SE544602C2 - A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium therefor - Google Patents
A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium thereforInfo
- Publication number
- SE544602C2 SE544602C2 SE2150018A SE2150018A SE544602C2 SE 544602 C2 SE544602 C2 SE 544602C2 SE 2150018 A SE2150018 A SE 2150018A SE 2150018 A SE2150018 A SE 2150018A SE 544602 C2 SE544602 C2 SE 544602C2
- Authority
- SE
- Sweden
- Prior art keywords
- loading
- borehole
- post
- drilling
- range finding
- Prior art date
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 106
- 238000000034 method Methods 0.000 title claims abstract description 103
- 239000011435 rock Substances 0.000 title claims abstract description 18
- 238000004590 computer program Methods 0.000 title claims abstract description 15
- 230000002596 correlated effect Effects 0.000 claims abstract description 12
- 230000001276 controlling effect Effects 0.000 claims description 36
- 238000004140 cleaning Methods 0.000 claims description 8
- 239000002360 explosive Substances 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000003780 insertion Methods 0.000 description 30
- 230000037431 insertion Effects 0.000 description 30
- 238000010276 construction Methods 0.000 description 6
- 238000005065 mining Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 238000005422 blasting Methods 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/025—Rock drills, i.e. jumbo drills
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
- F42D1/08—Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Structural Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Earth Drilling (AREA)
Abstract
A process of positioning performed by a post-drilling unit after rock drilling, which postdrilling unit comprises a loading device (6) configured to load an object into a borehole with a longitudinal axis (A), a range finding device (7), and a positioning system, herein the process comprises steps of arranging the range finding device (6) in front of the borehole collar (8) by means of the positioning system; measuring one or more distances inward the borehole by means of the range finding device (7) in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and determining a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis (A), wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance. A post-drilling unit, rig, computer program and computer-readable storage medium for the process of positioning are also described.
Description
A METHOD OF POSITIONING AFTER ROCK DRILLING AND A POST-DRILLINGUNIT, RIG, COMPUTER PROGRAM AND COMPUTER-READABLE STORAGE|\/|ED|U|\/I THEREFOR TECHNICAL FIELD The present disclosure relates to a method and a post-drilling unit for loading an objectinto a borehole, which method comprises a process of positioning performed by thepost-drilling unit. The present disclosure further relates to a method for controlling operation of the post-drilling unit.
BACKGROUND Rock drilling is widely applied in various types of rock engineering associated with civil engineering such as tunneling and underground mining.
Prior to the drilling operation it is necessary to design an effective drilling plan fordetermining desired borehole data including number of boreholes, position of eachborehole collar in a spatial reference system, depth, diameter, direction and drilling trajectory of each borehole.
Borehole deviations from a predetermined drilling plan occur frequently during a drillingoperation due to rock anisotropy and limitations of a drilling machine. Thus, in practice the boreholes are not formed exactly according to the drilling plan.
Usually, the drilling operation proceeds continuously and is deemed complete when allboreholes are formed according to the drilling plan. The drilling equipment is removedfrom the last borehole to allow a post-drilling operation which often requires a separate step of loading of an insertion object into each borehole.
A post-drilling operation may be a logging operation wherein a logging tool such as asensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool or an imaging tool, is loaded into the borehole to collect actual data of the borehole.
Another post-drilling operation may be a blasting operation wherein an explosive package, a feeding or charging means for explosives is loaded into the borehole.
Yet another post-drilling operation may be an operation of rock bolt reinforcement wherein a rock bolt is loaded into the borehole before or after a process of grouting.Yet another post-drilling operation may be a cleaning operation wherein a cleaning tool is loaded into the borehole.
Apparently, it is necessary to invest extensive time, manpower and effort to align theinsertion object with each borehole to ensure successful loading due to boreholedeviations from the drilling plan and limitations of state-of-the-art positioning means.Current post-drilling unit and method for loading an insertion object into a boreholeneed to be improved to reduce manual workload for operators thereby increasing work efficiency and productivity.
Mining is an inherently risky occupation. The mining environment is harmful for humanhealth, with dangers ranging from rock collapses to inhalation of toxic particles. ltshould always be prioritized to minimize exposure of personnel to the harmful miningenvironment. Therefore, a mechanized operation of aligning an insertion object with aborehole for loading the insertion object into the borehole has been developed whichcan be controlled from a cabin where operators are protected. The mechanizedoperation also reduces manual workload for operators thereby increasing workefficiency and productivity. The work efficiency and productivity can be furtherincreased by automatic control of the mechanized operation which may augment or replace operator-based control.
WO2013098459A1 and WO2013098460A1 disclose a method for post-drillinginsertion, wherein contact sensing of feed resistance is used for detecting misalignmentbetween an insertion object and a pre-drilled hole, and wherein the feeding angle of theinsertion object is adjusted simultaneously with the action of insertion. Thus, theinsertion object is used effectively as a probe for the borehole in determining the appropriate feeding angle, which may potentially damage the insertion object.
SUMMARY ln view of the above, one object of the present disclosure is therefore to reduce manualworkload and minimize risks for personnel at the site during operations for loading an object into a borehole.Another object of the disclosure is to increase work efficiency and productivity.
Yet another object of the disclosure is to provide a novel and advantageous process of positioning performed by a post-drilling unit for loading an object into a borehole.Yet another object of the disclosure is to provide a robust and reliable process of positioning performed by a post-drilling unit for loading an object into a borehole.
Yet another object of the disclosure is to provide an alternative process of positioning performed by a post-drilling unit for loading an object into a borehole.
Yet another object of the disclosure is to improve mechanization and automation of theprocess of positioning performed by a post-drilling unit for loading an object into a borehole.
The above mentioned objects are achieved according to a first aspect of the disclosureby a process of positioning performed by a post-drilling unit after rock drilling, whichpost-drilling unit comprises a loading device configured to load an object into aborehole with a longitudinal axis, a range finding device, and a positioning system,wherein the process comprises steps of i. arranging the range finding device in front of the borehole collar by means of thepositioning system; ii. measuring one or more distances inward the borehole by means of the rangefinding device in one or more measuring positions, wherein each measuringposition is correlated to one measured distance; and iii. determining a loading position enabling loading of at least a part of the object intothe borehole, wherein the loading position is essentially in line with the boreholealong the longitudinal axis, wherein the loading position is correlated to apredetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.
Operations of the post-drilling unit may be controlled manually and/or mechanically.
When a measured distance is equivalent to the predetermined reference distance, themeasuring position corresponding to the measured distance is identified as a loading position that enables loading of at least a part of the insertion object into the borehole.
The process of positioning according to the present disclosure solves the problem ofdetermining a loading position for loading at least a part of an insertion object into aborehole. The problem is solved by comparing the measured distance(s) with apredetermined reference distance, wherein at least one measured distance isequivalent to the reference distance, or in other words, at least one measuring position is identified as a loading position.The process according to the present disclosure has the advantage of convertingspatial position data into linear distance data that is straightfonNard to obtain by a rangefinding device and easy to compare. Thus, the process according to the presentdisclosure is more efficient in determining a loading position for loading at least a partof an insertion object into a borehole. The process according to the present disclosurehas a further advantage of providing a robust and reliable solution for determining aloading position without the need of interaction between the insertion object and theborehole, thereby reducing or even eliminating the risk of damaging the insertion object during the action of loading the insertion object into the borehole. ln some embodiments, the reference distance is predetermined by means of at leastone selected from a group consisting of a drilling plan, a drilling process, a loading process and a logging process.
The reference distance obtained by a drilling plan, a drilling process, a loading processor a logging process provides a reasonable estimation of a loading position thatenables loading of at least a part of an insertion object into a borehole. The referencedistance may be stored in a memory and facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole. ln some embodiments, the positioning system as was described above may furthercomprise a navigation system; the process of positioning as was described above mayfurther comprise a step of determining local coordinates of the one or more measuringpositions and the loading position, which further step is performed by the navigation system.
The step of determining local coordinates of the positions has the advantage ofproviding a number or symbolic description Within a spatial reference system whichmay be stored in a memory and facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.
The process as was described above may further comprise a step of placing the loading device into the loading position by means of the positioning system.
A loading position may be occupied by the range finding device during the step ofmeasuring a distance inward a borehole, wherein the loading position is also known asa measuring position. ln order to load an object into the borehole it is necessary that the loading device is placed into the loading position.The process of positioning performed by a post-drilling unit for loading an object into aborehole according to the present disclosure may be at least partially mechanized and/or automatized.
The above mentioned objects are also achieved according to a second aspect of thedisclosure by a method of loading an object into a borehole, wherein the methodcomprises the process of positioning as was described above, and a further step of loading the object into the borehole by means of the loading device.
The method of loading an object into a borehole has all the advantages that have beendescribed above in conjunction with the process of positioning performed by a post- drilling unit for loading an object into a borehole.
The method of loading an object into a borehole according to the present disclosure may be at least partially mechanized and/or automatized.
The above mentioned objects are also achieved according to a third aspect of thedisclosure by a post-drilling unit configured to perform a post-drilling process after rockdrilling, wherein the post-drilling unit comprises a loading device configured to load anobject into a borehole with a longitudinal axis; a range finding device configured tomeasure one or more distances inward the borehole in one or more measuringpositions, wherein each measuring position is correlated to one measured distance;and a positioning system configured to arrange the range finding device in front of theborehole collar, and place the loading device into a loading position enabling loading ofat least a part of the object into the borehole, wherein the loading position is essentiallyin line with the borehole along the longitudinal axis, wherein the loading position iscorrelated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.
The positioning system as was described above may comprise a navigation systemconfigured to determine local coordinates of the one or more measuring positions and the loading position.
The post-drilling unit according to the present disclosure has all the advantages thathave been described above in conjunction with the process of positioning performed by the post-drilling unit for loading an object into a borehole. ln some embodiments, the range finding device as was described above may compriseat least one selected from a group consisting of a laser, a lidar, a radar, a sonar, an ultrasonic, and an optical rangefinder.The specific range finding device as was described above has the advantage ofenabling non-contact sensing means for measuring one or more distances inward aborehole, thereby eliminating the risk of damaging the range-finding device during the measuring action. ln some embodiments, the insertion object as was described above may comprise atleast one selected from a group consisting of a rock bolt, an explosive package, afeeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool.
The specific insertion object as was described above has the advantage of performinga specific post-drilling process such as rock bolt reinforcement, blasting, logging or cleaning. ln some embodiments, the range finding device as was described above may be fixedly connected to the loading device.
The fixed connection between the range finding device and the loading device ensuresa fixed relationship in terms of the positions of the range finding device and the loadingdevice, which enables that the step of placing the loading device into the loadingposition is performed in a predictable manner. The fixed positional relationship betweenthe range finding device and the loading device has the advantage of increasing work efficiency and productivity.
The range finding device and the loading device may also be fixedly connected suchthat the positions of the range finding device and the loading device can be adjusted ina synchronized manner, thereby immediate alignment between the loading device anda borehole is achieved once a measuring position is identified as a loading position.There is no need of a separate step of placing the loading device into the loadingposition by means of the positioning system, thereby further increasing work efficiency and productivity. ln some embodiments, the range finding device as was described above may beswitchable to a first position in line with the loading device, and to a second position out of line with the loading device.
The switchable arrangement of the range finding device in relation to the loadingdevice has the advantage of eliminating any risk of blocking the route of loading an object into a borehole.Furthermore, the switchable arrangement of the range finding device in relation to theloading device enables synchronized position adjustment of the range finding deviceand the loading device, thereby immediate alignment betvveen the loading device and aborehole can be achieved once a measuring position is identified as a loading position.There is no need of a separate step of adjusting or placing the loading device into theloading position by means of the positioning system, thereby increasing work efficiency and productivity. ln some embodiments, the loading device as was described above may be switchableto a first position in line with the range finding device, and to a second position out of line with the range finding device.
The switchable arrangement of the loading device in relation to the range findingdevice has the advantage of eliminating any risk of blocking the route of loading an object into a borehole.
The above mentioned objects are also achieved according to a fourth aspect of the disclosure by a rig comprising the post-drilling unit as was described above.
The rig according to the present disclosure has all the advantages that have been described above in conjunction with the post-drilling unit as was described above.
The rig as was described above may further comprise a carrier and a boom, whereinthe boom is articulated at a terminal end to the carrier and at an opposite terminal endto a mounting device, and wherein the loading device and the range finding device are arranged on the mounting device.
The rig construction as was described above provides a positioning system with theadvantage of adjusting the positions of the loading device and the range finding device at a number of levels enabling precise positioning.
The above mentioned objects are also achieved according to a fifth aspect of thedisclosure by a method performed by a control unit or a computer connected to thecontrol unit for controlling operation of the post-drilling unit as was described above forloading an object into a borehole, wherein the method comprises the actions ofobtaining data, controlling operation of the loading device, controlling operation of the range finding device, and controlling operation of the positioning system.The above mentioned method performed by a control unit or a computer connected tothe control unit for controlling operation of the post-drilling unit has the advantage of atleast partially automatizing the process of positioning as was described above and performed by the post-drilling unit for loading an object into a borehole.
The above mentioned method performed by a control unit or a computer connected tothe control unit for controlling operation of the post-drilling unit has all the advantagesthat have been described above in conjunction with the process of positioning performed by a post-drilling unit for loading an object into a borehole.
The above mentioned objects are also achieved according to yet another aspect of thedisclosure by a computer program product comprising instructions which, whenexecuted on at least one processor, cause the at least one processor to carry out themethod as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
The computer program product provides all the advantages that have been describedabove in conjunction with the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
The above mentioned objects are also achieved according to yet another aspect of thedisclosure by a computer-readable storage medium storing a computer programproduct comprising instructions which, when executed on at least one processor, causethe at least one processor to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.
BRIEF DESCRIPTION OF THE DRAWINGS With reference to the appended drawings, below follows a more detailed description of embodiments of the disclosure cited as examples.ln the drawings:Figure 1 is a schematic representation of a mining or construction work rig; Figure 2 is a schematic representation of a loading device in a loading position in line with a borehole along the longitudinal axis of the borehole;Figure 3 is a block diagram depicting a method for controlling operation of a post- drilling unit; Figure 4 is a block diagram illustrating a control unit and connections with the control unit.
DETAILED DESCRIPTION The present disclosure aims to reduce or even eliminate exposure of personnel to thehazardous work environment during operations for loading an object into a borehole.The present disclosure further aims to reduce manual workload without compromisingwork efficiency or productivity. The present disclosure improves mechanization andautomation of the operations for loading an object into a borehole by providing a novel, robust and reliable solution which is advantageous over the state of the art.
According to a first aspect of the disclosure (Fig. 2), there is provided a process ofpositioning performed by a post-drilling unit after rock drilling, which post-drilling unitcomprises a loading device 6 configured to load an object into a borehole with alongitudinal axis A, a range finding device 7, and a positioning system, wherein theprocess comprises the following steps, which steps may be taken in any suitable orderfor loading the object into the borehole, i. arranging the range finding device 7 in front of the borehole collar 8 by means ofthe positioning system; ii. measuring one or more distances inward the borehole by means of the rangefinding device 7 in one or more measuring positions, wherein each measuringposition is correlated to one measured distance; and iii. determining a loading position enabling loading of at least a part of the object intothe borehole, wherein the loading position is essentially in line with the boreholealong the longitudinal axis A, wherein the loading position is correlated to apredetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.
With a “longitudinal axis A” is herein meant an imaginary line passing through thecentroid of cross sections of the borehole (Fig. 2). Virtual rotations of the borehole around the longitudinal axis A can be anticipated.
With a ”position” is herein meant a point or space which may have a number or symbolic description within a spatial reference system. A position may be occupied by any physical object. A position at which a loading device 6 is able to load at least a partof an insertion object into a borehole is referred to as a loading position. A position atwhich a range finding device 7 measures a distance inward the borehole is referred toas a measuring position. The range finding device 7 may be adjusted to one or moremeasuring positions in front of the borehole collar 8 to measure a distance inward the borehole at each measuring position.
With a “positioning system” is herein meant a system for adjusting and determining theposition of an object in space. ln some embodiments, the positioning system maycomprise a boom 4, a beam 5 and/or at least one angle adjusting device 10 (Fig. 1)foradjusting the positions of the range finding device 7 and the loading device 6. The positioning system may be a computer-controlled system.
With a ”distance” is herein meant an approximate distance inward a borehole from ameasuring position. A reference distance may be correlated to a depth of a borehole inrelation to the diameter of the borehole. A reference distance may also be correlated toa length of an insertion object in relation to the diameter and/or other properties (e.g. shape, flexibility, fragility, stability and etc.) of the insertion object.
With “in line” is herein meant essentially concentrically arranged in a straight line, whichis opposite to “out of line”. When a loading position is essentially in line with a boreholealong the longitudinal axis A of the borehole, the loading position enables loading of at least a part of an insertion object into the borehole. When at least a part of the insertionobject has been loaded into the borehole from a loading position, loading of the rest of the insertion object will usually proceed well without need of further adjusting the loading position.
With ”equivalent” is herein meant having the same effect. When a measured distanceis equivalent to the reference distance, the measuring position corresponding to themeasured distance is identified as a loading position that enables loading of at least apart of an insertion object into a borehole. Thus, more than one measured distancemay be equivalent to the reference distance, and subsequently more than one measuring position may be identified as a loading position.
Operations of the post-drilling unit may be controlled manually and/or mechanically.The process of positioning performed by the post-drilling unit for loading an object into a borehole may be at least partially automatized.Fig. 2 is a schematic representation of a loading device 6 in a loading position in linewith a borehole along the longitudinal axis of the borehole, Wherein the borehole collar 8 and the rock surface 9 are illustrated.
The process of positioning according to the present disclosure solves the problem ofdetermining a loading position for loading an insertion object into a borehole. Theproblem is solved by comparing the measured distance(s) with a predeterminedreference distance, wherein at least one measured distance is equivalent to thepredetermined reference distance, or in other words, at least one measuring position is identified as a loading position.
The process of positioning according to the present disclosure has the advantage ofconverting spatial position data into linear distance data that is straightfonNard to obtainby a range finding device 7 and easy to compare. Thus, the process of positioning ismore efficient in determining a loading position for loading at least a part of an insertionobject into a borehole. The process of positioning has a further advantage of providinga robust and reliable solution for determining a loading position without the need ofinteraction between the insertion object and the borehole, thereby reducing or eveneliminating the risk of damaging the insertion object during the action of loading the insertion object into the borehole. ln some embodiments, the reference distance is predetermined by means of at leastone selected from a group consisting of a drilling plan, a drilling process, a loading process and a logging process.
The borehole data defined by a drilling plan or obtained from a drilling process facilitates efficient localization of the collar of each borehole at a work site.
The reference distance obtained by a drilling plan, a drilling process, a loading processand/or a logging process provides a reasonable estimation of a loading position that enables loading of at least a part of an insertion object into a borehole.
The position data and reference distance obtained from a loading process or a loggingprocess for a borehole represents a realistic starting point for determining a loadingposition for a neighboring borehole, which may be combined With the borehole datadefined by a drilling plan and/or obtained from a drilling process for a precise estimation of the loading position for the neighboring borehole.The reference distance may be stored in a memory 22 to facilitate automation of theprocess of positioning performed by a post-drilling unit for loading an object into a borehole. ln some embodiments, the positioning system as was described above may comprise anavigation system; the process of positioning as was described above may furthercomprise a step of determining local coordinates of the one or more measuringpositions and the loading position, which further step is performed by the navigation system.
With a “navigation system” is herein meant a computing system for determining localcoordinates of the one or more measuring positions and the loading position, whereinthe coordinate system of a rig with a post-drilling unit is connected to the coordinatesystem of a working site. The navigation system may be any type of computing systemsuitable for the intended use. Local coordinates may be determined using any type of coordinate system suitable for the intended use.
The step of determining local coordinates of the positions has the advantage ofproviding a number or symbolic description Within a spatial reference system whichmay be stored in a memory 22 to facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole. ln some embodiments, the range finding device 7 as was described above maycomprise at least one selected from a group consisting of a laser, a lidar, a radar, a sonar, an ultrasonic, and an optical rangefinder.
The specific range finding device 7 as was described above has the advantage ofenabling non-contact sensing means for measuring one or more distances inward aborehole, thereby eliminating the risk of damaging the range-finding device 7 during the measuring action. ln some embodiments, the insertion object as was described above may comprise atleast one selected from a group consisting of a rock bolt, an explosive package, afeeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool.
The specific insertion object as was described above has the advantage of performinga specific post-drilling process such as rock bolt reinforcement, blasting, logging or cleaning.The process as was described above may further comprise a step of placing the loading device 6 into the loading position by means of the positioning system.
A loading position may be occupied by the range finding device 7 during the step ofmeasuring a distance inward a borehole, wherein the loading position is also known asa measuring position. ln order to load an object into the borehole it is necessary that the loading device is placed into the loading position. ln some embodiments, the range finding device 7 and the loading device 6 may bearranged such that the range finding device 7 and the loading device 6 can be adjustedin a synchronized manner, thereby immediate alignment between the loading device 6and a borehole can be achieved once a measuring position is identified as a loadingposition. There is no longer need of a separate step of adjusting or placing the loadingdevice 6 into the loading position by means of the positioning system, thereby increasing work efficiency and productivity.
The process of positioning performed by a post-drilling unit for loading an object into aborehole according to the present disclosure may be at least partially mechanized and/or automatized.
According to a second aspect of the disclosure, there is provided. a method of loadingan object into a borehole, wherein the method comprises the process of positioning aswas described above, and a further step of loading the object into the borehole by means of the loading deviceThe method of loading an object into a borehole has all the advantages that have beendescribed above in conjunction with the process of positioning performed by a post- drilling unit for loading an object into a borehole.
The method of loading an object into a borehole according to the present disclosure may be at least partially mechanized and/or automatized.
According to a third aspect of the disclosure, there is provided a post-drilling unitconfigured to perform a post-drilling process after rock drilling, wherein the post-drillingunit comprises a loading device 6 configured to load an object into a borehole with alongitudinal axis A; a range finding device 7 configured to measure one or moredistances inward the borehole in one or more measuring positions, wherein eachmeasuring position is correlated to one measured distance; and a positioning systemconfigured to arrange the range finding device 7 in front of the borehole collar 8, and place the loading device 6 into a loading position enabling loading of at least a part ofthe object into the borehole, wherein the loading position is essentially in line with theborehole along the longitudinal axis A, wherein the loading position is correlated to apredetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance. ln some embodiments, the positioning system as was described above may comprise anavigation system configured to determine local coordinates of the one or more measuring positions and the loading position.
The post-drilling unit according to the present disclosure has all the advantages thathave been described above in conjunction with the process of positioning performed by the post-drilling unit for loading an object into a borehole. ln some embodiments, the range finding device 7 as was described above maycomprise at least one selected from a group consisting of a laser, a lidar, a radar, a sonar, an ultrasonic, and an optical rangefinder. ln some embodiments, the insertion object as was described above may comprise atleast one selected from a group consisting of a rock bolt, an explosive package, afeeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool. ln some embodiments, the range finding device 7 as was described above may be fixedly connected to the loading deviceThe fixed connection between the range finding device 7 and the loading device 6ensures a fixed relationship in terms of the positions of the range finding device 7 andthe loading device 6, which enables that the step of placing the loading device 6 intothe loading position is performed in a predictable manner. The fixed positionalrelationship between the range finding device 7 and the loading device 6 has the advantage of increasing work efficiency and productivity.
The range finding device 7 and the loading device 6 may also be arranged such thatthe positions of the range finding device 7 and the loading device 6 can be adjusted ina synchronized manner, thereby immediate alignment between the loading device 6and a borehole can be achieved once a measuring position is identified as a loadingposition. There is no need of a separate step of placing the loading device 6 into theloading position by means of the positioning system, thereby further increasing work efficiency and productivity. ln some embodiments, the range finding device 7 as was described above may beswitchable to a first position in line with the loading device 6, and to a second position out of line with the loading deviceThe switchable arrangement of the range finding device 7 in relation to the loadingdevice 6 has the advantage of eliminating any risk of blocking the route of loading an object into a borehole.
Furthermore, the switchable arrangement of the range finding device 7 in relation to theloading device 6 enables synchronized position adjustment of the range finding device7 and the loading device 6, thereby immediate alignment bet\Neen the loading device 6and a borehole can be achieved once a measuring position is identified as a loadingposition. There is no need of a separate step of adjusting or placing the loading device6 into the loading position by means of the positioning system, thereby increasing work efficiency and productivity. ln some embodiments, the loading device 6 as was described above may beswitchable to a first position in line with the range finding device 7, and to a second position out of line with the range finding deviceThe switchable arrangement of the loading device 6 in relation to the range findingdevice 7 has the advantage of eliminating any risk of blocking the route of loading the object into the borehole.
According to a fourth aspect of the disclosure, there is provided a rig 1 comprising the post-drilling unit as was described above.
The rig 1 may be a complex equipment intended for earth surface use or undergrounduse. The rig 1 may be a mining or construction work rig adapted for various miningoperations or construction work. The rig 1 according to the present disclosure has allthe advantages that have been described above in conjunction with the post-drilling unit as was described above.
The rig 1 as was described above may further comprise a carrier 2 and a boom 4,wherein the boom 4 is articulated at a terminal end to the carrier 2 and at an oppositeterminal end to a mounting device 3, and wherein the loading device 6 and the range finding device 7 are arranged on the mounting device 3 (Fig. 1).
Fig. 1 shows schematically a mining or construction work rig 1 that further comprises abeam 5, wherein the loading device 6 and the range finding device 7 are arranged on the beam 5. The beam 5 may be a feed beam.The rig 1 construction as was described above provides a positioning system with theadvantage of adjusting the positions of the loading device 6 and the range findingdevice 7 at a number of levels enabling precise positioning. The positioning system may comprise a boom 4, a beam 5 and/or at least one angle adjusting device 10 (Fig. 1).
According to a fifth aspect of the disclosure, there is provided a method performed by acontrol unit 20 or a computer connected to the control unit 20 for controlling operationof the post-drilling unit as was described above for loading an object into a borehole.Example embodiments of the method will be described in a general way by referring toFig. 3. The method comprises the following actions, Which actions may be taken in any suitable order.
Action 101: obtaining data The action 101 of obtaining data may comprise one or more sub-actions of obtainingdata from a sensing system. The data may provide information about proximity,pressure, speed, position and/or displacement of the loading device 6, the range finding device 7, and/or a borehole.
Action 102: controlling operation of the loading device 6The action 102 of controlling operation of the loading device 6 may comprise one ormore sub-actions of controlling operation of relevant components of the loading device 6 for loading an object into a borehole.
Action 103: controlling operation of the range finding device 7The action 103 of controlling operation of the range finding device 7 may comprise oneor more sub-actions of controlling operation of relevant components of the range finding device 7 for measuring a distance inward a borehole.
Action 104: controlling operation of the positioning system The action 104 of controlling operation of the positioning system may comprise one ormore sub-actions of controlling operation of the boom 4, the beam 5, and/or the at leastone angle adjusting device 10 for adjusting the positions of the range finding deviceand the loading device 6 (Fig. 1).
The action 104 of controlling operation of the positioning system may further compriseone or more sub-actions of controlling operation of the navigation system fordetermining local coordinates of the one or more measuring positions and the loading position.As illustrated in Fig. 4, the control unit 20 may be connected with a loading device 6, arange finding device 7, and a positioning system via the communication links 200a,200b and 200c respectively. The control unit 20 comprises at least one processor 21,at least one memory 22 and at least one data port 23. The at least one processor 21 isusually an electronic processing circuitry that processes input data and provides appropriate output.
The above mentioned method performed by a control unit 20 or a computer connectedto the control unit 20 for controlling operation of the post-drilling unit has the advantageof at least partially automatizing the process of positioning as was described above and performed by the post-drilling unit for loading an object into a borehole.
According to another aspect of the disclosure, there is provided a computer programproduct comprising instructions which, when executed on at least one processor 21,cause the at least one processor 21 to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
According to some embodiments herein there is provided a computer program whichcomprises program code for causing a control unit 20 or a computer connected to thecontrol unit 20 to carry out the method as was described above for controlling operation of the post-drilling unit as was described above for loading an object into a borehole.
The computer program may comprise routines for obtaining 101 data from the sensingsystem, controlling 102 operation of the loading device 6, controlling 103 operation of the range finding device, and/or controlling 104 operation of the positioning system.
The computer program product provides all the advantages that have been describedabove in conjunction with the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
According to yet another aspect of the disclosure, there is provided a computer-readable storage medium storing a computer program product comprising instructionswhich, when executed on at least one processor 21, cause the at least one processor21 to carry out the method as was described above for controlling operation of the post-drilling unit.
According to some embodiments herein there is provided a computer-readable storagemedium storing a computer program, wherein said computer program comprisesprogram code for causing a control unit 20 or a computer connected to the control unit to carry out the method as was described above for controlling operation of thepost-drilling unit for loading an object into a borehole. The computer-readable storage medium may comprise non-volatile memory (NVM) for storing the computer program.
The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.
Although the invention has been described in terms of example embodiments as setforth above, it should be understood that the examples are given solely for the purposeof illustration and are not to be construed as limitations of the claims, as manyvariations thereof are possible Without departing from the scope of the invention. Eachfeature disclosed or illustrated in the present disclosure may be incorporated in theclaims, whether alone or in any appropriate combination with any other feature disclosed or illustrated herein.
Claims (16)
1. A process of positioning performed by a post-drilling unit after rockdrilling, which post-drilling unit comprises a loading device (6) configured to load anobject into a borehole with a longitudinal axis (A), a range finding device (7), and apositioning system, wherein the process comprises steps of i. arranging the range finding device (7) in front of the borehole collar (8) bymeans of the positioning system; ii. measuring one or more distances inward the borehole by means of the rangefinding device (7) in one or more measuring positions, wherein each measuringposition is corre|ated to one measured distance; and iii. determining a loading position enabling loading of at least a part of the objectinto the borehole, wherein the loading position is essentially in line with theborehole along the longitudinal axis (A), wherein the loading position iscorre|ated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.
2. The process according to claim 1, wherein the reference distance isdetermined by means of at least one selected from a group consisting of a drilling plan, a drilling process, a loading process and a logging process.
3. The process according to claim 1 or 2, wherein the positioning systemcomprises a navigation system, and wherein the process comprises a further step ofdetermining local coordinates of the one or more measuring positions and the loading position, which further step is performed by the navigation system.
4. The process according to any one of the previous claims, wherein theprocess comprises a further step of p/acing the loading device (6) into the loading position by means of the positioning system.
5. A method of loading an object into a borehole, wherein the method comprises the process of positioning according to any one of the previous claims, and a further step of loading the object into the borehole by means of the loading device (e).
6. A post-drilling unit configured to perform a post-drilling process after rockdrilling, wherein the post-drilling unit comprises a loading device (6) configured to load an object into a borehole with a longitudinal axis(A); a range finding device (7) configured to measure one or more distances inward theborehole in one or more measuring positions, wherein each measuring position iscorrelated to one measured distance; and a positioning system configured to arrange the range finding device (7) in front of the borehole co||ar (8), and place the loading device (6) into a loading position enabling loading of at least a part ofthe object into the borehole, wherein the loading position is essentially in line with theborehole along the longitudinal axis (A), wherein the loading position is correlated to apredetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.
7. The post-drilling unit according to claim 6, wherein the positioning systemcomprises a navigation system configured to determine local coordinates of the one or more measuring positions and the loading position.
8. The post-drilling unit according to claim 6 or 7, wherein the range findingdevice (7) comprises at least one selected from a group consisting of a laser, a lidar, a radar, a sonar, an ultrasonic, and an optical rangefinder.
9. The post-drilling unit according to any one of the claims 6 to 8, whereinthe object comprises at least one selected from a group consisting of a rock bolt, an explosive package, a feeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool.
10. The post-drilling unit according to any one of the claims 6 to 9, wherein the range finding device (7) is fixedly connected to the loading device (6).
11. The post-drilling unit according to any one of the claims 6 to 9, whereinthe range finding device (7) is switchableto a first position in line with the loading device (6), and to a second position out of line with the loading device (6).
12. A rig (1) comprising the post-drilling unit according to anyone of the claims 6 to
13. The rig (1) according to claim 12 comprising a carrier (2) and a boom (4),wherein the boom (4) is articulated at a terminal end to the carrier (2) and at anopposite terminal end to a mounting device (3), and wherein the loading device (6) and the range finding device (7) are arranged on the mounting device (3).
14. A method performed by a control unit (20) or a computer connected to thecontrol unit (20) for controlling operation of the post-drilling unit according to anyone ofthe claims 6 to 11 for loading an object into a borehole, wherein the method comprisesthe actions of obtaining data, controlling operation of the loading device (6), controlling operation of the range finding device (7), and controlling operation of the positioning system.
15. A computer program product comprising instructions which, whenexecuted on at least one processor (21), cause the at least one processor (21) to carry out the method according to claim
16. A computer-readable storage medium storing a computer programproduct comprising instructions which, when executed on at least one processor (21), cause the at least one processor (21) to carry out the method according to c|aim 14.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE2150018A SE544602C2 (en) | 2021-01-13 | 2021-01-13 | A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium therefor |
| EP22702327.2A EP4278067A1 (en) | 2021-01-13 | 2022-01-11 | A method of positioning after drilling and a post-drilling unit therefor |
| PCT/SE2022/050011 WO2022154717A1 (en) | 2021-01-13 | 2022-01-11 | A method of positioning after drilling and a post-drilling unit therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE2150018A SE544602C2 (en) | 2021-01-13 | 2021-01-13 | A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| SE2150018A1 SE2150018A1 (en) | 2022-07-14 |
| SE544602C2 true SE544602C2 (en) | 2022-09-20 |
Family
ID=80168204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE2150018A SE544602C2 (en) | 2021-01-13 | 2021-01-13 | A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium therefor |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP4278067A1 (en) |
| SE (1) | SE544602C2 (en) |
| WO (1) | WO2022154717A1 (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003085233A1 (en) * | 2002-04-04 | 2003-10-16 | Atlas Copco Rock Drills Ab | Method of localizing a hole drilled with a rock drilling machine |
| WO2004090286A1 (en) * | 2003-04-11 | 2004-10-21 | Sandvik Tamrock Oy | System for managing borehole information |
| WO2013098459A1 (en) * | 2011-12-28 | 2013-07-04 | Sandvik Mining And Construction Oy | Method and arrangement for post-drilling insertion |
| WO2013098460A1 (en) * | 2011-12-28 | 2013-07-04 | Sandvik Mining And Construction Oy | Method and mining vehicle for post-drilling insertion |
| WO2016065402A1 (en) * | 2014-10-31 | 2016-05-06 | Minnovare Limited | Apparatus and method for orientating, positioning and monitoring drilling machinery |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2879241C (en) * | 2015-01-22 | 2017-08-29 | Yves Nelson | Drill positioning system for jumbo carrier unit |
| CN108487861A (en) * | 2018-04-26 | 2018-09-04 | 中国水利水电第四工程局有限公司 | A kind of multi-arm drill control tilts armature boring construction system and construction method |
-
2021
- 2021-01-13 SE SE2150018A patent/SE544602C2/en unknown
-
2022
- 2022-01-11 EP EP22702327.2A patent/EP4278067A1/en active Pending
- 2022-01-11 WO PCT/SE2022/050011 patent/WO2022154717A1/en unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003085233A1 (en) * | 2002-04-04 | 2003-10-16 | Atlas Copco Rock Drills Ab | Method of localizing a hole drilled with a rock drilling machine |
| WO2004090286A1 (en) * | 2003-04-11 | 2004-10-21 | Sandvik Tamrock Oy | System for managing borehole information |
| WO2013098459A1 (en) * | 2011-12-28 | 2013-07-04 | Sandvik Mining And Construction Oy | Method and arrangement for post-drilling insertion |
| WO2013098460A1 (en) * | 2011-12-28 | 2013-07-04 | Sandvik Mining And Construction Oy | Method and mining vehicle for post-drilling insertion |
| WO2016065402A1 (en) * | 2014-10-31 | 2016-05-06 | Minnovare Limited | Apparatus and method for orientating, positioning and monitoring drilling machinery |
Also Published As
| Publication number | Publication date |
|---|---|
| SE2150018A1 (en) | 2022-07-14 |
| WO2022154717A1 (en) | 2022-07-21 |
| EP4278067A1 (en) | 2023-11-22 |
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