FI117570B - A method for positioning a rock drilling device at a drilling site and a rock drilling machine - Google Patents

Description

117570

A method for positioning a rock drilling device at a drilling site and a rock drilling machine

Background of the Invention

The invention relates to a method for positioning a rock drilling device at a drilling site, the method comprising: driving a rock drilling device to a drilling site and positioning its base relative to the wall surfaces surrounding the drilling site; performing, after positioning, navigation in which the location of the mining vehicle is connected to a coordinate system for the drilling site and to a drilling chart defining at least the directions of the holes to be drilled; and wherein the drilling of the holes according to the drilling pattern is started after navigation.

The invention further relates to a rock drilling device comprising: a movable platform; at least one drill boom having a drilling unit comprising a feed beam, feed means and a rock drill; at least one control unit for storing a drilling pattern defining the direction of at least the holes to be drilled; and means for connecting the rock drilling device by navigating to the coordinate system of the drilling site.

Nowadays, the positioning of the rock drilling rig is done by the operator driving the rock drilling rig to the drill site using visual assessment of the positioning. Once the rock drilling device is in place and the support legs 20 are positioned against the ground, navigation of the rock drilling device may be performed, wherein: the location of the rock drilling device is connected to a coordinate system prepared for the drilling site. Navigation can be accomplished by having a separate laser · · * · at the drill site, which is targeted at a known location in the tunnel. This •. ·. The position of the platform or drill unit of the rock drilling device is then determined by the * * · "V 25 relative to the laser. The problem is that in the current 30 solutions, the actual position of the rock drilling device at the drill site is only discovered during navigation • If during navigation it is found that the * * # .V, the Lion drill is positioned at the drill site so that it will not be able to drill *. ** all holes according to the drilling plan must be lowered, the base • · φ: V must be repositioned and the device must be navigated again. at significantly slow down and complicate drilling.

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BRIEF DESCRIPTION OF THE INVENTION An object of the present invention is to provide a novel and improved method for positioning a rock drilling device at a drilling site and a rock drilling device.

The method according to the invention is characterized in that the positioning of the rock drilling device is based on a positioning position which is dependent on the distance between the rock surfaces of the rock drilling device and the drilling site; determining, during positioning, the position of the bedrock of the rock drilling device by means of at least one distance measuring device relative to the wall surfaces of the drill site; and positioning the rock drilling device in a positioning position for navigation. i

The rock drilling device according to the invention is characterized in that the rock drilling device comprises at least one distance measuring device for determining the position of the base relative to the wall surfaces surrounding the drilling site; 15 that the control unit comprises at least one user interface; that the readings of the rangefinders are adapted to be presented to the operator in at least one user interface; and that the rock drilling device is adapted to be driven to a positioning position for navigation.

An essential idea of the invention is that the rock drilling device has a positioning position to which it is driven before navigation can be started. The positioning position is defined relative to the wall surfaces surrounding the borehole. The borehole drilling device has one or more distance measuring devices that can be used to determine the position of the substrate with respect to the wall surfaces during positioning.

*: The advantage of the invention is that the rock drilling device can be positioned in the correct location so that the designed drill holes can be drilled there. This • avoids situations where the unit has to be re-positioned and · navigated · · · (. · * ·. Due to incorrect positioning. Further, when the vessel is correctly positioned for boom extension, drilling units can be moved efficiently and quickly.

The positioning arrangement according to the invention is relatively simple to implement, and does not require any complicated systems. In addition, the invention can be applied **: ** to existing rock drilling equipment.

: A: An essential idea of one embodiment of the invention is that at least three laser rangefinders are used for distance measurement.

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An essential idea of an embodiment of the invention is that the position of the rock drilling device is determined in connection with the drilling diagram.

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An essential idea of an embodiment of the invention is that the position of the rock drilling device is defined in a separate file from which it can be retrieved and presented to the operator.

An essential idea of an embodiment of the invention is to determine the positioning position at distances from the wall surfaces of the borehole.

These distances can be reported to the operator, for example, by means of a display device.

An essential idea of an embodiment of the invention is to ensure the coverage of the drilling units before commencing drilling.

10 It is then checked that the drilling unit extends to drill the drill holes that are defined in the drilling chart to be drilled by the respective drilling unit.

An essential idea of an embodiment of the invention is that, after navigation, at least one distance measuring device determines the position of the platform in the vertical direction. Separate vertical distance measuring devices may be used for this purpose, or alternatively at least one positioning distance measuring device may be used which may be rotated from horizontal to vertical. Vertical measurement can detect if the vessel is moving during drilling, for example as a result of subsidence of the support legs. The tilt of the substrate can be measured using a plurality of upward or downward distance measuring devices or one or more tilt measuring devices.

• · · • * ·:! ·, Brief Description of the Figures • · · · * ··,

Some embodiments of the invention will be explained in more detail in the accompanying drawings, in which: Fig. 1 schematically and side-by-side illustrates a batch of a rock-drilling device according to n-* ". * Positioned at a drilling site and a navi • · * ··· Fig. 2 is a schematic and top plan view of an arrangement according to the invention for determining the location of a rock drilling device at a borehole, v. Fig. 3 is a schematic view of a drilling pattern, Fig. 4 schematically one control unit and its operating **. "* interface; and ♦ · ·: V Figure 5 schematically shows an arrangement for monitoring the vertical position of a rock drilling device during drilling.

4117570

In the figures, some embodiments of the invention are shown in simplified form for clarity. Like parts are denoted by like reference numerals in the figures.

DETAILED DESCRIPTION OF SOME EMBODIMENTS OF THE INVENTION 5 The rock drilling device 1 shown in Figure 1 comprises a movable platform 2, at least one drill boom 3 and a drilling unit 4 mounted on a drilling boom 3. The drilling unit 4 comprises a feed beam 5 The rock drill machine 6 comprises at least a percussion device capable of delivering impact pulses to a tool 8 coupled to the rock drill 10, which causes them to break the rock and cause drill hole formation. Further, the platform 2 may be provided with support legs 9, by means of which the rock drilling device 1 driven to the drilling site 10 can be set to a desired position, typically horizontal, for navigation and drilling. Further, the rock drilling device 1 may comprise a plurality of distance measuring devices 11, such as laser rangefinders, which may be utilized in positioning the rock drilling device 1.

In Figure 2, the rock drilling device 1 is driven to a drilling site 10, in this case after the tunnel. The rock drilling device 1 may be positioned at a predetermined positioning station 12 where the substrate 2 is at predetermined distances X, Y and Z from the wall surfaces 13a, 13b, 13c delimiting the drilling site 10. During positioning, the distance of the substrate 2 from the rear wall 13a may be measured by the first distance measuring device 11a, further the distance of the substrate from the side walls 13b and 13c may be measured by the second and third distance distance. with a measuring device 11b and 11c. Only after the vessel 2 has been positioned: * V 25 to the specified positioning station 12, the support legs 9 are placed against the ground and • * · \ 'Y begins navigation to connect the exact location of the rock drilling device 1 to the coordinate system for drilling position 10. . In some cases, distance measurement to rock wall surfaces 13 can be made with only one distance measurement device 11, or on the other hand, there may be more than three distance measurement devices 11. The distance measuring device 11 may be arranged to rotate to predetermined measuring positions or may rotate to measure distances to a plurality. ···. directions.

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Fig. 3 shows a drilling diagram 14, which may define the locations and directions 16 of the starting points 15 of the holes to be drilled.

In 35 long bore holes, where the boreholes can be drilled in a fan-like fashion, it may be sufficient that the borehole 14 only defines the directions of the boreholes 16. Li-5 117570 The Saxon borehole 14 may have a position X-, V - and Z-dimensions. The drilling diagram 14 may be illustrated by the symbol 17 in the positioning position of the rock drilling device. When designing the drilling pattern 14, the symbol 17 may be placed in the drilling pattern 5, whereupon the design program may calculate the X, Y and Z distances to the positioning station and fit them into the drilling pattern 14 or into a separate file that can be retrieved into the rock Further, the drilling diagram 14 may be displayed on the display unit of the rock drilling device 1 control unit 30. Prior to positioning 10, the operator may retrieve a drilling pattern 14 for each drill break on the control unit display. The readings of the distance measuring devices 11 may be displayed to the operator by common or separate display devices. By monitoring the readings of the display devices and comparing them with the positioning position 12 indicated in the drilling diagram 14, the rock drilling device 1 can be driven sufficiently precisely to the positioned position 15 at the positioning position 10. The X, Y and Z dimensions of the positioning position 12 before navigation can start.

Fig. 4 shows a user interface 18, the display 19 of which shows the planned distances of the positioning station 12 from the rock wall surfaces 13. The user interface 18 can also display the readings of the distance measuring devices 11 simultaneously or at different times. Further, in the user interface 18 · *.:. · * May be indicated by any suitable detector 20 or otherwise in X, Y or Z distances which are still different from the predetermined distances. After Tray 2 has been driven to the specified position, •: *. The control unit 30 may, by means of the user interface 18, approve the positioning of the # * · · and may grant permission to start navigation. This can be done, for example. "· [Visually or by means of an audible signal. Further, the control unit 30 and the user interface • · 18 may be arranged to guide the operator to perform the positioning.

. It is also possible to automate the driving of the rock drilling device 1 to position 12. The control unit 30 may be provided with a control mode * ··· * which can be turned on after the mining vehicle 1 has been driven near the drilling site 10. The control unit 30 can then drive the automatic # ·. ***. The rock drilling device 1, at a predetermined positioning position 12, drives the platform 2 horizontally by means of the support legs 9 by utilizing the tilting measuring device 21 and then gives permission to start navigation.

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The positioning station 12 may be predetermined, for example, in connection with the design of a drilling pattern as described above, or the positioning station 12 may be determined based on operator experience, rock placement instructions, or other guidance.

5 shows a rock drilling device 1 in a drilling situation. The base 2 of the rock drilling device 1 may have a plurality of distance measuring devices 11 directed to a surface delimiting the drilling site 10 vertically during the drilling, i.e. the ceiling 13d or alternatively the floor 13e. By monitoring, by means of these distance measuring devices 11, the vertical movements of the substrate 10, for example, it is possible to detect if the support legs 9 are pressed against the floor surface 13e.

In situations where all the support legs 9 are pressed against the floor surface 13e, the vertical movement B is not necessarily detected by the tilt measuring devices 21 or the like, since then the base 2 can maintain its horizontal position. Instead, each of the rangefinders 11 can detect deviations from the original mit-15 background results, and thus detect both the tilt of the substrate 2 and the vertical displacement of the substrate. The substrate 2 may be provided with one or more individual laser measuring devices 11d which are fixed upwards or downwards, or alternatively may be connected to a distance measuring device 11b used for positioning:! be fitted with an upward or downwardly indicating distance measuring device 11e, wherein the distance measuring devices 11b and 11e form a kind of measuring unit 31.

In some cases, the beam of the laser measuring device may be rotated by means of a prism from horizontal A to vertical B after the base 2 has been moved to its position. Another possibility is that it is used for parking; the distance measuring device 11a is mounted on the base 2 by means of a pivoting member 22 such that • · •. *; 25 that it can be rotated in direction C to the horizontal A position and • · · ·:. to the vertical measuring position B according to the measurement to be performed • · ·, ···, *. It is also possible that even only one distance measuring device 11 is adapted to monitor the vertical position B of the rock drilling device 1. to detect subsidence, and that one or more tilt measuring devices 21 are * # · * ·: · * 30 adapted to monitor the tilt of the base 2. The monitoring results can be derived from the distance measuring device 11 and the tilting measuring device 21 to the control unit 30 for analysis. If the measurements show that the rock drilling equipment • *. * · *. If the vertical position of the tea has changed, its position can be corrected by adjusting the support legs 9. It is still possible to re-navigate if there are significant changes in the vertical position. The control unit 30 may be adapted to indicate to the operator that there has been a change in the vertical position 7> 117570, and further, the control unit may propose to the operator to reposition or re-navigate the support legs. It is also possible for the coordinate system used in the control unit to be corrected on the basis of the changed vertical position. Furthermore, it is possible that the control unit is arranged to perform the above-mentioned repair operations automatically after a greater than predetermined change in the vertical position has occurred. The vertical position monitoring and associated measuring devices need not necessarily be associated with the positioning position, but may be utilized independently.

10 It should be noted that the position of the parking position may depend, among other things, on used extraction method. Typical tunneling drilling is intended to position the rock drilling device on the center line of the tunnel. Alternatively, the positioning position may be defined at one of the edges of the drilling site, for example, in situations where the tunnel aft is performed in two or more steps. Obstacles at the drilling site as well as other rock drilling and mining equipment may also be taken into account in determining the position.

The invention is not limited to use only in drilling tunnel beds, but may be utilized in any rock drilling process that requires positioning a rock drilling device at a predetermined 20 drilling positions for drilling holes defined in the drilling plan.

\: V In some cases, the features described in this application may be: 1 2 3; notwithstanding other features. On the other hand, the features disclosed in this application may be combined, if necessary, to form various combinations.

• · ♦ 1:. ·. The drawings and the description related thereto are only intended to illustrate the idea of the invention. The details of the invention may vary within the scope of the claims.

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Claims (12)

A method of positioning a rock drilling rig at a drilling site, in which method: the rock drilling rig (1) is driven to the drilling site (10) and its bottom nest (2) is positioned relative to the wall surfaces (13) surrounding the drilling site ( 10); after positioning, navigation is performed in which the position of a mining vehicle (1) is coupled to a coordinate system relating to the bore location (10) and a bore diagram (14), where at least the directions (16) of the tail to be drilled 10 have been determined; and when drilling the heels according to the drilling diagram (14) begins after the navigation; characterized as being used as the basis for positioning the rock drilling rig (1), a positioning position (12) is used which is dependent on the distance between the rock drilling rig (1) and the wall surfaces (13a, 13b, 13c) at the drilling site (10); during the positioning, the position of the bottom drilling rig (1) of the rock drilling rig (1) is determined by means of at least one distance measuring device (11a, 11b, 11c) in relation to the wall surfaces of the drilling site (10); and for navigation, the rock drilling rig (1) is positioned in a positioning position (12). 2. Method according to claim 1, characterized in that the positioning position (12) of the rock drilling rig is determined in connection with the drilling scheme (14). TV 25 3. A method according to claim 1 or 2, characterized in that the measurement results of the distance measuring devices (11) are displayed in at least one * ··· * user interface (18); and the rock drilling rig (1) is manually driven to the positioning position (12) taking into account the predetermined drilling position (12) and the results of the distance measurement. * · ^. ·! ·. 4. Method according to claim 1, characterized in that the positioning position (12) is determined as a distance from the wall surfaces (13) '* at the bore location (10). j 5. Method according to any one of the preceding claims, characterized in that the location of the drilling rig (1) is fed with at least three laser spacers (11a, 11b, 11c); with the first laser distance meter (11a) the distance of the base (2) is measured to the wall surface (13a) in front; and with the second and third distance gauges (11b, 11c) being fed to the wall surfaces (13b, 13c) on the sides of the chassis (2). Method according to any of the preceding claims, characterized in that the control unit (30) of the rock drilling rig (1) can be secured before the drilling 10 starts when the drilling unit (4) when drilling the drilling heels, which is determined to be drilled in the drilling scheme (14) with the drilling unit (4) in question. The method according to any of the preceding claims, may be determined by the positioning of the chassis (2) in the vertical direction (B) by means of at least two distance measuring devices (11 d, 11 e) after navigation. 8. A method according to claim 7, characterized in that at least one distance measuring device (11a) used in the positioning is used for detecting changes in the vertical (B) position of the chassis (2), which changes after the navigation. 20 9. A method according to any of the preceding claims, characterized in that: • The rock drilling rig (1) is controlled automatically by the control unit (30): automatically in the positioning position (12). A rock drilling rig, comprising:: a removable chassis (2); At least one drilling boom (3) having a drilling unit (4), comprising a feeder beam (5), feeding device (7) and a rock drilling machine (6); at least one control unit (30) in which a drilling scheme (14) can be stored, wherein at least the direction (16) of the heel to be drilled has been determined; Means for connecting the rock drilling rig (1) by navigating to a coordinate system relating to the drilling site (10),. characterized in that the rock drilling rig (1) comprises at least one distance measuring device (11) for determining the position of the chassis (2) relative to the wall * * · · * surfaces (13) surrounding that the control unit (30) comprises at least one user interface (18); is arranged to be driven for navigation to a positioning position (12) which is dependent on the distance between the rock drilling rig (1) and the wall surfaces (13a, 13b, 13c) at the drilling site (10). Rock drilling rig according to claim 10, characterized in that at least one positioning position (12) is provided for the control unit (30), which distance of the base (2) from the wall surfaces (13) surrounding the drilling site (10) has been determined; and that the controller (30) is arranged to present in the user interface (18) the measurement relating to the positioning position (12) of the operator. Rock drilling rig according to claim 11, characterized in that the control unit (30) is arranged to approve the initiation of the navigation only after the rock drilling rig (1) has been positioned in the positioning position (12). i · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · «· • · · · ♦ ··. • · · • · ♦ · ··· • · · • * • · ♦ ♦ ♦ • · · * · ♦ • · ♦ · ♦ · · · · ♦ ♦ ♦ * · * · • · «· * • · • * • · ·