US20150218928A1 - Method, rock drilling rig and control apparatus - Google Patents

Method, rock drilling rig and control apparatus Download PDF

Info

Publication number
US20150218928A1
US20150218928A1 US14/421,992 US201314421992A US2015218928A1 US 20150218928 A1 US20150218928 A1 US 20150218928A1 US 201314421992 A US201314421992 A US 201314421992A US 2015218928 A1 US2015218928 A1 US 2015218928A1
Authority
US
United States
Prior art keywords
drilling
rig
rock drilling
drilling rig
master unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/421,992
Other languages
English (en)
Inventor
Henri Suvanen
Petri Nurminen
Juha Allen Lassila
Mikko Kipinoinen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sandvik Mining and Construction Oy
Original Assignee
Sandvik Mining and Construction Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sandvik Mining and Construction Oy filed Critical Sandvik Mining and Construction Oy
Assigned to SANDVIK MINING AND CONSTRUCTION OY reassignment SANDVIK MINING AND CONSTRUCTION OY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Nurminen, Petri, Suvanen, Henri, Kipinoinen, Mikko, Lassila, Juha
Publication of US20150218928A1 publication Critical patent/US20150218928A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • E21B15/00—Supports for the drilling machine, e.g. derricks or masts
    • E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
    • E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning
    • 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
    • E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
    • E21B43/30—Specific pattern of wells, e.g. optimising the spacing of wells
    • 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C37/00—Other methods or devices for dislodging with or without loading
    • E21C37/16—Other methods or devices for dislodging with or without loading by fire-setting or by similar methods based on a heat effect

Definitions

  • This invention relates to a method for controlling more than one rock drilling rig operating on the same working site, whereby each rock drilling rig drills holes according to a designed drilling plan. Further, this invention relates to a rock drilling rig for operating with at least one other rock drilling rig on the same working site, whereby the rock drilling rig drills holes according to a designed drilling plan. Further, this invention relates to a control apparatus for controlling more than one rock drilling rig operating on a working site, each rock drilling rig being configured to drill holes according to a designed drilling plan.
  • rock drilling rigs In major working sites there may be a need to drill hundreds or even thousands of holes in the rock to be drilled. In these cases more than one rock drilling rig is used and the number of rock drilling rigs is not limited.
  • each rock drilling rig has a separate drilling plan in which the position as well as the length and direction of the holes in a separate working area are given.
  • the drilling plan is stored in the memory of a control computer of the rock drilling rig.
  • the computer is used to help the control of the rock drilling rig and the drilling of the holes.
  • the rock drilling rigs are positioned on the basis of a positioning system like GPS or some other available positioning system. This kind of positioning system may be a local positioning system having transmitters and receivers.
  • the rock drilling rig is given a new separate drilling plan either by using a memory device or by sending it wirelessly to the control computer of the rock drilling rig. This is done for each rock drilling rig separately.
  • the drilling plans for each rock drilling rig are typically designed by using an office computer in which the drilling plan has been stored before starting the drilling work.
  • WO2009129143 discloses usage of several drilling gantries for forming wellbores. Positioning and/or tracking system may be utilized to track drilling gantries and other equipment and material at the wellbore site.
  • US2012103598 discloses a sequencing algorithm for planned holes for a mobile drill rig.
  • the drill rig comprises a positioning module which may transmit information to a controller in the drill rig.
  • a hole pattern may be transferred to the drilling rig from an operation station.
  • a sequencing module in the drilling rig may sequence the order in which the planned holes are drilled.
  • the positioning module and a drilling module in the drilling rig then execute the sequenced order.
  • the object of this invention is to create a method for controlling rock drilling when using more than one rock drilling rig on the same work field.
  • Another object of this invention is to create a rock drilling rig for operating with at least one other rock drilling rig on the same working site.
  • Still another object of this invention is to create a control apparatus for controlling more than one rock drilling rig operating on a working site.
  • the basic idea underlying the method is that only one drilling plan which defines the positions, directions and lengths and other possible features of all holes for the working site is needed. Another idea of the method is that there is a master unit which controls the drilling and sends appropriate information about the drilling plan to each rock drilling rig working on the same working site.
  • only a part of the whole drilling plan that defines a working area for the rig is sent to each rock drilling rig from the master unit.
  • the whole drilling plan and separate information on which part of the drilling plan each rock drilling rig has to drill is sent to each rock drilling rig from the master unit.
  • information on the holes which have been drilled is sent to the master unit, advantageously after each drilled hole so that the master unit has all the time the up-to-date information on the drilling and the drilled holes.
  • the master can also send the information on the drilled holes to all rigs at the working site.
  • rock drilling rig The basic idea underlying the rock drilling rig is that it comprises
  • control unit for controlling the operation of the rock drilling rig
  • a memory for storing the information sent to the rock drilling rig
  • a positioning system configured to define the position of the rock drilling rig on the working site
  • wireless communication means for sending the position information on the rock drilling rig to a master unit outside the rock drilling rig and to receive rig-specific drilling instructions for controlling drilling of holes defined by the master unit on the basis of the position information, wherein the control unit is configured to control drilling of holes according to the received drilling instructions.
  • control unit is arranged to receive a drilling plan of the whole working site and information on a working area defined by the master unit for the rock drilling rig, which working area covers only a part of the drilling plan area of the working site.
  • control unit of the rock drilling rig is arranged to receive only a part of the whole drilling plan of the working site, which part defines the working area defined by the master for the rock drilling rig.
  • control unit of the rock drilling rig is arranged to send to the master unit drilling status information indicating at least the drilled holes.
  • control apparatus comprises:
  • a master unit for controlling the operation of each rock drilling rig on the basis of a drilling plan covering the working site and stored on a memory of the control apparatus, the master unit being implemented outside of at least one of the drilling rigs and being further configured to:
  • control apparatus In one embodiment of the control apparatus,
  • the master unit is further configured to: receive information on the drilled holes and/or other status information from at least some of the drilling rigs, and
  • control apparatus comprising the master unit is implemented in a rock drilling rig.
  • FIG. 1 shows schematically drilling on a working site by using two rock drilling rigs
  • FIG. 2 shows drilling of holes in a section
  • FIG. 3 shows a simplified example of the exchange of information between the master unit and the rock drilling rigs
  • FIG. 4 shows schematically another embodiment when drilling on a working site by using two rock drilling rigs
  • FIGS. 5 a and 5 b show schematically how the drilling can be changed dynamically.
  • FIG. 1 shows schematically one embodiment of the invention.
  • FIG. 1 the working site 1 has been marked with a line.
  • a drilling plan 2 For the working site 1 there is a drilling plan 2 .
  • the drilling plan there are predetermined holes 2 ′ as shown with black dots or circles.
  • the black dots present planned undrilled holes and the circles present planned drilled holes.
  • the whole drilling plan was designed by defining the position, direction and length of each hole 2 ′ in the coordinate system used on the working site 1 .
  • the position of each rock drilling rig is defined with a positioning system.
  • the position may be defined with a global positioning system (GPS) receiver or any other positioning system available on the working site. These positioning systems operate wirelessly.
  • GPS global positioning system
  • each rock drilling rig 3 a and 3 b includes a computer with a memory. At least part of the method may be implemented by a computer program stored in the memory used by the processor of the computer of a rig and executed by the processor. Thus the drilling plan and/or instructions can be stored in the memory of the computer and this computer controls the operation of the rock drilling rig.
  • the master unit may operate at least partly automatically and send information and instructions to drilling rigs on the basis of predetermined instructions or algorithms.
  • the master unit may be configured to define the rig-specific drilling instructions automatically on the basis of position information and/or status information from drilling rigs.
  • each rock drilling rig 3 a and 3 b gets appropriate information on a working area 4 a and 4 b inside which the rock drilling rigs have to drill the holes 2 ′, as defined in the drilling plan and information on the holes 2 ′ inside the working area.
  • each rock drilling rig 3 a and 3 b drills the holes 2 ′ normally until it has drilled all the holes 2 ′ in that working area.
  • the working area can be changed continuously on the basis of information on the drilled holes 2 ′, current positions of the rigs, and/or the condition survey of the rigs, for example.
  • Information on the updated working areas is sent to the drilling rigs, which adapt their operation according to the updated working area.
  • a master unit 5 controls the whole drilling plan and defines and sends rig-specific instructions, indicating at least the working area(s) defined for the respective drilling rig, to the rock drilling rigs 3 a and 3 b .
  • the master unit 5 is a separate computer or a server in the office and the rock drilling rigs are operating as slaves.
  • the master unit may be a remote computer 5 ′, as presented with dashed lines in FIG. 1 .
  • the master unit 5 ′ operates over a further network NW like the internet to a local network TR and, via it, controls the operation of the drilling rigs.
  • each rock drilling rig sends the master unit information about its operation and at least the information that a certain hole 2 ′ has been drilled.
  • the master unit 5 has control of the whole situation and the real time status of the drilling.
  • the rock drilling rigs may also send other information that will be discussed more detailed in connection with FIGS. 2 and 3 .
  • the master unit 5 may be configured to send each rock drilling rig 3 a , 3 b the whole drilling plan, which is stored to the control computer controlling the drilling of each rock drilling rig. In that case separate information about the rig-specific working area 4 a , 4 b has to be sent from the master unit 5 to each rock drilling rig 3 a , 3 b .
  • the working area information may be sent as coordinates, as a separate working cell code if the whole area has been divided to separate working cells, as a list of holes 2 ′ or in any suitable way which defines the working area unambiguously.
  • the master unit 5 sends each rock drilling rig 3 a , 3 b information on only that part of the drilling plan 2 which defines the working area of 4 a , 4 b of each rock drilling rig 3 a , 3 b with the definitions of the holes 2 ′ in the drilling plan.
  • the master unit may be arranged to define the rig-specific drilling instructions on the basis of the properties of the drilling rigs, for example. E.g. the drilling depth ability of the rigs can be used when defining the working area for the rigs. A rig being able to drill deeper holes 2 ′ than others may be given a working area for holes which have to be drilled to be this deep.
  • a rig that is able to drill larger holes than others may be given a working area for all larger holes.
  • a rig that is able to drill inclined holes may be given a working area for all inclined holes, and the other rigs will drill the vertical holes etc.
  • the drilling rig may be configured to show at least part of the received working area on the display, so that an operator of the drilling rig can see the working area intended for drilling by the drilling rig.
  • the drilling rig operating as a slave device may be configured to select an appropriate portion of the received working area for display and to update the displayed working area on the basis of the current location of the drilling rig, progress of drilling, commands from the master device, information from other drilling rigs, etc.
  • the drilling rig may guide the operator to drive the drilling rig to the intended working area and the closest planned hole 2 ′ of the working area.
  • the drilling rig may be configured to operate according to the instructions/commands from the master unit.
  • the master unit may dynamically allocate working areas and/or holes 2 ′ between the drilling rigs on the basis of the numbers and positions of planned holes 2 ′ and the current positions of the drilling rigs.
  • the master unit may then send an instruction/command to each drilling rig, specifying the holes allocated for the drilling rig.
  • the drilling rig is an automatic or semi-automatic drilling rig, in which case a control unit in the drilling rig may be configured to cause control signals for automatically positioning the drilling rig and the rock bit at next hole 2 ′ to be drilled, for example.
  • the master unit may calculate for each slave rig an optimal area and assign the working areas between the rigs on the basis of this.
  • Each rig may confirm the instructions to the master and, during the drilling, send the master information about the progress of the drilling and also the information on the proceeding and circumstances of the drilling.
  • the master unit 5 may send information on the next working areas in advance to each rock drilling rig 3 a , 3 b .
  • the master unit may change the working area during the drilling in relation to the progress of the drilling of the holes 2 ′ on the basis of the drilling information received from different rock drilling rigs 3 a , 3 b .
  • the master unit may estimate the progress the drilling rigs based on the received information and reassign working areas on the basis of the estimation. For example, the master unit may assign a part of working area of a first drilling rig 3 a to a second drilling rig 3 b if it estimated that the first drilling rig will not be able to reach its target during the working shift.
  • the rigs may send information like drilling rig condition status information, e.g. “service needed—divide the working area among others”, “service in progress—time needed 10 minutes to half an hour”, etc.
  • the (slave) drilling rig may request the master unit to update drilling instructions, e.g. change the working area assigned for the drilling rig.
  • An advantage of the presently disclosed embodiment is that the drilling on the whole working site 2 can be controlled by the master unit as a whole. Another advantage is that there is no need for separate drilling plans for each rock drilling rig but only a single drilling plan for the whole working site can be used to control the drilling of several rock drilling rigs. Still an advantage of the presently disclosed embodiment is that the drilling can be controlled and changed dynamically. For example, if one rock drilling rig gets broken it is easy to divide its work among the remaining rock drilling rigs. Correspondingly, when a new rock drilling rig arrives at the working site, it is easy to divide the working areas of others so that a new rock drilling rig gets a working area.
  • FIG. 2 shows a drilling site as a section.
  • rock drilling rigs 3 a and 3 b that are controlled by master unit 5 .
  • the computer of the rock drilling rig receives information on different layers, fractions, cavities etc., which may affect the drilling.
  • the rock drilling rigs may send the information on the drilling to the master unit 5 .
  • the MWD Measurement While Drilling
  • the drilling plan 2 may be modified so that the drilling can be done as well and efficiently as possible.
  • FIG. 2 there is in the basic stone material 6 a separate layer 7 having different kind of stone, due to which may there may be a reason to change the drilling parameters or even hole 2 ′ positions and directions in the drilling plan 2 .
  • This kind of information may be sent from the drilling rig to the master and from the master to other rigs.
  • the drilling rig operates as a master, it may send the information to the slave rigs.
  • FIG. 3 shows schematically how the information may be transferred between the master unit 5 and rock drilling rigs 3 a - 3 c operating as slaves.
  • Each of the three rock drilling rigs defines their position with either a GPS or another positioning system available on the working site.
  • Each rock drilling rig sends a message M 1 having information about its position coordinates to the master unit so that the master unit can define where each rock drilling rig is in relation to the working site.
  • the master unit correspondingly sends a message M 2 having the necessary drilling plan information to each rock drilling rig either as a working area with information on the holes 2 ′ or as the whole drilling plan with the information on the working area for each rock drilling rig according to the basic method.
  • each rock drilling rig may send a message M 3 having drilling information, such as that presented in connection with FIG. 2 , to the master unit.
  • the rock drilling rigs may send the master unit various drilling rig condition status information, such as a need for maintenance or other information on their condition.
  • the master unit may send a message M 4 as necessary having updated drilling plan information either for the corresponding rock drilling rigs working area or of the whole amended drilling plan.
  • FIG. 4 shows another embodiment of the method.
  • FIG. 4 corresponds to the embodiment described in connection with FIG. 1 but in this embodiment the master unit is not implemented in a separate computer outside the drilling rigs. Instead, the computer of one of the rock drilling rigs, e.g. rock drilling rig 3 a , operates as the master unit and sends and receives the necessary data between it and one or more other rock drilling rigs.
  • the computer of one of the rock drilling rigs e.g. rock drilling rig 3 a
  • the master unit operates as the master unit and sends and receives the necessary data between it and one or more other rock drilling rigs.
  • this method may be used on several levels.
  • a master having several slaves the operation of which is controlled via the master.
  • the master sends them their instructions and the necessary information on the drilling plan.
  • These slaves may operate as sub-masters, whereby one or more of them have their own slaves the operation of which they control.
  • FIGS. 5 a and 5 b show schematically how the drilling can be changed dynamically.
  • the working site 1 has been divided into six working areas WA 1 -WA 6 for six drilling rigs R 1 -R 6 .
  • drilling rig R 6 e.g., needs service and has to leave the working site, its working area WA 6 remains without the rig.
  • the information in the memory of the master is available and it can be found that the drilling rig R 5 has enough capacity to drill the holes 2 ′ in its own working area WA 5 and thereto in the working area WA 6 .
  • the working areas WA 5 and WA 6 may be combined to a new working area WA 5 / 6 . It can be done without any other actions or any actions concerning the other drilling rigs if the rig R 5 has enough capacity to drill both areas. Also all other working areas may be readjusted in order to share the work more evenly between the drilling rigs R 1 to R 5 . This has been shown in FIG. 5 b.
  • a master unit which may be a separate computer or a computer of one of the drilling rigs.
  • the master unit may also be software in a computer or separate pieces of software in separate computers, arranged to operate as a combined master unit.
  • a memory is needed at least in one of the computers for storing the drilling plan and the information from the drilling rigs.
  • the wireless communication means may be a normal radio apparatus which is capable to send and receive information between the master unit and the drilling rigs, and vice versa. It may also be able to send information between the drilling rigs directly.
  • Each drilling rig has a control unit which controls the operation of that rig.
  • the control unit has a memory into which the information sent from the master unit is stored. The control unit then controls the operation of the drilling rig on the basis of the stored information.
  • separate information of the drilling conditions may be stored into the memory of the control unit and then sent to the master unit or even to other drilling rigs via the wireless communication means. This information can then be stored to the memories of the control units of other drilling rigs.
  • the master unit may be a separate server or computer, or it may be a computer in a rock drilling rig.
  • the data between a master unit and the slaves are sent wirelessly and any usable wireless system may be used for that purpose.
  • the status of all holes, like drilled, not drilled and unfinished ones may also be sent to all rigs and shown on their screens. Also the position of other rigs may be shown on the screens.

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)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
US14/421,992 2012-08-17 2013-08-08 Method, rock drilling rig and control apparatus Abandoned US20150218928A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP12180760.6 2012-08-17
EP12180760.6A EP2698498A1 (en) 2012-08-17 2012-08-17 Method, rock drilling rig and control apparatus
PCT/FI2013/050787 WO2014027137A1 (en) 2012-08-17 2013-08-08 Method, rock drilling rig and control apparatus

Publications (1)

Publication Number Publication Date
US20150218928A1 true US20150218928A1 (en) 2015-08-06

Family

ID=46704485

Family Applications (1)

Application Number Title Priority Date Filing Date
US14/421,992 Abandoned US20150218928A1 (en) 2012-08-17 2013-08-08 Method, rock drilling rig and control apparatus

Country Status (8)

Country Link
US (1) US20150218928A1 (es)
EP (1) EP2698498A1 (es)
CN (1) CN104583534A (es)
AU (1) AU2013202525B2 (es)
CA (1) CA2881259A1 (es)
CL (1) CL2015000342A1 (es)
WO (1) WO2014027137A1 (es)
ZA (1) ZA201500988B (es)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160370794A1 (en) * 2013-12-20 2016-12-22 Hilti Aktiengesellschaft Method for controlling a device system, which comprises a tool device and motorized advancing apparatus
US20190392364A1 (en) * 2014-03-26 2019-12-26 Ion Geophysical Corporation Simultaneous Operations Coordination and Planning System
CN112878981A (zh) * 2021-01-28 2021-06-01 中国矿业大学 一种凿岩台车的控制系统及控制方法
CN118273720A (zh) * 2024-05-10 2024-07-02 北京奥信化工科技发展有限责任公司 露天矿山开采爆破方法及装置
WO2024197227A1 (en) * 2023-03-22 2024-09-26 Schlumberger Technology Corporation Methods for producing a geothermal well

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2911270A1 (en) * 2013-05-08 2014-11-13 Technological Resources Pty Ltd A method of, and a system for, controlling a drilling operation
WO2016095962A1 (en) 2014-12-16 2016-06-23 Sandvik Mining And Construction Oy Arrangement for delivery of production control information to a mining work machine
WO2016102381A1 (en) * 2014-12-23 2016-06-30 Shell Internationale Research Maatschappij B.V. Supervisory control system and method for automation of drilling operations
MX2019013088A (es) 2017-05-01 2020-11-24 Schlumberger Technology Bv Máquina de equipo de perforación integrada.
WO2019118352A1 (en) 2017-12-11 2019-06-20 Schlumberger Technology Corporation Air cooled variable-frequency drive
CN115556116B (zh) * 2022-12-07 2023-03-10 中煤科工西安研究院(集团)有限公司 一种煤矿井下钻孔机器人钻臂定位误差检测与补偿方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040216922A1 (en) * 2001-12-03 2004-11-04 Sandvik Tamrock Oy Method for controlling a drilling sequence, a rock drilling apparatus and a computer programme to form a drilling sequence
US20120103598A1 (en) * 2010-11-02 2012-05-03 Caterpillar Inc. Sequencing algorithm for planned drill holes

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI114827B (fi) * 2003-07-03 2004-12-31 Sandvik Tamrock Oy Menetelmä ja järjestelmä kaivosajoneuvon sijainnin valvomiseksi
FI123738B (fi) * 2006-08-09 2013-10-15 Sandvik Mining & Constr Oy Kallionporauslaite ja menetelmä kallionporauslaitteen ohjaamiseksi
WO2009146158A1 (en) * 2008-04-18 2009-12-03 Shell Oil Company Using mines and tunnels for treating subsurface hydrocarbon containing formations
FI121436B (fi) * 2008-06-13 2010-11-15 Sandvik Mining & Constr Oy Menetelmä ja laitteisto porattavien reikien esittämiseksi ja poratangon suuntaamiseksi porattaessa reikiä kallioon

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040216922A1 (en) * 2001-12-03 2004-11-04 Sandvik Tamrock Oy Method for controlling a drilling sequence, a rock drilling apparatus and a computer programme to form a drilling sequence
US20120103598A1 (en) * 2010-11-02 2012-05-03 Caterpillar Inc. Sequencing algorithm for planned drill holes

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160370794A1 (en) * 2013-12-20 2016-12-22 Hilti Aktiengesellschaft Method for controlling a device system, which comprises a tool device and motorized advancing apparatus
US10222784B2 (en) * 2013-12-20 2019-03-05 Hilti Aktiengesellschaft Method for controlling a device system, which comprises a tool device and motorized advancing apparatus
US20190392364A1 (en) * 2014-03-26 2019-12-26 Ion Geophysical Corporation Simultaneous Operations Coordination and Planning System
US10762457B2 (en) * 2014-03-26 2020-09-01 Ion Geophysical Corporation Simultaneous operations coordination and planning system
CN112878981A (zh) * 2021-01-28 2021-06-01 中国矿业大学 一种凿岩台车的控制系统及控制方法
WO2024197227A1 (en) * 2023-03-22 2024-09-26 Schlumberger Technology Corporation Methods for producing a geothermal well
CN118273720A (zh) * 2024-05-10 2024-07-02 北京奥信化工科技发展有限责任公司 露天矿山开采爆破方法及装置

Also Published As

Publication number Publication date
ZA201500988B (en) 2016-01-27
CA2881259A1 (en) 2014-02-20
CL2015000342A1 (es) 2015-10-02
EP2698498A1 (en) 2014-02-19
CN104583534A (zh) 2015-04-29
AU2013202525A1 (en) 2014-03-06
AU2013202525B2 (en) 2015-04-16
WO2014027137A1 (en) 2014-02-20

Similar Documents

Publication Publication Date Title
US20150218928A1 (en) Method, rock drilling rig and control apparatus
CA2558185C (en) Method and apparatus of managing wireless communication in a worksite
US11725484B2 (en) Method of generating a drill hole sequence plan and drill hole sequence planning equipment
US20160047220A1 (en) Drilling Planning System
RU2622064C1 (ru) Многорежимное управление и система самонаведения, способ и устройство
CN106030432A (zh) 用于启动远程操作模式的布置
AU2015397104B2 (en) Adaptation of mining operations satellite coverage
US20230325744A1 (en) Construction robot, construction robot system and method for controlling a construction robot system
CN102459811A (zh) 教导用于移动采掘机械的自动控制的模型
CN103485756A (zh) 动态工作区域
CN111022028A (zh) 一种多凿岩台车的共享联机方法及系统
US10529224B2 (en) Arrangement for delivery of production control information to a mining work machine
EP3414426B1 (en) Systems and methods of operating directional drilling rigs
CN114510050A (zh) 矿区无人驾驶系统卸载位的指定方法以及指定系统
Lundhede Multi machine control

Legal Events

Date Code Title Description
AS Assignment

Owner name: SANDVIK MINING AND CONSTRUCTION OY, FINLAND

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SUVANEN, HENRI;NURMINEN, PETRI;LASSILA, JUHA;AND OTHERS;SIGNING DATES FROM 20150206 TO 20150218;REEL/FRAME:034981/0368

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION