WO2002092966A1 - Drilling control arrangement - Google Patents

Drilling control arrangement Download PDF

Info

Publication number
WO2002092966A1
WO2002092966A1 PCT/FI2002/000409 FI0200409W WO02092966A1 WO 2002092966 A1 WO2002092966 A1 WO 2002092966A1 FI 0200409 W FI0200409 W FI 0200409W WO 02092966 A1 WO02092966 A1 WO 02092966A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
drilling
control unit
operating
modes
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.)
Ceased
Application number
PCT/FI2002/000409
Other languages
English (en)
French (fr)
Inventor
Pekka Salminen
Heikki Saha
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 Tamrock 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 Tamrock Oy filed Critical Sandvik Tamrock Oy
Priority to JP2002590214A priority Critical patent/JP4053892B2/ja
Priority to EP02724342A priority patent/EP1395733A1/en
Priority to CA002447088A priority patent/CA2447088C/en
Priority to AU2002255036A priority patent/AU2002255036B2/en
Publication of WO2002092966A1 publication Critical patent/WO2002092966A1/en
Priority to NO20035083A priority patent/NO325104B1/no
Anticipated expiration legal-status Critical
Priority to US10/713,264 priority patent/US7231989B2/en
Ceased legal-status Critical Current

Links

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

Definitions

  • the invention relates to a method of controlling rock drilling, the method comprising drilling rock with a rock drilling apparatus comprising a carrier, a feeding beam, a rock drill movable with respect to the feeding beam, and a control unit for controlling the rock drilling, the method also comprising providing a memory of the control unit with default settings for drilling, measuring the operation of the apparatus during drilling, and adjusting the operating parameters of drilling to accomplish a desired control operation.
  • the invention further relates to a control system for a rock drilling apparatus comprising a carrier, a feeding beam, a rock drill movable with respect to the feeding beam, a control unit provided with a user interface for controlling the drilling, and at least one sensor for measuring drilling operation.
  • Rock drilling utilizes a rock drilling apparatus comprising a carrier, a feeding beam and a rock drill moved with respect to the feeding beam.
  • the rock drill comprises a percussion device for delivering impacts on a tool connected to the drill, and a rotating device for rotating the tool.
  • the rock drill further comprises means for guiding a flushing agent into a drill hole for flushing drill cuttings out of the hole.
  • Operating parameters of rock drilling include impact pressure, feed pressure, rotation pressure medium flow and flushing pressure, which are adjusted in order to control the operation of the drilling apparatus as desired.
  • the aim is to provide the drill bit with a maximum penetration rate. This arrangement comprises measuring the penetration rate of the drill bit and empirically adjusting individual operating parameters to achieve the highest possible penetration rate.
  • the aim of another generally used control arrangement is to optimise transfer of energy from the drill to the rock. This arrangement comprises measuring the rotation power and/or rotation torque of the drill bit and keeping the variables in predetermined limits by adjusting individual operating parameters.
  • a disadvantage of the prior art methods is that when the operator is adjusting individual operating parameters, he/she cannot perceive the effect of the adjustment measures to the entire drilling situation and the total costs of drilling. Therefore it is very difficult to optimise drilling by adjusting individual absolute values. Adjustment of a single drilling parameter affects positively certain target criteria representing the success of drilling, but it can simultane- ously affect other target criteria negatively. For example, an increase in impact power expedites drilling and thus reduces the costs of drilling, but unfortunately the service life of the drilling equipment simultaneously decreases, which in turn adds considerably to the costs of drilling. In all, in the present systems successful adjustment and control of a drilling situation is highly dependent on the experience and skills of the operator. An objective of the present invention is to provide a new and improved arrangement for controlling rock drilling.
  • the method according to the invention is characterized by providing the control unit with at least two control modes with different control strategies, each control mode determining at least one criterion to be measured during drilling, a threshold value for a measurement result, and at least one adjustable operating parameter, prioritising one control mode over the other modes, and calculating, based on the measurement results, control values for the operating parameters to be adjusted in the control unit in order to automatically control the drilling such that the control strategy of the prioritised control mode is weighted.
  • control system is characterized in that the user interface of the control unit is provided with at least two preformed control modes, each control mode has a particular control strategy and determines at least one criterion to be measured during the drilling, a threshold value for a measurement result, and at least one adjustable operating parameter, one control mode can be prioritised over the other modes, and the control unit is arranged to automatically adjust, based on the measurement results, the operating parameters determined by the control modes such that the drilling result according to the prioritised control mode is weighted over the other control modes.
  • a number of control modes with different weighting required to optimise rock drilling are determined in a control unit of a rock drilling apparatus.
  • one or more critical control criteria are measured and indi- vidual operating parameters are adjusted automatically in a manner determined by the control mode in order to achieve a desired state of the control mode.
  • the control system forms, by means of the control mode, coefficients used to determine allowed limits for measurement results and adjusts individual operating parameters.
  • Default settings of the rock drilling appa- ratus which are also required in the control, are stored in advance in the control unit and are taken into account in adjusting the operating parameters.
  • a criterion to be measured, determined in a control mode represents the effect of adjusting one or more operating parameters of drilling, this effect being measured either directly by sensors or calculated in the control unit of the rock drilling apparatus from measurement data obtained from the sensors.
  • the invention has the advantage that the control modes facilitate the control of drilling performed by the operator of the rock drilling apparatus.
  • the control modes clearly describe how an individual control action affects the entire drilling situation.
  • the operator can select the control mode optimising the target criterion that he/she considers the most important.
  • the operator can switch from one control mode to another in a simple manner even during drilling as the circumstances of drilling or the control targets change.
  • the control unit comprises a user interface, where the control modes are ar- ranged in corners of a plane geometrical polygon.
  • the area defined by the polygon thus determines the available operating area, where the operator can move a control cursor or the like during adjustment.
  • the location of the control cursor in the operating area illustrates the selected operating point. The closer the operating point is to a single corner of the polygon and thus an individual control mode, the greater the importance of the control mode. Due to the geometrical shape of the operating area, transfer of the control cursor closer to a corner moves the operating point further from the other corners and the control modes determined therein.
  • An advantage of this embodiment is that the operator can weight, in a simple manner, a control mode he/she considers to be im- portant.
  • the user interface also clearly shows how prioritising one control mode also affects the other target criteria of drilling.
  • prioritising one control mode automatically diminishes the importance of the other modes, the operator cannot give the control system such unreasonable control commands that might conflict with one another and thus cause problems in the operation of the drilling apparatus.
  • the control unit uses the location of the control cursor to calculate a weighting coefficient for each control mode, and values of the individual operating parameters based on the weighting coefficients.
  • Figure 1 is a schematic side view of a rock drilling apparatus
  • Figure 2 shows schematically a control unit according to the invention and a user interface thereof
  • Figure 3 shows schematically another control unit according to the invention and a user interface thereof
  • Figure 4 shows schematically a third control unit according to the invention and a user interface thereof.
  • the rock drilling apparatus shown in Figure 1 comprises a carrier 1 , a power unit 2 arranged on the carrier, a control cabin 3 and in this case three drilling booms 4 that are movable with respect to the carrier.
  • the free end of each drilling boom 4 is provided with a feeding beam 5 with a rock drill 6 arranged movably therein.
  • the rock drill 6, the feeding beam 5 and the drilling boom 4 form a unit referred to herein as a drilling unit 7.
  • Figure 1 does not show any accessory equipment required for drilling, such as devices related to replacement of drill rods 8 and a drill bit 9.
  • the rock drilling apparatus further comprises a control unit 10 arranged on the carrier 1 , preferably in the control cabin in connection with the equipment for controlling the rock drilling apparatus.
  • the control unit 10 receives measurement data on e.g. impact pressure, feed pressure, feed flow, feed rate, rate of rotation, rotation pressure, rotation pressure medium flow, flow of flushing agent, sound pressure intensity, and vibration via a line 11a from sensors 11 arranged in the drilling units 7.
  • the control unit transmits control commands via a control line 21 to the drilling units 7 to control them.
  • Figure 2 shows a control unit 10 of a rock drilling apparatus.
  • the control unit 10 comprises a keypad 12 for inputting data into the memory of the control unit. For example the default settings of the drilling equipment, such as data about the drill, drill rods, drill bit etc., can be supplied via the keypad to the control unit.
  • the default settings can be read by a suitable reading device 13 for example from a memory disc or transferred from a unit outside the rock drilling apparatus via a wired or a wireless data transmission connection.
  • the control unit shown in the figure comprises four control modes M1 - M4, and the desired control mode can be selected by means of selecting switches 14. In this case the operator selects one control mode at a time, the control strategy of the control mode being used by the control unit to control the drilling.
  • the control modes M1 - M4 shown in Figure 2 can be determined e.g. according to the following control strategies:
  • M1 drilling efficiency mode that measures the rate at which the drill tool penetrates the rock.
  • the drilling efficiency mode M1 comprises adjust- ing the operating parameters to obtain a maximum penetration rate. Therefore the target criterion is the maximum penetration rate.
  • the target criterion of the drilling efficiency mode can be drilling at a substantially constant penetration rate.
  • the control unit adjusts the penetration rate e.g. by varying the feed force, impact power and rotation torque.
  • M2 quality mode, which measures e.g. the rotation torque acting on the drill tool.
  • the quality mode M2 comprises adjusting the operating parameters so that the rotation torque remains within predetermined limits. It is also possible to measure the feed force and to adjust the feeding so as to avoid overfeed during the drilling, since this usually makes the hole to be drilled less straight.
  • Sufficient straightness of a hole which can be one of the target criteria of the quality mode, is obtained by using a low impact power.
  • One of the characteristics illustrating the quality of drilling can be the ease of unscrewing the threaded connections between the drilling components. The connections can be opened more easily when overfeed is avoided during the drilling.
  • the cost mode M3 cost mode that measures e.g. vibration occurring in the drilling equipment.
  • the cost mode M3 comprises adjusting the operating parameters so as to minimize the vibration.
  • the cost mode determines limits for allowed vibrations. Diminishing vibration lengthens the service life of the drilling equip- ment, thus minimizing costs of spare parts, and idle time resulting from repairs.
  • the target criterion of this mode is the service life of the drilling equipment. In order to minimize vibration, the aim is to avoid both underfeed and overfeed, and a high impact power and rotation torque during the drilling.
  • M4 optimisation mode, where the control until automatically ad- justs the operating parameters one at a time.
  • the mode comprises measuring a change in the measuring values caused by the operating parameter that is being adjusted. Measuring values have preset limits. When adjustment of an individual operating parameter provides the allowed area preset for a measuring value, this adjustment value is locked and a new operating parameter is selected and adjusted to obtain the allowed area preset for the measuring value. The adjustment is continued in this manner as a continuous cycle. Fulfilment of the target criteria requires fulfilment of certain measurable criteria.
  • FIG. 3 shows another control unit 10, which comprises a keypad 12 and a reading device 13 for supplying default data to the control unit.
  • the control unit further comprises a screen 15 and a graphical user interface.
  • the screen 15 displays a polygonal operating area 16 that defines the area where a control cursor 17 can be moved by means of arrow keys 18. Alternatively, the cursor can be moved with other guides, such as a mouse, a pointing ball or a touch screen.
  • the location of the control cursor 17 in the operating area 16 determines the current operating point of the control system. In this case the operating area 16 is triangular, and each corner 20 of the triangle represents one control mode.
  • the triangle has three control modes: M1 , M2 and M3.
  • control cursor 17 By moving the control cursor 17 the operator can weight one control mode over the other two modes. In a situation where the control cursor 17 is placed in the centre 19 of the triangle, the distance to each corner 20 is equal and each control mode is thus equally weighted. When the control cursor 17 is moved towards one corner 20, the distance thereto decreases while the distance to the other two corners of the triangle increases.
  • the control system calculates the weighting of the control modes M1 , M2 and M3 with respect to the distance from the cursor 17 to the corners 20 of the triangle.
  • Weighting coefficients used by the control system can be determined as follows:
  • C1 R - Sqrt((XX-X1) 2 + (Y1-YY) 2 )
  • C2 R - Sqrt((X2-XX) 2 + (YY-Y2) 2 ), followed by
  • the graphical user interface enables the operator to select the desired control modes M1 - M3 to the corners 20 of the operating area 16 from the memory of the control unit 10. Also, the control unit can store different operating areas 16, from which the operator can choose one.
  • Figure 4 shows yet another control unit 10, where four control modes M1 , M2, M3 and M4 are arranged in a square.
  • the control cursor 17 is a mechanical guide, such as a joystick or the like, the location of the guide within the square operating area 16 determining the operating point of the control system.
  • the control system utilizes the distance between the cursor and an individual control mode to calculate, for each control mode, the weighting coefficients corre- sponding to the operating point, and it thereafter calculates the operating parameters for the drilling by means of the coefficients.
  • Operating areas 16 of other shapes are also possible, depending on the number of the control modes to be used, for instance.
  • the operating area can be a line segment, where two control modes are ar- ranged at the end points of the line segment. Moving the control cursor towards one end point of the line segment simultaneously lengthens the distance to the other end point, thus decreasing the weighting of the control mode at the other end point.
  • the criterion to be measured can be e.g. the noise of drilling, state of motion of the shank, temperature of the drilling equipment, or strain of the drill rod, in addition to the criteria disclosed above.
  • the operating parameters include impact pressure, feed pressure, feed flow, rotation pressure, rotation flow, and pressure and flow of the flushing agent.
  • the sensors measure electrical values, such as voltage and current.
  • the operating parameters are electrical control variables.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
PCT/FI2002/000409 2001-05-15 2002-05-14 Drilling control arrangement Ceased WO2002092966A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2002590214A JP4053892B2 (ja) 2001-05-15 2002-05-14 削岩制御装置
EP02724342A EP1395733A1 (en) 2001-05-15 2002-05-14 Drilling control arrangement
CA002447088A CA2447088C (en) 2001-05-15 2002-05-14 Drilling control arrangement
AU2002255036A AU2002255036B2 (en) 2001-05-15 2002-05-14 Drilling control arrangement
NO20035083A NO325104B1 (no) 2001-05-15 2003-11-14 Fremgangsmate og system for a styre en fjellboreinnretning
US10/713,264 US7231989B2 (en) 2001-05-15 2003-11-17 Drilling control arrangement

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20011021 2001-05-15
FI20011021A FI115553B (fi) 2001-05-15 2001-05-15 Järjestely porauksen ohjaukseen

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US10/713,264 Continuation US7231989B2 (en) 2001-05-15 2003-11-17 Drilling control arrangement

Publications (1)

Publication Number Publication Date
WO2002092966A1 true WO2002092966A1 (en) 2002-11-21

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ID=8561202

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI2002/000409 Ceased WO2002092966A1 (en) 2001-05-15 2002-05-14 Drilling control arrangement

Country Status (10)

Country Link
US (1) US7231989B2 (enExample)
EP (1) EP1395733A1 (enExample)
JP (1) JP4053892B2 (enExample)
CN (1) CN1306146C (enExample)
AU (1) AU2002255036B2 (enExample)
CA (1) CA2447088C (enExample)
FI (1) FI115553B (enExample)
NO (1) NO325104B1 (enExample)
WO (1) WO2002092966A1 (enExample)
ZA (1) ZA200308515B (enExample)

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WO2007100287A1 (en) 2006-02-28 2007-09-07 Atlas Copco Rock Drills Ab Method and device for automatic calibration of a rock drilling joint and rock drilling rig comprising such a device
EP1456826B1 (en) * 2001-12-21 2012-04-18 Atlas Copco Rock Drills AB Method and system for parameter settings of rock drilling equipment
WO2013082498A3 (en) * 2011-12-01 2014-03-20 National Oilwell Varco, L.P. Automated drilling system
CN103696689A (zh) * 2013-12-12 2014-04-02 北京市三一重机有限公司 动力头巡航钻进方法、系统及旋挖钻机
EP2173959A4 (en) * 2007-06-26 2015-12-30 Atlas Copco Rock Drills Ab Method and device for controlling a rock drill rig
US9593567B2 (en) 2011-12-01 2017-03-14 National Oilwell Varco, L.P. Automated drilling system

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CN103015961B (zh) * 2012-11-22 2015-07-29 浙江盾安精工集团有限公司 全套管全回转钻机用操作系统
US9939802B2 (en) * 2014-05-16 2018-04-10 Baker Hughes, A Ge Company, Llc Automated conflict resolution management
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US11125022B2 (en) 2017-11-13 2021-09-21 Pioneer Natural Resources Usa, Inc. Method for predicting drill bit wear
US12186879B2 (en) * 2018-01-18 2025-01-07 Ingersoll-Rand Industrial U.S., Inc. Add-on user interface module for precision power tools
CN108131126A (zh) * 2018-02-09 2018-06-08 徐工集团工程机械有限公司 凿岩机的控制系统、凿岩台车以及控制方法
CN108222915A (zh) * 2018-02-11 2018-06-29 北京新能正源环境科技有限公司 锚杆钻机的监控系统、方法及锚杆钻机
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EP3789579B1 (en) * 2019-09-05 2023-01-11 Sandvik Mining and Construction Oy Apparatus, method and software product for drilling sequence planning
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DE102022201366A1 (de) * 2022-02-10 2023-08-10 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben eines Elektrowerkzeugs

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1456826B1 (en) * 2001-12-21 2012-04-18 Atlas Copco Rock Drills AB Method and system for parameter settings of rock drilling equipment
WO2007100287A1 (en) 2006-02-28 2007-09-07 Atlas Copco Rock Drills Ab Method and device for automatic calibration of a rock drilling joint and rock drilling rig comprising such a device
EP1989394A4 (en) * 2006-02-28 2015-05-13 Atlas Copco Rock Drills Ab METHOD AND DEVICE FOR AUTOMATICALLY CALIBRATING A STONE DRILLING CONNECTION AND STONE DRILLING MACHINE WITH SUCH A DEVICE
EP2173959A4 (en) * 2007-06-26 2015-12-30 Atlas Copco Rock Drills Ab Method and device for controlling a rock drill rig
WO2013082498A3 (en) * 2011-12-01 2014-03-20 National Oilwell Varco, L.P. Automated drilling system
US9593567B2 (en) 2011-12-01 2017-03-14 National Oilwell Varco, L.P. Automated drilling system
CN103696689A (zh) * 2013-12-12 2014-04-02 北京市三一重机有限公司 动力头巡航钻进方法、系统及旋挖钻机

Also Published As

Publication number Publication date
CN1509370A (zh) 2004-06-30
JP2004521211A (ja) 2004-07-15
FI20011021L (fi) 2002-11-16
NO20035083D0 (no) 2003-11-14
NO325104B1 (no) 2008-02-04
CA2447088C (en) 2009-09-22
CN1306146C (zh) 2007-03-21
ZA200308515B (en) 2004-07-09
AU2002255036B2 (en) 2006-08-03
FI115553B (fi) 2005-05-31
EP1395733A1 (en) 2004-03-10
US20040140112A1 (en) 2004-07-22
JP4053892B2 (ja) 2008-02-27
FI20011021A0 (fi) 2001-05-15
CA2447088A1 (en) 2002-11-21
NO20035083L (no) 2003-12-30
US7231989B2 (en) 2007-06-19

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