[0001] This application claims the benefit of provisional patent application serial number 61 /881 ,761 , filed September 24, 2013, entitled "STOCKPILE RECONCILIATION," the disclosure of which is hereby incorporated herein by reference in its entirety.

TECHNICAL FIELD

[0002] The present embodiments relate to determining a quantity metric, such as a volume or a mass, of a stockpile of material.

BACKGROUND

[0003] It is often desirable to determine the volume or mass of a stockpile of material for a variety of reasons, including, for example, sub-contractor payments, inventory disclosures, and the like. As the stockpile is incrementally reclaimed, such determinations become increasingly complex and

correspondingly expensive. Sometimes aerial photography in conjunction with a manual survey is used to determine such information about a stockpile. Aerial photography can be expensive, and depending on local flight regulations, impracticable or even impossible. Manual surveys are time-consuming and expensive. Accordingly, there is a need for more practical and cost effective mechanisms for determining a volume or mass of a stockpile. SUMMARY

[0004] The embodiments herein utilize relatively low-cost overhead imagery, such as satellite imagery, of a stockpile, in conjunction with information about operational practices associated with the generation and/or reclaiming of the stockpile, to build a three-dimensional (3D) model of the stockpile at successive points in time. The 3D model is then used to determine a quantity metric, such as a volume or a mass, of the stockpile at a particular point in time, such as for reconciliation purposes. [0005] In one embodiment, a method for determining a quantity metric of a pile of material is provided. First overhead imagery of the pile is accessed at a first point in time. At least one dimension of the pile is determined based on the first overhead imagery of the pile. An operational characteristic associated with a generation of the pile is accessed. A 3D model of the pile is generated based on the at least one dimension of the pile and the operational characteristic. A quantity metric of the pile is determined based on the 3D model of the pile.

[0006] In one embodiment, the at least one dimension of the pile comprises one or more of a length of the pile and a width of the pile. In one embodiment, the operational characteristic comprises one or more of: a height of the pile in accordance with an operational rule; the height of the pile based on an attribute of a stacker used to generate the pile; an angle of repose of the pile based on a granularity of the material; the angle of repose of the pile based on a composition of the material; a bench height of a reclaimer used to reclaim a portion of the material from the pile; and a bulk density of the material.

[0007] In one embodiment, the first overhead imagery comprises stereo overhead imagery.

[0008] In one embodiment, second overhead imagery of the pile at a second point in time that is subsequent to the first point in time is accessed. A change in shape of the pile is determined based on the second overhead imagery of the pile. A second 3D model of the pile is generated based on the second overhead imagery. A quantity metric of the pile is determined based on the second 3D model of the pile. In one embodiment, an amount of material reclaimed from the pile between the first point in time and the second point in time is determined.

[0009] In one embodiment, the at least one dimension of the pile based on the first overhead imagery of the pile is determined by presenting the first overhead imagery of the pile on a display device, and receiving user input that identifies the width of the pile and the length of the pile.

[0010] In another embodiment, the at least one dimension of the pile based on the first overhead imagery of the pile is determined by identifying, by a computing device, the pile in the first overhead imagery, and based on a scale of the first overhead imagery, determining the width of the pile and the length of the pile. In one embodiment, the quantity metric comprises one of a mass of the pile and a volume of the pile.

[0011] In one embodiment, the first overhead imagery comprises satellite imagery.

[0012] In another embodiment, a computing device for determining a quantity metric of a pile of material is provided. The computing device includes a communication interface configured to communicate with a network, and a processor coupled to the communication interface. The processor is configured to access first overhead imagery of the pile at a first point in time, determine at least one dimension of the pile based on the first overhead imagery of the pile, access an operational characteristic associated with a generation of the pile, generate a 3D model of the pile based on the at least one dimension of the pile and the operational characteristic, and determine the quantity metric of the pile based on the 3D model of the pile.

[0013] Those skilled in the art will appreciate the scope of the disclosure and realize additional aspects thereof after reading the following detailed description of the preferred embodiments in association with the accompanying drawing figures.

BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawing figures incorporated in and forming a part of this specification illustrate several aspects of the disclosure, and together with the description serve to explain the principles of the disclosure.

[0015] Figure 1 illustrates an example overhead image of a plurality of piles at a location at a first point in time according to one embodiment;

[0016] Figure 2 is a flowchart of a method for determining a quantity metric of a pile of material according to one embodiment;

[0017] Figure 3 is a block diagram of a system suitable for implementing the method discussed above with regard to Figure 2 according to one embodiment; [0018] Figure 4 illustrates the receipt of user input with respect to the overhead image that may be utilized to determine a dimension of a pile according to one embodiment;

[0019] Figure 5 is a block diagram illustrating operational characteristics of a pile at a location according to one embodiment;

[0020] Figure 6 illustrates an example overhead image of the plurality of piles at the location at a subsequent point in time to that illustrated in Figure 1 ;

[0021] Figure 7 is a block diagram of the system at a subsequent point in time to that illustrated in Figure 3;

[0022] Figure 8 illustrates the receipt of user input with respect to an overhead image that may be utilized to determine a dimension of a pile that has been partially reclaimed, according to one embodiment; and

[0023] Figure 9 is a block diagram illustrating a computing device according to one embodiment.

DETAILED DESCRIPTION

[0024] The embodiments set forth below represent the necessary information to enable those skilled in the art to practice the embodiments and illustrate the best mode of practicing the embodiments. Upon reading the following

description in light of the accompanying drawing figures, those skilled in the art will understand the concepts of the disclosure and will recognize applications of these concepts not particularly addressed herein. It should be understood that these concepts and applications fall within the scope of the disclosure and the accompanying claims.

[0025] Any flowcharts discussed herein are necessarily discussed in some sequence for purposes of illustration, but unless otherwise explicitly indicated, the embodiments are not limited to any particular sequence of steps. The use herein of ordinals in conjunction with an element is solely for distinguishing what might otherwise be similar or identical labels, such as "first overhead imagery" and "second overhead imagery," and does not imply a priority, a type, an importance, or other attribute, unless otherwise stated herein. The term "about" used herein in conjunction with a numeric value means any value that is within a range of ten percent greater than or ten percent less than the numeric value.

[0026] The embodiments herein utilize relatively low-cost overhead imagery, such as satellite imagery, of a stockpile, sometimes referred to herein as a pile, in conjunction with information about operational practices associated with the generation and/or reclaiming of the pile, to build a three-dimensional (3D) model of the pile at successive points in time. The 3D model is then used to determine a quantity metric, such as a volume or a mass, of the pile at a particular point in time, such as for reconciliation purposes.

[0027] Figure 1 illustrates an example overhead image 10 of a plurality of piles 12-1 - 12-N (generally, piles 12) at a location 14 according to one

embodiment. The piles 12 may comprise any material that can be stored for a period of time in a pile. Such piles are typically generated through the use of machinery, such as a stacker 16. By way of non-limiting example, the material may comprise iron ore, coal, salt, gravel, or the like. While for purposes of illustration only four piles 12 are illustrated, the location 14 may have any number of piles 12.

[0028] The piles 12 may comprise certain dimensions, such as a width 18, a length 20 and a height, which may be based on predetermined operational characteristics associated with the generation of the piles 12. For example, the height of the piles 12 may be based on a predetermined height that is configured or associated with the stacker 16. Thus, each of the piles 12 may comprise a same height. The height may at least in part determine the width 18 of the piles 12. Alternatively, the width 18 may be based on a predetermined operational characteristic, such as a desired width associated with the location 14, and the width 18 may at least in part determine the height. The length 20 may similarly be based on a predetermined operational characteristic. As will be discussed in greater detail herein, the overhead image 10 may comprise relatively low-cost satellite imagery that has a known scale. The use of such relatively low-cost satellite imagery eliminates problems associated with aerial imagery, such as flight prohibitions, cost, weather, and the like. [0029] Once certain information is known about a pile 12, a quantity metric, such as a volume, or a mass, of the pile can be determined. As is known to those of skill in the art, when granular materials are poured onto a horizontal surface, a pile will form. The internal angle between the surface of the pile and the horizontal surface is known as the angle of repose and is related to the density, surface area and shapes of the particles, and the coefficient of friction of the material. Thus, information that may be useful about a pile 12 includes the angle of repose of the pile 12, the type of material of the pile 12, and/or the granularity of the material, such as lump granularity or fine granularity, in the pile 12.

[0030] Figure 2 is a flowchart of a method for determining a quantity metric of a pile of material according to one embodiment. Figure 2 will be discussed in conjunction with Figure 1 . For purposes of illustration, the method will be discussed solely with respect to the pile 12-1 , but it will be appreciated that the processes described herein could be utilized for any piles of material. Initially, a computing device accesses the overhead image 10 of the pile 12-1 at a first point in time (Figure 2, block 100). At least one dimension of the pile 12-1 is

determined based on the overhead imagery 10 (Figure 2, block 102). The at least one dimension of the pile 12-1 may comprise, for example, the width 18 or the length 20 of the pile 12-1 . The computing device accesses operational characteristics associated with the generation of the pile 12-1 (Figure 2, block 104). For example, the operational characteristics may comprise one or more of a height of the pile 12-1 generated at the location 14; the height of the pile 12-1 based on an attribute of the stacker 16 used to generate the pile 12-1 ; an angle of repose of the pile 12-1 based on a granularity of the material in the pile 12-1 ; the angle of repose of the pile 12-1 based on a composition of the material in the pile 12-1 ; a bench height of a reclaimer used to reclaim a portion of the material from the pile 12-1 ; and a bulk density of the material in the pile 12-1 . The computing device generates a 3D model of the pile 12-1 based on the at least one dimension of the pile 12-1 and the operational characteristic associated with the generation of the pile 12-1 (Figure 2, block 106). The computing device then determines a quantity metric of the pile 12-1 , such as a volume or a mass, based on the 3D model of the pile 12-1 (Figure 2, block 1 08).

[0031] Figure 3 is a block diagram of a system 26 suitable for implementing the method discussed above with regard to Figure 2 according to one

embodiment. The system 26 includes a computing device 28 includes a processor 30 which, in conjunction with executable instructions stored in a memory 32, may implement a portion or all of the functionality described herein. The computing device 28 also includes a user interface module 34, which, as described in greater detail herein, may receive input from a user that aids in determining at least one dimension of the pile 12-1 based on the overhead image 10. The computing device 28 may also include a display 36 suitable for presenting information to the user, and a communications interface 38 that is configured to communicate with a network (not illustrated), and which, for example, may be a mechanism by which the computing device 28 obtains one or more overhead images of the location 14 at different points in time.

[0032] In one embodiment, the computing device 28 obtains the overhead image 10 of the location 14. The overhead image 10 depicts the piles 12 at a first point in time, and in particular, at a point in time prior to any reclamation of the piles 12. As discussed above, the computing device 28 also obtains operational characteristics 40 of the location 14. The operational characteristics 40 of the location 14 may, for example, be configured into the computing device 28 by an operator and stored in a storage 42. In one embodiment, the computing device 28 may also receive one or more dimensions of the piles 12 via user input, as discussed in greater detail below. In other embodiments, an image processing module 44 is configured to analyze the overhead image 10, identify the piles 12, and determine dimensions, such as width and length, based on a known scale of the overhead image 10.

[0033] The computing device 28 utilizes the operational characteristics of the location 14 and the at least one dimension of the piles 12 to generate a virtual model 46 that includes 3D models 48-1 - 48-N (generally, 3D models 48) that correspond to the piles 12-1 - 12-N. Each 3D model 48 is generated based on the operational characteristics 40 of the location 14 and the dimensions of the corresponding piles 12 determined based on the overhead image 10. Each 3D model 48 comprises a same quantity metric, such as volume and/or mass, in the virtual model 46, as the corresponding pile 12. The virtual model 46 thus accurately represents the piles 12, at a particular point in time of the overhead image 10. The virtual model 46 may be stored in the storage 42, and utilized subsequently by the computing device 28 to determine differences in the quantity metric of a pile 12 between the particular point in time and a subsequent point in time.

[0034] Figure 4 illustrates the receipt of user input with respect to the overhead image 10 that may be utilized to determine a dimension of a pile 12. In particular, in one embodiment, the computing device 28 may present the overhead image 10 on the display 36. A user (not illustrated) may use an input device, such as a mouse, and manipulate a cursor 50 with respect to the overhead image 10 and identify a plurality of locations 52-1 - 52-4 (generally, locations 52) on the overhead image 10 to identify the perimeter of the pile 12-1 . The computing device 28, in conjunction with the scale of the overhead image 10, can utilize the locations 52 to determine, for example, the width 18 and length 20 of the pile 12-1 . In some embodiments, the computing device 28 may provide instructions to the user, such as by displaying a first message requesting that the user select two locations 52 on the overhead image 10 that identify the width 18 of the pile 12-1 , and subsequently displaying a second message requesting that the user select two locations 52 on the overhead image 10 that identify the width 18 of the pile 12-1 . It should be apparent that other user-supplied input may be utilized in lieu of the locations 52, such as requesting the user to trace the outline of the pile 12-1 . This process may be repeated for each pile 12. The computing device 28 may then use this information, in conjunction with the operational characteristics 40 of the location 14, to generate the virtual model 46. In other embodiments, the computing device 28 may include the image processing module 44 which is configured to analyze the overhead image 10 and automatically identify the piles 12 depicted in the overhead image 10, and thereby determine one or more dimensions of the piles 12, without user input.

[0035] Figure 5 is a block diagram illustrating operational characteristics 40 of a pile 12 at the location 14 according to one embodiment. For purposes of illustration, assume that an operational characteristic 40 of the location 14 is that piles 12 are substantially uniformly generated at a height of 19.2 meters. This may be implemented, for example, by a stacker 16 that is programmed to build piles 12 to a height of 19.2 meters. For a particular material, the angle of repose of the pile 12 may be 38 degrees for lump granularity, and 35 degrees for fine granularity. For reclamation, the location 14 utilizes 6.4 meter bench heights, such that the pile 12 is reduced in layers that are 6.4 meters high. The bulk density of the material in the pile 12 is 2.1 tons/meter ³ for lump granularity and 2.4 tons/meter ³ for fine granularity.

[0036] Figure 6 illustrates an example overhead image 54 of the plurality of piles 12-1 - 12-N at the location 14 at a subsequent point in time to that illustrated in Figure 1 . Analysis of the overhead image 54 indicates that the pile 12-1 has been partially reclaimed by a reclaimer 55. It may be desirable, such as for reconciliation purposes, to periodically determine the volume of the pile 12-1 as the pile 12-1 is reclaimed over time. The overhead image 54 illustrates the pile 12-1 as having a first bench completely removed from the pile 12-1 . Each bench, as discussed above, comprises a layer of material 6.4 meters in height. A second bench 56 has been partially reclaimed, and a third bench 58 (the final bench of material) has been partially reclaimed.

[0037] Figure 7 is a block diagram of the system 26 at a subsequent point in time to that illustrated in Figure 3. The computing device 28 receives the overhead image 54 and determines that the first bench has been completely removed, the second bench 56 has been partially removed, and the third bench 58 has been partially removed. As will be discussed with regard to Figure 8, in one embodiment, some or all of this determination may be made in conjunction with user input. In other embodiments, the image processing module 44 is configured to analyze the overhead image 54, and identify reclamation aspects of a pile 12.

[0038] The computing device 28 generates a virtual model 46-1 comprising 3D models 48-1 - 48-N, which correspond to the piles 12-1 - 12-N at the second point in time after partial reclamation of the pile 12-1 . Each 3D model 48 in the virtual model 46-1 comprises a same quantity metric, such as volume and/or mass, in the virtual model 46-1 , as the corresponding pile 12 at the second point in time. The 3D model 48-1 of the virtual model 46-1 thus identifies the volume of the pile 12-1 at the second point in time. The 3D model 48-1 of the virtual model 46-1 can be compared to the 3D model 48-1 of the virtual model 46 to determine the difference in the quantity metric of the pile 12-1 between the first point in time and the second point in time.

[0039] Figure 8 illustrates the receipt of user input with respect to the overhead image 54 that may be utilized to determine dimensions of the pile 12-1 , which has been partially reclaimed according to one embodiment. In particular, in one embodiment, the computing device 28 may present the overhead image 54 on the display 36. The user may use an input device, such as a mouse, and manipulate the cursor 50 with respect to the overhead image 54 and identify the extent to which the benches have been removed by the reclaimer 55. Thus, an arrow 60 may be drawn by the user to indicate that the first bench has been completely removed from the pile 12-1 . An arrow 62 may be drawn by the user to identify the extent to which the second bench 56 has been removed from the pile 12-1 . An arrow 64 may be drawn by the user to identify the extent to which the third bench 58 has been removed from the pile 12-1 . The computing device 28, in conjunction with the scale of the overhead image 54, can utilize the arrows 60 - 64 to determine the volume of material of the pile 12-1 that has been reclaimed, and generate the 3D model 48-1 in the virtual model 46-1 to represent the remaining volume, and/or mass, of the pile 12-1 . In some embodiments, the computing device 28 may provide instructions to the user, such as by displaying a first message requesting that the user identify the number of benches removed, and for each such bench identified, requesting that the user draw an arrow on the pile 12-1 indicating the width of the bench removed. It should be apparent that other user-supplied input may be utilized in lieu of the arrows 60-64, such as requesting the user to trace the outlines of the remaining benches of the pile 12- 1 .

[0040] Figure 9 is a block diagram illustrating the computing device 28 in greater detail according to one embodiment. The computing device 28 may comprise any computing or processing device capable of executing software instructions to implement the functionality described herein, such as a work station, a desktop or laptop computer, a tablet computer, or the like. The computing device 28 includes a processor 30, the system memory 32, and a system bus 66. The system bus 66 provides an interface for system components including, but not limited to, the system memory 32 and the processor 30. The processor 30 can be any commercially available or proprietary processor. Dual microprocessors and other multi-processor architectures may also be employed as the processor 30.

[0041] The system bus 66 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus using any of a variety of commercially available bus architectures. The system memory 32 may include non-volatile memory 68 (e.g., read only memory (ROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), etc.) and/or volatile memory 70 (e.g., random access memory (RAM)). A basic input/output system (BIOS) 72 may be stored in the non-volatile memory 68, and can include the basic routines that help to transfer information between elements within the computing device 28. The volatile memory 70 may also include a high-speed RAM such as static RAM for caching data.

[0042] The computing device 28 may further include the computer-readable storage 42, which may comprise, for example, an internal hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced

technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The computer-readable storage 42 and other drives, associated with computer-readable and computer-usable media, provide nonvolatile storage of data, data structures, computer-executable instructions, and so forth. Although the above description of computer-readable media refers to an HDD, it should be appreciated by those skilled in the art that other types of media which are readable by a computer, such as Zip disks, magnetic cassettes, flash memory cards, cartridges, and the like, may also be used in the exemplary operating environment, and further, that any such media may contain computer- executable instructions for performing novel methods and processing of the disclosed embodiments.

[0043] A number of modules can be stored in the computer-readable storage 42 and in the volatile memory 70, including an operating system 74 and one or more program modules 76, which may implement the functionality described herein in whole or in part. It is to be appreciated that the embodiments can be implemented with various commercially available operating systems 74 or combinations of operating systems 74.

[0044] All or a portion of the embodiments may be implemented as a computer program product stored on a transitory or non-transitory computer- usable or computer-readable storage medium, such as the computer-readable storage 42, which includes complex programming instructions, such as complex computer-readable program code, configured to cause the processor 30 to carry out the steps described herein. Thus, the computer-readable program code can comprise software instructions for implementing the functionality of the

embodiments described herein when executed in the processor 30. The processor 30, in conjunction with the program modules 76 in the volatile memory 70, may serve as a control system for the computing device 28 that is configured to, or adapted to, implement the functionality described herein.

[0045] The user may be able to enter commands and information into the computing device 28 through one or more input devices, such as, for example, a keyboard (not illustrated); a pointing device, such as a mouse (not illustrated); or a touch-sensitive surface (not illustrated). Other input devices may include a microphone, an infrared (IR) remote control, a joystick, a game pad, a stylus pen, or the like. These and other input devices may be connected to the processor 30 through an input device interface 78 that is coupled to the system bus 66, but can be connected by other interfaces such as a parallel port, an IEEE 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, etc.

[0046] The computing device 28 may also include the communications interface 38 suitable for communicating with a network. The computing device 28 may also include a video port 80 that interfaces with the display 36 that provides information to the user.

[0047] Those skilled in the art will recognize improvements and modifications to the preferred embodiments of the disclosure. All such improvements and modifications are considered within the scope of the concepts disclosed herein and the claims that follow.