Apparatus, rock drilling rig and drilling method
AssigneeSandvik Mining and Construction Oy
InventorsMikko Mononen, Jarkko Jantti, Mikko Viinikainen, Hannu Iloranta, Miro Saarela
Life of this patent
Estimating the term…
Abstract
An apparatus, rock drilling rig and drilling method is provided. The apparatus provides position control data for controlling positioning a rock drilling unit of a rock drilling rig arranged for drilling transverse drill hole patterns in an underground tunnel. The apparatus includes a teaching feature for gathering data on manually controlled movements at the location of the drill hole pattern and to thereby detect a movement path, which is collision free. The data on the taught collision free movement path is implemented when controlling the rock drilling unit during an actual drilling phase.
Claims6
An apparatus arranged for providing position control data for controlling positioning of a rock drilling unit of a rock drilling rig arranged for drilling transverse drill hole patterns to an underground tunnel, the apparatus comprising:
- at least one control unit provided with sensing data on a position and orientation of the rock drilling unit;
- and
- a teaching feature, wherein the apparatus is configured to:
- gather the sensing data on manually controlled movements of the rock drilling unit on a plane of the drill hole pattern to be drilled, and wherein the rock drilling unit is moved along a movement path at a distance from physical obstacles located at the drill hole pattern to be drilled;
- generate a collision free movement path in response of the gathered sensing data;
- and
- implement the generated collision free movement path in the position control of the rock drilling unit;
- and
- wherein the apparatus is further provided with sensing data on manually controlled movements of the rock drilling unit in a transverse direction of the plane of the drill pattern and at a transverse distance from physical obstacles in the transverse direction, whereby the generated collision free movement path has a three-dimensional configuration.
Dependencies are inferred from the claim text.