A method for breaking rock

Abstract

A method (400) for breaking rock, wherein the method (400) comprises: obtaining (403a), from one or more first sensors (202a) associated with a first drilling machine (104b1), first data sensed during drilling performed by the first drilling machine (104b1) at one or more first locations (115a) in a rock formation (700); obtaining (403b), from one or more second sensors (202b, 202c) associated with one or more second drilling machines (104b2, 104b3), second data sensed during drilling performed by the one or more second drilling machines (104b2, 104b3) at one or more second locations (115b, 115c) in the rock formation (700); updating (404a) a geological model (500a-e) based on the obtained first and second data; and managing (405a) the breaking of rock of the rock formation (700) based on the updated geological model (500a-e). Further, a system (300) for breaking rock. Further, a drilling rig arrangement (100d) comprising two or more drilling machines (104b1, 104b2, 104b3).

Description

[0001] A METHOD FOR BREAKING ROCK

[0002] Technical Field

[0003] The disclosure relates to a method for breaking rock, which, for example, may involve rock drilling. Further, the disclosure relates to a control arrangement and a system for breaking rock.

[0004] Background

[0005] For breaking or fracturing rock and excavating and drilling tunnels or rooms under ground, or above ground, drilling rigs having one or more drilling machines drilling into to a rock formation, or rock, may be used. The drilling machine may be a percussive or percussion drilling machine. However, other drilling machines are possible. Some drilling rigs may be provided with means for propulsion of the drilling rig, such as wheels or continuous tracks. Other drilling rigs, such as platform drilling rigs, may be configured to be stationary without any means for propulsion, such as placed above and / or on ground.

[0006] Summary

[0007] The inventors have found drawbacks in conventional solutions for breaking rock. For example, some conventional solutions are not efficient enough and can be further improved.

[0008] An object of embodiments of the disclosure is to provide a solution which mitigates or solves drawbacks and problems of conventional solutions.

[0009] The above and further objects are solved by the subject matter of the appended independent claims. Further advantageous embodiments can be found in the dependent claims.

[0010] According to a first aspect of the disclosure, the above mentioned and other objects are achieved with a method for breaking rock, wherein the method comprises: obtaining, from one or more first sensors associated with a first drilling machine, first data sensed during drilling performed by the first drilling machine at one or more first locations in a rock formation; obtaining, from one or more second sensors associated with one or more second drilling machines, second data sensed during drilling performed by the one or more second drilling machines at one or more second locations in the rock formation; updating a geological model based on the obtained first and second data; and managing the breaking of rock of the rock formation based on the updated geological model.

[0011] The inventors have found that the collection of data from two or more drilling machines drilling at two or more different locations and the usage of said data to update the geological model to be used in the management of breaking rock of the rock formation provides improved and more accurate position data of the drilling machines in relation to conventional solutions. Further, the improved and more accurate position data of the drilling machines provide improved and more accurate position information of other data collected from the two or more drilling machines. The improved and more accurate position information of data collected from the two or more drilling machines provide an improved rock breakage. Thus, an advantage of the method according to the first aspect is an improved and more efficient rock breakage in relation to conventional solutions.

[0012] An advantage of the method according to the first aspect is an improved control of the rock breakage. An advantage of the method according to the first aspect is that the rock breakage is facilitated. An advantage of the method according to the first aspect is that the control of the rock breakage is made more efficient in relation to conventional solutions. An advantage of the method according to the first aspect is an improved geological knowledge of the rock formation in relation to conventional solutions. An advantage of the method according to the first aspect is an increased drilling speed in relation to conventional solutions. An advantage of the method according to the first aspect is an improved adaptation to short-term changes while breaking rock of the rock formation. An advantage of the method according to the first aspect is an improved drill hole quality in relation to conventional solutions.

[0013] Examples of the first and second data, which may be referred to as measurement- while-drilling (MWD) data, are disclosed in the Detailed description hereinbelow. According to an advantageous embodiment of the method according to the first aspect, the method further comprises: controlling the first drilling machine to drill one or more first drill holes in the rock formation at the one or more first locations so as to generate said first data sensed by the one or more first sensors; and controlling the one or more second drilling machines to drill one or more second drill holes in the rock formation at the one or more second locations so as to generate said second data sensed by the one or more second sensors.

[0014] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage. According to another advantageous embodiment, the method may comprise the step of cross-calibrating / correlating between sensors associated with different drilling machines for facilitating the post processing in such a way that data from different drilling machines and their associated sensors can be treated in the same way instead of having to do, or generating, individual models. By way of this embodiment, it is easier to combine data from sensors associated with different drilling machines.

[0015] According to a further advantageous embodiment of the method according to the first aspect, the method further comprises: sensing said first data by usage of the one or more first sensors during drilling performed by the first drilling machine at the one or more first locations in the rock formation; and sensing said second data by usage of the one or more second sensors during drilling performed by the one or more second drilling machines at the one or more second locations in the rock formation.

[0016] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0017] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: determining first additional data based on said first data sensed during drilling performed by the first drilling machine at the one or more first locations in the rock formation; determining second additional data based on said second data sensed during drilling performed by the one or more second drilling machines at the one or more second locations in the rock formation; updating the geological model based on the determined first and second additional data; and managing the breaking of rock of the rock formation based on the updated geological model.

[0018] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage. An advantage of this embodiment is a better understanding of the local geology and thus a better geological model, which may enable a higher recovery and a more efficient mining process and production. An advantage of this embodiment is improved rock breakage plans. An advantage of this embodiment is optimized rock breakage plans.

[0019] According to yet another advantageous embodiment of the method according to the first aspect, the method comprises: controlling the breaking of rock of the rock formation based on the updated geological model.

[0020] According to still another advantageous embodiment of the method according to the first aspect, the first drilling machine is of a type different from the type of the one or more second drilling machines. An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0021] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: based on a geological model, generating a rock breakage plan; and based on the rock breakage plan, controlling the first drilling machine to drill one or more first drill holes in the rock formation at the one or more first locations and controlling the one or more second drilling machines to drill one or more second drill holes in the rock formation at the one or more second locations.

[0022] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage. An advantage of this embodiment is optimized rock breakage plans. An advantage of this embodiment is optimized rock breaking pattern s / strateg ies and rock reinforcement patterns / strategies based on learnings from previous data from the sensors associated with the drilling machines.

[0023] According to a further advantageous embodiment of the method according to the first aspect, the method further comprises: obtaining, from the first drilling machine, third data comprising control data used to control the first drilling machine to drill one or more first drill holes in the rock formation at the one or more first locations based on the first data, obtaining, from the one or more second drilling machines, fourth data comprising control data used to control the one or more second drilling machines to drill one or more second drill holes in the rock formation at the one or more second locations based on the second data, updating a geological model based on the obtained first, second, third and fourth data; and managing the breaking of rock of the rock formation based on the updated geological model.

[0024] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage. The further improved rock breakage may involve an adaptation, or an improved adaptation, of rock breaking patterns based on created knowledge of the geological model.

[0025] According to another advantageous embodiment of the method according to the first aspect, the control data comprise one or more of the group of:

[0026] • a rotation pressure-controlled feed (RPCF) of a drill bit;

[0027] • a feed speed-controlled impact (FSCI) of a drill bit;

[0028] • a damper pressure-controlled impact (DPCI) of a drill bit; and

[0029] • a progressive percussion increase (PPI) of a drill bit.

[0030] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0031] According to yet another advantageous embodiment of the method according to the first aspect, the method further comprises: obtaining, from one or more of the first and second drilling machines, fifth data, updating a geological model based on the obtained first, second, third, fourth and fifth data; and managing the breaking of rock of the rock formation based on the updated geological model, wherein the fifth data comprise the position of one or more of the group of:

[0032] • the first drilling machine;

[0033] • the second drilling machine;

[0034] • a drill bit of the first drilling machine;

[0035] • a drill bit of the second drilling machine;

[0036] • a first drill hole;

[0037] • a second drill hole;

[0038] • a drilled length of a first drill hole; and

[0039] • a drilled length of a second drill hole.

[0040] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage. Especially, the position of a drilled length of the drill hole, such as position data of a drilled cm, further improves the rock breakage and the control of the rock breakage.

[0041] According to still another advantageous embodiment of the method according to the first aspect, the method further comprises: obtaining, from one or more of the first and second drilling machines, fifth data, updating a geological model based on the obtained first, second, and fifth data; and managing the breaking of rock of the rock formation based on the updated geological model, wherein the fifth data comprise the position of one or more of the group of:

[0042] • the first drilling machine;

[0043] • the second drilling machine;

[0044] • a drill bit of the first drilling machine;

[0045] • a drill bit of the second drilling machine;

[0046] • a first drill hole;

[0047] • a second drill hole;

[0048] • a drilled length of a first drill hole; and • a drilled length of a second drill hole.

[0049] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage. Especially, the position of a drilled length of the drill hole, such as position data of a drilled cm, further improves the rock breakage and the control of the rock breakage.

[0050] According to an advantageous embodiment of the method according to the first aspect, one or more of the first and second sensors comprises / comprise one or more of the group of:

[0051] • a weight on drill bit sensor;

[0052] • a rate of penetration sensor;

[0053] • a rotation rate sensor;

[0054] • a drill bit torque sensor;

[0055] • a temperature sensor;

[0056] • a depth sensor;

[0057] • an XYZ translation sensor;

[0058] • a gas pressure sensor;

[0059] • a water pressure sensor;

[0060] • a position sensor;

[0061] • a fluid / water flow sensor; and

[0062] • a geophysical sensor.

[0063] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0064] According to a second aspect of the disclosure, the above mentioned and other objects are achieved with a computer program or a computer-readable medium comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method according to any one of the embodiments disclosed above or below. Advantages of the computer program or the computer-readable medium according to the second aspect correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below. For some embodiments, the computer program may calculate the calibration and relative values of the geological model. According to an aspect of the present disclosure, the above-mentioned computer program or the computer-readable medium is configured to implement the method and its embodiments described herein.

[0065] According to a third aspect of the disclosure, the above mentioned and other objects are achieved with a control arrangement for breaking rock, wherein the control arrangement is configured to: obtain, from one or more first sensors associated with a first drilling machine, first data sensed during drilling performed by the first drilling machine at one or more first locations in a rock formation; obtain, from one or more second sensors associated with one or more second drilling machines, second data sensed during drilling performed by the one or more second drilling machines at one or more second locations in the rock formation; update a geological model based on the obtained first and second data; and manage the breaking of rock of the rock formation based on the updated geological model.

[0066] It is to be appreciated that all the embodiments described for the method aspects of the disclosure are applicable also to the control arrangement aspects of the disclosure. Thus, all embodiments described for the method aspects of the disclosure may be performed by the control arrangement, which may include one or more control units, or one or more control devices. The embodiments of the control arrangement have advantages corresponding to advantages mentioned above for the method and its embodiments.

[0067] According to a fourth aspect of the disclosure, the above mentioned and other objects are achieved with a system for breaking rock, wherein the system comprises one or more first sensors associated with a first drilling machine, one or more second sensors associated with one or more second drilling machines, and a control arrangement according to any one of the embodiments disclosed above or below. Advantages of the system according to the fourth aspect and of its embodiments correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0068] According to a fifth aspect of the disclosure, the above mentioned and other objects are achieved with a drilling rig arrangement comprising two or more drilling machines and one or more of the group of:

[0069] • a control arrangement according to any one of the embodiments disclosed above or below; and

[0070] • a system according to any one of the embodiments disclosed above or below.

[0071] Advantages of the drilling rig arrangement according to the fifth aspect correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0072] According to an advantageous embodiment of the drilling rig arrangement according to the fifth aspect, the drilling rig arrangement comprises two or more drilling rigs, wherein each drilling rig comprises one or more drilling machines.

[0073] Advantages of the above-mentioned embodiments may involve an improved adaptation of the rock breaking patterns to what has been detected in the updated geological model. For example, when strong rock is sensed, the rock breaking pattern can be made more dense while in varying and fractured rock, it may be planned for a stretched rock breaking pattern as well as for a so-called cleaning of the drill hole to ensure the quality to charging.

[0074] The above-mentioned features and embodiments of the method, the computer program, the computer-readable medium, the control arrangement, the system and the drilling rig arrangement, respectively, may be combined in various possible ways providing further advantageous embodiments.

[0075] Further advantageous embodiments of the method, the computer program, the computer-readable medium, the control arrangement, the system and the drilling rig arrangement, and further advantages with the embodiments emerge from the detailed description of embodiments.

[0076] Brief Description of the Drawings

[0077] Embodiments of the disclosure will now be illustrated, for exemplary purposes, in more detail by way of embodiments and with reference to the enclosed drawings, where similar references are used for similar parts, in which:

[0078] Figure 1 is a schematic side view of a first embodiment of a drilling rig to which embodiments of the method according to the first aspect of the disclosure may be applied;

[0079] Figure 2 is a schematic enlargement of the the feed beam of the drilling rig of figure 1 ;

[0080] Figure 3 is a schematic side view of a second embodiment of a drilling rig to which embodiments of the method according to the first aspect of the disclosure may be applied;

[0081] Figures 4 is a schematic side view of a third embodiment of a drilling rig to which embodiments of the method according to the first aspect of the disclosure may be applied;

[0082] Figure 5 is a schematic diagram illustrating an embodiment of the drilling rig arrangement according the fifth aspect of the disclosure;

[0083] Figure 6 is a schematic diagram illustrating different kinds of drilling and drilling machines;

[0084] Figure 7 schematically illustrates different examples of a geological model;

[0085] Figure 8 is a schematic diagram illustrating a volume / formation of ore in a rock formation;

[0086] Figure 9 is a schematic diagram illustrating an embodiment of the system according the fourth aspect of the disclosure;

[0087] Figure 10 is a schematic flow chart illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0088] Figure 1 1 is another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure;

[0089] Figure 12 is yet another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure; Figure 13 is a schematic diagram illustrating aspects of embodiments of the method according to the first aspect of the disclosure; and

[0090] Figure 14 is a schematic diagram illustrating an embodiment of the control arrangement according to the third aspect of the disclosure, in which a method according to any one of the herein described embodiments may be implemented.

[0091] Detailed Description

[0092] With reference to figures 1 to 4, aspects of embodiments of a drilling rig 100a, 100b, 100c are schematically illustrated, to which embodiments of the method 400 according to the first aspect of the disclosure may be applied and / or which may be part of embodiments of the drilling rig arrangement 100d (see figure 5) according the fifth aspect of the disclosure. For some embodiments, the drilling rig 100a, 100b, 100c may be referred to as a rock drilling rig. For example, embodiments of the drilling rig 100a, 100b, 100c may be utilised in tunnelling, surface mining, underground mining, rock reinforcement and raise boring. Embodiments of the drilling rig 100a, 100b, 100c may be used, for example, for drilling drill holes 160a, 160b, blast holes, grout holes, holes for installing rock bolts, water wells and other wells, as well as for piling and foundations drilling etc, in rock formation 700, for example during tunnelling or mining.

[0093] Embodiments of the method 400, of the control arrangement 130, of the system 300 and of the drilling rig arrangement 100d may be utilised in combination with the above- and below-described kinds of drilling rigs 10Oa-c, but also in combination with any other kind of mining and / or construction machine. However, for the sake of simplicity, the disclosure of the embodiments of the method 400, of the control arrangement 130, of the system 300 and of the drilling rig arrangement 100d is exemplified hereinbelow with reference to the drilling rigs 100a, 100b and 100c illustrated in figures 1 to 4. With reference to figures 1 to 4, the drilling rig 100a, 100b, 100c, or drill rig, may rest, or be configured to rest, on a support surface 109, such as ground.

[0094] With reference to figures 1 and 2, a first embodiment of a drilling rig 100a is schematically illustrated. In general, the drilling rig 100a may comprise a carrier 102 and one or more booms 101 attached to the carrier 102, where the one or more booms 101 may carry one or more first drilling machines 104b1 and / or other tools. The drilling rig 100a illustrated in figure 1 includes one boom 101. A first end 101 a of the boom 101 may be attached in such a way that the boom 101 can pivot in relation to the carrier 102, such as a vehicle, via one or more articulated connections (not shown). The drilling rig 100a may include a feed beam 103 carrying and guiding a feeder 104a, which is movable in relation to the feed beam 103. The drilling rig 100a may include a first drilling machine 104b1 attached to the feeder 104a and thus movable in relation to the feed beam 103. The feed beam 103 may be attached to a second end 101 b of the boom 101 via one or more articulated connections, such as one or more rotators (not shown). The first drilling machine 104b1 may be moved along the feed beam 103 as the drilling of a drill hole 160a progresses. The first drilling machine 104b1 may comprise and / or hold a drill string 104c and / or a drill bit 104d for drilling a drill hole 160a. It is to be understood that the embodiment of figures 1 and 2 is only exemplary, and that the drilling rig 100a may carry any kind of tool, such as a bolt installation tool for installation of rock bolts. Other and / or additional tools may also be utilised. Some embodiments of the drilling rig 100a may include means for the propulsion of the drilling rig 100a, such as wheels 1 1 1 , 1 13, or continuous tracks. However, for some embodiments, such means of propulsion may be excluded.

[0095] With reference to figures 1 and 2, for some embodiments, the first drilling machine 104b1 may be hydraulically driven and power supplied from one or more hydraulic pumps 105, which in turn may be driven by one or more electric motors and / or combustion engines 106. For other embodiments, the first drilling machine 104b1 may instead be driven pneumatically, electrically or by fluid. The drilling process may be controlled by an operator from a cabin 107 of the drilling rig 100a. Alternatively, the drilling rig 100a may be remotely controlled or be configured to operate autonomously.

[0096] With reference to figures 1 and 2, the drilling rig 100a may include, or be equipped with, one or more first sensors 202a associated with the first drilling machine 104b1 , or one or more first sensors 202a may be applied, or applicable, to the drilling rig 100a or the first drilling machine 104b1 . As illustrated in figure 1 , the first sensor 202a may be attached to the carrier 102. In figure 1 , alternative positions of the first sensor 202a are illustrated by dotted lines. For example, the first sensor 202a may be part of, or comprise, an elongated unit, which may be positioned close to one or more of the group of: the feed beam 103; the drill string 104c; the drill bit 104d; and the first drilling machine 104b1 . When the drill hole 160a is drilled, the first sensor 202a and / or the elongated unit may be rotated to a feeding position and pushed into the drill hole 160a.

[0097] With reference to figure 2, another position of the first sensor 202a at the drilling rig 100a are schematically illustrated. As illustrated in figure 2, the first sensor 202a may be attached to the first drilling machine 104b1 and / or to the feeder 104a. In figure 2, alternative positions of the first sensor 202a are illustrated by dotted lines. For example, the first sensor 202a may be located inside the drill bit 104d and / or inside the drill string 104c, such as inside a rod or tube of the drill string 104c. However, it is to be understood that the first sensor 202a may be attached and positioned at other locations.

[0098] With reference to figures 1 and 2, the feed beam 103 may comprise a first end 103a and a second end 103b. The feed beam 103 may be configured to position the first end 103a of the feed beam 103 between the second end 103b of the feed beam 103 and the rock formation 700 to be penetrated or drilled. For some embodiments, during drilling, the first end 103a of the feed beam 103 may abut, or rest, against the rock formation 700. For some embodiments, during drilling, the second end 103b of the feed beam 103 may abut, or rest, against the rock formation 700.

[0099] With reference to figure 3, a second embodiment of a drilling rig 100b is schematically illustrated. The drilling rig 100b of figure 3 may be referred to as a platform drilling rig. The drilling rig 100b of figure 3 may be configured to be placed above ground. The drilling rig 100b may include a guide 170, or tower, for holding and guiding a drill string 104c and a drill bit 104d for drilling a drill hole 160b in a rock formation 700. The drilling rig 100b may include a second drilling machine 104b2 connected to the drill bit 104d for drilling a drill hole 160b. The drilling rig 100b may include a cabin 172, from where the drilling process may be controlled by an operator. Alternatively, the drilling rig 100b may be remotely controlled or be configured to operate autonomously. It is to be understood that the embodiment of figure 3 is only exemplary and that the drilling rig 100b may carry any kind of tool. Other and / or additional tools may also be utilised.

[0100] With reference to figure 3, the drilling rig 100b may include, or be equipped with, one or more second sensors 202b, or one or more second sensors 202b may be applied, or applicable, to the drilling rig 100b or the second drilling machine 104b2. As illustrated in figure 3, the second sensor 202b may be attached to the guide 170, or to the second drilling machine 104b2. In figure 3, an alternative position of the second sensor 202b is illustrated by dotted lines. For example, the first sensor 202a may be attached to a carrier 102 of the drilling rig 100b. For example, the second sensor 202b may be located below the cabin 172, and / or closer to the drill strong 104c than illustrated in figure 3. However, it is to be understood that the second sensor 202b may be attached and positioned at other locations. For some embodiments, the drilling rig 100b of figure 3 may be movable by way of a suitable vehicle.

[0101] With reference to figure 4, a third embodiment of a drilling rig 100c is schematically illustrated. The drilling rig 100c may have equipment 170c, or means, for propulsion. In the embodiment of figure 4, the equipment 170c for propulsion comprises one or more continuous tracks 172c. The drilling rig 100c may include a feed beam 103 and a second drilling machine 104b3 connected to the feed beam 103. The second drilling machine 104b3 may comprise and / or hold a drill string 104c and / or a drill bit 104d for drilling a drill hole 160c. For some embodiments, the drilling rig 100c may comprise one or more electric battery units for driving and / or operating the drilling rig 100c and / or may comprise one or more combustion engines for the same purpose. For example, the drilling rig 100c may be utilised in surface mining, underground mining and raise boring. The drilling rig 100c may include, or be equipped with, one or more second sensors 202c, or one or more second sensors 202c may be applied, or applicable, to the drilling rig 100c or the second drilling machine 104b3. As illustrated in figure 3, the second sensors 202c may be attached to the second drilling machine 104b3 or to the feed beam 103.

[0102] With reference to figure 5, aspects of an embodiment of the drilling rig arrangement 10Od according the fifth aspect of the disclosure are schematically illustrated. For some embodiments, the drilling rig arrangement 100d may include two or more drilling rigs 100a; 100b; 100c, wherein each drilling rig 100a; 100b; 100c includes one or more drilling machines 104b1 , 104b2, 104b3. The drilling rig arrangement 100d is disclosed in further detail hereinbelow. With reference to figures 10 to 12, embodiments of the method 400 for breaking rock according to the first aspect are schematically illustrated in flow charts.

[0103] With reference to figures 10, embodiments of the method 400 for breaking rock according to the first aspect include the steps of:

[0104] • obtaining 403a, from one or more first sensors 202a associated with a first drilling machine 104b1 , first data sensed during drilling performed by the first drilling machine 104b1 at one or more first locations 1 15a in a rock formation 700 (see figures 1 and 2);

[0105] • obtaining 403b, from one or more second sensors 202b, 202c associated with one or more second drilling machines 104b2, 104b3, second data sensed during drilling performed by the one or more second drilling machines 104b2, 104b3 at one or more second locations 115b, 115c in the rock formation 700 (see figures 3 and 4);

[0106] • updating 404a a geological model 500a-e based on the obtained first and second data; and

[0107] • managing 405a the breaking of rock of the rock formation 700 based on the updated geological model 500a-e.

[0108] For some embodiments, the first data may be referred to as first measurement-while- drilling (MWD) data. For some embodiments, the second data may be referred to as second measurement-while-drilling (MWD) data. For some embodiments, the geological model 500a-e may be referred to as a block model. Examples of the geological model 500a, 500b, 500c, 500d, 500e are schematically illustrated in figure 7. However, it is to be understood that the geological model 500a-e may be more complex than what is schematically illustrated in figure 7. For some embodiments, the step of managing 405a the breaking of rock of the rock formation 700 based on the updated geological model 500a-e may comprise controlling the breaking of rock of the rock formation 700 based on the updated geological model 500a-e. It is to be understood that the one or more second drilling machines 104b2, 104b3 may comprise one, two, three, four, five, or more, second drilling machines 104b2, 104b3.

[0109] For some embodiments, the first and second data may comprise directional information, such as drill hole inclination (inclination from vertical), magnetic direction from north, azimuth, and tool facing. For some embodiments, the first and second data may comprise rock drilling or rock breakage parameters, such as bottomhole or downhole temperature, pressure, gas pressure, torque on drill bit, weight on drill bit, rotation speed (revolutions per minute, RPM), smoothness of rotation, rate of penetration, mud flow volume, type and severity of any vibration downhole, depth, and position of drill bit. For some embodiments, the first and second data may comprise drill rig safety data, formation evaluation and correlation data, such as formation resistivity, gamma-ray, and sonic logs. Natural gamma ray emissions from the rock may help to determine what type of rock formation is being drilled. For some embodiments, the first and second data may comprise relative changes of the data or parameters mentioned above.

[0110] For some embodiments, the first and second data may comprise one or more properties of the rock of the rock formation, such as hardness of the rock, tendency to fracture (brittleness) of the rock, density of the rock, and porosity of the rock. However, it is to be understood that other data, such as other measurement-while-drilling data, are also possible.

[0111] The second drilling machine 104b2, 104b3 may be a drilling machine different from the first drilling machine 104b1. The second drilling machine 104b2, 104b3 may be a drilling machine located at a location (and / or drilling at a location) different from the location of the first drilling machine 104b1 . The second drilling machine 104b2, 104b3 may be a drilling machine drilling at a point in time different from the time of drilling of the first drilling machine 104b1 . For some embodiments, the type of the second drilling machine 104b2, 104b3 may be equal to the type of the first drilling machine 104b1 . For some embodiments, the second drilling machine 104b2, 104b3 may be equal to the first drilling machine 104b1 but drilling at a different location and / or at a different point in time and / or with a different setting or equipment. It is to be understood that the second data are data different from the first data. For example, the first data may be obtained from a location different from the location of the second data, or may be obtained at a different point in time.

[0112] With reference to figure 1 1 , some embodiments of the method 400 may include the steps of: • controlling 401 a the first drilling machine 104b1 to drill one or more first drill holes 160a in the rock formation 700 at the one or more first locations 1 15a so as to generate said first data sensed by the one or more first sensors 202a (see figures 1 and 2); and

[0113] • controlling 401 b the one or more second drilling machines 104b2, 104b3 to drill one or more second drill holes 160b, 160c in the rock formation 700 at the one or more second locations 1 15b, 1 15c so as to generate said second data sensed by the one or more second sensors 202b, 202c (see figures 3 and 4).

[0114] It is to be understood that the first drill hole 160a is a drill hole different from the second drill hole 160b, 160c.

[0115] With reference to figure 12, some embodiments of the method 400 may include one or more of the steps of:

[0116] • sensing 402a said first data by usage of the one or more first sensors 202a during drilling performed by the first drilling machine 104b1 at the one or more first locations 1 15a in the rock formation 700;

[0117] • sensing 402b said second data by usage of the one or more second sensors 202b, 202c during drilling performed by the one or more second drilling machines 104b2, 104b3 at the one or more second locations 1 15b, 1 15c in the rock formation 700;

[0118] • determining 406a first additional data based on said first data sensed during drilling performed by the first drilling machine 104b1 at the one or more first locations 1 15a in the rock formation 700;

[0119] • determining 406b second additional data based on said second data sensed during drilling performed by the one or more second drilling machines 104b2, 104b3 at the one or more second locations 1 15b, 1 15c in the rock formation 700;

[0120] • updating 404b the geological model 500a-e based on the determined first and second additional data;

[0121] • managing 405b the breaking of rock of the rock formation 700 based on the updated geological model 500a-e;

[0122] • controlling 407 the breaking of rock of the rock formation 700 based on the updated geological model; • based on a geological model 500a-e, generating 401 c a rock breakage plan;

[0123] • based on the rock breakage plan, controlling 401 d the first drilling machine 104b1 to drill one or more first drill holes 160a in the rock formation 700 at the one or more first locations 115a and controlling 401 e the one or more second drilling machines 104b2, 104b3 to drill one or more second drill holes 160b, 160c in the rock formation 700 at the one or more second locations 115b, 115c;

[0124] • obtaining 403c, from the first drilling machine 104b1 (for example, from one or more sensors of the first drilling machine 104b1 ), third data comprising control data used to control the first drilling machine 104b1 to drill one or more first drill holes 160a in the rock formation 700 at the one or more first locations 1 15a based on the first data (or, based on the first and second data);

[0125] • obtaining 403d, from the one or more second drilling machines 104b2, 104b3 (for example, from one or more sensors of the second drilling machine 104b2, 104b3), fourth data comprising control data used to control the one or more second drilling machines 104b2, 104b3 to drill one or more second drill holes 160b, 160c in the rock formation 700 at the one or more second locations 1 15b, 1 15c based on the second data (or, based on the first and second data);

[0126] • updating 404c a geological model 500a-e based on the obtained first, second, third and fourth data;

[0127] • managing 405c the breaking of rock of the rock formation 700 based on the updated geological model 500a-e;

[0128] • obtaining 403e, from one or more of the first and second drilling machines 104b1 , 104b2, 104b3, fifth data (for example, from one or more sensors of the first or second drilling machine 104b1 , 104b2, 104b3);

[0129] • updating 404d a geological model 500a-e based on the obtained first, second, third, fourth and fifth data;

[0130] • managing 405d the breaking of rock of the rock formation 700 based on the updated geological model 500a-e;

[0131] • obtaining 403e, from one or more of the first and second drilling machines 104b1 , 104b2, 104b3, fifth data;

[0132] • updating 404e a geological model based on the obtained first, second, and fifth data; and

[0133] • managing 405e the breaking of rock of the rock formation 700 based on the updated geological model 500a-e. For some embodiments, the control data may include one or more of the group of:

[0134] • a rotation pressure-controlled feed (RPCF) of a drill bit;

[0135] • a feed speed-controlled impact (FSCI) of a drill bit;

[0136] • a damper pressure-controlled impact (DPCI) of a drill bit; and

[0137] • a progressive percussion increase (PPI) of a drill bit.

[0138] For some embodiments, the control data may include one or more of the group of:

[0139] • drill bit status;

[0140] • drill bit wear;

[0141] • drill bit type;

[0142] • number of rods or tubes of the drill string 104c;

[0143] • type of rods or tubes of the drill string 104c;

[0144] • drilling angle;

[0145] • damper pressure;

[0146] • feed pressure;

[0147] • percussion pressure;

[0148] • rotation pressure; and

[0149] • flushing water pressure.

[0150] However, it is to be understood that other control data are also possible.

[0151] For some embodiments, the fifth data may include the position (or, location) of one or more of the group of:

[0152] • the first drilling machine 104b1 ;

[0153] • the second drilling machine 104b2, 104b3;

[0154] • a drill bit 104d of the first drilling machine 104b1 ;

[0155] • a drill bit 104d of the second drilling machine 104b2, 104b3;

[0156] • a first drill hole 160a;

[0157] • a second drill hole 160b; 160c;

[0158] • a drilled length 117a (such as a drilled cm) of a first drill hole 160a;

[0159] • a drilled length 117b; 117c of a second drill hole 160b; 160c;

[0160] • a geological model; and an updated, or revised, geological model.

[0161] It is to be understood that the second additional data are different from the first additional data, i.e., the first additional data are based on data obtained from a location different from the location of the data on which the second additional data are based. For some embodiments, the rock breakage plan may be referred to as a rock breaking plan.

[0162] For some embodiments, one or more of the first and second sensors 202a, 202b, 202c may comprise one or more of the group of:

[0163] • a weight on drill bit sensor;

[0164] • a rate of penetration sensor;

[0165] • a rotation rate sensor;

[0166] • a drill bit torque sensor;

[0167] • a temperature sensor;

[0168] • a depth sensor;

[0169] • an XYZ translation sensor;

[0170] • a gas pressure sensor;

[0171] • a water pressure sensor;

[0172] • a position sensor;

[0173] • a fluid / water flow sensor;

[0174] • a geophysical sensor, such as a Hyperspectral imaging sensor, a Lidar sensor, a Libs sensor, a seismic sensor, a Muon telescope sensor, or a photogrammetry sensor;

[0175] • an accelerometer;

[0176] • a drill string rod / tube counter sensor;

[0177] • a drill string rod / tube weight sensor; and

[0178] • a drill string rod / tube type sensor;

[0179] However, it is to be understood that other sensors are also possible. For some embodiments, the third data may be referred to as third rig control system (RCS) data. For some embodiments, the fourth data may be referred to as fourth rig control system (RCS) data.

[0180] With reference to figure 13, a further schematic illustration of embodiments of the method 400 for breaking rock according to the first aspect is presented in the form of a flow chart. Based on a geological model hypothesis in the form of a geological model, a drill and blast plan may be created, i.e. a plan for the location of the drilling and blasting. Expressed in alternative manner, a drill and blast plan may be created with the geological model hypothesis serving as an input. Sensor data (for example, measurement-while-drilling data, rig control system data, and / or position data) are sensed by and / or obtained from the one or more first and second sensors 202a, 202b, 202c and / or from one or more of the first and second drilling machines 104b1 , 104b2, 104b3. Based on the obtained sensor data, the geological model is updated, whereby an improved geological model is attained.

[0181] Unless disclosed otherwise, it should be noted that the method steps illustrated in figures 10 to 12 and described herein do not necessarily have to be executed in the order illustrated in figures 10 to 12. The steps may essentially be executed in any suitable order. Further, one or more steps may be added without departing from the scope of the appended claims. One or more steps may be excluded without departing from the scope of the appended claims.

[0182] With reference to figures 1 , 5 and 14, aspects of embodiments of the control arrangement 130, 130a-c for rock breakage according to the third aspect of the disclosure are schematically illustrated. Embodiments of the control arrangement 130, 130a-c are configured to:

[0183] • obtain 403a, from one or more first sensors 202a associated with a first drilling machine 104b1 , first data sensed during drilling performed by the first drilling machine 104b1 at one or more first locations 1 15a in a rock formation 700;

[0184] • obtain 403b, from one or more second sensors 202b, 202c associated with one or more second drilling machines 104b2, 104b3, second data sensed during drilling performed by the one or more second drilling machines 104b2, 104b3 at one or more second locations 1 15b, 1 15c in the rock formation 700; • update 404a a geological model 500a-e based on the obtained first and second data; and

[0185] • manage 405a (for example, control) the breaking of rock of the rock formation 700 based on the updated geological model 500a-e.

[0186] With reference to figures 1 and 5, some embodiments of the control arrangement 130 may include a communication unit 131 for obtaining, from the one or more first second sensors 202a-c, first and second data in order to perform steps 403a and 403b in figures 10 to 12, and for obtaining third, fourth and fifth data from the first and / or second drilling machines 104b1 , 104b2, 104b3 in order to perform steps 403c, 403d and 403e in figure 10 to 12. Some embodiments of the control arrangement 130 may include an updating unit 132 for updating a geological model 500a-e based on the obtained data in order to perform steps 404a, 404b, 404c, 404d and 404e in figures 10 to 12. Some embodiments of the control arrangement 130 may include a managing unit 133 for managing and / controlling the breaking of rock of the rock formation 700 based on the updated geological model 500a-e in order to perform steps 405a, 405b, 405c, 405d, 405e and 407 in figures 10 to 12.

[0187] With reference to figures 1 and 5, some embodiments of the control arrangement 130 may include a controlling unit 134 for controlling the first and second drilling machines 104b1 , 104b2, 104b3 to drill one or more first and second drill holes 160a, 160b, 160c in the rock formation in order to perform steps 401 a, 401 b, 401 d and 401 e in figures 1 1 and 12. Some embodiments of the control arrangement 130 may include a determination unit 135 for determining first and second additional data in order to perform steps 406a and 406b in figure 12.

[0188] With reference to figures 1 and 5, for some embodiments, the control arrangement 130 may be stationary. The control arrangement 130 may be located in cloud, in a control system, or elsewhere. The control arrangement 130a-c may be located in one or more drilling rigs 10Oa-c. The control arrangement 130, 130-c may be located at two or more of said locations. With reference to figures 1 , 3, 4 and 5, for some embodiments, each drilling rig 100a-c may include an onboard control arrangement 130a, 130b, 130c, and there may be a stationary central or main control arrangement 130 configured to communicate with the onboard control arrangements 130a-c. With reference to figures 1 , 3, 4 and 5, for some embodiments, the control arrangement 130, 130a-c may be configured to directly or indirectly communicate, for example via signal lines (or cables or wires) or wirelessly, with one or more of the system 300, first and second sensors 202a-c and first and second drilling machines 104b1 , 104b2, 104b3. Thus, for some embodiments, there may be one or more signal connections between the control arrangement 130, 130a-c and one or more of the system 300, first and second sensors 202a-c and first and second drilling machines 104b1 , 104b2, 104b3.

[0189] Figure 14 shows in schematic representation an embodiment of the control arrangement 130 according to the third aspect of the disclosure, which may include a control unit 600, which may correspond to or may include one or more of the above- mentioned units 131 to 135 of the control arrangement 130, 130a-c. The control unit

[0190] 600 may comprise a computing unit 601 , which can be constituted by essentially any suitable type of processor or microcomputer, for example a circuit for digital signal processing (Digital Signal Processor, DSP), or a circuit having a predetermined specific function (Application Specific Integrated Circuit, ASIC). The computing unit

[0191] 601 is connected to a memory unit 602 arranged in the control unit 600. The memory unit 602 provides the computing unit 601 with, for example, the stored program code and / or the stored data which the computing unit 601 requires to be able to perform computations. The computing unit 601 is also arranged to store partial or final results of computations in the memory unit 602.

[0192] With reference to figure 14, in addition, the control unit 600 may be provided with devices 61 1 , 612, 613, 614 for receiving and transmitting input and output signals. These input and output signals may contain waveforms, impulses, or other attributes which, by means of the devices 61 1 , 613 for the reception of input signals, can be detected as information and can be converted into signals which can be processed by the computing unit 601. These signals are then made available to the computing unit 601. The devices 612, 614 for the transmission of output signals are arranged to convert signals received from the computing unit 601 in order to create output signals by, for example, modulating the signals, which, for example, can be transmitted to parts and / or systems of, or associated with, the drilling rig 10Oa-c, a data storage device 150 for storing data, the system 300, the first and second sensors 202a-c and the first and second drilling machines 104b1 , 104b2, 104b3. Each of the connections to the devices for receiving and transmitting input and output signals can be constituted by one or more of the group of: a cable; a data bus; and a wireless connection. The data stored in the data storage device 150, which may include said first, second, third, fourth and or fifth data, may be used for machine learning and / or Al applications. Further, data from two or more different mines or sites may be collected and stored in the data storage device 150 for further analysis, such as by way of Al.

[0193] Here and in this document, units are often described as being provided for performing steps of the method 400 according to embodiments of the disclosure. This also includes that the units are designed to and / or configured to perform these method steps.

[0194] With reference to figures 1 and 5, the units 131 to 135 of the control arrangement 130, 130a are in figures 1 and 5 illustrated as separate units. These separate units may, however, be logically separated but physically implemented in the same unit, or can be both logically and physically arranged together. The units 131 to 135 may for example correspond to groups of instructions, which can be in the form of programming code, that are input into, and are utilized by a processor / computing unit 601 (see figure 14) when the units are active and / or are utilized for performing its method step.

[0195] With reference to figures 1 , 5 and 14, the control arrangement 130, 130a-c which may include one or more control units 600, for example one or more devices, controllers or control devices, according to embodiments of the present disclosure may be arranged to perform all of the method steps mentioned above, in the claims, and in connection with the herein described embodiments. The control arrangement 130, 130a-c is associated with the above-described advantages for each respective embodiment of the method 400.

[0196] With reference to figure 14, according to the second aspect of the disclosure, a computer program 603 or a computer-readable medium is provided, comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method 400 according to any one of the embodiments disclosed above.

[0197] The person skilled in the art will appreciate that the herein described embodiments of the method 400 according to the first aspect may be implemented in a computer program 603 (see figure 14), which, when it is executed in a computer, instructs the computer to execute the method 400. The computer program is usually constituted by a computer program product 603 stored on a non-transitory / non-volatile digital storage medium, in which the computer program is incorporated in the computer-readable medium of the computer program product. The computer-readable medium comprises a suitable memory, such as, for example: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk unit, etc.

[0198] With reference to figure 9, aspects of an embodiment of the system 300 for breaking rock according the fourth aspect of the disclosure are schematically illustrated. The system 300 includes one or more first sensors 202a associated with a first drilling machine 104b1 . The system 300 includes one or more second sensors 202b, 202c associated with one or more second drilling machines 104b2, 104b3. The system 300 includes a control arrangement 130, 130a-c according to any one of the embodiments disclosed above.

[0199] With reference to figure 5, embodiments of the drilling rig arrangement 10Od according the fifth aspect of the disclosure include two or more drilling machines 104b1 , 104b2, 104b3 and one or more of the group of:

[0200] • a control arrangement 130, 130a-c according to any one of the embodiments disclosed above; and

[0201] • a system 300 according to any one of the embodiments disclosed above.

[0202] With reference to figure 8, an example of a conventional volume / formation / body of ore 702 and a plurality of tunnels 704a, 704b, 704c in a rock formation 700 are schematically illustrated. Ore 702 can be described as a naturally occurring mineral containing a valuable constituent (such as metal) for which it is mined. Conventionally, the tunnels 704a, 704b, 704c may be provided around the ore 702 of the rock formation 700, for example at different depths, when performing conventional mining. In one 704a of the tunnels 704a, 704b, 704c, a first drilling rig 100a is positioned while a second drilling rig 100c is positioned in another one 704c of the tunnels 704a, 704b, 704c. In figure 8, the drilling machine of the first drilling rig 100a is drilling at a first location 115a in the rock formation 700 while the drilling machine of the second drilling rig 100c is drilling at a second location 1 15c in the rock formation 700. Embodiments of the method 400, of the system 300 and of the drilling rig arrangement 100d may be applied for mining said ore 702, such as the ore 702 schematically illustrated in figure 8. For example, an aim of embodiments of the disclosure may be to update the geological model 500a-e such that it as close as possible represents the actual ore 702 of interest, i.e. the ore 702 to be mined.

[0203] For some embodiments, the first drilling machine 104b1 may be of a type different from the type of the one or more second drilling machines 104b2, 104b3. With reference to figure 6, different types of drilling, drilling rigs or drilling machines are schematically illustrated when applied to a body of ore 706 of a rock formation 700. For geology purposes, such as initially, infill drilling or an infill drilling machine 708 may be applied, for example for test drilling. When establishing tunnels in a mine, a bolting drilling machine 710 or rig (such as a Boltec drilling machine), a face drilling machine 712 or rig (such as a Jumbo drilling machine) and / or a cable bolting drilling machine 714 or rig (such as a Cabletec drilling machine) may be applied or used. The bolting drilling machine 710, the face drilling machine 712 and the cable bolting drilling machine 714 may be applied, or configured, to drill in different directions in the rock formation 700. The bolting drilling machine 710 or rig may be configured for fully mechanized bolting and may handle several bolt types. The face drilling machine 712 or rig may be configured for blast hole drilling and tunneling. The cable bolting drilling machine 714 or rig may be configured for fully mechanized cable bolting. A Simba drilling machine 716 may also be used, which is capable of ring-drilling with parallel holes upward and downward. When drilling between two already established tunnels, a stoping drilling machine may be applied or used. However, it is to be understood that other drilling machines are also possible.

[0204] The embodiments disclosed above may be applied to rock drilling under ground or above ground. Finally, it should be understood that the invention is not limited to the embodiments described above, but also relates to and incorporates all embodiments within the scope of the appended independent claims. 1

Claims

Claims1 . A method (400) for breaking rock, wherein the method (400) comprises: obtaining (403a), from one or more first sensors (202a) associated with a first drilling machine (104b1 ), first data sensed during drilling performed by the first drilling machine (104b1 ) at one or more first locations (1 15a) in a rock formation (700); obtaining (403b), from one or more second sensors (202b, 202c) associated with one or more second drilling machines (104b2, 104b3), second data sensed during drilling performed by the one or more second drilling machines (104b2, 104b3) at one or more second locations (1 15b, 1 15c) in the rock formation (700); updating (404a) a geological model (500a-e) based on the obtained first and second data; and managing (405a) the breaking of rock of the rock formation (700) based on the updated geological model (500a-e).

2. A method (400) according to claim 1 , wherein the method (400) further comprises: controlling (401 a) the first drilling machine (104b1 ) to drill one or more first drill holes (160a) in the rock formation (700) at the one or more first locations (1 15a) so as to generate said first data sensed by the one or more first sensors (202a); and controlling (401 b) the one or more second drilling machines (104b2, 104b3) to drill one or more second drill holes (160b, 160c) in the rock formation (700) at the one or more second locations (1 15b, 1 15c) so as to generate said second data sensed by the one or more second sensors (202b, 202c).

3. A method (400) according to claim 1 or 2, wherein the method (400) further comprises: sensing (402a) said first data by usage of the one or more first sensors (202a) during drilling performed by the first drilling machine (104b1 ) at the one or more first locations (1 15a) in the rock formation (700); and sensing (402b) said second data by usage of the one or more second sensors (202b, 202c) during drilling performed by the one or more second drilling machines(104b2, 104b3) at the one or more second locations (115b, 1 15c) in the rock formation (700).

4. A method (400) according to any one of the claims 1 to 3, wherein the method (400) further comprises: determining (406a) first additional data based on said first data sensed during drilling performed by the first drilling machine (104b1 ) at the one or more first locations (1 15a) in the rock formation (700); determining (406b) second additional data based on said second data sensed during drilling performed by the one or more second drilling machines (104b2, 104b3) at the one or more second locations (1 15b, 1 15c) in the rock formation (700); updating (404b) the geological model (500a-e) based on the determined first and second additional data; and managing (405b) the breaking of rock of the rock formation (700) based on the updated geological model (500a-e).

5. A method (400) according to any one of the claims 1 to 4, wherein the method (400) comprises: controlling (407) the breaking of rock of the rock formation (700) based on the updated geological model.

6. A method (400) according to any one of the claims 1 to 5, wherein the first drilling machine (104b1 ) is of a type different from the type of the one or more second drilling machines (104b2, 104b3).

7. A method (400) according to any one of the claims 1 to 6, wherein the method (400) further comprises: based on a geological model (500a-e), generating (401 c) a rock breakage plan; and based on the rock breakage plan, controlling (401 d) the first drilling machine (104b1 ) to drill one or more first drill holes (160a) in the rock formation (700) at the one or more first locations (1 15a) and controlling (401 e) the one or more second drilling machines (104b2, 104b3) to drill one or more second drill holes (160b, 160c) in the rock formation (700) at the one or more second locations (1 15b, 1 15c).

8. A method (400) according to any one of the claims 1 to 7, wherein the method (400) further comprises: obtaining (403c), from the first drilling machine (104b1 ), third data comprising control data used to control the first drilling machine (104b1 ) to drill one or more first drill holes (160a) in the rock formation (700) at the one or more first locations (115a) based on the first data; obtaining (403d), from the one or more second drilling machines (104b2, 104b3), fourth data comprising control data used to control the one or more second drilling machines (104b2, 104b3) to drill one or more second drill holes (160b, 160c) in the rock formation (700) at the one or more second locations (115b, 1 15c) based on the second data; updating (404c) a geological model (500a-e) based on the obtained first, second, third and fourth data; and managing (405c) the breaking of rock of the rock formation (700) based on the updated geological model (500a-e).

9. A method (400) according to claim 8, wherein the control data comprise one or more of the group of:• a rotation pressure-controlled feed of a drill bit;• a feed speed-controlled impact of a drill bit;• a damper pressure-controlled impact of a drill bit; and• a progressive percussion increase of a drill bit.

10. A method (400) according to claim 8 or 9, wherein the method (400) further comprises: obtaining (403e), from one or more of the first and second drilling machines (104b1 , 104b2, 104b3), fifth data; updating (404d) a geological model (500a-e) based on the obtained first, second, third, fourth and fifth data; and managing (405d) the breaking of rock of the rock formation (700) based on the updated geological model (500a-e); wherein the fifth data comprise the position of one or more of the group of:• the first drilling machine (104b1 );• the second drilling machine (104b2, 104b3);• a drill bit (104d) of the first drilling machine (104b1 );• a drill bit (104d) of the second drilling machine (104b2, 104b3);• a first drill hole (160a);• a second drill hole (160b; 160c);• a drilled length (1 17a) of a first drill hole (160a); and• a drilled length (1 17b; 1 17c) of a second drill hole (160b; 160c).1 1. A method (400) according to any one of the claims 1 to 9, wherein the method (400) further comprises: obtaining (403e), from one or more of the first and second drilling machines (104b1 , 104b2, 104b3), fifth data; updating (404e) a geological model (500a-e) based on the obtained first, second, and fifth data; and managing (405e) the breaking of rock of the rock formation (700) based on the updated geological model (500a-e); wherein the fifth data comprise the position of one or more of the group of:• the first drilling machine (104b1 );• the second drilling machine (104b2, 104b3);• a drill bit (104d) of the first drilling machine (104b1 );• a drill bit (104d) of the second drilling machine (104b2, 104b3);• a first drill hole (160a);• a second drill hole (160b; 160c);• a drilled length (1 17a) of a first drill hole (160a); and• a drilled length (1 17b; 1 17c) of a second drill hole (160b; 160c).

12. A computer program (603) or a computer-readable medium comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method (400) according to any one of the claims 1 to 1 1 .

13. A control arrangement (130) for breaking rock, wherein the control arrangement (130) is configured to:obtain (403a), from one or more first sensors (202a) associated with a first drilling machine (104b1 ), first data sensed during drilling performed by the first drilling machine (104b1 ) at one or more first locations (1 15a) in a rock formation (700); obtain (403b), from one or more second sensors (202b, 202c) associated with one or more second drilling machines (104b2, 104b3), second data sensed during drilling performed by the one or more second drilling machines (104b2, 104b3) at one or more second locations (1 15b, 1 15c) in the rock formation (700); update (404a) a geological model (500a-e) based on the obtained first and second data; and manage (405a) the breaking of rock of the rock formation (700) based on the updated geological model (500a-e).

14. A system (300) for breaking rock, wherein the system (300) comprises one or more first sensors (202a) associated with a first drilling machine (104b1 ), one or more second sensors (202b, 202c) associated with one or more second drilling machines (104b2, 104b3), and a control arrangement (130) according to claim 13.

15. A drilling rig arrangement (100d) comprising two or more drilling machines (104b1 , 104b2, 104b3) and one or more of the group of:• a control arrangement (130) according to claim 13; and• a system (300) according to claim 14.

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