WO2008100201A1

WO2008100201A1 - Method and device for determining the position of a mining and/or construction machine as well as drilling rig comprising such a device

Info

Publication number: WO2008100201A1
Application number: PCT/SE2008/000117
Authority: WO
Inventors: Roland Pettersson
Original assignee: Atlas Copco Rock Drills AB
Current assignee: Epiroc Rock Drills AB
Priority date: 2007-02-14
Filing date: 2008-02-13
Publication date: 2008-08-21
Anticipated expiration: 2009-08-14
Also published as: SE530874C2; SE0700364L

Abstract

The present invention relates to a method for determining a position of a mining and/or construction machine, wherein at least one marker, at a first position in a first coordination system, and a second marker, at a second position in the said first coordination system, said second position being different from the said first position, are arranged in the surroundings of the said machine. The method comprises the steps of, from a third position, being different from said first and said second position, and which is determined or determinable in relation to the said machine, determining a first direction to the said first marker, determining a second direction to the said second marker. The method also comprises the steps of identifying the said markers using the said first direction and the said second direction, determining the inclination of the machine in a lateral and/or longitudinal direction, and determining a position of the said machine in the said first coordinate system using the said determined directions to the said identified markers and said determined inclination.

Description

PATENT COOPERATIONTREATY

PCT

INTERNATIONAL SEARCH REPORT

(PCT Article 18 and Rules 43 and 44)

This international search report has been prepared by this International Searching Authority and is transmitted to the applicant according to Article 18. A copy is being transmitted to the International Bureau.

This international search report consists of a total of 4 sheets.

I I It is also accompanied by a copy of each prior art document cited in this report.

1. Basis of the report a. With regard to the language, the international search was carried out on the basis of:

[X] the international application in the language in which it was filed

[ [ a translation of the international application into , which is the language of a translation furnished for the purposes of international search (Rules 12.3(a) and 23.1(b)) b. I 1 This international search report has been established taking into account the rectification of an obvious mistake authorized by or notified to this Authority under Rule 91 (Rule 43.6&w(a)). c. [^""I With regard to any nucleotide and/or amino acid sequence disclosed in the international application, see Box No. I.

2. I I Certain claims were found unsearchable (See Box No. II)

3. £] Unity of invention is lacking (See Box No. Ill)

4. With regard to the title, r~] the text is approved as submitted by the applicant.

Fj<^ the text has been established by this Authority to read as follows:

Method and device for determining the position of a mining and/or construction machine as well as drilling rig comprising such a device

5. With regard to the abstract,

^Λ the text is approved as submitted by the applicant. r~j the text has been established, according to Rule 38.2, by this Authority as it appears in Box No. IV. The applicant may, within one month from the date of mailing of this international search report, submit comments to this Authority.

6. With regard to the drawings, a. the figure of the drawings to be published with the abstract is Figure No. 2_

^A as suggested by the applicant. rπ as selected by this Authority, because the applicant failed to suggest a figure. [^"I as selected by this Authority, because this figure better characterizes the invention. b. [ I none of the figures is to be published with the abstract.

Form PCT/ISA/210/ (first sheet) (April 2007) Method and device for determining the position of a mining and/or construction machine as well as drilling rig comprising such a device

Field of the invention

The present invention relates to a method and a device for determining the position of a mining and/or construction machine according to the preamble of claims 1 and 9, respectively.

Background of the invention

When drilling in rock, such as in mining, tunnelling and/or at rock reinforcement installations of, e.g., rock bolts in tunnels and mines, it is often important that a correct positioning of machines, such as a rock drilling rig, can be achieved.

This is due to, among other, the fact that, in general, the authorities are imposing more and more stringent requirements of, e.g., that the final extension of a tunnel actually corresponds to the intended extension of the tunnel. Further, there are also often requirements concerning rock reinforcement installations, such as installations of rock bolts, being documented in a satisfactory manner, i.e. that the respective positions of the bolts in the tunnel are known so that a correct evaluation can be performed in case of a following cave.

Another example is constituted by ore-mining The ore is often positioned in loads, and for reasons of profitability it is often very important that it can be ensured that the mining is carried out in the exact right position so that rock containing an unprofitable content of ore is not unnecessarily mined. Consequently, the above situations have in common that it must be possible to perform a very accurate positioning of drilling rigs, and therefore the position of these rigs is measured very precisely before a new round of drilling commences. This measuring is carried out by mine surveyors who carry out precise measuring of the position of the rigs using tacheometers . This measuring is very time-consuming, and even if, e.g. when tunnelling, very large drilling rigs often are used, which drill a large number of holes according to a predetermined drilling plan on each measured position, and a working shift, or an even longer period of time, is typically completed before the drilling rig needs to be moved for blasting or new drilling, the measuring of the position must still, as was mentioned above, be performed by a mine surveyor, and since the availability of mine surveyors often is limited, a long period of time can pass before the mine conveyor is in position to perform the measuring once it is really required, with costly stationary time as a result.

With regard to rock reinforcement rigs, the problem is even greater, since these rigs typically do not remain stationary for such long periods of time before they are moved, but may require a new measurement as often as every thirty minutes, and can therefore require access to mine surveyors, in principle, round the clock.

Consequently, there exists a need for an improved method of positioning mining and/or construction machines such as rock drilling rigs.

Object of the invention and its most important features

An object of the present invention is to provide a method and a device that makes possible an accurate and time-saving determination of the position of a mining and/or construction machine and that thereby solves the above mentioned problem.

This and other objects are achieved according to the present invention by a method as defined in claim 1, and a device as defined in claim 9.

According to the present invention, a method is provided for determining the position of a mining and/or construction machine, such as, e.g., a rock drilling rig, wherein at least one marker, at a first position in a first coordination system, and a second marker, at a second position in the said first coordination system, said second position being different from the said first position, are arranged in the surroundings of the said machine. The method comprises the steps of, from a third position, being different from said first and said second position, determine a first direction to said first marker and a second direction to the second marker. The method further comprises the steps of identifying the said markers using the said first direction and the said second direction, determining the inclination of the machine in a lateral and/or longitudinal direction, and determining a position of the said machine in the said first coordinate system using the said determined directions to the said identified markers and said determined inclination.

This has the advantage that the exact position of the mining and/or construction machine can be determined in a simple manner by, at or after the determination of the direction and distance to the said markers, taking the inclination of the machine into account in order to be able to perform a safe identification of the markers and in order to determine the exact distance relationship of the markers in relation to a zero point in a coordinate system that is internal to the machine. The determination of the position can be arranged to be performed using positioning means, and since the positions of the markers are known in a coordinate system being valid in the tunnel/mine, a very accurate position of the machine in the coordinate system of the mine can thereby be determined, without a mine surveyor having to be present. It is sufficient that an operator sets out positioning means such as a tacheometer, whereafter the positioning can be automatically performed without interaction from the operator other than possibly starting the positioning.

The position that has been determined for the machine can be arranged to be stored in a memory. Alternatively, or in addition thereto, the said determined position of the machine position can be arranged to be transmitted to a remotely located location.

When determining the position of the said markers, for example, energy that are being radiated and/or reflected from the said markers can be detected.

Further, the said markers can, for example, consist of any from the group: prism, other type of reflector, radio transmitter .

Even further, the said determination of the position can be arranged to be performed for one marker at a time.

In one embodiment, the said positioning means is attached to the machine, and thereby in a determined relationship with a zero point of the rig, which thereby allows a very simple positioning by determining the position of the positioning means in relation to two markers that are arranged in the tunnel/mine, and thereby also a determination of the zero point of the rig in relation to these markers and thereby its position in the coordinate system of the tunnel/mine. Since the inclination of the rig is known, not only the zero point but also each means that has had its position determined in the coordinate system of the rig, such as, for example, the drill steel, can have its position determined in the coordinate system of the tunnel/mine. Thereby, it can be ensured that each drilled hole is, in fact, located at exactly the desired position.

In an alternative embodiment, the said positioning is carried out using the said positioning means positioned in an arbitrary position in relation to the said machine, whereby the direction and distance is also determined to two markers located on the machine, whereby the position of the positioning means in relation to the zero point of the machine can be determined using knowledge of the inclination of the machine, whereby the zero point of the machine can also be determined in the coordinate system of the tunnel/mine.

The said positioning means can comprise at least one rotating light source, a rotating light detector and/or at least one directional antenna. Corresponding advantages are obtained by corresponding device features.

Brief description of the drawings

The invention will now be described more in detail in view of an exemplary embodiment and by means of the appended drawings, in which:

Fig. 1 schematically shows a rock drilling rig according to the present invention.

Fig. 2 schematically shows an exemplary embodiment according to the present invention. Fig 3a-b schematically show prisms arranged on a rock drilling rig according to fig. 1.

Detailed description of an exemplary embodiment

As was mentioned above, for example in tunnelling, large drilling rigs are used, which can consist of a carrier and one or more booms with associated drilling machines. The tunnelling is often carried out such that the drilling rig drills a large number of holes according to a predetermined drilling plan. The length of the holes is normally 2-6 m, and after the drilling is completed, these holes are charged with explosives for subsequent blasting. The drilling of these holes take a long time, and typically a working shift, or an even longer period of time, is completed before the drilling rig needs to be moved for blasting or new drilling.

For ore mining, considerably fewer holes are drilled, but, on the other hand, these are considerably longer, up to 50 m or more, so that in this case a "drilling round" can also take a long time. Thus, it is also the case here that the production drilling rig does not need to be moved very often.

It is, however, still very important that both tunnelling and ore mining is carried out precisely where it is intended to be carried out, why, as was mentioned above, the positions of these rigs are measured very precisely before a new round of drilling commences. This measuring is carried out by mine surveyors who carry out precise measuring of the position of the rigs using tacheometers . The measuring is carried out in a manner in which the mine surveyor sets up an instrument with the machine within sight, whereafter the position of the instrument is measured using markers arranged in the mine/tunnel, which markers usually consist of reflectors, often prisms, that reflect light that has been transmitted from the instrument towards these prisms. The measurement is carried out using known prisms, that is, prisms whose identities and positions are known to the mine surveyor/instrument, and is carried out by the mine surveyor first aiming the instrument towards one prism, whereby direction and distance to that prism is determined, after which direction and distance to further prisms are determined so that a position of the instrument is obtained. The resulting position is the position of the instrument in the coordinate system of the mine.

When the mine surveyor has measured the instrument according to this method, the position of the drilling rig is determined in relation to the instrument. This is carried out in a similar manner, where three prisms that are arranged on the drilling rig are used to determine the position of the rig and its inclination. The prisms that are arranged on the drilling rig are known to the control system of the rig, and since the position of these prisms in the coordinate system of the tunnel is determined using the instrument, the position of the rig in the coordinate system of the mine can also be determined, so that the drilling rig thereby can drill precisely at an intended position in a controlled manner.

The above measuring, however, is time-consuming, and also requires the presence of a mine surveyor. At best, the mine surveyor is available in the vicinity without being busy performing another measurement. Worse is if the mine surveyor is in a completely different part of, e.g. a mine, and is busy measuring another machine. In a worst case, the mine surveyor is not on location at all, but hours of travelling away from the mine/tunnel, with costly hours of a rig remaining stationary as a consequence. The above problem is even more severe at, e.g., rock reinforcement rigs, since these rigs usually consist of considerably smaller rigs that typically are not remaining stationary for an equally long period of time prior to being moved. The periods of time these rigs are remaining stationary depend, e.g., on requirements on the distance between bolts, but can be as small as approximately 30 minutes. As was mentioned above, these rigs still require a very accurate measuring, and due to the frequent movements these rigs demand frequent measurements by mine surveyors. Since the determination of the position of the rig using a tacheometer takes a long time, the time of measurement can consist of a very large portion of the total working time of the rig, perhaps in the order of 50% of the time. This is, as is apparent, a very uneconomical way of using the rig.

The present invention solves the above problem and will now be exemplified with reference to a rock drilling rig of the kind disclosed in fig. 1. In fig. 1 is shown a rock drilling rig 10 for tunnelling, or mining or installation of rock reinforcement bolts at, e.g., tunnelling or mining. The drilling rig 10 includes a boom 11, one end 11a of which is attached, in such a way that it can pivot, to a carrier 12, such as a vehicle, via one or more articulated connections and on the other end lib of which is arranged a feeder 13 that carries a drilling machine 14. The drilling machine 14 can be moved along the feeder 13. The rig 10 further comprises a control unit 16 that is used for determining the position according to the present invention and according to what will be described below. The control unit 16 can be used to monitor the position, direction and drilled distance etc. in relation to the drilling machine and carrier. The control unit 16 can also be used to control the movement of the rig 10. Alternatively, movement of the rig can be carried out by means of a separate control unit.

As an alternative to implementing the present invention in the control unit 16, or at all in an existing unit or unit at the drilling rig that is specifically arranged for the invention, the present invention can also be arranged to, completely or partly, be implemented in a remote location, such as integrated in a positioning instrument or alternatively in some kind of remotely located location for controlling a plurality of drilling rigs/machines. Data can, for example, be transmitted, e.g. wireless or wirebound, to the remote location/instrument .

The control unit 16 preferably comprises means for receiving signals from, e.g., other control units arranged on the drilling rig and/or signals from various sensors arranged on carrier and/or boom and/or signals, such as radio signals, from a positioning instrument such as a tacheometer. The said means can, if required, convert the received signals to a format that is adapted to a data processing unit of the control unit, and may, for example, consist of connection points, respectively, for desired signal sources and/or a data bus connection for receiving signals via a data bus, such as in any of the data bus formats CAN (Controller Area Network) , TTCAN or FlexRay, wherein data can be transferred on a common data transfer format that is known to the person skilled in the art.

The said data processing unit can, based on received signals, and by means of suitable calculation perform the positioning according to the present invention described below, and can, for example, be constituted by a processor, such as a digital signal processor, which is controlled by means of a computer program product that is built into the processor or being connected thereto, such as a computer program generated by means of an appropriate programming language and being stored in a storage means. The said storing means can, for example, consist of one or more from the group: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash-minne, EEPROM (Electrically Erasable PROM) .

According to the present invention, it is provided a method for obtaining the said determination of the position of the rock drilling rig without the presence of a mine surveyor being required and also by means of, as compared to the prior art, a reduced number of components.

Fig. 2 discloses an exemplary embodiment of the present invention, wherein the rock drilling rig 10 of fig. 1 has been positioned for drilling in a rock surface 21. The drilling rig 10 is provided with two markers 22, 23, such as prisms according to the above. The drilling rig is also provided with inclination sensor means 30, which measures the lateral and/or longitudinal inclination of the drilling rig 10. The inclination sensor means can, for example, consist of a gyro, alternatively two sensors, one for inclination in the longitudinal direction and one for the inclination in the lateral direction.

The positions of the prisms 22, 23 on the rig are preferably stored in the control system of the rig with coordinates in relation to the zero point of the rig. Drilling rigs of the kind disclosed in fig. 1 often have an internal coordinate system that is being used, for example, for controlling booms and drilling machines, and the zero point consists of the point from which the internal coordinate system of the rig originates, and can, for example, consist of the centre of gravity of the rig. This has as result that when determining the position of the prisms in a coordinate system that is common to a hole tunnel or mine, the rig zero point position in the coordinate system of the mine can also be determined, which has a very accurate determination of the position of the rig as a result.

When determining the position according to a first exemplary embodiment of the present invention, the positioning instrument 24, such as, for example, a tacheometer, is set out, for example by the operator of the drilling rig or any other suitable person, at a suitable distance from the drilling rig 10 and in such a manner that the prisms 22, 23 are visible from the tacheometer 24. The instrument is thus set out without given coordinates, that is, in principle, on an arbitrary position provided that the prisms are visible according to the above. A further prerequisite is that at least two markers arranged in the tunnel/mine, such as prisms 25-27, and whose positions are determined in the coordinate system of the tunnel/mine are also within "sight" of the instrument.

When the instrument is set out it will, regardless of its position, be able to determine the vertical axis direction since, for example, a tacheometer is generally constructed in such a manner that it is able to determine the vertical axis direction using built-in sensors and perform calculations in relation to this determined vertical direction. The instrument 24 is further provided with a rotating light source, in this case a rotating laser that, when activated, scans the surroundings with the purpose of identifying prisms. Instead of a rotating laser rotating IR-light can, for example, be used. As the laser rotates, it will "discover" the two prisms 22, 23 of the rig 10 and the prisms 25-27 that are arranged within sight in the tunnel (mine drift) . As is shown in fig. 2, there are three prisms within sight of the instrument 24, while a further reflector, 28, is "hidden" by the tunnel wall 29. The prisms 25-28 are preferably set out by mine surveyors, whereafter their positions are determined in a suitable coordinate system, which generally consists of a coordinate system that is common to at least a part of the tunnel (mine) . The determined position is then stored and made available to the positioning instrument 24 and/or the control system of the drilling rig 10. Prisms, such as prisms 25-28 are set out when required as the work in the tunnel/mine drift progresses, e.g. every 20 m, or closer to each other or more distant from each other in dependence of what is suitable. The range of the rotating laser when determining positions can, for example, be in the order of 40 m, and the set up of prisms is advantageously adapted to the range of the instrument.

Subsequently, when the instrument 24 detects the prisms 22-23, 25-27 during scanning, using the rotating laser and a light detector, which is carried out by means of the light detector detecting lights that has been transmitted from the laser and reflected in the prisms, the directions to these prisms are determined, either only relative to the next/preceding prism that is detected when the laser rotates. This is exemplified in the figure by α, β, γ, or as angles relative to some (arbitrary) reference angle (reference axis) ref, as is exemplified by δ and ε. Apart from the said angles, the instrument also determine the distances to the said prisms, which, for example, can be achieved by modulating the transmitted laser light and then measure the time it takes for the transmitted light to reach the instrument again. The instrument also determines an angle of elevation, that is, the angle to the said prism in relation to the vertical axis or any other axis that is suitable for the instrument. Even if, for example, the prisms that are used can be in the size of decimetres, they are generally shaped in such a manner that light is only reflected in a single point, which is why the determined direction is also the direction to this point, which thereby increases accuracy in the determination of the position .

When all angles and distances have been determined, alternatively when angles and distances for at least two prisms have been determined, a calculation of comparison is started, in which the determined directions and distances are compared to various possible positions in relation to stored prisms, that is, a calculation is performed wherein various possible positions with calculated angles to various prisms are compared to the actually measured angles. In principle, each prism is compared to its "neighbour", that is the prism next to the right or left in relation to the current prism. When a position is found that corresponds to the measured angles, the position of the instrument in relation to the identified prisms can be determined.

The above described calculations can be performed in the instrument, in which case positions of all, or at least of all relevant prisms in the tunnel/mine in the coordinate system of the mine can be stored in a memory in the instrument. In this case, there is also stored required data regarding rig mounted prisms. These position data can, when required, be updated in a suitable way, for example by exchanging a memory card such as a flash memory, or by updating prism data wirelessly. The determined distances and directions are thus compared with corresponding distances to stored prisms, and when a position that corresponds to the direction and distance to two prisms is found, this position will be determined as the position of the instrument. Since the accuracy of the instrument usually is very good, a very accurate position relative to the two prisms can be determined for the instrument. Even if it is theoretically possible that more than one position can be determined, in particular if the total number of stored prisms is large, it is still unlikely that this will happen, since the accuracy in distance and direction can be kept very high. If, however, it is revealed that more than one position is possible, this can, for example, be taken care of by comparing the calculated positions with the last known position, and if the last known position is in the vicinity of one of the determined positions, this position can be assumed to be the correct position with a high certainty, since drilling rigs seldom are moved any particularly long distances between measurements. Alternatively, the extension of the tunnel/mine can be stored, that is, information regarding what has been blasted away and what is rock can be stored, and if a possible position is found to be within the rock this position can be excluded.

As an alternative to performing the calculations in the instrument, all calculation can, instead, be performed in or at the rig, such as in the above mentioned control unit 16. In this case, data from the instrument can be transmitted, wirebound or wireless, to such a control unit in or at the rig, whereafter received data is used to perform the above calculations in/at the rig. In this embodiment, prism data is preferably stored in the rig, such as in a storage means that is integrated or connected to the control unit 16.

The above described calculations can be performed with regard to rig mounted prisms, tunnel mounted prisms or both. The various categories of prisms can, for example, be stored in such a manner that the calculations can be performed based on one or more chosen categories. If the scanning is set such that both rig mounted prisms and tunnel mounted prisms can be found, the identified prisms will either consist of two prisms that are arranged in the tunnel (mine) , such as two of the prisms 25-27, whereby the coordinates of the instrument in the coordinate system of the mine can be determined, or, alternatively, two rig mounted prisms, whereby the position of the instrument in the coordinate system of the rig can be determined, that is, the instrument can be seen as a part of the rig. Normally, however, in order for rig mounted prisms to be identified in a correct manner, further information must be available at the calculation. This information consists of the inclination of the rig in at least lateral or longitudinal direction, preferably both. This is illustrated in fig. 3a-b, where a drilling rig 35 being provided with two prisms, 36, 37 is schematically shown from behind, e.g. from the instrument 24 in fig. 2. In fig. 3a the drilling rig is located on a horizontal surface, and if this were always the case, the vertical axis 38 of the rig would always be parallel to the vertical axis of the instrument, and a correct determination of the position thereby always be possible. If, however, the surface underneath the drilling rig, and thereby also the drilling rig, is inclined in any direction the "picture" of the prisms, as seen from the vertical plane of the instrument, will be completely different. In fig. 3b is shown an example of such a picture when the rig is standing on an inclined surface. Using the vertical axis of the instrument as a reference, the distances between the prisms 36, 37 in the x- direction and z-direction, respectively, differ substantially as compared to fig. 3a. As can be seen in fig. 3b, the x- direction is longer and the z-direction is shorter as compared to fig. 3a, and if the inclination is not taken into consideration, a correct identification cannot be performed. This problem becomes even more complex if the prisms 36, 37 are also displaced relative to each other in the longitudinal direction of the rig. If, however, the inclination of the rig is taken into consideration, this difference can be compensated for so that a correct coordinate system can be determined for the calculation, and prisms arranged as in fig. 3b can result in a positive identification of the drilling rig 35. In the case the prisms 36, 37 are displaced relative to each other in the longitudinal direction of the rig, the inclination of the rig in both lateral and longitudinal direction is required in order to be able to perform a correct determination.

When the position of the instrument in relation to either the coordinate system of the mine or the coordinate system of the rig has been determined according to the above, the scanning is continued in order to find two prisms that allows the positioning to be completed. If the position of the instrument in relation to the rig has been determined, the instrument searches for tunnel mounted prisms so as to allow the position of the instrument in the coordinate system of the mine to be calculated. When the position of the instrument in the coordinate system of the tunnel/mine has been calculated, the relation between the instrument and the zero point of the rig in the coordinate system of the rig can be used to determine the position of the rig in the coordinate system of the tunnel/mine. Conversely, if the instrument searches for rig mounted prisms, and the position of the instrument in the tunnel has been determined, a corresponding calculation can be performed to determine the position of the rig and the coordinate system of the tunnel/mine when the rig has been identified. However, the position of the instrument must not be explicitly determined. It is enough that the direction and distance is determined to the two prisms of the rig and two of the prisms of the tunnel/mine. Using this information the calculation can be performed at one go using, if required, appropriate coordinate transformations so that the position of the rig in the coordinate system of the mine is obtained. The procedure of performing such calculations constitute mathematics that is known to a person skilled in the art and is therefore not described more in detail herein.

Consequently, a very accurate determination of the position of the drilling rig can be performed. Further, this determination of the position can be used in a suitable manner. For example, the determination of the position according to the above can be used to ensure that drilling is performed precisely at the intended position. The present invention also allows that, as soon as a machine is in position for drilling, the operator can set out, e.g., a tacheometer to perform the determination of the position according to the above to thereby quickly be able to commence drilling. Thereby, the mine surveyor is only required to set out the fixed prisms, which, as was mentioned above, can be visible for longer distances, and thereby allow drilling during a longer period of time without the need of a mine surveyor. It is to be understood, however, that the set out of new prisms can be performed using the present invention by setting up a new prism and measure this prism when a determination of the position has already been accomplished according to the above. In principle, the present invention, by storing measurement data, makes it possible for an operator of the rig to set out new prisms when required as the drilling progresses . In one embodiment of the invention, the prisms can be arranged in a similar manner on a plurality, or all machines in a tunnel/mine. That is, there is no distinction made between the machines. This has the advantage that only one machine reflector configuration needs to be taken into consideration at the identification of markers according to the above, which simplifies the calculations. Further, a machine is often standing alone, and in such cases there is no requirement of being able to distinguish the machine from other machines. However, such solutions can be inappropriate in cases where it is desirable to be able to distinguish between machines, for example, if more than one machine are standing within sight of each other and the positioning instrument, or if data is transmitted to a central location and a reliable machine ID is desired. Consequently, it can be advantageous if each machine, or kind of machine, (such as drilling rig, kind of drilling rig, bolt installation rig, loader) is provided with a unique identity, which can be accomplished in a simple manner by varying the lateral and longitudinal distances, respectively, and/or depth between the two prisms. For example, a resolution of whole decimetres in distance between prisms can be used between different machines. As an alternative, centimetre differences can be used or any other suitable difference, in dependence of which differences the instrument is capable of detecting. If each machine has a unique identity according to this method of coding identities, this ID, if the identity of the machine has been determined, can be used to extract the last known position of the machine so as to allow that this position can be used to select those prisms of the tunnel/drift that are closest to the known position, and start positioning by trying to determine a current position in the vicinity of these prisms. In order to facilitate the determination of the position, in particular in mining where the number of prisms can be very large, the prisms can, for example be coded such that it is apparent in which drift they are set out. This code can, for example, be arranged such that light is refracted in the prism in a certain manner.

In an alternative embodiment of the invention, the instrument must not be set out at all, but is fixed or detachably fixed to the machine. This embodiment is suitable if it can be ensured that at least two of the prisms of the tunnel/mine can be kept visible from the machine. Also, this embodiment does not require that the machine is provided with prisms according to the above, but it is enough that the instrument is located on a position that is known in relation to the zero point of the rig.

Thereby, the rotating laser beam must only be used to detect and determine the direction to the prisms arranged in the mine. The instrument can be arranged such that it has a known reference direction, e.g. the longitudinal direction of the machine, at all times. This can be built-in into the instrument if it is fixedly attached to the machine. If the instrument is detachable, in order to be able to be used according to the above when required, a prism, for example, can be arranged on the rig, e.g. along a longitudinal axis relative to the holder of the instrument, whereby the instrument can always obtain a known reference direction by detecting angle and distance to this prism irrespective of its rotational position when the instrument is attached to the rig.

Consequently, this embodiment has the advantage that it is not required that the instrument is set out, but can always be located on the intended location on the machine. This also allows that the position can be continuously determined, and if a "contact" with the surrounding reflectors is kept, the calculations are also simplified.

In the above description, the system for determining positions has been described as a reflector scanning laser system. It is, however, within the scope of the present invention to use any suitable system by means of which a good positioning of the drilling rig can be performed, radio transmitters, for example, can be used instead of prisms, whereby a preferably rotating directional antenna can be used to determine the angle/direction to these radio transmitters, and distances, e.g. by determining the time it takes for radio signals from the radio transmitters to reach the antenna. Another alternative is light transmitting markers, whereby the instrument only must include means for detecting the transmitted light and consequently must not be provided with e.g. a laser.

Claims

C L A I M S

1. Method for determining the position of a mining and/or constructing machine, wherein at least one marker, at a first position in a first coordination system, and a second marker, at a second position in the said first coordination system, said second position being different from the said first position, are arranged in the surroundings of the said machine, characterized in that the method comprises the steps of: - from a third position, being different from said first and said second position, and which is determined or determinable in relation to the said machine,

- determine a first direction to the said first marker,

- determine a second direction to the said second marker,

- identify the said markers using the said first direction and the said second direction,

- determine the inclination of the machine in a lateral and/or longitudinal direction, and

- determine a position of the said machine in the said first coordinate system using the said determined directions to the said identified markers and said determined inclination.

2. Method according to claim 1, characterized in that it also comprises the step of determining a first distance to the said first marker and a second distance to the said second marker, whereby the said markers are identified using the said directions and distances, whereby the position of the said machine is determined by means of the said determined directions and distances and the said determined inclination.

3. Method according to claim 1, characterized in that the said third position is a position that is known in relation to the machine.

4. Method according to claim 3, characterized in that the said third position is arranged on the machine.

5. Method according to claim 2, characterized in that it further comprises the step of determining the position of the said third position in the said first coordinate system using the said determined directions and distances.

6. Method according to claim 1, characterized in that the method further comprises the steps of: - at the said third position,

- determine a third direction to a third marker,

- determine a fourth direction to a fourth marker, - identify the said markers using the said third direction and the said fourth direction and the said inclination, whereby the said third marker and the said fourth marker are arranged on the said machine, whereby the position of the said machine is determined using the said determined directions to the said first, second, third and fourth marker, and the said determined inclination.

7. Method according to claim 6, characterized in that it further includes the step of determining a third distance to the said third marker and a fourth distance to the said fourth marker, whereby the said markers are identified using the said respective directions and distances.

8. Method according to any of the preceding claims, characterized in that the lateral inclination of the machine is determined using a first inclination sensor, and that the longitudinal inclination of the machine is determined using a second inclination sensor.

9. Device for determining the position of a mining and/or construction machine, wherein at least one marker, at a first position in a first coordination system, and a second marker, at a second position in the said first coordination system, said second position being different from the said first position, are arranged in the surroundings of the said machine, characterized in that the device comprises means for:

- from a third position, being different from said first and said second position, and which is determined or determinable in relation to the said machine,

- determining a first direction to the said first marker, - determining a second direction to the said second marker,

- identifying the said markers using the said first direction and the said second direction,

- determining the inclination of the machine in a lateral and/or longitudinal direction, and

- determining a position of the said machine in the said first coordinate system using the said determined directions to the said identified markers and said determined inclination.

10. Device according to claim 9, characterized in that it also comprises means for determining a first distance to the said first marker and a second distance to the said second marker, whereby the said markers are arranged to be identified using the said directions and distances, whereby the position of the said machine is determined by means of the said determined directions and distances and the said determined inclination.

11. Device according to claim 9, characterized in that the said third position is a position that is known in relation to the machine.

12. Device according to claim 11, characterized in that the said third position is arranged on the machine.

13. Device according to claim 9, characterized in that it further comprises means for determining the position of the said third position in the said first coordinate system using the said determined directions.

14. Device according to claim 9, characterized in that the device further comprises means for: - at the said third position,

- determining a third direction to a third marker,

- determining a fourth direction to a fourth marker, - identifying the said markers using the said third direction and the said fourth direction and the said inclination, whereby the said third marker and the said fourth marker are arranged on the said machine, whereby the position of the said machine is determined using the said determined directions to the said first, second, third and fourth marker, and the said determined inclination.

15 . Device according to claim 14 , c h a r a c t e r i z e d i n that it further includes means for determining a third distance to the said third marker and a fourth distance to the said fourth marker, whereby the said markers are identified using the said respective directions and distances.

16. Device according to any of the claims 9-15, characterized in that the lateral inclination of the machine is determined using a first inclination sensor, and that the longitudinal inclination of the machine is determined using a second inclination sensor.

17. Device according to any of the claims 9-16, characterized in that the said determinations of directions are arranged to be performed by determining a first angle relative to a first reference axis, and a second angle relative to a second reference axis, for each direction.

18. Drilling rig, characterized in that it comprises a device according to any of the claims 9-17.