EP2698498A1 - Procédé, installation de forage de roches et appareil de commande - Google Patents

Procédé, installation de forage de roches et appareil de commande Download PDF

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Publication number
EP2698498A1
EP2698498A1 EP12180760.6A EP12180760A EP2698498A1 EP 2698498 A1 EP2698498 A1 EP 2698498A1 EP 12180760 A EP12180760 A EP 12180760A EP 2698498 A1 EP2698498 A1 EP 2698498A1
Authority
EP
European Patent Office
Prior art keywords
drilling
rig
rock drilling
drilling rig
master unit
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.)
Withdrawn
Application number
EP12180760.6A
Other languages
German (de)
English (en)
Inventor
Juha Lassila
Mikko Kipinoinen
Petri Nurminen
Henri Suvanen
Tommi Heikkilä
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sandvik Mining and Construction Oy
Original Assignee
Sandvik Mining and Construction Oy
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sandvik Mining and Construction Oy filed Critical Sandvik Mining and Construction Oy
Priority to EP12180760.6A priority Critical patent/EP2698498A1/fr
Priority to AU2013202525A priority patent/AU2013202525B2/en
Priority to CA2881259A priority patent/CA2881259A1/fr
Priority to PCT/FI2013/050787 priority patent/WO2014027137A1/fr
Priority to US14/421,992 priority patent/US20150218928A1/en
Priority to CN201380043782.0A priority patent/CN104583534A/zh
Publication of EP2698498A1 publication Critical patent/EP2698498A1/fr
Priority to ZA2015/00988A priority patent/ZA201500988B/en
Priority to CL2015000342A priority patent/CL2015000342A1/es
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • 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 relates 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.
  • rock drilling rigs 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.
  • 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 positioned 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.
  • 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.
  • 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 operating 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 information about the drilling plan to each rock drilling rig working on the same working site.
  • 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.
  • 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.
  • 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 and to receive 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.
  • control unit is arranged 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.
  • 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.
  • control unit of the rock drilling rig is arranged to send the master unit drilling status information indicating at least the drilled holes.
  • control apparatus comprises:
  • FIG 1 shows schematically one embodiment of the invention.
  • FIG 1 the working site 1 has been marked with a line.
  • a drilling plan 2 For the working site 1 there is a drilling plan 2.
  • the drilling plan there are predetermined holes 2' as shown with black dots or circles.
  • the black dots present planned undrilled holes and the circles present planned drilled holes.
  • the whole drilling plan was designed by defining 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.
  • GPS global positioning system
  • Each rock drilling 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 instructions or algorithms.
  • the master unit may be configured to define the rig-specific drilling instructions automatically on the basis of position information and/or status information from drilling rigs.
  • each rock drilling rig 3a and 3b gets appropriate information 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.
  • each rock drilling rig 3a and 3b drills the holes 2' normally until it has drilled all the holes 2' in that working area.
  • the working area can be changed continuously 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.
  • 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 .
  • the master unit 5' operates over a further network NW like the internet to a local network TR and, via it, controls the operation of the drilling rigs.
  • each rock drilling rig sends the master unit information about its operation and at least the information that a certain hole 2' has been drilled.
  • 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 information 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 controlling 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 coordinates, 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 defines the working area unambiguously.
  • 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.
  • the master unit may be arranged to define the rig-specific drilling instructions on the basis of the properties 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 received 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.
  • the drilling rig operating as a slave device may be configured to select an appropriate portion of the received working area for display and to update the displayed working area on the basis of the current location of the drilling rig, progress of drilling, 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 instructions/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.
  • 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 automatically 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.
  • 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.
  • the rigs may send information like drilling rig condition status information, e.g. "service needed - divide the working area among others", "service in progress - time needed 10 minutes to half an hour", etc.
  • 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 advantage of the presently disclosed embodiment is that the drilling can be controlled and changed dynamically. For example, if one rock drilling rig gets broken it is easy to divide its work among the remaining rock drilling rigs. Correspondingly, 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.
  • the computer of the rock drilling rig receives information on different layers, fractions, cavities etc., which may affect the drilling.
  • the rock drilling rigs may send the information on the drilling to the master unit 5.
  • the MWD Measurement While Drilling
  • the drilling plan 2 may be modified so that the drilling can be done as well and efficiently as possible.
  • FIG. 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 directions 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.
  • the drilling rig operates as a master, it may send the information to the slave rigs.
  • FIG 3 shows schematically how the information may be transferred 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 coordinates 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.
  • 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.
  • 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 may send a message M4 as necessary having updated drilling plan information either 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 corresponds to the embodiment described in connection with Figure 1 but in this embodiment the master unit is not implemented in a separate computer outside 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 other rock drilling rigs.
  • the computer of one of the rock drilling rigs e.g. rock drilling rig 3a
  • this method may be used on several levels.
  • 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.
  • FIGs 5a and 5b show schematically how the drilling can be changed dynamically.
  • the working site 1 has been divided into six working areas WA1 - WA 6 for six drilling rigs R1 - R6.
  • drilling rig R6 e.g., needs service and has to leave the working site, its working area WA6 remains without the rig.
  • 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.
  • 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 .
  • 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 information from the drilling rigs.
  • the wireless communication means may be a normal radio apparatus which is capable to send and receive information between 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.
  • separate information of the drilling conditions may be stored into 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 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.
  • 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.

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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)
EP12180760.6A 2012-08-17 2012-08-17 Procédé, installation de forage de roches et appareil de commande Withdrawn EP2698498A1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
EP12180760.6A EP2698498A1 (fr) 2012-08-17 2012-08-17 Procédé, installation de forage de roches et appareil de commande
AU2013202525A AU2013202525B2 (en) 2012-08-17 2013-04-04 Method, rock drilling rig and control apparatus
CA2881259A CA2881259A1 (fr) 2012-08-17 2013-08-08 Procede, appareil de forage de roche et appareil de commande
PCT/FI2013/050787 WO2014027137A1 (fr) 2012-08-17 2013-08-08 Procédé, appareil de forage de roche et appareil de commande
US14/421,992 US20150218928A1 (en) 2012-08-17 2013-08-08 Method, rock drilling rig and control apparatus
CN201380043782.0A CN104583534A (zh) 2012-08-17 2013-08-08 方法、岩钻机和控制设备
ZA2015/00988A ZA201500988B (en) 2012-08-17 2015-02-11 Method, rock drilling rig and control apparatus
CL2015000342A CL2015000342A1 (es) 2012-08-17 2015-02-13 Método para controlar más de una plataforma perforadora de roca, que comprende controlar la operación de cada plataforma, guardar en memoria un plano de perforaciones, enviar información de posición de cada plataforma a unidad maestra, definir instrucciones de perforación específicas para cada plataforma, enviar instrucciones desde unidad maestra a la plataforma seleccionada por conexión inalámbrica; plataforma perforadora; aparato de control.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12180760.6A EP2698498A1 (fr) 2012-08-17 2012-08-17 Procédé, installation de forage de roches et appareil de commande

Publications (1)

Publication Number Publication Date
EP2698498A1 true EP2698498A1 (fr) 2014-02-19

Family

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Application Number Title Priority Date Filing Date
EP12180760.6A Withdrawn EP2698498A1 (fr) 2012-08-17 2012-08-17 Procédé, installation de forage de roches et appareil de commande

Country Status (8)

Country Link
US (1) US20150218928A1 (fr)
EP (1) EP2698498A1 (fr)
CN (1) CN104583534A (fr)
AU (1) AU2013202525B2 (fr)
CA (1) CA2881259A1 (fr)
CL (1) CL2015000342A1 (fr)
WO (1) WO2014027137A1 (fr)
ZA (1) ZA201500988B (fr)

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WO2016095962A1 (fr) 2014-12-16 2016-06-23 Sandvik Mining And Construction Oy Agencement pour la fourniture d'informations de commande de production à une machine de travail d'exploitation minière
WO2016102381A1 (fr) * 2014-12-23 2016-06-30 Shell Internationale Research Maatschappij B.V. Système de commande de surveillance et procédé d'automatisation d'opérations de forage
EP3619395A4 (fr) * 2017-05-01 2021-01-06 Services Pétroliers Schlumberger Machine de forage intégré
US11191191B2 (en) 2017-12-11 2021-11-30 Schlumberger Technology Corporation Air cooled variable-frequency drive
CN115556116A (zh) * 2022-12-07 2023-01-03 中煤科工西安研究院(集团)有限公司 一种煤矿井下钻孔机器人钻臂定位误差检测与补偿方法

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BR112015027816A2 (pt) * 2013-05-08 2017-08-29 Tech Resources Pty Ltd Método de, e sistema para, controlar uma operação de perfuração
EP2887167A1 (fr) * 2013-12-20 2015-06-24 HILTI Aktiengesellschaft Procédé de commande d'un appareil comprenant un dispositif d'outil ainsi qu'un dispositif d'avance motorisée
US10339478B2 (en) * 2014-03-26 2019-07-02 Ion Geophysical Corporation Simultaneous operations coordination and planning system
CN112878981B (zh) * 2021-01-28 2023-02-17 中国矿业大学 一种凿岩台车的控制系统及控制方法
EP4435228A1 (fr) * 2023-03-22 2024-09-25 Services Pétroliers Schlumberger Procédés de production d'un puits géothermique
CN118273720B (zh) * 2024-05-10 2024-08-13 北京奥信化工科技发展有限责任公司 露天矿山开采爆破方法及装置

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FI123738B (fi) * 2006-08-09 2013-10-15 Sandvik Mining & Constr Oy Kallionporauslaite ja menetelmä kallionporauslaitteen ohjaamiseksi
FI121436B (fi) * 2008-06-13 2010-11-15 Sandvik Mining & Constr Oy Menetelmä ja laitteisto porattavien reikien esittämiseksi ja poratangon suuntaamiseksi porattaessa reikiä kallioon

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US6957707B2 (en) * 2001-12-03 2005-10-25 Sandvik Intellectual Property Ab Method for controlling a drilling sequence, a rock drilling apparatus and a computer programme to form a drilling sequence
WO2009129143A1 (fr) * 2008-04-18 2009-10-22 Shell Oil Company Systèmes, procédés et processus utilisés pour traiter des hydrocarbures contenant des formations de subsurface
US20120103598A1 (en) * 2010-11-02 2012-05-03 Caterpillar Inc. Sequencing algorithm for planned drill holes

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016095962A1 (fr) 2014-12-16 2016-06-23 Sandvik Mining And Construction Oy Agencement pour la fourniture d'informations de commande de production à une machine de travail d'exploitation minière
AU2014414428B2 (en) * 2014-12-16 2018-11-01 Sandvik Mining And Construction Oy Arrangement for delivery of production control information to a mining work machine
US10529224B2 (en) 2014-12-16 2020-01-07 Sandvik Mining And Construction Oy Arrangement for delivery of production control information to a mining work machine
WO2016102381A1 (fr) * 2014-12-23 2016-06-30 Shell Internationale Research Maatschappij B.V. Système de commande de surveillance et procédé d'automatisation d'opérations de forage
EP3619395A4 (fr) * 2017-05-01 2021-01-06 Services Pétroliers Schlumberger Machine de forage intégré
US11008834B2 (en) 2017-05-01 2021-05-18 Schlumberger Technology Corporation Integrated drilling rig machine
US11191191B2 (en) 2017-12-11 2021-11-30 Schlumberger Technology Corporation Air cooled variable-frequency drive
CN115556116A (zh) * 2022-12-07 2023-01-03 中煤科工西安研究院(集团)有限公司 一种煤矿井下钻孔机器人钻臂定位误差检测与补偿方法

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Publication number Publication date
US20150218928A1 (en) 2015-08-06
CN104583534A (zh) 2015-04-29
ZA201500988B (en) 2016-01-27
CA2881259A1 (fr) 2014-02-20
AU2013202525B2 (en) 2015-04-16
CL2015000342A1 (es) 2015-10-02
AU2013202525A1 (en) 2014-03-06
WO2014027137A1 (fr) 2014-02-20

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