A path planning system for a drilling machine

Abstract

A path planning system for a drilling machine is disclosed. The path planning system has a data storage device to store a drilling plan, and the drilling plan includes information indicative of at least one hole associated with the drilling plan and to be drilled by the drilling machine. The system facilitates generation of a movement path indicative of proposed movement of the drilling machine and the holes to be drilled according to the drilling plan, and includes a warning generator that produces a user perceptible warning based on proximity to an existing hole of a proposed location of the drilling machine according to the generated movement path. The drilling machine includes a plurality of ground engaging components, the system predicts the locations of the ground engaging components according to the generated movement path, and the warning generator produces a user perceptible warning based on the proximity of the ground engaging components to the existing hole.

Description

[0001] A PATH PLANNING SYSTEM FOR A DRILLING MACHINE

[0002] Field of the Invention

[0003] The present invention relates to a path planning system for a drilling machine.

[0004] Background of the Invention

[0005] In the resources industry, it is common to use drilling machines to drill holes in a target mining area according to a defined drill hole pattern, then subsequently fill the holes with explosive and detonate the explosive to release material.

[0006] In one arrangement, a defined drill hole pattern is used by a drilling machine to control the path of movement of the drilling machine across the target mining area and the locations at which to drill the holes. The drilling machine may be at least partially autonomous whereby the drilling machine is provided with a drilling pattern, and the drilling machine autonomously traverses the target mining area and drills the required holes according to the drill hole pattern.

[0007] However, it is possible that levelling jacks and / or tramming tracks of the drilling machine can interfere with and potentially damage an existing drilled hole if a jack is disposed too close to or on the existing hole or a tramming track of the drilling machine moves too close to or over the existing hole.

[0008] Summary of the Invention

[0009] In accordance with a first aspect of the present invention, there is provided a path planning system for a drilling machine, the path planning system comprising: a data storage device arranged to store a drilling plan, the drilling plan including information indicative of at least one hole associated with the drilling plan and to be drilled by the drilling machine; the system arranged to facilitate generation of a movement path indicative of proposed movement of the drilling machine in order for the drilling machine to move and drill the holes associated with the drilling plan; and the system including a warning generator arranged to produce a user perceptible warning based on proximity to an existing hole of a proposed location of the drilling machine according to the generated movement path; wherein the drilling machine includes a plurality of ground engaging components, the system is configured to predict locations of the ground engaging components according to the generated movement path, and the warning generator produces a user perceptible warning based on the proximity of the ground engaging components to the existing hole.

[0010] In an embodiment, the system is arranged to enable a user to at least partially manually define the movement path.

[0011] In an embodiment, the system is arranged to automatically generate the movement path.

[0012] In an embodiment, the system automatically generates the movement path based on an initial location of the drilling machine, the location of a proposed at least one hole and the location of at least one existing hole so as to reduce the likelihood of interference between a drilling machine and the at least one existing hole.

[0013] In an embodiment, the plurality of ground engaging components includes a plurality of levelling jacks, and the system automatically determines a proposed hole approach direction for movement adjacent the proposed hole based on a location of at least one existing hole and predicted locations of levelling jacks during an operation to drill the proposed hole so as to reduce the likelihood of interference between the plurality of levelling jacks and the at least one existing hole.

[0014] In an embodiment, the warning generator is arranged to produce a user perceptible warning based on an predicted proximity of the levelling jacks to the at least one existing hole. The user perceptible warning may be a visible warning displayed on a user interface.

[0015] In an embodiment, the system is arranged to display representations of predicted levelling jack locations on the user interface and the user perceptible warning comprises a change to the representation of a predicted levelling jack location when a proximity of the levelling jack to the at least one existing hole satisfies defined criteria. In an embodiment, the user perceptible warning comprises a change to the representation of the levelling jack to a first changed representation when the proximity of the levelling jack to an existing hole is predicted to be less than a defined threshold, and to change the representation of the levelling jack to a second changed representation when the levelling jack is predicted to be coincident with an existing hole.

[0016] In an embodiment, the system is arranged to display a target hole graphic indicative of a location of a proposed hole.

[0017] In an embodiment, the target hole graphic includes a hole approach direction indicator.

[0018] In an embodiment, the user perceptible warning comprises a change to the representation of the target hole graphic.

[0019] In an embodiment, the plurality of ground engaging components includes a plurality of tracks to facilitate movement of the drilling machine, and the system automatically determines a proposed movement path based on a location of at least one existing hole and predicted locations of the tracks during movement of the drilling machine along the movement path so as to reduce the likelihood of interference between the plurality of tracks and the at least one existing hole.

[0020] In an embodiment, the system automatically generates a proposed movement path by defining an exclusion zone boundary disposed at a defined distance from an expected location of a track, defining a cost function representing a cost distance of an existing hole from the exclusion zone boundary, and using the cost function to produce a minimum cost distance to the existing hole.

[0021] In an embodiment, the system is arranged to add at least one waypoint and to define a plurality of movement path portions that extend to and / or from a waypoint, the system arranged to automatically generate each movement path portion so as to reduce the likelihood of interference along the movement path portion between the plurality of tracks and the at least one existing hole. In an embodiment, the warning generator is arranged to produce a user perceptible warning based on a proximity of the tracks to the at least one existing hole. The warning generator may be a visible warning displayed on a user interface.

[0022] In an embodiment, the system is arranged to display representations of predicted track locations on the user interface and to change the representation of a predicted track location when a proximity of a predicted track location to the at least one existing hole satisfies defined criteria.

[0023] The system may be arranged to change the representation of a predicted track location to a first changed representation when the proximity of the track location to an existing hole is predicted to be less than a defined threshold, and to change the representation of the predicted track location to a second changed representation when the predicted track location is predicted to be coincident with an existing hole.

[0024] In an embodiment, the system is arranged to reduce the likelihood of interference between the plurality of tracks and an existing hole by defining a linear portion of the movement path adjacent the existing hole so that the drilling machine does not turn when the drilling machine is disposed at the existing hole.

[0025] In an embodiment, the system is arranged to automatically generate a first path portion that defines proposed movement of the drilling machine to a first proposed hole and a second path portion that defines movement of the drilling machine to a second proposed hole, the first and second path portions intersecting at a pivot location and the second path portion representing movement of the drilling machine in a substantially opposite direction to the first path portion.

[0026] In an embodiment, if an existing hole is expected to be affected by a track of the drilling machine and the existing hole is disposed adjacent a proposed pivot location, the system is arranged to dispose the pivot location so as to coincide with the already drilled hole.

[0027] In an embodiment, if an existing hole is expected to be affected by a track of the drilling machine and the existing hole is not disposed adjacent a proposed pivot location, the system is arranged to select a tramming approach direction that minimises interference with the existing hole.

[0028] Also disclosed is a path planning system for a drilling machine, the path planning system comprising: a data storage device arranged to store a drilling plan, the drilling plan including information indicative of at least one proposed hole associated with the drilling plan and to be drilled by the drilling machine; the system arranged to automatically generate a movement path indicative of proposed movement of the drilling machine in order for the drilling machine to move and drill the holes associated with the drilling plan; wherein the system automatically determines the movement path based on the location of the drilling machine, the location of the proposed at least one hole and the location of any existing holes so as to reduce the likelihood of interference between a drilling machine and at least one existing hole.

[0029] In an embodiment, the system includes a warning generator arranged to produce a user perceptible warning based on proximity to an existing hole of a proposed location of the drilling machine according to the generated movement path.

[0030] In an embodiment, the system is arranged to enable a user to at least partially manually define the movement path.

[0031] In an embodiment, the system automatically generates the movement path based on an initial location of the drilling machine, the location of a proposed at least one hole and the location of at least one existing hole so as to reduce the likelihood of interference between a drilling machine and the at least one existing hole.

[0032] In an embodiment, the drilling machine includes a plurality of levelling jacks, and the system automatically determines a proposed hole approach direction for movement adjacent the proposed hole based on a location of at least one existing hole and expected locations of levelling jacks during an operation to drill the proposed hole so as to reduce the likelihood of interference between the plurality of levelling jacks and the at least one existing hole.

[0033] In an embodiment, the warning generator is arranged to produce a user perceptible warning based on an expected proximity of the levelling jacks to the at least one existing hole. The user perceptible warning may be a visible warning displayed on a user interface.

[0034] In an embodiment, the system is arranged to display representations of the levelling jacks on the user interface and the user perceptible warning comprises a change to the representation of a levelling jack when a proximity of the levelling jack to the at least one existing hole satisfies defined criteria.

[0035] In an embodiment, the user perceptible warning comprises a change to the representation of the levelling jack to a first changed representation when the proximity of the levelling jack to an existing hole is predicted to be less than a defined threshold, and to change the representation of the levelling jack to a second changed representation when the levelling jack is predicted to be coincident with an existing hole.

[0036] In an embodiment, the system is arranged to display a target hole graphic indicative of a location of a proposed hole.

[0037] In an embodiment, the target hole graphic includes a hole approach direction indicator.

[0038] In an embodiment, the user perceptible warning comprises a change to the representation of the target hole graphic.

[0039] In an embodiment, the drilling machine includes a plurality of tracks to facilitate movement of the drilling machine, and the system automatically determines a proposed movement path based on a location of at least one existing hole and expected locations of the tracks during movement of the drilling machine along the movement path so as to reduce the likelihood of interference between the plurality of tracks and the at least one existing hole.

[0040] In an embodiment, the system automatically generates a proposed movement path by defining an exclusion zone boundary disposed at a defined distance from an expected location of a track, defining a cost function representing a cost distance of an existing hole from the exclusion zone boundary, and using the cost function to produce a minimum cost distance to the existing hole.

[0041] In an embodiment, the system is arranged to add at least one waypoint and to define a plurality of movement path portions that extend to and / or from a waypoint, the system arranged to automatically generate each movement path portion so as to reduce the likelihood of interference along the movement path portion between the plurality of tracks and the at least one existing hole.

[0042] In an embodiment, the warning generator is arranged to produce a user perceptible warning based on a proximity of the tracks to the at least one existing hole. The warning generator may be a visible warning displayed on a user interface.

[0043] In an embodiment, the system is arranged to display representations of predicted track locations on the user interface and to change the representation of a predicted track location when a proximity of a predicted track location to the at least one existing hole satisfies defined criteria.

[0044] The system may be arranged to change the representation of a predicted track location to a first changed representation when the proximity of the track location to an existing hole is predicted to be less than a defined threshold, and to change the representation of the predicted track location to a second changed representation when the predicted track location is predicted to be coincident with an existing hole.

[0045] In an embodiment, the system is arranged to reduce the likelihood of interference between the plurality of tracks and an existing hole by defining a linear portion of the movement path adjacent the existing hole so that the drilling machine does not turn when the drilling machine is disposed at the existing hole.

[0046] In an embodiment, the system is arranged to automatically generate a first path portion that defines proposed movement of the drilling machine to a first proposed hole and a second path portion that defines movement of the drilling machine to a second proposed hole, the first and second path portions intersecting at a pivot location and the second path portion representing movement of the drilling machine in a substantially opposite direction to the first path portion. In an embodiment, if an existing hole is expected to be affected by a track of the drilling machine and the existing hole is disposed adjacent a proposed pivot location, the system is arranged to dispose the pivot location so as to coincide with the already drilled hole.

[0047] In an embodiment, if an existing hole is expected to be affected by a track of the drilling machine and the existing hole is not disposed adjacent a proposed pivot location, the system is arranged to select a tramming approach direction that minimises interference with the existing hole.

[0048] Brief Description of the Drawings

[0049] The present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0050] Figure 1 is a diagrammatic representation of a path planning system in accordance with an embodiment of the present invention;

[0051] Figure 2 is a schematic block diagram of an architecture of a drill control station of the system shown in Figure 1;

[0052] Figure 3 is a schematic block diagram showing functional components of the drill control station shown in Figure 2;

[0053] Figure 4 is a schematic block diagram showing functional components of a drilling machine of the system shown in Figure 1;

[0054] Figure 5 shows an example drill hole planning screen of a user interface of the system shown in Figures 1 to 4;

[0055] Figure 6 shows a portion of the drill hole planning screen of Figure 5 including jack / hole warning indicia;

[0056] Figure 7 shows the drill hole planning screen of Figure 5 including a combined movement and tramming direction path; Figure 8 shows an enlarged view of an example of a portion of a movement path adjacent a proposed hole;

[0057] Figure 9 shows an enlarged view of an alternative example of a portion of a movement path adjacent a proposed hole;

[0058] Figure 10 shows a portion of the drill hole planning screen of Figure 5 including tramming / hole warning indicia;

[0059] Figure 11 shows an enlarged view of example tramming / hole warning indicia and associated cost function parameters;

[0060] Figure 12 shows the portion of the drill hole planning screen of Figure 10 after modification of the movement path of the drilling machine using the cost function;

[0061] Figure 13 shows a portion of the drill hole planning screen of Figure 5 including a switch point between proposed holes;

[0062] Figure 14 shows a portion of the drill hole planning screen of Figure 5 including an example automatically generated movement path with associated tramming / hole warnings;

[0063] Figure 15 shows a portion of the drill hole planning screen of Figure 5 including a further example automatically generated movement path with associated tramming / hole warnings;

[0064] Figure 16 shows the portion of the drill hole planning screen of Figure 15 after manual modification of the movement path by a user; and

[0065] Figure 17 is a flow diagram illustrating a method of planning a path for a drilling machine in accordance with an embodiment of the present invention.

[0066] Description of an Embodiment of the Invention Referring to the drawings, Figure 1 shows a diagrammatic representation of an example path planning system 10 for managing creation and implementation of a drilling plan for an automated drilling machine in the resources industry. In this example, the drilling operation is of a type wherein the drilling plan is defined to control the path of movement of a drilling machine and the locations at which holes for receiving explosives will be drilled, then the drilling machine controlled to follow the path and drill the holes at the planned locations. In the present example, the drilling machines associated with the system are autonomous drills that are controllable from remote drill control stations.

[0067] The path planning system 10 includes at least one drill control station 12 that is used by a drill operator to create drilling plans including movement paths and hole drilling patterns, and at least one drilling machine 14 disposed at a target mining area 16 that is controlled by the drill control station(s) 12.

[0068] In this example, the drill control station(s) 12 communicate with the drilling machines 14 using a wide area network 18 that may include the Internet and a local communications network 20 disposed at the target mining area 16, although it will be understood that any suitable communications arrangement that facilitates communications between the drill control station(s) 12 and the drilling machine(s) 14 is envisaged.

[0069] Each drilling machine 14 is controlled by a drill control station 12 to move along a movement path 22 and to drill holes at defined locations along the movement path 22. In this example, each drilling machine 14 includes ground engaging components that include a pair of tracks 15 that enable the drilling machine 14 to move and 4 levelling jacks 17 that are deployed during a drilling operation to level the drilling machine 14.

[0070] The system 10 also includes a drill control server 24 that in this example is arranged to store drill hole data 26 indicative of planned drill holes that are associated with planned drill movement paths 22, and the status of each drill hole, that is, whether the hole is proposed to be drilled, has been drilled or is proposed to be re-drilled.

[0071] An example architecture of a drill control system 12 is shown in Figure 2, in this example wherein the drill control system 12 is implemented using a computing architecture that includes a processor 30 and a data storage device 32, the processor 30 arranged to implement functionality using programs 34 and data 36 used by and / or produced by the programs 34. The architecture also includes memory 38, a display interface 40 to drive a display 42 and a communications interface 44 that facilitates electronic communications, in particular with the drilling machine(s) 14 disposed at the target mining area 16.

[0072] Example functional components 50 of the drill control station 12 are shown in Figure 3. Like and similar features are indicated with like reference numerals. In this example, the functional components 50 include components implemented by one or more programs 34, in this example a drilling path generator 52 arranged to automatically generate a proposed drilling plan based on a defined set of at least one selected hole to be drilled or re-drilled and that defines a path of movement of the drilling machine 14 between the holes associated with the drilling plan. The drilling path generator 52 automatically produces the proposed drilling path taking into account the locations of existing holes so as to minimise the likelihood of interference between already drilled holes and ground engaging components of the drilling machine 14, such as jacks and / or tramming tracks of the drilling machine, as the drilling machine operates and moves.

[0073] The programs 34 also include a waypoint determiner 54 arranged to add waypoints to the generated drilling path as necessary to define an appropriate movement path 22.

[0074] The programs 34 also include a hole approach planner 56 arranged to automatically determine a hole approach direction for the drilling machine 14 as the drilling machine 14 approaches a hole to be drilled or re-drilled, the determined hole approach direction taking into account any existing already drilled holes close to the proposed hole.

[0075] The programs 34 also include a cost function generator 58 arranged to produce a cost function usable by the drilling path generator 52 to automatically produce a movement path for the drilling machine between proposed holes associated with the drilling plan. The cost function is described in more detail below and is indicative of how close the track of the drilling machine is to an already drilled hole.

[0076] The programs 34 also include a warning generator 60 arranged to produce a perceptible warning for a drill controller based on a proximity to an existing hole of a proposed location of the drilling machine 14 according to the generated drilling path. In this example, the perceptible warning is a visual warning displayed on a user interface.

[0077] The functional components 50 also include stored data 36 indicative of drilling plans 62 that define the planned drilling movement path for each drilling machine controlled by the drill control station 12, and the planned locations along each movement path of each planned hole to be drilled and each planned re-drill hole. The functional components 50 may also include data indicative of the drill site 64, for example that includes geographical data associated with the target mining area 16.

[0078] Example functional components 70 of a drilling machine 14 are shown in Figure 4. The functional components 70 include a communications interface 72 arranged to facilitate electronic communications with a remotely located drill control station 12, and a movement controller 74 arranged to control movement of the drilling machine 14 and the locations at which holes will be drilled or re-drilled in accordance with a drilling plan defined at a drill control station 12.

[0079] The functional components 70 also include a drill string 76 arranged to drill holes and cameras 78 that are usable by a drilling operator at a drill control station 12 to view images and / or video of a region of the target mining area 16 immediately adjacent the drilling machine 14.

[0080] In this example, the functional components 70 also include data 80 indicative of each drilling plan that has been assigned to the drilling machine 14 by the associated drill control station 12.

[0081] An example implementation of the system 10 will now be described in relation to displayed screens of a user interface implemented by a drill control station 12.

[0082] Referring to Figure 5, an example path planning screen 84 of the drill control system user interface is shown. The path planning screen 84 shows a representation of a portion of a target mining area 16 and a representation of a drilling machine 14 disposed at the target mining area 16. The path planning screen 84 includes representations of drilled holes 86, representations of proposed holes 88 that have not yet been drilled, and representations of drilled holes that are required to be re-drilled 90. In the present example, the proposed holes 88, the drilled holes 86 and the re-drill holes 90 are represented differently, for example using different colours, such as green for the proposed holes 88, grey for the drilled holes 86 and blue for the re-drill holes 90. However, it will be understood that any arrangement may be used to visually distinguish the proposed holes 88, the drilled holes 86 and the re-drill holes 90 from each other.

[0083] As shown in Figure 5, during planning of a movement path 22 for a proposed hole 88, the proposed hole 88 includes a planned hole graphic 100 representative of a planned hole location. The planned hole graphic 100 includes: a target graphic 102, in this example in the form of an annulus, to indicate that the hole is currently being planned by an operator, and to indicate the planned drill location by reference to the centre of the annulus; and a tramming direction graphic 104 that indicates the tramming approach direction.

[0084] The path planning screen 84 also includes a representation of the drill string 76 of the drilling machine 14 and a representation of the defined movement path 22 of the drilling machine 14.

[0085] The path planning screen 84 also includes jack position indicia 106 that indicate the predicted position of levelling jacks of the drilling machine 14.

[0086] In the present example, the appearance of the jack position indicia 106 is used to communicate to an operator that the jack positions are not expected to interfere with any drilled holes 86, or that a warning condition exists such that the jack positions are expected to interfere with at least one drilled hole 86. In the present embodiment, when no warning condition exists, a jack position indicium 106 is displayed using a first colour, such as blue, and when a warning condition exists the relevant jack position indicium 106 associated with a levelling jack that is expected to interfere with a drilled hole is displayed using a second colour, such as red, to provide a jack / hole warning indicator 108.

[0087] In this example, a further warning indication in relation to a jack / hole warning may be provided by displaying the target annulus 102 in a first colour, such a green, to indicate that a jack / hole warning condition does not exist, and to display the target annulus 102 in a different colour, such a yellow, when a warning condition exists.

[0088] In the embodiment shown in Figure 5, the displayed movement path 22 represents a path of movement of the drill string 76 to the proposed hole 88. In this embodiment, a tramming direction path 110 is also displayed, the tramming direction path 110 representing a path of movement of a centre of the drilling machine frame. The tramming direction path 110 also includes chevrons, the direction of which indicates the orientation of the drilling machine 14 as the drilling machine moves to the proposed hole 88, for example whether the drilling machine is moving with the drilling machine 14 in a forward orientation or a reverse orientation. As an alternative to displaying a path of movement 22 of the drill string 76 towards the proposed hole 88 and a tramming direction path 110 representing a path of movement of a centre of the drilling machine frame towards the proposed hole 88, the tramming direction path 110 may be aligned with the path of movement 22 of the drill string 76 so that the tramming direction path 110 is also with reference to movement of the drill string 76 rather than with reference to movement of the centre of the drilling machine frame, as shown in Figure 7.

[0089] With the proposed movement path 22 for the drilling machine 14 shown in Figure 5, there are no warning indications because the proposed movement path 22 does not pass close to any drilled holes 86, and the levelling jacks are not expected to interfere with any drilled holes 86.

[0090] A different movement path is shown in Figure 6. With the proposed movement path 22 shown in Figure 6, one of the levelling jacks is expected to interfere with a hole that is proposed to be re-drilled 90 and consequently the relevant jack position indicator 108 is displayed in red. A further warning indication is also provided by displaying the target annulus 102 in a different colour, in this example yellow.

[0091] The tracks 17 of the drilling machine 14 may interfere with a drilled hole 86 as the drilling machine 14 moves along a movement path 22 towards a proposed hole 88 that is desired to be drilled.

[0092] The tracks of the drilling machine 14 may also interfere with a drilled hole 86 when the drilling machine 14 moves close to the drilled hole 86, for example in circumstances wherein it is desired to re-drill the hole, and the inventors have recognised that damage to an existing hole can be reduced by avoiding or reducing turning of the drilling machine 14 when the drilling machine is at or immediately adjacent the drilled hole 86. In a conventional scenario, as shown in Figure 8, a typical hole approach path 120 is defined such that the approach path 120 includes a start arc portion 121, followed by a substantially straight path portion 122, followed by an end arc portion 123, but since this path includes an end arc portion 123 adjacent a drilled hole 86, a significant risk exists that the drilling machine 14 will damage the drilled hole 86 as the drilling machine 14 turns along the end arc portion 123.

[0093] As shown in Figure 9, the present system 10 instead defines a hole approach path 124 that has a straight path portion 126 at an end of the hole approach path 122 such that a straight path portion 126 extends to the destination hole, for example by including one or more arc portions 128 along the hole approach path that are remote from the destination hole. This arrangement avoids turning the drilling machine 14 at the destination hole and therefore minimises the likelihood of damage to the destination hole that could be caused by turning the drilling machine 14. In addition to providing protection for holes that are required to be re-drilled, providing a straight path portion 126 at the end of the hole approach path 124 also enables better location accuracy to be achieved for the drilling machine 14 when approaching the hole because it may not be possible to make a correction to the tramming direction when the drilling machine 14 is very close to the hole. In addition, preventing the drilling machine 14 from turning at or immediately adjacent the hole minimises the likelihood that stalling may occur if the drilling machine is turned at very low speed.

[0094] Figure 10 shows an enlarged representation of the drilling machine 14 as the drilling machine 14 moves towards a hole to be drilled 100. As the drilling machine 14 moves towards the proposed hole 100, the drilling path generator 52 makes determinations as to whether the tracks 17 of the drilling machine 14 are expected to interfere with any drilled holes 86 because the tracks move over a drilled hole 86 or are sufficiently close to a drilled hole 86 to potentially cause damage to the drilled hole 86. If the determinations indicate that the tracks 17 will interfere with a drilled hole 86, the warning generator 60 causes tramming / hole warning indicia 130 to be displayed. In this example, the tramming / hole warning indicia 130 includes a representation of an expected location of a track 17 when the track interferes with a drilled hole 86, and a warning condition is communicated by displaying the tramming / hole warning indicia 130 in a particular colour, such as a yellow rectangle to indicate that a track 17 is expected to be close to but not coincident with a drilled hole 86, and a red rectangle to indicate that the track is expected to move over the drilled hole 86.

[0095] In the present example, the drilling path generator 52 automatically generates a modified movement path that reduces the likelihood of interference with a drilled hole 86 by tracks 17 of the drilling machine 14, if such a modified movement path is possible, and an example automatically generated modified movement path 124 is shown in Figure 12. While a warning condition still exists with the modified movement path 124, the warning condition indicated by the tramming / hole warning indicia 130 now includes only a yellow rectangle to indicate that a track 17 is expected to be close to a drilled hole 86 but the track 17 is not expected to tram over the drilled hole 86 so a warning condition to this effect is not generated.

[0096] The modified movement path 124 may be determined in any suitable way. For example, in an embodiment, a cost function representing a cost distance of a drilled hole 86 from an exclusion zone boundary is defined for each drilled hole, and the cost function used to produce minimum cost distances to drilled holes along the movement path whilst ensuring that an appropriate path to a proposed hole is defined.

[0097] An example of cost function parameter determination is shown in Figure 11. In the example shown, a warning condition exists to indicate that the track 17 is expected to move over the drilled hole 86 and as such a red rectangle tramming / hole warning indicium 130 is displayed at a location expected to correspond to the position of a track 17 of the drilling machine 14 when the track passes over the drilled hole 86.

[0098] Figure 11 shows an exclusion zone defined by exclusion zone boundaries 132, each exclusion zone line 132 representing a defined distance from the predicted track location shown by the tramming / hole warning indicium 130. Also shown is a cost function distance 134 that defines a distance between the drilled hole 86 and the closest exclusion zone boundary 132 to the drilled hole 86.

[0099] It will be understood that using the cost function generator 58, the drilling path generator 52 is able to define a modified movement path 124 that minimises the predicted amount of damage to existing drilled holes 86 by quantifying the damage for each drilled hole 86 present along or adjacent to the proposed movement path 22 and collectively minimising the cost distances between the relevant drilled holes 86 and the associated closest exclusion zone boundaries 132.

[0100] In an example, the drilling path generator 52 uses the cost function generator 58 to carry out the following process steps:

[0101] Define an exclusion zone around each track of the drilling machine;

[0102] For each proposed hole to be drilled along a proposed movement path 22, determine all drilled holes 86 that are predicted to fall within at least one of the exclusion zones;

[0103] Use a cost function to define a measure of the damage expected to each affected drilled hole as a function of how far the affected hole is inside an exclusion zone, which corresponds to how close the affected drilled hole is to a track of the drilling machine 14;

[0104] Define the total expected damage to existing drilled holes as a sum function of the expected damage to each affected drilled hole.

[0105] Minimise the sum function and use this to produce a proposed modified movement path 124.

[0106] An example modified movement path 124 after minimisation of the sum function is shown in Figure 12. As shown, the modification to a substantially straight movement path causes the drilling machine 14 to tram such that a drilled hole 86 is closer to the centre of the drilling machine 14 and therefore further away from the tracks 17 of the drilling machine 14.

[0107] In some situations, it is necessary to use multiple path portions to define movement between proposed holes 88, for example by tramming to a first proposed hole 88 then switching direction so that the drilling machine 14 moves in a generally opposite direction.

[0108] For example, such a switched direction scenario is shown in Figure 13. For this type of movement path scenario, a movement path that avoids or minimises interference between tracks 17 of the drilling machine 14 and drilled holes 86 may be obtained by appropriate selection of the location of a pivot point at which the drilling machine reverses direction and commences movement along the second path portion to the second proposed hole 88; and / or by appropriate selection of the tramming direction towards the first proposed hole 88.

[0109] As shown in Figure 13, a movement path scenario includes a first path portion 136 that defines movement of the drilling machine 14 to a first proposed hole 88a, and a second path portion 138 that defines movement of the drilling machine 14 to a second proposed hole 88b. A pivot point is defined between the first and second path portions 136, 138. Also shown in Figure 13 is a pivot point hole tramming direction graphic 142 and a second hole tramming direction graphic 144.

[0110] In the present example, the drilling path generator 52 may be arranged to select a pivot point that avoids damage to a drilled hole 86 by the tracks 17 of the drilling machine 14. In this way, the likelihood of movement of the drilling machine 14 between the first and second path portions 136, 138 causing damage to the drilled hole 86 is minimised.

[0111] In the present example, if a drilled hole 86 is expected to be affected by the tracks of the drilling machine 14 and the drilled hole 86 is not close to an initially proposed pivot point, the hole approach planner 56 may be arranged to modify the tramming approach direction to a proposed hole 88 that minimises interference with a drilled hole 86. In the present example, the proposed tramming approach direction to the first hole 88a is indicated using the pivot point tramming direction graphic 142, and the tramming approach direction to the second hole 88b is indicated using the second hole tramming direction graphic 144.

[0112] In the present example, the location of the pivot point and / or the tramming direction to the first hole 88a are automatically selected by the drilling path generator 52 and the hole approach planner 56 respectively, although it will be understood that the location of the pivot point and the tramming direction to the first hole 88a are also manually adjustable by a user, for example by modifying the direction indicated by the tramming direction graphic 104 using a mouse.

[0113] In some scenarios, a relatively long movement path 22 is proposed that passes close to several already drilled holes 86, and for this scenario selection of a destination approach direction and determination of a movement path using the cost function generator 58 may be insufficient to determine an optimal movement path 22 that minimises interference for the collection of drilled holes along the movement path 22.

[0114] In an embodiment, the drilling path generator 52 is arranged to select and add one or more path waypoints along the movement path 22 using the waypoint determiner 54. By adding one or more waypoints, the movement path is divided into multiple path sections that can each be analysed using the drilling path generator 52 and cost function generator 58 to determine a proposed movement path 22 for each path section that minimises interactions between drilling machine tracks and existing drilled holes 86.

[0115] In the present embodiment, one or more waypoints are automatically added by the waypoint determiner 54, for example in circumstances wherein the proposed movement path 22 is above a defined length, although it will be understood that other arrangements are possible. For example, the system may be arranged to facilitate manual selection of the waypoint locations by a user, for example using a mouse.

[0116] It will be understood that by adding one or more waypoints, additional control over the direction and orientation of the movement path is obtained by increasing the control over the direction and orientation of the individual path sections.

[0117] In an example, the drilling path generator 52 uses the hole approach planner 56 and the waypoint determiner 54 to add waypoints and determine a movement path that reduces the likelihood of interference with drilled holes, and the following process steps may be implemented:

[0118] Identifying all drilled holes impacted by a proposed movement path 22;

[0119] Insert a waypoint at a location corresponding to a drilled hole that is impacted by the proposed movement path and that is closest to the proposed movement path;

[0120] Select an approach direction of the added waypoint that minimises the cost of the movement path;

[0121] Continue adding waypoints and determining approach directions recursively until no further improvement in cost is obtained.

[0122] In an embodiment, the path planning system 10 is arranged to automatically determine a low cost movement path for movement of the drilling machine 14 as the drilling machine 14 moves across a target mining area 16, and to automatically select approach directions to proposed holes 88 that reduces the likelihood of interference with already drilled holes 86.

[0123] However, in the present embodiment, the path planning system 10 is also arranged to facilitate manual adjustment of a proposed movement path by a user, for example using a mouse. Manual adjustment may be carried out in response to displayed jack / hole warning indicia 108 and / or displayed tramming / hole warning indicia 130, for example if a user believes that an alternative movement path 22 is more appropriate, or for other reasons, for example because the proposed movement path 22 does not take into account future holes that the drill controller intends to include in the drilling plan.

[0124] In the example shown in Figure 14, the system 10 has proposed a movement path 22 to a proposed hole 88 that has an associated lowest cost, but warning indicia 130 is displayed to indicate that a track of the drilling machine 14 is close to but not over an existing hole 86.

[0125] The drill controller may consider that a relatively direct movement path to the proposed hole 88 is not necessary and a longer movement path is possible that does not have any warnings. For example, the drill controller may manually more the movement path 22 so that the drill moves along a more curved path that is further away from an existing drilled hole 86.

[0126] In a further example, the system 10 has proposed a movement path 22 to a re-drill hole 90 marked number 275 as shown in Figure 15, but the future intention of the drill controller is to also re-drill hole marked number 274. As such, the proposed movement path 22, and in particular the proposed approach direction is not suitable even though the proposed path 22 and approach direction avoids interactions between tracks, jacks and drilled holes.

[0127] As shown in Figure 16, the drill controller has modified the proposed movement path 22 so that the approach direction is better aligned with the future re-drill hole numbered 274.

[0128] Figure 17 is a flow diagram 150 illustrating steps 152 to 156 of a method of managing a drilling operation in accordance with an embodiment of the present invention.

[0129] During a drill planning operation, a drill controller uses the path planning screen 84 to create a drilling plan that includes at least one hole to be drilled or re-drilled, as indicated at step 151. Based on the selected holes that are proposed to be drilled or re-drilled, the hole approach generator 56 automatically determines a proposed hole approach direction that avoids or minimises interactions between jacks of the drilling machine 14 and already drilled holes 86, as indicated at step 152. The system also uses the drilling path generator 52, the waypoint determiner 54 and the cost function generator 58 to automatically determine a movement path for the drilling machine 14 that avoids or minimises interactions between tracks of the drilling machine 14 and already drilled holes 86, as indicated at step 154.

[0130] As indicated at step 156, if a hole / jack warning condition exists because a drilling machine jack is expected to be disposed on or close to an already drilled hole 86, a hole / jack warning condition is displayed, as indicated at step 158. As indicated at step 160, if a hole / tramming warning condition exists because a drilling machine track is expected to be disposed on or close to an already drilled hole 86, a hole / tramming warning condition is displayed, as indicated at step 162.

[0131] As indicated at steps 164 and 166, a drill operator has the option of manually modifying the approach direction to a proposed hole and the movement path to the hole, and if a modification has been made, the system re-analyses the proposed approach direction and movement path and issued a warning condition is appropriate. If no further modifications are required, the drill controller activates the drilling plan, as indicated at step 168.

[0132] It will be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common general knowledge in the art, in Australia or any other country.

[0133] In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention. Modifications and variations as would be apparent to a skilled addressee are determined to be within the scope of the present invention.

Claims

The claimsthe invention are as follows:

1. A path planning system for a drilling machine, the path planning system comprising: a data storage device arranged to store a drilling plan, the drilling plan including information indicative of at least one hole associated with the drilling plan and to be drilled by the drilling machine; the system arranged to facilitate generation of a movement path indicative of proposed movement of the drilling machine in order for the drilling machine to move and drill the holes associated with the drilling plan; and the system including a warning generator arranged to produce a user perceptible warning based on proximity to an existing hole of a proposed location of the drilling machine according to the generated movement path; wherein the drilling machine includes a plurality of ground engaging components, the system is configured to predict locations of the ground engaging components according to the generated movement path, and the warning generator produces a user perceptible warning based on the proximity of the ground engaging components to the existing hole.

2. A path planning system as claimed in claim 1 , wherein the system is arranged to enable a user to at least partially manually define the movement path.

3. A path planning system as claimed in claim 1 or claim 2, wherein the system is arranged to automatically generate the movement path.

4. A path planning system as claimed in claim 3, wherein the system automatically generates the movement path based on an initial location of the drilling machine, the location of a proposed at least one hole and the location of at least one existing hole so as to reduce the likelihood of interference between a drilling machine and the at least one existing hole.

5. A path planning system as claimed in claim 4, wherein the plurality of ground engaging components includes a plurality of levelling jacks, and the system automatically determines a proposed hole approach direction for movement adjacent the proposed hole based on a location of at least one existing hole and predictedlocations of levelling jacks during an operation to drill the proposed hole so as to reduce the likelihood of interference between the plurality of levelling jacks and the at least one existing hole.

6. A path planning system as claimed in claim 5, wherein the warning generator is arranged to produce a user perceptible warning based on a predicted proximity of the levelling jacks to the at least one existing hole.

7. A path planning system as claimed in claim 6, wherein the user perceptible warning is a visible warning displayed on a user interface.

8. A path planning system as claimed in claim 7, wherein the system is arranged to display representations of predicted levelling jack locations on the user interface and the user perceptible warning comprises a change to the representation of a predicted levelling jack location when a proximity of the levelling jack to the at least one existing hole satisfies defined criteria.

9. A path planning system as claimed in claim 8, wherein the user perceptible warning comprises a change to the representation of the levelling jack to a first changed representation when the proximity of the levelling jack to an existing hole is predicted to be less than a defined threshold, and to change the representation of the levelling jack to a second changed representation when the levelling jack is predicted to be coincident with an existing hole.

10. A path planning system as claimed in any one of the preceding claims, wherein the system is arranged to display a target hole graphic indicative of a location of a proposed hole.

11. A path planning system as claimed in claim 10, wherein the target hole graphic includes a hole approach direction indicator.

12. A path planning system as claimed in claim 10 or claim 11, wherein the user perceptible warning comprises a change to the representation of the target hole graphic.

13. A path planning system as claimed in any one of the preceding claims, wherein the plurality of ground engaging components includes a plurality of tracks to facilitate movement of the drilling machine, and the system automatically determines a proposed movement path based on a location of at least one existing hole and predicted locations of the tracks during movement of the drilling machine along the movement path so as to reduce the likelihood of interference between the plurality of tracks and the at least one existing hole.

14. A path planning system as claimed in claim 13, wherein the system automatically generates a proposed movement path by defining an exclusion zone boundary disposed at a defined distance from an expected location of a track, defining a cost function representing a cost distance of an existing hole from the exclusion zone boundary, and using the cost function to produce a minimum cost distance to the existing hole.

15. A path planning system as claimed in claim 13 of claim 14, wherein the system is arranged to add at least one waypoint and to define a plurality of movement path portions that extend to and / or from a waypoint, the system arranged to automatically generate each movement path portion so as to reduce the likelihood of interference along the movement path portion between the plurality of tracks and the at least one existing hole.

16. A path planning system as claimed in any one of claims claim 13 to 15, wherein the warning generator is arranged to produce a user perceptible warning based on a proximity of the tracks to the at least one existing hole.

17. A path planning system as claimed in claim 16, wherein the warning generator is a visible warning displayed on a user interface.

18. A path planning system as claimed in claim 17, wherein the system is arranged to display representations of predicted track locations on the user interface and to change the representation of a predicted track location when a proximity of a predicted track location to the at least one existing hole satisfies defined criteria.

19. A path planning system as claimed in claim 18, wherein the system is arrangedto change the representation of a predicted track location to a first changed representation when the proximity of the track location to an existing hole is predicted to be less than a defined threshold, and to change the representation of the predicted track location to a second changed representation when the predicted track location is predicted to be coincident with an existing hole.

20. A path planning system as claimed in any one of claims 13 to 19, wherein the system is arranged to reduce the likelihood of interference between the plurality of tracks and an existing hole by defining a linear portion of the movement path adjacent the existing hole so that the drilling machine does not turn when the drilling machine is disposed at the existing hole.

21. A path planning system as claimed in any one of the preceding claims, wherein the system is arranged to automatically generate a first path portion that defines proposed movement of the drilling machine to a first proposed hole and a second path portion that defines movement of the drilling machine to a second proposed hole, the first and second path portions intersecting at a pivot location and the second path portion representing movement of the drilling machine in a substantially opposite direction to the first path portion.

22. A path planning system as claimed in claim 21, wherein if an existing hole is expected to be affected by a track of the drilling machine and the existing hole is disposed adjacent a proposed pivot location, the system is arranged to dispose the pivot location so as to coincide with the already drilled hole.

23. A path planning system as claimed in claim 21 or claim 22, wherein if an existing hole is expected to be affected by a track of the drilling machine and the existing hole is not disposed adjacent a proposed pivot location, the system is arranged to select a tramming approach direction that minimises interference with the existing hole.

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