CA1332968C - Method of positioning a feed beam provided with a rock drilling machine - Google Patents
Method of positioning a feed beam provided with a rock drilling machineInfo
- Publication number
- CA1332968C CA1332968C CA000581413A CA581413A CA1332968C CA 1332968 C CA1332968 C CA 1332968C CA 000581413 A CA000581413 A CA 000581413A CA 581413 A CA581413 A CA 581413A CA 1332968 C CA1332968 C CA 1332968C
- Authority
- CA
- Canada
- Prior art keywords
- feed beam
- positioning
- transmitters
- drilling machine
- rock drilling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/186—Determination of attitude
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Earth Drilling (AREA)
- Geophysics And Detection Of Objects (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
A method of positioning a feed beam provided with arock drilling machine.
Two at a distance from each other on the feed beam (12) positioned ultrasonic transmitters (16,17) together with three microphones (13,14,15), which have been positioned in laser beams (33,34,35), are used for measuring the positions in space of the transmitters. The feed beam is then positioned such that the transmitters obtain those coordinates in a rock fixed coordinate system Which give desired position and direction for the feed beam.
Two at a distance from each other on the feed beam (12) positioned ultrasonic transmitters (16,17) together with three microphones (13,14,15), which have been positioned in laser beams (33,34,35), are used for measuring the positions in space of the transmitters. The feed beam is then positioned such that the transmitters obtain those coordinates in a rock fixed coordinate system Which give desired position and direction for the feed beam.
Description
~ ' 13329~8 A method of positioning a feed beam provided with a rock drilling ~ch~ne The present invention relates to a method of positioning a feed beam provided with a rock drilling ~^hlnP in a predetermined position and with a predetermined direction relative to a coordinate system common for a rock body. The method according to the invention is particularly suitable for use in so-called production drilling, i.e. when mineral, whose position in space earlier has been determined by means of prospecting drilling or other methods, is to be mined.
According to prior art one has, in order to achieve high precision in the positioning of the rock drilling -chln~, had to use complicated measuring methods performed by special mine surveyors. Because of this one has had to decrease the d~ - ds for accuracy in the measurement in order not to make the mining too expensive and slow. As a consequence one has obtained more rock waste in the mining which has increased the costs. Therfore, one had to balance between the requirements of low measuring costs and little rock waste.
Through the present invention, which is defined in the subsequent claims, a simple and accurate measuring method is achieved. In the method according to the invention oscillation energy is used in order to measure the distances between a number of points which are fixed, although movable relative to the coordinate system made up for the area where drilling is to occur, and some points which are fixed relative to the drilling -^hln~. This oscillation energy can for instance be in the form of ultrasonic, microwave or optical radiation. The ultrasonic technique has the advantage of being both cheap and accurate. One can increase the accuracy through increasing the frequency of the ultrasonic signal. The frequency is mainly limited by the damping of the signal which results therein that the measurable distance becomes impractically short at too high frequencies. A frequency of 100-200 kHz has turned out to be suitable.
The fixed receivers/transmitters, the mic,ophones, are positioned by means of elec~ qEr~tic beams, for instance laser beams, which are sent out in predetermined, preferably parallel, directions. The beams have predetermined positions in space. In order to get the microphones in a certain plane a 87010utlans 2 1 3 3 2 9 ~ 8 turnable microprism is used which is positioned in one of the laser beams.
With this set-up one can continue with the drilling for 10-15 m before a new set-up of the microphones is needed. The positioning of the microphones lengthwise in the tunnel is determined by means of a measuring tape. Those transmitters/receivers which are positioned on the feed beam of the drill rig are suitably ultrasonic generators.
In the practising of the invention one suitably uses a microprocessor with accompanying memory for storing the different measured delay time intervals and for calculating how the feed beam should be steered in order that the predetermined position and the predetermined direction is to be achieved.
Such a system can control the presentation of the position of the feed beam on a display or in a more automized system directly control the drill rig so that the drilling can take place in a fully automatic way.
An embodiment of the invention is described below with reference to the accompnying drawing which schematically shows a mine gate and a feed beam provided with measuring equipment for the practising of the invention positioned therein.
In the drawing a rock body 21, in which a room 22 has been blasted, is shown. When the invention is practised three electromagnetic beams, for instance laser beams, 33,34 35 are created in predetermined, preferably parallel, directions with predetermined positions. A microphone 13,14 and 15 respectively is positioned in each of the elec~L. ~gnetic beams. In order to get the microphones in a common plane a not shown turnable microprism is used. In this way one can easily obtain a microphone plane which is parallel to another microphone plane situated at a distance. In the room 22 a drill rig, of which the feed beam 12 is shown, is placed. The feed beam is provided with a rock drilling machine 11 movable to-and-fro along the feed beam. Two ultrasonic transmitters 16,17 are provided on the feed beam.
Through measuring of the delay time interval for the ultrasonic sound between each of the sound transmitters and each of the microphones the positions of the ultrasonic transmitters in space is determined. Through this the position and direction of the feed beam in space is determined. The feed beam is then controlled, manually or automatically, so that the ultrasonic transmitters come into predetermined positions relative to a 87010utlans . -- ~
1~32~
7!--common coordinate system for the rock body 21. The delay time intervals between the transmitter 16 and the different-microphones are represented by the Lengths of the lines 63,64 and 65. The delay time intervals between the transmitter 17 and the different microphones are represented by the lengths of the lines 73,74 and 75. When so is desirable the measurements and calculations of positions and directioons and possibly automatic alignment of the feed beam are performed with the aid of a microprocessor.
87010utlans
According to prior art one has, in order to achieve high precision in the positioning of the rock drilling -chln~, had to use complicated measuring methods performed by special mine surveyors. Because of this one has had to decrease the d~ - ds for accuracy in the measurement in order not to make the mining too expensive and slow. As a consequence one has obtained more rock waste in the mining which has increased the costs. Therfore, one had to balance between the requirements of low measuring costs and little rock waste.
Through the present invention, which is defined in the subsequent claims, a simple and accurate measuring method is achieved. In the method according to the invention oscillation energy is used in order to measure the distances between a number of points which are fixed, although movable relative to the coordinate system made up for the area where drilling is to occur, and some points which are fixed relative to the drilling -^hln~. This oscillation energy can for instance be in the form of ultrasonic, microwave or optical radiation. The ultrasonic technique has the advantage of being both cheap and accurate. One can increase the accuracy through increasing the frequency of the ultrasonic signal. The frequency is mainly limited by the damping of the signal which results therein that the measurable distance becomes impractically short at too high frequencies. A frequency of 100-200 kHz has turned out to be suitable.
The fixed receivers/transmitters, the mic,ophones, are positioned by means of elec~ qEr~tic beams, for instance laser beams, which are sent out in predetermined, preferably parallel, directions. The beams have predetermined positions in space. In order to get the microphones in a certain plane a 87010utlans 2 1 3 3 2 9 ~ 8 turnable microprism is used which is positioned in one of the laser beams.
With this set-up one can continue with the drilling for 10-15 m before a new set-up of the microphones is needed. The positioning of the microphones lengthwise in the tunnel is determined by means of a measuring tape. Those transmitters/receivers which are positioned on the feed beam of the drill rig are suitably ultrasonic generators.
In the practising of the invention one suitably uses a microprocessor with accompanying memory for storing the different measured delay time intervals and for calculating how the feed beam should be steered in order that the predetermined position and the predetermined direction is to be achieved.
Such a system can control the presentation of the position of the feed beam on a display or in a more automized system directly control the drill rig so that the drilling can take place in a fully automatic way.
An embodiment of the invention is described below with reference to the accompnying drawing which schematically shows a mine gate and a feed beam provided with measuring equipment for the practising of the invention positioned therein.
In the drawing a rock body 21, in which a room 22 has been blasted, is shown. When the invention is practised three electromagnetic beams, for instance laser beams, 33,34 35 are created in predetermined, preferably parallel, directions with predetermined positions. A microphone 13,14 and 15 respectively is positioned in each of the elec~L. ~gnetic beams. In order to get the microphones in a common plane a not shown turnable microprism is used. In this way one can easily obtain a microphone plane which is parallel to another microphone plane situated at a distance. In the room 22 a drill rig, of which the feed beam 12 is shown, is placed. The feed beam is provided with a rock drilling machine 11 movable to-and-fro along the feed beam. Two ultrasonic transmitters 16,17 are provided on the feed beam.
Through measuring of the delay time interval for the ultrasonic sound between each of the sound transmitters and each of the microphones the positions of the ultrasonic transmitters in space is determined. Through this the position and direction of the feed beam in space is determined. The feed beam is then controlled, manually or automatically, so that the ultrasonic transmitters come into predetermined positions relative to a 87010utlans . -- ~
1~32~
7!--common coordinate system for the rock body 21. The delay time intervals between the transmitter 16 and the different-microphones are represented by the Lengths of the lines 63,64 and 65. The delay time intervals between the transmitter 17 and the different microphones are represented by the lengths of the lines 73,74 and 75. When so is desirable the measurements and calculations of positions and directioons and possibly automatic alignment of the feed beam are performed with the aid of a microprocessor.
87010utlans
Claims
Claim:
A method of positioning a feed beam (12) provided with a rock drilling machine (11) in a predetermined position and with a predetermined direction relative to a common coordinate system for a rock body (21), characterized in that at least three electromagnetic beams (33,34,35) are created with predetermined direction and position in a room (22), that a receiver/transmitter (13,14,15) for oscillation energy is positioned in each of said electromagnetic beams, that at least two transmitters/receivers (16,17) for oscillation energy are positioned at a distance from each other on said feed beam (12), that the delay time interval for oscillation energy between each of said transmitters/receivers on the feed beam and each of said receivers/transmitters positioned by means of said electromagnetic beams is measured and that the positioning of the feed beam is controlled such that said measured delay time intervals achieve predetermined values.
A method of positioning a feed beam (12) provided with a rock drilling machine (11) in a predetermined position and with a predetermined direction relative to a common coordinate system for a rock body (21), characterized in that at least three electromagnetic beams (33,34,35) are created with predetermined direction and position in a room (22), that a receiver/transmitter (13,14,15) for oscillation energy is positioned in each of said electromagnetic beams, that at least two transmitters/receivers (16,17) for oscillation energy are positioned at a distance from each other on said feed beam (12), that the delay time interval for oscillation energy between each of said transmitters/receivers on the feed beam and each of said receivers/transmitters positioned by means of said electromagnetic beams is measured and that the positioning of the feed beam is controlled such that said measured delay time intervals achieve predetermined values.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE8704190-1 | 1987-10-28 | ||
| SE8704190A SE460077B (en) | 1987-10-28 | 1987-10-28 | Adjustment of rock drilling machine feeder beam |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1332968C true CA1332968C (en) | 1994-11-08 |
Family
ID=20370030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000581413A Expired - Fee Related CA1332968C (en) | 1987-10-28 | 1988-10-27 | Method of positioning a feed beam provided with a rock drilling machine |
Country Status (4)
| Country | Link |
|---|---|
| AU (1) | AU604573B2 (en) |
| CA (1) | CA1332968C (en) |
| FI (1) | FI884970A (en) |
| SE (1) | SE460077B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI98759C (en) * | 1995-01-20 | 1997-08-11 | Tamrock Oy | A method for determining the location of a rock drilling tool |
-
1987
- 1987-10-28 SE SE8704190A patent/SE460077B/en not_active IP Right Cessation
-
1988
- 1988-10-27 FI FI884970A patent/FI884970A/en not_active Application Discontinuation
- 1988-10-27 CA CA000581413A patent/CA1332968C/en not_active Expired - Fee Related
- 1988-10-27 AU AU24378/88A patent/AU604573B2/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| FI884970A (en) | 1989-04-29 |
| SE460077B (en) | 1989-09-04 |
| AU604573B2 (en) | 1990-12-20 |
| SE8704190L (en) | 1989-04-29 |
| FI884970A0 (en) | 1988-10-27 |
| SE8704190D0 (en) | 1987-10-28 |
| AU2437888A (en) | 1989-05-04 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKLA | Lapsed |