WO2007000492A1 - Arrangement for positioning rock drilling rig on drilling site - Google Patents
Arrangement for positioning rock drilling rig on drilling site Download PDFInfo
- Publication number
- WO2007000492A1 WO2007000492A1 PCT/FI2006/050280 FI2006050280W WO2007000492A1 WO 2007000492 A1 WO2007000492 A1 WO 2007000492A1 FI 2006050280 W FI2006050280 W FI 2006050280W WO 2007000492 A1 WO2007000492 A1 WO 2007000492A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drilling
- positioning
- drilling rig
- rock
- rig
- Prior art date
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 142
- 239000011435 rock Substances 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims description 10
- 230000000977 initiatory effect Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 241001080526 Vertica Species 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
- E21D9/004—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines using light beams for direction or position control
-
- 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
-
- 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
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/06—Equipment for positioning the whole machine in relation to its sub-structure
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/006—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries by making use of blasting methods
Definitions
- the invention relates to a method for positioning a rock drilling rig on a drilling site, the method comprising: driving the rock drilling rig to a drilling site and positioning the carrier thereof in relation to wall surfaces surrounding the drilling site; performing post-positioning navigation in which the location of a mine vehicle is linked to a coordinate system of the drilling site and to a drilling plan where at least the directions of holes to be drilled are determined; and initiating the drilling of the holes according to the drilling plan after the navigation.
- the invention also relates to a rock drilling rig comprising: a movable carrier; at least one drill boom with a drill unit comprising a feed beam, feeding means and a rock drill machine; at least one control unit, in which it is possible to store a drilling plan in which at least the direction of holes to be drilled are determined; and means for linking the rock drilling rig to the coordinate system of the drilling site by means of navigation.
- a rock drilling rig is positioned such that an operator drives the rig to a drilling site using visual positioning estimation.
- the location of the rock drilling rig is linked to a coordinate system provided for the drilling site.
- Navigation may be performed such that on the drilling site there is a separate laser that is directed to a known location in a tunnel.
- the location of the carrier or the drill unit of the rock drilling rig is determined with respect to the laser. This can be done by means of sights in the drill unit, for instance.
- a laser receiver that determines the location of the carrier during navigation, whereafter a control unit of the drilling rig may amend the coordination system in view of the location of the drilling rig.
- Current solutions have a drawback that the actual location of the rock drilling rig on the drilling site is not found out until in the course of navigation at the earliest. If the navigation reveals that the rock drilling rig is positioned on the drilling site such that it is not possible to drill all the holes of the drilling plan, the jacks must be lowered, the carrier must be repositioned and the rig must be navigated again. Problems resulting from erroneous positioning make the drilling considerably slower and more difficult.
- the object of the present invention is to provide a novel and improved method for positioning a rock drilling rig on a drilling site, and a rock drilling rig.
- the method of the invention is characterized by using as a basis for the positioning of the rock driiiing rig a positioning station which depends on the distance between the rock drilling rig and wall surfaces of the drilling site; determining during positioning the location of the carrier of the rock driiiing rig by means of at least one distance measuring device in relation to the wall surfaces of the driiiing site; and positioning the rock drilling rig into a positioning station for navigation.
- the rock drilling rig of the invention is characterized by comprising at least one distance measuring device for determining the location of the carrier in relation to wail surfaces surrounding the drilling site; the control unit comprising at least one user interface; arranging the readings of the distance measuring device to be displayed to the operator at least in one user interface; and arranging the rock drilling rig to be driven to a positioning station for navigation,
- the rock drilling rig has a positioning station where it is driven before navigation may be started.
- the positioning station is determined in relation to wail surfaces surrounding the driiiing site.
- the rock drilling rig comprises one or more distance measuring devices, by means of which the location of the carrier in relation to the wall surfaces may be determined during positioning.
- the invention has an advantage that the rock drilling rig may be positioned in a correct place such that the planned drill holes can be drilled therewith. Thus it is possible to avoid situations where the rig must be repositioned and navigated again due to erroneous original positioning. Further, when the carrier is positioned correctly in view of the boom reach, drill units may be moved efficiently and quickly.
- the positioning arrangement of the invention is relatively simple to implement and it does not require any complicated systems, in addition, the invention may be applied to the existing rock driiiing rigs.
- the idea of one embodiment of the invention is that at least three laser range finders are used for distance measuring. [0010] The idea of one embodiment of the invention is that a positioning station of the rock drilling rig is determined in connection with a drilling plan.
- a positioning station of the rock drilling rig is determined in a separate file, wherefrom it may be retrieved and displayed to the operator.
- the idea of one embodiment of the invention is to determine a positioning station as distances from wall surfaces of the drilling site.
- the distances may be indicated to the operator by means of a display device, for instance.
- the idea of one embodiment of the invention is to verify coverage areas of the drill units prior to drilling, it is thus checked that the drill unit reaches to drill the holes assigned to be drilled with said drill unit in the drilling plan.
- the Idea of one embodiment of the invention is to determine after navigation the vertical position of the carrier by means of at least one distance measuring device. For this task it is possible to use separate vertically directed distance measuring devices or, alternatively, it is possible to use at least one distance measuring device used for positioning and able to be turned from horizontal direction to vertical direction. Vertical measurement makes it possible to detect whether the carrier moves during drilling, for instance, as a result of sinking jacks. Inclination of the carrier may be measured by using a plurality of upwardly or downwardly directed distance measuring devices or one or more inclinometers.
- Figure 1 a schematic side view of a rock drilling rig in accordance with the invention, which rig is positioned on a drilling site and navigated in a coordinate system of the drilling site,
- Figure 2 is a schematic top view of an arrangement in accordance with the invention for determining the location of the rock drilling rig on the drilling site
- Figure 3 is a schematic view of a drilling plan
- Figure 4 is a schematic view of a control unit and a user interface thereof
- Figure 5 is a schematic view of an arrangement for monitoring the vertical position of the rock drilling rig during drilling.
- a rock dri ⁇ iing rig 1 of Figure 1 comprises a movable carrier 2, at least one driil boom 3 and a drill unit 4 arranged on the drill boom 3.
- the drill unit 4 comprises a feed beam 5, onto which there is arranged a rock drill machine 6 that may be moved on the feed beam 5 by means of a feeding device 7.
- the rock drill machine 6 comprises at least one percussion device wherewith it is possible to give impact impulses to a tool 8 connected to the rock drill machine 6, and by the effect of said impact impulses the tool breaks rock and creates a driif hole.
- the rock drilling rig 1 may additionally comprise a plurality of distance measuring devices 11, such as laser range finders, which may be utilized in positioning the rock drilling rig 1.
- the rock drilling rig 1 is driven to the drilling site 10, in this case in the rear of a tunnel.
- the rock drilling rig 1 may be positioned in a predetermined positioning station 12, where the carrier 2 is at predetermined distances X, Y and Z from wall surfaces 13a, 13b, 13c confining the drilling site 10.
- the distance between the carrier 2 and the rear wall 13a may be measured with a first distance measuring device 11a
- the distance between the carrier and the side wails 13b, 13c may be measured with a second and a third distance measuring devices 11b and 11c.
- the jacks 9 set against the ground and navigation is initiated to link the accurate location of the rock drilling rig 1 to the coordinate system of the drilling site 10.
- measurement of distances to the wall surfaces 13 may be carried out by means of only one distance measuring device 11 , or on the other hand, there may be more than three distance measuring devices 11.
- the distance measuring device 11 may be arranged to turn to predetermined measurement positions or it may rotate such that it measures distances in a plurality of directions.
- Figure 3 shows a drilling plan 14, in which there may be determined the directions 16 of driil holes and the locations of starting points 15. For instance in so-called longhole drilling, in which the holes may be drilled in a fan-shaped pattern, it may be sufficient that the drilling plan 14 only determines the hole directions 16.
- the drilling plan 14 may also determine a positioning station of the rock drifiing rig 1 as measurements in directions X, Y and Z. A planned location of the rock drilling rig in the positioning station may be illustrated on the drilling plan 14 by a symbol 17.
- the symbol 17 may be placed in the driiling plan 14, whereafter a design program may calculate distances in directions X, Y and Z for the positioning station and may arrange them to be part of the drilling plan 14 or to be a separate file that may be retrieved in the memory of the control unit 30 of the rock drifiing rig 1.
- the drilling plan 14 may also be displayed on the display device of the control unit 30 of the rock drilling rig 1. Prior to positioning the operator may retrieve a drilling plan 14 created for each drilling cut onto the display of the control unit. Readings of the distance measuring devices 11 may be displayed to the operator on common or separate display devices.
- Figure 4 shows a user interface 18, on the dispfay 19 of which appear planned distances between the positioning station 12 and rock wails 13.
- the user interface 18 may also present at the same time or at different times readings of the distance measuring devices 11.
- the user interface 18 may further indicate, with a suitable indicator 20 or in some other manner, the distances in directions X, Y and Z that still deviate from the predetermined distances.
- the control unit 30 may acknowledge by means of the user interface 18 the positioning and permit the initiation of navigation. This can be done visually or by a sound signal, for instance. Further, the control unit 30 and the user interface 18 may be arranged to guide the operator to carry out the positioning.
- control unit 30 may be provided with a steering mode that may be switched on after the mine vehicle 1 has first been driven close to the drilling site 10, Thereafter the control unit 30 may steer the rock drilling rig 1 automaticaily to a predetermined positioning station 12, set the carrier 2 in a horizontal position by means of the jacks 9 by utilizing a clinometer 21 and thereafter allow initiation of navigation.
- the positioning station 12 may be determined in advance, for instance, in connection with drawing up the drilling plan, as described in the above, or the positioning station 12 may be determined on the basis of the operator's experience, the user instructions of the rock drilling rig or some other guidelines.
- FIG. 5 shows the rock drilling rig 1 in a drilling situation.
- a vertical movement B is not necessarily detected by means of inclination measuring device 21 or the like, because the carrier may then retain its horizontal position.
- each distance measuring device 11 it is possible to detect deviations from the original measurement results and thus it is possible to detect both inclination and vertical transfer of the carrier 2.
- the beam of the laser measuring device may be diverted with a prism from horizontal direction A to vertical direction B after the carrier 2 has been driven to the positioning station.
- the distance measuring device 11a used for positioning is arranged on the carrier 2 by means of a turning member 22 such that it may be turned in direction C to a horizontal A measuring position and to a vertica! B measuring position in accordance with a measuring operation to be carried out at any particular time. It is also possible that just one distance measuring device 11 is arranged to monitor the vertica! B position of the rock driliing rig 1 so as to detect the sinking of the rig and that one or more clinometers 21 are arranged to monitor the inclination of the carrier 2. Monitoring results may be conveyed from the distance measuring device 11 and the clinometer 21 to a control unit 30 for analyzing.
- the position may be corrected by adjusting the Jacks 9. Further, it is possible to carry out new navigation if substantial changes have taken place in the vertical position.
- the control unit 30 may be arranged to notify the operator of a change in the vertica! position and the control unit may further suggest to the operator a jack reset or a new navigation. It is also possible that on the basis of the changed vertical position adjustments will be made in the control unit to the coordinate system to be used. It is further possible that the control unit is arranged to perform the above-described adjustment operations automatically after a change exceeding the predetermined conditions in the vertical position has taken place.
- the monitoring of the vertical position and the relating measuring devices need not necessarily be associated with the positioning of the positioning station but they may be utilized independently.
- the location of the positioning station may depend on the excavation method used, in typical tunnelling the rock drilling rig is to be positioned on the centre Sine of the tunnel.
- the positioning station may be determined on a border of the drilling site, for instance, in situations where the rear of the tunnel will be excavated in two or more stages. Determination of the positioning station may also take into account obstacles as well as rock drilling and mining apparatuses found on the drilling site.
- the invention is not limited to tunnel drift drilling alone, but it may be utilized in any rock drilling method, in which there is a need for positioning a rock drilling rig to a predetermined drilling station for drilling holes determined in the drilling plan.
- features of the present document may be used as such irrespective of other features.
- features of the present document may be combined, where necessary, to provide various combinations.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2612983A CA2612983C (en) | 2005-06-29 | 2006-06-27 | Arrangement for positioning rock drilling rig on drilling site |
AU2006263771A AU2006263771B2 (en) | 2005-06-29 | 2006-06-27 | Arrangement for positioning rock drilling rig on drilling site |
EP06764519A EP1896691A4 (en) | 2005-06-29 | 2006-06-27 | Arrangement for positioning rock drilling rig on drilling site |
US11/988,039 US20080230270A1 (en) | 2005-06-29 | 2006-06-27 | Arrangement for Positioning Rock Drilling Rig on Drilling Site |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20055356 | 2005-06-29 | ||
FI20055356A FI117570B (en) | 2005-06-29 | 2005-06-29 | A method for positioning a rock drilling device at a drilling site and a rock drilling machine |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007000492A1 true WO2007000492A1 (en) | 2007-01-04 |
Family
ID=34778492
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FI2006/050280 WO2007000492A1 (en) | 2005-06-29 | 2006-06-27 | Arrangement for positioning rock drilling rig on drilling site |
Country Status (6)
Country | Link |
---|---|
US (1) | US20080230270A1 (en) |
EP (1) | EP1896691A4 (en) |
AU (1) | AU2006263771B2 (en) |
CA (1) | CA2612983C (en) |
FI (1) | FI117570B (en) |
WO (1) | WO2007000492A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2713002A1 (en) * | 2012-10-01 | 2014-04-02 | Sandvik Mining and Construction Oy | Rock drilling rig and method of positioning rock drilling unit |
WO2015107068A1 (en) * | 2014-01-14 | 2015-07-23 | Sandvik Mining And Construction Oy | Mine vehicle and method of initiating mine work task |
EP2904208A1 (en) | 2012-10-05 | 2015-08-12 | Atlas Copco Rock Drills AB | Device and method for determining at least one parameter, which determines the application of sprayed concrete |
EP2041395A4 (en) * | 2006-07-17 | 2015-08-19 | Atlas Copco Rock Drills Ab | Arrangement and method for determining the position of a rock reinforcing bolt |
EP2576281B1 (en) * | 2010-05-25 | 2020-06-24 | Sandvik Mining and Construction Oy | Rock drilling rig and method for positioning the same |
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FI119780B (en) * | 2007-04-17 | 2009-03-13 | Sandvik Mining & Constr Oy | A method for editing a drilling chart, a rock drilling machine, and a software product |
CA2780321C (en) * | 2009-11-11 | 2016-10-18 | Jordan O'reilly | Laser alignment device for use with a drill rig |
AU2012101210C4 (en) * | 2012-02-22 | 2019-06-27 | Minnovare Pty Ltd | Drill hole orientation apparatus |
US10422211B2 (en) | 2012-02-22 | 2019-09-24 | Minnovare Pty Ltd. | Apparatus for aligning drilling machines |
AU2014223301B8 (en) * | 2013-02-27 | 2018-07-19 | Technological Resources Pty Limited | A method of generating a drill hole sequence plan and drill hole sequence planning equipment |
JP6352684B2 (en) * | 2014-06-03 | 2018-07-04 | 株式会社鴻池組 | Drilling navigation device |
JP6420570B2 (en) * | 2014-06-03 | 2018-11-07 | 株式会社鴻池組 | Drilling navigation device |
JP6371119B2 (en) * | 2014-06-03 | 2018-08-08 | 株式会社鴻池組 | Drilling navigation device |
SE539411C2 (en) * | 2014-07-03 | 2017-09-19 | Skanska Sverige Ab | Method and arrangement for mounting bolts in a tunnel wall |
SE541053C2 (en) * | 2015-09-30 | 2019-03-19 | Epiroc Rock Drills Ab | System and method for drilling plan generation, drilling rig, computer program and computer program product |
JP6810936B6 (en) * | 2017-05-24 | 2021-02-03 | 株式会社鴻池組 | Perforated navigation device |
CA3073221A1 (en) * | 2017-08-28 | 2019-03-07 | J.H. Fletcher & Co. | Autonomous roof bolter and related methods |
CN112593914B (en) * | 2020-12-11 | 2022-09-09 | 中国矿业大学(北京) | Device and method for positioning coal rock stratum fracture coordinates through cross-layer drilling |
EP4343108A1 (en) * | 2022-09-21 | 2024-03-27 | Sandvik Mining and Construction Oy | An apparatus and a method for selecting a position for a mining vehicle |
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- 2006-06-27 AU AU2006263771A patent/AU2006263771B2/en not_active Ceased
- 2006-06-27 EP EP06764519A patent/EP1896691A4/en not_active Withdrawn
- 2006-06-27 US US11/988,039 patent/US20080230270A1/en not_active Abandoned
- 2006-06-27 WO PCT/FI2006/050280 patent/WO2007000492A1/en active Application Filing
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2041395A4 (en) * | 2006-07-17 | 2015-08-19 | Atlas Copco Rock Drills Ab | Arrangement and method for determining the position of a rock reinforcing bolt |
EP2576281B1 (en) * | 2010-05-25 | 2020-06-24 | Sandvik Mining and Construction Oy | Rock drilling rig and method for positioning the same |
EP2713002A1 (en) * | 2012-10-01 | 2014-04-02 | Sandvik Mining and Construction Oy | Rock drilling rig and method of positioning rock drilling unit |
AU2013222034B2 (en) * | 2012-10-01 | 2015-08-27 | Sandvik Mining And Construction Oy | Rock drilling rig and method of positioning rock drilling unit |
EP2904208A1 (en) | 2012-10-05 | 2015-08-12 | Atlas Copco Rock Drills AB | Device and method for determining at least one parameter, which determines the application of sprayed concrete |
WO2015107068A1 (en) * | 2014-01-14 | 2015-07-23 | Sandvik Mining And Construction Oy | Mine vehicle and method of initiating mine work task |
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Also Published As
Publication number | Publication date |
---|---|
FI20055356A0 (en) | 2005-06-29 |
AU2006263771B2 (en) | 2011-06-02 |
CA2612983C (en) | 2012-12-18 |
US20080230270A1 (en) | 2008-09-25 |
EP1896691A1 (en) | 2008-03-12 |
AU2006263771A1 (en) | 2007-01-04 |
EP1896691A4 (en) | 2012-04-11 |
AU2006263771A8 (en) | 2008-02-21 |
CA2612983A1 (en) | 2007-01-04 |
FI117570B (en) | 2006-11-30 |
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