JP2013544327A - Method for controlling drilling unit of rock drilling rig and rock drilling rig - Google Patents

Abstract

One excavation circle at a time with a rock drilling rig (1) comprising at least one drilling boom (3) and at least one drilling unit (4) arranged on the drilling boom (3). When drilling with, a hole (21) of one drilling circle is drilled according to the drilling pattern (14) designed for this drilling circle. In order to puncture each hole (21), the drilling unit (4) has a position (21 ') determined for a particular hole (21) in a drilling pattern (14) designed for a particular drilling circle. And the rotation angle (Φ) to achieve the direction. The rotation angle (Φ) of the drilling unit (4) used to drill the hole (21) is the same as the drilling unit (4) used in connection with the drilling of one or more previously drilled holes (21). Is determined based on the rotation angle (Φ).
[Selection] Figure 4

Description

Background of the Invention

  The present invention relates to a method for controlling at least one drilling unit disposed on at least one drilling boom of a rock drilling rig when drilling a rock cave at one drilling circle at a time. Drill a hole in one drilling circle according to the drilling pattern designed for this drilling circle, and in order to drill each hole, determine the position and orientation of a particular hole determined by the drilling pattern of a particular drilling circle Including controlling the drilling unit to a rotation angle to achieve and storing the rotation angle of the drilling unit used during drilling of each hole of the drilling circle.

  The present invention further relates to the following rock drilling rig. That is, the rock drilling rig includes a movable carrier, at least one drilling boom, and at least one drilling unit disposed on the drilling boom. The drilling unit includes a feed beam, and an upper part of the feed beam. The rock drilling rig is used to rotate the drilling unit to a certain rotation angle and to drill a drilling circle to be excavated in a rock cave. At least one storage unit configured to store the drilling pattern used, and to control the drilling unit by a rotation mechanism to a rotation angle that achieves a position and orientation determined for a hole in the drilling pattern of the drilling circle At least one configured control unit and to store the rotation angle of the drilling unit used in drilling each hole of the drilling circle to be drilled And a least one storage unit configured.

  Tunnels, underground storage halls and other rock cave use the so-called drilling blasting method with drilling circles, that is, one drilling circle at a time, in other words, drilling holes in the rock tunnel surface and charging and blasting after drilling. And excavated. Therefore, in one blast, the same amount of rock material as one excavation circle is peeled off from the rock.

  To excavate a rock cave, plan ahead, for example, determine information about the rock quality. The cave orderer usually sets various quality conditions for the cave to be excavated. For each excavation circle, a drilling pattern is designed by office work and sent to a rock drilling rig for rock drilling to form a desired excavation circle. The perforation pattern includes at least the positions of the holes to be drilled and their directions, as well as the length of the holes to be drilled or alternatively the start and end positions. Further, the drilling pattern designer may determine the rotation angle of the drilling unit for each hole in the drilling circle in the drilling pattern, such rotation angle is also commonly referred to as “rollover” or “rollover angle”. . By precisely selecting the rotation angle, the drilling boom or drilling unit will not collide with the rock wall, ceiling or bottom during drilling, and the drilling rod of the drilling unit will operate the drilling rig during drilling The drilling unit does not collide with the drilling boom of the rock drilling rig while the drilling unit drills a hole close to the position where the drilling unit is pushed and supported by the drilling boom. Is possible more reliably.

  However, the rotation angle of the drilling unit in the drilling pattern determined by the drilling pattern designer is of little use in the actual drilling situation. This may be because, for example, the drilling pattern designer does not see the actual situation in the rock cave or necessarily knows the size of the rock rig used to drill a particular drilling circle. Therefore, the drilling pattern designer determines the rotation angle of the drilling unit for all holes, eliminating the need for the drilling rig operator to control the drilling unit to a new rotation angle for any hole, It would be practically impossible to drill all the holes using the individual rotation angles of the drilling unit presented by the drilling pattern designer. The problem particularly occurs at the edge of a rock cave when the rotation angle of the drilling unit determined by the drilling pattern is a rotation angle that attempts to change the orientation of the drilling unit to a position in contact with the edge of the rock tunnel. Also, in the central part of the rock cave where the cut hole is drilled, the rotation angle of the drilling unit determined by the drilling pattern is the rotation angle that tries to change the direction of the drilling unit to the position where it collides with the drilling boom of the rock drilling rig Is the case. In addition to these, another problem is that the rotation angle of the drilling unit given to the drilling pattern causes the drilling rig operator to drill the drill rod of the rock drill provided in the drilling unit. This is a rotation angle that attempts to change the direction of the drilling unit to a position where it cannot be seen by being blocked by the boom, and this is in order to actually monitor the drilling and its progress along with the condition of the drill rod. Is the situation where the rock drill rig operator wants to see the drill rod in order to detect possible water outflow from the hole. Currently, to avoid the situation described above, drilling rig operators have monitored the progress of the drilling rig's automatic drilling cycle very carefully and, if necessary, drilled at least some holes. In order to start the drilling unit, the drilling unit must be controlled to a new rotation angle, which delays the drilling cycle and its progression.

BRIEF DESCRIPTION OF THE INVENTION

  It is an object of the present invention to provide a solution that can increase the reliability and speed in the operation progress of an automatic drilling cycle.

  The method according to the present invention determines the rotation angle of a drilling unit to be used for drilling another hole based on the rotation angle of the drilling unit used in connection with drilling one or more previously drilled holes. It is characterized by.

  A rock drilling rig according to the present invention determines the rotation angle of a drilling unit that uses another hole for drilling based on the rotation angle of the drilling unit used in connection with drilling one or more previously drilled holes. The control unit is configured as described above.

  When excavating a rock cave at one excavation circle at a time by a rock drilling rig comprising at least one drilling boom and at least one drilling unit disposed on the drilling boom, the holes in one excavation circle are Drilled according to the drilling pattern designed for this drilling circle. In order to drill each single hole, the drilling unit is controlled to a rotation angle that achieves the position and orientation determined for a particular hole in the drilling pattern designed for this particular drilling circle. The rotation angle of the drilling unit used for drilling is determined based on the rotation angle of the drilling unit used in connection with drilling one or more previously drilled holes.

  In this way, the present solution determines the rotation angle of the drilling unit used in connection with the previously drilled hole when determining the rotation angle of the drilling unit used in connection with the drilling of the hole to be drilled next. Use the value of. Thus, a previously drilled hole may only be a previously drilled hole in the same drilling circle that is currently being drilled, or a hole drilled in relation to a previously drilled circle. There may be. Thus, the rotation angle of the drilling unit used for drilling is determined based on the rotation angle of the drilling unit actually used in relation to the previously drilled hole, and therefore the disclosed solution By using the rotation angle of the drilling unit determined by, it is possible to quickly reach a situation where most holes or even almost all holes of the drilling circle can be drilled. In this case, the operator of the rock drilling rig has little need to be concerned with the selection of the rotation angle used for drilling. This allows the excavation circle to be drilled sooner and allow the operator of the rock drilling rig to monitor the status of the drilling and drilling device.

  According to one embodiment, when determining the rotation angle of the drilling unit used for drilling, the method is used as initial data for determination as position data for the hole and drilling of the hole to be drilled. Select data on the rotation angle of the drilling unit related to the previous drilled by the drilling unit arranged on the same drilling boom as the drilling unit, and select the data of the previous drilled and the hole to be drilled selected in the previous step. Determine the distance, select one or more already drilled holes based on the distance between the drilled hole and the hole to be drilled, and drill the hole to be drilled based on the rotation angle of the drilling unit used for the drilling in this drilled hole Determine the rotation angle of the drilling unit used for drilling the hole to be drilled based on the rotation angle of the drilling unit used for one or more previously drilled holes. Including that.

  When determining the rotation angle of the drilling unit used for drilling the hole to be drilled based on the rotation angle used in the drilling of a previously drilled hole at a distance from the hole to be drilled, a limited number of previous Since the rotation angle is determined using data relating to the holes drilled in the hole, the value of the rotation angle of the drilling unit given by this determination is very accurate.

  According to the second embodiment, the method matches the rotation angle of the drilling unit used for drilling the hole to be drilled with the rotation angle of the drilling unit used for the previous drilling closest to the hole to be drilled. Decide to do. In this embodiment, the determination of the rotation angle is very simple and the value of the rotation angle of the drilling unit used in the drilling of the closest drilled hole is exactly suitable for use in drilling the hole to be drilled next. Very likely.

  According to the third embodiment, the present method uses the rotation angle of the drilling unit used for drilling the hole to be drilled as the average value of the rotation angle of the drilling unit used in the previous drilling with the closest distance and a predetermined value. It is determined so as to correspond by the amount of. In this case, the value of the rotation angle of the drilling unit used in connection with one already drilled hole is not of great importance for the rotation angle of the currently drilled hole, which is related to the already drilled hole. It is advantageous if the rotation angle value of the used drilling unit is not at all suitable for some reason to be used as the rotation angle value of the drilling unit for the hole to be drilled at present.

The invention will now be described more closely in connection with a preferred embodiment and with reference to the accompanying drawings.
It is a side view which shows a rock drilling rig schematically. and FIG. 6 is a side view schematically illustrating several rotation mechanisms that can be used to direct the drilling unit to the correct position for the drilling operation. and It is the schematic which shows the rotation angle of the perforation unit when it sees from the back of a perforation unit. It is the schematic which shows the rotation angle of the drilling unit used in connection with the hole and the drilling of each hole. FIG. 6 is a flow diagram schematically illustrating a method for determining the rotation angle of a drilling unit used to drill one hole of a drilling circle to be drilled. and FIG. 4 is a schematic diagram showing details in determining the rotation angle of a drilling unit used to drill one hole of a drilling circle to be drilled. FIG. 6 is a schematic diagram illustrating other details in determining the rotation angle of a drilling unit used to drill one hole of a drilling circle to be drilled. Or FIG. 5 is a schematic diagram illustrating an example of the use of the method according to FIG. 4.

Detailed Description of the Invention

  FIG. 1 is a side view schematically showing a rock rig 1 that can be used to excavate a rock cave. According to FIG. 1, the rock drilling rig 1 includes a movable carrier 2, two drilling booms 3, and a drilling unit 4 disposed on the drilling boom 3. As is clear from FIG. 1, the drilling rig 1 may have only one drilling boom 3, or the number of drilling booms 3 may exceed two. The drilling unit 4 is shown enlarged in FIG. 2, but comprises a feed beam 5 and a rock drill 6 disposed thereon, the rock drill 6 being schematically shown in FIGS. It can be moved relative to the feed beam 5 by means of the feed device 22 shown schematically. The drilling unit 4 further comprises a tool 7, such as a drill rod, which propagates an impact pulse applied by a drilling device of the rock drill 6 (not shown for clarity) to the rock 8 to be drilled. be able to. The rock drilling rig 1 further comprises at least one control unit 9, which is configured to control the actuator of the rock drilling rig 1, for example to adjust the operation of the drilling boom 3 and the drilling unit 4 Has been. The control unit 9 may be a computer or a corresponding device and may comprise a user interface including a display device and control means such as a keyboard or a joystick for transmitting commands and information to the control unit 9.

  In FIG. 1, the drilling unit 4 is arranged on the drilling boom 3 of the rock drilling rig 1 using a rotating mechanism 10 so as to be connected to the end of the drilling boom 3. 2a and 2b show a schematic example of several possible rotation mechanisms 10. According to FIGS. 2a and 2b, the rotating mechanism 10 comprises a rotating unit 11, which in the embodiment of FIGS. 2a and 2b is a rotating joint 11 ′ or a rollover joint 11, for the sake of clarity. Although not shown, an actuator such as a hydraulic motor that can generate a rotational motion at the rotary joint 11 ′ is provided. The rotary unit 11 or rotary joint 11 ′ has a rotational axis A, in other words, the rotary unit 11 or rotary joint 11 ′ defines the rotational axis A, which is substantially the same as the feed beam 5 of the drilling unit 4. The drilling unit 4 is arranged to pivot or rotate about this rotational axis A as a result of the rotational movement of the rotary unit 11 or rotary joint 11 ′ as schematically indicated by the arrow A ′. In this case, the value of the rotation angle Φ represents the amount of rotation about the rotation axis A of the drilling unit 4. In FIGS. 2a and 2b, the axis of rotation A is shown in broken lines as an illustration.

  In the embodiment shown in FIGS. 2a and 2b, the rotation mechanism 10 further comprises a swivel unit 12 including a swivel joint 12 ′ and a drilling unit 4 laterally about the axis B in the direction indicated by the arrow B ′. And an actuator for turning (not shown for clarity). Moreover, in the embodiment shown in FIGS. 2a and 2b, the rotation mechanism 10 further includes a second pivoting unit 13 including a second pivoting joint 13 ′, an actuator not shown for clarity. By means of this actuator, the tip of the tool 7 of the drilling unit 4 pressed against the rock to be drilled can be tilted with respect to an axis C perpendicular to the plane of the paper in FIGS. 2a and 2b, ie move up and down. This is indicated by the direction of arrow C ′.

  The rotation mechanism 10 shown in FIGS. 2a and 2b is only some examples of possible rotation mechanisms that allow the drilling unit 4 to rotate about the rotation axis A described above. Therefore, in connection with the solution disclosed herein, any other rotation mechanism that enables the rotation of the drilling unit 4 about at least the rotation axis A described above may be used.

  FIGS. 2 c and 2 d schematically show the rotation angle Φ of the drilling unit 4 as viewed from behind the drilling unit 4. In FIG. 2c, the drilling unit 4 rotates about the axis of rotation A of the drilling unit 4 to the left with respect to the vertical axis corresponding to the vertical position of the drilling unit 4 and having a rotation angle Φ value of 0 degrees. ing. The rotation direction shown in FIG. 2c is determined as the rotation direction corresponding to the negative rotation angle. On the other hand, in FIG. 2d, the drilling unit 4 is centered on the rotation axis A of the drilling unit 4 with respect to the vertical axis corresponding to the vertical position of the drilling unit 4 and the value of the rotation angle Φ being shown as 0 degrees. It rotates to the right. The rotation direction shown in FIG. 2d is determined as a rotation direction corresponding to a positive rotation angle. However, the relationship between the rotation angle Φ and the rotation direction of the piercing unit 4 may be determined in some other way different from that shown in FIGS. 2c and 2d.

  In general, for drilling at each excavation circle in a rock cave, set a drilling pattern 14, and the position, direction and length of the hole to be drilled in the coordinate system of the drilling pattern, or the start of the hole and Determine the end point. Typically, the drilling pattern is formed outside the drilling site, for example at the office 15, and the drilling pattern 14 may be stored in a storage member such as a memory stick or diskette supplied thereto or in the rock drilling rig 1 The data may be transferred directly to the storage unit 17 provided via the data transfer connection 16. The storage unit 17 may be included in the control unit 9, or may be a storage unit that is installed outside the control unit 9 and communicates with the control unit 9. The drilling pattern 14 may be modified either at the drilling site or outside the drilling site. The drilling pattern 14 is prepared by a computer-aided process and is usually essentially an iterative process. The design program is executed by the computer 18, and the designer 19 performs an interactive operation with the design program, inputs necessary data, and makes a selection along with adjustment of the design process. During the design process, portions of the drilling pattern that have already been designed may be iteratively modified to achieve a better final result. In the drilling pattern 14, the designer 14 may determine for each hole the designer's proposal regarding the rollover angle Φ or the rotation angle Φ used for drilling.

  The drilling pattern 14 may be stored in the storage unit 17 of the rock drilling rig 1 after being formed and executed by the control unit 9. The holes designed in the drilling pattern 14 are then drilled into the rock 8 and charged and blasted. The amount of rock equivalent to the desired excavation circle is peeled off from the bedrock and transferred to another location. A new hole for the next drilling circle is then drilled according to the new drilling pattern 14.

  FIG. 3 schematically shows the diagram 20, which shows the position of the hole 21 used in the drilled excavation circle as a circle 21 ', while the direction line 21 "extending from the circle 21" Is a rotation angle diagram 20 showing the rotation angle Φ of the drilling unit 4 used while drilling each hole 21. When drilling a drilling circle corresponding to the rotation angle pattern 20 shown in FIG. 3, a rock drilling rig 1 with two drilling booms 3 is used, so that the holes indicated by the thin lines in FIG. A position 21 'of 21 and a direction line 21 "corresponding to the rotation angle Φ of the drilling unit 4 used are drilled by the drilling unit 4 arranged in the first rock drilling boom 3 of the rock drilling rig 1 On the other hand, the position 21 'of the hole 21 indicated by the bold line and the direction line 21 "corresponding to the rotation angle Φ of the drilling unit 4 used are for the second drilling of the drilling rig 1 The hole 21 is drilled by the drilling unit 4 disposed in the boom 3. The rotation angle Φ of the drilling unit 4 corresponding to the direction line 21 "of the rotation angle diagram 20 shown in Fig. 3 is stored in a storage unit provided in the rock drilling rig 1 during or after drilling of the drilling circle. However, this storage unit may be identical to the storage unit 17 already described herein and in FIG. 1, or this storage unit may be a storage unit that communicates with the control unit 9, for example, Used only to store the rotation angle Φ used in connection with the drilling, the data relating to the position 21 ′ of each hole 21 also indicates the rotation angle Φ of the drilling unit 4 used in connection with the corresponding hole 21 This is stored in association with the data, in which the data relating to the rotation angle Φ of the drilling unit 4 used in connection with the hole 21 is otherwise different, for example via the drilling pattern 14, the position 21 of the corresponding hole 21. When not associated with data indicating ' Is that of.

  FIG. 4 is a flow diagram schematically illustrating a method or calculation algorithm for determining the rotation angle Φ of the drilling unit 4 used to drill one hole 21 of the drilling circle to be drilled next. In FIG. 4, the initial phase, that is, the initial state of drilling the hole 21 is indicated by phase number 1. In this start phase, data about the position 21 'of the hole 21 drilled in relation to the previous drilling circle and the rotation angle Φ of the drilling unit 4 used during drilling of the particular hole 21 are stored from the storage unit 17 For example, the data is collected in a temporary storage device for work or other appropriate memory provided in the control unit 9. This data includes the position data of each hole 21 related to the holes 21 already drilled during drilling of the same drilling circle and the data relating to the rotation angle Φ of the drilling unit 4 used during drilling of a particular hole 21. But you can. The position data regarding the hole 21 refers to the start position of the hole 21 in the drilling of each excavation circle. This data may include data relating to the position 21 'and the rotation angle Φ used in the holes 21 of all previously drilled circles or the most recently drilled, for example 3 to 5 drill circles May include data relating only to the position 21 ′ used in the hole 21 and the rotation angle Φ. For drilling the hole 21 in the first excavation circle in the rock cave, the rotation angle Φ of the drilling unit 4 proposed separately by the designer 19 in the drilling pattern 14 may be used, or the operator of the rock drilling rig 1 At the start of drilling at least some or all of the holes 21, the drilling unit 4 may be controlled to the desired rotation angle Φ.

  In the next phase of drilling the holes 21, ie in phase 2 of the diagram of FIG. 4, the position 21 ′ of each hole 21 and the corresponding drilling unit 4 of the drilling boom 3 with the drilling unit 4 drilling the holes 21. The data for each rotation angle Φ is separated from the collected data in the start phase.

  In the next phase of drilling the holes 21, ie in phase 3 of the diagram of FIG. 4, the control unit 9 determines the distance between the position 21 ′ of each hole 21 selected in phase 2 and the position of the next hole 21 to be drilled. decide. This distance is determined in consideration of the distance between the previously drilled hole 21 and the next hole 21 to be drilled on the two-dimensional surface of the rock cave where the next hole 21 is to be drilled. In this case, therefore, the previously drilled hole 21 is projected onto the same two-dimensional plane as the next hole 21 to be drilled. When determining this distance, the distance in the three-dimensional space between the position 21 'of the previously drilled hole 21 and the hole 21 to be drilled next can be taken into account, for example, as the distance in the direction of the rock excavation. In that case, with respect to the drilling circle being drilled, the distance between the position 21 'of the hole 21 drilled with respect to the previous drilling circle and the hole 21 to be drilled next is the hole 21 drilled with respect to the previously drilled circle Is considered to be more important than the distance between the position 21 'and the position of the hole 21 to be drilled next.

  In the next phase of the drilling of the holes 21, that is, phase 4 of the diagram of FIG. 4, the distances calculated in phase 3 may be rearranged in size order.

  In the next phase of drilling of the hole 21, ie phase 5 of the diagram of FIG. 4, the rotation angle Φ of the drilling unit 4 associated with the hole 21 to be drilled is related to one or more previously drilled holes 21. It is determined based on the rotation angle Φ of the used drilling unit 4. The rotation angle Φ of the drilling unit 4 associated with the hole 21 to be drilled may be determined or calculated in many different ways.

  As one modification, the rotation angle Φ of the drilling unit 4 used for drilling the already drilled hole 21 that is closest to the hole 21 to be drilled may be used directly.

  As a second modification, the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 to be drilled is used for drilling the existing drilled hole 21 having the closest distance of two or more, such as 3 to 5, for example. It may be determined so as to correspond to the average value Φmean of the rotation angle Φ of the drilling unit 4.

  As a third modification, for the drilling unit 4 used for drilling the hole 21 to be drilled, the drilling unit 4 used in connection with the drilling of the existing drilled hole 21 existing within a certain distance such as a distance within 1 meter from the hole 21 to be drilled next. The value of the rotation angle Φ of the drilling unit 4 corresponding to the average value Φmean of the rotation angle Φ may be used, or if there is no previous drilling within the above distance, for example within 1 meter, the closest existing The rotation angle Φ of the drilling unit 4 used in connection with the drilling of the drilling 21 may be used.

  Next, in determining the rotation angle Φ of the drilling unit 4 with respect to the hole 21 to be drilled, when drilling a series of drilling circles in a rock cave, the origin or zero point of the drilling pattern 14 used to drill this drilling circle is determined. It may be considered how the position of the rock drilling rig 1 varies. FIG. 5a shows the situation where the origin OR1 of the virtual coordinate system given to the drilling rig 1 is the same as or coincides with the origin OR2 of the coordinate system of the drilling pattern 14 in relation to the dimensions of the drilling rig 1 Shown schematically. The origin OR1 of the coordinate system related to the rock drilling rig 1 is located even at the joint of the rock drilling rig 1 that connects the drilling boom 3 to the rock drilling rig 1, as schematically shown in FIG. Good.

  In the situation shown in FIG. 5b, the rock rig 1 is positioned in the rock cave to be excavated so that the position of the origin OR1 of the coordinate system related to the rock rig 1 is different from the position of the origin OR2 of the drilling pattern 14. Installed. The difference between the position of the origin OR1 of the rock drilling rig 1 and the position of the origin OR2 of the drilling pattern 1 is determined by, for example, the method described below when determining the rotation angle used for drilling the hole 21 to be drilled next. It is also preferable to consider in First, when storing the value of the rotation angle Φ of the drilling unit 4 used for drilling the drilled hole 21, the ratio resulting from the difference between the position of the origin OR1 of the rock drilling rig 1 and the position of the origin OR2 of the drilling pattern 14 Subtract the amount or value from the value of this rotation angle Φ. Further, when the drilling of the hole 21 to be drilled next is started using the value of the rotation angle Φ of the drilling unit 4 determined as described above, the position of the origin OR1 of the rock drilling rig 1 and the origin of the drilling pattern 14 A ratio, amount or value corresponding to the difference from the position of OR2 is added to the value of the specific rotation angle Φ.

  In the method disclosed in the previous paragraph, it is possible to compensate for variations in the position of the rock drilling rig 1 with respect to the origin OR2 of the drilling pattern 14 in that way. The necessary calculations may be performed by the control unit 9, for example. When performing this compensation, the coordinates of the origin OR1 of the rock drill rig 1 are projected on the same plane as the coordinate system of the drilling pattern 14. In the previous paragraph, the value of the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 was associated with the origin OR2 of the drilling pattern 14. As a modification, the value of the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 may be attached to or determined with respect to the origin OR1 of the coordinate system related to the rock drilling rig 1, in this case, In connection with the drilling of each drilling circle, data relating to the position of the origin of the rock drilling rig 1 relative to the origin OR2 of the drilling pattern 14 is also stored and the rotation of the drilling unit 4 used in relation to the hole 21 to be drilled next In determining the angle Φ, the difference between the position of the origin OR1 of the rock drilling rig 1 and the position of the origin OR2 of the drilling pattern 14 can be considered.

  In the next phase of drilling the hole 21, ie in phase 6 of the diagram of FIG. 4, the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 is stored in the storage unit 17. The rotation angle Φ of the drilling unit 4 used for drilling the hole 21 is the memory of the rotation angle Φ of the drilling unit 4 used in connection with the drilling of other holes 21 in the same drilling circle after drilling the drilling circle. It may also be associated and stored simultaneously, in which case the rotation angle Φ of the associated drilling unit 4 carried out in all holes 21 of the drilling circle is stored simultaneously after drilling of the drilling circle. Preferably, the value of the rotation angle Φ of the drilling unit 4 used for drilling one hole 21 of the drilling circle is stored during or immediately after drilling the hole 21, in which case the specific value used is used. The rotation angle Φ of the drilling unit 4 to be used for drilling the hole 21 to be drilled next to the same excavation circle is determined.

  In this way, the method uses the value of the rotation angle Φ of the drilling unit 4 used in connection with the previously drilled hole 21 to rotate the drilling unit 4 used for drilling the next hole 21. Determine the value of the angle Φ.

  The value of the rotation angle Φ of the drilling unit 4 used for drilling the holes 21 may be determined, for example, as an angle, other similar numerical values or other suitable values. In such a case, for example, the value of the rotation angle Φ of the drilling unit 4 with respect to the previous one hole 21 is 34 degrees, while the value of the rotation angle Φ of the drilling unit 4 with respect to another hole different from the previous hole is 40 degrees. If so, these average values represent the rotation angle of the drilling unit 4 using the value of the rotation angle Φ of the drilling unit 4 used to drill the next hole 21 in relation to the two already drilled holes 21. If it is determined based on the value of Φ, it will be 37 degrees.

  However, in the calculation method described above, the value of the rotation angle Φ of the drilling unit 4 with respect to the previous one hole 21 is 170 degrees, while the rotation angle of the drilling unit 4 with respect to another hole 21 different from the previous one. The value of Φ is −170 degrees, so that, in the above-described viewpoint, these average values are 0 degrees, but problems arise when the desired result is either 180 degrees or −180 degrees. This situation is illustrated in FIG. 6, where the value of the rotation angle Φ of the drilling unit 4 indicated by the arrow Φ1 is 170 degrees, while the value of the rotation angle Φ of the drilling unit 4 indicated by the arrow Φ2 is − In this case, the average value is 0 degrees as indicated by the arrow Φ3, and does not become the value 180 degrees or −180 degrees to be taken as indicated by the arrow Φ4.

The problem is that, in the prior calculation of the average value, first, the value of each rotation angle Φ is expressed as a vertical component Φ _sin = sin (Φπ / 180 °) and a horizontal component Φ _cos = sin (Φπ / 180 °) Where π is a Pi, ie, an Archimedean constant or Rudolf number in mathematics. Then, calculate the average value [Phi _{Cos_mean} average value [Phi _{Sin_mean} and horizontal components used the vertical component of the rotation angle [Phi the punching unit 4 separately. The final average value Φ _mean of the rotation angle Φ of the drilling unit 4 used for drilling is based on the average value of the vertical component described above and the average value of the horizontal component described above, the formula Φ _mean = atan2 (Φ _{cos_mean} , Φ _{sin_mean} ), and in this example, the value of the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 is 180 degrees or −180 degrees as shown by the arrow Φ4.

  In the above example, the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 to be drilled next is determined using the control unit 9 and the storage unit 17 provided in the rock drilling rig 1. Is shown in However, the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 to be drilled next can be determined, for example, by the computer 18 of the office 15 or by another computer outside the drilling site, in which case The necessary data relating to the rotation angle Φ of the drilling unit 4 used in connection with the drilling of the drilling 21 is transmitted to a specific computer via the data transfer connection 16. In this case, the data relating to the rotation angle Φ of the drilling unit 4 used for the drilling of the hole 21 to be drilled next is again transferred from the computer 18 of the office 15 or another computer via the data transfer connection 16. It is transmitted to the control unit 4 of rig 1. The value of the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 in the drilling circle to be drilled next is determined based on the value of the rotation angle Φ of the drilling unit 4 used in the previous drilling of the hole 21 Next, it is incorporated into the drilling pattern 14 of the drilling circle to be drilled.

  FIGS. 7 to 10 show the relationship between the rotation angle Φ of the drilling unit 4 determined by the method according to FIG. 4 and the rotation angle Φ of the drilling unit 4 carried out in the drilling of the already drilled 21 and used for this determination. An example is schematically shown. In the example of FIGS. 7 to 10, a rock drilling rig having two drilling booms 3 each having one drilling unit 4 is used as the rock drilling rig 1.

  FIG. 7 shows the position 21 ′ of the hole 21 designated as being present in the application or operating area of the first boom 3 of the rock drilling rig 1 using a circle drawn with a thin line, The drawn direction line 21 "is used to indicate the rotation angle Φ of the drilling unit 4 determined in the manner described above for the particular hole 21. Thus, this rotation angle Φ is the drilling of the hole 21 in the drilling circle. It is an instruction value related to the rotation angle Φ of the drilling unit 4 calculated by the above-described method for use in a thick line.The thick line indicates the previously drilled hole 21 and the drilling unit specified by the thin line. Represents the rotation angle Φ of the drilling unit 4 used to determine the rotation angle Φ of 4. In the case shown in Fig. 7, there was one drilling circle previously drilled. In contrast, the pattern corresponding to FIG. 6 in the situation where there are three previously drilled circles. 9 and 10 show a corresponding example regarding the application area or the operation area of the second drilling boom 3 of the rock drilling rig 1. In FIGS. Shows how well the proposal specified in the thin line for the value of the rotation angle Φ of the drilling unit 4 used in connection with the hole 21 of the drilling circle to be drilled agrees with the rotation angle Φ used Yes.

  Thus, the disclosed solution allows the previously drilled hole 21 to be used in determining the rotation angle Φ of the drilling unit 4 used in connection with the drilling of the hole 21 of the drilling circle to be drilled next. The value of the rotation angle Φ of the drilling unit 4 used in relation is used. Since the rotation angle Φ of the drilling unit 4 used for drilling the hole 21 is determined based on the actual rotation angle Φ of the drilling unit 4 used in connection with the previously drilled hole 21, this solution Using the rotation angle Φ of the drilling unit 4 determined by the above, the drilling rig 1 can be used by the operator of the rock drilling rig 1 to quickly reach a state where most of the holes 21 of one drilling circle can be drilled. The selection of the rotation angle Φ of the perforating unit 4 to be used hardly needs to be concerned. As a result, the excavation circle is drilled faster, and the operator of the rock drilling rig 1 is afforded to monitor the status of the drilling and drilling device. Thus, this solution takes into account the actual drilling situations often found in rock caves as well as the size and type of rock rigs that are actually used for drilling. Since the rotation angle Φ of the drilling unit 4 may be determined automatically, for example, by the control unit 9 of the rock drilling rig 1 or by the computer 15 of the office 15, the designer 19 of the drilling pattern 14 may in some cases Except for the rotation angle Φ of the drilling unit 4 with respect to the hole 21 of the first excavation circle in the rock cave, it is no longer necessary to determine the rotation angle Φ of the drilling unit 4 so that the designer 19 of the drilling pattern 14 Get room to do the job.

  It will be apparent to those skilled in the art that the basic concept of the present invention may be implemented in many different ways as technology advances. Therefore, the present invention and its embodiments are not limited to the above-described examples, but can be modified within the scope of the claims.

Claims (18)

A method for controlling at least one drilling unit (4) arranged on at least one drilling boom (3) of a rock drilling rig (1) when excavating a rock cave with one drilling circle at a time. The method
Drill a hole in one drilling circle according to the drilling pattern (14) designed for the drilling circle;
In order to drill each hole (21), the drilling pattern (14) of a specific excavation circle is said to be at a rotation angle (Φ) that achieves the position (21 ′) and direction determined for the specific hole (21) Control the drilling unit (4),
Storing the rotation angle (Φ) of the drilling unit (4) used during drilling of each hole (21) of the drilling circle;
The drilling unit used to drill the hole (21) based on the rotation angle (Φ) of the drilling unit (4) used in connection with the drilling of one or more previously drilled holes (21) A method of controlling at least one drilling unit (4), characterized in that the rotation angle (Φ) of (4) is determined.   The method according to claim 1, wherein the rotation angle (Φ) of the drilling unit (4) used in connection with drilling of one or more holes (21) in one or more drilled circles previously drilled. Based on the method, the rotation angle (Φ) of the drilling unit (4) used to drill the hole (21) is determined. The method according to claim 1 or 2, wherein when determining the rotation angle (Φ) of the drilling unit (4) used to drill the hole (21),
As the initial data for determination, the already drilled holes (21) drilled by the drilling unit (4) disposed in the same drilling boom (3) as the drilling unit (4) used for drilling the hole (21) to be drilled are used. ) In relation to the position data (21 ') for the hole (21) and the data for the rotation angle (Φ) of the drilling unit (4),
Determine the distance between the already drilled hole (21) selected in the previous step and the hole (21) to be drilled;
Based on the distance between the already drilled hole (21) and the hole to be drilled (21), one or more previously drilled holes (21) are selected, and the drill hole used in the drilling of the one or more previously drilled holes (21). Based on the rotation angle (Φ) of the unit (4), determine the rotation angle (Φ) of the drilling unit (4) used for drilling the hole (21) to be drilled,
Based on the rotation angle (Φ) of the drilling unit (4) used for drilling the one or more already drilled holes (21), the drilling unit (4) used for drilling the hole (21) to be drilled A method characterized by determining a rotation angle (Φ).   The method according to claim 3, wherein the rotation angle (Φ) of the drilling unit (4) used for drilling the hole (21) to be drilled is set to the already drilled hole (21) closest to the hole (21) to be drilled (21). 21) A method characterized in that it is determined so as to correspond to the rotation angle of the drilling unit (4) used in the drilling of 21). The method according to claim 3, wherein the rotation angle (Φ) of the drilling unit (4) used for drilling the hole (21) to be drilled is set to a predetermined number of previously drilled holes (21). The method is characterized in that it is determined so as to correspond to the average value (Φ _mean ) of the rotation angle (Φ) of the drilling unit (4) used in the above. 4. The method according to claim 3, wherein a rotation angle (Φ) of the drilling unit (4) used for drilling the hole (21) to be drilled is set to a drill of an already drilled hole (21) existing within a predetermined distance. If it is determined to correspond to the average value (Φ _mean ) of the rotation angle (Φ) of the drilling unit (4) used in the above, or if the already drilled (21) does not exist within the predetermined distance, it should be drilled The rotation angle (Φ) of the drilling unit (4) used for drilling the hole (21) corresponds to the rotation angle (Φ) of the drilling unit (4) used for the drilling of the closest existing drilling (21) A method characterized by deciding to do so. The method according to claim 5 or 6, wherein the average value (Φ _mean ) of the rotation angle (Φ) of the drilling unit (4) used in the drilling of the already drilled hole (21) is the value of each rotation angle (Φ). determined by dividing into a vertical component ([Phi _sin) and horizontal component (Φ _cos), the average value of the vertical component _{(Φ sin)} (Φ sin_mean) and the average value of the water Heisei fraction (Φ _cos) (Φ _{cos_mean} ) is used to drill the hole (21) based on the average value (Φ _{sin_mean} ) of the vertical component (Φ _sin ) and the average value (Φ _{cos_mean} ) of the horizontal component (Φ _cos ) Method for determining the rotation angle (Φ) of the drilling unit (4). The method of claim 7, based on the vertical average of the component _{(Φ sin)} (Φ sin_mean) and the average value of the horizontal component _{(Φ cos) (Φ cos_mean)} , equation _{Φ mean} = atan2 (Φ cos_mean , Φ _{sin_mean} ) to determine the rotation angle (Φ) of the drilling unit (4) used to drill the hole (21).   The method according to any of the preceding claims, wherein the drilling unit (4) used for drilling a hole (21) with respect to the origin (OR1) of a coordinate system applied to the rock rig (1). Determining the rotation angle (Φ) of the. Movable carrier (2),
At least one drilling boom (3);
At least one drilling unit (4) disposed on the drilling boom (3), the drilling unit (4) being fed by a feed beam (5) and a feed device (22). ) Drilling drill (6) arranged to be movable above, and
A rotation mechanism (10) for rotating the perforation unit (4) to a rotation angle (Φ);
At least one storage unit (17) configured to store a drilling pattern (14) used for drilling a drilling circle to be drilled for a rock cave;
The drilling unit (4) is moved by the rotating mechanism (10) to a rotation angle (Φ) that achieves a determined position (21 ′) and direction with respect to the holes (21) of the drilling pattern (14) of the drilling circle At least one control unit (9) configured to control;
A rock drilling rig (1) comprising at least one storage unit (17) configured to store a rotation angle of said drilling unit (4) carried out in the drilling of each hole (21) of a drilling circle to be drilled ) And
The control unit (9) drills holes (21) based on the rotation angle (Φ) of the drilling unit (4) used in connection with the drilling of one or more previously drilled holes (21). A rock drilling rig (1), characterized in that it is configured to determine the rotation angle (Φ) of the drilling unit (4) used for one.   Rock drilling rig (1) according to claim 10, wherein the control unit (9) is used in connection with drilling one or more holes (21) in one or more drilling circles previously drilled. Based on the rotation angle (Φ) of the drilling unit (4), the rotation angle (Φ) of the drilling unit (4) used to drill the hole (21) is determined. Rock drilling rig (1). Rock drilling rig (1) according to claim 10 or 11, wherein the control unit (9) of the rock drilling rig (1) rotates the drilling unit (4) used for drilling holes (21). Configured to determine the angle (Φ), and thus
As initial data for determination from the storage unit (17), a drilling unit (4) disposed on the same drilling boom (3) as the drilling unit (4) used for drilling the hole (21) to be drilled Select the position data (21 ') for the hole (21) and the data for the rotation angle (Φ) of the drilling unit (4) in relation to the already drilled (21),
Determine the distance between the already drilled hole (21) selected in the previous step and the hole (21) to be drilled;
Based on the distance between the already drilled hole (21) and the hole to be drilled (21), one or more previously drilled holes (21) were selected and used for the drilling in the one or more previously drilled holes (21). Based on the rotation angle (Φ) of the drilling unit (4), determine the rotation angle (Φ) of the drilling unit (4) used for drilling the hole (24) to be drilled;
Based on the rotation angle (Φ) of the drilling unit (4) used for drilling the one or more already drilled holes (21), the drilling unit (4) used for drilling the hole (21) to be drilled Rock drilling rig (1) characterized by determining the rotation angle (Φ).   Rock drilling rig (1) according to claim 12, wherein the control unit (9) of the rock drilling rig (1) is a rotation angle of the drilling unit (4) used for drilling the hole (21) to be drilled. (Φ) is determined so as to correspond to the rotation angle of the drilling unit (4) used in the drilling of the already drilled hole (21) closest to the hole (21) to be drilled. Rock drilling rig (1). Rock drilling rig (1) according to claim 12, wherein the control unit (9) of the rock drilling rig (1) rotates the drilling unit (4) used for drilling the hole to be drilled (21). A configuration in which the angle (Φ) is determined so as to correspond to the average value (Φ _mean ) of the rotation angle (Φ) of the drilling unit (4) used for drilling the predetermined number of drilled holes (21) with the closest distance. Rock drilling rig (1) characterized by having. Rock drilling rig (1) according to claim 12, wherein the control unit (9) of the rock drilling rig (1) rotates the drilling unit (4) used for drilling the hole to be drilled (21). The angle (Φ) is determined to correspond to the average value (Φ _mean ) of the rotation angle (Φ) of the drilling unit (4) used in the drilling of the existing drill (21) existing within a predetermined distance, or When the already drilled hole (21) does not exist within the predetermined distance, the rotation angle (Φ) of the drilling unit (4) used for drilling the hole (21) to be drilled is set to the closest drilled hole. A rock drilling rig (1) characterized by having a configuration determined so as to correspond to the rotation angle (Φ) of the drilling unit (4) used in the drilling of (21). Rock drilling rig (1) according to claim 14 or 15, wherein the control unit (9) of the rock drilling rig (1) is a rotation angle of the drilling unit (4) used in the drilling of the already drilled (21) The average value (Φ _mean ) of (Φ) is determined by dividing the value of each rotation angle (Φ) into a vertical component (Φ _sin ) and a horizontal component (Φ _cos ), and the vertical component (Φ _sin ) average of the average value _(Φ sin_mean) and the average value of the water Heisei fraction _{(Φ cos)} (Φ cos_mean) determining the average value of the vertical component ([Phi _sin) of _(Φ sin_mean) and water Heisei content ([Phi _cos) Based on the value (Φ _{cos_mean} ), a rock drilling rig (10) configured to determine the rotation angle (Φ) of the drilling unit (4) used to drill the hole (21) 1). _{17. Rock} drilling rig (1) according to claim 16, wherein the control unit (9) of the rock drilling rig (1) has an average value (Φ _{sin_mean} ) of the vertical component (Φ _sin ) and the horizontal component (Φ _cos ) Based on the average value (Φ _{cos_mean} ), using the calculation formula Φ _mean = atan2 (Φ _{cos_mean} , Φ _{sin_mean} ), the rotation angle (Φ) of the drilling unit (4) used to drill the hole (21) Rock drilling rig (1), characterized in that it is configured to determine).   Rock drilling rig (1) according to any one of claims 10 to 17, wherein the control unit (9) of the rock drilling rig (1) is the origin of the coordinate system given to the rock drilling rig (1) ( Rock drilling rig (1), characterized in that it is configured to determine the rotation angle (Φ) of the drilling unit (4) used to drill the hole (21) relative to OR1).

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