WO2003085233A1 - Method of localizing a hole drilled with a rock drilling machine - Google Patents

Method of localizing a hole drilled with a rock drilling machine Download PDF

Info

Publication number
WO2003085233A1
WO2003085233A1 PCT/SE2003/000426 SE0300426W WO03085233A1 WO 2003085233 A1 WO2003085233 A1 WO 2003085233A1 SE 0300426 W SE0300426 W SE 0300426W WO 03085233 A1 WO03085233 A1 WO 03085233A1
Authority
WO
WIPO (PCT)
Prior art keywords
rock drilling
picture
hole
boom
rock
Prior art date
Application number
PCT/SE2003/000426
Other languages
French (fr)
Inventor
Bertil Planeskog
Hans Gustavsson
Original Assignee
Atlas Copco Rock Drills Ab
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=20287479&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2003085233(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Atlas Copco Rock Drills Ab filed Critical Atlas Copco Rock Drills Ab
Priority to CA2481003A priority Critical patent/CA2481003C/en
Priority to EP03708791.3A priority patent/EP1490582B2/en
Priority to ES03708791.3T priority patent/ES2281627T5/en
Priority to AU2003212762A priority patent/AU2003212762B2/en
Priority to DE60311971.9T priority patent/DE60311971T3/en
Publication of WO2003085233A1 publication Critical patent/WO2003085233A1/en

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
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Definitions

  • the present invention relates to a method of localizing a hole drilled with a rock drilling machine, e.g. in connection with rock bolting.
  • rock drilling rig Since the rock drilling rig has several links between the carrier and the application point against the rock sufficient presision in the alignment against the drilled hole is not achieved if the rock drilling rig's own alignment system is used. Neither is it practically possible to split drilling and bolting between different boom units on the rock drilling rig.
  • the present invention which is defined in the subsequent claim, aims at achieving a method which makes possible a high degree of automation at rock bolting and also drilling and bolting with separate booms for the units used for drilling and bolting.
  • fig 1 shows a rock drilling rig.
  • Fig 2 shows on a larger scale a part of the rock drilling rig according to fig 1.
  • Figs 3-5 show pictures of a rock surface with different degrees of image processing.
  • the rock drilling rig shown in the drawing comprises a carrier 1 on which, in the shown example, two booms 3 and 4 are arranged.
  • the rock drilling rig is provided with a computer 2.
  • a digital camera 5 and a distance meter 6 are arranged. These are connected with the computer 2 by means of conductors 7 or by means of wireless conections 8 and 9.
  • the distance meter suitably works with ultrasonics.
  • Drilling is done in a rock surface 10 which, in fig 1, is shown by means of black holes 11.
  • drilling is performed by means of a rock drilling machine arranged on boom 4.
  • the drilled hole is then localized by means of the digital camera 5, the distance meter 6 and the computer 2.
  • the method according to the invention works in the following way. First one or more holes 11 are rilled in the rock surface 10 by means of a rock drilling machine mounted on one of the booms 3 or 4. In order to localize a drilled hole boom 3 is aligned with the aid of the positioning system of the drill rig so that the digital camera 5 and the distance meter 6 are near the hole to be localized. A picture of the rock surface 10 is stored in the computer, fig 3. Furthermore, the measured distance is stored in the computer. The stored picture, fig 3, contains a black hole with the rest in different shades of gray. With the aid of a program stored in the computer a new picture, fig 4, is created which only contains black and white spots.
  • This picture is filtered so that only black parts within a predetermined size range remain, fig 5.
  • the picture matrix is scanned to determine the outer coordinates of the black part.
  • This area is compared with the size of a drilled hole though calculating the real size of the picture matrix with the aid of the outer coordinates and the measured distance.
  • the coordinates of the centre of the area is determined. After that a boom can be aligned against the hole with the aid of the coordinates, e.g. for inserting a rock bolt.

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)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Structural Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Earth Drilling (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Drilling And Boring (AREA)

Abstract

Method of localizing a hole (11) drilled with a rock drilling machine comprising positioning a boom (3) arranged on a rock drilling rig near the drilled hole with the aid of a positioning system arranged on the rock drilling rig, whereby a digital picture is created by means of a camera (5) arranged on the boom (5), that a distance between the boom (3) and the drilled hole (11) is measured by means of a distance meter (6), that the digital picture (fig 3) is stored in a computer (2), that the stored picture is transformed to a picture containing only black and white parts (fig 4), that the picture with only black and white parts is scanned to find a black part with size within a size interval corresponding to the drilled hole and that the position of the drill hole mouth in the room is determined with the aid of the position of the black part and the measured distance.

Description

Method of localizing a hole drilled with a rock drilling machine
The present invention relates to a method of localizing a hole drilled with a rock drilling machine, e.g. in connection with rock bolting.
According to a previously known method for rock bolting with rig a feed beam on a rock drilling rig is applied steadily against the rock after which a hole is drilled with a rock drilling machine. After that the rock drilling machine is moved away and a device for bolting is moved in place for entering a rock bolt into the drilled hole. Other steps can also be there depending on type of rock bolt. In order to make it practically possible to move the rock bolt into the hole the steady application against the rock must be kept during the sequence of drilling and bolt setting. The reason for this is that large masses are moving when the feed beam is positioned. Since the rock drilling rig has several links between the carrier and the application point against the rock sufficient presision in the alignment against the drilled hole is not achieved if the rock drilling rig's own alignment system is used. Neither is it practically possible to split drilling and bolting between different boom units on the rock drilling rig.
The present invention, which is defined in the subsequent claim, aims at achieving a method which makes possible a high degree of automation at rock bolting and also drilling and bolting with separate booms for the units used for drilling and bolting.
An embodiment of the invention is described below with reference to the accompanying drawing in which fig 1 shows a rock drilling rig. Fig 2 shows on a larger scale a part of the rock drilling rig according to fig 1. Figs 3-5 show pictures of a rock surface with different degrees of image processing.
The rock drilling rig shown in the drawing comprises a carrier 1 on which, in the shown example, two booms 3 and 4 are arranged. The rock drilling rig is provided with a computer 2. On boom 3 a digital camera 5 and a distance meter 6 are arranged. These are connected with the computer 2 by means of conductors 7 or by means of wireless conections 8 and 9. The distance meter suitably works with ultrasonics. Drilling is done in a rock surface 10 which, in fig 1, is shown by means of black holes 11. In the shown example drilling is performed by means of a rock drilling machine arranged on boom 4. The drilled hole is then localized by means of the digital camera 5, the distance meter 6 and the computer 2. One can also have rock drilling machine, digital camera and distance meter on the same boom. It is thereby not necessary to hold the boom steadily against the rock surface 10 between drilling and the subsequent localization of the drilled hole.
The method according to the invention works in the following way. First one or more holes 11 are rilled in the rock surface 10 by means of a rock drilling machine mounted on one of the booms 3 or 4. In order to localize a drilled hole boom 3 is aligned with the aid of the positioning system of the drill rig so that the digital camera 5 and the distance meter 6 are near the hole to be localized. A picture of the rock surface 10 is stored in the computer, fig 3. Furthermore, the measured distance is stored in the computer. The stored picture, fig 3, contains a black hole with the rest in different shades of gray. With the aid of a program stored in the computer a new picture, fig 4, is created which only contains black and white spots. This picture is filtered so that only black parts within a predetermined size range remain, fig 5. The picture matrix is scanned to determine the outer coordinates of the black part. This area is compared with the size of a drilled hole though calculating the real size of the picture matrix with the aid of the outer coordinates and the measured distance. When an area corresponding to the size and form of a drilled hole, known size, has been found the coordinates of the centre of the area is determined. After that a boom can be aligned against the hole with the aid of the coordinates, e.g. for inserting a rock bolt.

Claims

Claim:
1. Method of localizing a hole (11) drilled with a rock drilling machine comprising positioning a boom (3) arranged on a rock drilling rig near the drilled hole with the aid of a positioning system arranged on the rock drilling rig, c h a r e c t e r l z e d in that a digital picture is created by means of a camera (5) arranged on the boom (5), that a distance between the boom (3) and the drilled hole (11) is measured by means of a distance meter (6), that the digital picture (fig 3) is stored in a computer (2), that the stored picture is transformed to a picture containing only black and white parts (fig 4), that the picture with only black and white parts is scanned to find a black part with a size within a size interval corresponding to the drilled hole and that the position of the drill hole mouth in the room is determined with the aid of the position of the black part and the measured distance.
PCT/SE2003/000426 2002-04-04 2003-03-14 Method of localizing a hole drilled with a rock drilling machine WO2003085233A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CA2481003A CA2481003C (en) 2002-04-04 2003-03-14 Method of localizing a hole drilled with a rock drilling machine
EP03708791.3A EP1490582B2 (en) 2002-04-04 2003-03-14 Method of localizing a hole drilled with a rock drilling machine
ES03708791.3T ES2281627T5 (en) 2002-04-04 2003-03-14 Method of locating a hole drilled with a rock drill
AU2003212762A AU2003212762B2 (en) 2002-04-04 2003-03-14 Method of localizing a hole drilling with a rock drilling machine
DE60311971.9T DE60311971T3 (en) 2002-04-04 2003-03-14 METHOD FOR LOCATING A HOLE DRILLED WITH A ROCKING MACHINE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0201014-8 2002-04-04
SE0201014A SE0201014L (en) 2002-04-04 2002-04-04 Procedure for locating a hole drilled with a rock drill rig

Publications (1)

Publication Number Publication Date
WO2003085233A1 true WO2003085233A1 (en) 2003-10-16

Family

ID=20287479

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2003/000426 WO2003085233A1 (en) 2002-04-04 2003-03-14 Method of localizing a hole drilled with a rock drilling machine

Country Status (9)

Country Link
EP (1) EP1490582B2 (en)
AT (1) ATE354719T1 (en)
AU (1) AU2003212762B2 (en)
CA (1) CA2481003C (en)
DE (1) DE60311971T3 (en)
ES (1) ES2281627T5 (en)
SE (1) SE0201014L (en)
WO (1) WO2003085233A1 (en)
ZA (1) ZA200407496B (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006078198A1 (en) 2005-01-19 2006-07-27 Atlas Copco Rock Drills Ab Method and system for monitoring and documenting the installation of rock reinforcement bolt
WO2013098460A1 (en) * 2011-12-28 2013-07-04 Sandvik Mining And Construction Oy Method and mining vehicle for post-drilling insertion
US8606542B2 (en) 2005-01-19 2013-12-10 Atlas Copco Rock Drills Ab Method and system for monitoring and documenting installation of rock reinforcement bolt
WO2014187473A1 (en) * 2013-05-21 2014-11-27 Sandvik Mining And Construction Oy Rock drilling rig and method for monitoring
EP2623706A4 (en) * 2010-10-01 2016-08-10 Korea Advanced Inst Sci & Tech Excavation system using a water jet, and excavation method using the same
US9957797B2 (en) 2014-07-03 2018-05-01 Skanska Sverige Ab Method and arrangment for mounting bolts in a tunnel wall
CN111425183A (en) * 2020-02-24 2020-07-17 中铁第四勘察设计院集团有限公司 Geological exploration hole site positioning method and positioning robot
SE2150018A1 (en) * 2021-01-13 2022-07-14 Epiroc Rock Drills Ab A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium therefor

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113790063B (en) * 2021-08-27 2023-08-04 中国煤炭科工集团太原研究院有限公司 Positioning test stand
EP4230837A1 (en) * 2022-02-18 2023-08-23 Sandvik Mining and Construction Lyon SAS Apparatus for position detection, mine vehicle and method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4647208A (en) * 1985-07-22 1987-03-03 Perceptron, Inc. Method for spatial measurement of holes
EP0417055A1 (en) * 1989-08-28 1991-03-13 Atlas Copco Construction and Mining Technique AB Device for positioning of a drill bit
US5579415A (en) * 1993-08-06 1996-11-26 Matsushita Electric Industrial Co., Ltd. Computer implemented method of recognizing a position of an object
EP0822029A1 (en) * 1995-04-11 1998-02-04 Matsushita Electric Industrial Co., Ltd. Method of screw hole recognition
US5771309A (en) * 1993-03-26 1998-06-23 Honda Giken Kogyo Kabushiki Kaisha Method for measuring position of hole

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4647208A (en) * 1985-07-22 1987-03-03 Perceptron, Inc. Method for spatial measurement of holes
EP0417055A1 (en) * 1989-08-28 1991-03-13 Atlas Copco Construction and Mining Technique AB Device for positioning of a drill bit
US5771309A (en) * 1993-03-26 1998-06-23 Honda Giken Kogyo Kabushiki Kaisha Method for measuring position of hole
US5579415A (en) * 1993-08-06 1996-11-26 Matsushita Electric Industrial Co., Ltd. Computer implemented method of recognizing a position of an object
EP0822029A1 (en) * 1995-04-11 1998-02-04 Matsushita Electric Industrial Co., Ltd. Method of screw hole recognition

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006078198A1 (en) 2005-01-19 2006-07-27 Atlas Copco Rock Drills Ab Method and system for monitoring and documenting the installation of rock reinforcement bolt
EP1838948A1 (en) * 2005-01-19 2007-10-03 Atlas Copco Rock Drills AB Method and system for monitoring and documenting the installation of rock reinforcement bolt
EP1838948A4 (en) * 2005-01-19 2012-11-28 Atlas Copco Rock Drills Ab Method and system for monitoring and documenting the installation of rock reinforcement bolt
US8606542B2 (en) 2005-01-19 2013-12-10 Atlas Copco Rock Drills Ab Method and system for monitoring and documenting installation of rock reinforcement bolt
EP2623706A4 (en) * 2010-10-01 2016-08-10 Korea Advanced Inst Sci & Tech Excavation system using a water jet, and excavation method using the same
WO2013098460A1 (en) * 2011-12-28 2013-07-04 Sandvik Mining And Construction Oy Method and mining vehicle for post-drilling insertion
WO2014187804A1 (en) * 2013-05-21 2014-11-27 Sandvik Mining And Construction Oy Rock drilling rig and method for video monitoring
WO2014187473A1 (en) * 2013-05-21 2014-11-27 Sandvik Mining And Construction Oy Rock drilling rig and method for monitoring
US9957797B2 (en) 2014-07-03 2018-05-01 Skanska Sverige Ab Method and arrangment for mounting bolts in a tunnel wall
CN111425183A (en) * 2020-02-24 2020-07-17 中铁第四勘察设计院集团有限公司 Geological exploration hole site positioning method and positioning robot
CN111425183B (en) * 2020-02-24 2023-12-08 中铁第四勘察设计院集团有限公司 Geological exploration hole site positioning method and positioning robot
SE2150018A1 (en) * 2021-01-13 2022-07-14 Epiroc Rock Drills Ab A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium therefor
SE544602C2 (en) * 2021-01-13 2022-09-20 Epiroc Rock Drills Ab A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium therefor

Also Published As

Publication number Publication date
EP1490582A1 (en) 2004-12-29
SE519788C2 (en) 2003-04-08
SE0201014D0 (en) 2002-04-04
DE60311971T2 (en) 2007-10-25
ZA200407496B (en) 2006-07-26
DE60311971T3 (en) 2014-05-08
ES2281627T5 (en) 2014-03-26
CA2481003A1 (en) 2003-10-16
CA2481003C (en) 2011-06-21
DE60311971D1 (en) 2007-04-05
EP1490582B2 (en) 2014-01-15
AU2003212762B2 (en) 2007-07-12
ATE354719T1 (en) 2007-03-15
SE0201014L (en) 2003-04-08
ES2281627T3 (en) 2007-10-01
AU2003212762A1 (en) 2003-10-20
EP1490582B1 (en) 2007-02-21

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