Patent Grant
11091962
This application is a § 371 National Stage Application of PCT International Application No. PCT/EP2016/065475 filed Jul. 1, 2016.
The invention relates to an apparatus for positioning a rock drilling rig at a drilling site to a drilling position.
The invention further relates to a rock drilling rig and a method of positioning a rock drilling rig to a drilling position.
Substantially vertical drill holes may be drilled by means of surface rock drilling rigs in open pit mines and quarries for producing blast holes. Further, exploration holes may also be drilled by means of surface rock drilling rigs. The drill holes may be drilled by utilizing rotary drilling techniques, for example. The rock drilling rig comprises a mobile drilling platform. A drilling mast is connected to the drilling platform by means of a horizontal joint and a drilling machine is supported movably to the drilling mast. The drilling mast may be tilted as one single entity relative to the horizontal joint. Thus, the drilling mast has only one movable joint allowing adjustment relative to the drilling platform. At a drilling site the rock drilling rig is positioned to a drilling place. Because surface of the ground is typically uneven at the drilling site, the drilling platform needs to be levelled before initiating the drilling. The levelling is executed by lifting the drilling platform horizontally by means of several levelling jacks in order to set the drilling platform from an inclined position to a horizontal position. The executed levelling affects not only to the drilling platform but also to the drilling mast, whereby position and orientation of a drilling tool connected to the drilling machine change from the initial position and orientation due to the levelling. The change in position and orientation caused by the levelling needs to be taken into account in positioning of the rock drilling rig and the drilling tool because otherwise the drilled drill hole is formed incorrectly. It has been found that initial positioning of the drilling rig is a demanding and time consuming task.
An object of the invention is to provide a novel and improved apparatus, rock drilling rig, and method for positioning a rock drilling rig at a drilling site to a drilling position.
An idea of the disclosed solution is that the apparatus is configured to determine a change in orientation of a drilling tool line caused by a levelling procedure wherein a drilling platform of a rock drilling rig is lifted vertically after a tramming phase to a levelled position. In the levelled position the drilling platform is set to horizontal position by means of several levelling jacks. The apparatus determines needed vertical levelling requirement for setting the drilling platform from the initial vertical tramming position to an estimated levelled vertical drilling position. Further, the apparatus estimates displacement of the drilling tool line caused by the estimated levelling. Thus, the apparatus determines a first aiming line passing along the drilling tool at an initial position of the drilling platform and estimates a second aiming line when being lifted to the levelled drilling position. The apparatus determines intersection points between the aiming lines and a reference plane and calculates an estimated displacement between the aiming lines on the reference plane in response to the determined vertical levelling. Further, the apparatus is configured to indicate the estimated displacement on at least one visual user interface for providing the operator with information for executing the tramming to a proper initial position. Magnitude of the estimated displacement may be considered to represent an advance distance, or stopping distance, compensating for the changed aiming of the drilling tool line.
Regarding the terms, the first aiming line may be considered to represent a current or actual drilling line and the second aiming line may be considered to represent an estimated drilling line after the levelling.
An advantage of the disclosed solution is that possible misaiming of the drilling tool and positioning failure caused by the lifting measures of the drilling platform during the levelling procedure may be avoided since the phenomenon of the disclosed estimated displacement is indicated on a visual user interface for the operator. The estimated displacement may thus be easily taken into account already when tramming the rock drilling rig towards the drill hole to be drilled. Thus, the rock drilling rig may be positioned to a correct position in one go without a need for repositioning, which requires time consuming lowering, corrective tramming and relevelling of the drilling platform. When the preparatory work before the actual drilling is quickened, productivity of the actual drilling is improved. Because the displacement is calculated by means of the apparatus and is not based on rough visual and empirical estimation of the operator, more accurate drill holes may be drilled and quality of a blast is improved. The operator may execute tramming of the drilling platform under guidance provided by one or more visual user interfaces, which facilitates operation of the operator and makes work of the operator less demanding. Furthermore, the use of the visual user interface, such as a display device, is advantageous since in some constructions of the rock drilling rigs visibility to the drilling place may be limited from a control cabin, whereby position estimation made by the operator is not even possible.
According to an embodiment, the disclosed solution is utilized for drilling angular drill holes. Then, the system is configured to compensate for a parallel displacement occurring when a tilted drilling tool is together with the rock drilling rig lifted upwardly to the determined levelling position. The aiming line is moved due to the parallel displacement when the rig is raised off the ground.
According to an embodiment, the apparatus is configured to display the estimated displacement in relation to a target drill hole to be drilled next. Then, the apparatus is provided with drill hole data on the target drill hole, and based on that data, the apparatus determines a drill hole line passing along a center line of the target drill hole. Further, the apparatus determines an estimated target position for the first aiming line on the examined reference plane. The estimated target position is located at the determined estimated distance from the drill hole line. When the drilling tool line at the initial tramming position matches with the estimated target position, then the drilling tool line is estimated to match with the drill hole line after the drilling platform has been levelled to the horizontal position and desired vertical height. In other words, the estimated target position indicates for the operator a correct position for tramming the rock drilling rig and thereby quickens and facilitates the tramming phase. In this embodiment the estimated target position is generated in order to compensate for the estimated displacement caused by the estimated vertical levelling. The estimated target position may be displayed together with the drilling tool line and the drill hole line on a display device of a visual user interface by means of graphical symbols.
According to an embodiment, the apparatus is configured to display position of the drill hole line on a display device by means of a first graphical symbol. Further, position of the second aiming line is also displayed on the display device by means of a second symbol. Positions of the mentioned first and second graphical symbols are all examined on the reference plane and when the drilling platform is at the initial vertical tramming position. Further, the apparatus may indicate matching of the first symbol with the second symbol on the display device, whereby the apparatus indicates for the operator when the drilling platform is positioned correctly and may be levelled in order to execute drilling of the target drill hole.
According to an embodiment, the reference plane is a horizontal reference plane and set to vertical position corresponding with estimated vertical position of a drill bit of a drilling tool after the levelling is executed. At first, the current position of the drill bit is determined at the initial vertical tramming position on the basis of received sensing data. The drilling mast is instrumented and may comprise sensors and measuring devices for determining the drill bit position. The apparatus is configured to project the initial drill bit position vertically to the horizontal reference plane, whereby a predicted drill bit position is formed on the horizontal reference plane. The apparatus further receives drill hole data on a target drill hole to be drilled and determines a drill hole line passing along a center line of the target drill hole and via the start point. Then the start point is transferred along the center line to the horizontal reference plane. The predicted drill bit position and position of the transferred start point are indicated relative to each other on at least one visual user interface. Further, the apparatus determines on the horizontal reference plane an estimated target position for the first aiming line relative to the transferred start point compensating for the estimated horizontal displacement. Relative positions of the predicted drill bit position and the target position are indicated on the at least one visual user interface.
According to an embodiment, and as an alternative to the previous embodiment, the apparatus may examine the horizontal reference plane on any other horizontal plane with which the drilling tool lines have intersection points.
According to an embodiment, the apparatus is configured to monitor allowable lifting distance of the levelling jacks and to compare the monitoring results with the estimated levelling requirement. The apparatus indicates on the visual interface for the operator if too high lifting is required and when no adequate levelling is possible.
According to an embodiment, the apparatus is provided with one or more drilling plans or drilling patterns comprising drill hole data on several drill holes to be drilled at a drilling site. The drilling plan and the included drill hole data may be displayed on the display device and used for parameters for the calculations and estimations disclosed in this patent application.
According to an embodiment, the apparatus is configured to receive measuring data from at least one inclination measuring device or sensor determining inclination of the drilling platform at the initial tramming position. The drilling platform may be inclined after the tramming phase relative to longitudinal axis of the drilling platform as well as relative to transverse axis. The apparatus determines the magnitude of the vertical levelling requirement on the basis of the received inclination measuring data so that the drilling platform will be horizontally positioned after the levelling. Further, the apparatus may take the inclination data in to account and may minimize magnitude of the vertical levelling height. An advantage of the minimized levelling height is that sufficient drilling depth may be ensured, and further, drilling preparations may be quickened and stability of the drilling platform may be improved at the levelled position when as low levelling height as possible is applied.
According to an embodiment, magnitude of the required vertical levelling height is input or selected by an operator of the rock drilling rig. Thereby, the apparatus may receive magnitude of the required vertical levelling height. The magnitude of the required vertical levelling height may be input or selected, for example, on the basis of visual appearance of the drilling site or practical experience of the operator when the rock drilling rig is positioned. The magnitude of the levelling height may be set to be great enough to ensure proper horizontal positioning of the drilling platform.
According to an embodiment, magnitude of the vertical levelling height is determined on the basis of a surface model of the drilling site. Then the apparatus is provided with at least one surface model of the drilling site. The surface model comprises topographical data of the ground. The apparatus determines the magnitude of the needed vertical levelling height at the target drill hole on the basis of the topographical data of the surface model. The surface model may be an electronical three dimensional model (3D), which may be formed by scanning the drilling site in advance.
According to an embodiment, the apparatus is configured to receive surface measuring data from at least one surface measuring device and the apparatus is configured to determine the magnitude of the required vertical levelling height on the basis of the received surface measuring data. The surface measuring means may be onboard the rock drilling machine or external to it.
According to an embodiment, the disclosed solution is utilized for drilling angular drill holes. Drilling angle of the drill hole relative to vertical may be defined as a part of drill hole data received by the apparatus. Alternatively, the drill hole data comprises position data on a start point and end point of the drill hole and the apparatus calculates drilling angle on the basis of the start and end positions.
According to an embodiment, the apparatus is configured to ensure before executing the levelling that drilling angle of the drilling tool relative to the drilling platform corresponds with drilling angle of an angular target drill hole to be drilled next. The drilling angle of the drilling tool is adjustable by tilting a drilling mast relative to a horizontal joint between the drilling mast and the drilling platform. Typically, the tilting of the drilling mast is executed before the levelling phase and no adjustment is executed at the levelled position. The apparatus receives measuring data from at least one sensing device and determines the tilting angle of the drilling mast relative to the drilling platform, and based on that, determines drilling angle of the drilling tool. Further, the apparatus compares the drilling angle of the drilling tool to the drilling angle of the target drill hole and prevents initiation of the levelling of the drilling platform until the drilling angle of the drilling tool and the drilling angle of the target drill hole match with each other. This way, it is ensured that the drilling tool has the correct angle for drilling the angular target drill hole, whereby need for readjustment and relevelling may be avoided.
According to an embodiment, the apparatus calculates estimated horizontal displacement for a drilling tool set to a drilling angle relative to the drilling platform by utilizing trigonometric functions. Lifting of the drilling platform causes a parallel displacement for the central axis or aiming line of the drilling tool. Direction of the parallel displacement corresponds with the heading of the drilling tool. Magnitude of the horizontal displacement may, for example, be calculated by means of a trigonometric function utilizing the following formula: HD=LH*tan(DA), wherein HD is magnitude of the horizontal displacement, LH is magnitude of levelling height, and DA is magnitude of the angle of the drilling tool.
According to an embodiment, the disclosed solution is utilized for drilling vertical or substantially vertical drill holes. The vertical drill hole has no drilling angle or magnitude of the drilling angle is insignificant. When the drilling platform is at the initial tramming position inclined relative to longitudinal axis of the drilling platform, relative to transverse axis of the drilling platform, or relative to longitudinal and transverse axis, then execution of the levelling causes the estimated horizontal displacement. Direction of the estimated horizontal displacement is dependent on the detected inclination of the drilling platform relative to one or more axis. Magnitude and the direction of the horizontal displacement may be determined by utilizing trigonometric functions, for example.
According to an embodiment, the apparatus is configured to provide the operator with navigation aid on a display device for facilitating tramming of the rock drilling rig towards an angular target drill hole. The apparatus receives drill hole data on the target drill hole and determines blasting direction of the target drill hole in response to the received drill hole data. The apparatus receives data on heading of the rock drilling rig and compares the heading to the determined blasting direction. Further, the apparatus may generate guidance information based on the comparison and may present the guidance information or navigation aid on the visual user interface for aligning the heading of the rock drilling rig and the blasting direction of the target drill hole. The user interface may visualize the heading and the blasting direction relative to each other.
According to an embodiment, the apparatus is configured to receive or determine heading of the rock drilling rig and blasting direction of an angular target drill hole. The apparatus displays on a display device a horizontal indicator line for indicating the heading of the rock drilling rig in relation to the blasting direction. The apparatus may also be configured to display a horizontal blast line on the display device, compare the indicator line of the heading with the blast line and indicate matching of the indicator line and the blast line. The displayed indicator line and the blast line facilitate tramming of the rock drilling rig in the correct direction.
According to an embodiment, the apparatus is configured to receive data on position and heading of the rock drilling rig and to compare the current position and heading of the rock drilling rig to the start point and blasting direction of the target drill hole. The apparatus is further configured to generate guidance information on the basis of the comparison for executing tramming of the rig to the drilling position wherein a drilling tool is located at a horizontal displacement distance from the start point and is heading towards the blasting direction. The guidance information may be presented on a visual user interface.
According to an embodiment, the apparatus is configured to receive position and direction data from at least one a satellite-based positioning system GNSS (Global Navigation Satellite Systems), such as GPS, GLONASS, Galileo or Compass.
According to an embodiment, the apparatus determines blasting direction of an angular target drill hole and determines a horizontal blast line corresponding the determined blasting direction. Further, the apparatus determined position and heading of the rock drilling rig and also determines position of centre of movement of the rock drilling rig. The apparatus may compare the determined position of centre of movement to the horizontal blast line and may generate guidance information for moving the centre of movement on the blast line. This embodiment is useful especially for rock drilling rigs drilling platform of which is arranged on a track assembly. This kind of track vehicle has centre of movement at a section between the tracks. The track vehicle can be turned around the centre of movement without moving the rock drilling rig in any other direction. Further, the drilling tool may be located on a centre line passing through the centre of movement. Tramming of the drilling platform may comprise several consecutive steps. At first the drilling platform is moved under guidance of the disclosed apparatus and visual user interface so that the center of movement is located on the blast line. Secondly, the drilling platform is turned around the centre of movement so that the heading of the drilling platform is towards the blasting direction. Thereafter, the drilling platform is moved towards the start point of the target drill hole and is stopped at a distance corresponding to the estimated horizontal displacement from the start point.
According to an embodiment, the apparatus provides the operator with data for aiding selection of one drill hole of a plurality of drill holes defined in a drilling plan or drilling pattern. The aim of this solution is to avoid unnecessary tramming of the rock drilling rig at the drill site. The apparatus is configured to determine position and heading of the rock drilling rig and to compare the current position and heading of the rock drilling to the drilling plan and drill hole data defined in the drilling plan. The apparatus indicates one drill hole of the drilling plan, wherein dedicated drill hole data of the indicated drill hole has best match with the current position and heading of the rock drilling rig.
According to an embodiment, the apparatus is provided with a drilling plan comprising a drilling pattern for several drill holes. The drilling plan comprises pre-defined data on the drill holes to be drilled at the work site. An operator of the rock drilling rig may select one drill hole of the drilling plan to be drilled next. Alternatively, the apparatus may suggest to the operator a drill hole locating appropriately relative to the current position of the rock drilling rig.
According to an embodiment, the disclosed solution may be retrofitted with minimum effort to any existing rock drilling rig intended for drilling vertical or substantially vertical drill holes without utilizing an articulated drilling boom.
According to an embodiment, the apparatus for executing the disclosed positioning aid and visualization is located in a rock drilling rig. The rock drilling rig may comprise one or more control units provided with needed processing means for implementing the disclosed measures for determining the changes caused by the levelling and for providing navigation aid for tramming the drilling rig to a determined target position or stopping position. The on-board control unit may comprise one or more display devices and one or more input means allowing interaction between an operator of the rock drilling rig and a computer program being executed in the processing means. By means of the input means measuring data from on-board and external measuring devices may be input to the system, as well as data elements comprising drilling plans, for example.
The above disclosed embodiments can be combined in order to form suitable solutions provided with necessary features.
Some embodiments are described in more detail in the accompanying drawings, in which
For the sake of clarity, the figures show some embodiments of the disclosed solution in a simplified manner. In the figures, like reference numerals identify like elements.
A drilling pattern for assisting the drilling may be designed in an office or somewhere else external to the rock drilling rig 1 by means of a design computer. The predesigned drilling pattern may be loaded to the control unit 8 of the rock drilling rig 1 and implemented. The set data may be input to the control unit 8 or it may be stored to one or more memory devices so that it can be retrieved by the control unit 8. The operator of the rock drilling rig 1 controls the drilling interactively with the control unit 8.
Reference numeral 17 denotes the second aiming line. The second aiming line 17 is an estimated drilling line after levelling of the drilling platform 2. The second aiming line 17 passes along the drilling tool 7 at the estimated levelled drilling position.
Reference numeral 18 denotes the reference plane 18. The first aiming line 16 and the second aiming line 17 have intersection points on the reference plane 18. Due to the levelling there is a displacement between the intersection points of the aiming lines on the reference plane 18.
Reference numeral 19 denotes a drill hole line passing along a center line of the target drill hole. In the presented solution, on the basis of the drill hole line 19 and the displacement between the first and second aiming lines, an estimated target position for the first aiming line 16 is determined on the reference plane 18. The estimated target position is determined for compensating the displacement caused by the levelling. Thus, the second aiming line 17 is estimated to match with the drill hole line 19 at the estimated levelled vertical drilling position. As shown in
The height of the reference plane 18 may be selected freely. However, the height of the reference plane 18 is typically set at the estimated height where the drill bit is located after the levelling. In
The estimated displacement between the first and second aiming lines 16 and 17 may be calculated by utilizing trigonometric functions. When the reference plane 18 is a horizontal reference plane the estimated displacement is a horizontal displacement. Lifting of the drilling platform causes a parallel displacement for the central axis or aiming line of the drilling tool. Direction of the parallel displacement corresponds with the heading of the drilling tool. Magnitude of the horizontal displacement may be calculated by means of a trigonometric function utilizing the following formula: HD=LH*tan(DA), wherein HD is magnitude of the horizontal displacement, LH is magnitude of levelling height and DA is magnitude of the angel of the drilling tool.
The solution disclosed in
The user interface shows drill hole indicators 21. In angular drilling the drill hole indicator 21 also comprises a blasting direction indicator 22. The user interface also shows the heading 15 of the rock drilling rig 1. The user interface is configured to provide the operator with navigation aid for facilitating tramming of the rock drilling rig 1 towards the target drill hole. On the basis of the drill hole data on the target drill hole the blasting direction of the target drill hole is determined. On the basis of data on heading of the rock drilling rig the heading of the rock drilling rig is determined and the heading is compared to the blasting direction. The user interface shows the heading 15 and the blasting direction indicator 22 and thus presents guidance information of navigation aid for aligning the heading of the rock drilling rig and the blasting direction of the target drill hole.
The zoomed hole alignment widget 23 has a selected hole distance indicator 24. When the rock drilling rig 1 approaches the selected hole the selected hole distance indicator 24 changes or updates accordingly. In the situation disclosed in
When the rock drilling rig 1 comes closer to the selected hole, the zoomed hole alignment widget 23 shows the drill hole indicator 21 of the selected drill hole. This is illustrated in
The second aiming line indicator 25 represents the position of the second aiming line 17 on the reference plane.
In the situation disclosed in
In the situation disclosed in
The disclosed apparatus comprises at least a processing device for determining current position and direction of a tool and assisting or executing the disclosed creation and modifying procedures. Data may be input to the processing device as individual data elements or may be retrieved from one or more memory devices. The processing device may comprise a computer program product, which is executed. The computer program may be recorded on non-transitory computer-readable media including program instructions for implementing various operations executed by a computer. The operator may input data and make selections via one or more input devices. The input device may be a touch screen, a keypad, a mouse or any other suitable control device. The processing device may execute needed calculations and may display drilling and positioning data on a display device. The processing device may also provide the operator with predetermined drilling aid and may show assisting symbols and data on the display device. Further, the apparatus may comprise an output device for storing produced data on a memory device or transmitting the data to another control unit or mining vehicle. Let it be mentioned that the processing device and a control unit of the rock drilling rig may be separate devices or they can be integrated.
A computer program for implementing the features disclosed in this patent application may be recorded in non-transitory computer-readable media including program instructions to implement various operations embodied by a computer. The media may also include, alone or in combination with the program instructions, data files, data structures, and the like. Examples of computer-readable media or computer-readable storage devices include magnetic media such as hard disks, and optical media such as CR-ROM disks and DVDs, flash memory means, and hardware devices that are configured to store software. The computer-readable media may be a plurality of computer-readable storage devices in a distributed network, so that the program instructions are stored in a plurality of computer-readable storage devices and executed in a distributed fashion. The program instructions may be executed by one or more processors or processing devices.
The drawings and the related description are only intended to illustrate the idea of the invention. In its details, the invention may vary within the scope of the claims.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2016/065475 | 7/1/2016 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2018/001506 | 1/4/2018 | WO | A |
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| Number | Date | Country | |
|---|---|---|---|
| 20200308914 A1 | Oct 2020 | US |
