ADAPTATION OF MINING OPERATIONS SATELLITE COVERAGE

Abstract

An apparatus, method and computer program product is provided for determining positional conditions of a satellite positioned mobile mine work machine at a work site. The apparatus determines satellite coverage condition data on a basis of received data of satellite signal availability. Further the apparatus modifies work tasks of the mobile mine work machines of the basis of the determined satellite coverage condition data.

Claims

1. An apparatus for determining positional conditions of at least one satellite positioned mobile mine work machine at a mine work site, comprising: at least one control unit provided with at least one processor and at least one position processing program arranged to be executed in the processor for determining satellite coverage at the mine work site; the control unit is provided with an environmental model of the mine work site; the control unit is further provided with at least one mine work task determined for the at least one mobile mine work device and being determined to be executed at least at one operational position at the mine work site; the control unit is configured to receive data on satellite signal availability; the control unit is configured to determine satellite coverage condition data for the at least one operational position on the basis of the data on satellite signal availability and the environmental model; and the apparatus is configured to modify execution of the at least one work task on the basis of the determined satellite coverage condition data.

2. The apparatus as claimed in claim 1, wherein the apparatus is configured to modify instant of time of execution of the at least one work task on the basis of the determined satellite coverage condition data.

3. The apparatus as claimed in claim 1, wherein the apparatus is configured to modify the at least one mine work task to be executed at the mine work site on the basis of the determined satellite coverage condition data.

4. The apparatus as claimed in claim 1, wherein the at least one mine work task has several work phases which are executed at the operational position according to a work cycle, the apparatus being configured to modify order of execution of the work phases of the mine work task on the basis of the determined satellite coverage condition data, whereby the work cycle is amended.

5. The apparatus as claimed in claim 1, wherein the apparatus is configured to modify execution of the at least one work task by dividing the mine work task with at least two mobile mine work machines and the division is executed on the basis of the determined satellite coverage condition data in order to allow execution of the mine work task during a determined time interval provided with sufficient satellite signals.

6. The apparatus as claimed in claim 1, wherein the apparatus is configured to determine and indicate one or more subset areas of the mine work site provided with sufficient satellite coverage at input future period of times.

7. The apparatus as claimed in claim 1, wherein the apparatus is configured to indicate future period of times to be avoided for the execution of the at least one work task in order to avoid insufficient satellite positioning situations.

8. The apparatus as claimed in claim 1, wherein the apparatus is configured to calculate estimates for probabilities of positioning problems for the at least one operational position of the mine work site at a given time or working period of time.

9. The apparatus as claimed in claim 1, wherein the apparatus is configured to receive and store positioning data realized at the mine work site and is configured to take the stored realized positioning data into account in future positioning situations and when estimating success of positioning and satellite coverage at a given time and location.

10. The apparatus as claimed in claim 1, wherein the apparatus is configured to receive realized position measuring data from the at least one mobile mine work machine and is configured to update the environmental model of the mine work site on the basis of the realized position data.

11. The apparatus as claimed in claim 1, wherein the satellite signal availability data received by the control unit is based on ephemeris data computed electronically from mathematical models of the motion of artificial satellites and the earth.

12. The apparatus as claimed in claim 1, wherein the satellite signal availability data received by the control unit is based on stored history data on realized satellite signal availability and coverage gathered and input during utilization of previous satellite positioning situations.

13. The apparatus as claimed in claim 1, wherein the satellite signal availability data received by the control unit is based on current satellite signal availability detected by means of at least one satellite signal receiver, which is located on the mobile mine work machine.

14. The apparatus as claimed in claim 1, wherein the mobile mine work machine is a rock drilling rig; the mine work task of the rock drilling rig being drilling drill holes determined in at least one drilling pattern; and the apparatus is configured to modify instant of time of the execution of the mine work task on the basis of the determined satellite coverage condition data.

15. A method of determining positional condition of at least one satellite positioned mobile mine work machine at a mine work site, the method comprising: determining satellite coverage at the mine work site by means of at least one control unit; providing the control unit with an environmental model of the mine work site; providing the control unit further with at least one mine work task determined to be executed by the mobile mine work device at least at one operational position at the mine work site; providing the control unit with data on satellite signal availability; executing a position processing program in a processor of the control unit and determining satellite coverage condition data for the at least one operational position on the basis of the data on satellite signal availability and the environmental model; and modifying execution of the at least one work task on the basis of the determined satellite coverage condition data.

16. A computer program product, wherein the computer program product comprises program code means configured to execute the steps and procedures disclosed in claim 15 when being run on a computer or a data processing device.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0056] Some embodiments are described in more detail in the accompanying drawings, in which

[0057] FIG. 1 is a schematic side view showing a rock drilling rig, which is an example of a mobile mine work machine,

[0058] FIG. 2 is a schematic view showing a work site wherein satellite visibility is partly prevented because of rock walls and high manmade constructions,

[0059] FIG. 3 is a schematic diagram showing possible types of control units of the disclosed apparatus and also additional equipment belonging to the apparatus,

[0060] FIG. 4 is a schematic diagram showing basic principles of the disclosed apparatus and data needed for executing the disclosed processes,

[0061] FIG. 5 is a schematic diagram showing some possible alternative modifications, which may be done for mine work tasks based on determined satellite coverage condition data,

[0062] FIG. 6 is a schematic diagram showing possible ways to provide the apparatus and system with satellite signal availability data, and

[0063] FIG. 7 is a schematic diagram showing some mobile mine work machines and their possible mine work task or plans to be executed at the planned operational positions.

[0064] For the sake of clarity, the figures show some embodiments of the disclosed solution in a simplified manner. In the figures, like reference numerals identify like elements.

DETAILED DESCRIPTION

[0065] FIG. 1 shows a rock drilling rig 1, which is an example of a mobile mine work machine. Other possible mobile mine work machines may be a transporting machine, a loading machine, a measuring machine and a charge loading machine, for example.

[0066] The rock drilling rig 1 comprises a movable carrier 2, one or more drilling booms 3 and drilling units 4 arranged in the drilling booms 3. The drilling unit 4 comprises a feed beam 5 on which a rock drilling machine 6 can be moved by means of a feed device. Further, the drilling unit 4 comprises a tool 7 with which the impact pulses given by the percussion device of the rock drilling machine are transmitted to the rock to be drilled. The rock drilling rig 1 further comprises at least one control unit 8 arranged to control actuators of the rock drilling rig 1, for example. The on-board control unit 8 may be a computer, processing device or a corresponding device, and it may comprise a user interface with a display device 9 as well as control means for giving commands and information to the control unit 8. The control unit 8 may be one computer equipped with appropriate software, or an entity consisting of a plurality of computers.

[0067] The control unit 8 may be provided with one or more drilling plan or drilling pattern, which may determine a mine work task for the rock drilling rig. The drilling plan or the drilling pattern may determine drill holes to be drilled and may also include instructions regarding positioning of the carrier to a drilling position. Drill hole parameters, such as number of holes, positions of start points, lengths, directions and other needed data may be determined in the drilling pattern. It is also possible that the work task of the rock drilling rig includes instruction relating route of the tramming. In other words, also movement paths of the carrier between the drilling positions i.e. operating positions may be pre-designed and modified.

[0068] The control unit 8 may also be provided with an environmental model, which may be an electrical 3D-model of the work site and may thereby define surface topography of the ground as well as locations and shapes of rock walls and constructions located at the work site. The rock drilling rig may be provided with a satellite positioning system 10 comprising at least one receiver 11 on the rock drilling rig 1 for receiving satellite signals 12a-12c from satellites 13a-13c. Further, the control unit 8 may comprise one or more computer program products or algorithms to be processed in the processor of the control unit 8. The processed position processing program determines satellite coverage condition data for desired one or more drilling position or other operational position by taking into account the environmental model and satellite signal availability. The satellite signal coverage and availability may be calculated in the control unit 8 on the basis of received satellite signals, or alternatively the data may be input or downloaded into the control unit 8. If need be, the control unit 8 modifies the mine work task based on the calculated satellite coverage condition data for ensuring that the operation of the rock drilling rig is as continuous as possible.

[0069] The apparatus and system may be arranged in connection with the control unit 8 of the rock drilling rig as disclosed above, or alternatively, or in addition to, the system may comprise one or more external devices 8a serving as the apparatus or at least participating to the disclosed procedure.

[0070] FIG. 2 discloses an example of a work site wherein satellite positioning is problematic in some areas because of rock walls W and high buildings B, which may obstruct receiving satellite signals S1 and S2, as it is demonstrated in the Figure. The disclosed system may determine satellite coverage condition data and may modify a work task of a rock drilling rig so that instead of operating at a first area A1 the drilling rig 1a executes drilling at a second area A2, wherein satellite signal quality is better because the area is located at a greater distance from the rock walls W. Further, the system may divide the work task of the second area A2 with a first rock drilling rig 1a and second drilling rig 1b. The second drilling rig 1b may be trammed to the second area A2 along a planned route R. The system may plan and/or modify the route R based on satellite signal strength and quality.

[0071] FIG. 3 discloses a simplified diagram showing that control unit of the disclosed apparatus may be located on-board the mobile mine work machine or it may be locate elsewhere, such as at a control room or it may be a mobile electrical terminal device. Further, the control unit may be a design computer. However, several different types of control units may also operate in co-operation. FIG. 3 also discloses that the apparatus may be provided with needed physical equipment in addition to a processor, such as an input device for inputting data and instructions and an output device for presenting determined information and results. The apparatus may also comprise a data communicating unit for allowing data transmission between the apparatus and one or more external computers, servers or networks. Furthermore, the apparatus may comprise one or more memory devices for storing data.

[0072] FIG. 4 presents a simplified diagram showing basic principles of the disclosed apparatus. As can be noted, the apparatus comprises a control unit, which may be provided with data on an environmental model, data on one or more work tasks and data on satellite signal availability. The control unit comprises a processor, wherein a position processing program may be executed. The control unit executes needed calculations, estimations and procedures, which are controlled by the program, and the system determines satellite coverage condition data at a desired instant of time or period of time. Based on the satellite condition data the apparatus may present recommendations, suggestions, plans, schedules, estimations and probability values in order to change the work tasks for achieving improved operational results. These issues have already been disclosed in more detailed above in this patent application.

[0073] FIG. 5 shows a simplified diagram showing some possible alternative modifications, which may be done for mine work tasks on the basis of determined satellite coverage condition data. These issues have already been disclosed in more detailed above in this patent application.

[0074] FIG. 6 discloses a simplified diagram showing alternative sources for receiving satellite signal availability data. The satellite signal availability data may be based on ephemeris data comprising satellite orbit and almanac data or a mathematical model of the availability of the satellite signal at different locations. This data may be received via data transmission means of the apparatus. Alternatively, or in addition to, the apparatus may use stored GNSS quality history data and/or may use current GNSS quality observation data. This data is used for determining satellite coverage condition data, which is then used for modifying time related issues, content, routes, or all of these features of mine work tasks.

[0075] FIG. 7 shows some feasible mobile mine work machines and their possible mine work tasks or plans to be executed at the planned operational positions.

[0076] Furthermore, below is disclosed some further information relating to the computing means and computer programs utilized in the disclosed apparatus and system.

[0077] The disclosed apparatus comprises at least a processing device for determining the satellite coverage condition data, assisting the operator of the mobile mine work machine and modifying execution of mine work tasks as disclosed above. Needed data may be input to the processing device as individual data elements or may be retrieved from one or more memory devices. The processing device may comprise a computer program product, which is executed. The computer program may be recorded on non-transitory computer-readable media including program instructions for implementing various operations executed by a computer. The operator may input data and make selections via one or more input devices. The input device may be a touch screen, a keypad, a mouse or any other suitable control device. By means of the input device, the operator of the rock drilling rig may inform the processing device of the desired future period of time, for example. The operator may also instruct the processing device of desired next or future operational positions and provide the processing device with any other needed data. The processing device may execute needed calculations and may display suggestions, recommendations and plans on a display device. The processing device may also provide the operator with predetermined operating and positioning aid and may show assisting symbols and data on the display device. Further, the apparatus may comprise an output device for storing produced data on a memory device or transmitting the data to another control unit or mobile mining machine. Let it be mentioned that the processing device and a control unit of the mobile mine machine may be separate devices or they can be integrated.

[0078] A computer program for implementing the features disclosed in this patent application may be recorded in non-transitory computer-readable media including program instructions to implement various operations embodied by a computer. The media may also include, alone or in combination with the program instructions, data files, data structures, and the like. Examples of computer-readable media or computer-readable storage devices include magnetic media such as hard disks, and optical media such as CR-ROM disks and DVDs, flash memory means, and hardware devices that are configured to store software. The computer-readable media may be a plurality of computer-readable storage devices in a distributed network, so that the program instructions are stored in a plurality of computer-readable storage devices and executed in a distributed fashion. The program instructions may be executed by one or more processors or processing devices.

[0079] The drawings and the related description are only intended to illustrate the idea of the invention. In its details, the invention may vary within the scope of the claims.