EP4278067A1

EP4278067A1 - A method of positioning after drilling and a post-drilling unit therefor

Info

Publication number: EP4278067A1
Application number: EP22702327.2A
Authority: EP
Inventors: Johan Engblom
Original assignee: Epiroc Rock Drills AB
Current assignee: Epiroc Rock Drills AB
Priority date: 2021-01-13
Filing date: 2022-01-11
Publication date: 2023-11-22
Anticipated expiration: 2042-01-11
Also published as: EP4278067B1; WO2022154717A1; EP4278067C0; SE2150018A1; SE544602C2

Abstract

A process of positioning performed by a post-drilling unit, which post-drilling unit comprises a loading device (6) configured to load an object into a borehole with a longitudinal axis (A), a range finding device (7), and a positioning system, herein the process comprises steps of arranging the range finding device (6) in front of the borehole collar (8) by means of the positioning system; measuring one or more distances inward the borehole by means of the range finding device (7) in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and determining a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis (A), wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance. A post-drilling unit, rig, computer program and computer-readable storage medium for the process of positioning are also described.

Description

A METHOD OF POSITIONING AFTER DRILLING AND A POST-DRILLING UNIT THEREFOR

TECHNICAL FIELD

The present disclosure relates to a method and a post-drilling unit for loading an object into a borehole, which method comprises a process of positioning performed by the post-drilling unit. The present disclosure further relates to a method for controlling operation of the post-drilling unit.

BACKGROUND

Rock drilling is widely applied in various types of rock engineering associated with civil engineering such as tunneling and underground mining.

Prior to the drilling operation it is necessary to design an effective drilling plan for determining desired borehole data including number of boreholes, position of each borehole collar in a spatial reference system, depth, diameter, direction and drilling trajectory of each borehole.

Borehole deviations from a predetermined drilling plan occur frequently during a drilling operation due to rock anisotropy and limitations of a drilling machine. Thus, in practice the boreholes are not formed exactly according to the drilling plan.

Usually, the drilling operation proceeds continuously and is deemed complete when all boreholes are formed according to the drilling plan. The drilling equipment is removed from the last borehole to allow a post-drilling operation which often requires a separate step of loading of an insertion object into each borehole.

A post-drilling operation may be a logging operation wherein a logging tool such as a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool or an imaging tool, is loaded into the borehole to collect actual data of the borehole.

Another post-drilling operation may be a blasting operation wherein an explosive package, a feeding or charging means for explosives is loaded into the borehole.

Yet another post-drilling operation may be an operation of rock bolt reinforcement wherein a rock bolt is loaded into the borehole before or after a process of grouting. Yet another post-drilling operation may be a cleaning operation wherein a cleaning tool is loaded into the borehole.

Apparently, it is necessary to invest extensive time, manpower and effort to align the insertion object with each borehole to ensure successful loading due to borehole deviations from the drilling plan and limitations of state-of-the-art positioning means. Current post-drilling unit and method for loading an insertion object into a borehole need to be improved to reduce manual workload for operators thereby increasing work efficiency and productivity.

Mining is an inherently risky occupation. The mining environment is harmful for human health, with dangers ranging from rock collapses to inhalation of toxic particles. It should always be prioritized to minimize exposure of personnel to the harmful mining environment. Therefore, a mechanized operation of aligning an insertion object with a borehole for loading the insertion object into the borehole has been developed which can be controlled from a cabin where operators are protected. The mechanized operation also reduces manual workload for operators thereby increasing work efficiency and productivity. The work efficiency and productivity can be further increased by automatic control of the mechanized operation which may augment or replace operator-based control.

WO2013098459A1 and W02013098460A1 disclose a method for post-drilling insertion, wherein contact sensing of feed resistance is used for detecting misalignment between an insertion object and a pre-drilled hole, and wherein the feeding angle of the insertion object is adjusted simultaneously with the action of insertion. Thus, the insertion object is used effectively as a probe for the borehole in determining the appropriate feeding angle, which may potentially damage the insertion object.

SUMMARY

In view of the above, one object of the present disclosure is therefore to reduce manual workload and minimize risks for personnel at the site during operations for loading an object into a borehole.

Another object of the disclosure is to increase work efficiency and productivity.

Yet another object of the disclosure is to provide a novel and advantageous process of positioning performed by a post-drilling unit for loading an object into a borehole. Yet another object of the disclosure is to provide a robust and reliable process of positioning performed by a post-drilling unit for loading an object into a borehole.

Yet another object of the disclosure is to provide an alternative process of positioning performed by a post-drilling unit for loading an object into a borehole.

Yet another object of the disclosure is to improve mechanization and automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.

The above mentioned objects are achieved according to a first aspect of the disclosure by a process of positioning performed by a post-drilling unit, which post-drilling unit comprises a loading device configured to load an object into a borehole with a longitudinal axis, a range finding device, and a positioning system, wherein the process comprises steps of i. arranging the range finding device in front of the borehole collar by means of the positioning system; ii. measuring one or more distances inward the borehole by means of the range finding device in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and iii. determining a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis, wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.

Operations of the post-drilling unit may be controlled manually and/or mechanically.

When a measured distance is equivalent to the predetermined reference distance, the measuring position corresponding to the measured distance is identified as a loading position that enables loading of at least a part of the insertion object into the borehole.

The process of positioning according to the present disclosure solves the problem of determining a loading position for loading at least a part of an insertion object into a borehole. The problem is solved by comparing the measured distance(s) with a predetermined reference distance, wherein at least one measured distance is equivalent to the reference distance, or in other words, at least one measuring position is identified as a loading position. The process according to the present disclosure has the advantage of converting spatial position data into linear distance data that is straightforward to obtain by a range finding device and easy to compare. Thus, the process according to the present disclosure is more efficient in determining a loading position for loading at least a part of an insertion object into a borehole. The process according to the present disclosure has a further advantage of providing a robust and reliable solution for determining a loading position without the need of interaction between the insertion object and the borehole, thereby reducing or even eliminating the risk of damaging the insertion object during the action of loading the insertion object into the borehole.

In some embodiments, the reference distance is predetermined by means of at least one selected from a group consisting of a drilling plan, a drilling process, a loading process and a logging process.

The reference distance obtained by a drilling plan, a drilling process, a loading process or a logging process provides a reasonable estimation of a loading position that enables loading of at least a part of an insertion object into a borehole. The reference distance may be stored in a memory and facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.

In some embodiments, the positioning system as was described above may further comprise a navigation system; the process of positioning as was described above may further comprise a step of determining local coordinates of the one or more measuring positions and the loading position, which further step is performed by the navigation system.

The step of determining local coordinates of the positions has the advantage of providing a number or symbolic description within a spatial reference system which may be stored in a memory and facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.

The process as was described above may further comprise a step of placing the loading device into the loading position by means of the positioning system.

A loading position may be occupied by the range finding device during the step of measuring a distance inward a borehole, wherein the loading position is also known as a measuring position. In order to load an object into the borehole it is necessary that the loading device is placed into the loading position. The process of positioning performed by a post-drilling unit for loading an object into a borehole according to the present disclosure may be at least partially mechanized and/or automatized.

The above mentioned objects are also achieved according to a second aspect of the disclosure by a method of loading an object into a borehole, wherein the method comprises the process of positioning as was described above, and a further step of loading the object into the borehole by means of the loading device.

The method of loading an object into a borehole has all the advantages that have been described above in conjunction with the process of positioning performed by a postdrilling unit for loading an object into a borehole.

The method of loading an object into a borehole according to the present disclosure may be at least partially mechanized and/or automatized.

The above mentioned objects are also achieved according to a third aspect of the disclosure by a post-drilling unit configured to perform a post-drilling process, wherein the post-drilling unit comprises a loading device configured to load an object into a borehole with a longitudinal axis; a range finding device configured to measure one or more distances inward the borehole in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and a positioning system configured to arrange the range finding device in front of the borehole collar, and place the loading device into a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis, wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.

The positioning system as was described above may comprise a navigation system configured to determine local coordinates of the one or more measuring positions and the loading position.

The post-drilling unit according to the present disclosure has all the advantages that have been described above in conjunction with the process of positioning performed by the post-drilling unit for loading an object into a borehole.

In some embodiments, the range finding device as was described above may comprise at least one selected from a group consisting of a laser, a lidar, a radar, a sonar, an ultrasonic, and an optical rangefinder. The specific range finding device as was described above has the advantage of enabling non-contact sensing means for measuring one or more distances inward a borehole, thereby eliminating the risk of damaging the range-finding device during the measuring action.

In some embodiments, the insertion object as was described above may comprise at least one selected from a group consisting of a rock bolt, an explosive package, a feeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool.

The specific insertion object as was described above has the advantage of performing a specific post-drilling process such as rock bolt reinforcement, blasting, logging or cleaning.

In some embodiments, the range finding device as was described above may be fixedly connected to the loading device.

The fixed connection between the range finding device and the loading device ensures a fixed relationship in terms of the positions of the range finding device and the loading device, which enables that the step of placing the loading device into the loading position is performed in a predictable manner. The fixed positional relationship between the range finding device and the loading device has the advantage of increasing work efficiency and productivity.

The range finding device and the loading device may also be fixedly connected such that the positions of the range finding device and the loading device can be adjusted in a synchronized manner, thereby immediate alignment between the loading device and a borehole is achieved once a measuring position is identified as a loading position. There is no need of a separate step of placing the loading device into the loading position by means of the positioning system, thereby further increasing work efficiency and productivity.

In some embodiments, the range finding device as was described above may be switchable to a first position in line with the loading device, and to a second position out of line with the loading device.

The switchable arrangement of the range finding device in relation to the loading device has the advantage of eliminating any risk of blocking the route of loading an object into a borehole. Furthermore, the switchable arrangement of the range finding device in relation to the loading device enables synchronized position adjustment of the range finding device and the loading device, thereby immediate alignment between the loading device and a borehole can be achieved once a measuring position is identified as a loading position. There is no need of a separate step of adjusting or placing the loading device into the loading position by means of the positioning system, thereby increasing work efficiency and productivity.

In some embodiments, the loading device as was described above may be switchable to a first position in line with the range finding device, and to a second position out of line with the range finding device.

The switchable arrangement of the loading device in relation to the range finding device has the advantage of eliminating any risk of blocking the route of loading an object into a borehole.

The above mentioned objects are also achieved according to a fourth aspect of the disclosure by a rig comprising the post-drilling unit as was described above.

The rig according to the present disclosure has all the advantages that have been described above in conjunction with the post-drilling unit as was described above.

The rig as was described above may further comprise a carrier and a boom, wherein the boom is articulated at a terminal end to the carrier and at an opposite terminal end to a mounting device, and wherein the loading device and the range finding device are arranged on the mounting device.

The rig construction as was described above provides a positioning system with the advantage of adjusting the positions of the loading device and the range finding device at a number of levels enabling precise positioning.

The above mentioned objects are also achieved according to a fifth aspect of the disclosure by a method performed by a control unit or a computer connected to the control unit for controlling operation of the post-drilling unit as was described above for loading an object into a borehole, wherein the method comprises the actions of obtaining data, controlling operation of the loading device, controlling operation of the range finding device, and controlling operation of the positioning system. The above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the post-drilling unit has the advantage of at least partially automatizing the process of positioning as was described above and performed by the post-drilling unit for loading an object into a borehole.

The above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the post-drilling unit has all the advantages that have been described above in conjunction with the process of positioning performed by a post-drilling unit for loading an object into a borehole.

The above mentioned objects are also achieved according to yet another aspect of the disclosure by a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.

The computer program product provides all the advantages that have been described above in conjunction with the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.

The above mentioned objects are also achieved according to yet another aspect of the disclosure by a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.

The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.

BRIEF DESCRIPTION OF THE DRAWINGS

With reference to the appended drawings, below follows a more detailed description of embodiments of the disclosure cited as examples.

In the drawings:

Figure 1 is a schematic representation of a mining or construction work rig;

Figure 2 is a schematic representation of a loading device in a loading position in line with a borehole along the longitudinal axis of the borehole; Figure 3 is a block diagram depicting a method for controlling operation of a postdrilling unit;

Figure 4 is a block diagram illustrating a control unit and connections with the control unit.

DETAILED DESCRIPTION

The present disclosure aims to reduce or even eliminate exposure of personnel to the hazardous work environment during operations for loading an object into a borehole. The present disclosure further aims to reduce manual workload without compromising work efficiency or productivity. The present disclosure improves mechanization and automation of the operations for loading an object into a borehole by providing a novel, robust and reliable solution which is advantageous over the state of the art.

According to a first aspect of the disclosure (Fig. 2), there is provided a process of positioning performed by a post-drilling unit, which post-drilling unit comprises a loading device 6 configured to load an object into a borehole with a longitudinal axis A, a range finding device 7, and a positioning system, wherein the process comprises the following steps, which steps may be taken in any suitable order for loading the object into the borehole, i. arranging the range finding device 7 in front of the borehole collar 8 by means of the positioning system; ii. measuring one or more distances inward the borehole by means of the range finding device 7 in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and iii. determining a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis A, wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.

With a “longitudinal axis A” is herein meant an imaginary line passing through the centroid of cross sections of the borehole (Fig. 2). Virtual rotations of the borehole around the longitudinal axis A can be anticipated.

With a “position” is herein meant a point or space which may have a number or symbolic description within a spatial reference system. A position may be occupied by any physical object. A position at which a loading device 6 is able to load at least a part of an insertion object into a borehole is referred to as a loading position. A position at which a range finding device 7 measures a distance inward the borehole is referred to as a measuring position. The range finding device 7 may be adjusted to one or more measuring positions in front of the borehole collar 8 to measure a distance inward the borehole at each measuring position.

With a “positioning system” is herein meant a system for adjusting and determining the position of an object in space. In some embodiments, the positioning system may comprise a boom 4, a beam 5 and/or at least one angle adjusting device 10 (Fig. 1) for adjusting the positions of the range finding device 7 and the loading device 6. The positioning system may be a computer-controlled system.

With a “distance” is herein meant an approximate distance inward a borehole from a measuring position. A reference distance may be correlated to a depth of a borehole in relation to the diameter of the borehole. A reference distance may also be correlated to a length of an insertion object in relation to the diameter and/or other properties (e.g. shape, flexibility, fragility, stability and etc.) of the insertion object.

With “in line” is herein meant essentially concentrically arranged in a straight line, which is opposite to “out of line”. When a loading position is essentially in line with a borehole along the longitudinal axis A of the borehole, the loading position enables loading of at least a part of an insertion object into the borehole. When at least a part of the insertion object has been loaded into the borehole from a loading position, loading of the rest of the insertion object will usually proceed well without need of further adjusting the loading position.

With “equivalent” is herein meant having the same effect. When a measured distance is equivalent to the reference distance, the measuring position corresponding to the measured distance is identified as a loading position that enables loading of at least a part of an insertion object into a borehole. Thus, more than one measured distance may be equivalent to the reference distance, and subsequently more than one measuring position may be identified as a loading position.

Operations of the post-drilling unit may be controlled manually and/or mechanically. The process of positioning performed by the post-drilling unit for loading an object into a borehole may be at least partially automatized. Fig. 2 is a schematic representation of a loading device 6 in a loading position in line with a borehole along the longitudinal axis of the borehole, wherein the borehole collar 8 and the rock surface 9 are illustrated.

The process of positioning according to the present disclosure solves the problem of determining a loading position for loading an insertion object into a borehole. The problem is solved by comparing the measured distance(s) with a predetermined reference distance, wherein at least one measured distance is equivalent to the predetermined reference distance, or in other words, at least one measuring position is identified as a loading position.

The process of positioning according to the present disclosure has the advantage of converting spatial position data into linear distance data that is straightforward to obtain by a range finding device 7 and easy to compare. Thus, the process of positioning is more efficient in determining a loading position for loading at least a part of an insertion object into a borehole. The process of positioning has a further advantage of providing a robust and reliable solution for determining a loading position without the need of interaction between the insertion object and the borehole, thereby reducing or even eliminating the risk of damaging the insertion object during the action of loading the insertion object into the borehole.

The borehole data defined by a drilling plan or obtained from a drilling process facilitates efficient localization of the collar of each borehole at a work site.

The reference distance obtained by a drilling plan, a drilling process, a loading process and/or a logging process provides a reasonable estimation of a loading position that enables loading of at least a part of an insertion object into a borehole.

The position data and reference distance obtained from a loading process or a logging process for a borehole represents a realistic starting point for determining a loading position for a neighboring borehole, which may be combined with the borehole data defined by a drilling plan and/or obtained from a drilling process for a precise estimation of the loading position for the neighboring borehole. The reference distance may be stored in a memory 22 to facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.

In some embodiments, the positioning system as was described above may comprise a navigation system; the process of positioning as was described above may further comprise a step of determining local coordinates of the one or more measuring positions and the loading position, which further step is performed by the navigation system.

With a “navigation system” is herein meant a computing system for determining local coordinates of the one or more measuring positions and the loading position, wherein the coordinate system of a rig with a post-drilling unit is connected to the coordinate system of a working site. The navigation system may be any type of computing system suitable for the intended use. Local coordinates may be determined using any type of coordinate system suitable for the intended use.

The step of determining local coordinates of the positions has the advantage of providing a number or symbolic description within a spatial reference system which may be stored in a memory 22 to facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.

In some embodiments, the range finding device 7 as was described above may comprise at least one selected from a group consisting of a laser, a lidar, a radar, a sonar, an ultrasonic, and an optical rangefinder.

The specific range finding device 7 as was described above has the advantage of enabling non-contact sensing means for measuring one or more distances inward a borehole, thereby eliminating the risk of damaging the range-finding device 7 during the measuring action.

The specific insertion object as was described above has the advantage of performing a specific post-drilling process such as rock bolt reinforcement, blasting, logging or cleaning. The process as was described above may further comprise a step of placing the loading device 6 into the loading position by means of the positioning system.

A loading position may be occupied by the range finding device 7 during the step of measuring a distance inward a borehole, wherein the loading position is also known as a measuring position. In order to load an object into the borehole it is necessary that the loading device is placed into the loading position.

In some embodiments, the range finding device 7 and the loading device 6 may be arranged such that the range finding device 7 and the loading device 6 can be adjusted in a synchronized manner, thereby immediate alignment between the loading device 6 and a borehole can be achieved once a measuring position is identified as a loading position. There is no longer need of a separate step of adjusting or placing the loading device 6 into the loading position by means of the positioning system, thereby increasing work efficiency and productivity.

The process of positioning performed by a post-drilling unit for loading an object into a borehole according to the present disclosure may be at least partially mechanized and/or automatized.

According to a second aspect of the disclosure, there is provided, a method of loading an object into a borehole, wherein the method comprises the process of positioning as was described above, and a further step of loading the object into the borehole by means of the loading device 6.

According to a third aspect of the disclosure, there is provided a post-drilling unit configured to perform a post-drilling process, wherein the post-drilling unit comprises a loading device 6 configured to load an object into a borehole with a longitudinal axis A; a range finding device 7 configured to measure one or more distances inward the borehole in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and a positioning system configured to arrange the range finding device 7 in front of the borehole collar 8, and place the loading device 6 into a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis A, wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.

In some embodiments, the positioning system as was described above may comprise a navigation system configured to determine local coordinates of the one or more measuring positions and the loading position.

In some embodiments, the range finding device 7 as was described above may be fixedly connected to the loading device 6.

The fixed connection between the range finding device 7 and the loading device 6 ensures a fixed relationship in terms of the positions of the range finding device 7 and the loading device 6, which enables that the step of placing the loading device 6 into the loading position is performed in a predictable manner. The fixed positional relationship between the range finding device 7 and the loading device 6 has the advantage of increasing work efficiency and productivity.

The range finding device 7 and the loading device 6 may also be arranged such that the positions of the range finding device 7 and the loading device 6 can be adjusted in a synchronized manner, thereby immediate alignment between the loading device 6 and a borehole can be achieved once a measuring position is identified as a loading position. There is no need of a separate step of placing the loading device 6 into the loading position by means of the positioning system, thereby further increasing work efficiency and productivity. In some embodiments, the range finding device 7 as was described above may be switchable to a first position in line with the loading device 6, and to a second position out of line with the loading device 6.

The switchable arrangement of the range finding device 7 in relation to the loading device 6 has the advantage of eliminating any risk of blocking the route of loading an object into a borehole.

Furthermore, the switchable arrangement of the range finding device 7 in relation to the loading device 6 enables synchronized position adjustment of the range finding device 7 and the loading device 6, thereby immediate alignment between the loading device 6 and a borehole can be achieved once a measuring position is identified as a loading position. There is no need of a separate step of adjusting or placing the loading device 6 into the loading position by means of the positioning system, thereby increasing work efficiency and productivity.

In some embodiments, the loading device 6 as was described above may be switchable to a first position in line with the range finding device 7, and to a second position out of line with the range finding device 7.

The switchable arrangement of the loading device 6 in relation to the range finding device 7 has the advantage of eliminating any risk of blocking the route of loading the object into the borehole.

According to a fourth aspect of the disclosure, there is provided a rig 1 comprising the post-drilling unit as was described above.

The rig 1 may be a complex equipment intended for earth surface use or underground use. The rig 1 may be a mining or construction work rig adapted for various mining operations or construction work. The rig 1 according to the present disclosure has all the advantages that have been described above in conjunction with the post-drilling unit as was described above.

The rig 1 as was described above may further comprise a carrier 2 and a boom 4, wherein the boom 4 is articulated at a terminal end to the carrier 2 and at an opposite terminal end to a mounting device 3, and wherein the loading device 6 and the range finding device 7 are arranged on the mounting device 3 (Fig. 1).

Fig. 1 shows schematically a mining or construction work rig 1 that further comprises a beam 5, wherein the loading device 6 and the range finding device 7 are arranged on the beam 5. The beam 5 may be a feed beam. The rig 1 construction as was described above provides a positioning system with the advantage of adjusting the positions of the loading device 6 and the range finding device 7 at a number of levels enabling precise positioning. The positioning system may comprise a boom 4, a beam 5 and/or at least one angle adjusting device 10 (Fig. 1).

According to a fifth aspect of the disclosure, there is provided a method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the post-drilling unit as was described above for loading an object into a borehole. Example embodiments of the method will be described in a general way by referring to Fig. 3. The method comprises the following actions, which actions may be taken in any suitable order.

Action 101: obtaining data

The action 101 of obtaining data may comprise one or more sub-actions of obtaining data from a sensing system. The data may provide information about proximity, pressure, speed, position and/or displacement of the loading device 6, the range finding device 7, and/or a borehole.

Action 102: controlling operation of the loading device 6

The action 102 of controlling operation of the loading device 6 may comprise one or more sub-actions of controlling operation of relevant components of the loading device 6 for loading an object into a borehole.

Action 103: controlling operation of the range finding device 7

The action 103 of controlling operation of the range finding device 7 may comprise one or more sub-actions of controlling operation of relevant components of the range finding device 7 for measuring a distance inward a borehole.

Action 104: controlling operation of the positioning system

The action 104 of controlling operation of the positioning system may comprise one or more sub-actions of controlling operation of the boom 4, the beam 5, and/or the at least one angle adjusting device 10 for adjusting the positions of the range finding device 7 and the loading device 6 (Fig. 1).

The action 104 of controlling operation of the positioning system may further comprise one or more sub-actions of controlling operation of the navigation system for determining local coordinates of the one or more measuring positions and the loading position. As illustrated in Fig. 4, the control unit 20 may be connected with a loading device 6, a range finding device 7, and a positioning system via the communication links 200a, 200b and 200c respectively. The control unit 20 comprises at least one processor 21, at least one memory 22 and at least one data port 23. The at least one processor 21 is usually an electronic processing circuitry that processes input data and provides appropriate output.

The above mentioned method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the post-drilling unit has the advantage of at least partially automatizing the process of positioning as was described above and performed by the post-drilling unit for loading an object into a borehole.

According to another aspect of the disclosure, there is provided a computer program product comprising instructions which, when executed on at least one processor 21 , cause the at least one processor 21 to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.

According to some embodiments herein there is provided a computer program which comprises program code for causing a control unit 20 or a computer connected to the control unit 20 to carry out the method as was described above for controlling operation of the post-drilling unit as was described above for loading an object into a borehole.

The computer program may comprise routines for obtaining 101 data from the sensing system, controlling 102 operation of the loading device 6, controlling 103 operation of the range finding device, and/or controlling 104 operation of the positioning system.

According to yet another aspect of the disclosure, there is provided a computer- readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor 21 , cause the at least one processor 21 to carry out the method as was described above for controlling operation of the post-drilling unit.

According to some embodiments herein there is provided a computer-readable storage medium storing a computer program, wherein said computer program comprises program code for causing a control unit 20 or a computer connected to the control unit 20 to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole. The computer-readable storage medium may comprise non-volatile memory (NVM) for storing the computer program.

The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product. Although the invention has been described in terms of example embodiments as set forth above, it should be understood that the examples are given solely for the purpose of illustration and are not to be construed as limitations of the claims, as many variations thereof are possible without departing from the scope of the invention. Each feature disclosed or illustrated in the present disclosure may be incorporated in the claims, whether alone or in any appropriate combination with any other feature disclosed or illustrated herein.

Claims

1. A process of positioning performed by a post-drilling unit, which postdrilling unit comprises a loading device (6) configured to load an object into a borehole with a longitudinal axis (A), a range finding device (7), and a positioning system, wherein the process comprises steps of i. arranging the range finding device (7) in front of the borehole collar (8) by means of the positioning system; ii. measuring one or more distances inward the borehole by means of the range finding device (7) in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and iii. determining a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis (A), wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.

2. The process according to claim 1 , wherein the reference distance is determined by means of at least one selected from a group consisting of a drilling plan, a drilling process, a loading process and a logging process.

3. The process according to claim 1 or 2, wherein the positioning system comprises a navigation system, and wherein the process comprises a further step of determining local coordinates of the one or more measuring positions and the loading position, which further step is performed by the navigation system.

4. The process according to any one of the previous claims, wherein the process comprises a further step of placing the loading device (6) into the loading position by means of the positioning system.

5. A method of loading an object into a borehole, wherein the method comprises the process of positioning according to any one of the previous claims, and a further step of loading the object into the borehole by means of the loading device (6).

6. A post-drilling unit configured to perform a post-drilling process, wherein the post-drilling unit comprises a loading device (6) configured to load an object into a borehole with a longitudinal axis (A); a range finding device (7) configured to measure one or more distances inward the borehole in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and a positioning system configured to arrange the range finding device (7) in front of the borehole collar (8), and place the loading device (6) into a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis (A), wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.

7. The post-drilling unit according to claim 6, wherein the positioning system comprises a navigation system configured to determine local coordinates of the one or more measuring positions and the loading position.

8. The post-drilling unit according to claim 6 or 7, wherein the range finding device (7) comprises at least one selected from a group consisting of a laser, a lidar, a radar, a sonar, an ultrasonic, and an optical rangefinder.

9. The post-drilling unit according to any one of the claims 6 to 8, wherein the object comprises at least one selected from a group consisting of a rock bolt, an explosive package, a feeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool.

10. The post-drilling unit according to any one of the claims 6 to 9, wherein the range finding device (7) is fixedly connected to the loading device (6).

11. The post-drilling unit according to any one of the claims 6 to 9, wherein the range finding device (7) is switchable to a first position in line with the loading device (6), and to a second position out of line with the loading device (6).

12. A rig (1) comprising the post-drilling unit according to anyone of the claims 6 to 11.

13. The rig (1) according to claim 12 comprising a carrier (2) and a boom (4), wherein the boom (4) is articulated at a terminal end to the carrier (2) and at an opposite terminal end to a mounting device (3), and wherein the loading device (6) and the range finding device (7) are arranged on the mounting device (3).

14. A method performed by a control unit (20) or a computer connected to the control unit (20) for controlling operation of the post-drilling unit according to anyone of the claims 6 to 11 for loading an object into a borehole, wherein the method comprises the actions of obtaining data, controlling operation of the loading device (6), controlling operation of the range finding device (7), and controlling operation of the positioning system.

15. A computer program product comprising instructions which, when executed on at least one processor (21), cause the at least one processor (21) to carry out the method according to claim 14. 22

16. A computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor (21), cause the at least one processor (21) to carry out the method according to claim 14.