Arrangement for Positioning Rock Drilling Rig on Drilling Site
A method for positioning a rock drilling rig to a drilling site and a rock drilling rig. In positioning the rock drilling rig is driven to the positioning station such that its carrier is at desired distances from wall surfaces surrounding the drilling site. For positioning the rig is provided with distance measuring devices. Navigation is not started until positioning has been performed and in navigation the location of the rock drilling rig is linked to the coordinate system of the drilling site.
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.
Currently a rock drilling rig is positioned such that an operator drives the rig to a drilling site using visual positioning estimation. After driving the rock drilling rig to place and fitting the jacks against the ground, it is possible to perform navigation, in which 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. Thereafter 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. Alternatively, on a carrier there is arranged in accordance with DE publication 3,902,127 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.
BRIEF DESCRIPTION OF THE INVENTIONThe 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 drilling 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 drilling rig by means of at least one distance measuring device in relation to the wall surfaces of the drilling 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 wall 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 idea of the invention is that 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 wall surfaces surrounding the drilling 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 drilling rigs.
The idea of one embodiment of the invention is that at least three laser range finders are used for distance measuring.
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.
The idea of one embodiment of the invention is that 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.
In the following some embodiments of the invention will be described in greater detail in connection with the attached drawings, in which
For the sake of clarity, some embodiments of the invention are presented in a simplified manner in the figures. Like reference numerals refer to like parts in the figures.
DETAILED DESCRIPTION OF SOME EMBODIMENTS OF THE INVENTIONA rock drilling rig 1 of
In
It is also possible to automate the driving of the rock drilling rig 1 to the positioning station 12. In that case the 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 automatically 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.
It should be noted that 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 line of the tunnel. Alternatively 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.
In some cases features of the present document may be used as such irrespective of other features. On the other hand, features of the present document may be combined, where necessary, to provide various combinations.
The drawings and the relating description are only intended to illustrate the inventive idea. The details of the invention may vary within the scope of the claims.
Claims
1. 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;
- initiating the drilling of the holes according to the drilling plan after the navigation;
- using as a basis for the positioning of the rock drilling 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 drilling rig by means of at least one distance measuring device in relation to the wall surfaces of the drilling site; and
- positioning the rock drilling rig into a positioning station for navigation.
2. The method of claim 1, comprising determining the positioning station of the rock drilling rig in connection with a drilling plan.
3. The method of claim 1, comprising
- displaying the measurement results of the distance measuring devices at least on one user interface, and
- driving the rock drilling rig manually to the positioning station taking into account the predetermined drilling station and the distance measurement results.
4. The method of claim 1, comprising determining the positioning station as distances from the wall surfaces of the drilling site.
5. The method of claim 1, comprising
- measuring the location of the rock drilling rig with at least three laser distance measuring devices,
- measuring with a first laser distance measuring device the distance between the carrier and the wall surface ahead and,
- measuring with a second and a third laser measuring devices distances between the carrier and the lateral wall surfaces.
6. The method of claim 1, comprising verifying prior to drilling in a control unit of the rock drilling rig that the drill unit reaches to drill the holes that are determined to be drilled with said drill unit in the drilling plan.
7. The method of claim 1, comprising determining after navigation a vertical position of the carrier by means of at least two distance measuring devices.
8. The method of claim 1, comprising
- determining after navigation a vertical position of the carrier by means of at least two distance measuring devices, and
- using at least one distance measuring device employed in the positioning for detecting post-navigation changes in the vertical position of the carrier.
9. The method of claim 1, comprising driving the rock drilling rig automatically to the positioning station steered by the control unit.
10. 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;
- means for linking the rock drilling rig to the coordinate system of the drilling site by means of navigation; and
- at least one distance measuring device for determining the location of the carrier in relation to the wall surfaces surrounding the drilling site,
- wherein the control unit comprises at least one user interface,
- and wherein the readings of the distance measuring devices are arranged for display to the operator in at least one user interface, and
- the rock drilling rig is arranged to be driven for navigation in the positioning station that depends on the distance between the rock drilling rig and wall surfaces of the drilling site.
11. The rock drilling rig of claim 10, wherein the control unit is given at least one positioning station to which the distances between the carrier and the wall surfaces surrounding the drilling site are determined, and
- wherein the control unit is arranged to display the measurements of the positioning station to the operator in the user interface.
12. The rock drilling rig of claim 10, wherein
- the control unit is given at least one positioning station to which the distances between the carrier and the wall surfaces surrounding the drilling site are determined,
- the control unit is arranged to display the measurements of the positioning station to the operator in the user interface, and
- the control unit is arranged to accept initiation of navigation only after positioning the rock drilling rig to the positioning station.
Type: Application
Filed: Jun 27, 2006
Publication Date: Sep 25, 2008
Inventors: Erkki Eilo (Nokia), Tommi Saleniemi (Tampere), Jussi Koskelainen (Helsinki)
Application Number: 11/988,039
International Classification: E21B 44/00 (20060101);