Search

JP-7855614-B2 - Underground drilling rigging control

JP7855614B2JP 7855614 B2JP7855614 B2JP 7855614B2JP-7855614-B2

Inventors

  • ハンスキ， サミ
  • アンティラ， サミ
  • リングレン， ヨウニ

Assignees

  • サンドヴィック マイニング アンド コンストラクション オーワイ

Dates

Publication Date
20260508
Application Date
20220527
Priority Date
20210527

Claims (17)

  1. A drilling rig (1) comprising a carrier (2), at least one boom (3) attached to the first end of the carrier, and a drilling unit (4) attached to the second end of the boom, wherein the control means is In accordance with the input plan, the system receives target posture information indicating at least the target posture of the drilling unit (300), During the traming of the drilling rig, current carrier attitude information indicating the orientation of the carrier is detected (310), During the traming of the drilling rig, the current orientation of the drilling unit is determined based on the detected carrier attitude information indicating the orientation of the carrier (320), and during the traming of the drilling rig, traming support information is generated based on the target attitude information and the determined orientation of the drilling unit , indicating the current orientation of the drilling unit relative to the target orientation of the drilling unit (330) . During the tramping of the drilling rig, the tramping support information is applied to support the tramping of the rig. A drilling rig (1) is configured as follows.
  2. The drilling rig according to claim 1, wherein the drilling unit (4) comprises a rock drill (6) mounted on a feed beam (5) rotatably connected to the boom (3), and the input plan includes a drilling plan that includes the target position and orientation of each hole in a set of holes to be drilled, and the target orientation information indicates or is determined based on the target orientation of the feed beam for drilling the holes in the set of holes.
  3. The drilling rig according to claim 1, wherein the control means is configured to determine the deviation of the drilling unit (4) from at least one target posture based on the determined orientation and target posture information of the drilling unit, and to generate the tramping support information based on the determined deviation of the orientation of the drilling unit from the at least one target posture.
  4. The drilling rig according to claim 1, wherein the control means is configured to receive information regarding the orientation of the carrier (2) from a gyroscope provided on the carrier, and to determine the orientation of the drilling unit (4) based on the received information regarding the orientation of the carrier and joint position information from joint position sensors of a plurality of joints between the carrier and the drilling unit.
  5. The drilling rig according to claim 1, wherein the carrier (2) comprises a first carrier portion (2a) and a second carrier portion (2b) interconnected by a carrier joint (8), the carrier attitude information indicates the orientation of the second carrier portion (2b) , and the control means is configured to use information regarding the position of the carrier joint from a joint position sensor as input for determining the orientation of the drilling unit.
  6. The drilling rig according to claim 1, wherein the control means is configured to generate a graphical user interface view showing at least the orientation and at least one target orientation of the drilling unit, and to display the graphical user interface view during the traversing of the drilling rig in order to assist the operator in controlling the traversing of the drilling rig to a drilling position for performing drilling operations in accordance with a drilling plan.
  7. The drilling rig according to claim 1, wherein generating the traction support information (330) includes determining control commands for autonomous operation or for instructing an operator to control the operation of the drilling rig.
  8. A method for controlling a drilling rig (1) comprising a carrier (2), at least one boom (3) attached to a first end of the carrier, and a drilling unit (4) attached to a second end of the boom, (300) receiving target posture information indicating at least the target posture of the drilling unit in accordance with the input plan, During the traming of the drilling rig, the current carrier attitude information indicating the orientation of the carrier is detected (310), During the traming of the drilling rig, the current orientation of the drilling unit is determined based on the detected carrier attitude information indicating the orientation of the carrier (320), During the traversing of the drilling rig, traversing support information is generated that indicates the current posture of the drilling unit relative to the target posture of the drilling unit, based on the target posture information and the determined orientation of the drilling unit (330). During the tramping of the drilling rig, the tramping support information is applied to support the tramping of the rig. Methods that include...
  9. The method according to claim 8, wherein the drilling unit comprises a rock drill (6) mounted on a feed beam (5) rotatably connected to the boom (3), the input plan includes a drilling plan that includes the target position and orientation of each hole in a set of holes to be drilled, and the target orientation information indicates or is determined based on the target orientation of the feed beam for drilling the holes in the set of holes.
  10. The method according to claim 8, comprising: determining the deviation of the drilling unit (4) from at least one target posture based on the determined orientation and target posture information of the drilling unit; and generating the traction support information based on the determined deviation of the orientation of the drilling unit from the at least one target posture.
  11. The method according to claim 8, comprising receiving the orientation of the carrier from a gyroscope provided on the carrier (2), and determining the orientation of the drilling unit (4) based on the received orientation of the carrier and joint position information from joint position sensors of a plurality of joints between the carrier and the drilling unit.
  12. The method according to claim 8, wherein the carrier (2) comprises a first carrier portion (2a) and a second carrier portion (2b) interconnected by a carrier joint (8), the carrier orientation information indicates the orientation of the second carrier portion (2b) , and information regarding the position of the carrier joint from a joint position sensor is used as input for determining the orientation of the excavation unit.
  13. To generate a graphical user interface view that shows at least the orientation of the drilling unit and at least one target orientation, The method of claim 8, further comprising displaying the graphical user interface view during the traversing of the drilling rig in order to assist the operator in controlling the traversing of the drilling rig to a drilling location in order to perform drilling operations in accordance with a drilling plan.
  14. The method according to claim 8, wherein generating the traction support information includes determining control commands for autonomous operation or for guiding an operator to control the operation of the drilling rig.
  15. A computer program comprising code that, when executed on a data processing device (50), causes the device to perform the method described in any one of claims 8 to 14.
  16. The method according to claim 1, wherein, in response to detecting that the target posture cannot be reached, the control means instructs the drilling rig to be controlled manually.
  17. The method according to claim 1, wherein the control means activates a reach instruction when the rig is less than a certain distance from the drilling position.

Description

This invention relates to controlling the tramping of an underground drilling rig. Drilling rigs are used in underground construction and mining sites. In drilling and blasting-based methods, rock is drilled in rounds. Several consecutive rounds create a tunnel with a tunnel face. The first borehole is drilled into the tunnel face, and then the drilled borehole is charged with explosives and blasted. One round's worth of rock material is detached with each blast. The detached rock material is removed from the tunnel for further processing. To excavate rock, a drilling plan is pre-designed, which may include at least one drilling pattern or borehole pattern, and information regarding the type of rock is determined, for example. Typically, the drilling pattern is designed as administrative work for each round. The pattern determines the target borehole and therefore the work tasks to be performed by the drilling rig. The pattern is provided to drill a borehole in the rock so that the rock drilling rig can achieve the desired round and tunnel profile. To perform a drilling round, the drilling rig is trammed near the tunnel face to be drilled, according to the target hole pattern determined in the drilling plan. Tramming generally refers to driving the rig. After tramming the rig to its position in the tunnel for drilling, it needs to be stabilized, and the drilling unit of the drilling rig, which typically consists of a rock drill on a feed beam attached to a boom attached to a carrier, needs to be positioned in the correct position and orientation before drilling begins. If the rig is stopped at the end of the tramming phase in an orientation that does not allow for precise positioning of the drilling unit, the rig needs to be driven back and forth to obtain the correct orientation for precise positioning of the drilling unit. This is particularly difficult in narrow underground tunnels where satellite-based positioning data is unavailable and repositioning large drilling rigs is substantially more difficult than at surface work sites. The present invention is defined by the features of the independent claims. Several specific embodiments are defined in the dependent claims. According to a first embodiment, a mobile underground drilling rig is provided, comprising a carrier, at least one boom attached to a first end of the carrier, a drilling unit attached to a second end of the boom, and a control means, wherein the control means is configured to receive target posture information indicating at least a target posture of the drilling unit according to an input plan, detect carrier posture information indicating the orientation of the carrier during traversing of the drilling rig, determine the orientation of the drilling unit based on the detected carrier posture information during traversing of the drilling rig, and generate traversing support information based on the target posture information and the determined orientation of the drilling unit. According to a second embodiment, a method is provided for controlling an underground drilling rig comprising a carrier, at least one boom attached to a first end of the carrier, and a drilling unit attached to a second end of the boom, the method comprising: receiving target posture information indicating at least a target posture of the drilling unit according to an input plan; detecting carrier posture information indicating the orientation of the carrier during traversing of the drilling rig; determining the orientation of the drilling unit based on the detected carrier posture information during traversing of the drilling rig; and generating traversing support information based on the target posture information and the determined orientation of the drilling unit. According to a third aspect, a control device for controlling an underground drilling rig is provided, comprising means for performing a method or an embodiment of the method. The means may include at least one processor, at least one memory containing computer program code, and the at least one memory and the computer program code are configured to cause the device to perform at least one method or an embodiment of the method using the at least one processor. According to a fourth aspect, a computer program, a computer program product, or (non-tangible) computer-readable medium is provided, which, when executed by a data processing device, contains computer program code that causes the device to perform the method or an embodiment thereof. An example of a drilling rig is shown.Examples of top views of excavation rigs and tunnel excavation are shown.Methods according to at least several embodiments are shown.An illustrative display view is shown.An exemplary apparatus capable of supporting at least several embodiments is shown. As an example of a device in which at least some of the embodiments may be employed, Figure 1 shows a rock drilling rig 1 comprising a carrier 2, at least one (drilling) boom 3