Drill pattern generation in surface mining

Abstract

The present invention relates to method for preparation of surface mining, said method comprising the steps of: capturing an image of a surface mining area comprising a bench, a crest of bench and a face of bench, defining, with a first software means, a virtual crest of bench from said captured image, wherein said virtual crest of bench is an approximation of the crest of bench in said captured image, generating, with a second software means, a position of at least one drill hole on said bench based on at least said virtual crest of bench.

Description

DRILL PATTERN GENERATION IN SURFACE MININGTechnical field

[0001] The present invention relates generally to surface mining, more particularly it relates to a method for generating a drill pattern in surface mining.Background art

[0002] In any surface mining environment, any work is typically preceded by creation of a drill pattern to plan the upcoming work. The drill pattern describes where holes should be located, how deep they should be, and in what direction.

[0003] Removing material in surface mining is typically performed by creating terraces or shelves, which are lowered. The terraces are made by drilling (according to the drill pattern), followed by blasting and removal of the material.

[0004] In order to restrict the drill pattern, a positioning device (usually having a GPS) is typically moved along the edge of the terrace by an operator. This positioning information can then be used to remove parts of the drill pattern that are outside the terrace.

[0005] A problem of adopting the drill pattern to be in line with the shape of the terrace is quite time consuming and also involves having operators performing actions close to heavy machinery and / or the edge of the terrace which may be dangerous.Summary of invention

[0006] An object of the present invention is to provide a drill pattern in surface mining more efficiently and / or more safely.

[0007] The object of the invention is solved according to the independent claims.

[0008] In a first aspect of the invention, it is provided a method for preparation of surface mining, said method comprising the steps of:- capturing an image of a surface mining area comprising a bench, a crest of bench and a face of bench, wherein the image is captured by an image capturing device provided on a drone and / or a mining vehicle and / or on a post at or near the surface mining area,- defining, with a first software means, a virtual crest of bench from said captured image, wherein said virtual crest of bench is an approximation of the crest of bench in said captured image,- generating, with a second software means, a position of at least one drill hole on said bench based on at least said virtual crest of bench.

[0009] An advantage of the present invention is that drill hole positioning may be automized and frequently updated. Another advantage is an improved surface mining safety as the image capturing device may be provided on a drone and / or mining vehicle and / or a post at or near the surface mining area.

[0010] In various example embodiment of the present invention said virtual crest of bench is generated taking into account at least one of a shape of the face of the bench or a beam slope angle of the face of the bench.

[0011] An advantage of these embodiments the position of the at least one drill hole on said bench may be generated such that penetration of the face of bench is avoided.

[0012] In various example embodiments of the present invention said method further comprising the step of generating, with said second software means, a plurality of positions of a plurality of drill holes on said bench based on at least said virtual crest of bench and the position of at least one adjacent drill hole on said bench.

[0013] An advantage of these embodiments is that a drill position pattern may be precisely generated automatically.

[0014] In various example embodiments of the present invention said method further comprising the steps of: generating an overlayed image, wherein saidposition of said at least one drill hole is overlayed on said captured image of the surface mining area, displaying, by a graphical user interface (GUI), the overlayed image.

[0015] An advantage of these embodiments is that a map of the drill area may be presented to surface mining operators.

[0016] In various example embodiments of the present invention the GUI is provided in a mining machine, in an image capturing device, drill hole planning device, and / or in a handheld unit.

[0017] An advantage of these embodiments is that one and the same drill map may be presented at various location.

[0018] In various example embodiments of the present invention said first and second software means are one and the same software.

[0019] An advantage of these embodiments is that one and the same software provides for multiple functionalities.

[0020] In various example embodiments according to the present invention said at least one drill hole is arranged within a minimum distance from said virtual crest of bench and a maximum distance from said virtual crest of bench. In various example embodiments of the present invention the minimum distance is 40 cm, and the maximum distance is 400 cm.

[0021] An advantage of these embodiments is that the position of the at least one drill hole is selected to account for the blasting power necessary for removal of material while not exposing the at least one drill hole at the face of bench.

[0022] In certain circumstances when the shape of bench has voids or pittings, a depth of a drill hole may be selected alone or in combination with the angle and / or position in order not to expose the drill hole into said void or pitting.

[0023] In various example embodiments of the present invention said method further comprising the step of assigning said position of said at least one drill hole with a GPS or GNSS position.

[0024] An advantage of these embodiments is that there is not only a graphical presentation of the drill holes but also an exact position for at least one drill hole.

[0025] In various example embodiments of the present invention the virtual crest of bench is determined based on the beam slope angle of the face of the bench and / or the shape of the face of bench.

[0026] An advantage of these embodiments is that it provides for further improved surface mining minimizing the risk of exposing the drill hole at the face of bench.

[0027] In various example embodiments of the present invention said method further comprising the steps of: determining, a shape of the face of the bench and / or a beam slope angle of the face of the bench, adjusting, an angle of said hole to be drilled from said virtual crest of bench and / or a distance of said hole from the virtual crest of bench using at least said shape of the face of the bench and / or said beam slope angle of the face of the bench as input parameter for prohibiting said hole to be exposed on said face of bench.

[0028] An advantage of these embodiments is that is provides for still further improved surface mining minimizing the risk of exposing the drill hole at the face of bench.

[0029] In various example embodiments said method further comprising the step of: providing drilling instructions to a mining machine based on at least a position of at least one drill hole on said bench.

[0030] An advantage of these embodiments is that one position of a drill hole may determine the positions of the rest of the drill holes. Drill holes may be arranged on the bench in a regular predetermined pattern.

[0031] In another aspect of the present invention, it is provided a mining system comprising: imaging means for capturing an image of a surface mining area, a mining machine comprising a drill unit for drilling a hole, a processor configured to execute a computer program executed by a processor to perform the method for preparation of surface mining according to any one of the embodiments disclosed above.

[0032] Further advantages with and features of the invention will be apparent from the following detailed description of preferred embodiments.Brief description of drawingsA 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 schematic cross-sectional view of a partial surface mining area.Fig. 2 depicts a schematic top perspective view of a surface mining area.Fig. 3 depicts an overlayed image of drill hole positions to an image of a portion of a surface mining area.Fig. 4 depicts a schematic block diagram of various methods according to the present invention.Fig. 5 depicts a schematic block diagram of various methods according to the present invention.Description of embodiments

[0033] As its name indicates, surface mining or open pit mining is a method of extracting rock or minerals from an open surface, like quarries and burrows. This ancient form of mining requires no tunneling and is utilized when substances are close to the surface. These mines are not just big open holes. Instead, they maycomprise a series of ledges or benches, which companies dig at angles to allow for extraction without causing structural weaknesses.

[0034] While the present invention provides methods, computer programs and systems for preparation of surface mining, these embodiments may also be suitable in preparation of infrastructure, e.g., roads, housing foundations, or anchoring of wind turbines or the like.

[0035] Figure 1 depicts an example embodiment of a schematic cross-sectional view of a partial surface mining area 100 comprising a surface level 170, a bench 140, a pit floor 160, a crest of bench 110, a face of bench 130, a toe of bench 120, a bench angle 150. In said figure it is also illustrated a drone 200, a mining vehicle 500 and a post 400. When starting a surface mining the top surface, bench and pit floor are all at the same level, the surface level. As the surface mining develops, the distance between said surface level and pit floor will increase, and also the number of benches. A pit floor 160 is the lowest point in the surface mining area and a surface level 170, the highest point in the surface mining area. A bench 140 is at an elevation in between the surface level 170 and the pit floor 160. In figure 1 there is only one bench between the pit floor 160 and the surface level 170, however a surface mining area may comprise a plurality of benches at different elevations between said surface level and said pit floor.

[0036] A width W of a bench 140 is restricted on one hand of the toe of the bench 120 and on the other hand of the crest of the bench 110. The width W may vary along one and the same bench.

[0037] In figure 1 the drone 200 may comprise an image capturing device 220 for capturing images of the surface mining area. Alternatively, or in combination with said drone 200, an imaging capturing device 320 may be provided on one or a plurality of posts 300. An imaging capturing device 520 may also be provided on a mining vehicle 500, see figure 2. The imaging capturing device from one or a plurality of mining vehicles 500 may be sent to a database for setting up a complete picture of the surface mining area. Images may be sent to said database on a regular basis in order to update the image to represent the reality as themining progresses. Image capturing device(s) provided on one or a plurality of posts, drones and / or mining vehicles, mining machines. The image capturing device may capture high resolution images of the surface mining area, and thereby providing high accuracy information about the bench, face of bench, etc. An image capturing device 220 provided on a drone 200 may be steered to a specific location in the surface mining area in order to capture an image of a selected area of interest. Such selected area of interest may for instance be where a recent progress of the mining has occurred. Likewise, mining vehicles used in the surface mining area are constantly moving to and from the progress area and are therefore also suitable for providing the database with up-to-date images of the surface mining area.The image capturing device may be at least one of a camera or an optical sensor. The camera may be at least one of fer example an IR-camera (Infrared-camera), NIR-camera (Near Infrared-camera), a VISNIR-camera (Visual Near Infraredcamera), a CCD camera (Charged Coupled Device-camera), a CMOS-camera (Complementary Metal Oxide Semiconductor-camera), a digital camera, a 3D camera e.g., stereo camera, time-of-flight camera or LiDAR. The optical sensor may at least one of a photodetector, pyrometer, proximity detector and / or an infrared sensor.

[0038] Figure 2 depicts a schematic top perspective view of a surface mining area 400. One or a plurality of drones 200 may capture one or a plurality of images representing the 3-dimensional view of the surface mining area. From one or plurality of images of said surface mining area software means may be used for defining a virtual crest of bench 112. The virtual crest of bench 112 may be an approximation of the crest of bench 110 in said image. The approximation may be made by polynomial interpolation using data from the crest of bench. In reality, the crest of bench 110 may be somewhat difficult to define in cases when there is no articulated crest of bench but a more or less stepless transition between the bench 140 and the face of bench 130. For instance, the software means may be configured to define the virtual crest of bench 112 may using a mean position between the face of bench 130 and the bench 140. The mean position may bedefined in small steps, for instance every cm or dm along the bench. The software means may define the bench 140 when an angle between a bench 140 and a horizontal level is less than for instance 10 degrees. The software means may define the face of bench 130 when the angle between the bench 140 and face of bench 130 is between 90-180 degrees. In various example embodiments the face of bench 130 when the angle between the bench 140 and face of bench 130 is between 100-180 degrees. In various example embodiments the face of bench 130 when the angle between the bench 140 and face of bench 130 is between 120-180 degrees.

[0039] The software means for defining the virtual crest of bench may be the same or different to a software means for generating the position of the drilling holes. The software means may be provided in the drone, mast and / or the mining vehicle or mining machine. In various example embodiment the software means for generating the virtual crest of bench is provided in a base station in the mining area or at a distant place from the mining area. In various example embodiments the software means may be provided in the cloud or as an app in a mobile phone, a computer or tablet.

[0040] In various example embodiments the software means, when defining the virtual crest of bench 112, may also take into account the shape of the face of bench 130 and / or the bench angle 150.

[0041] The virtual crest of bench 112 may be used for generating at least one position 410a, 410b, 41 On for at least one drill hole in said bench 140. Figure 3 depicts an overlayed image of positions 410a, 410b, 41 On of drill holes and an image of a portion of a surface mining area 600. In various example embodiments a position 410a, 410b, 41 On of a drill hole may be generated only taking into account a distance to the virtual crest of bench 112. A first position of a first drill hole may take into account the distance to the virtual crest of bench only. A second and further position of a second and further drill hole may not only take into account the distance to the virtual crest of bench but also the distance to a closest position of a drill hole. Additional drill holes 710a, 710b, 71 On may beprovided between the furthest drill hole 410a, 410b, 41 On with respect to the crest of the bench. The additional drill holes are provided closer to the toe of the bench 120 than drill holes 410a, 410b, 41 On.

[0042] The virtual crest of bench 112 may be used for generating a first set of positions of a first set of drill holes closest to said virtual crest of bench 112. A second set of positions of a second set of drill holes may be provided inside said first set of positions, i.e., the second set of positions are provided closer to the toe of bench 120 than said first set of positions. The second set of positions is determined by the first set of positions. Adjacent positions of drill holes in the second set of positions of drill holes may be provided with the same or different spaces as adjacent positions of drill holes in the first set of positions of drill holes.

[0043] The distance of a position of a drill hole to virtual crest of bench may be at least 40-100 cm, e.g. 50 cm, 60 cm, 80 cm. In various example embodiments the distance of a position of a drill hole to virtual crest of bench may be at least 100-400 cm, e.g. 200 cm, 250 cm, 300 cm, 350 cm. In various example embodiments the distance of a position of a drill hole to virtual crest of bench may be at least 400-500 cm.

[0044] After determining the position of the drill holes, said drill holes may be drilled with a certain angle with respect to the bench 140 and / or the face of bench 130. In various example embodiments the first set of positions of drill holes may be drilled with one and the same angle. In various example embodiments different drill holes in said first set of positions may be drill with different angles due to the shape and / or the angle of the face of the bench 130. Drill holes in the second set of positions may be drilled with the same or different angles compared to drill holes in the first set of position. The angle in which a drill hole in the second set of positions may be drilled may be dependent on angles of drill holes in the first set of position in close vicinity to said drill hole in said second set of positions.

[0045] In certain circumstances when the shape of bench has voids or pittings, a depth of a drill hole may be selected alone or in combination with the angle and / or position in order not to expose the drill hole into said void or pitting.

[0046] The drill holes will be filled with explosive means. The blasting of said explosive means is made in order to fracture the rock into loadable size for the mining vehicles. Blasting parameters may be matched with mechanical machines for drilling of blast holes and charging of explosives. Drill holes may be arranged in well defines patterns, which pattern may comprise several essentially parallel rows of drill holes. For instance, the drill hole pattern may be square, rectangular or staggered.

[0047] Figure 4 depicts a schematic block diagram of a method for preparation of surface mining according to various example embodiment of the present invention. Said method may comprise capturing S1 an image of a surface mining area 100, 400 comprising a bench 140, a crest of bench 110 and a face of bench 130, wherein the image is captured by an image capturing device provided on a drone 200 and / or a mining vehicle 500 and / or on a post 300 at the surface mining area. Said method may further comprise defining S4, with a first software means, a virtual crest of bench 112 from said captured image, wherein said virtual crest of bench 112 is an approximation of the crest of bench 110 in said captured image. Said method may further comprise generating S5, with a second software means, a position 410a, 410b, 41 On of at least one drill hole on said bench 140 based on at least said virtual crest of bench 112.

[0048] Figure 5 depicts a schematic block diagram of a method for preparation of surface mining according to various example embodiment of the present invention. Steps already described in the context of figure 4 will not be repeated here. Said method may further comprise generating S6, with said second software means, a plurality of positions 410a, 410b, 41 On of a plurality of drill holes on said bench 140 based on at least said virtual crest of bench 112 and the position 410a, 410b, 41 On of at least one adjacent drill hole on said bench 140.

[0049] As denoted by in figure 5, said method may further comprise generating S8 an overlayed image 300, wherein said position 410a, 410b, 41 On of said at least one drill hole is overlayed on said captured image of the surface mining area 100, 400. Said method may further comprise displaying S9, by a graphical userinterface GUI, the overlayed image 300. In other words, the overlayed image 300 may function as a map of the drill area which may be presented to various surface mining operators. In various example embodiments, a plurality of overlayed images 300 procured from methods described herein may be displayed on various graphical user interfaces of various devices, this allowing for further advantages with regards to planning of the mining operation as a whole.

[0050] As denoted by figure 5, said method may further comprise determining S2, a shape of the face of the bench 130 and / or a beam slope angle 150 of the face of the bench 130. Said method may further comprise adjusting S3, an angle of said hole to be drilled from said virtual crest of bench 112 and / or a distance of said hole from the virtual crest of bench 112 using at least said shape of the face of the bench 130 and / or said beam slope angle 150 of the face of the bench 130 as input parameter for prohibiting said hole to be exposed on said face of bench 130. Said method may further comprise providing S10 drilling instructions to a mining machine based on at least a position 410a, 410b, 41 On of at least one drill hole on said bench 140.

[0051] It should be appreciated that the skilled person recognizes all feasible sequences of the method steps described herein. The order of method steps as S1-S10 serves as an example of a sequence and is not limiting to the scope of protection sought.

[0052] Feasible modifications of the Invention

[0053] 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 equipment may be modified in all kinds of ways within the scope of the appended claims. Throughout this specification and the claims which follows, unless the context requires otherwise, the word “comprise”, and variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a statedinteger or steps or group of integers or steps but not the exclusion of any other integer or step or group of integers or steps.

Claims

CLAIMS1 . A method for preparation of surface mining, said method comprising the steps of:- capturing (S1 ) an image of a surface mining area (100, 400) comprising a bench (140), a crest of bench (110) and a face of bench (130), wherein the image is captured by an image capturing device provided on a drone (200) and / or a mining vehicle (500) and / or on a post (300) at the surface mining area,- defining (S4), with a first software means, a virtual crest of bench (112) from said captured image, wherein said virtual crest of bench(112) is an approximation of the crest of bench (110) in said captured image,- generating (S5), with a second software means, a position (410a, 410b, 41 On) of at least one drill hole on said bench (140) based on at least said virtual crest of bench (112).

2. The method according to claim 1 , wherein said virtual crest of bench is generated taking into account at least one of a shape of the face of the bench (130) or a beam slope angle (150) of the face of the bench (130),3. The method according to any one of claims 1-2, further comprising the step of:- generating (S6), with said second software means, a plurality of positions (410a, 410b, 41 On) of a plurality of drill holes on said bench (140) based on at least said virtual crest of bench (112) and the position (410a, 410b, 41 On) of at least one adjacent drill hole on said bench (140).

4. The method according to any one of claims 1-3, further comprising the steps of:- generating (S8) an overlayed image (300), wherein said position (410a, 410b, 41 On) of said at least one drill hole is overlayed on said captured image of the surface mining area (100, 400),- displaying (S9), by a graphical user interface (GUI), the overlayed image (300).

5. The method according to claim 4, wherein the GUI is provided in a mining machine, in an image capturing device, drill hole planning device, and / or in a handheld unit.

6. The method according to any one of the preceding claims, wherein said first and second software means are one and the same software.

7. The method according to any one of the preceding claims, wherein said at least one drill hole is arranged within a minimum distance and a maximum distance from said virtual crest of bench (112).

8. The method according to claim 7, wherein the minimum distance is 40 cm, and the maximum distance is 400 cm.

9. The method according to any one of the preceding claims, further comprising the step of- assigning said position (410a, 410b, 41 On) of said at least one drill hole with a GPS or GNSS position.

10. The method according to any one of the preceding claims, wherein said captured image is a 3d-image.11 . The method according to any one of the preceding claims, wherein the virtual crest of bench (112) is determined based on the beam slope angle (150) of the face of the bench (130) and / or the shape of the face of bench (130).

12. The method according to any one of the preceding claims, further comprising the steps of:- determining (S2), a shape of the face of the bench (130) and / or a beam slope angle (150) of the face of the bench (130),- adjusting (S3), an angle of said hole to be drilled from said virtual crest of bench (112) and / or a distance of said hole from the virtual crest of bench (112) using at least said shape of the face of the bench (130) and / or said beam slope angle (150) of the face of the bench (130) as input parameter for prohibiting said hole to be exposed on said face of bench (130).

13. The method according to any one of the preceding claims, further comprising the step of:- providing (S10) drilling instructions to a mining machine based on at least a position (410a, 410b, 41 On) of at least one drill hole on said bench (140).

14. A computer program, comprising computer program code, the computer program code being adapted, if executed by a processor to perform the method according to any one of claim 1 -13.

15. A mining system comprising:- imaging means (220, 320, 520) for capturing an image of a surface mining area (100, 400),- a mining machine comprising a drill unit for drilling a hole, a processor configured to execute a computer program according to claim 14.

16. The mining system according to claim 15, wherein said imaging means is provided in a drone, a mining vehicle, a mining machine and / or a post at or near the surface mining area.

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