APPARATUS AND METHOD FOR POSITIONING EQUIPMENT RELATIVE TO A DRILL HOLE

Abstract

An automated vehicle comprising: a control unit configured to control movement of the automated vehicle to a location adjacent an estimated location of a drill hole; a scanning portion including one or more scanning devices configured to scan an area of terrain in the vicinity of the estimated location of the drill hole in order to determine an actual location of the drill hole, and to generate a point cloud representing at least a portion of the interior of the drill hole; at least one arm associated with the scanning portion, the at least one arm configured to move the scanning portion between a home position and one or more scanning positions; and an end effector associated with the at least one arm, the end effector being configured to perform one or more operations;
wherein, upon generating the point cloud, the at least one arm is configured, based on the point cloud, to position the end effector in substantial alignment with the drill hole so that the end effector can perform the one or more operations.

Claims

1. An automated vehicle comprising: a control unit configured to control movement of the automated vehicle to a location adjacent an estimated location of a drill hole; a scanning portion including one or more scanning devices configured to scan an area of terrain in the vicinity of the estimated location of the drill hole in order to determine an actual location of the drill hole, and to generate a point cloud representing at least a portion of the interior of the drill hole, the point cloud generating information regarding the orientation and condition of the drill hole; at least one arm associated with the scanning portion, the at least one arm configured to move the scanning portion between a home position and one or more scanning positions; and an end effector associated with the at least one arm, the end effector being configured to perform one or more operations; wherein, upon generating the point cloud, the at least one arm is configured, based on the point cloud, to position the end effector in substantial alignment with the drill hole so that the end effector can perform the one or more operations.

2. An automated vehicle according to claim 1 wherein the automated vehicle comprises a boom and an attachment portion configured to removably attach the scanning portion to the at least one arm.

3. An automated vehicle according to claim 1 wherein the automated vehicle further comprises one or more conduits configured to provide a passageway for fluids and/or solids to flow into and/or out of the drill hole.

4. An automated vehicle according to claim 1 wherein the control unit includes, or is associated, with a GPS unit.

5. An automated vehicle according to claim 4 wherein GPS co-ordinates of one or more drill holes are known, and the control unit controls movement of the automated vehicle to a location in the vicinity of the GPS co-ordinates of the one or more drill holes.

6. An automated vehicle according to claim 1 wherein the automated vehicle further comprises a vision system.

7. An automated vehicle according to claim 6 wherein the vision system includes at least one camera configured to detect a terrain and/or identify a feature thereof.

8. An automated vehicle according to claim 7 wherein the at least one camera is positioned on the scanning portion and/or the at least one arm.

9. An automated vehicle according to claim 6 wherein data from the vision system is used by the control unit to improve movement of the automated vehicle and/or the at least one arm.

10. An automated vehicle according to claim 9 wherein the data from the vision system is used to improve accuracy of a position calculation of the automated vehicle and/or the at least one arm.

11. An automated vehicle according to claim 9 wherein the data includes scanned terrain data, sensed object data and combinations thereof.

12. An automated vehicle according to claim 1 wherein the automated vehicle is operated autonomously or semi-autonomously.

13. An automated vehicle according to claim 1 wherein the estimated location of the drill hole is determined by the automated vehicle or is provided as GPS co-ordinates.

14. (canceled)

15. An automated vehicle according to claim 1 wherein the one or more scanning devices include stereo cameras, LIDAR laser scanners, radar devices and/or acoustic devices.

16. An automated vehicle according to claim 1 wherein the point cloud is generated to a depth of up to 50 metres into the drill hole.

17. (canceled)

18. An automated vehicle according to claim 1 wherein the point cloud is used to determine a centreline of the drill hole.

19. (canceled)

20. (canceled)

21. (canceled)

22. (canceled)

23. (canceled)

24. (canceled)

25. An automated vehicle according to claim 1 wherein the one or more operations performed by the end effector include placing one or more tools into the drill hole, remove or reduce obstructions or blockages in the drill hole, charge the drill hole with explosives and/or remove samples from the drill hole.

26. A method for positioning an end effector relative to a drill hole, the method comprising the steps of: a. Positioning an automated vehicle adjacent an estimated location of the drill hole; b. Scanning, using a scanning portion including one or more scanning devices associated with the automated vehicle, an area of terrain in the vicinity of the estimated location of the drill hole in order to determine an actual location of the drill hole and to generate a point cloud representing at least a portion of the interior of the drill hole, the point cloud generating information regarding the orientation and condition of the drill hole, the point cloud generating information regarding the orientation and condition of the drill hole; and c. Positioning, based on the point cloud, an end effector, configured to perform one or more operations, in substantial alignment with the drill hole so that the end effector can perform the one or more operations.

27. A method for determining one or more parameters relating to a drill hole, the method comprising the steps of: a. Scanning, using one or more scanning devices, an area of terrain in the vicinity of an estimated location of the drill hole in order to determine an actual location of the drill hole and to generate a point cloud representing at least a portion of the interior of the drill hole, the point cloud generating information regarding the orientation and condition of the drill hole; b. Determining, using the point cloud, the one or more parameters relating to the drill hole, the point cloud generating information regarding the orientation and condition of the drill hole; and c. Positioning, based on the one or more parameters, an end effector configured to perform one or more operations, in substantial alignment with the drill hole so that the end effector can perform one or more operations.

28. An automated vehicle according to claim 18 wherein the point cloud generates information regarding the orientation and condition of the drill hole.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0059] Preferred features, embodiments and variations of the invention may be discerned from the following Detailed Description which provides sufficient information for those skilled in the art to perform the invention. The Detailed Description is not to be regarded as limiting the scope of the preceding Summary of Invention in any way. The Detailed Description will make reference to a number of drawings as follows:

[0060] FIGS. 1-5 illustrate steps in a method for positioning an end effector relative to a drill hole according to an embodiment of the invention using an automated vehicle according to an embodiment of the invention.

DETAILED DESCRIPTION

[0061] FIG. 1 illustrates a step in a method for positioning an end effector 17 relative to a drill hole 10 according to an embodiment of the present invention. In this Figure, an automated vehicle 11 is moved using a control unit (obscured) to a location adjacent an estimated location of the drill hole 10. The automated vehicle 11 includes an arm 12 that is associated with a scanning portion 13 that includes a LIDAR laser scanner. In the embodiment shown in FIG. 1, the scanning portion 13 is shown in the home position, being the position the scanning portion 13 is positioned in when the automated vehicle 11 moves between locations.

[0062] FIG. 2 illustrates a step in a method for positioning an end effector 17 relative to a drill hole 10 according to an embodiment of the present invention. In this Figure, the arm 12 moves the scanning portion 13 out of the home position and into a scanning position so that the LIDAR laser scanner can begin to scan the terrain 14 around the estimated location of the drill hole 10 in order to determine the actual location of the drill hole 10.

[0063] FIG. 3 illustrates a step in a method for positioning an end effector 17 relative to a drill hole 10 according to an embodiment of the present invention. FIG. 3 illustrates the scan 18 of the terrain 14 around the estimated location of the drill hole 10 that is generated by the LI DAR laser scanner. By scanning the terrain 14 around the drill hole 10, the scanning portion 13 determines the actual location of the drill hole 10, as well as the direction 19 in which the drill hole 10 extends into the ground, and the condition of the interior of the drill hole 10.

[0064] FIG. 4 illustrates a step in a method for positioning an end effector 17 relative to a drill hole 10 according to an embodiment of the present invention. In this Figure, once the control unit (obscured) associated with the automated vehicle 11 determines the actual location of the drill hole 20 based on the scan generated by the scanning portion 13, the arm 12 positions the scanning portion 13 so that an end of the scanning portion 13 is positioned adjacent to the opening of the drill hole 10. The arm 12 also positions the scanning portion 13 so that an end effector 17 associated with the scanning portion 13 is oriented in substantially the same direction as the direction in which the drill hole 10 extends into the earth. In this way, the end effector 17 may be inserted into the drill hole 10 to perform one or more operations. By aligning the end effector 17 with the drill hole 10, the likelihood of damage to the end effector 17 by coming into contact with the inner surface of the drill hole 10 may be reduced or eliminated.

[0065] FIG. 5 illustrates a step in a method for positioning an end effector 17 relative to a drill hole 10 according to an embodiment of the present invention. Once the end effector 17 has completed the one or more operations within the drill hole 10, the arm 12 returns the scanning portion 13 to the home position. The control unit (obscured) then actuates movement of the automated vehicle 11 to a new location 15 adjacent the estimated location of a different drill hole 16. The process described above then repeats for the different drill hole 16.

[0066] By repeating the process over multiple drill holes, the present invention develops an accurate record of the location, orientation and condition of drill holes in a given area of terrain. When work (such as, but not limited to, the placement of explosives) is subsequently undertaken in the drill holes, this work can be conducted in a safe, rapid and efficient manner that substantially eliminates incorrect or ineffective placement of explosives that could occur if the location, orientation and condition of the drill holes was not accurately known.

[0067] In the present specification and claims (if any), the word comprising and its derivatives including comprises and comprise include each of the stated integers but does not exclude the inclusion of one or more further integers.

[0068] Reference throughout this specification to one embodiment or an embodiment means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrases in one embodiment or in an embodiment in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more combinations.

[0069] In compliance with the statute, the invention has been described in language more or less specific to structural or methodical features. It is to be understood that the invention is not limited to specific features shown or described since the means herein described comprises preferred forms of putting the invention into effect. The invention is, therefore, claimed in any of its forms or modifications within the proper scope of the appended claims (if any) appropriately interpreted by those skilled in the art.