Note: Descriptions are shown in the official language in which they were submitted.
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Method for controlling drilling unit of rock drilling rig, and rock
drilling rig
Background of the invention
[0001] The invention relates to a method for controlling at least one
drilling unit arranged in at least one drilling boom of a rock drilling rig
when ex-
cavating a rock cavern one round at a time, the method comprising drilling
holes of a round in accordance with a drilling pattern designed for the round,
controlling, in order to drill each single hole, the drilling unit into a
rotating an-
gle which carries out a location and direction determined in the drilling
pattern
of the particular round for the particular hole, and storing the rotating
angle of
the drilling unit carried out during the drilling of each hole of the round.
[0002] The invention further relates to a rock drilling rig comprising a
movable carrier, at least one drilling boom, at least one drilling unit
arranged in
the drilling boom, the drilling unit comprising a feed beam and a rock drill,
the
rock drill being arranged to be movable on the feed beam by means of a feed
device, a rotating mechanism for rotating the drilling unit into a rotating
angle,
at least one storage unit configured to store a drilling pattern to be used
for
drilling a round to be excavated for a rock cavern, at least one control unit
con-
figured, via the rotating mechanism, to control the drilling unit into a
rotating
angle which carries out a location and direction determined for a hole in the
drilling pattern of the round, and at least one storage unit configured to
store
the rotating angle of the drilling unit carried out in the drilling of each
hole of
the round to be excavated.
[0003] Tunnels, underground storage halls and other rock caverns
are excavated in rounds, i.e. one round at a time, in other words, by
employing
a so-called drill-and-blast method, such that holes are drilled at a face of a
rock
cavern and then, after drilling, charged and blasted. Thus, one blast serves
to
break off rock material from the rock in an amount equal to that of one round.
[0004] For excavating a rock cavern, a plan is made in advance and
information is determined about the rock type, for instance. Usually, the
order-
er of the rock cavern also sets different quality requirements on the cavern
to
be excavated. For each round, a drilling pattern is designed as office work
and
delivered to the rock drilling rig for drilling holes in the rock so as to
generate a
desired round. The drilling pattern includes at least the locations of the
holes to
be drilled and their directions and lengths or alternative start and end
points of
the holes to be drilled. Further, the drilling pattern designer may also
determine
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in the drilling pattern a rotating angle of the drilling unit for each hole of
a
round, such an angle being generally also referred to as a "roll-over" or a
"roll-
over angle". By choosing the rotating angle correctly, it can be better
ensured
that the drilling boom or the drilling unit does not collide with the walls,
ceiling
or floor of the rock cavern during the drilling of the holes, and that a drill
rod of
the rock drill of the drilling unit is visible to the operator of the rock
drilling rig
during the drilling of a hole, and that the drilling unit does not collide
with the
drilling boom of the rock drilling rig during the drilling of holes which,
with re-
spect to the rock drilling rig, come close to a point where the drilling unit
is
supported against the drilling boom, either.
[0005] However, the rotating angles of the drilling unit determined
by the drilling pattern designer in the drilling pattern are quite seldom
useful in
a drilling situation in practice. This may be for instance because the
designer of
the drilling pattern does not see the practical situation in the rock cavern
or
even necessarily know the size of the rock drilling rig to be used for
drilling a
particular round. Consequently, the designer of the drilling pattern is not in
practice capable of determining the rotating angles of the drilling unit for
all
holes such that it would be possible to drill all the holes by employing the
par-
ticular rotating angles of the drill unit suggested by the designer of the
drilling
pattern without the operator of the rock drilling rig having to control the
drilling
unit into a new rotating angle with respect to no hole at all. Problems arise
par-
ticularly at the edges of a rock cavern if the rotating angle of the drilling
unit de-
termined in the drilling pattern is such that the drilling unit tries to turn
into a
position wherein it comes into contact with the edge of the rock cavern, and
al-
so in the central part of the rock cavern, where a cut hole is drilled, if the
rotat-
ing angle of the drilling unit determined in the drilling pattern is such that
the
drilling unit tries to turn into a position where it collides with the
drilling boom of
the rock drilling rig. In addition to these, another problematic situation
arises
when the rotating angle of the drilling unit given in the drilling pattern is
such
that the drilling unit tries to turn into a position where the drilling boom
prevents
the operator of the rock drilling rig from seeing the drill rod of the rock
drill pro-
vided in the drilling unit when, in practice, the operator of the rock
drilling rig
wishes to see the drill rod for the purpose of monitoring the drilling and its
ad-
vance as well as the condition of the drill rod, and for detecting possible
water
flowing out of the hole. Presently, in order to avoid all the aforementioned
situ-
ations, the operator of the rock drilling rig has to monitor the operation of
an
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automatic drilling cycle of the rock drilling rig very carefully and, when
neces-
sary, control the drilling unit into a new rotating angle upon starting the
drilling
of at least some holes, which slows down the drilling cycle and its advance.
Brief description of the invention
[0006] An object of the invention is to provide a solution which ena-
bles the reliability and speed of advance of the operation of an automatic
drill-
ing cycle to be increased.
[0007] The method according to the invention is characterized by
determining the rotating angle of the drilling unit to be used for drilling a
hole
on the basis of the rotating angle of the drilling unit carried out in
connection
with the drilling of one or more previously drilled holes.
[0008] The rock drilling rig according to the invention is character-
ized in that the control unit is configured to determine the rotating angle of
the
drilling unit to be used for drilling a hole on the basis of the rotating
angle of the
drilling unit carried out in connection with the drilling of one or more
previously
drilled holes.
[0009] When excavating a rock cavern one round at a time by a
rock drilling rig comprising at least one drilling boom and at least one
drilling
unit arranged in the drilling boom, holes of a round are drilled in accordance
with a drilling pattern designed for the round. In order to drill each single
hole,
the drilling unit is controlled into a rotating angle which carries out a
location
and direction determined for the particular hole in the drilling pattern
designed
for the particular round. The rotating angle of the drilling unit =to be used
for
drilling the hole is determined on the basis of the rotating angle of the
drilling
unit carried out in connection with the drilling of one or more previously
drilled
holes.
= [0010] The solution thus utilizes values of the rotating angles of the
drilling unit carried out in connection with previously drilled holes when
deter-
mining the rotating angle of the drilling unit to be used in connection with
drill-
ing a hole to be drilled next. The previously drilled holes may thus be only
pre-
viously drilled holes of the same round being presently excavated, or they may
also be holes drilled in connection with already previously excavated rounds.
The determination of a rotating angle of the drilling unit to be used for
drilling
holes is thus based on the rotating angles of the drilling unit actually
carried out
in connection with the previously drilled holes, which enables a situation to
be
achieved very quickly wherein a vast majority or even almost all of the holes
of
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a round may be drilled by using the rotating angle of the drilling unit deter-
mined by the disclosed solution. In such a case, the operator of the rock
drilling
rig very seldom needs to participate in choosing the rotating angle to be used
for drilling a hole. This makes a round quicker to drill, and it releases the
ca-
pacity of the operator of the rock drilling rig for monitoring the drilling
and the
condition of the drilling equipment.
[0011] According to an embodiment, when determining the rotating
angle of the drilling unit to be used for drilling a hole, the method
comprises
choosing, as initial data for the determination, location data about the hole
and
data about the rotating angle of the drilling unit associated with those
already
drilled holes which were drilled by the drilling unit arranged in the same
drilling
boom as the drilling unit to be used for drilling the hole to be drilled,
determin-
ing a distance between the already drilled holes chosen in the previous step
and the hole to be drilled, and choosing, on the basis of the distance between
the already drilled holes and the hole to be drilled, one or more already
drilled
holes on the basis of whose rotating angle of the drilling unit carried out in
the
drilling thereof the rotating angle of the drilling unit to be used for
drilling the
hole to be drilled is determined, and determining, on the basis of the
rotating
angle of the drilling unit carried out in the drilling of the one or more
already
drilled holes, the rotating angle of the drilling unit to be used for drilling
the hole
to be drilled.
[0012] When the rotating angle of the drilling unit to be used for drill-
ing the hole to be drilled is determined on the basis of the rotating angles
car-
ried out in the drilling of the already drilled holes located at a certain
distance
from the hole to be drilled, the value of the rotating angle of the drilling
unit giv-
en by the determination is very accurate, since the determination of the rotat-
ing angle utilizes data associated with a limited number of previously drilled
holes.
[0013] According to a second embodiment, the method comprises
determining the rotating angle of the drilling unit to be used for drilling
the hole
to be drilled to correspond with the rotating angle of the drilling unit
carried out
in the drilling of an already drilled hole closest to the hole to be drilled.
In this
embodiment, the determination of the rotating angle is very simple, and it is
very likely that the value of the rotating angle of the drilling unit used in
the drill-
ing of the distance-wise closest already drilled hole is very suitable for use
in
the drilling of the next hole to be drilled.
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[0014] According to a third embodiment, the method comprises de-
termining the rotating angle of the drilling unit to be used for drilling the
hole to
be drilled to correspond, by a predetermined quantity, with a mean value of
the
rotating angles of the drilling unit carried out in the drilling of the
distance-wise
closest already drilled holes. In such a case, the value of the rotating angle
of
the drilling unit used in connection with one, already drilled hole does not
have
too great importance for the rotating angle of the hole being presently
drilled,
which is advantageous if, for some reason, the value of the rotating angle of
the drilling unit used in connection with the already drilled hole is
completely
unsuitable for use as the value of the rotating angle of the drilling unit in
con-
nection with the hole being presently drilled.
Brief description of the figures
[0015] The invention is now described in closer detail in connection
with preferred embodiments and with reference to the accompanying drawings,
in which:
Figure 1 is a schematic side view showing a rock drilling rig,
Figures 2a and 2b are schematic side views showing some rotating
mechanisms which may be used for turning a drilling unit into a correct
position
for a drilling event, and Figures 2c and 2d schematically show a rotating
angle
of a drilling unit as seen from behind the drilling unit,
Figure 3 is a diagram schematically showing holes and a rotating
angle of a drilling unit carried out in connection with drilling of each hole,
Figure 4 is a flow diagram schematically showing a method for de-
termining a rotating angle of a drilling unit to be used for drilling a single
hole of
a round to be drilled,
Figures 5a and 5b schematically show a detail in determination of a
rotating angle of a drilling unit to be used for drilling a single hole of a
round to
be drilled,
Figure 6 schematically shows another detail in determination of a ro-
tating angle of a drilling unit to be used for drilling a single hole of a
round to be
drilled, and
Figures 7 to 10 schematically show examples relating to a use of
the method according to Figure 4.
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Detailed description of the invention
[0016] Figure 1 is a schematic side view showing a rock drilling rig 1
which may be used for excavating a rock cavern. The rock drilling rig 1 accord-
ing to Figure 1 comprises a movable carrier 2, two drilling booms 3, and
drilling
units 4 arranged in the drilling booms 3. As distinct from Figure 1, the rock
drill-
ing rig 1 may be provided with only one drilling boom 3, or the number of
drill-
ing booms 3 may even be more than two. The drilling unit 4, which is shown
larger in Figure 2, comprises a feed beam 5 and, arranged thereon, a rock
drill
6 which may be moved with respect to the feed beam 5 by a feed device 22
shown schematically in Figures 1 and 2. The drilling unit 4 further comprises
a
tool 7, such as a drill rod, enabling impact pulses given by a percussion
device,
which for the sake of clarity is not shown, of the rock drill 6 to be
transmitted to
a rock 8 to be drilled. The rock drilling rig 1 further comprises at least one
con-
trol unit 9 configured to control actuators of the rock drilling rig 1 for
controlling
operation of the drilling boom 3 and the drilling unit 4, for instance. The
control
unit 9 may be a computer or a corresponding device, and it may comprise a
user interface, including a display device, as well as control means, such as
a
keyboard or a joystick, for communicating commands and information to the
control unit 9.
[0017] In Figure 1, the drilling unit 4 is arranged in the drilling boom
3 of the rock drilling rig 1, in connection with the end of the drilling boom
3, by
means of a rotating mechanism 10. Figures 2a and 2b show schematic exam-
ples of some possible rotating mechanisms 10. The rotating mechanisms 10
according to Figures 2a and 2b are provided with a rotating unit 11 which, in
the embodiment of Figures 2a and 2b, includes a rotating joint 11' or a roll-
over
joint 11 and an actuator, such as a hydraulic motor, which, for the sake of
clari-
ty, is not shown in the figures, enabling a rotating motion to be produced in
the
rotating joint 11'. The rotating unit 11 or the rotating joint 11' has a
rotating 'axis
A, or, in other words, the rotating unit 11 or the rotating joint 11' defines
the ro-
tating axis A, which is substantially parallel with the feed beam 5 of the
drilling
unit 4 and around which the drilling unit 4 is arranged to turn or rotate as a
consequence of the rotating motion of the rotating unit 11 or the rotating
joint
11' in a manner schematically shown by arrow A', in which case the value of
the rotating angle (1) describes the quantity of rotating of the drilling unit
4
around the rotating axis A. The rotating axis A is shown in Figures 2a and 2b
schematically in broken line.
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[0018] In the embodiments shown in Figures 2a and 2b, the rotating
mechanism 10 further comprises a turning unit 12 including a turning joint
12',
and an actuator, which, for the sake of clarity, is not shown in the figures,
for
turning the drilling unit 4 sideways around an axis B in the direction shown
by
arrow B'. In addition, in the embodiments shown in Figures 2a and 2b, the ro-
tating mechanism 10 further comprises a second turning unit 13 including a
second turning joint 13', and an actuator, which, for the sake of clarity, is
not
shown in the figures, by means of which a tip of the tool 7 of the drilling
unit 4
to be placed against the rock to be drilled may be inclined or lifted and
lowered
with respect to an axis C perpendicular to the surface of the paper in Figures
2a and 2b, in the direction shown by arrow C'.
[0019] The rotating mechanisms 10 shown in Figures 2a and 2b are
only some feasible examples of rotating mechanisms that enable the drilling
unit 4 to be rotated around the aforementioned rotating axis A. Thus, in con-
nection with the solution disclosed in this description, any other rotating
mech-
anism may also be used which enables at least said rotating of the drilling
unit
4 around the rotating axis A to be achieved.
[0020] Figures 2c and 2d schematically show a rotating angle (1) of
the drilling unit 4 as seen from behind the drilling unit 4. In Figure 2c, the
drill-
ing unit 4 has rotated around the rotating axis A .of the drilling unit 4 to
the left
with respect to a vertical axis corresponding with the vertical position of
the
drilling unit 4 and indicated by a value of 0 degree of the rotating angle O.
The
rotating direction shown in Figure 2c has been determined to be a rotating di-
rection corresponding with a negative rotating angle. In Figure 2d, the
drilling
unit 4, in turn, has rotated around the rotating axis A of the drilling unit 4
to the
right with respect to a vertical axis corresponding with the vertical position
of
the drilling unit 4 and indicated by a value of 0 degree of the rotating angle
(1).
The rotating direction shown in Figure 2d has been determined to be a rotating
direction corresponding with a positive rotating angle. However, the
connection
between the rotating angle (1) and the rotating direction of the drilling unit
4
may also be determined in some other way which differs from that shown in
Figures 2c and 2d.
[0021] Typically, for the drilling of holes of each round for a rock
cavern, a drilling pattern 14 is provided which determines the locations,
direc-
tions and lengths of the holes to be drilled or, alternatively, start and end
points
of the holes in a coordinate system of the drilling pattern. Typically, a
drilling
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pattern is made outside a drilling site, e.g. in an office 15, wherein the
drilling
pattern 14 may be stored on a memory member, such as a memory stick or a
diskette, provided therein, or it may be transferred directly via a data
transfer
connection 16 to a storage unit 17 provided in the rock drilling rig 1. The
stor-
age unit 17 may either be included in the control unit 9, or it may be a
storage
unit located outside the control unit 9 and communicating with the control
unit
9. The drilling pattern 14 may also be amended either at or outside the
drilling
site. The preparation of the drilling pattern 14 is a computed-aided process,
and usually iterative in nature. A design program is run on a computer 18, and
a designer 19 operates interactively with the design program, entering neces-
sary data, making selections as well as controlling the design process. During
the design process, the already designed parts of the drilling pattern may yet
be iteratively amended so as to achieve a better end result. In the drilling
pat-
tern 14, the designer 14 may also determine for each hole his or her sugges-
tion concerning the roll-over angle 4:1) or the rotating angle (I) to be used
in the
drilling of a hole.
[0022] After the drilling pattern 14 is made, it may be stored in the
storage unit 17 of the rock drilling rig 1 and implemented in the control unit
9.
The holes designed in the drilling pattern 14 are then drilled into the rock
8,
charged and blasted. A quantity of rock equal to that of a desired round is
bro-
ken off the rock 8 and transported elsewhere. Next, new holes are drilled for
the next round, in accordance with a new drilling pattern 14.
[0023] Figure 3 schematically shows a diagram 20 or a rotating an-
gle diagram 20 wherein the locations of holes 21 carried out in a drilled
round =
are indicated by circles 21', while directional lines 21" extending from the
cir-
cles 21" indicate the rotating angle (1) of the drilling unit 4 carried out
during the
drilling of each hole 21. When a round which corresponds with the rotating an-
gle pattern 20 shown in Figure 3 was drilled, a rock drilling rig 1 provided
with
two drilling booms 3 has been used, whereby the locations 21' of the holes 21
indicated in thin lines in Figure 3 and the directional lines 21"
corresponding
with the rotating angles l of the drilling unit 4 carried out are holes 21
drilled
by the drilling unit 4 arranged in a first drilling boom 3 of the rock
drilling rig 1,
while the locations 21' of the holes 21 indicated in thick lines and the
direction-
al lines 21" corresponding with the rotating angles (1) of the drilling unit 4
car-
ried out are holes 21 drilled by the drilling unit 4 arranged in a second
drilling
boom 3 of the rock drilling rig 1. The rotating angles l of the drilling unit
4 cor-
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responding with the directional lines 21" of the rotating angle diagram 20
shown in Figure 3 are, during or after drilling the round, stored in a storage
unit
provided in the rock drilling rig 1, which storage unit may be the same as the
storage unit 17 previously described in this description and Figure 1, or the
storage unit may be e.g. a storage unit which communicates with the control
unit 9 and is only used for storing the rotating angles 03) carried out in
connec-
tion with the drilling of the holes 21. Data about the location 21' of each
hole 21
may also be stored in connection with data indicating the rotating angle (1)
of
the drilling unit 4 carried out in connection with the corresponding hole 21
if the
data about the rotating angle (1) of the drilling unit 4 carried out in
connection
with the hole 21 are not otherwise linked, e.g. via the drilling pattern 14,
with
the data indicating the location 21' of the corresponding hole 21.
[0024] Figure 4 is a flow diagram schematically showing a method
or a calculation algorithm for determining a rotating angle (1:0 of a drilling
unit 4
to be used for drilling a single hole 21 of a round to be drilled next. In
Figure 4,
a starting phase or an initial situation of drilling the hole 21 is indicated
by a
phase number one. In this starting phase, data about the locations 21' of the
holes 21 drilled in connection with previous rounds and the rotating angles
430
of the drilling unit 4 carried out during the drilling of the particular holes
21 is
collected from the storage unit 17 into a temporary working storage or another
suitable memory provided in the control unit 9, for instance. Said data may al-
so comprise the location data about the holes 21 associated with the holes 21
already previously drilled during the drilling of the same round and the data
about the rotating angles (I) of the drilling unit 4 carried out during the
drilling of
the particular holes 21. Location data about a hole 21 refers to a starting
loca-
tion of the hole 21 in the drilling of each round. Said data may comprise data
about the locations 21' and the rotating angles D that have been carried out
of
the holes 21 of all rounds that have already been drilled, or data only about
the
locations 21' and the rotating angles D that have been carried out of the
holes
21 of e.g. 3 to 5 rounds that have been drilled most recently. In the drilling
of
the holes 21 of the first round for a rock cavern, the rotating angles D of
the
drilling unit 4 separately suggested by the designer 19 in the drilling
pattern 14
may be used, or the operator of the rock drilling rig 1 may control the
drilling
unit 4 into a desired rotating angle (I) when starting the drilling of at
least some
or even all of the holes 21.
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[0025] In the next phase of the drilling of the hole 21, i.e. in phase 2
of the diagram in Figure 4, data about the locations 21' of the holes 21 and
the
rotating angles 0:1) of the drilling unit 4 associated therewith that relate
to the
drilling boom 3 by whose drilling unit 4 the hole 21 is to be drilled are
separat-
ed from the data collected in the starting phase.
[0026] In the next phase of the drilling of the hole 21, i.e. in phase 3
of the diagram in Figure 4, a distance between the location 21' of each hole
21
chosen in phase 2 and the location of the hole 21 to be drilled next is deter-
mined in the control unit 9. The distance may be determined by taking into ac-
count the distance between the previously drilled holes 21 and the hole 21 to
be drilled next on the two-dimensional plane at the face of the rock cavern
Where the hole 21 to be drilled next is located. In this case, the previously
drilled holes 21 are thus projected onto the same two-dimensional plane as the
hole 21 to be drilled next. It is also feasible that when determining the
distance,
the distance in a three-dimensional space between the locations 21' of the
previously drilled holes 21 and the hole 21 to be drilled next is taken into
ac-
count also in the direction of progression of excavation of the rock cavern
e.g.
such that with respect to the round being drilled, the distances between the
lo-
cations 21' of the holes 21 drilled in connection with the very previous round
and the hole 21 to be drilled next is considered more important than the dis-
tances between the locations 21' of the holes 21 drilled in connection with
the
already previously excavated rounds and the location of the hole 21 to be
drilled next.
[0027] In the next phase of the drilling of the hole 21, i.e. in phase 4
of the diagram in Figure 4, the distances calculated in phase 3 may be ar-
ranged in the order of magnitude.
[0028] In the next phase of the drilling of the hole 21, i.e. in phase 5
of the diagram in Figure 4, the rotating angle (1) of the drilling unit 4
associated
with the hole 21 to be drilled is determined on the basis of the rotating
angle (1)
of the drilling unit 4 carried out in connection with one or more previously
drilled holes 21. The rotating angle (1) of the drilling unit 4 associated
with the
hole 21 to be drilled may be determined or calculated in many different ways.
[0029] An alternative is to use directly the rotating angle (1) of the
drilling unit 4 carried out in the drilling of the already drilled hole 21
distance-
wise closest to the hole 21 to be drilled.
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[0030] A second alternative is to determine the rotating angle izto of
the drilling unit 4 to be used in the drilling of the hole 21 to be drilled to
corre-
spond with a mean value cOmean Of the rotating angles ict) of the drilling
unit 4
carried out in the drilling of a predetermined number of, e.g. two or more,
such
as 3 to 5, distance-wise closest already drilled holes 21.
[0031] A third alternative is to use, for drilling the hole 21 to be
drilled, a value of the rotating angle D of the drilling unit 4 which
corresponds
with a mean value tilDmean of the rotating angles (I) of the drilling unit 4
carried
out in connection with the drilling of the already drilled holes 21 residing
at no
more than a certain distance, such as at a distance of no more than one metre,
from the hole 21 to be drilled next, or, if no previously drilled hole resides
at
said distance of e.g. no more than one metre, to use the rotating angle szt)
of
the drilling unit 4 carried out in connection with the drilling of the closest
previ-
ously drilled hole 21.
[0032] In the determination of the rotating angle (I) of the drilling unit
4 associated with the hole 21 to be drilled next, it may also be taken into ac-
count how the location of the rock drilling rig 1 varies with respect to the
origin
or zero point of the drilling pattern 14 used for drilling the round when
drilling
successive rounds of the rock cavern. Figure 5a schematically shows a situa-
tion wherein the origin OR1 of an imaginary coordinate system associated with
the dimensions of the rock drilling rig 1 and attached to the rock drilling
rig 1
resides at the same point as, or congruently with, the origin 0R2 of the
coordi-
nate system of the drilling pattern 14. The origin OR1 of the coordinate
system
associated with the rock drilling rig 1 may reside e.g. in a joint of the rock
drill-
ing rig 1 which connects the drilling booms 3 with the rock drilling rig 1, as
schematically shown in Figure 1.
[0033] In the situation shown in Figure 5b, the rock drilling rig 1 is
located in a rock cavern to be excavated in such a position wherein the loca-
tion of the origin OR1 of the coordinate system associated with the rock
drilling
rig 1 differs from the location of the origin 0R2 .of the drilling pattern 14.
This
difference between the location of the origin OR1 of the rock drilling rig 1
and
the location of the origin 0R2 of the drilling pattern 1 may preferably be
taken
into account when determining the rotating angle to be used in the drilling of
the hole 21 to be drilled next e.g. in the following manner. First, when the
value
of the rotating angle .00 of the drilling unit 4 carried out in the drilling
of the
drilled hole 21 is stored, subtracting from said value of the rotating angle
(1) a
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proportion or quantity or value which results from the difference between the
location of the origin OR1 of the rock drilling rig 1 and the location of the
origin
0R2 of the drilling pattern 14. Further, when the drilling of the hole 21 to
be
drilled next is started utilizing the value of the rotating angle 03:. of the
drilling
unit 4 determined as disclosed above, adding to the value of the particular ro-
tating angle Cl) a proportion or quantity or value which corresponds with the
dif-
ference between the location of the origin OR1 of the rock drilling rig 1 and
the
location of the origin 0R2 of the drilling pattern 14.
[0034] In the manner disclosed in the previous paragraph, it is thus
possible to compensate for the variation in the location of the rock drilling
rig 1
with respect to the origin 0R2 of the drilling pattern 14. The necessary
calcula-
tion may be performed in the control unit 9, for instance. When making said
compensation, the coordinates of the origin OR1 of the rock drilling rig 1 are
projected onto the same plane as that of the coordinate system of the drilling
pattern 14. In the previous paragraph, the values of the rotating angles of
the drilling unit 4 carried out in the drilling of the holes 21 were attached
to the
origin 0R2 of the drilling pattern 14. Alternatively, the values of the
rotating an-
gles .1:0 of the drilling unit 4 carried out in the drilling of the holes 21
could be at-
tached or determined also with respect to the origin OR1 of the coordinate sys-
tem associated with the rock drilling rig 1, in which case in connection with
ex-
cavation of each round, data about the location of the origin OR1 of the rock
drilling rig 1 with respect to the origin 0R2 of the drilling pattern 14 is
also
stored so as to enable the difference between the location of the origin OR1
of
the rock drilling rig 1 and the location of the origin 0R2 of the drilling
pattern 14
to be taken into account when determining the rotating angle (1) of the
drilling
unit 4 to be used in connection with the hole 21 to be drilled next.
[0035] In the next phase of drilling the hole 21, i.e. in phase 6 of the
diagram in Figure 4, the rotating angle (1) of the drilling unit 4 used in
connec-
tion with the drilling of the hole 21 is stored in the storage unit 17. The
rotating
angle (130 of the drilling unit 4 used in the drilling of the hole 21 may be
stored
simultaneously, after drilling the round, in connection with storing the
rotating
angles (1) of the drilling unit 4 used in connection with the drilling of the
other
holes 21 of the same round, in which case the rotating angles (1) of the
drilling
unit 4 carried out and associated with all the holes 21 of the round are
stored
simultaneously after drilling the round. Preferably, the value of the rotating
an-
gle (1) of the drilling unit 4 carried out in the drilling of a single hole 21
of the
CA 02817845 2013 05 13
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13
round is stored immediately during or after the drilling of the hole 21, in
which
case the particular value carried out may be used for determining the rotating
angle (1) of the drilling unit 4 to be used already in the drilling of the
hole 21 to
be drilled next in the same round.
[0036] Thus, the method utilizes the values of the rotating angles (I)
of the drilling unit 4 carried out in connection with the already previously
drilled
holes 21 for determining the value of the rotating angle c1:0 of the drilling
unit 4
to be used in the drilling of the next hole 21.
[0037] The value of the rotating angle (1) of the drilling unit 4 to be
used for the drilling of the hole 21 may be determined e.g. in degrees or an-
other corresponding numerical value or another appropriate value. In such a
case, for instance, if the value of the rotating angle (1) of the drilling
unit 4 as-
sociated with one previous hole 21 is 34 degrees while the value of the
rotating
angle (1) of the drilling unit 4 associated with another previous hole is 40
de-
grees, their mean value is 37 degrees if the value of the rotating angle (12'
of the
drilling unit 4 to be used for drilling the next hole 21 is determined on the
basis
of the values of the rotating angles (1) of the drilling unit 4 carried out in
connec-
tion with two previously drilled holes 21.
[0038] However, a problem in the aforementioned manner of calcu-
lation arises when the value of the rotating angle (I) of the drilling unit 4
associ-
ated with one previous hole 21 is 170 degrees while the value of the rotating
angle 4:0 of the drilling unit 4 associated with another previous hole 21 is
¨170
degrees, whereby, in view of the above, their mean value would be 0 degree
when, however, the desired result would be either 180 degrees or ¨180 de-
grees. This situation is illustrated in Figure 6 wherein the value of the
rotating
angle D of the drilling unit 4 indicated by arrow 01 is 170 degrees while the
value of the rotating angle (1) of the drilling unit 4 indicated by arrow 02
is ¨170
degrees, in which case their mean value is 0 degree, as indicated by arrow
03, rather than 180 degrees or ¨180 degrees, as it should be, as indicated by
arrow 04.
[0039] This problem may be avoided by dividing, in potential calcu-
lation of a mean value, the values of each single rotating angle (I) first
into a
vertical component Cos1n=sin(07/180 ) and a horizontal component
Ocos=sin(07/180 ), wherein 7 is thus pi, i.e. mathematical Archimedes' con-
stant or Ludolph's number. Next, mean values ob
= sin_mean of the vertical compo-
nents and the mean values Ocos_mean of the horizontal components of the rotat-
CA 02817845 2013 05 13
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14
ing angles (I) of the drilling unit 4 carried out are calculated separately.
The fi-
nal mean value (I). mean of the rotating angles 01:0 of the drilling unit 4 to
be used
for drilling a hole is obtained on the basis of the aforementioned mean value
of
the vertical components and the aforementioned mean value of the horizontal
components, from formula Omean=atan2(0cos_mean, Osin_mean), whereby in the
aforementioned example, the value of the rotating angle (130 of the drilling
unit 4
to be used in the drilling of the hole 21 is 180 degrees or ¨180 degrees, as
in-
dicated by arrow 04.
[0040] In the previous example, the determination of the rotating
angle (I) of the drilling unit 4 to be used in the drilling of the hole 21 to
be drilled
next is shown to be performed by utilizing the control unit 9 provided in the
rock drilling rig 1 and the storage unit 17. However, it is possible that the
de-
termination of the rotating angle (I) of the drilling unit 4 to be used in the
drilling
of the hole 21 to be drilled next is performed e.g. by the computer 18 in the
of-
fice 15 or by another computer outside the drilling site, in which case the
nec-
essary data about the rotating angles (1) of the drilling unit 4 carried out
in con-
nection with the drilling of the already drilled holes 21 is communicated to
the
particular computer via the data transfer connection 16. In such a case, again
via the data transfer connection 16, data about the rotating angles:Goof the
drill-
ing unit 4 to be used in the drilling of the hole 21 to be drilled next is
then
communicated to the control unit 4 of the rock drilling rig 1 either from the
computer 18 in the office 15 or from another computer. It is also possible
that
the values of the rotating angles 01:0 of the drilling unit 4 that have been
deter-
mined on the basis of the values of the rotating angles szto of the drilling
unit 4
carried out in the drilling of the previous holes 21 and that are to be used
for
drilling the holes 21 of a round to be drilled next are incorporated into the
drill-
ing pattern 14 of the round to be drilled next.
[0041] Figures 7 to 10 schematically show an example of a relation
between the rotating angles (I) of the drilling unit 4 determined by the
method
according to Figure 4 and the rotating angles (1) of the drilling unit 4
carried out
in the drilling of the already drilled holes 21 and used for the
determination.
In the example of Figures 7 to 10, a rock drilling rig provided with two
drilling
booms 3, each having one drilling unit 4, is used as the rock drilling rig 1.
[0042] Figure 7 shows, by employing circles drawn in thin line, the
locations 21' of the holes 21 designated as residing within the coverage area
or operation area of a first boom 3 of the rock drilling rig 1 and, by
employing
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directional lines 21" drawn in thin line, the rotating angles 01:0 of the
drilling unit
4 determined by the aforementioned method for the particular holes 21. Said
rotating angles (1) are thus suggestions about those rotating angles (I) of
the
drilling unit 4 suggested by the aforementioned method for use in the drilling
of
the holes 21 of the round. A thick line designates those previously drilled
holes
21 and the rotating angles (I) of the drilling unit 4 carried out that were
used for
determining the rotating angles (1) of the drilling unit 4 designated in said
thin
lines. In the case shown in Figure 7 there was one previously drilled round.
Figure 8, in turn, shows a pattern corresponding with Figure 6 in a situation
wherein there were three previously drilled rounds. Figures 9 and 10 show a
corresponding example concerning the coverage area or operation area of a
second drilling boom 3 of the rock drilling rig 1. It can be seen in Figures 7
to
10 how already after three excavated rounds, the suggestions designated in
thin line about the values of the rotating angles 0:1:0 of the drilling unit 4
to be
used in connection with the holes 21 of the round to be drilled next are
already
very much in accordance with the rotating angles (Vs that were carried out.
[0043] The disclosed solution thus utilizes the values of the rotating
angles 0:1) of the drilling unit 4 carried out in connection with the
previously
drilled holes 21 when determining the rotating angle 01:0 of the drilling unit
4 to
be used in connection with the drilling the hole 21 to be drilled next. Since
the
determination of the rotating angle (1) of the drilling unit 4 to be used in
the drill-
ing of the holes 21 is based on the actual rotating angles (1) of the drilling
unit 4
carried out in connection with the previously drilled holes 21, a situation is
very
quickly achieved wherein a vast majority of the holes 21 of a round may be
=drilled by using a rotating angle (1) of the drilling unit 4 determined by
the dis-
closed solution such that the operator of the rock drilling rig 1 seldom has
to
participate in choosing the rotating angle (I) of the drilling unit 4 to be
used in
the drilling of the hole 21. This makes the round quicker to drill, and it
releases
the capacity of the operator of the rock drilling rig 1 for monitoring the
drilling
and the condition of the drilling equipment. Thus, the solution also takes
into
account the real drilling situation prevalent in the rock cavern as well as
the
size and type of the rock drilling rig actually being used for the drilling.
Since
the determination of the rotating angle cto of the drilling unit 4 may be
imple-
mented automatically e.g. in the control unit 9 of the rock drilling rig 1 or
by the
computer 15 in the office 15, the designer 19 of the drilling pattern 14 no
long-
er has to determine the rotating angles cl) of the drilling unit 4, possibly
except
CA 02817845 2015-03-27
16
for the rotating angles î of the drilling unit 4 associated with the holes 21
of
the first round of a rock cavern, whereby the capacity of the designer 19 of
the
drilling pattern 14 may also be released for other tasks.
[0044] It will be obvious to a person skilled in the art that as tech-
nology advances, the basic idea of the invention may be implemented in many
different ways.
