilities to implement movement of the working arm 10 through a controlling means 20 for the skilled person. The joystick may also be provided with additional controls such that the feed 11 may be rotated, or such that the working arm 10 can be moved in a depth direction when considering the two-dimensional plane, for example towards or away from the drilled hole. Two joysticks may be used, for example a first joystick may control movement of the working arm 10 in a lateral direction entirely, and being locked from controlling movement in other directions, whereas a second joystick may control the movement of the working arm 10 longitudinal direction entirely and being locked from controlling movement in other directions as well.

[0038] The controlling means reference system may be constant, i.e. , the directions of which the user may control the movement of the working arm 10 will always be the same. However, to enable the user of the controlling means 20 to move the working arm 10, and thus the feed 11 , towards e.g., the drilled hole, a display unit 40 may be used. The display unit 40 conventionally used in prior art displays the image data stream as provided by the imaging means 12. However, as the imaging means 12 may be provided on the feed 11 , and the feed 11 being rotatable with regards to the working arm 10, the directions of the imaging means reference system may differ from the directions of a controlling means reference system. In accordance with the present disclosure, a control unit 30 may be configured to transform the image data stream of said two-dimensional plane such that the imaging means reference system aligns with the controlling meansreference system. In other words, the image data stream may constantly be rotated to align with rotation of the feed 11 . A detailed description of figures 3a, 3b, 4a and 4b to compare image data, which is not transformed, i.e. prior art, and the present solution is given below.

[0039] Figure 3a depicts two-dimensional plane comprising a drilled hole H. The two-dimensional plane could for example be a cave wall comprising the drilled hole H. The feed 11 of the working arm 10 is depicted, and an imaging means 12 is provided on the feed 11 . Figure 3a is in this example the real position of the feed. As depicted in figure 3a, the feed 11 as rotated by 90 degrees, hence the imaging means 12 is also rotated by 90 degrees. Based on figure 3a, a substantially upwards motion of the working arm 10, and thereby the feed 11 in the two-dimensional plane would align the feed 11 with the drilled hole such that an explosive charge or rock reinforcement device could be inserted. However, a user or operator of a controlling means 20, as seen in figure 3b will in this example be provided with a 90 degrees rotated image data stream on a display unit 40. The user will therefore input an input direction Id to attempt to move the feed 11 towards the hole H as seen on display 40 by imagine data stream provided. Due to the controlling means 20 having a controlling means reference system based on the movement direction of the working arm 10 in reality, the actual movement direction Md of the working arm 10, and thereby the feed 11 will not correspond to the intended input direction Id of the user. This is because the controlling means reference system and the imaging means reference system are not the same since the feed 11 and thereby the imaging means 12 has been rotated. Consequently, it becomes troublesome to align the feed 11 with the drilled hole.

[0040] An example of the solution provided by the present disclosure is depicted in figures 4a and 4b. Figure 4a depicts a real position of the feed 11 in relation to the drilled hole, similarly to figure 3a. Feed 11 is depicted as rotated by 90 degrees. In accordance with the solution of the present disclosure, a control unit 30 has now been configured to transform the image data stream of said two- dimensional plane such that the imaging means reference system aligns with the controlling means reference system. In other words, the image data stream mayconstantly be rotated to align with rotation of the feed 11 . Hence, as seen in figure 4b, the display unit 40 displays a transformed image data stream. As the reference systems align, the input direction Id is now the same as the movement direction Md and it becomes easier to align the feed 11 with the drilled hole H.

[0041] The working arm 10 may comprise means for measurement of a position of the feed 11 . The means for measurement may be a conventional angle sensor, such as an encoder, a potentiometer, a gyroscope or the like. The control unit 30 may be configured to determine an angular displacement between of the imaging means reference system and the controlling means reference system based on a measured position of the feed 11 . In other words, the control unit may continuously determine an angular displacement or offset of the imaging means 12, i.e., the imaging means reference system and the controlling means reference system. The control unit 30 may be configured to transform the image data stream based on the angular displacement. This transformation may occur a plurality of times, or at times the angular displacement chances, such that the imaging means reference system always aligns with the controlling means reference system. The transformation may be done by rotating the images within the image data stream.

[0042] The imaging means reference system comprising a first image reference system direction and a second image reference system direction and the controlling means reference system comprising a first controlling means reference system direction and a second controlling means reference system direction, wherein the control unit 30 is configured to transform the image data stream such that the first image reference system direction is transformed to the be the same as the first controlling means system direction and the second image reference system direction is transformed to the be the same as the second controlling means system direction. As seen in e.g., figure 4b, the controlling means reference system may be a cartesian plane, and the first and second controlling means reference system directions may correspond to a first and second display unit reference system directions. The display unit 40 may be a conventional screen, and since the display unit reference system of the display unit 40 alignwith the controlling means reference system it will be intuitive for the user to provide at least one input direction Id.

[0043] The above features are described in the context of a mining machine 1 . However, the corresponding features in the context of a system 1000 for insertion of an explosive charge or a rock reinforcement device into a drilled hole and / or a method for assisting an operator with insertion of an explosive charge or a rock reinforcement device into a drilled hole are functionally similar and the above descriptions of these apply unless otherwise stated.

[0044] Figure 2 depicts a system 1000 for insertion of an explosive charge or a rock reinforcement device into a drilled hole. As depicted in figure 2 the controlling means 200 and / or the control unit 300 and / or the display unit 400 are remote from the working arm 100. The working arm 100 may for example be part of a remotely controlled vehicle 1 .

[0045] Figure 5 depicts a schematic block diagram of a method for assisting an operator with insertion of an explosive charge or a rock reinforcement device into a drilled hole. The constructional features of the method may be the functionally the same the constructional features described above. The method may comprise receiving S1 , by a control unit 30; 300, an image stream of said two-dimensional plane from an imaging means reference system from said imaging means 12; 120, transforming S3 the image data stream of said two-dimensional plane such that the imaging means reference system aligns with the controlling means reference system, displaying S4, by a display unit 40; 400, the transformed image data stream.

[0046] The working arm 10; 100 may comprise a means for measurement of the position of the working arm 10; 100, which may enable the method to further comprise determining S2, by the control unit 30; 300, an angular displacement between of the imaging means reference system and the controlling means reference system based on a measured position of the working arm 10; 100. Further, the step of transforming S3 the image data stream may be comprise transforming S3 the image data stream based on the angular displacement. Yetfurther, transforming S3 the image data stream may comprise rotating the image data stream such the imaging means reference system aligns with the controlling means reference system.

[0047] The person skilled in the art realized that the present disclosure by no means is limited to the preferred embodiments described above. On the contrary, many modifications and variations are possible within the scope of the appended claims. It should further be noted that the drawings not necessarily are to scale, and dimensions of certain features may have been exaggerated for the sake of clarity. Emphasis is instead placed upon illustrating the principle of the embodiments herein. Additionally, in the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality.

[0048] Various examples have been described. These and other examples are within the scope of the following claims.

Claims

CLAIMS1 . A mining machine (1 ) for insertion of an explosive charge or a rock reinforcement device into a drilled hole, wherein the mining machine (1) comprising a working arm (10) movable in at least a two-dimensional plane, the working arm (10) comprising a feed (11 ) and an imaging means (12) provided on the feed, the feed (11 ) is rotatable with respect to the working arm (10), the imaging means (12) is configured to provide an image data stream of at least said two-dimensional plane from an imaging means reference system based on a position of the feed (11), a controlling means (20) for controlling the movement of the working arm (10), the controlling means (20) having a controlling means reference system, a control unit (30) configured to transform the image data stream of said two-dimensional plane such that the imaging means reference system aligns with the controlling means reference system, and a display unit (40) configured to display the transformed image data stream.

2. The mining machine (1 ) according to claim 1 , wherein the working arm (10) comprises means for measurement of a position of the feed (11 ), the control unit (30) is configured to determine an angular displacement between of the imaging means reference system and the controlling means reference system based on a measured position of the feed (11 ), and the control unit (30) is configured to transform the image data stream based on the angular displacement.

3. The mining machine (1) according to claim 2, wherein the control unit (30) is configured to transform the image data stream of said two-dimensional plane by rotating the image data stream based on the angular displacement.

4. The mining machine (1 ) according to any of the preceding claims, wherein the imaging means reference system comprising a first image reference system direction and a second image reference system direction, and the controlling means reference system comprising a first controlling means reference system direction and a second controlling means reference system direction, and wherein the control unit (30) is configured to transform the image data stream suchthat the first image reference system direction is transformed to the be the same as the first controlling means system direction and the second image reference system direction is transformed to the be the same as the second controlling means system direction.

5. The mining machine (1) according to claim 4, wherein the controlling means reference system is a cartesian plane, and the first and second controlling means reference system directions correspond to a first and second display unit reference system directions.

6. A system (1000) for insertion of an explosive charge or a rock reinforcement device into a drilled hole, the system (1000) comprising a working arm (100) movable in at least a two-dimensional plane, the working arm (100) comprising a feed (110) and an imaging means (120) provided on the feed (110), the feed (110) being configured rotate with respect to the working arm (100), the imaging means (120) configured to provide an image data stream of said two- dimensional plane from an imaging means reference system based on a position of the feed (110), a controlling means (200) for controlling the movement of the working arm (100), the controlling means (200) having a controlling means reference system, wherein the system (1000) comprising a control unit (300) configured to transform the image data stream of said two-dimensional plane such that the imaging means reference system aligns with the controlling means reference system, a display unit (400) configured to display the transformed image data stream.

7. The system (1000) according claim 6, wherein the controlling means (200) and / or the control unit (300) and / or the display unit (400) are remote from the working arm (100).

8. The system (1000) according to claim 7, wherein the working arm (100) is part of a remotely controlled mining machine (1 ).

9. The system (1000) according to any one of claims 6-8, wherein the working arm (100) comprising a means for measurement of the position of theworking arm (100), the control unit (300) is configured to determine an angular displacement between of the imaging means reference system and the controlling means reference system based on the measured position of the feed (110), and the control unit (300) is configured to transform the image data stream based on the angular displacement.

10. The system (1000) according to claim 9, wherein the control unit (300) is configured to transform the image data stream of said two-dimensional plane by rotating the image data stream based on the angular displacement.11 . The system according to any one of claims 6-9, wherein the imaging means reference system comprising a first image reference system direction and a second image reference system direction, and the controlling means reference system comprising a first controlling means reference system direction and a second controlling means reference system direction, wherein the control unit (300) is configured to transform the image data stream such that the first image reference system direction is transformed to the be the same as the first controlling means system direction and the second image reference system direction is transformed to the be the same as the second controlling means system direction.

12. The system (1000) according to claim 10, wherein the controlling means reference system is a cartesian plane, and the first and second controlling means reference system directions correspond to a first and second display unit reference system directions.

13. A method for assisting an operator with insertion of an explosive charge or a rock reinforcement device into a drilled hole comprising a working arm (10; 100) movable in at least a two-dimensional plane, the working arm (10; 100) comprising a feed (11 ; 110) and an imaging means (12; 120) provided on the feed, the feed (11 ; 110) being configured rotate with respect to the working arm (10; 100), a controlling means (20; 200) for controlling the movement of the working arm (10; 100), the controlling means (20; 200) having a controlling means reference system, the method comprising:- receiving (S1 ), by a control unit (30; 300), an image stream of said two-dimensional plane from an imaging means reference system from said imaging means (12; 120),- transforming (S3) the image data stream of said two-dimensional plane such that the imaging means reference system aligns with the controlling means reference system,- displaying (S4), by a display unit (40; 400), the transformed image data stream.

14. The method according to claim 13, wherein the working arm (10; 100) comprising a means for measurement of the position of the working arm (10; 100), the method further comprising,- determining (S2), by the control unit (30; 300), an angular displacement between of the imaging means reference system and the controlling means reference system based on a measured position of the working arm (10; 100),- transforming (S3) the image data stream based on the angular displacement.

15. The method according to claim 14, wherein- transforming (S3) the image data stream comprising rotating the image data stream such the imaging means reference system aligns with the controlling means reference system.

Images