[0001] The present invention relates to a drill rig positioning and drill rod alignment system BACKGROUND ART

[0002] In mining, whether underground or surface mining (e.g. diamond mining, goldmining etc), as the mine is being formed there are predominantly three types of drill rigs that drill a variety of drill holes ranging in diameter and length and each hole is of most value when placed in the exact predetermined position documented on the mine plans as the mine develops. Once the mine has been formed, exploratory drill holes are typically then formed to try to locate ore bodies as well as ore body definition and also formation of the mine tunnel. These drill holes can have a length of up to 1 km but are usually much shorter.

[0003] Initially, geologists will determine the likely location of an ore body or seam.

The mine geologist will design the mine and the location of the exploratory holes and the surveyors will place survey markers in appropriate locations marking known positions within the mine and relative to which distances to other, unknown locations can be determined.

[0004] The direction or a desired hole typically includes three components "Elevation" (Known as RL) Inclination (Known as dip or gradient) and heading (Known as Azimuth). The elevation is the angle to the horizontal at which the drill rod is oriented and the azimuth is the degree or direction about a vertical axis that the drill rod is oriented.

[0005] Ensuring the correct "elevation" is usually completed by the surveyors and the position is indicated for the setup of the drill and the exact start point for the drill pattern or collar position. Ensuring the correct centre of the drill face or collar position and heading "azimuth" has been more of a problem to date. Even a small error in the centre of collar position can cause rejection of the bore hole or costs associated with correcting the direction of the hole or tunnel.. However, both direction and gradient are critical in the tunnelling application and incorrect alignment and positioning could result in significant cost overruns.

[0006] Once the survey markers have been located and measured, the device can calculate and indicate the drill rig position relative to the survey markers to indicate the centre of the drill face or collar position and drill the required hole. The drill rig is usually a very large self- propelled apparatus. A typical apparatus comprises a wheeled or tractor vehicle which has a forwardly extending boom arm and attached to the boom arm is a drill rig. The drill rig is attached to the boom arm such that it can adopt any required angle.

[0007] Once the drill rig is roughly in position, the drill needs to be very accurately adjusted relative to the survey markers. Once the adjustment is complete, the drill rig is secured in position and this is usually done by bolting the drill rig to the mine floor using a known type of feed frame positioner. For larger rigs, the weight of the rig can be sufficient to maintain the position.

[0008] The drill rig is then turned on to drill the required hole.

[0009] In practice, it is difficult to obtain the level of accuracy that is demanded by the geologists using known techniques. Once a pilot hole is collared, and it reaches its first survey mark (normally at approximately 5 to 15 meters) a survey tool is then inserted into the drilled hole. This survey tool normally provides a reading of both the elevation and the azimuth of the pilot hole. The driller then checks this against the hole plans and if not exactly correct, the hole will need to be redone. The cost of drilling each hole can be many thousands of dollars and it is not unknown for the cost to be up to about $100,000 per hole. A drilling contractor is not paid for a "rejected" hole or misaligned tunnel direction.

[0010] Also in a mining application, a surveyor marks up the tunnel heading, and tunnel face. This is time consuming for the surveyors as some mines have 2 to 6 jumbo drilling rigs that can average two to three cuts per day. With reference to tunnel heading, the surveyors mark up the face and the drill rigs can have one or multiple booms and 40 to 60 holes need to be marked up and drilled per face. These holes are then charged with explosives, detonated, the resultant rock and debris bogged out, cleaned and the cycle starts again to keep the advancement of the mine going.

[0011] In the present specification, the term "drill rig" is not intended to be limiting and includes any type of drill or surface rig adapted to drill a hole in any type of mine including a surface or underground mine.

[0012] It will be clearly understood that, if a prior art publication is referred to herein, this reference does not constitute an admission that the publication forms part of the common general knowledge in the art in Australia or in any other country. SUMMARY OF INVENTION

[0013] The present invention is directed to a drill rig positioning and drill rod alignment system, which may at least partially overcome at least one of the abovementioned disadvantages or provide the consumer with a useful or commercial choice.

[0014] With the foregoing in view, the present invention in one form, resides broadly in a drill rig positioning and drill rod alignment system including at least one emitting device and at least one emission detection device to locate the drill rig relative to one or more survey markers by providing a precise location of the drill rig relative to the one or more survey markers and at least one inertial instrument operating in conjunction with the at least one emitting device and at least one emission detection device to locate and align a drill rod mounted relative to the drill rig based on the location of the drill rig relative to the one or more survey markers and the location and alignment of the drill rod relative to the drill rig.

[0015] In a more preferred form, the invention resides in a drill rig positioning and drill rod alignment system including at least one laser emitting device and at least one laser emission detection device to locate the drill rig relative to one or more survey markers by providing a precise location of the drill rig relative to the one or more survey markers and at least one inertial instrument operating in conjunction with the at least one laser emitting device and at least one laser emission detection device to locate and align a drill rod mounted relative to the drill rig based on the location of the drill rig relative to the one or more survey markers and the location and alignment of the drill rod relative to the drill rig.

[0016] In an alternative form, the invention resides in a method of drill rig positioning and drill rod alignment including the steps of: a) establishing a precise location of the drill rig relative to the one or more survey markers using at least one emitting device and at least one emission detection device to locate the drill rig relative to one or more survey points or markers,

b) using the established location of the drill rig as a known navigation point for at least one inertial navigation system having at least one inertial instrument operating in conjunction with the at least one emitting device and at least one emission detection device, c) navigating the drill rig to at least one target location and

d) orienting a drill rod mounted relative to the drill rig at the at least one target location using the at least one emission device or the at least one inertial instrument.

[0017] In another broad form, resides broadly in a drill rig positioning and drill rod alignment system including an input device to provide or obtain a precise location of the drill rig and at least one inertial instrument operating in conjunction with the input device to provide navigation information to navigate the drill rig to one or more target locations and locate and align a drill rod mounted relative to the drill rig based on the location of the drill rig relative to the one or more survey markers and the location and alignment of the drill rod relative to the drill rig.

[0018] The present system allows the precise location of the drill rig to be established using the mine design software, as well as providing the ability to establish the front site collar position, tunnel centre point or line, or any other specified point within the site location and to position the drill rig and drill rod accordingly. The system can be used for collar position or tunnel centre location or projected markings or drill rod alignment. Any particular portion of the drill rig and/or drill rod can be used to align a drill rod with a target location, and orientation and the invention is not limited to using the drill rod as an alignment tool.

[0019] The method of the present invention will preferably utilise at least one laser emitting device and at least one laser emission detection device. Other types of emitters and emission detection devices can be used such as infrared devices or any type of signalling or sound device, laser scanner or more advanced dimensional systems such as LIDAR.

[0020] The present invention is directed to a drill rig positioning and drill rod alignment system. The system of the present invention is directed towards determination of the position of the drill rig relative to one or more known locations. The known locations used are normally one or more survey points or markers which are located within the mine by surveyors and the method of determination is preferably using one or more lasers to determine distance to/from one or more of the survey points or markers.

[0021] Once the position of the drill rig has been determined accurately, the system will then allow the positioning and alignment of a drill rod using an inertial instrument. This will typically be achieved by using an inertial navigation system (preferably including the at least one inertial instrument) to guide the drill rig from the known location point to one or more target locations and then use the at least one inertial instrument to position and align the drill rod. The system may position more than one drill rod attached relative to any drill rig. Further, the system may position a component other than the drill rod itself such as a drill rod feed rail or boom or the like.

[0022] An emitting device can be directed at the booms or feed rails that have sensors on them and can use this to determine the position of feed rail or drill rod. This allows for accuracy of the drill face or collar position to be controlled as some times the face heading tunnel is not square and hole depths and accuracy of the face can be controlled using this type of mechanism.

[0023] The at least one emitting device and at least one emission detection device, the at least one inertial instrument and the optional inertial navigation system may be provided in the same unit or separately. Regardless whether they are provided in the same unit or separately, the components of the system will work together as the optional inertial navigation system uses the established location of the drill rig once determined using the at least one emitting device and at least one emission detection device. The initial position of the drill rig once established using the at least one emitting device and at least one emission detection device is referred to in this document as the "survey pickup point" and once this has been established, the inertial navigation system will preferably guide the positioning and alignment of the drill rig to a target location and the at least one inertial instrument can then be used to guide the drill rod to a predetermined position and alignment (at least the azimuth and dip or gradient). One or more lasers may additionally be used to position and align the drill rod, for example to give a visual indication to an operator as to the alignment of the drill rod and the intended or target drill position.

[0024] Therefore, in the preferred embodiment, at least one laser emission from at least one laser is typically used to plot the position of the drill rig relative to known survey points or markers. The preferred inertial navigation system can then use the plotted position of the rig and can produce and display a graphic to an operator to display the location or survey pickup point and a target location to allow the operator to steer the drill rig to the target location using the inertial navigation system providing feedback for guidance.

[0025] In an alternative embodiment, the inertial navigation system may work in conjunction with the mine software. Utilising data from the mine software, the INS may be capable of determining the position of the drill rig over time and track on a virtual line to one or more target locations and once in place, the system may direct an emission or a invisible line to the centre of the face or to the desired location. The data collected from the emission and return may then allow the system to produce an interface that shows the location of the desired location using software to generate an image on a computer display.

[0026] The INS system and mine software which works on a virtual system in conjunction with system software can then be utilised to automatically move the drill rig to the desired location with or without operator present. This can all be done remotely from a remote location even the surface, so there is no need for an operator to be present in the drill rig. There may be one or more cameras on the drill rig which are either directed in different directions or movable so that the emitting device can be directed to pick up known survey points or a virtual location present in the mine design as implemented by the software and to monitor the drill rig in transit and whilst drilling. The emitting device preferably has its own camera so survey points can be located on the screen or virtually with the software to help the operator for manual operation or fully automated systems.

[0027] Inertial navigation is a self-contained navigation technique in which measurements provided by accelerometers and gyroscopes are used to track the position and orientation of a drill rig relative to a known starting point, orientation and velocity. Inertial measurement units (IMUs) typically contain three orthogonal rate-gyroscopes and three orthogonal accelerometers, measuring angular velocity and linear acceleration respectively. By processing signals from these devices, it is possible to track the position and orientation of the drill rig, once the starting point is known.

[0028] An inertial navigation system (INS) includes at least a computer and a platform or module containing accelerometers, gyroscopes, or other motion-sensing devices. The INS is initially provided with its position and velocity from another source (a human operator, a GPS satellite receiver, or the like), and thereafter computes its own updated position and velocity by integrating information received from the motion sensors. The advantage of an INS is that it requires no external references in order to determine its position, orientation, or velocity once it has been initialized. However, the difficulty with using such a system, particularly underground, is the determination of the known starting location (starting orientation and velocity are relatively straightforward).

[0029] All inertial navigation systems also suffer from integration drift: small errors in the measurement of acceleration and angular velocity are integrated into progressively larger errors in velocity, which are compounded into still greater errors in position. Since the new position is calculated from the previous calculated position and the measured acceleration and angular velocity, these errors accumulate roughly proportionally to the time since the initial position was determined.

[0030] In one preferred form, the system of the present invention includes at least one laser emitting device and at least one laser emission detection device to locate the drill rig relative to one or more survey markers by providing a precise location of the drill rig relative to the one or more survey markers. Each least one laser emitting device may be a rotating or static laser capable of projecting a laser beam. [0031] This portion of the system can be used to provide a precise location of the drill rig relative to the one or more survey markers more than once in any positioning and alignment cycle to minimise error and increase precision. Preferably however, the INS system as it is working in conjunction with the mine virtual software can maintain the drill rig on a virtual line without the need for additional identification of survey markers other than the starting location. The movement of the drill rig to and between target locations can be aided by the provision of motion sensors and an appropriate warning system on the drill rig. The device can be manually operated, semi-manually operated or the whole process can be fully automated with or without operator.

[0032] There may be more than one laser emitting device. The one or more laser emitting devices of the present invention will preferably use the survey markers installed in the mine, as reflectors in order to reflect a laser emission such that the laser emission (or reflection) can be detected by the at least one laser emission detection device. This will allow the precise calculation of distance to the or each survey marker and thereby, precise determination of the location of the drill rig relative to the one or more survey markers.

[0033] Particular devices may be installed as or as a part of the survey marker in order to provide increased accuracy. It is particularly preferred that reflective devices or devices that return an emission more clearly to the at least one emission detection device be used as or in conjunction with a survey marker. Devices such as reflectors or prisms may be used.

[0034] The at least one laser emitting device may be manually movable such as by an operator or the like, to be directed at a survey marker to establish a distance to the marker. The at least one laser emitting device will preferably be identifiable within the system in order that a software application can identify which measurement is from which emitting device. There will normally be a calibration step at installation or initialisation to ensure that the software application is receiving data from the emitting devices and/or emission detection devices and can distinguish between the data from the different emitting devices and/or emission detection devices. The software application may be provided with the location of each of the emitting devices and/or emission detection devices associated with the drill rig in order to distinguish between the data from them.

[0035] In some embodiments, the at least one laser emitting device may be a part of an auto- locate function. A laser emitting device normally emits a coherent beam which allows a laser to be focused to a tight spot. Therefore, the alternative to an operator manually orienting the at least one laser emitting device to obtain a return from a survey marker is to provide one or more laser emitting devices that are mounted to move, and preferably, mounted to be moved in a controlled or determined manner in order to locate one or more survey markers. This information together with rudimentary location information can be used to provide an accurate position for the drill rig.

[0036] The emitting device (regardless of the type) can be mounted on the drill rig and can follow any sequence in a pan and tilt design to allow the emitting device to manually, semi- automatically or automatically move to identify the survey points and a camera can be used to assist with location of the survey point with ease from the cab or remotely with an appropriate display device. The display device can communicate with and preferably control the camera and emitting device through any system such as Wi-Fi, leaky feeder or other mine infrastructure or be hard wired to the drill rig cab and monitored from there. Normally, where the system is provided with a camera, the camera will be a "point and shoot" camera, directed in the same direction as the emitting device such that directing the camera will also direct the emitting device.

[0037] In a particularly preferred embodiment, a software application will preferably be provided to determine the location of the drill rig based on the information from the at least one emission device and at least one emission detector. Generally speaking, obtaining a distance from one or more survey markers will not provide sufficient data to allow the location of the drill rig to be determined accurately, as the only information gained from the distance to the survey markers is the distance. Without at least some information about the initial location of the drill rig prior to the location cycle, operator input and/or survey marker identification, the

determination of the drill rig location with precision will be diminished or at least, less precise.

[0038] Preferably, at initiation by the drill rig operator of a location cycle, the one or more laser emitting devices will preferably be automatically controlled, preferably by a software algorithm in order to undergo powered movement in order to firstly locate the survey markers and then to measure the distance to/from the located survey markers. If a number of survey markers are located and distance to/from those survey markers is measured, then the auto locate function may be able to determine the drill rig location with precision, particularly if there are at least two survey markers identified and distance to/from at least two survey markers is measured. It is particularly preferred that the distance to/from at least three survey markers is provided as this will allow the use of simple triangulation to determine the location of the drill rig precisely. The location of the survey markers is normally known with precision and therefore, the position of the drill rig relative thereto can also be established with precision. [0039] The system of the present invention includes at least one emitter device preferably at least one laser emitter device and at least one emission detection device, preferably at least one laser emission detection device.

[0040] The emission detection device is preferably provided in order to detect a return signal from the survey marker and/or other equipment or device in the area in order to measure the distance to/from the survey marker. The emission detection device may be integrated with the emitter device and normally, the emission detection device corresponds to the emitter device. The emission detection device may be provided in the same unit as the emitter device, preferably in the same housing. The emission detection device and the emitting device may be provided separately in some circumstances.

[0041] Preferably, the emission detection device is capable of discerning or detecting differences in the quality of the return in order to distinguish the survey markers (and/or other equipment) from the surrounding environment as this may assist with the location of the survey markers and/or other equipment. For example, a prism or similar device may be provided in association with each of the survey markers as the return signal from such a prism or similar device will typically have a higher quality return versus a return from earth or rock.

[0042] In the preferred embodiment where a laser emission is used to measure the distance, the at least one laser emitting device will preferably be placed on the drill rig but may be placed anywhere on the drill rig. In addition, the at least one laser emission detection device will also preferably be located on the drill rig but may be placed anywhere on the drill rig.

[0043] At least one laser emitting device may be provided to indicate the direction and/or orientation of the drill rod. The at least one laser emitting device used for this purpose may be a laser emitting device used for measurement in the system as well. If used within the system for indicating the direction and/orientation of the drill rod, the at least one laser emitting device will preferably be a visible laser so that the operator of the drill rig and/or other operators can see the orientation of the drill rod. The orientation of the at least one laser emitting device to indicate the direction and/or orientation of the drill rod will preferably be software controlled once the location cycle (to establish the survey pickup point) has been completed.

[0044] As mentioned above briefly, other types of emitter may be used instead of laser emitting systems in order to identify and/or measure the distance to/from one or more survey markers and the drill rig. For example, echolocation using a sound emission could be used. In this embodiment, the at least one emitter device will emit sound (may not be audible sound) and at least one emission detector is preferably provided to detect a return in order to identify and/or measure the distance to/from one or more survey markers and the drill rig. Preferably, the sound will not be in the oral range of human hearing. Again, the survey markers may be provided with a device having increased sound reflecting or return qualities in order that the emission detecting device can distinguish between the device provided in relation to a survey marker and the background or environmental return. In this embodiment, the emitting device may be provided at the survey marker and the emission detector device may be provided on the drill rig, or vice versa or again, the emitting device and emission detector device may be provided on the drill rig. In a further preferred embodiment, one or more repeaters may be provided at or in association with one or more of the survey markers.

[0045] The movement of the drill rig to and between target locations may be assisted by motion sensors. The INS systems may also self-locate as the drilling rig passed known survey locations or waypoints or a known virtual location survey point identified in the system software and/or mine design software. Using sensors, the drill rig may be able to automatically detect its location and track on a virtual line from mine software without the need to identify survey pickup points once the initial location has been determined.

[0046] The system or the present invention will preferably include a first subsystem used to locate the drill rig or to correct the location of the drill rig for inertial navigation system purposes. The inertial navigation system will typically be a second subsystem used to navigate the drill rig to one or more target locations, once the position of the drill rig has been located with precision using the first subsystem in order to provide a starting point for the inertial navigation system.

[0047] Preferably, the starting point for the inertial navigation system is a survey pickup point which is the location of the drill rig established using the first subsystem which is then subsequently provided to the inertial navigation system.

[0048] The system of the present invention will preferably include at least one display device in order to provide a real time, visual display of the location of the drill rig and one or more target locations. The system of the present invention through the inertial navigation system may provide an operator with one or more guides to the one or more target locations. The system of the present invention through the inertial navigation system may provide an optimal line of travel from the drill rig location to one or more target locations including one or more navigation points or waypoints. [0049] The system of the present invention will preferably provide a navigation interface to an operator which will normally be generated and displayed on a real-time visual display of the at least one display device. Normally, the at least one display device is located in the cabin or operating space of the drill rig is the operator will normally be on board the drill rig although, the drill rig may be a fully automated drill rig, not requiring the presence of the human operator and/or may be controlled remotely in which case, the at least one display device will normally be located remotely as well.

[0050] The navigation interface will normally include target location information which is provided to a software application responsible for producing the navigation interface such that once the location of the drill rig is established at a survey pickup point, the software application will preferably calculate the respective locations of one or more targets and plot these locations on the navigation interface which will normally be a map interface showing the design of the mine and the target locations relative to the layout of the mine. This will allow an operator to guide the drill rig to the one or more target locations.

[0051] The system of the present invention also includes at least one inertial instrument operating in conjunction with the at least one laser emitting device and at least one laser emission detection device. As mentioned above, the system of the present invention will also typically include an inertial navigation system. Typically, the at least one inertial instrument provided is provided as a part of the inertial navigation system in order that the at least one inertial instrument can be used for the dual purpose of navigation of the drill rig to the target location and also positioning and aligning the drill rod.

[0052] The at least one inertial instrument is therefore typically used to navigate the rig to the target location as a part of the inertial navigation system. Once the survey pickup point has been established, the inertial navigation system including at least one inertial instrument can then be used to navigate or to provide navigation data in order to allow an operator to navigate the drill rig to one or more of the target locations. The software application discussed above typically provides the navigation data and also preferably records details of the location of the drill rig at all times.

[0053] Preferably, the software application will generate and display a visual interface with a map of the surrounds of the drill rig. As mentioned above, this visual interface may include one or more waypoints, one or more target locations and may provide an optimal line of travel to or between target locations. The visual interface will normally be updated in real time based on the inertial navigation system information. The use of the first subsystem in order to precisely locate the drill rig may be used at any time and not simply prior to starting travel. For example, the first subsystem may be used at any time to provide a precise location of the drill rig in order to "zero" the inertial navigation system and provide a survey pickup point to the inertial navigation system. The more often the location of the drill rig is precisely located using the first subsystem, the more precisely the in relation to the target locations, particularly in light of the errors inherent in inertial navigation systems as explained above. According to a preferred embodiment, the first subsystem of the system of the present invention will normally be used more than once between target locations in order to ensure precise location.

[0054] According to an alternative embodiment of the invention, the survey pickup point may be entered into the input device such as by entering the location of the survey points in longitude, latitude, or mine software co-ordinates or automatically obtained by virtual survey points.

[0055] The INS may consistently track the location of the drill rig on virtual software minimising errors. Error minimisation may be enhanced using secondary motion sensors on the drill rig, on but not limited to one or more axles of the drill rig so the system has a backup system that is tracking the movement in any orientation in real time. Algorithms used in the INS systems are specifically designed to reduce errors and with the addition of the back-up motion sensors and clickers, counters, distance measurement instrument (DMI) or motion transducers on the drill rig, the software in the system fo the present invention can precisely monitor any movement in any direction including forward, back, left, right, roll, pitch, heading, motion, heave, latitude ,and/or longitude, for example.

[0056] According to the present invention, the at least one inertial instrument is used to position and align the drill rod and may additionally be used to navigate to and between target locations. The at least one inertial instrument preferably uses the information relating to survey pickup point and the information relating to the movement of the drill rig between the survey pickup point and the target location as well as information relating to the drill rod position relative to the drill rig in order to correctly position and orient the drill rod. The system of the present invention will typically provides sufficient information as to the location of the drill rig relative to the target location that the at least one inertial instrument can precisely locate and orient the drill rod relative to the drill rig and relative to the survey markers to ensure that the hole is drilled in the correct location, at the required azimuth and/or dip angle.

[0057] Preferably a software application is provided to link the components of the system of the present invention and to allow the components to work in concert, as well as to control the operation of the system. The software application will preferably use data or information from the at least one emitter device preferably at least one laser emitter device and at least one emission detection device, preferably at least one laser emission detection device to establish a precise location of the drill rig relative to the one or more survey markers using at least one emitting device and at least one emission detection device to locate the drill rig relative to one or more survey markers, use the established location of the drill rig as a known navigation point for the inertial navigation system having at least one inertial instrument, generate and display a navigation or operation interface, preferably to the drill rig operator to allow navigation of the drill rig to at least one target location for a desired hole and control the orientation of the drill rod mounted relative to the drill rig according to desired hole parameters using the at least one emission device or the at least one inertial instrument.

[0058] The method of drill rig positioning and drill rod alignment and particularly orienting a drill rod mounted relative to the drill rig at the at least one target location using the at least one emission device or the at least one inertial instrument may be implemented, at least partially, by or with the assistance of a computer software application operating in association with an operator console of a drill rig. This may be on the drill rig itself or a remote console may be provided allowing an operator to position the drill rig and drill rod.

[0059] In particular, a computer software application may be used to assist with the steps required to the position a drill rig or drill rod and locate the centre point of a drive. The program will normally require data to be available to it in order for the inertial instrument to properly locate itself. In a preferred embodiment, at least one and possibly a number of datasets are preferably provided for each drive. For any area that in which an operator wishes to utilise the system, the operator will preferably ensure that a set of data for the area is available before using the instrument.

[0060] The preferred set of data will preferably include information regarding at least the centreline (the line that will be used to determine the intersection between the drive face and locate the laser pointer in the centre of the drive), the drive (preferably a polygon which shows the outline of the proposed drive), and at least two survey points used to locate the instrument spatially.

[0061] The system of drill rig positioning and drill rod alignment will normally be implemented through instructions provided to a computing device in association with an input device to provide or obtain a precise location of the drill rig and at least one inertial instrument operating in conjunction with the input device to provide navigation information to navigate the drill rig to one or more target locations and locate and align a drill rod mounted relative to the drill rig based on the location of the drill rig relative to the one or more survey markers and the location and alignment of the drill rod relative to the drill rig. At least one laser pointer is preferably provided and also associated with the computing device.

[0062] The instructions when followed, preferably generate one or more interfaces on a display associated with the computing device associated with the input device, at least one inertial instrument, at least camera on the drill rig and the at least one laser device to allow the operator to interact and/or instruct movement of the drill rig and/or drill rod. The instructions will normally be followed in order to generate an interface in real time and update the interface according to the operator's interaction with the system and the location and/or orientation of the drill rig and/or drill rod.

[0063] Many computing devices have touchscreens for display allowing the operator to directly interact with the touch screen in order to interact with the interface. However, a normal non-touchscreen display can be used with a movable pointer or selection tool in order to allow an operator to interact with the interface. One or more "buttons" are provided on the interface to allow the operator to interact with the personal computing device and through the computing device, to interact with the system.

[0064] The generated interface will typically be updated substantially in real time according to the rules or instructions which are issued by the software application and according to interactions by the operator(s) with the system

[0065] Once the set of data is available, the software application will preferably step through the process of locating the machine spatially and pointing at the CenterPoint of the drive. The operator will preferably load the dataset into the INS . Once this has been provided, the operator will preferably be provided with a view through one of the cameras in association with drill rig. An operator is provided with a number of navigation buttons in association with the interface allowing the operator to move the drill rig. The operator may be provided with one or more zoom (in and out) buttons and on or more buttons to actuate the preferred laser (on and off).

[0066] The operator can then locate a first survey point. This may be accomplished using the touchscreen and/or the operator may be able to "steer" a crosshair locator provided on the interface to the first survey point. Once the first survey point has been located, the user will normally measure the distance to/from the first survey point.

[0067] The software will then preferably allow the operator to link the measurement to a particular survey point identified in the dataset. Preferably this is done graphically by presenting an interface to the operator and allowing the operator to identify the particular survey point located and associate the distance measured to/from that survey point with the particular survey point within the system.

[0068] This process is then repeated for any other survey points provided in the initial dataset. This will then allow the computer software to position the drill rig with in a real-world court system provided by the survey points and the respective measured distances between the drill rig and the survey points. Preferably, once this has been achieved, the computer software will then provide an indication of the position of the drill rig relative to the survey points on the graphical interface as well as calculate an accurate position of the drill rig in a preferred 3 axis system.

[0069] Once this has been achieved, the operator can then determine where the face of the drive is located and map the drive face. This is normally achieved through scanning the face in one or more directions. In a preferred embodiment, the face is scanned in a clockwise direction. An operator will preferably be able to control the rotation step of the scan as well is the length of the scan. In a default configuration, the rotation step of the scan is every 15° for a rotation of 180°. Normally, the operator will use the navigation buttons to point to the drill rig and a location to the left of the face and then begin the automatic scan.

[0070] This will typically scan the face and collect data to create a three-dimensional representation of the scanned face in order to allow the operator to locate the centrepoint of the drive.

[0071] Preferably, the three-dimensional representation of the scanned face will also include a generated and displayed locator showing the intersection of the face line (obtained from the scan) and the centreline (obtained from the initial dataset provided). A CENTER POINT button is preferably provided on the interface and upon selection by the operator, the computer software will preferably and preferably orient the drill rod at the centre point (the locator).

[0072] The operator can also click a TARGET POINT button allowing an operator to enter manual co-ordinates to target.

[0073] Advantageously, using the present invention, the position of the drill rig can be periodically corrected by input from the first subsystem which determines the location of the drill rig precisely using the at least one emitting device and at least one emission detection device which minimises the chance of errors and prevents an error being magnified due to use of the INS.

[0074] Any of the features described herein can be combined in any combination with any one or more of the other features described herein within the scope of the invention.

[0075] The reference to any prior art in this specification is not, and should not be taken as an acknowledgement or any form of suggestion that the prior art forms part of the common general knowledge.

BRIEF DESCRIPTION OF DRAWINGS

[0076] 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 the Invention in any way. The Detailed Description will make reference to a number of drawings as follows:

[0077] Figure 1 is a schematic side elevation view of a drill rig operating in accordance with the system of a first preferred embodiment of the present invention in the location portion of the cycle.

[0078] Figure 2 is a schematic side elevation view of a drill rig operating in accordance with the system of a preferred embodiment of the present invention in the navigate portion of the cycle.

[0079] Figure 3 is a schematic side elevation view of a drill rig operating in accordance with the system of a further preferred embodiment of the present invention.

[0080] Figure 4 is a schematic side elevation view of a drill rig operating in accordance with the system of yet a further preferred embodiment of the present invention.

[0081] Figure 5 is a schematic side elevation view of a drill rig operating in accordance with the system of still a further preferred embodiment of the present invention.

[0082] Figure 6 is a schematic illustration of a survey point interface generated and displayed on a computing device associated with an operator console of a drill rig according to a preferred embodiment of the present invention.

[0083] Figure 7 is a schematic illustration of a survey point identification interface generated and displayed on a computing device associated with an operator console of a drill rig according to a preferred embodiment of the present invention.

[0084] Figure 8 is a schematic illustration of a drill rig location identification interface generated and displayed on a computing device associated with an operator console of a drill rig according to a preferred embodiment of the present invention.

[0085] Figure 9 is a schematic illustration of a map drive face interface generated and displayed on a computing device associated with an operator console of a drill rig according to a preferred embodiment of the present invention.

[0086] Figure 10 is a schematic illustration of a face centre point location identification interface generated and displayed on a computing device associated with an operator console of a drill rig according to a preferred embodiment of the present invention.

DESCRIPTION OF EMBODIMENTS

[0087] According to a particularly preferred embodiment of the present invention, a drill rig positioning and drill rod alignment system is provided.

[0088] The system of the preferred embodiment illustrated in each of the Figures includes a laser emitting device and laser emission detection device provided in a single unit 10 to locate the drill rig 11 relative to survey markers 12 by providing a precise location of the drill rig 11 relative to the survey markers 12 and an inertial instrument 13 operating in conjunction with the laser emitting device and laser emission detection device to locate and align a drill rod 14 mounted relative to the drill rig 11 based on the location of the drill rig 11 relative to the survey markers 12 and the location and alignment of the drill rod 14 relative to the drill rig 11.

[0089] The present invention is directed to a drill rig positioning and drill rod alignment system based on determination of the position of the drill rig 11 relative to one or more known locations and using that as a starting point for navigation of the drill rig 11 and positioning of the drill rod 14. The known locations used are normally survey points or markers which are located within the mine by surveyors. Once the position of the drill rig 11 has been determined accurately, the system will then allow the positioning and alignment of a drill rod 14 using an inertial navigation system to navigate the drill rig to a target location and an inertial instrument to position and align the drill rod at the target location. Once the drill rig is in position, the drill booms or feed rail or drill steels/rod can then be orientated to the required position which can be different to the actual drill rig position as they work independently from the drill rig and from each other if there is more than one boom or a single boom can operate separate from drill rig. [0090] As illustrated, the laser emitting device and laser emission detection device are provided in a first part of a two part unit which also houses the at least one inertial instrument used in the inertial navigation system. A pair of these two part units are provided on the drill rig 11 illustrated in Figure 1, one forward of the cabin of the drill rig and one aft of the cabin. The drill rig illustrated in Figure 2 is the same as that of Figure 1 except only one, two part unit is provided forward of the cabin of the drill rig.

[0091] Regardless of whether they are provided in the same unit or separately, the components of the system of the preferred embodiment work together as the inertial navigation system uses the established location of the drill rig 11 once determined using the laser emitting device and laser emission detection device (hereinafter referred to as simply "the laser device"). The initial position of the drill rig 11 once established using the laser device is referred to in this document as the "survey pickup point" and once the survey pickup point has been established, the inertial navigation system will be able to guide the navigation of the drill rig 11 to a target location and the inertial instrument can then be used to guide the drill rod 14 to a predetermined position and alignment (at least the azimuth and dip or gradient). As illustrated in Figure 2, one or more lasers may additionally be used to position and align the drill rod 14, for example to give a visual indication to an operator as to the alignment of the drill rod 14 and the intended or target drilling position.

[0092] Therefore, in the preferred embodiment, a laser emission from the laser device is used to plot the position of the drill rig 11 relative to known survey markers 12. The inertial navigation system of the preferred embodiment can then use the plotted position of the drill rig 11 and can produce and display a graphic interface to an operator to display the survey pickup point 12 and a target location to allow the operator to steer the drill rig 11 to the target location using the inertial navigation system providing feedback for guidance.

[0093] Each laser device can include a rotating or static laser capable of projecting a laser beam. This portion of the system can be used to provide a precise location of the drill rig 11 relative to the survey markers 12 more than once in any positioning and alignment cycle to minimise error and increase precision. One preferred laser device is a Leica 3D Disto device.

[0094] There may be more than one laser device. The laser device will preferably use the survey markers 12 installed in the mine as reflectors in order to reflect a laser emission such that the laser emission (or reflection) can be detected by the laser emission detection device. This will allow the precise calculation of distance to the or each survey marker and thereby, precise determination of the location of the drill rig 11 relative to the survey markers. [0095] The laser device or the preferred embodiment may be manually movable such as by an operator or the like, to be directed at a survey marker to establish a distance to the survey marker. The laser device will preferably be identifiable within the system in order that a software application can identify which measurement is from which laser device. There will normally be a calibration step at installation or initialisation to ensure that the software application is receiving data from the laser devices and can distinguish between the data from the different laser devices. The software application may be provided with the location of each of the laser devices associated with the drill rig in order to distinguish between the data from them.

[0096] In an alternative embodiment, the laser device may be a part of an auto-locate function. A laser device normally emits a coherent beam which allows a laser to be focused to a tight spot. Therefore, the alternative to an operator manually orienting the laser device to obtain a return from a survey marker is to provide one or more laser devices that are mounted to be moved in a controlled or determined manner in order to locate one or more survey markers and to measure distance to/from the survey marker. This information together with rudimentary location information can be used to provide an accurate position for the drill rig.

[0097] In a particularly preferred embodiment, a software application is provided to determine the location of the drill rig based on the information from the laser device(s).

Generally speaking, obtaining a distance from one or more survey markers will not provide sufficient data to allow the location of the drill rig to be determined accurately, as the only information gained from the distance to the survey markers, is the distance. Without at least some information about the initial location of the drill rig prior to the location cycle, operator input and/or survey marker identification, the determination of the drill rig location with precision will be diminished or at least, less precise.

[0098] Preferably, at initiation by the drill rig operator of a location cycle, the laser devices will preferably be automatically controlled, preferably by a software algorithm in order to undergo powered movement in order to firstly locate the survey markers and then to measure the distance to/from the located survey markers. If a number of survey markers are located and distance to/from those survey markers is measured, then the auto locate functionality of the software application will normally be able to determine the drill rig location with precision, particularly if there are at least three survey markers as this will allow the use of simple triangulation to determine the location of the drill rig precisely. The location of the survey markers is normally known with precision and therefore, the position of the drill rig relative thereto can also be established with precision. [0099] An example of this embodiment is illustrated in Figure 3 where the laser device is provided in an upstanding assembly 16 similar to a radome. The laser device can undergo powered and controlled movement within the dome to identify the survey markers through detection of the prisms 15 associated therewith and to measure distance to/from the survey markers.

[00100] The laser emission detection device is preferably provided in order to detect a return signal (or variation or absence of a signal) from the survey marker and/or other equipment or device in the area in order to measure the distance to/from the survey marker.

[0100] Preferably, the emission detection device is capable of discerning or detecting differences in the quality of the return in order to distinguish the survey markers (and/or other equipment) from the surrounding environment as this may assist with the location of the survey markers and/or other equipment. For example according to the system illustrated in Figures 3 and 4, a prism 15 or similar device may be provided in association with each of the survey markers as the return signal from such a prism or similar device will typically have a higher quality return versus a return from earth or rock.

[0101] In the preferred embodiment where a laser emission is used to measure the distance, the laser device will preferably be placed on the drill rig but may be placed anywhere on the drill rig as illustrated in Figures 1 to 4.

[0102] In a preferred embodiment, a laser device is provided to indicate the direction and/or orientation of the drill rod 14, boom or feed rail. The laser device used for this purpose may be a laser device used for measurement in the system as well. If used within the system for indicating the direction and/orientation of the drill rod 14, the laser device is a visible laser so that the operator of the drill rig 11 and/or other operators can see the orientation of the drill rod 14. The orientation of the laser device to indicate the direction and/or orientation of the drill rod 11 is also typically software controlled once the location cycle (to establish the survey pickup point) has been completed. The target location for the hole may be provided on a display screen on a virtual map instead of or together with projecting onto the face. The target location can include targets other than holes to be drilled for example, face heading or tunnel centre line.

[0103] The system or the present invention will therefore preferably include a first subsystem used to locate the drill rig 11 or to correct the location of the drill rig 11 for inertial navigation system purposes. The inertial navigation system will typically be a second subsystem used to navigate the drill rig 11 to one or more target locations, once the position of the drill rig 11 has been located with precision using the first subsystem in order to provide a starting point for the inertial navigation system.

[0104] Preferably, the starting point for the inertial navigation system is a survey pickup point which is the location of the drill rig established using the first subsystem which is then subsequently provided to the inertial navigation system. This can be established through a location system but may be achieved using mine software instead of or as well as the location system.

[0105] Although not illustrated in the Figures, the system of the preferred embodiment also includes at least one display device in order to provide a real time, visual display of the location of the drill rig 11 and target locations. The system of the present invention through the inertial navigation system may provide an operator with one or more guides to the one or more target locations using the real time, visual display. The system of the present invention through the inertial navigation system may provide an optimal line of travel from the drill rig location to one or more target locations including one or more navigation points or waypoints using the real time, visual display.

[0106] A navigation interface will normally be produced and displayed to an operator by the software application of the preferred embodiment which will normally be generated and displayed on a real-time visual display of the at least one display device. Normally, the at least one display device is located in the cabin or operating space of the drill rig 11 as the operator will normally be on board the drill rig although, the drill rig may be a fully automated drill rig, not requiring the presence of the human operator and/or may be controlled remotely in which case, the at least one display device will normally be located remotely as well.

[0107] The INS is consistently tracked on the virtual software to ensure minimisation of errors. This is done using secondary motion sensors on the drill rig, generally on the axle so it has a backup system that is tracking the movement in any orientation in real time. The algorithm in the INS system is designed to minimise errors and with the addition of the back-up motion sensors, clicker or counters or distance measurement instrument and motion transducer on the moving parts of the drill rig, the system can precisely monitor any movement forward, back, left, right, roll, pitch, heading, motion ,heave, longitude, and/or latitude, With the aid of motion sensors and the INS system when the drill rig passes known survey location or waypoint or a known virtual Location survey point, this allows precise location of the drill rig. Using sensors, the drill rig automatically picks up and tracks on a virtual line from mine software, minimising the need for additional re-location relative to survey points. Guided by the INS and other collision avoidance devices, the drill rig can be automatically guided to one or more target locations. The system can replace the operator. The system can operate on any type of drill rig by controlling the operation functions of driving and then once in place, can operate sensors on the controls in conjunction with the drill rig electronics and hydraulics to move the booms, feed rail and conduct planned drilling operations that have been programed into the control software.

[0108] The navigation interface will normally include target location information which is provided to the software application responsible for producing the navigation interface such that once the location of the drill rig 11 is established at a survey pickup point, the software application can calculate the respective locations of one or more targets and plot these locations on the navigation interface which will normally be a map interface showing the design of the mine and the target locations relative to the layout of the mine. This will allow an operator to guide the drill rig to the one or more target locations using the navigation interface.

[0109] The system of the present invention also includes at least one inertial instrument operating in conjunction with the laser device. As mentioned above, the system of the present invention will also typically include an inertial navigation system and the at least one inertial instrument provided is normally provided as a part of the inertial navigation system in order that the at least one inertial instrument can be used for the dual purpose of navigation of the drill rig 11 to the target location and also positioning and aligning the drill rod 14.

[0110] Once the survey pickup point has been established, the inertial navigation system including at least one inertial instrument can then be used to navigate or to provide navigation data in order to allow an operator to navigate the drill rig to one or more of the target locations. The software application discussed above typically provides the navigation data and also preferably records details of the location of the drill rig at all times.

[0111] Preferably, the software application will generate and display a visual interface with a map of the surrounds of the drill rig. As mentioned above, this visual interface may include one or more waypoints, one or more target locations and may provide an optimal line of travel to or between target locations. The visual interface will normally be updated in real time based on the information from the inertial navigation system. The use of the first subsystem in order to precisely locate the drill rig may be used at any time and not simply prior to starting travel. For example, the first subsystem may be used at any time to provide a precise location of the drill rig in order to "zero" the inertial navigation system and provide a survey pickup point to the inertial navigation system. The more often the location of the drill rig is precisely located using the first subsystem, the more precisely the in relation to the target locations, particularly in light of the errors inherent in inertial navigation systems as explained above. According to a preferred embodiment, the first subsystem of the system of the present invention can be used more than once between target locations in order to ensure precise location. Alternatively, the initial location of the drill rig can be input into the system using survey points in longitude, latitude, or mine software co-ordinates or can be automatically obtained by virtual survey points from the mine software.

[0112] According to the preferred embodiment, the at least one inertial instrument is used to position and align the drill rod and also as a part of the INS to navigate to and between target locations. The at least one inertial instrument preferably uses the information relating to survey pickup point and the information relating to the movement of the drill rig between the survey pickup point and the target location as well as information relating to the drill rod position relative to the drill rig in order to correctly position and orient the drill rod, boom or feed rail. The system of the present invention will typically provides sufficient information as to the location of the drill rig relative to the target location that the at least one inertial instrument can precisely locate and orient the drill rod relative to the drill rig and relative to the survey markers to ensure that the hole is drilled in the correct location, at the required azimuth and/or dip angle.

[0113] Once the drill rig is in position, the booms or feed rail or drill steels/rod can then be orientated to the target position and orientation. This can be different to the actual drill rig position as they work independently from the drill rig and from each other if there is more than one boom or one boom can be moved independently of the drill rig.

[0114] Preferably a software application is provided to link the components of the system of the present invention and to allow the components to work in concert, as well as to control the operation of the system. The software application will preferably use data or information from the at least one emitter device preferably at least one laser emitter device and at least one emission detection device, preferably at least one laser emission detection device to establish a precise location of the drill rig relative to the one or more survey markers using at least one emitting device and at least one emission detection device to locate the drill rig relative to one or more survey markers, use the established location of the drill rig as a known navigation point for the inertial navigation system having at least one inertial instrument, generate and display a navigation or operation interface, preferably to the drill rig operator to allow navigation of the drill rig to at least one target location for a desired hole and control the orientation of the drill rod mounted relative to the drill rig according to desired hole parameters using the at least one emission device or the at least one inertial instrument. [0115] The method of drill rig positioning and drill rod alignment and particularly orienting a drill rod mounted relative to the drill rig at the at least one target location using the at least one emission device or the at least one inertial instrument may be implemented, at least partially, by or with the assistance of a computer software application operating in association with an operator console of a drill rig. This may be on the drill rig itself or a remote console may be provided allowing an operator to position the drill rig and drill rod.

[0116] In particular, a computer software application may be used to assist with the steps required to the position a drill rig or drill rod and locate the centre point of a drive. The program will normally require data to be available to it in order for the inertial instrument to properly locate itself. In a preferred embodiment, at least one and possibly a number of datasets are preferably provided for each drive. For any area that in which an operator wishes to utilise the system, the operator will upload a set of data for the area before using the instrument.

[0117] The preferred set of data will preferably include information regarding at least the centreline (the line that will be used to determine the intersection between the drive face and locate the laser pointer in the centre of the drive), the drive (preferably a polygon which shows the outline of the proposed drive), and at least two survey points used to locate the instrument spatially.

[0118] The system of drill rig positioning and drill rod alignment will normally be implemented through instructions provided to a computing device in association with an input device to provide or obtain a precise location of the drill rig and at least one inertial instrument operating in conjunction with the input device to provide navigation information to navigate the drill rig to one or more target locations and locate and align a drill rod mounted relative to the drill rig based on the location of the drill rig relative to the one or more survey markers and the location and alignment of the drill rod relative to the drill rig. At least one laser pointer is preferably provided and also associated with the computing device.

[0119] The instructions when followed, preferably generate one or more interfaces on a display associated with the computing device associated with the input device, at least one inertial instrument, at least camera on the drill rig and the at least one laser device to allow the operator to interact and/or instruct movement of the drill rig and/or drill rod. The instructions will normally be followed in order to generate an interface in real time and update the interface according to the operator's interaction with the system and the location and/or orientation of the drill rig and/or drill rod. [0120] Many computing devices have associated touchscreens for display allowing the operator to directly interact with the touch screen in order to interact with the interface.

However, a normal non-touchscreen display can be used with a movable pointer or selection tool in order to allow an operator to interact with the interface. One or more "buttons" are provided on the interface to allow the operator to interact with the personal computing device and through the computing device, to interact with the system.

[0121] The generated interface will typically be updated substantially in real time according to the rules or instructions which are issued by the software application and according to interactions by the operator(s) with the system

[0122] Once the set of data is available, the software application will preferably step through the process of locating the machine spatially and pointing at the CenterPoint of the drive. The operator will preferably load the dataset into the computer software application of the resent invention.

[0123] Once this has been provided, the operator will preferably be provided with an interface 600 including a view through one of the cameras in association with the drill rig such as that illustrated in Figure 6. An operator is provided with a number of navigation buttons 601 in association with the interface 600 allowing the operator to move the drill rig. The operator may be provided with one or more zoom (in and out) buttons 602 and one or more buttons 603 to actuate a laser pointer (on/off toggle).

[0124] The operator can then locate a first survey point using the displayed image (displayed in real-time). This may be accomplished using the touchscreen and/or the operator may be able to "steer" a crosshair locator 604 provided on the interface to the first survey point. Once the first survey point has been located, the user will normally measure the distance to/from the first survey point using a "measure" button 605.

[0125] The software will then preferably allow the operator to link the measurement taken to a particular survey point identified in the dataset. Preferably this is done graphically by presenting an interface to the operator such as that illustrated in Figure 7 and allowing the operator to identify the particular survey point located 701, 702 and associate the distance measured to/from that survey point with the particular survey point within the system.

[0126] This process is then repeated for any other survey points provided in the initial dataset. This allows the computer software to position the drill rig with in a real-world coordinate system provided by the survey points and the respective measured distances between the drill rig and the survey points. Preferably, once this has been achieved, the computer software will then provide a location 801 of the position of the drill rig relative to the survey points 701, 702 on the graphical interface as well as calculate an accurate position of the drill rig in a preferred 3 axis system. Such an indication is provided in Figure 8. An accurate positioning should have the two reading lines 802 meeting exactly on the location sphere 801. In Figure 8 there is a small issue with the accuracy of the readings as the location sphere 801is not touching the end of the lines. If this type of problem is experienced, the software will usually utilise a mid point between the two end points if they do not exactly meet.

[0127] Once this has been achieved, the operator can then determine where the face of the drive is located and map the drive face. This is normally achieved through scanning the face in one or more directions. In a preferred embodiment, the face is scanned in a clockwise direction. An operator will normally be presented with an interface such as that illustrated in Figure 9 and be able to control the rotation step 901 of the scan as well is the length of the scan 902. In a default configuration, the rotation step of the scan is every 15° for a rotation of 180°. Normally, the operator will use the navigation buttons 601 to point to the drill rig and a location to the left of the face and then begin the automatic scan by pressing the "scan" button 903.

[0128] This will typically scan the face and collect data to create a three-dimensional representation of the scanned face 1001 in order to allow the operator to locate the centrepoint of the drive such as that illustrated in Figure 10.

[0129] Preferably, the three-dimensional representation of the scanned face will also include a generated and displayed locator 1002 showing the intersection of the scanned face line (obtained from the scan) and the centreline 1003 (obtained from the initial dataset provided). A CENTER POINT button 1004 is preferably provided on the interface and upon selection by the operator, the computer software will preferably position and preferably orient the drill rod at the centre point 1003 (the locator).

[0130] The operator can also click a TARGET POINT button 1005 allowing an operator to enter manual co-ordinates to the target, if known.

[0131] Advantageously, using the present invention, the position of the drill rig can be periodically corrected by input from the first subsystem which determines the location of the drill rig precisely using the at least one emitting device and at least one emission detection device which minimises the chance of errors and prevents an error being magnified due to use of the INS. [0132] 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.

[0133] 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.