CA2881259A1 - Method, rock drilling rig and control apparatus - Google Patents
Method, rock drilling rig and control apparatus Download PDFInfo
- Publication number
- CA2881259A1 CA2881259A1 CA2881259A CA2881259A CA2881259A1 CA 2881259 A1 CA2881259 A1 CA 2881259A1 CA 2881259 A CA2881259 A CA 2881259A CA 2881259 A CA2881259 A CA 2881259A CA 2881259 A1 CA2881259 A1 CA 2881259A1
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- Prior art keywords
- drilling
- rig
- rock drilling
- drilling rig
- rock
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- 238000005553 drilling Methods 0.000 title claims abstract description 334
- 239000011435 rock Substances 0.000 title claims abstract description 142
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000015654 memory Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 4
- 230000003245 working effect Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 description 9
- 239000000463 material Substances 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 229920000136 polysorbate Polymers 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
- E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/30—Specific pattern of wells, e.g. optimising the spacing of wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C37/00—Other methods or devices for dislodging with or without loading
- E21C37/16—Other methods or devices for dislodging with or without loading by fire-setting or by similar methods based on a heat effect
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
Method and control apparatus for controlling more than one rock drilling rig operating on the same working site (1), and a rock drilling rig (3a, 3b). A master (5; 5') controls the drilling by the rock drilling rigs (3a, 3b) via a wireless network (NW) and sends the rig the necessary information about the drilling plan of the working site (1).
Description
Method, rock drilling rig and control apparatus Field of the invention This invention relates to a method for controlling more than one rock drilling rig operating on the same working site, whereby each rock drilling rig drills holes according to a designed drilling plan. Further, this invention re-lates to a rock drilling rig for operating with at least one other rock drilling rig on the same working site, whereby the rock drilling rig drills holes according to a designed drilling plan. Further, this invention relates to a control apparatus for controlling more than one rock drilling rig operating on a working site, each rock drilling rig being configured to drill holes according to a designed drilling plan.
Background of the invention In major working sites there may be a need to drill hundreds or even thousands of holes in the rock to be drilled. In these cases more than one rock drilling rig is used and the number of rock drilling rigs is not limited.
For the drilling, each rock drilling rig has a separate drilling plan in which the position as well as the length and direction of the holes in a separate working area are given. The drilling plan is stored in the memory of a control computer of the rock drilling rig. The computer is used to help the control of the rock drilling rig and the drilling of the holes. The rock drilling rigs are posi-tioned on the basis of a positioning system like GPS or some other available positioning system. This kind of positioning system may be a local positioning system having transmitters and receivers.
When all the holes of the separate drilling plan have been drilled, the rock drilling rig is given a new separate drilling plan either by using a memory device or by sending it wirelessly to the control computer of the rock drilling rig. This is done for each rock drilling rig separately.
The drilling plans for each rock drilling rig are typically designed by using an office computer in which the drilling plan has been stored before starting the drilling work.
It may be complicated to design and to control several separate drilling plans. The follow-up of the overall progress of multiple drilling rigs may be difficult.
Background of the invention In major working sites there may be a need to drill hundreds or even thousands of holes in the rock to be drilled. In these cases more than one rock drilling rig is used and the number of rock drilling rigs is not limited.
For the drilling, each rock drilling rig has a separate drilling plan in which the position as well as the length and direction of the holes in a separate working area are given. The drilling plan is stored in the memory of a control computer of the rock drilling rig. The computer is used to help the control of the rock drilling rig and the drilling of the holes. The rock drilling rigs are posi-tioned on the basis of a positioning system like GPS or some other available positioning system. This kind of positioning system may be a local positioning system having transmitters and receivers.
When all the holes of the separate drilling plan have been drilled, the rock drilling rig is given a new separate drilling plan either by using a memory device or by sending it wirelessly to the control computer of the rock drilling rig. This is done for each rock drilling rig separately.
The drilling plans for each rock drilling rig are typically designed by using an office computer in which the drilling plan has been stored before starting the drilling work.
It may be complicated to design and to control several separate drilling plans. The follow-up of the overall progress of multiple drilling rigs may be difficult.
W02009129143 discloses usage of several drilling gantries for forming wellbores. Positioning and/or tracking system may be utilized to track drilling gantries and other equipment and material at the wellbore site.
US2012103598 discloses a sequencing algorithm for planned holes for a mobile drill rig. The drill rig comprises a positioning module which may transmit information to a controller in the drill rig. A hole pattern may be trans-ferred to the drilling rig from an operation station. A sequencing module in the drilling rig may sequence the order in which the planned holes are drilled.
The positioning module and a drilling module in the drilling rig then execute the se-quenced order.
Brief description of the invention The object of this invention is to create a method for controlling rock drilling when using more than one rock drilling rig on the same work field.
Another object of this invention is to create a rock drilling rig for op-erating with at least one other rock drilling rig on the same working site.
Still another object of this invention is to create a control apparatus for controlling more than one rock drilling rig operating on a working site.
The basic idea underlying the method is that only one drilling plan which defines the positions, directions and lengths and other possible features of all holes for the working site is needed. Another idea of the method is that there is a master unit which controls the drilling and sends appropriate infor-mation about the drilling plan to each rock drilling rig working on the same working site.
In one embodiment of the method only a part of the whole drilling plan that defines a working area for the rig is sent to each rock drilling rig from the master unit.
In another embodiment of the method the whole drilling plan and separate information on which part of the drilling plan each rock drilling rig has to drill is sent to each rock drilling rig from the master unit.
Still in another embodiment of the method, information on the holes which have been drilled is sent to the master unit, advantageously after each drilled hole so that the master unit has all the time the up-to-date information on the drilling and the drilled holes. The master can also send the information on the drilled holes to all rigs at the working site.
The basic idea underlying the rock drilling rig is that it comprises a control unit for controlling the operation of the rock drilling rig, a memory for storing the information sent to the rock drilling rig, a positioning system configured to define the position of the rock drilling rig on the working site, wireless communication means for sending the position information on the rock drilling rig to a master unit outside the rock drilling rig and to re-ceive rig-specific drilling instructions for controlling drilling of holes defined by the master unit on the basis of the position information, wherein the control unit is configured to control drilling of holes according to the received drilling instructions.
In one embodiment of the rock drilling rig the control unit is ar-ranged to receive a drilling plan of the whole working site and information on a working area defined by the master unit for the rock drilling rig, which working area covers only a part of the drilling plan area of the working site.
In another embodiment of the rock drilling rig the control unit of the rock drilling rig is arranged to receive only a part of the whole drilling plan of the working site, which part defines the working area defined by the master for the rock drilling rig.
Still in another embodiment of the rock drilling rig the control unit of the rock drilling rig is arranged to send to the master unit drilling status infor-mation indicating at least the drilled holes.
The basic idea underlying the control apparatus is that it comprises:
a master unit for controlling the operation of each rock drilling rig on the basis of a drilling plan covering the working site and stored on a memory of the control apparatus, the master unit being implemented outside of at least one of the drilling rigs and being further configured to:
receive position information on at least one of the rock drilling rigs in the system via a wireless connection, define, on the basis of the position information, rig-specific drilling instructions for a selected rock drilling rig for controlling drilling of holes, and send the rig-specific drilling instructions from the master unit to the selected rock drilling rig via a wireless connection.
In one embodiment of the control apparatus, the master unit is further configured to: receive information on the drilled holes and/or other status information from at least some of the drilling rigs, and redefine drilling instructions for each rock drilling rig on the basis of the information of the drilled holes and/or the status information.
US2012103598 discloses a sequencing algorithm for planned holes for a mobile drill rig. The drill rig comprises a positioning module which may transmit information to a controller in the drill rig. A hole pattern may be trans-ferred to the drilling rig from an operation station. A sequencing module in the drilling rig may sequence the order in which the planned holes are drilled.
The positioning module and a drilling module in the drilling rig then execute the se-quenced order.
Brief description of the invention The object of this invention is to create a method for controlling rock drilling when using more than one rock drilling rig on the same work field.
Another object of this invention is to create a rock drilling rig for op-erating with at least one other rock drilling rig on the same working site.
Still another object of this invention is to create a control apparatus for controlling more than one rock drilling rig operating on a working site.
The basic idea underlying the method is that only one drilling plan which defines the positions, directions and lengths and other possible features of all holes for the working site is needed. Another idea of the method is that there is a master unit which controls the drilling and sends appropriate infor-mation about the drilling plan to each rock drilling rig working on the same working site.
In one embodiment of the method only a part of the whole drilling plan that defines a working area for the rig is sent to each rock drilling rig from the master unit.
In another embodiment of the method the whole drilling plan and separate information on which part of the drilling plan each rock drilling rig has to drill is sent to each rock drilling rig from the master unit.
Still in another embodiment of the method, information on the holes which have been drilled is sent to the master unit, advantageously after each drilled hole so that the master unit has all the time the up-to-date information on the drilling and the drilled holes. The master can also send the information on the drilled holes to all rigs at the working site.
The basic idea underlying the rock drilling rig is that it comprises a control unit for controlling the operation of the rock drilling rig, a memory for storing the information sent to the rock drilling rig, a positioning system configured to define the position of the rock drilling rig on the working site, wireless communication means for sending the position information on the rock drilling rig to a master unit outside the rock drilling rig and to re-ceive rig-specific drilling instructions for controlling drilling of holes defined by the master unit on the basis of the position information, wherein the control unit is configured to control drilling of holes according to the received drilling instructions.
In one embodiment of the rock drilling rig the control unit is ar-ranged to receive a drilling plan of the whole working site and information on a working area defined by the master unit for the rock drilling rig, which working area covers only a part of the drilling plan area of the working site.
In another embodiment of the rock drilling rig the control unit of the rock drilling rig is arranged to receive only a part of the whole drilling plan of the working site, which part defines the working area defined by the master for the rock drilling rig.
Still in another embodiment of the rock drilling rig the control unit of the rock drilling rig is arranged to send to the master unit drilling status infor-mation indicating at least the drilled holes.
The basic idea underlying the control apparatus is that it comprises:
a master unit for controlling the operation of each rock drilling rig on the basis of a drilling plan covering the working site and stored on a memory of the control apparatus, the master unit being implemented outside of at least one of the drilling rigs and being further configured to:
receive position information on at least one of the rock drilling rigs in the system via a wireless connection, define, on the basis of the position information, rig-specific drilling instructions for a selected rock drilling rig for controlling drilling of holes, and send the rig-specific drilling instructions from the master unit to the selected rock drilling rig via a wireless connection.
In one embodiment of the control apparatus, the master unit is further configured to: receive information on the drilled holes and/or other status information from at least some of the drilling rigs, and redefine drilling instructions for each rock drilling rig on the basis of the information of the drilled holes and/or the status information.
According to an aspect of the invention, the control apparatus com-prising the master unit is implemented in a rock drilling rig.
Brief description of the figures Some embodiments of the invention will be described more detailed below by referring to the enclosed drawings in which Fig. 1 shows schematically drilling on a working site by using two rock drilling rigs, Fig. 2 shows drilling of holes in a section, Fig. 3 shows a simplified example of the exchange of information between the master unit and the rock drilling rigs, Fig. 4 shows schematically another embodiment when drilling on a working site by using two rock drilling rigs, and Figs. 5a and 5b show schematically how the drilling can be changed dynamically.
Detailed description of the invention Figure 1 shows schematically one embodiment of the invention.
In Figure 1 the working site 1 has been marked with a line. For the working site 1 there is a drilling plan 2. In the drilling plan there are predeter-mined holes 2' as shown with black dots or circles. In the Figures and this de-scription the black dots present planned undrilled holes and the circles present planned drilled holes. Originally, the whole drilling plan was designed by defin-ing the position, direction and length of each hole 2' in the coordinate system used on the working site 1.
The position of each rock drilling rig is defined with a positioning system. The position may be defined with a global positioning system (GPS) receiver or any other positioning system available on the working site. These positioning systems operate wirelessly.
In Figure 1 there are two rock drilling rigs 3a and 3b. Each rock drill-ing rig 3a and 3b includes a computer with a memory. At least part of the method may be implemented by a computer program stored in the memory used by the processor of the computer of a rig and executed by the processor.
Thus the drilling plan and/or instructions can be stored in the memory of the computer and this computer controls the operation of the rock drilling rig.
Brief description of the figures Some embodiments of the invention will be described more detailed below by referring to the enclosed drawings in which Fig. 1 shows schematically drilling on a working site by using two rock drilling rigs, Fig. 2 shows drilling of holes in a section, Fig. 3 shows a simplified example of the exchange of information between the master unit and the rock drilling rigs, Fig. 4 shows schematically another embodiment when drilling on a working site by using two rock drilling rigs, and Figs. 5a and 5b show schematically how the drilling can be changed dynamically.
Detailed description of the invention Figure 1 shows schematically one embodiment of the invention.
In Figure 1 the working site 1 has been marked with a line. For the working site 1 there is a drilling plan 2. In the drilling plan there are predeter-mined holes 2' as shown with black dots or circles. In the Figures and this de-scription the black dots present planned undrilled holes and the circles present planned drilled holes. Originally, the whole drilling plan was designed by defin-ing the position, direction and length of each hole 2' in the coordinate system used on the working site 1.
The position of each rock drilling rig is defined with a positioning system. The position may be defined with a global positioning system (GPS) receiver or any other positioning system available on the working site. These positioning systems operate wirelessly.
In Figure 1 there are two rock drilling rigs 3a and 3b. Each rock drill-ing rig 3a and 3b includes a computer with a memory. At least part of the method may be implemented by a computer program stored in the memory used by the processor of the computer of a rig and executed by the processor.
Thus the drilling plan and/or instructions can be stored in the memory of the computer and this computer controls the operation of the rock drilling rig.
The master unit may operate at least partly automatically and send information and instructions to drilling rigs on the basis of predetermined in-structions or algorithms. In particular, the master unit may be configured to de-fine the rig-specific drilling instructions automatically on the basis of position information and/or status information from drilling rigs.
For the drilling, each rock drilling rig 3a and 3b gets appropriate in-formation on a working area 4a and 4b inside which the rock drilling rigs have to drill the holes 2', as defined in the drilling plan and information on the holes 2' inside the working area. In one embodiment each rock drilling rig 3a and 3b drills the holes 2' normally until it has drilled all the holes 2' in that working ar-ea.
In another embodiment the working area can be changed continu-ously on the basis of information on the drilled holes 2', current positions of the rigs, and/or the condition survey of the rigs, for example. Information on the updated working areas is sent to the drilling rigs, which adapt their operation according to the updated working area.
A master unit 5 controls the whole drilling plan and defines and sends rig-specific instructions, indicating at least the working area(s) defined for the respective drilling rig, to the rock drilling rigs 3a and 3b. In this embod-iment the master unit 5 is a separate computer or a server in the office and the rock drilling rigs are operating as slaves. The master unit may be a remote computer 5', as presented with dashed lines in Figure 1. In this embodiment the master unit 5' operates over a further network NW like the internet to a lo-cal network TR and, via it, controls the operation of the drilling rigs.
In an embodiment, each rock drilling rig sends the master unit in-formation about its operation and at least the information that a certain hole 2' has been drilled. Thus, the master unit 5 has control of the whole situation and the real time status of the drilling. The rock drilling rigs may also send other in-formation that will be discussed more detailed in connection with Figures 2 and 3.
The master unit 5 may be configured to send each rock drilling rig 3a, 3b the whole drilling plan, which is stored to the control computer control-ling the drilling of each rock drilling rig. In that case separate information about the rig-specific working area 4a, 4b has to be sent from the master unit 5 to each rock drilling rig 3a, 3b. The working area information may be sent as co-ordinates, as a separate working cell code if the whole area has been divided to separate working cells, as a list of holes 2' or in any suitable way which de-fines the working area unambiguously.
In another embodiment, the master unit 5 sends each rock drilling rig 3a, 3b information on only that part of the drilling plan 2 which defines the working area of 4a, 4b of each rock drilling rig 3a, 3b with the definitions of the holes 2' in the drilling plan. In this embodiment the master unit may be ar-ranged to define the rig-specific drilling instructions on the basis of the proper-ties of the drilling rigs, for example. E.g. the drilling depth ability of the rigs can be used when defining the working area for the rigs. A rig being able to drill deeper holes 2' than others may be given a working area for holes which have to be drilled to be this deep. Further, for a rig that is able to drill larger holes than others may be given a working area for all larger holes. A rig that is able to drill inclined holes may be given a working area for all inclined holes, and the other rigs will drill the vertical holes etc.
The drilling rig may be configured to show at least part of the re-ceived working area on the display, so that an operator of the drilling rig can see the working area intended for drilling by the drilling rig. Thus, the drilling rig operating as a slave device may be configured to select an appropriate por-tion of the received working area for display and to update the displayed work-ing area on the basis of the current location of the drilling rig, progress of drill-ing, commands from the master device, information from other drilling rigs, etc.
The drilling rig may guide the operator to drive the drilling rig to the intended working area and the closest planned hole 2' of the working area.
The drilling rig may be configured to operate according to the in-structions/commands from the master unit. The master unit may dynamically allocate working areas and/or holes 2' between the drilling rigs on the basis of the numbers and positions of planned holes 2' and the current positions of the drilling rigs. The master unit may then send an instruction/command to each drilling rig, specifying the holes allocated for the drilling rig. In an embodiment, the drilling rig is an automatic or semi-automatic drilling rig, in which case a control unit in the drilling rig may be configured to cause control signals for au-tomatically positioning the drilling rig and the rock bit at next hole 2' to be drilled, for example.
The master unit may calculate for each slave rig an optimal area and assign the working areas between the rigs on the basis of this. Each rig may confirm the instructions to the master and, during the drilling, send the master information about the progress of the drilling and also the information on the proceeding and circumstances of the drilling.
The master unit 5 may send information on the next working areas in advance to each rock drilling rig 3a, 3b. In a dynamic model the master unit may change the working area during the drilling in relation to the progress of the drilling of the holes 2' on the basis of the drilling information received from different rock drilling rigs 3a, 3b. The master unit may estimate the progress the drilling rigs based on the received information and reassign working areas on the basis of the estimation. For example, the master unit may assign a part of working area of a first drilling rig 3a to a second drilling rig 3b if it estimated that the first drilling rig will not be able to reach its target during the working shift.
It is to be appreciated that various further information, requests and instructions may be transmitted between the master unit and the slave drilling rigs. The rigs may send information like drilling rig condition status information, e.g. "service needed ¨ divide the working area among others", "service in pro-gress - time needed 10 minutes to half an hour", etc. In one embodiment, the (slave) drilling rig may request the master unit to update drilling instructions, e.g. change the working area assigned for the drilling rig.
An advantage of the presently disclosed embodiment is that the drilling on the whole working site 2 can be controlled by the master unit as a whole. Another advantage is that there is no need for separate drilling plans for each rock drilling rig but only a single drilling plan for the whole working site can be used to control the drilling of several rock drilling rigs. Still an ad-vantage of the presently disclosed embodiment is that the drilling can be con-trolled and changed dynamically. For example, if one rock drilling rig gets bro-ken it is easy to divide its work among the remaining rock drilling rigs.
Corre-spondingly, when a new rock drilling rig arrives at the working site, it is easy to divide the working areas of others so that a new rock drilling rig gets a working area.
Fig 2 shows a drilling site as a section. In this area there are also two rock drilling rigs 3a and 3b that are controlled by master unit 5. When rock drilling rigs 3a and 3b drill a hole 2', the computer of the rock drilling rig re-ceives information on different layers, fractions, cavities etc., which may affect the drilling. As mentioned in connection with Figure 1, the rock drilling rigs may send the information on the drilling to the master unit 5. Thus, in addition to the information that a hole has been drilled, also the MWD (Measurement While Drilling) information on the drilling conditions like feed speed, percussion pow-er etc. which the computer of the rock drilling rig receives during the drilling can be sent to the master unit 5. On the basis of this information, the drilling plan 2 may be modified so that the drilling can be done as well and efficiently as possible.
For instance in Figure 2, there is in the basic stone material 6 a separate layer 7 having different kind of stone, due to which may there may be a reason to change the drilling parameters or even hole 2' positions and direc-tions in the drilling plan 2. This kind of information may be sent from the drilling rig to the master and from the master to other rigs. Of course, if the drilling rig operates as a master, it may send the information to the slave rigs.
Figure 3 shows schematically how the information may be trans-ferred between the master unit 5 and rock drilling rigs 3a ¨ 3c operating as slaves. Each of the three rock drilling rigs defines their position with either a GPS or another positioning system available on the working site. Each rock drilling rig sends a message M1 having information about its position coordi-nates to the master unit so that the master unit can define where each rock drilling rig is in relation to the working site. The master unit correspondingly sends a message M2 having the necessary drilling plan information to each rock drilling rig either as a working area with information on the holes 2' or as the whole drilling plan with the information on the working area for each rock drilling rig according to the basic method.
During the drilling, each rock drilling rig may send a message M3 having drilling information, such as that presented in connection with Figure 2, to the master unit. Also the rock drilling rigs may send the master unit various drilling rig condition status information, such as a need for maintenance or other information on their condition. The master unit, on the other hand, may send a message M4 as necessary having updated drilling plan information ei-ther for the corresponding rock drilling rigs working area or of the whole amended drilling plan.
Figure 4 shows another embodiment of the method. Figure 4 corre-sponds to the embodiment described in connection with Figure 1 but in this embodiment the master unit is not implemented in a separate computer out-side the drilling rigs. Instead, the computer of one of the rock drilling rigs, e.g.
For the drilling, each rock drilling rig 3a and 3b gets appropriate in-formation on a working area 4a and 4b inside which the rock drilling rigs have to drill the holes 2', as defined in the drilling plan and information on the holes 2' inside the working area. In one embodiment each rock drilling rig 3a and 3b drills the holes 2' normally until it has drilled all the holes 2' in that working ar-ea.
In another embodiment the working area can be changed continu-ously on the basis of information on the drilled holes 2', current positions of the rigs, and/or the condition survey of the rigs, for example. Information on the updated working areas is sent to the drilling rigs, which adapt their operation according to the updated working area.
A master unit 5 controls the whole drilling plan and defines and sends rig-specific instructions, indicating at least the working area(s) defined for the respective drilling rig, to the rock drilling rigs 3a and 3b. In this embod-iment the master unit 5 is a separate computer or a server in the office and the rock drilling rigs are operating as slaves. The master unit may be a remote computer 5', as presented with dashed lines in Figure 1. In this embodiment the master unit 5' operates over a further network NW like the internet to a lo-cal network TR and, via it, controls the operation of the drilling rigs.
In an embodiment, each rock drilling rig sends the master unit in-formation about its operation and at least the information that a certain hole 2' has been drilled. Thus, the master unit 5 has control of the whole situation and the real time status of the drilling. The rock drilling rigs may also send other in-formation that will be discussed more detailed in connection with Figures 2 and 3.
The master unit 5 may be configured to send each rock drilling rig 3a, 3b the whole drilling plan, which is stored to the control computer control-ling the drilling of each rock drilling rig. In that case separate information about the rig-specific working area 4a, 4b has to be sent from the master unit 5 to each rock drilling rig 3a, 3b. The working area information may be sent as co-ordinates, as a separate working cell code if the whole area has been divided to separate working cells, as a list of holes 2' or in any suitable way which de-fines the working area unambiguously.
In another embodiment, the master unit 5 sends each rock drilling rig 3a, 3b information on only that part of the drilling plan 2 which defines the working area of 4a, 4b of each rock drilling rig 3a, 3b with the definitions of the holes 2' in the drilling plan. In this embodiment the master unit may be ar-ranged to define the rig-specific drilling instructions on the basis of the proper-ties of the drilling rigs, for example. E.g. the drilling depth ability of the rigs can be used when defining the working area for the rigs. A rig being able to drill deeper holes 2' than others may be given a working area for holes which have to be drilled to be this deep. Further, for a rig that is able to drill larger holes than others may be given a working area for all larger holes. A rig that is able to drill inclined holes may be given a working area for all inclined holes, and the other rigs will drill the vertical holes etc.
The drilling rig may be configured to show at least part of the re-ceived working area on the display, so that an operator of the drilling rig can see the working area intended for drilling by the drilling rig. Thus, the drilling rig operating as a slave device may be configured to select an appropriate por-tion of the received working area for display and to update the displayed work-ing area on the basis of the current location of the drilling rig, progress of drill-ing, commands from the master device, information from other drilling rigs, etc.
The drilling rig may guide the operator to drive the drilling rig to the intended working area and the closest planned hole 2' of the working area.
The drilling rig may be configured to operate according to the in-structions/commands from the master unit. The master unit may dynamically allocate working areas and/or holes 2' between the drilling rigs on the basis of the numbers and positions of planned holes 2' and the current positions of the drilling rigs. The master unit may then send an instruction/command to each drilling rig, specifying the holes allocated for the drilling rig. In an embodiment, the drilling rig is an automatic or semi-automatic drilling rig, in which case a control unit in the drilling rig may be configured to cause control signals for au-tomatically positioning the drilling rig and the rock bit at next hole 2' to be drilled, for example.
The master unit may calculate for each slave rig an optimal area and assign the working areas between the rigs on the basis of this. Each rig may confirm the instructions to the master and, during the drilling, send the master information about the progress of the drilling and also the information on the proceeding and circumstances of the drilling.
The master unit 5 may send information on the next working areas in advance to each rock drilling rig 3a, 3b. In a dynamic model the master unit may change the working area during the drilling in relation to the progress of the drilling of the holes 2' on the basis of the drilling information received from different rock drilling rigs 3a, 3b. The master unit may estimate the progress the drilling rigs based on the received information and reassign working areas on the basis of the estimation. For example, the master unit may assign a part of working area of a first drilling rig 3a to a second drilling rig 3b if it estimated that the first drilling rig will not be able to reach its target during the working shift.
It is to be appreciated that various further information, requests and instructions may be transmitted between the master unit and the slave drilling rigs. The rigs may send information like drilling rig condition status information, e.g. "service needed ¨ divide the working area among others", "service in pro-gress - time needed 10 minutes to half an hour", etc. In one embodiment, the (slave) drilling rig may request the master unit to update drilling instructions, e.g. change the working area assigned for the drilling rig.
An advantage of the presently disclosed embodiment is that the drilling on the whole working site 2 can be controlled by the master unit as a whole. Another advantage is that there is no need for separate drilling plans for each rock drilling rig but only a single drilling plan for the whole working site can be used to control the drilling of several rock drilling rigs. Still an ad-vantage of the presently disclosed embodiment is that the drilling can be con-trolled and changed dynamically. For example, if one rock drilling rig gets bro-ken it is easy to divide its work among the remaining rock drilling rigs.
Corre-spondingly, when a new rock drilling rig arrives at the working site, it is easy to divide the working areas of others so that a new rock drilling rig gets a working area.
Fig 2 shows a drilling site as a section. In this area there are also two rock drilling rigs 3a and 3b that are controlled by master unit 5. When rock drilling rigs 3a and 3b drill a hole 2', the computer of the rock drilling rig re-ceives information on different layers, fractions, cavities etc., which may affect the drilling. As mentioned in connection with Figure 1, the rock drilling rigs may send the information on the drilling to the master unit 5. Thus, in addition to the information that a hole has been drilled, also the MWD (Measurement While Drilling) information on the drilling conditions like feed speed, percussion pow-er etc. which the computer of the rock drilling rig receives during the drilling can be sent to the master unit 5. On the basis of this information, the drilling plan 2 may be modified so that the drilling can be done as well and efficiently as possible.
For instance in Figure 2, there is in the basic stone material 6 a separate layer 7 having different kind of stone, due to which may there may be a reason to change the drilling parameters or even hole 2' positions and direc-tions in the drilling plan 2. This kind of information may be sent from the drilling rig to the master and from the master to other rigs. Of course, if the drilling rig operates as a master, it may send the information to the slave rigs.
Figure 3 shows schematically how the information may be trans-ferred between the master unit 5 and rock drilling rigs 3a ¨ 3c operating as slaves. Each of the three rock drilling rigs defines their position with either a GPS or another positioning system available on the working site. Each rock drilling rig sends a message M1 having information about its position coordi-nates to the master unit so that the master unit can define where each rock drilling rig is in relation to the working site. The master unit correspondingly sends a message M2 having the necessary drilling plan information to each rock drilling rig either as a working area with information on the holes 2' or as the whole drilling plan with the information on the working area for each rock drilling rig according to the basic method.
During the drilling, each rock drilling rig may send a message M3 having drilling information, such as that presented in connection with Figure 2, to the master unit. Also the rock drilling rigs may send the master unit various drilling rig condition status information, such as a need for maintenance or other information on their condition. The master unit, on the other hand, may send a message M4 as necessary having updated drilling plan information ei-ther for the corresponding rock drilling rigs working area or of the whole amended drilling plan.
Figure 4 shows another embodiment of the method. Figure 4 corre-sponds to the embodiment described in connection with Figure 1 but in this embodiment the master unit is not implemented in a separate computer out-side the drilling rigs. Instead, the computer of one of the rock drilling rigs, e.g.
rock drilling rig 3a, operates as the master unit and sends and receives the necessary data between it and one or more other rock drilling rigs.
It is also evident that this method may be used on several levels.
Thus, there may be a master having several slaves the operation of which is controlled via the master. The master sends them their instructions and the necessary information on the drilling plan. These slaves may operate as sub-masters, whereby one or more of them have their own slaves the operation of which they control.
In these situations the whole operation area has been divided into sub-areas with their own sub-masters.
Figures 5a and 5b show schematically how the drilling can be changed dynamically. In Figure 5a the working site 1 has been divided into six working areas WA1 ¨ WA 6 for six drilling rigs R1 ¨ R6.When drilling rig R6, e.g., needs service and has to leave the working site, its working area WA6 remains without the rig.
In this situation, the information in the memory of the master is available and it can be found that the drilling rig R5 has enough capacity to drill the holes 2' in its own working area WA5 and thereto in the working area WA6. Thus, the working areas WA5 and WA6 may be combined to a new working area WA5/6. It can be done without any other actions or any actions concerning the other drilling rigs if the rig R5 has enough capacity to drill both areas. Also all other working areas may be readjusted in order to share the work more evenly between the drilling rigs R1 to R5. This has been shown in Figure 5b.
Correspondingly, this can be done vice versa if a new drilling rig R6 is suddenly available. Then it may be realized that the drilling rig R5 has too much to drill and its working area WA5/6 can be divided into two separate are-as WA5 and WA6 for the drilling rigs R5 and R6. Also in this case, the working areas of other drilling rigs may be readjusted for dividing the work more even-ly.
In the control apparatus, there is a master unit, which may be a separate computer or a computer of one of the drilling rigs. The master unit may also be software in a computer or separate pieces of software in separate computers, arranged to operate as a combined master unit. A memory is needed at least in one of the computers for storing the drilling plan and the in-formation from the drilling rigs. The wireless communication means may be a normal radio apparatus which is capable to send and receive information be-tween the master unit and the drilling rigs, and vice versa. It may also be able to send information between the drilling rigs directly.
Each drilling rig has a control unit which controls the operation of that rig. The control unit has a memory into which the information sent from the master unit is stored. The control unit then controls the operation of the drilling rig on the basis of the stored information.
Also separate information of the drilling conditions may be stored in-to the memory of the control unit and then sent to the master unit or even to other drilling rigs via the wireless communication means. This information can then be stored to the memories of the control units of other drilling rigs.
The invention has, in the figures and the specification, been de-scribed as examples or possible embodiments.
The master unit may be a separate server or computer, or it may be a computer in a rock drilling rig. The data between a master unit and the slaves are sent wirelessly and any usable wireless system may be used for that purpose.
It is also possible to use this method to gather data from each rock drilling rig as working data on the rig. Thus, e.g. drilling hours of a rig on each working site, operating hours for the motors, the number of drilled holes or other operating data together with the position information can be stored and sent to the master. With this information, detailed data on the drilling can be collected. On the other hand, when drilling is done by contractors, they may have specific information on the resources and efficiency of the drilling work.
This helps them plan their future work more precisely. The information may al-so be transferred in real time to the other rigs for helping their operation.
Also the properties and the capacities of different rock drilling rigs in different cir-cumstances can be discovered, and thus, defining the necessary types of rock drilling rigs for different working sites can be made easier.
The status of all holes, like drilled, not drilled and unfinished ones may also be sent to all rigs and shown on their screens. Also the position of other rigs may be shown on the screens.
It is also possible to operate such a way that the whole or a partial drilling plan is sent as such without making any changes thereto later on. Any changes to the status of holes to be drilled or having been drilled or any other information may be saved to a separate status file, which then possibly may be sent to the rock drilling rigs for information and possible to be used to con-trol the drilling by each rig.
Of course, there may always be a possibility for manual operations, if the drilling instructions, for some reason are not updated automatically.
In these situations, the operator may manually ask for updates. Also on the dis-play screens of the rigs, the drilling situations of the other rigs may be shown automatically or on demand.
It is also evident that this method may be used on several levels.
Thus, there may be a master having several slaves the operation of which is controlled via the master. The master sends them their instructions and the necessary information on the drilling plan. These slaves may operate as sub-masters, whereby one or more of them have their own slaves the operation of which they control.
In these situations the whole operation area has been divided into sub-areas with their own sub-masters.
Figures 5a and 5b show schematically how the drilling can be changed dynamically. In Figure 5a the working site 1 has been divided into six working areas WA1 ¨ WA 6 for six drilling rigs R1 ¨ R6.When drilling rig R6, e.g., needs service and has to leave the working site, its working area WA6 remains without the rig.
In this situation, the information in the memory of the master is available and it can be found that the drilling rig R5 has enough capacity to drill the holes 2' in its own working area WA5 and thereto in the working area WA6. Thus, the working areas WA5 and WA6 may be combined to a new working area WA5/6. It can be done without any other actions or any actions concerning the other drilling rigs if the rig R5 has enough capacity to drill both areas. Also all other working areas may be readjusted in order to share the work more evenly between the drilling rigs R1 to R5. This has been shown in Figure 5b.
Correspondingly, this can be done vice versa if a new drilling rig R6 is suddenly available. Then it may be realized that the drilling rig R5 has too much to drill and its working area WA5/6 can be divided into two separate are-as WA5 and WA6 for the drilling rigs R5 and R6. Also in this case, the working areas of other drilling rigs may be readjusted for dividing the work more even-ly.
In the control apparatus, there is a master unit, which may be a separate computer or a computer of one of the drilling rigs. The master unit may also be software in a computer or separate pieces of software in separate computers, arranged to operate as a combined master unit. A memory is needed at least in one of the computers for storing the drilling plan and the in-formation from the drilling rigs. The wireless communication means may be a normal radio apparatus which is capable to send and receive information be-tween the master unit and the drilling rigs, and vice versa. It may also be able to send information between the drilling rigs directly.
Each drilling rig has a control unit which controls the operation of that rig. The control unit has a memory into which the information sent from the master unit is stored. The control unit then controls the operation of the drilling rig on the basis of the stored information.
Also separate information of the drilling conditions may be stored in-to the memory of the control unit and then sent to the master unit or even to other drilling rigs via the wireless communication means. This information can then be stored to the memories of the control units of other drilling rigs.
The invention has, in the figures and the specification, been de-scribed as examples or possible embodiments.
The master unit may be a separate server or computer, or it may be a computer in a rock drilling rig. The data between a master unit and the slaves are sent wirelessly and any usable wireless system may be used for that purpose.
It is also possible to use this method to gather data from each rock drilling rig as working data on the rig. Thus, e.g. drilling hours of a rig on each working site, operating hours for the motors, the number of drilled holes or other operating data together with the position information can be stored and sent to the master. With this information, detailed data on the drilling can be collected. On the other hand, when drilling is done by contractors, they may have specific information on the resources and efficiency of the drilling work.
This helps them plan their future work more precisely. The information may al-so be transferred in real time to the other rigs for helping their operation.
Also the properties and the capacities of different rock drilling rigs in different cir-cumstances can be discovered, and thus, defining the necessary types of rock drilling rigs for different working sites can be made easier.
The status of all holes, like drilled, not drilled and unfinished ones may also be sent to all rigs and shown on their screens. Also the position of other rigs may be shown on the screens.
It is also possible to operate such a way that the whole or a partial drilling plan is sent as such without making any changes thereto later on. Any changes to the status of holes to be drilled or having been drilled or any other information may be saved to a separate status file, which then possibly may be sent to the rock drilling rigs for information and possible to be used to con-trol the drilling by each rig.
Of course, there may always be a possibility for manual operations, if the drilling instructions, for some reason are not updated automatically.
In these situations, the operator may manually ask for updates. Also on the dis-play screens of the rigs, the drilling situations of the other rigs may be shown automatically or on demand.
Claims (16)
1. A method for controlling more than one rock drilling rig operating on the same working site, whereby each rock drilling rig (3a ¨ 3n) drills holes according to a designed drilling plan, characterized by controlling operation of at least one rock drilling rig (3a ¨ 3n) via a wireless connection with a master unit (5; 5') outside the drilling rig, storing to a memory of the master unit (5; 5') a drilling plan covering the working site (1), defining the position of each rock drilling rig (3a ¨ 3n) on the work-ing site (1) with a positioning system, sending the position information on each rock drilling rig (3a ¨ 3n) to the master unit (5; 5'), defining, on the basis of the position information, rig-specific drilling instructions for a selected rock drilling rig (3a ¨ 3n) amongst the rock drilling rigs (3a ¨ 3n) for controlling drilling of holes (2'), and sending the rig-specific drilling instructions from the master unit (5;
5') to the selected rock drilling rig (3a ¨ 3n) via a wireless connection.
5') to the selected rock drilling rig (3a ¨ 3n) via a wireless connection.
2. A method according to claim 1, characterized by sending from the master unit (5; 5') to the rock drilling rig (3a ¨ 3n) the drilling plan of the whole working site (1) and information on a working area defined by the master unit (5; 5') for the rock drilling rig (3a ¨ 3n), which working area covers only a part of the drilling plan area of the working site (1).
3. A method according to claim 1, characterized by sending from the master unit (5; 5') to the rock drilling rig (3a ¨ 3n) only a part of the whole drilling plan of the working site (1), which part defines the working area defined by the master for the rock drilling rig (3a ¨ 3n).
4. A method according to any one of claims 1 to 3, characteri zed by sending from each rock drilling rig (3a ¨ 3n) drilling status information indicating at least drilled holes (2') to the master unit (5; 5'), and updating the drilling plan on the basis of the received drilling status information.
5. A method according to any one of claims 1 to 4, characterized by using a computer of a rock drilling rig (3a ¨ 3n) as the master unit (5;
5').
5').
6. A method according to any of claims 1 to 5, characterized by gathering information on the drilling conditions during the drilling of a hole (2'), and sending the gathered information to the master unit (5; 5') wirelessly.
7. A method according to any of claims 1 to 6, characterized by redefining the drilling instructions for each rock drilling rig (3a ¨ 3n) accord-ing to the received information indicating drilled holes (2') and/or status of at least one of the drilling rigs (3a ¨ 3n).
8. A rock drilling rig for operating with at least one other rock drilling rig (3a ¨ 3n) on the same working site (1), whereby the rock drilling rig (3a ¨
3n) is arranged to drill holes (2') according to a designed drilling plan, the rock drilling rig (3a ¨ 3n) comprising a control unit for controlling the operation of the rock drilling rig (3a ¨ 3n), a memory for storing the information sent to the rock drilling rig (3a ¨ 3n), a positioning system configured to define the position of the rock drilling rig (3a ¨ 3n) on the working site (1), and wireless communication means for sending the position information on the rock drilling rig (3a ¨ 3n) to a master unit (5; 5') outside the rock drilling rig and to receive rig-specific drilling instructions for controlling drilling of holes (2') defined by the master unit (5; 5') on the basis of the position information, wherein the control unit is arranged to control drilling of holes (2') according to the received drilling instructions.
3n) is arranged to drill holes (2') according to a designed drilling plan, the rock drilling rig (3a ¨ 3n) comprising a control unit for controlling the operation of the rock drilling rig (3a ¨ 3n), a memory for storing the information sent to the rock drilling rig (3a ¨ 3n), a positioning system configured to define the position of the rock drilling rig (3a ¨ 3n) on the working site (1), and wireless communication means for sending the position information on the rock drilling rig (3a ¨ 3n) to a master unit (5; 5') outside the rock drilling rig and to receive rig-specific drilling instructions for controlling drilling of holes (2') defined by the master unit (5; 5') on the basis of the position information, wherein the control unit is arranged to control drilling of holes (2') according to the received drilling instructions.
9. A rock drilling rig according to claim 8, wherein the control unit is arranged to receive a drilling plan of the whole working site (1) and information on a working area defined by the master unit (5; 5') for the rock drilling rig (3a ¨ 3n), which working area covers only a part of the drilling plan area of the working site (1).
10. A rock drilling rig according to claim 8, wherein the control unit of the rock drilling rig (3a ¨ 3n) is arranged to receive only a part of the whole drilling plan of the working site (1), which part defines the working area defined by the master for the rock drilling rig (3a ¨ 3n).
11. A rock drilling rig according to any one of claims 8 to 10, where-by the control unit of the rock drilling rig (3a ¨ 3n) is arranged to send the master unit (5; 5') drilling status information indicating at least the drilled holes (2').
12. A rock drilling rig according to any one of claims 8 to 11, where-in the control unit is arranged to receive from the master unit (5; 5') information on the holes (2') drilled by other drilling rigs (3a ¨ 3n).
13. A rock drilling rig according to any of claims 8 to 12, wherein the control unit is arranged to gather information on the drilling conditions during drilling and to send the drilling condition information to the master unit (5;
5').
5').
14. A control apparatus for controlling more than one rock drilling rig operating on a working site (1), each rock drilling rig (3a ¨ 3n) being config-ured to drill holes (2') according to a designed drilling plan, characterized by comprising:
a master unit (5; 5') for controlling the operation of each rock drilling rig (3a ¨ 3n) on the basis of a drilling plan covering the working site (1) and stored on a memory of the control apparatus, the master unit (5; 5') being im-plemented outside of at least one of the drilling rigs and being further config-ured to:
receive position information on each rock drilling rig (3a ¨ 3n) in the system, define, on the basis of the position information, rig-specific drilling instructions for a selected rock drilling rig (3a ¨ 3n) for controlling drilling of holes (2'), and send the rig-specific drilling instructions from the master unit (5; 5') to the selected rock drilling rig (3a ¨ 3n) via a wireless connection.
a master unit (5; 5') for controlling the operation of each rock drilling rig (3a ¨ 3n) on the basis of a drilling plan covering the working site (1) and stored on a memory of the control apparatus, the master unit (5; 5') being im-plemented outside of at least one of the drilling rigs and being further config-ured to:
receive position information on each rock drilling rig (3a ¨ 3n) in the system, define, on the basis of the position information, rig-specific drilling instructions for a selected rock drilling rig (3a ¨ 3n) for controlling drilling of holes (2'), and send the rig-specific drilling instructions from the master unit (5; 5') to the selected rock drilling rig (3a ¨ 3n) via a wireless connection.
15. A control apparatus according to claim 14, wherein the master unit (5; 5') is further configured to: receive information on the drilled holes (2') and/or other status information from at least some of the drilling rigs (3a ¨
3n), and redefine drilling instructions for each rock drilling rig (3a ¨ 3n) on the basis of the information of the drilled holes (2') and/or the status information.
3n), and redefine drilling instructions for each rock drilling rig (3a ¨ 3n) on the basis of the information of the drilled holes (2') and/or the status information.
16. A rock drilling rig (3a-3n), characterized by comprising the control apparatus of claim 14 or 15.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP12180760.6 | 2012-08-17 | ||
| EP12180760.6A EP2698498A1 (en) | 2012-08-17 | 2012-08-17 | Method, rock drilling rig and control apparatus |
| PCT/FI2013/050787 WO2014027137A1 (en) | 2012-08-17 | 2013-08-08 | Method, rock drilling rig and control apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2881259A1 true CA2881259A1 (en) | 2014-02-20 |
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|---|---|---|---|
| CA2881259A Abandoned CA2881259A1 (en) | 2012-08-17 | 2013-08-08 | Method, rock drilling rig and control apparatus |
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| US (1) | US20150218928A1 (en) |
| EP (1) | EP2698498A1 (en) |
| CN (1) | CN104583534A (en) |
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| CA2911270A1 (en) * | 2013-05-08 | 2014-11-13 | Technological Resources Pty Ltd | A method of, and a system for, controlling a drilling operation |
| EP2887167A1 (en) * | 2013-12-20 | 2015-06-24 | HILTI Aktiengesellschaft | Method for controlling an apparatus including a tool device and a motorised feeding device |
| US10339478B2 (en) * | 2014-03-26 | 2019-07-02 | Ion Geophysical Corporation | Simultaneous operations coordination and planning system |
| WO2016095962A1 (en) | 2014-12-16 | 2016-06-23 | Sandvik Mining And Construction Oy | Arrangement for delivery of production control information to a mining work machine |
| WO2016102381A1 (en) * | 2014-12-23 | 2016-06-30 | Shell Internationale Research Maatschappij B.V. | Supervisory control system and method for automation of drilling operations |
| MX2019013088A (en) | 2017-05-01 | 2020-11-24 | Schlumberger Technology Bv | Integrated drilling rig machine. |
| WO2019118352A1 (en) | 2017-12-11 | 2019-06-20 | Schlumberger Technology Corporation | Air cooled variable-frequency drive |
| CN112878981B (en) * | 2021-01-28 | 2023-02-17 | 中国矿业大学 | Control system and control method of drill jumbo |
| CN115556116B (en) * | 2022-12-07 | 2023-03-10 | 中煤科工西安研究院(集团)有限公司 | Method for detecting and compensating positioning error of drilling arm of coal mine underground drilling robot |
| EP4435228A1 (en) * | 2023-03-22 | 2024-09-25 | Services Pétroliers Schlumberger | Methods for producing a geothermal well |
| CN118273720B (en) * | 2024-05-10 | 2024-08-13 | 北京奥信化工科技发展有限责任公司 | Surface mine exploitation blasting method and device |
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| FI115481B (en) * | 2001-12-03 | 2005-05-13 | Sandvik Tamrock Oy | Arrangement for drilling control |
| FI114827B (en) * | 2003-07-03 | 2004-12-31 | Sandvik Tamrock Oy | Method and system for monitoring the location of a mining vehicle |
| FI123738B (en) * | 2006-08-09 | 2013-10-15 | Sandvik Mining & Constr Oy | Rock drilling apparatus and method for controlling rock drilling apparatus |
| WO2009146158A1 (en) * | 2008-04-18 | 2009-12-03 | Shell Oil Company | Using mines and tunnels for treating subsurface hydrocarbon containing formations |
| FI121436B (en) * | 2008-06-13 | 2010-11-15 | Sandvik Mining & Constr Oy | Method and apparatus for displaying drill holes and directing a drill rod when drilling holes in a rock |
| US8733473B2 (en) * | 2010-11-02 | 2014-05-27 | Caterpillar Inc. | Sequencing algorithm for planned drill holes |
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2012
- 2012-08-17 EP EP12180760.6A patent/EP2698498A1/en not_active Withdrawn
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- 2013-04-04 AU AU2013202525A patent/AU2013202525B2/en active Active
- 2013-08-08 CN CN201380043782.0A patent/CN104583534A/en active Pending
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| CL2015000342A1 (en) | 2015-10-02 |
| EP2698498A1 (en) | 2014-02-19 |
| US20150218928A1 (en) | 2015-08-06 |
| CN104583534A (en) | 2015-04-29 |
| AU2013202525A1 (en) | 2014-03-06 |
| AU2013202525B2 (en) | 2015-04-16 |
| WO2014027137A1 (en) | 2014-02-20 |
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