Apparatus and method for positioning rock drilling rig

Abstract

An apparatus, a method for positioning a rock drilling, and a rock drilling rig is provided. The rock drilling rig includes a mobile drilling platform and a drilling mast connected to the drilling platform. The drilling platform is levelled vertically before initiating drilling. The apparatus determines the needed vertical levelling requirement. The levelling causes displacement of a drilling tool line passing through a drilling tool. The apparatus estimates the displacement and provides aid for the operator to position the drilling platform in order to compensate for the estimated displacement distance.

Claims

1. An apparatus comprising at least one data processing device arranged for determining a drilling position for a rock drilling rig for drilling at least one drill hole at a drilling site, and wherein the rock drilling rig includes a mobile drilling platform and a drilling mast provided with a rock drilling machine and a drilling tool connected to the rock drilling machine, the drilling mast being tilted relative to the drilling platform to set an angle of the drilling tool to correspond with a drilling angle of a target drill; wherein the rock drilling rig is positioned by tramming the drilling platform to a drilling position in accordance with a start point of the target drill hole, the drilling mast, the drilling unit and the drilling tool are arranged to move vertically, the apparatus being configured to perform the steps of: receiving sensing data on position and orientation of the drilling tool; determining a first aiming line passing along the drilling tool at an initial vertical tramming position of the drilling platform; determining data on a vertical levelling requirement for levelling the drilling platform from the initial vertical tramming position to an estimated levelled vertical drilling position; determining a second aiming line passing along the drilling tool at the estimated levelled drilling position; determine intersection points between the aiming lines and a reference plane; calculating an estimated displacement between the aiming lines on the reference plane in response to the determined vertical levelling requirement; indicating the estimated displacement on at least one visual user interface; and levelling the drilling platform by tramming the drilling platform vertically from the initial vertical tramming position to the levelled vertical drilling position.

2. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: receive drill hole data on a target drill hole to be drilled; determine a drill hole line passing along a center line of the target drill hole; and determine on the reference plane an estimated target position for the first aiming line at a distance corresponding with the estimated displacement and relative to the drill hole line compensating for the estimated displacement caused by the levelling, whereby the second aiming line is estimated to match with the drill hole line at the estimated levelled vertical drilling position.

3. The apparatus as claimed in claim 2, wherein the apparatus is further configured to: display a position of the drill hole line on a display device by means of a first graphical symbol; display a position of the second aiming line by means of a second graphical symbol on the display device; display positions of the drill hole and second aiming lines on the reference plane; and indicate matching of the first graphical symbol with the second graphical symbol on the display device.

4. The apparatus as claimed in claim 3, wherein the apparatus is further configured to: display a position of the first aiming line by means of a third graphical symbol; and indicate matching of the third graphical symbol with the first and second graphical symbols.

5. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: determine data on inclination of the drilling platform at the initial vertical tramming position; estimate direction of the displacement in response to the received data on the inclination; and determine an estimated target position on the reference plane at the estimated distance and direction corresponding with the estimated displacement.

6. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: receive sensing data on position of a drill bit of the drilling tool; determine the initial position of the drill bit in response to the received sensing data at the initial vertical tramming position; determine the reference plane as a horizontal reference plane and at a vertical distance from the initial position of the drill bit in response to the determined vertical levelling requirement; 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; receive drill hole data on a target drill hole to be drilled, wherein the drill hole data comprises at least a start point; determine a drill hole line passing along a center line of the target drill hole and via the start point; transfer the start point along the center line to the horizontal reference plane; indicate the predicted drill bit position and position of the transferred start point relative to each other on at least one visual user interface; determine 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; and indicate relative positions of the predicted drill bit position and the estimated target position on the at least one visual user interface.

7. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: receive sensing data on the position and orientation of the drilling tool; determine heading of the drilling tool in response to the received sensing data; receive drill hole data on a target drill hole to be drilled; determine a drill hole line passing along a center line of the target drill hole; compare heading of the drilling tool with the drill hole line; and indicate a target position on the reference plane at the estimated horizontal displacement distance and in the direction towards the drill hole line when the drill hole line is located in the direction of the heading of the drilling tool.

8. The apparatus as claimed in claim 1, wherein the apparatus is further configured to receive measuring data from at least one inclination measuring device determining inclination of the drilling platform at the initial tramming position and determine the magnitude of the vertical levelling requirement on the basis of the received inclination measuring data.

9. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: receive drill hole data on a target drill hole to be drilled; determine a blasting direction of the target drill hole in response to the received drill hole data; and determine the estimated displacement in the direction corresponding with the determined blasting direction.

10. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: receive drill hole data on an angular target drill hole; determine a drilling angle of the target drill hole; receive measuring data from at least one sensing device and determine a tilting angle of the drilling mast relative to the drilling platform; determine drilling angle of the drilling tool relative to the drilling platform and in response to the determined tilting angle; compare the drilling angle of the drilling tool to the drilling angle of the target drill hole; and prevent 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.

11. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: receive drill hole data on a target drill hole to be drilled; determine blasting direction of the target drill hole in response to the received drill hole data; receive data on heading of the rock drilling rig; compare the heading to the determined blasting direction; and provide information on the visual user interface of alignment of the heading and the blasting direction.

12. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: determine a blasting direction of an angular target drill hole; determine a horizontal blast line corresponding the blasting direction; receive data on position and heading of the rock drilling rig; determine position of center of movement of the rock drilling rig; and compare the determined position of center of movement to the horizontal blast line and generate guidance information for moving the center of movement on the blast line.

13. The apparatus as claimed in claim 1, wherein the apparatus is further configured to: receive position data of the rock drilling rig; determine current position and heading of the rock drilling rig; receive a drilling plan comprising several drill holes and being provided with drill hole data comprising at least position data on start points and end points; determine blasting directions of the drill holes; compare the current position and heading of the rock drilling to the drilling plan and the defined drill hole data; and indicate one drill hole of the drilling plan the dedicated drill hole data of which drill hole best matches with the current position and heading of the rock drilling rig.

14. A rock drilling rig comprising: a mobile drilling platform; a drilling mast connected to the drilling platform by horizontal tilting joint; a drilling unit supported movably to the drilling mast and including a rock drilling machine; and several levelling actuators for lifting the drilling platform vertically from an initial vertical tramming position to a levelled vertical drilling position; wherein the rock drilling rig includes an apparatus according to claim 1.

15. A method of drilling angular drill holes, the method comprising: providing a drilling a rock drilling rig including a mobile drilling platform, a drilling mast, at least one rock drilling unit supported by the drilling mast and a drilling tool connected to the drilling unit, the drilling mast, the drilling unit and the drilling tool being arranged to move vertically; determining a target drill hole to be drilled; tilting the drilling mast relative to the drilling platform to set an angle of the drilling tool to correspond with a drilling angle of the target drill hole and in response to the drilling platform; positioning the rock drilling rig by tramming the drilling platform to a drilling position in accordance with a start point of the target drill hole; leveling the drilling platform after the tramming vertically from the initial vertical tramming position to a levelled vertical drilling position, whereby also; drilling a drill hole by means of the drilling tool; receiving sensing data on position and orientation of the drilling tool; determining a first aiming line passing along the drilling tool at an initial vertical tramming position of the drilling platform; determining data on vertical levelling requirement for levelling the drilling platform from the initial vertical tramming position to an estimated levelled vertical drilling position; determining a second aiming line passing along the drilling tool at the estimated levelled drilling position; determining intersection points between the aiming lines and a reference plane; calculating an estimated displacement between the aiming lines on the reference plane in response to the determined vertical levelling requirement; indicating the estimated displacement for providing positioning information; and moving by means of the tramming the drilling tool at the displacement distance from the target drill hole until initiating the leveling.

Description

BRIEF DESCRIPTION OF THE FIGURES

(1) FIG. 1 is a side view of a rock drilling rig according to the present disclosure.

(2) FIG. 2 is a side view of the rock drilling rig before levelling.

(3) FIG. 3 is a side view of the rock drilling rig after levelling.

(4) FIG. 4 schematically shows a user interface of the rock drilling rig.

(5) FIGS. 5a, 5b, 5c and 5d schematically show a zoomed view of the user interface shown in FIG. 4.

(6) 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.

DETAILED DESCRIPTION

(7) FIG. 1 shows a rock drilling rig 1 including a movable drilling platform 2, a drilling mast 3 and a drilling unit 4 arranged on the drilling mast 3. The drilling unit 4 includes a rock drilling machine 5, which is supported by the drilling mast 3 and can be moved by means of a feed device 6. The drilling mast 3 is connected to the drilling platform 2 by means of a horizontal joint H, whereby the drilling mast may be tilted relative to the drilling platform 2. Further, the drilling unit 4 includes a drilling tool 7, which is rotated by the rock drilling machine 5.

(8) At a distal end of the drilling tool is a drill bit 7a. The rock drilling machine 5 may have a rotating device for rotating the drilling tool 7, and at the opposite end portion of the drilling tool 7 may be an impact device, which may be a so called down-the-hole (DTH) impact device.

(9) The rock drilling rig 1 further includes at least one control unit 8 arranged to control actuators of the rock drilling rig 1, for example. The on-board control unit 8 may be a computer, processing device or a corresponding device, and it may have a user interface with a display device 9, as well as control means for giving commands and information to the control unit 8. The control unit 8 may be one computer equipped with appropriate software, or an entity consisting of a plurality of computers.

(10) 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.

(11) FIG. 1 further illustrates that measuring or sensing means 10 may be arranged to determine current position and direction of the tool 7. Needed sensor means 14 may locate on the drilling mast 3. Thus, the rock drilling rig 1 and the drilling mast 3 may be instrumented. Alternatively the sensing may be executed remotely.

(12) The rock drilling rig 1 may be provided with a satellite based navigation and positioning system 11. The satellite based navigation and positioning system 11 may be a GPS system having a GPS receiver, a primary antenna and a secondary antenna. The GPS system may also include one or more computational units and/or computers. The devices in the system may be connected by a CAN bus and/or Ethernet connection and/or a serial connection and/or wireless connection or any other suitable connecting means.

(13) FIG. 2 shows the rock drilling rig 1 that is positioned by tramming the drilling platform 2 close to a start point 20 of a target drill hole. Reference numeral 16 denotes the first aiming line. The first aiming line 16 passes along the drilling tool 7. The first aiming line 16 may also be called a current or actual drilling line. 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.

(14) Reference numeral 18 denotes the reference plane. 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.

(15) 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.

(16) As shown in FIG. 3, after levelling, the first aiming line 16 matches with the second aiming line 17. Naturally, after levelling both the first and second aiming lines match with the drill hole line 19 and the rock drilling rig 1 is ready for drilling.

(17) The height of the reference plane 18 may be selected freely. However, the height of reference plane 18 is typically set at the estimated height where the drill bit is located after the levelling.

(18) In FIGS. 2 and 3, the reference plane 18 is a horizontal reference plane. However, it may be possible that the reference plane is not horizontal but the reference plane 18 may be any suitable calculatory reference plane through which the aiming lines 16 and 17 have intersection points.

(19) 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. The direction of the parallel displacement corresponds with the heading of the drilling tool. The 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 angle of the drilling tool.

(20) The solution disclosed in FIGS. 2 and 3 may also be described as follows. First sensing data on position of the drill bit 7a of the drilling tool 7 is received. An initial position of the drill bit 7a in response to the received sensing data at the initial vertical tramming position is determined. The reference plane 18 is determined as a horizontal reference plane and at the vertical distance from the initial position of the drill bit in response to the determined vertical levelling requirement or levelling height LH. The initial drill bit position is projected vertically to the horizontal reference plane, whereby a predicted drill bit position 7a′ is formed on the horizontal reference plane 18. Drill hole data on a target drill hole 10 to be drilled is received, wherein the drill hole data includes at least a start point 20. The drill hole line 19 passing along a center line of the target drill hole and via the start point 20 is determined. The start point 20 is transferred along the drill hole line 19 to the horizontal reference plane 18. The predicted drill bit position 7a′ and position of the transferred start point relative to each other are indicated on at least one visual user interface. An estimated target position for the first aiming line 16 relative to the transferred start point on the horizontal reference plane is determined for compensating the estimated horizontal displacement HD. The relative positions of the predicted drill bit position 7a′ and the estimated target position are indicated on the at least one visual user interface.

(21) FIG. 4 illustrates a user interface showing a birds eye view pane of hole alignment information. The lower right corner of FIG. 4 shows a zoomed hole alignment widget 23. The user interface may also have a drilling plan/hole pane and/or a hole information pane, for example.

(22) The user interface shows drill hole indicators 21. In angular drilling, the drill hole indicator 21 also includes 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.

(23) 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 FIG. 5a the distance of the rock drilling rig 1 to the selected hole is too big and therefore the zoomed hole alignment widget 23 does not show the drill hole indicator 21 at all. Thus, only the open centered “x” marker representing a second aiming line indicator 25 is shown in the zoomed hole alignment widget 23.

(24) 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 FIG. 5b. The zoomed hole alignment widget 23 also shows the selected hole distance indicator 24. In the zoomed hole alignment widget 23 the drill hole indicator 21 represents the position of the drill hole line 19 on the reference plane. The second aiming line indicator 25 represents the position of the second aiming line 17 on the reference plane.

(25) In FIG. 5c the second aiming line 17 matches with the drill hole line 19. Thus, FIG. 5c shows the situation as illustrated in FIG. 2. In the zoomed hole alignment widget 23 the second aiming line indicator 25 matches with the drill hole indicator 21. In this situation the color of the second aiming line indicator 25 may change.

(26) In FIG. 5c the zoomed hole alignment widget 23 shows a first aiming line indicator 26. The first aiming line indicator 26 indicates the position of the first aiming line 16 on the reference plane.

(27) In the FIGS. 2 and 5c the drilling platform 2 is ready for levelling. In the zoomed hole alignment widget the selected hole distance indicator 24 has disappeared but instead a levelling requirement indicator 27 is shown. Also a levelling indicator 28 illustrating the levelling situation is shown.

(28) FIG. 5d shows the situation after levelling. The situation in FIG. 5d corresponds to the situation illustrated in FIG. 3. Thus, the first aiming line 16 matches with the drill hole line 19 and the zoomed hole alignment widget 23 indicates the matching of a first aiming line indicator 26 with the drill hole indicator 21 and the second aiming line indicator 25.

(29) The disclosed apparatus includes 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 have 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 10 device. Further, the apparatus may include an output device for storing produced data on a memory device or transmitting the data to another control unit or mining vehicle. It should be appreciated that the processing device and a control unit of the rock drilling rig may be separate devices or they can be integrated.

(30) A computer program for implementing the features disclosed herein 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.

(31) Although the present embodiments have been described in relation to particular aspects thereof, many other variations and modifications and other uses will become apparent to those skilled in the art. It is preferred therefore, that the present embodiments be limited not by the specific disclosure herein, but only by the appended claims.