EP4671487A1

EP4671487A1 - CONTROL OF THE PROTECTIVE COVER OF A PROBE DEVICE OF A DRILLING RACK

Info

Publication number: EP4671487A1
Application number: EP24184310.1A
Authority: EP
Inventors: Riku RAUHALA; Juha Lahtinen; Juuso Naskali
Original assignee: Sandvik Mining and Construction Oy
Current assignee: Sandvik Mining and Construction Oy
Priority date: 2024-06-25
Filing date: 2024-06-25
Publication date: 2025-12-31
Also published as: WO2026003059A1

Abstract

An apparatus comprises: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: determine a state of the drill rig (100), wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control based on the state of the drill rig, a position of a protective cover (116) of a scanning device (114) of the drill rig.

Description

TECHNICAL FIELD

Various example embodiments generally relate to the field of drill rigs. Some example embodiments relate to controlling a position of a protective cover of a scanning device of a drill rig.

BACKGROUND

In various fields of technology, such as for example rock drilling, it may be desired to automate operations of a drill rig. For example, it may be desired to enable the drill rig to autonomously navigate to a planned drilling position and to perform drilling at a desired position on a drilling surface.

SUMMARY

The invention is defined by the features of the independent claims. Some specific embodiments are defined in the dependent claims. This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
According to a first aspect, an apparatus for controlling a drill rig is disclosed. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control, based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
According to a second aspect, a drill rig is disclosed. The drill rig may be configured to: determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control, based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
According to a third aspect, a remote control device is disclosed. The remote control device may be configured to: determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control, based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
According to a fourth aspect, a method for controlling a drill rig is disclosed. The method may comprise: determining a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and controlling based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
According to a fifth aspect, an apparatus for controlling a drill rig is disclosed. The apparatus may comprise: means for determining a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and means for controlling based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
According to a sixth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control, based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
Example embodiments of the above aspects are described in the claims, the description, and/or the drawings. According to some aspects, there is provided the subject matter of the independent claims. Some further aspects are defined in the dependent claims. Many of the attendant features will be more readily appreciated as they become better understood by reference to the following description considered in connection with the accompanying drawings.

LIST OF DRAWINGS

The accompanying drawings, which are included to provide a further understanding of the example embodiments and constitute a part of this specification, illustrate example embodiments and, together with the description, help to explain the example embodiments. In the drawings:

FIG. 1 illustrates an example of a surface drill rig;
FIG. 2 illustrates an example of an underground drill rig;
FIG. 3 illustrates an example of a drill rig communicatively coupled to a remote control device;
FIG. 4 illustrates an example of a drilling unit;
FIG. 5 illustrates an example of a state machine associated with a drilling cycle of a drill rig;
FIG. 6 illustrates an example of a flow chart for controlling position of a protective cover of a scanning device of a drill rig;
FIG. 7 illustrates an example of an apparatus configured to practise one or more example embodiments; and
FIG. 8 illustrates an example of a method for controlling a drill rig.

Like references are used to designate like parts in the accompanying drawings.

DESCRIPTION

Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.
FIG. 1 illustrates an example of drill rig 100, in this case a surface drill rig. Even though a surface type of drill rig is illustrated in FIG. 1, it is understood that example embodiments of the present disclosure may also be applied to other type of drill rigs, for example underground drill rigs, as illustrated in FIG. 2.
Drill rig 100 may be an automated drill rig or a semi-autonomous drill rig, for example a remote-controlled drill rig. An automated drill rig may be equipped with tools configured for certain task(s), for example drilling. An automated drill rig operating in an automatic mode may be configured to, for example, receive a task to be performed, perceive the environment of the automated drill rig, and autonomously perform the task while taking the environment into account. An automated drill rig operating in an automatic mode may be configured to operate independently but may be taken under external control by a human operator at certain operation areas or conditions, such as during states of emergency or malfunction.
Drill rig 100 may comprise movable carrier 110, boom 120, and drilling unit 130. Drill rig 100 may comprise controller 112, which may be configured to control various operations of drill rig 100, for example movement of drill rig 100 (e.g., tramming) or drilling by drilling unit 130. Drilling unit 130 may comprise equipment for drilling holes in drilling surface 150. Drilling unit 130 may for example comprise a drill rod and a feed beam configured to enable a drill bit to be applied to drilling surface 150 in order to drill a hole. In case of a surface drill rig, drilling unit 130 may be coupled to a mast of drill rig 100.
Drill rig 100 may comprise tracks 140, which may be connected to movable carrier 110. Drill rig 100 may be therefore a track-mounted drill rig. Movable carrier 110 may comprise equipment for moving drill rig 100, such as for example a motor configured to provide power for moving tracks 140. Even though two tracks 140 have been illustrated in FIG. 1, drill rig 100 may in general comprise a plurality (e.g., two, four,...) of tracks 140. Movable carrier 110 may be configured to move autonomously or it may be configured to be controlled by a human operator, either remotely or locally at drill rig 100. Drill rig 100 may comprise one or more of the parts described above, or other tool(s) or equipment relevant for a drill rig.
Drill rig 100 may be configured to operate according to a drilling plan. The drilling plan may be configured to indicate target position(s) for the drill bit for drilling hole(s) to drilling surface 150. A target position of drill bit may comprise a start position of a hole planned to be drilled on drilling surface 150. The drilling plan may comprise a digital drilling plan. Drill rig 100 may be preconfigured with the drilling plan. The drilling plan may be for example stored in a memory of drill rig 100 or controller 112. Controller 112 may be configured to obtain the drilling plan by retrieving it from the memory. Alternatively, controller 112 may be configured to obtain the drilling plan by receiving it from a remote device, e.g., a server, or via a user interface.
Drill rig 100 may be configured with a drilling cycle, for example in order to perform actions defined in the drilling plan. A drilling cycle may comprise a sequence of operational states configured for performing a drilling task, for example to sequentially drill multiple holes at different positions on drilling surface 150. A drilling cycle may for example comprise a drilling state and a moving state, as will be further described with reference to FIG. 5.
Controller 112 may be provided as a software application residing on a memory and being executable by a processor. An example of an apparatus suitable for implementing controller 112 is provided in FIG. 7. Controller 112 may comprise, or be communicatively coupled to, various functions, blocks, or applications for implementing functionality of controller 112. For example, controller 112 may comprise or be communicatively coupled to a data management server, which may be configured to store information on functions to be performed by drill rig 100, such as the drilling plan, tunnel lines, point cloud or mesh presentations of tunnel lines or profiles, a mine map point cloud, or the like; or in general representation(s) of the working environment of drill rig 100.
Drill rig 100 may comprise at least one scanning device 114, for example at one or more corners of movable carrier 110. Scanning device(s) 114 (e.g., sensor(s)) may be coupled to drill rig 100 for scanning environment of drill rig 100, for example, drilling surface 150 or other objects detectable in the environment of drill rig 100. Scanning device(s) 114 may be integrated or mechanically coupled to drill rig 100 (e.g., movable carrier 110). A scanning device 114 may be covered by a protective cover 116, which may be configured to be opened during scanning and closed when not scanning, e.g., when movable carrier 110 is moving.
In the example of FIG. 1, one scanning device 114 at the upper rear corner of movable carrier 110 is illustrated with a protective cover 116. Protective cover 116 is illustrated in two example positions 'A' and 'B'. In the first position 'A', protective cover 116 may be configured to protect scanning device 114. The first position may comprise a closed position of protective cover 116. The scanning capability of scanning device 114 may be however blocked or restricted when protective cover 116 is in the first position, e.g., due to obstructed visibility towards the environment of drill rig 100. However, in the second position 'B', protective cover 116 may be configured to enable scanning device 114 to scan environment of drill rig 100. The second position may comprise an open position of protective cover 116. Controller 112 may be configured to control position of protective cover 116, for example by causing protective cover 116 to transition from the first position to the second position, or vice versa, for example by means of a hinge 118.
Scanning device(s) 114 may include for example one or more of the following: one or more light detection and ranging (lidar) sensors, one or more radio detection and ranging (radar) sensors, e.g., microwave radar sensors, one or more cameras, or one or more ultrasonic distance sensors, or the like. An ultrasonic distance sensor may be an instrument which is configured to measure the distance to an object using ultrasonic sound waves. Scanning device(s) 114 may be configured to scan environment of drill rig 100, for example to detect distances to surrounding objects, for example drilling surface 150 or other objects in the environment of drill rig 100. Scanning of drilling surface 150 may comprise scanning with scanning device(s) 114 such that their sensing direction is towards drilling surface 150.
Controller 112 may comprise a navigation application configured to control navigation of drill rig 100, for example to move drill rig 100 such that it can reach a next target position of the drill bit. The navigation application may for example comprise, or be associated with, a SLAM (simultaneous localization and mapping) system. Such a navigation application may be configured to determine a position of drill rig 100 within an operational area (e.g., a mine) of drill rig 100. The navigation application may be for example configured to compare scanning data (e.g., point cloud data) obtained at a particular position to a map or a three-dimensional (3D) model of the operational area of drill rig 100, in order to determine the current position of drill rig 100. Scanning data obtained by scanning device(s) 114 may be therefore configured to be provided to the navigation application, either directly from scanning device(s) 114 or via controller 112, for determining the position of drill rig 100.
It may be desired to obtain scanning data during, or in preparation of, movement of drill rig 100, for example to enable safe and efficient movement of drill rig 100. On the other hand, it may be less valuable to obtain scanning data when movable carrier 110 is not moving or when movable carrier 110 is not planned or commanded to move. Example embodiments of the present disclosure therefore enable position of protective cover(s) 116 of scanning device(s) 114 to be controlled such that scanning device(s) 114 are protected from falling particles and dust during drilling, but enabled to scan the environment of drill rig 100 during, or in preparation of, movement of movable carrier 110. For example, example embodiments may be related to an automatic scanner protection cover, which may be a mechanical device that is configured to automatically lay a physical protective cover, e.g., a metal plate, in front of scanning devices 114, which may be also referred to as environment detection device(s), of a production device such as drill rig 100. Protective cover 116 may be configured to protect the associated scanning device 114, for example when the production machine is drilling, e.g., performing manual drilling, remote controlled drilling, or autonomous drilling. Activation of protective cover 116 may be automatic and dependent on the state of drill rig 100 in the drilling cycle, but protective cover 116 might also be configured to be manually controlled, e.g., in a service mode of drill rig 100. Furthermore, in case drilling is to be started in the manual control mode without protective cover 116 protecting associated scanning device 114, the operator of drill rig 100 may be notified, e.g., by a warning signal via a user interface of drill rig 100. Furthermore, malfunctions of protective cover 116, including equipment configured to enable movement of protective cover 116, may be detected and notified to the operator via the user interface. When drill rig 100 is not drilling and the next state in the drilling cycle is movement (e.g., remote controlled or autonomous movement), protective cover 116 may be controlled to automatically (e.g., without intervention from human operator of drill rig 100) move away from of scanning device 114 in order to enable scanning of the environment of drill rig 100 during movement of drill rig 100. An automatic scanner protection device may be powered by pneumatic, electric, or hydraulic power source. Such a protective cover device may include a physical protective cover 116 and equipment for causing movement of protective cover 116, such as for example one or more lever(s), cylinder(s), actuator(s), power source(s), tube(s), electrical circuitry, electrical wiring, or the like.
Example embodiments of the present disclosure thus enable to improve availability of drill rig 100, because scanning device(s) 114 may be protected from dirt, dust, or other disturbing material that might otherwise prevent drill rig 100 from monitoring its environment and thereby cause a service break. Therefore, the number of interruptions in operation may be reduced since scanning device(s) 114 may need to be serviced, e.g., cleaned, less frequently.
FIG. 2 illustrates another example of drill rig 100, in this case an underground drill rig. The underground drill rig may comprise component(s) similar to the surface drill rig of FIG. 1, for example movable carrier 110 and boom(s) 120 connected thereto, drilling unit(s) 130, and/or equipment for moving or stabilising the underground drill rig (e.g., motor, wheels 240, and/or stabilizer jacks 242). Even though two booms 120 have been illustrated in FIG. 2, drill rig 100 may generally comprise one or a plurality (e.g., two, three, four,...) of booms 120. Boom(s) 120 may comprise a plurality of boom parts coupled to each other, movable carrier 110, and/or drilling unit 130 by joint(s) 122. Controllable joints 122 enable drilling unit 130 to be placed at a desired position and orientation with respect to drilling surface 150. As already described with reference to FIG. 1, also an underground drill rig may comprise controller (C) 112.
FIG 3. illustrates an example of a drill rig communicatively coupled to a remote control device. Controller 112 may be alternatively located external to drill rig 100 and configured to remotely control drill rig 100. Drill rig 100 may be for example a surface drill rig, a track-mounted drill rig, an underground drill rig, a rock drill rig, a mining drill rig, a surface rock drill rig, an underground rock drill rig, or any other type of drill rig. For example, controller 112 may be provided at remote control device 300, which may be external to drill rig 100, as illustrated in FIG. 3.
Remote control device 300 may comprise a server or other computing device located remote from drill rig 100, for example at a remote operator station. Functionality of controller 112 may be provided at drill rig 100, remote control device 300, or distributed between drill rig 100 and remote control device 300. Information may be exchanged between controller 112 and drill rig 100 over an internal or external data communication interface, including any suitable wireless or wired connection. Examples of suitable communication interfaces are described with reference to FIG. 7.
FIG. 4 illustrates an example of a drilling unit. Drilling unit 130 may comprise a feed beam 401 and a rock drilling machine 402 supported on it. Rock drilling machine 402 may comprise a shank at a front end of the rock drilling machine 402 for connecting a tool, such as for example drill rod 403 comprising, or configured to be coupled to, drill bit 404. Furthermore, drilling unit 130 may comprise one or more rod handling devices 405, such as for example a tool hold device, a tool changing apparatus or manipulator, and/or a tool magazine or storage. In addition to this, one or more additional devices 406 may be supported to feed beam 401.
FIG. 5 illustrates an example of a state machine for implementing a drilling cycle of a drill rig. It is noted that state machine 500 is provided as one example of a suitable state machine for controlling drill rig 100 to operate according to a drilling cycle. The states may be explicit, such that controller 112 is configured with one or more of the described states, or implicit, such that controller 112 is configured to cause particular actions without actual configuration of such a state machine.
A state machine may comprise a software component configured to model system behaviour by defining a finite set of predefined states of the system (e.g., drill rig 100) and transitioning between the states. A state machine may comprise, for example, a finite-state machine (FSM) that is configured be in one of a finite number of states at a given time. As another example, a state machine may comprise a hierarchical state machine (HSM) that may comprise hierarchically nested states comprising one or more substates and superstates. A substate comprises a state that can be active when its superstate is active. A superstate may comprise one or more substates. Therefore, if the system is in a substate, it may also be in a superstate. A state in a HSM may comprise another state machine.
A state may comprise a description of the status of the system that is performing an operation or waiting a transition from a first state to a second state. An FSM and HSM may comprise a start state, an end state and a number of intermediate states. A state may further define events that trigger a transition from a first state to a second state and/or one or more actions that occur when the state machine enters or exists the state. Therefore, a system may transition from one state to another state based on a condition or trigger event.
A transition may comprise a definition of how the state machine reacts when a condition for a state transition is fulfilled or how the state machine reacts to an event that triggers a transition of the state machine from a first state to a second state. A definition of how the state machine reacts may comprise, for example, a definition of at least one state into which the state machine is configured to transition upon fulfilment of a predefined condition or upon occurrence of a predefined event. For example, a transition may define that the state machine exits a first state and enters a second state in response to a predefined event. As another example, a transition may comprise a definition that the state machine exists the first state and enters the second state when a predefined condition is fulfilled. A transition may further comprise a definition of actions that occur upon the transition. For example, drill rig 100 may be configured to transition to a moving state, in response to completion of a drilling task, unless drill rig 100 is specifically commanded to an idle state.
State machine 500 may comprise a drilling state 501. In drilling state 501, controller 112 may be configured to control drilling by drilling unit 130, for example initiation of drilling, operations during drilling, and/or termination of drilling. Drilling state 501 may be characterized for example by predefined movement of drill rod 403 and drill bit 404 such as rotation of drill rod 403 and drill bit 404. However, drilling state 501 may also comprise any operations subsequent to determining, e.g., by controller 112, to initiate drilling, for example controlling movement of boom(s) 120 and/or drilling unit(s) 130 to the desired hole position before causing movement of drill rod 403 and drill bit 404. Drilling state 501 may also comprise movement of boom(s) 120 and/or drilling unit(s) 130 to a transport position in response to termination of drilling. Drilling state 501 may therefore comprise a state, where drilling is ongoing. Additionally, drilling state 501 may comprise a state, where drilling is enabled, e.g., such that drilling unit 130 is ready to drill upon a command from controller 112.
State machine 500 may comprise a moving state 502, in which controller 112 may be configured to cause movable carrier 110 to move, for example in order to drill a hole at another position on drilling surface 150. Moving state 502 may be characterized, for example, by rotation of track(s) 140 or wheels 240 of drill rig 100. However, moving state 502 may also comprise any operations subsequent to determining, e.g., by controller 112, to initiate movement of movable carrier 110. Controller 112 may be configured to alternate between drilling state 501 and moving state 502. The drilling cycle may therefore comprise an alternating sequence of drilling state 501 and moving state 502. Drilling unit 130 may be disabled during moving state 502.
State machine 500 may further comprise other states, such as for example an idle state 503 and/or a service mode state 504. In idle state 503, controller 112 may be configured to control drill rig 100, e.g., movable carrier 110 and other tool(s) or equipment of drill rig 100, to be substantially stationary. For example, during idle state 503 the motor of drill rig 100 may be running, e.g., slowly, while disconnected from a load or out of gear. The service mode may be configured for maintenance or repairment of drill rig 100. For example, normal control of actuators or functions of drill rig 100 may disabled or restricted in the service mode.
Controller 112 may be configured to move to idle state 503 from drilling state 501 or moving state 502 and return to one of these states from idle state 503. Controller 112 may move from idle state 503 to service mode state 504, and vice versa. It is however possible to configure the transitions between the states in another way.
FIG. 6 illustrates an example of a flow chart for controlling position of a protective cover of a scanning device of a drill rig. The method may be performed by controller 112, as described below, or by any suitable device, component, system included in, or communicatively coupled to, drill rig 100. Even though example operations of FIG, 6 have been described using one protective cover as an example, it is understood that controller 112 may be configured to control one or a plurality of protective covers.
At operation 601, controller 112 may be configured to initiate automatic control of protective cover 116, for example as a default configuration when switching drill rig 110 on, or in response to a user input requesting entry to an automatic control mode of protective cover 116.
At operation 602, controller 112 may be configured to determine whether a request for manual control has been received from an operator of drill rig 100. The operator may be a human operator, either in the cabin of drill rig 100 or by a remote operator station. Controller 112 may be configured to move to execution of operation 603, in response to determining that no request for manual control has been received. Controller 112 may be configured to move to execution of operation 609, in response to determining that a request for manual control has been received. Even though illustrated at a particular position in the flow chart, it is understood that operation 602 may be alternatively performed at various other stages of the procedure, or concurrently in background while performing other operations.
At operation 603, controller 112 may be configured to determine a state of drill rig 100. The state may comprise a current state of drill rig 100. In some embodiments, the state may however comprise the next state to which drill rig 100 has been commanded and/or to which drill rig 100 is transitioning. The state may be one of a plurality of states of a drilling cycle of drill rig 100, for example one of the states of state machine 500. Alternatively, the state may comprise status information of one or more components of drill rig 100, such as for example status of drill rod 403, tracks 140, or wheels 240 (e.g., rotating or not).
At operation 604, controller 112 may be configured to determine whether the state of drill rig 100 is indicative of drilling by drill rig 100. Controller 112 may be configured to determine whether the state of drill rig 100 is indicative of drilling by drill rig 100 based on the state of drill rig 100 in the drilling cycle and/or based on status of one or more components or tools of drill rig 100. For example, controller 112 may be configured to determine that the state of drill rig 100 is indicative of drilling, if drill rig 100 is in drilling state 501 of state machine 500. A state indicative of drilling may be referred to as a first state. Alternatively, or additionally, controller 112 may be configured to determine that the state of drill rig 100 is indicative of drilling, in response to determining that drill rod 403 or drill bit 404 is rotating, or in response to determining that rock drilling machine 402 is in operation (e.g., running).
Controller 112 may be configured to move to execution of operation 605, in response to determining that the state of drill rig 100 is indicative of drilling by drill rig 100. Controller 112 may be configured to move to execution of operation 606, in response to determining that the state of drill rig 100 is not indicative of drilling by drill rig 100.
At operation 605, controller 112 may be configured to control protective cover 116 to move to a closed position, or generally a position configured to protect scanning device 114. This position may be referred to as a first position. This provides the benefit of protecting scanning device 114 from particles falling from drilling surface 150 due to drilling.
At operation 606, controller 112 may be configured to determine whether the state of drill rig 100 is indicative of movement of movable carrier 110 of drill rig 100. Controller 112 may be configured to determine whether the state of drill rig 100 is indicative of movement of movable carrier 110 based on the state of drill rig 100 in the drilling cycle and/or based on status of one or more components of drill rig 100. For example, controller 112 may be configured to determine that the state of drill rig 100 is indicative of drilling, in response to determining that drill rig 100 is in moving state 502 of state machine 500. A state indicative of movement of movable carrier 110 may be referred to as a second state. Alternatively, or additionally, controller 112 may be configured to determine that the state of drill rig 100 is indicative of movement of movable carrier 110, in response to determining that tracks 140 or wheels 240 are rotating (e.g., in the same direction).
Controller 112 may be configured to move to execution of operation 607, in response to determining that the state of drill rig 100 is indicative of movement of movable carrier 110. Controller 112 may be configured to move to execution of operation 608, or directly to operation 602 or 603, in response to determining that the state of drill rig 100 is not indicative of movement of movable carrier 110.
At operation 607, controller 112 may be configured to control protective cover 116 to move to an open position, or generally a position configured to enable scanning of environment of drill rig 100. This position may be referred to as a second position. This provides the benefit of enabling provision of scanning data of the environment of drill rig 100 to a navigation application, which may improve positioning accuracy and therefore safety and efficiency of autonomous drilling.
It is however noted that operation 606 may be optional. For example, controller 112 may be alternatively configured to control protective cover 116 to move to the open position, in response to determining, e.g., at operation 604, that the state of drill rig 100 is not indicative of drilling, as indicated by the dashed arrow between operations 604 and 607.
Controller 112 may be configured to move from operation(s) 605, 606 to operation 602, in order to determine again whether a request for manual controlling of protective cover 116 has been received. Alternatively, controller 112 may be configured to move from operation(s) 605, 606 to operation 603, in order to determine again the status of drill rig 100.
Operations 603 to 605, optionally with operation 606 and/or 607, enable controller 112 to control, based on the state of drill rig 100, the position of protective cover 116. This provides the benefit of improving scanning data-based navigation while protecting scanning device 114 during drilling. Operation of drill rig 100 with protective cover 116 is therefore improved, because navigation is generally not needed when drill rig 100 is drilling a hole or about to initiate drilling of a hole.
At operation 608, controller 112 may be configured to determine whether drill rig 100 is in a service mode. Controller 112 may be for example configured to determine that drill rig is in the service mode based on detecting that drill rig is in service mode state 504 of state machine 500. Alternatively, controller 112 may be configured to determine that drill rig 100 is in the service mode, in response to detecting a request (e.g., a user input) from the operator of drill rig 100 for entering the service mode. Controller 112 may be configured to move to execution of operation 602 or 603, in response to determining that drill rig 100 is not in the service mode.
At operation 609, controller 112 may be configured to terminate automatic control of protective cover 116. In other words, controller 112 may be configured to terminate controlling the position of protective cover 116 based on the state of drill rig 100. This may be in response to receiving, at operation 602, the request to initiate manual controlling of protective cover 116, or, in response to determining, at operation 608, that drill rig 100 is in the service mode.
At operation 610, controller 112 may be configured to enable user interface element(s) for controlling protective cover 116. The user interface may be located at drill rig 100 or a remote operator station. This may be in response to receiving the request to initiate manual controlling of protective cover 116 (cf., operation 602, or, in response to determining that drill rig 100 is in the service mode (cf., operation 608).
Operations 609 and 610 provide the benefit of improving flexibility of controlling the position of protective cover 116, because the operator of drill rig 100 is enabled to take control of protective cover 116, either during operation of drill rig 100 or when drill rig 100 is in the service mode. Note that operations 611 to 613 might not be performed when drill rig 100 is in the service mode, e.g., after arriving at operations 609 and 610 from operation 608.
At operation 611, controller 112 may be configured to determine whether protective cover 116 is in the closed position (e.g., the first position configured to protect scanning device 114). If yes, controller 112 may be configured to iterate operation 611 to keep monitoring whether protective cover 116 is opened. If not, controller 112 may be configured to move to execution of operation 612.
Note that controller 112 may be configured to monitor the state of drill rig 100, e.g., as described with reference to operation 603 during other operations of FIG. 6, for example periodically. This enables controller 112 to maintain up-to-date information about the current state of drill rig 100.
At operation 612, controller 112 may be configured to determine whether the state of drill rig 100 is indicative of drilling, similar to operation 604. If not, controller 112 may be configured to move back to operation 611 to monitor the position of protective cover 116. Controller 112 may be configured to move to execution of operation 613, in response to determining that the state of drill rig 100 of indicative of drilling by drill rig 100. Considering operations 611 and 612, controller 112 may be therefore configured to perform operation 613, in response to detecting drill rig 100 to enter the state indicative of drilling (cf., first state) when protective cover 116 is in the closed position (cf., the first position).
At operation 613, controller 112 may be configured to cause a notification (e.g., a warning signal or alert) to be output to the operator of drill rig 100, for example via the user interface of drill rig 100 or the user interface of the remote operator station. The notification may for example comprise a visual notification and/or an audible notification. This provides the benefit of enabling to avoid damage of scanning device 114 caused by non-optimal manual control of protective cover 116. Operational time of drill rig 100 may be therefore increased as lengthy service periods for repairing or replacing a damaged scanning device may be reduced. Controller 112 may be configured to cause the output of the notification for example by providing, to a user interface device (e.g., display controller or audio controller) a request for outputting such notification.
Controller 112 may be further configured to detect malfunction of protective cover 116, for example based on sensor information indicative of the position of protective cover 116. Controller 112 may be for example configured to detect malfunction of protective cover 116, in response to detecting protective cover 116 to be in the open position regardless of providing instructions (cf., operation 605) to move protective cover 116 to the closed position, or, in response to detecting protective cover 116 to be in the closed position regardless of providing instructions (cf., operation 607) to move protective cover 116 to the open position. The sensor information may comprise sensor readings of sensor(s), e.g., magnetic sensor(s), coupled to protective cover 116 or movable carrier 110 at a location which is in proximity of protective cover 116 when protective cover 116 is in the closed position but not in proximity (e.g., at a certain distance) from protective cover 116 when protective cover 116 is in the open position.
Controller 112 may be configured to cause output of a notification (e.g., a malfunction alert), in response to detecting malfunction of protective cover 116. This provides the benefit of enabling to avoid damage of scanning device 114 caused by malfunction of protective cover 116.
FIG. 7 illustrates an example of an apparatus configured to practise one or more example embodiments. Apparatus 700 may be or comprise a drill rig control apparatus, such as for example a server communicatively coupled to drill rig 100, a control apparatus located at drill rig 100, controller 112, drill rig 100 itself, or in general any device or system configured to implement the functionality described herein. Although apparatus 700 is illustrated as a single device, it is appreciated that, wherever applicable, functions of apparatus 700 may be distributed to a plurality of devices.
Apparatus 700 may comprise at least one processor 702. The at least one processor 702 may comprise, for example, one or more of various processing devices, such as for example a co-processor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), programmable logic controller (PLC), a hardware accelerator, a special-purpose computer chip, or the like.
Apparatus 700 may further comprise at least one memory 704. The at least one memory 704 may be configured to store, for example, computer program code or the like, for example operating system software and application software. The at least one memory 704 may comprise one or more volatile memory devices, one or more non-volatile memory devices, and/or a combination thereof. For example, the memory may be embodied as magnetic storage devices (such as hard disk drives, etc.), optical magnetic storage devices, or semiconductor memories (such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). Memory 704 is provided as an example of a (non-transitory) computer readable medium. The term "non-transitory," as used herein, is a limitation of the medium itself (i.e., tangible, not a signal) as opposed to a limitation on data storage persistency (e.g., RAM vs. ROM). The at least one memory 704 may be also embodied separate from apparatus 700, for example as a computer readable (storage) medium, examples of which include memory sticks, compact discs (CD), or the like.
When apparatus 700 is configured to implement some functionality, some component and/or components of apparatus 700, such as for example the at least one processor 702 and/or the at least one memory 704, may be configured to implement this functionality. Furthermore, when the at least one processor 702 is configured to implement some functionality, this functionality may be implemented using program code 706 comprised, for example, in the at least one memory 704.
The functionality described herein may be performed, at least in part, by one or more computer program product components such as software components. According to an example embodiment, apparatus 700 comprises a processor or processor circuitry, such as for example a microcontroller, configured by program code 706, when executed, to execute the embodiments of the operations and functionality described herein. Program code 706 is provided as an example of instructions which, when executed by the at least one processor 702, cause performance of apparatus 700.
For example, controller 112 may be at least partially implemented as program code configured to cause apparatus 700 to perform functionality of controller 112. Similarly, transmission or reception of data, e.g., data, instruction(s), signal(s), or command(s), over an internal or external communication interface of drill rig 100 may be controlled by software.
Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-a-chip systems (SOC), complex programmable logic devices (CPLD), graphics processing units (GPU), neural processing units (NPU), tensor processing units (TPU), or the like. Controller 112 may comprise control circuitry, for example any of the above hardware logic components or a combination of at least one processor and least one memory, for implementing functionality described herein.
Apparatus 700 may comprise a communication interface 708 configured to enable apparatus 700 to transmit and/or receive information. Communication interface 708 may comprise an internal or external communication interface, such as for example a radio interface between drill rig 100 and controller 112 or an internal control bus within drill rig 100. Apparatus 700 may further comprise other components and/or functions such as for example user interface 710 comprising at least one input device and/or at least one output device. The input device may take various forms such as a keyboard, a touch screen, or one or more embedded control buttons, joysticks, or other type of manual controllers. The output device may for example comprise a display, a speaker, or the like. User interface 710 may be configured to enable a human operator to monitor or control various functions of drill rig 100.
Apparatus 700 may be configured to perform or cause performance of any aspect of the method(s) described herein. Further, a computer program or a computer program product may comprise instructions for causing, when executed by apparatus 700, apparatus 700 to perform any aspect of the method(s) described herein. Further, apparatus 700 may comprise means for performing any aspect of the method(s) described herein. In one example, the means comprises the at least one processor 702, the at least one memory 704 including program code 706 (instructions) configured to, when executed by the at least one processor 702, cause apparatus 700 to perform the method(s). In general, computer program instructions may be executed on means providing generic processing functions. Such means may be embedded for example in a computer, a server, or the like. The method(s) may be thus computer-implemented, for example based algorithm(s) executable by the generic processing functions, an example of which is the at least one processor 702. Apparatus 700 may comprise means for transmitting or receiving information, for example one or more wired or wireless (e.g., radio) transmitters or receivers, which may be coupled or be configured to be coupled to one or more antennas, or transmitter(s) or receiver(s) of a wired communication interface.
According to a first aspect, an apparatus for controlling a drill rig is disclosed. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control, based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
According to an example embodiment of the first aspect, the drilling cycle comprises a first state indicative of drilling by the drill rig.
According to an example embodiment of the first aspect, the computer program code is further configured to, with the at least one processor, cause the apparatus to: control the protective cover to move to a first position configured to protect the scanning device, in response to determining that the drill rig is in the first state.
According to an example embodiment of the first aspect, the drilling cycle comprises a second state indicative of movement of a carrier of the drill rig.
According to an example embodiment of the first aspect, the computer program code is further configured to, with the at least one processor, cause the apparatus to: control the protective cover to move to a second position configured to enable scanning of environment of the drill rig by the scanning device, in response to determining that the drill rig is in the second state.
According to an example embodiment of the first aspect, the drilling cycle comprises an alternating sequence of the first state and the second state.
According to an example embodiment of the first aspect, the first position comprises a closed position of the protective cover, and the second position comprises an open position of the protective cover.
According to an example embodiment of the first aspect, the computer program code is further configured to, with the at least one processor, cause the apparatus to: terminate controlling the position of the protective cover based on the state of the drill rig, in response to receiving, from an operator of the drill rig, a request to initiate manual controlling of the protective cover.
According to an example embodiment of the first aspect, the computer program code is further configured to, with the at least one processor, cause the apparatus to: enable at least one user interface element for manually controlling the position of the protective cover by the operator, in response to receiving the request to initiate manual controlling of the protective cover.
According to an example embodiment of the first aspect, the computer program code is further configured to, with the at least one processor, cause the apparatus to: cause output of a notification to the operator, in response to detecting the drill rig to enter the first state when the protective cover is not in the first position.
According to an example embodiment of the first aspect, the computer program code is further configured to, with the at least one processor, cause the apparatus to: enable at least one user interface element for manually controlling the position of the protective cover by an operator, in response detecting the drill rig to enter the service mode.
According to an example embodiment of the first aspect, the computer program code is further configured to, with the at least one processor, cause the apparatus to: cause output of a notification, in response to detecting a malfunction of the protective cover.
According to a second aspect, a drill rig is disclosed. The drill rig may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the drill rig at least to: determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control, based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.. The computer program code may be configured to, with the at least one processor, cause the drill rig to perform any example embodiment(s) of the apparatus of the first aspect.
According to a third aspect a remote control device is disclosed. The remote control device may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the remote control device at least to: determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control, based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
FIG. 8 illustrates an example of a method for controlling a drill rig, according to a fourth aspect of the present disclosure. The method may comprise a computer-implemented method performed by, for example, apparatus 700 such as controller 112.
At 801, the method may comprise determining a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig.
At 802, the method may comprise controlling based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
According to an example embodiment of the fourth aspect, the drilling cycle comprises a first state indicative of drilling by the drill rig.
According to an example embodiment of the fourth aspect, the method comprises: controlling the protective cover to move to a first position configured to protect the scanning device, in response to determining that the drill rig is in the first state.
According to an example embodiment of the fourth aspect, the drilling cycle comprises a second state indicative of movement of a carrier of the drill rig.
According to an example embodiment of the fourth aspect, the method comprises: controlling the protective cover to move to a second position configured to enable scanning of environment of the drill rig by the scanning device, in response to determining that the drill rig is in the second state.
According to an example embodiment of the fourth aspect, the drilling cycle comprises an alternating sequence of the first state and the second state.
According to an example embodiment of the fourth aspect, the first position comprises a closed position of the protective cover, and the second position comprises an open position of the protective cover.
According to an example embodiment of the fourth aspect, the method comprises: terminating controlling the position of the protective cover based on the state of the drill rig, in response to receiving, from an operator of the drill rig, a request to initiate manual controlling of the protective cover.
According to an example embodiment of the fourth aspect, the method comprises: enabling at least one user interface element for manually controlling the position of the protective cover by the operator, in response to receiving the request to initiate manual controlling of the protective cover.
According to an example embodiment of the fourth aspect, the method comprises: causing output of a notification to the operator, in response to detecting the drill rig to enter the first state when the protective cover is not in the first position.
According to an example embodiment of the fourth aspect, the method comprises: enabling at least one user interface element for manually controlling the position of the protective cover by an operator, in response detecting the drill rig to enter the service mode.
According to an example embodiment of the fourth aspect, the method comprises: causing output of a notification, in response to detecting a malfunction of the protective cover.
According to an example embodiment of the fourth aspect, the method is performed by a remote control device external to the drill rig and configured to remotely control the drill rig.
According to an example embodiment of the fourth aspect, the method is performed by the drill rig.
According to a fifth aspect, an apparatus may comprise means for determining a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and means for controlling based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig. The apparatus may comprise means for performing any example embodiment(s) of the method of the third aspect.
According to a sixth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig. The computer program, the computer program product, or the (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus to perform any example embodiment(s) of the method of the fourth aspect.
Although the subject matter has been described in language specific to structural features and/or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as examples of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.
It will be understood that the benefits and advantages described above may relate to one embodiment or may relate to several embodiments. The embodiments are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages. It will further be understood that reference to 'an' item may refer to one or more of those items.
The steps or operations of the methods described herein may be carried out in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the example embodiments described above may be combined with aspects of any of the other example embodiments described to form further example embodiments without losing the effect sought.
The term 'comprising' is used herein to mean including the method, blocks, or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.
As used herein, "at least one of the following: <a list of two or more elements>" and "at least one of <a list of two or more elements>" and similar wording, where the list of two or more elements are joined by "and" or "or", mean at least any one of the elements, or at least any two or more of the elements, or at least all the elements. Term "or" may be understood to also cover a case where both of the items separated by "or" are included. Hence, "or" may be understood as an inclusive "or" rather than an exclusive "or".
Although subjects may be referred to as 'first' or 'second' subjects, this does not necessarily indicate any order or importance of the subjects. Instead, such attributes may be used solely for the purpose of making a difference between subjects.
It will be understood that the above description is given by way of example only and that various modifications may be made by those skilled in the art. The above specification, examples and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above with a certain degree of particularity, or with reference to one or more individual embodiments, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from scope of this specification.

Claims

An apparatus for controlling a drill rig, the apparatus comprising:
at least one processor; and

at least one memory including program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:
determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and

control, based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
The apparatus according to claim 1, wherein the drilling cycle comprises a first state indicative of drilling by the drill rig.
The apparatus according to claim 2, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
control the protective cover to move to a first position configured to protect the scanning device, in response to determining that the drill rig is in the first state.
The apparatus according to any of claims 1 to 3, wherein the drilling cycle comprises a second state indicative of movement of a carrier of the drill rig.
The apparatus according to claim 4, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
control the protective cover to move to a second position configured to enable scanning of environment of the drill rig by the scanning device, in response to determining that the drill rig is in the second state.
The apparatus according to claim 5, wherein the drilling cycle comprises an alternating sequence of the first state and the second state.
The apparatus according to claim 5 or 6, wherein the first position comprises a closed position of the protective cover, and wherein the second position comprises an open position of the protective cover.
The apparatus according to any of claims 1 to 7, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
terminate controlling the position of the protective cover based on the state of the drill rig, in response to receiving, from an operator of the drill rig, a request to initiate manual controlling of the protective cover.
The apparatus according to claim 8, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
enable at least one user interface element for manually controlling the position of the protective cover by the operator, in response to receiving the request to initiate manual controlling of the protective cover.
The apparatus according to claim 2 and any of claims 8 to 9, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
cause output of a notification to the operator, in response to detecting the drill rig to enter the first state when the protective cover is not in the first position.
The apparatus according to claim 11, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
enable at least one user interface element for manually controlling the position of the protective cover by an operator, in response detecting the drill rig to enter the service mode.
The apparatus according to any of claims 1 to 13, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to:
cause output of a notification, in response to detecting a malfunction of the protective cover.
A drill rig comprising the apparatus according to any of claims 1 to 13.
A remote control device comprising the apparatus according to any of claims 1 to 13 and configured to remotely control the drill rig.
A method for controlling a drill rig, the method comprising:
determining a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and

controlling based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.
A computer program comprising instructions which, when executed by an apparatus, cause the apparatus at least to:
determine a state of the drill rig, wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and

control based on the state of the drill rig, a position of a protective cover of a scanning device of the drill rig.