Apparatus, rock drilling rig and drilling method
AssigneeSandvik Mining and Construction Oy
InventorsMikko MONONEN, Jarkko JANTTI, Mikko VIINIKAINEN, Hannu ILORANTA, Miro SAARELA
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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.
Claims11
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.
A method of drilling transverse drill hole patterns in rock surfaces of an underground longitudinal tunnel, the method comprising:
- drilling drill holes of a drill hole pattern by a rock drilling rig including at least one rock drilling unit;
- executing a preparative detection of physical obstacles at the drill hole pattern prior to initiating drilling of the drill holes of the drill hole pattern;
- detecting the physical obstacles at the drill hole pattern by moving the rock drilling unit under control of an operator adjacent to physical objects including at least inner surfaces of the tunnel and thereby teaching a collision free movement path;
- storing the detected collision free movement path and
- utilizing the stored collision free movement path in a position control of the rock drilling unit when drilling the drill holes.
Dependencies are inferred from the claim text.