A method for rock breakage

Abstract

A method (400) for rock breakage, wherein the method (400) comprises: performing (401b) one or more indentations on a rock formation (700) in ground by usage of an indentation device (200) so as to produce an indentation response, the indentation device (200) comprising one or more sensors (208, 210); comparing (402) the produced indentation response to previously determined indentation responses associated with different rock categories with one or more properties; and based on the comparison of the produced indentation response to the previously determined indentation responses, determining (403) the rock category of the rock formation (700) and thus one or more properties of the rock of the rock formation (700). Further, a system (300) for rock breakage. The system (300) comprises: an indentation device (200) for performing one or more indentations on a rock formation (700) in ground; and a control arrangement (130) for performing the method.

Description

[0001] A METHOD FOR ROCK BREAKAGE

[0002] Technical Field

[0003] The disclosure relates to a method for rock breakage, such as drilling, for example percussion drilling. Further, the disclosure relates to a control arrangement and a system for rock breakage.

[0004] Background

[0005] For breaking or fracturing rock and excavating and drilling tunnels or rooms underground, or above ground, drilling rigs having one or more drilling machines drilling into 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.

[0006] Summary

[0007] The inventors have found drawbacks in conventional solutions for rock breakage, such as drilling. 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 rock breakage, wherein the method comprises performing one or more indentations on a rock formation in ground by usage of an indentation device so as to produce an indentation response, the indentation device comprising one or more sensors, and comparing the produced indentation response to previously determined indentation responses associated with different rock categories with one or more properties. Based on the comparison of the produced indentation response to the previously determined indentation responses, the method comprises determining the rock category of the rock formation and thus one or more properties of the rock of the rock formation.

[0011] 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 an improved 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 rock breakage or the control of the rock breakage is made more efficient in relation to conventional solutions, leading to a reduction in energy consumption during the drilling. An advantage of the method according to the first aspect is an improved determination of one or more properties of the rock of the rock formation in the ground. An advantage of the method according to the first aspect is an improved determination of the rock category of the rock formation in the ground and thus of the one or more properties of the rock of the rock formation in the ground.

[0012] The inventors have found that previously determined, or predetermined, indentation responses associated with different rock categories, which have one or more properties, can be used to improve rock breakage. For example, these previously determined indentation responses may be determined by testing or tests on different rocks in various kinds of experimental setups, such as in a laboratory, according to conventional solutions. By performing an indentation on a rock formation in the ground, i.e. , performing an indentation during an in situ / field operation at the site of the rock breakage, so as to produce an indentation response, and then compare the produced indentation response to the previously determined indentation responses, the rock category of the rock formation in the ground and thus properties of the rock of the rock formation in the ground can be determined on site in an efficient and improved manner. Thus, an efficient and improved in-situ rock property determination is provided, such as an in-situ rock hardness determination. When the properties of the rock of the rock formation in the ground have been determined, the rock breakage can be efficiently controlled based on the determined properties of the rock of the rock formation, for example, by applying a rock breaking setting to the rock breakage or to the control of the rock breakage. The rock breaking setting may include one or more from the group of: an impact velocity / rate of a drill bit, such as of a percussion drill bit; an indexation or rotation speed / rate of a drill bit, such as of a percussion drill bit; a drill bit category of a drill bit; and a rate of the flushing of a drill hole. For some embodiments, the previously determined indentation responses associated with different rock categories may be stored in a database, a cloud storage, or any other media, which may be accessible at the site of the rock breakage. Thus, an advantage of the method according to the first aspect is an improved rock breakage and an improved control of the rock breakage.

[0013] For some embodiments, it may be defined that the step of performing one or more indentations on a rock formation in ground comprises the step of producing an indentation response based on a penetration of the rock formation and a forming of an indentation in the rock formation by the indentation device. For some embodiments, it may be defined that the step of performing one or more indentations on a rock formation in ground comprises the step of obtaining an indentation response from the indentation device based on the penetration of the rock formation and the forming of an indentation in the rock formation by the indentation device. For some embodiments, it may be defined that the step of performing one or more indentations on a rock formation in ground comprises the step of forcing an indenter of the indentation device against and / or into the rock formation so as to produce an indentation response.

[0014] Embodiments of the method for rock breakage according to the first aspect may be performed before breaking the rock of the rock formation and / or in connection, such as in direct connection, with breaking the rock of the rock formation.

[0015] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: selecting one or more positions on the rock formation in ground to be subjected to the one or more indentations.

[0016] An advantage of this embodiments is a further improved determination of one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved determination of the rock category of the rock formation in the ground and thus of the one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage. According to a further advantageous embodiment of the method according to the first aspect, the method further comprises: based on the determination of rock category, determining the one or more properties of the rock of the rock formation.

[0017] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0018] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: determining the one or more properties of the rock of the rock formation before breaking the rock of the rock formation.

[0019] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0020] According to yet another advantageous embodiment of the method according to the first aspect, the method further comprises: determining the one or more properties of the rock of the rock formation in connection with breaking the rock of the rock formation.

[0021] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0022] According to still another advantageous embodiment of the method according to the first aspect, the previously determined indentation responses are stored on one or more data storage devices storing rock classification data about different rock categories with one or more properties. An advantage of this embodiments is a further improved determination of one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved determination of the rock category of the rock formation in the ground and thus of the one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0023] According to an advantageous embodiment of the method according to the first aspect, the method comprises: based on the determination of rock category, determining the hardness of the rock of the rock formation.

[0024] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0025] According to a further advantageous embodiment of the method according to the first aspect, the method further comprises: performing one or more indentations on a rock formation in ground by usage of the indentation device so as to produce a force-penetration response, and comparing the produced force-penetration response to previously determined force-penetration responses associated with different rock categories with one or more properties.

[0026] An advantage of this embodiments is a further improved determination of one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved determination of the rock category of the rock formation in the ground and thus of the one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0027] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: by usage of the indentation device, determining the indentation force and the indentation depth so as to produce a force-penetration response.

[0028] An advantage of this embodiments is a further improved determination of one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved determination of the rock category of the rock formation in the ground and thus of the one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0029] According to still another advantageous embodiment of the method according to the first aspect, the method further comprises: based on one or more of the rock category of the rock formation and one or more properties of the rock of the rock formation, automatically selecting a rock breaking setting for the rock breakage.

[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: based on one or more of the rock category of the rock formation and one or more properties of the rock of the rock formation, presenting one or more rock breaking settings.

[0032] An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0033] According to a second aspect of the disclosure, the above mentioned and other objects are achieved with a method for breaking rock, wherein the method comprises: performing the method for rock breakage according to any one of the embodiments disclosed above or below; and controlling the breaking of rock of the rock formation based on the determined one or more properties of the rock of the rock formation.

[0034] An advantage of the method according to the second aspect is an improved control of the rock breakage. An advantage of the method according to the second aspect is an improved breaking of rock, since the breaking of rock of the rock formation in the ground can be efficiently controlled based on the determined properties of the rock of the rock formation, which are determined by any one of the embodiments of the method for rock breakage according to the first aspect, for example, by applying a rock breaking setting to the breaking of rock or the control of the breaking of rock, as disclosed above. For some embodiments of the method according to the second aspect, the method may comprise: breaking rock of the rock formation based on the determined one or more properties of the rock of the rock formation.

[0035] According to a third 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 or second aspect and its embodiments mentioned above or below.

[0036] 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.

[0037] According to a fourth aspect of the disclosure, the above mentioned and other objects are achieved with a control arrangement for rock breakage, wherein the control arrangement is configured to: perform one or more indentations on a rock formation in ground by usage of an indentation device so as to produce an indentation response, the indentation device comprising one or more sensors; compare the produced indentation response to previously determined indentation responses associated with different rock categories with one or more properties; and based on the comparison of the produced indentation response to the previously determined indentation responses, determine the rock category of the rock formation and thus one or more properties of the rock of the rock formation.

[0038] 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.

[0039] According to a fifth aspect of the disclosure, the above mentioned and other objects are achieved with an indentation device for performing one or more indentations on a rock formation in ground, wherein the indentation device comprises: an indenter for penetrating the rock formation and forming an indentation in the rock formation, a holder, a tubular member, one or more first sensors for determining the indentation force of the indenter forming the indentation in the rock formation, and one or more second sensors for determining the indentation depth, wherein the holder is configured to hold the indenter and the tubular member, wherein the tubular member surrounds the indenter, wherein the tubular member is movable in relation to the holder, wherein the one or more second sensors is / are configured to determine the displacement of the tubular member in relation to the holder and thus configured to determine the indentation depth, and wherein the indentation device is configured to produce an indentation response based on determinations by the first and second sensors.

[0040] An advantage of the indentation device according to the fifth aspect is an improved performance of one or more indentations on a rock formation in ground. An advantage of the indentation device according to the fifth aspect is an improved determination of one or more properties of the rock of the rock formation. An advantage of the indentation device according to the fifth aspect is an improved determination of the rock category of the rock formation in the ground and thus an improved determination of properties of the rock of the rock formation in the ground on site based on the improved performance of the indentations on a rock formation in ground. Thus, an efficient and improved in-situ rock property determination can be provided, such as an in-situ rock hardness determination. An advantage of the indentation device according to the fifth aspect according to the fifth aspect is an improved rock breakage and / or an improved control of the rock breakage based on the improved performance of one or more indentations on a rock formation in ground.

[0041] According to an advantageous embodiment of the indentation device according to the fifth aspect, the indentation device is configured to produce a force-penetration response based on determinations by the first and second sensors. An advantage of this embodiment is a further improved performance of one or more indentations on a rock formation in ground. An advantage of this embodiments is a further improved determination of one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved determination of the rock category of the rock formation in the ground and thus a further improved determination of properties of the rock of the rock formation in the ground on site. An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0042] According to a further advantageous embodiment of the indentation device according to the fifth aspect, the tubular member has a top portion and a bottom portion, wherein when in use the indentation device is configured to position the top portion between the bottom portion and the rock formation to be penetrated, wherein the top portion is configured for engagement with the rock formation, and wherein the top portion has an annular edge comprising teeth.

[0043] An advantage of this embodiment is a further improved performance of one or more indentations on a rock formation in ground. An advantage of this embodiment is the tubular member is prevented from laterally sliding or slipping in relation to the rock formation. An advantage of this embodiments is a further improved determination of one or more properties of the rock of the rock formation. An advantage of this embodiment is a further improved determination of the rock category of the rock formation in the ground and thus a further improved determination of properties of the rock of the rock formation in the ground on site. An advantage of this embodiment is a further improved rock breakage and / or a further improved control of the rock breakage.

[0044] According to a sixth aspect of the disclosure, the above mentioned and other objects are achieved with a system for rock breakage, wherein the system comprises an indentation device for performing one or more indentations on a rock formation in ground, and a control arrangement according to any one of the embodiments disclosed above or below, wherein the indentation device comprises one or more sensors, and wherein the indentation device is configured to produce an indentation response. Advantages of the system according to the sixth aspect and of its embodiments correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0045] According to an advantageous embodiment of the system according to the sixth aspect, the system comprises one or more of the group of:

[0046] • an indentation device according to any one of the embodiments disclosed above or below; and

[0047] • a data storage device for storing rock classification data about different rock categories with one or more properties, the one or more data storage devices being configured to store previously determined indentation responses associated with the different rock categories.

[0048] According to a seventh aspect of the disclosure, the above mentioned and other objects are achieved with a drilling rig comprising one or more of the group of:

[0049] • a control arrangement according to any one of the embodiments disclosed above or below;

[0050] • an indentation device according to any one of the embodiments disclosed above or below; and

[0051] • a system according to any one of the embodiments disclosed above or below.

[0052] Advantages of the drilling rig according to the seventh aspect correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below and / or the advantages of the indentation device according to the fifth aspect and its embodiments mentioned above or below.

[0053] The above-mentioned features and embodiments of the method, the computer program, the computer-readable medium, the control arrangement, the indentation device, the system and the drilling rig, respectively, may be combined in various possible ways providing further advantageous embodiments.

[0054] Further advantageous embodiments of the method, the computer program, the computer-readable medium, the control arrangement, the indentation device, the system and the drilling rig, and further advantages with the embodiments of emerge from the detailed description of embodiments.

[0055] Brief Description of the Drawings

[0056] 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:

[0057] Figure 1 is a schematic side view of an embodiment of the drilling rig according to the seventh aspect of the disclosure, provided with an embodiment of the control arrangement according the fourth aspect of the disclosure, an embodiment of the indentation device according to the fifth aspect of the disclosure, and an embodiment of the system according to the sixth aspect of the disclosure;

[0058] Figure 2 is a schematic enlargement of the indentation device of figure 1 and its attachment to the drilling rig;

[0059] Figures 3-5 are schematic perspective views of an embodiment of the indentation device according to the fifth aspect of the disclosure;

[0060] Figures 6-7 are schematic side views of the indentation device of figures 3-5;

[0061] Figures 8-10 are schematic sectional views of the indentation device of figures 3-5;

[0062] Figure 11 is a schematic perspective view of an embodiment of a biasing member of the indentation device of figures 3-5;

[0063] Figure 12 is a schematic flow chart illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0064] Figure 13 is another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure;

[0065] Figure 14 is a schematic flow chart illustrating aspects of embodiments of the method according to the second aspect of the disclosure; and

[0066] Figure 15 is a schematic diagram illustrating an embodiment of the control arrangement according to the fourth aspect of the disclosure, in which a method according to any one of the herein described embodiments may be implemented. Detailed Description

[0067] With reference to figures 1 to 11 , aspects of embodiments of the drilling rig 100 according to the seventh aspect of the disclosure, aspects of embodiments of the control arrangement 130 for rock breakage according to the fourth aspect of the disclosure, aspects of embodiments of the indentation device 200 for performing one or more indentations on a rock formation 700 in ground according to the fifth aspect of the disclosure, and aspects of embodiments of the system 300 for rock breakage according to the sixth aspect of the disclosure are schematically illustrated.

[0068] For example, embodiments of the drilling rig 100 according to the seventh aspect may be utilised in tunnelling, surface mining, underground mining, rock reinforcement and raise boring. Embodiments of the drilling rig 100 may be used, for example, for drilling blast holes, grout holes, holes for installing rock bolts, water wells and other wells, as well as for piling and foundations drilling etc. Embodiments of the drilling rig 100 may comprise a carrier 102 and one or more booms 101 attached to the carrier 102, where the booms 101 may carry associated drilling machines 104b and / or other tools.

[0069] Embodiments of the methods 400, 500, of the control arrangement 130, of the indentation device 200 and of the system 300 may be utilised in combination with the above-described kinds of drilling rigs, 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 methods 400, 500, of the control arrangement 130, of the indentation device 200 and of the system 300 is exemplified hereinbelow with reference to the drilling rig 100 illustrated in figure 1 .

[0070] With reference to figure 1 , embodiments of the drilling rig 100, or drill rig, may be used for drilling of holes, for example, during tunnelling or mining. The drilling rig 100 rests on a support surface 109, such as ground. The drilling rig 100 may include a 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 a carrier 102, such as a vehicle, via one or more articulated connections (not shown). The drilling rig 100 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 100 may include a drilling machine 104b 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 drilling machine 104b may be move along the feed beam 103 as the drilling of a drill hole progresses. The drilling machine 104b may comprise and / or hold a drill string 104c and / or a drill bit 104d for drilling a drill hole. It is to be understood that the present embodiment is only exemplary, and that the drilling rig 100 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 100 may include means for the propulsion of the drilling rig 100, such as wheels 111 , 113, or continuous tracks. However, for some embodiments, such means of propulsion may be excluded.

[0071] With reference to figure 1 , for some embodiments, the drilling machine 104b 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 drilling machine 104b may instead be driven pneumatically, electrically or by fluid. The drilling process may be controlled by an operator from a cabin 107 of drilling rig 100. Alternatively, the drilling rig 100 may be remotely controlled or be configured to operate autonomously.

[0072] With reference to figure 1 , an embodiment of the indentation device 200 according to the fifth aspect may be attached, or attachable, to the drilling rig 100, such as to the feed beam 103, for example, more specifically, to a first end 103a of the feed beam 103.

[0073] With reference to figure 2, the attachment of the indentation device 200 to the feed beam 103 is shown in more detail. With reference to figure 1 , the feed beam 103 may comprise a first end 103 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. As illustrated in the embodiment of figure 2, the indentation device 200 may be attached, or attachable, to the first end 103a of the feed beam 103. Thus, when the indentation device 200 is attached to the first end 103a of the feed beam 103, the indentation device 200 may be positioned adjacent to the rock formation 700 to be penetrated or drilled. However, it is to be understood that the indentation device 200 may be positioned and attached at other locations.

[0074] For some embodiments, the indentation device 200 may be attached to the feed beam 103 before and during the rock breakage or drilling. For some embodiments, the indentation device 200 may be detachably attached to the feed beam 103. For some embodiments, the indentation device 200 may be attached to the feed beam 103 during the performance of embodiments of the method 400 according to the first aspect but then detached and removed before the rock breakage or drilling. For some embodiments, the indentation device 200 may replace the drill bit 104d during the performance of embodiments of the method 400 according to the first aspect but then detached and removed before the rock breakage or drilling. For some embodiments, the indentation device may be integrated with the drill bit 104d. Conventionally, the first end 103a of the feed beam 103 may be provided with a rubber member for the abutment against the rock formation 700 during rock breakage or drilling. For some embodiments, the indentation device 200 may replace the rubber member during the performance of embodiments of the method 400 according to the first aspect but then detached and removed before the rock breakage or drilling, or the indentation device 200 may replace the rubber member also during rock breakage or drilling.

[0075] With reference to figures 3 to 11 , aspects of embodiments of the indentation device 200, or indentation tool, for performing one or more indentations on a rock formation 700 in ground are illustrated in further detail. The indentation device 200 includes an indenter 202 for penetrating the rock formation 700 and forming an indentation in the rock formation 700. The indentation device 200 includes a holder 204 and a tubular member 206.

[0076] With reference to figure 8, the indentation device 200 includes one or more first sensors 208 for determining (such as sensing or measuring) the indentation force of the indenter 202 forming the indentation in the rock formation 700. The indentation device 200 includes one or more second sensors 210 for determining (such as sensing or measuring) the indentation depth. With reference to figures 3 to 10, the holder 204 holds, or is configured to hold, the indenter 202. The holder 204 holds, or is configured to hold, the tubular member 206. The tubular member 206 surrounds the indenter 202. The tubular member 206 is movable in relation to the holder 204. The one or more second sensors 210 is / are configured to determine (such as sense or measure) the displacement of the tubular member 206 in relation to the holder 204. Thus, the one or more second sensors 210 is / are configured to determine the indentation depth of the indentation performed by the indenter 202. The indentation device 200 is configured to produce an indentation response based on determinations by the first and second sensors 208, 210.

[0077] With reference to figures 3 to 10, for some embodiments, the indentation device 200 may be configured to produce a force-penetration response based on determinations by the first and second sensors 208, 210. For some embodiments, the tubular member 206 may be made of a material comprising or consisting of a polymer or a polymer composite, for example, rubber. However, for other embodiments, the tubular member 206 may be made of a material comprising or consisting of a metal or a metal alloy. However, other materials are possible. The tubular member 206 may be configured to protect the indenter 202 during rock breakage.

[0078] With reference to figure 8, for some embodiments, it may be defined that the tubular member 206 has a top portion 212 and a bottom portion 214. For some embodiments, when in use, the indentation device 200 may be configured to position the top portion 212 between the bottom portion 214 and the rock formation 700 to be penetrated. The top portion 212 is configured for engagement with the rock formation 700, such as configured for abutment against the rock formation 700. The top portion 212 has an annular edge 216 comprising teeth 218. For some embodiments, it may be defined that the top portion 212 or the annular edge 216 forms the teeth 218. It may be defined that the teeth 218 are configured for engagement with the rock formation 700. For some embodiments, it may be defined that the top portion 212 or the annular edge 216 forms peaks and recesses, wherein a recess of the recesses is positioned between every two peaks. The teeth of the annular edge 216 improve the engagement of the top portion 212 with the rock formation 700 and prevent the tubular member 206 from laterally sliding or slipping in relation to the rock formation 700. With reference to figures 3 to 10, it may be defined that the tubular member 206 is movable in relation to the holder 204 between a top position (or extended position) and a bottom position (or retracted position). The top position of the tubular member 206 is illustrated in figures 3, 5, 6, 8 and 10. The bottom position of the tubular member 206 is illustrated in figures 4, 7 and 9.

[0079] With reference to figures 3 to 10, for some embodiments, the holder 204 may comprise a casing 220, which may be tubular. The casing 220 is configured to party house the tubular member 206. The holder 204 may be comprise a flange 222, or bottom member, attached to the casing 220. For some embodiments, the holder 204 or the indentation device 200, may be attachable, or attached, to a drilling rig 100, such as to the boom 101 , or to the feed beam 103 of the drilling rig 100. More specifically, when the feed beam 103 has a first end 103a and a second end 103b, and when the feed beam 103 is 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, the holder 204 or indentation device 200 may be attachable, or attached, to the first end 103a of the feed beam 103. However, as stated above, the indentation device 200 may be attached or positioned elsewhere.

[0080] With reference to figures 3 and 6, the flange 222 may comprise an interface 224 for the attachment of the holder 204 or flange 222 to another unit, such as to a drilling rig 100, for example, to a feed beam 103 of a drilling rig 100, for example, more specifically, to a first end 103a of the feed beam 103. The interface 224 may comprises one or more openings 226 for receiving one or more attachment elements for the attachment of the holder 204 or flange 222 to another unit. For example, the attachment element may comprise a bolt or screw. However, other elements or means of attachment are possible. The one or more openings 226 may be formed by the flange 222.

[0081] With reference to figures 3 to 7, for some embodiments, the holder 204 or the casing 220 may comprise one or more guides 228 for guiding the tubular member 206, for example, between the top position (see figures 3, 5, 6, 8 and 10) and the bottom position (see figures 4, 7 and 9). The one or more guides 228 may be configured to receive and / or guide one or more guide members 230 attached to the tubular member 206. The guide 228 may comprise a slot 232 (or a groove, or a slit) configured to the receive the guide member 230.

[0082] With reference to figures 8 to 1 1 , for some embodiments, the indentation device 200 may comprise a biasing member 234, such as a spring, for urging (or forcing) the tubular member 206 from the bottom position (see figure 9) to the top position (see figure 8). The casing 220 may house the biasing member 234. The biasing member 234 may be positioned between the tubular member 206 and the flange 222, or bottom member.

[0083] With reference to figure 8, for some embodiments, the first sensor 208 may comprise a force sensor, a load cell, a strain gauge, a piezo-resistant strain gauge, or a wire strain gauge. However, other sensors for determining the indentation force of the indenter 202 are possible. The indentation device 200 or holder 204 may comprise an indenter support 236 for holding the indenter 202. The holder 204 may hold, or may be configured to hold, the indenter support 236. The indenter support 236 may be attached to the holder 204 or to the flange 222, or bottom member. For some embodiments, the indenter support 236 may form a compartment for the first sensor 208.

[0084] With reference to figure 8, for some embodiments, the second sensor 210 may comprise a displacement sensor, a linear variable differential transformer (LVDT) sensor, an inductive sensor, a capacitive sensor, a magnetic field sensor, a Hall-effect sensor, or an optical sensor. However, other sensors for determining the indentation depth of the indentation performed by the indenter 202, or the displacement of the tubular member 206 in relation to the holder 204, are possible. In the embodiment illustrated in figure 8, the second sensor 210, for example in the form of an LVDT sensor, is positioned between the indenter support 236 and the tubular member 206, for example in a space between the indenter support 236 and the tubular member 206. For some embodiments, the second sensor 210 may be attached to the indenter support 236.

[0085] With reference to figures 3, 5, 6, 8 and 10, the tubular member 206 may form two grooves or slots 238 for receiving a locking member 240 so at to lock the tubular member 206 in the top position and / or in relation to the holder 204. For example, the tubular member 206 may be locked in the top position by the locking member 240 during rock breakage, so as to allow for the tubular member 206 to protect the indenter 202 during rock breakage. For some embodiments, the locking member 240 may be U-shaped. However, other shapes of the locking member 240 are possible.

[0086] With reference to figures 12 and 13, aspects of embodiments of the method 400 for rock breakage according to the first aspect of the disclosure are schematically illustrated. Embodiments of the method 400 for rock breakage according to the first aspect may be performed before breaking the rock of the rock formation and / or in connection, such as in direct connection, with breaking the rock of the rock formation 700. With reference to figure 14, aspects of embodiments of the method 500 for breaking rock according to the second aspect of the disclosure are schematically illustrated. For example, rock breakage may include drilling, percussion drilling, or rock excavation, or any other sort of rock breakage.

[0087] Embodiments of the methods 400, 500 may be applied in combination with the indentation device 200 illustrated above, but also in combination with other versions of an indentation device. However, for the sake of simplicity, the disclosure of the embodiments of the methods 400, 500 is exemplified hereinbelow with reference to the indentation device 200 illustrated in figures 2 to 10.

[0088] With reference to figures 12, embodiments of the method 400 for rock breakage according to the first aspect include the steps of:

[0089] • performing 401 b one or more indentations (or depressions, or recesses) on (or in) a rock formation 700 in ground by usage of an indentation device 200 so as to produce an indentation response, the indentation device 200 comprising one or more sensors 208, 210;

[0090] • comparing 402 the produced indentation response to previously determined (and / or previously produced) indentation responses associated with different rock categories with one or more properties; and

[0091] • based on the comparison of the produced indentation response to the previously determined indentation responses, determining 403 the rock category of the rock formation 700 and thus one or more properties of the rock of the rock formation 700.

[0092] For some embodiments, the indentation response may be disclosed, or referred to, as a mechanical response. For some embodiments, the step of performing 401 b one or more indentations on a rock formation 700 in ground may comprise the step of subjecting the rock formation 700 to one or more indentations.

[0093] For some embodiments, it may be defined that the step of performing 401 b one or more indentations on a rock formation 700 in ground comprises the step of producing (or generating) an indentation response based on a penetration of the rock formation 700 and a forming of an indentation in the rock formation 700 by the indentation device 200. For some embodiments, it may be defined that the step of performing 401 b one or more indentations on a rock formation 700 in ground comprises the step of obtaining an indentation response from the indentation device 200 based on the penetration of the rock formation 700 and the forming of an indentation in the rock formation 700 by the indentation device 200. For some embodiments, it may be defined that the step of performing 401 b one or more indentations on a rock formation 700 in ground comprises the step of forcing an indenter 202 of the indentation device 200 against and / or into the rock formation 700 so as to produce an indentation response.

[0094] The previously determined (or predetermined) indentation responses may be determined by testing or tests in various kinds of experimental setups, such as in a laboratory, for example according to conventional solutions. By performing an indentation on a rock formation 700 in the ground, i.e. , at the site of the rock breakage, so as to produce an indentation response, and then compare the produced indentation response to previously determined indentation responses, the rock category (or the category of rock) of the rock formation 700 in the ground and thus properties of the rock of the rock formation 700 in the ground can be determined on site in an efficient manner. Said determination of the properties of the rock of the rock formation 700 in the ground may be referred to as an in-situ rock property determination, for example an in-situ rock hardness determination. With reference to figure 13, some embodiments of the method 400 may include one or more of the steps of:

[0095] • selecting 401 a one or more positions (or locations, or points) on a rock formation 700 in ground to be subjected to one or more indentations;

[0096] • performing 401 b one or more indentations on the rock formation 700 in ground by usage of an indentation device 200 so as to produce an indentation response;

[0097] • comparing 402 the produced indentation response to previously determined indentation responses associated with different (known) rock categories with or having one or more properties;

[0098] • based on the comparison of the produced indentation response to the previously determined indentation responses, determining 403 the rock category of the rock formation;

[0099] • based on one or more of the rock category of the rock formation 700 and one or more properties of the rock of the rock formation, automatically selecting 404a a rock breaking setting for the rock breakage;

[0100] • based on the determination of rock category or the determined rock category, determining 403a the one or more properties of the rock of the rock formation

[0101] • ; and

[0102] • based on one or more of the rock category of the rock formation 700 and one or more properties of the rock of the rock formation, presenting 404b, such as on a screen, one or more rock breaking settings, such as to an operator or user.

[0103] With reference to figure 13, for some embodiments, the method 400 may further include determining 403a the one or more properties of the rock of the rock formation 700 before breaking the rock of the rock formation 700. For some embodiments, the method 400 may further include determining 403a the one or more properties of the rock of the rock formation 700 in connection, such as in direct connection, with breaking the rock of the rock formation 700. For some embodiments, the previously determined indentation responses may be stored on one or more data storage devices 150 storing rock classification data (or information) about different rock categories with one or more properties. For example, the storage device 150 may comprise a database, a cloud storage, or any other media. With reference to figure 13, for some embodiments, the method 400 may include one or more of the steps of:

[0104] • performing 401c one or more indentations on a rock formation 700 in ground by usage of the indentation device 200 so as to produce a force-penetration response;

[0105] • by usage of the indentation device 200, determining 401 d (such as sensing, or measuring) the indentation force and the indentation depth so as to produce the force-penetration response;

[0106] • comparing 402b the produced force-penetration response to previously determined force-penetration responses associated with different rock categories with one or more properties; and

[0107] • based on the determination of the hardness of the rock of the rock formation 403a, determining 403 the rock category.

[0108] With reference to figures 14, embodiments of the method 500 for breaking rock according to the second aspect include the steps of:

[0109] • performing 501 the method 400 for rock breakage according to any one of the embodiments disclosed above; and

[0110] • controlling 502a the breaking of rock based on the determined one or more properties of the rock of the rock formation 700, which have been determined by any one of the embodiments of the method 400 for rock breakage according to the first aspect.

[0111] With reference to figure 14, for some embodiments, the controlling 502a of the breaking of rock may include controlling the drilling and / or controlling the drilling rig 100 to break rock based on the determined one or more properties of the rock of the rock formation 700. For some embodiments, the method 500 may include breaking 502b rock (for example by way of drilling, percussion drilling, or rock excavation) of the rock formation 700 based on the determined one or more properties of the rock of the rock formation 700. When the properties of the rock of the rock formation 700 in the ground have been determined as disclose above, the rock breakage can be controlled based on the determined properties of the rock of the rock formation 700, for example by applying a rock breaking setting to the rock breakage or to the control of the rock breakage. The rock breaking setting may include one or more of the group of: an impact velocity / rate of a drill bit, such as of a percussion drill bit; an indexation or rotation speed / rate of a drill bit, such as of a percussion drill bit; a drill bit category of a drill bit; and a rate of the flushing of a drill hole.

[0112] Unless disclosed otherwise, it should be noted that the method steps illustrated in figures 12 to 14 and described herein do not necessarily have to be executed in the order illustrated in figures 12 to 14. 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.

[0113] With reference to figures 1 and 15, aspects of embodiments of the control arrangement 130 for rock breakage according to the fourth aspect of the disclosure are schematically illustrated. Embodiments of the control arrangement 130 are configured to:

[0114] • perform one or more indentations on a rock formation 700 in ground by usage of an indentation device 200 so as to produce an indentation response, the indentation device 200 comprising one or more sensors 208, 210;

[0115] • compare the produced indentation response to previously determined indentation responses associated with different rock categories with one or more properties; and

[0116] • based on the comparison of the produced indentation response to the previously determined indentation responses, determine the rock category of the rock formation 700 and thus one or more properties of the rock of the rock formation 700.

[0117] With reference to figure 1 , some embodiments of the control arrangement 130 may include a selection unit 131 for selecting 401 a one or more positions on a rock formation 700 in ground to be subjected to one or more indentations in order to perform step 401 a in figure 13. Some embodiments of the control arrangement 130 may include a controlling unit 133 for performing one or more indentations on a rock formation 700 in ground in order to perform steps 401 b and 401 c in figures 12 and 13. Some embodiments of the control arrangement 130 may comprise a first determination unit 132 for determining an indentation force and an indentation depth so as to produce a force-penetration response in order to perform step 401 d in figure 13.

[0118] With reference to figure 1 , some embodiments of the control arrangement 130 may include a comparison unit 134 for comparing the produced indentation or forcepenetration response to previously determined indentation or force-penetration responses associated with different rock categories having one or more properties in order to perform steps 402 and 402b in figures 12 and 13.

[0119] With reference to figure 1 , some embodiments of the control arrangement 130 may include a second determination unit 135 for determining the rock category of the rock formation 700 and one or more properties of the rock of the rock formation 700 in order to perform steps 403, 403b and 403c in figures 12 and 13.

[0120] With reference to figure 1 , some embodiments of the control arrangement 130 may include a rock breaking setting unit 136 for automatically selecting a rock breaking setting for the rock breakage and / or for presenting 404b one or more rock breaking settings, such as to an operator or user, in order to perform steps 404a and 404b in figure 13.

[0121] With reference to figure 1 , for some embodiments, the controlling unit 133, or another controlling unit, may be configured to perform steps 501 , 502a and 502b in figure 14.

[0122] With reference to figure 1 , for some embodiments, the control arrangement 130 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 group of: an indentation device 200; a first sensors 208; a second sensor 210; a data storage devices 150; and a rock breakage controller of the drilling rig 100. Thus, for some embodiments, there may be one or more signal connections between the control arrangement 130 and one or more of the group of: the indentation device 200; the first sensors 208; the second sensor 210; the data storage devices 150; and the rock breakage controller of the drilling rig 100. Figure 15 shows in schematic representation an embodiment of the control arrangement 130 according to the fifth 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 136 of the control arrangement 116. The control unit 600 may comprise a computing unit 601 , which can be constituted by essentially any suitable category 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 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.

[0123] With reference to figure 15, in addition, the control unit 600 may be provided with devices 611 , 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 611 , 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 100, the data storage device 150, the indentation device 200 and / or the system 300. 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.

[0124] Here and in this document, units are often described as being provided for performing steps of the method 400, 500 according to embodiments of the disclosure. This also includes that the units are designed to and / or configured to perform these method steps. With reference to figures 1 , the units 131 to 136 of the control arrangement 130 are in figure 1 illustrated as separate units. These sperate 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 136 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 15) when the units are active and / or are utilized for performing its method step.

[0125] With reference to figures 1 and 15, the control arrangement 130, 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 is associated with the above-described advantages for each respective embodiment of the method 400, 500.

[0126] With reference to figure 15, according to the third 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 one or more of the method 400, 500 according to any one of the embodiments disclosed above.

[0127] The person skilled in the art will appreciate that the herein described embodiments of the method 400, 500 according to the first and second aspects may be implemented in a computer program 603 (see figure 15), which, when it is executed in a computer, instructs the computer to execute the method 400, 500. 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. With reference to figure 1 , according to the sixth aspect of the disclosure, a system 300 for rock breakage is provided. The system 300 includes an indentation device 200 for performing one or more indentations on a rock formation 700 in ground, wherein the indentation device 200 comprises one or more sensors 208, 210, and wherein the indentation device 200 is configured to produce an indentation response. For example, the indentation device 200 may be in the form of any one of the embodiments of the indentation device 200 disclosed above. However, other versions of the indentation device can be used with the system 300. The system 300 further includes a control arrangement 130 according to any one of the embodiments disclosed above.

[0128] With reference to figure 1 , for some embodiments, the system 300 may include one or more of the group of:

[0129] • an indentation device 200 according to any one of the embodiments disclose above; and

[0130] • a data storage device 150 for storing rock classification data about different rock categories with one or more properties, the one or more data storage devices 150 being configured to store previously determined indentation responses associated with the different rock categories.

[0131] For some embodiments, the one or more data storage devices 150 may include one or more databases, or cloud storages, or other media.

[0132] With reference to figure 1 , according to the seventh aspect of the disclosure, a drilling rig 100 is provided. The drilling rig 100 includes one or more of the group of:

[0133] • a control arrangement 130 according to any one of the embodiments disclosed above;

[0134] • an indentation device 200 according to any one of the embodiments disclosed above; and

[0135] • a system 300 according to any one of the embodiments disclosed above.

[0136] The embodiments disclosed above may be applied to rock breakage 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.

Claims

Claims1 . A method (400) for rock breakage, wherein the method (400) comprises: performing (401 b) one or more indentations on a rock formation (700) in ground by usage of an indentation device (200) so as to produce an indentation response, the indentation device (200) comprising one or more sensors (208, 210); comparing (402) the produced indentation response to previously determined indentation responses associated with different rock categories with one or more properties; and based on the comparison of the produced indentation response to the previously determined indentation responses, determining (403) the rock category of the rock formation (700) and thus one or more properties of the rock of the rock formation (700).

2. A method (400) according to claim 1 , wherein the method (400) further comprises: selecting (401 ) one or more positions on the rock formation (700) in ground to be subjected to the one or more indentations.

3. A method (400) according to claim 1 or 2, wherein the method (400) further comprises: determining (403a) the one or more properties of the rock of the rock formation (700); and determining the rock category based on the determination of the one or more properties.

4. A method (400) according to any one of the claims 1 to 3, wherein the method (400) further comprises: determining (403a) the one or more properties of the rock of the rock formation (700) before breaking the rock of the rock formation (700).

5. A method (400) according to any one of the claims 1 to 4, wherein the method (400) further comprises:determining (403a) the one or more properties of the rock of the rock formation (700) in connection with breaking the rock of the rock formation (700).

6. A method (400) according to any one of the claims 1 to 5, wherein the previously determined indentation responses are stored on one or more data storage devices (150) storing rock classification data about different rock categories with one or more properties.

7. A method (400) according to any one of the claims 1 to 6, wherein the method (400) comprises: based on the determination of rock category, determining the hardness of the rock of the rock formation (700).

8. A method (400) according to any one of the claims 1 to 7, wherein the method (400) further comprises: performing (401 c) one or more indentations on a rock formation (700) in ground by usage of the indentation device (200) so as to produce a force-penetration response, and comparing (402b) the produced force-penetration response to previously determined force-penetration responses associated with different rock categories with one or more properties.

9. A method (400) according to any one of the claims 1 to 8, wherein the method (400) further comprises: by usage of the indentation device (200), determining (401 d) the indentation force and the indentation depth so as to produce a force-penetration response.

10. A method (400) according to any one of the claims 1 to 9, wherein the method (400) further comprises: based on one or more of the rock category of the rock formation (700) and one or more properties of the rock of the rock formation (700), automatically selecting (404a) a rock breaking setting for the rock breakage.

11. A method (400) according to any one of the claims 1 to 10, wherein the method (400) further comprises: based on one or more of the rock category of the rock formation (700) and one or more properties of the rock of the rock formation (700), presenting (404b) one or more rock breaking settings.

12. A method (500) for breaking rock, wherein the method comprises: performing (501 ) the method (400) for rock breakage according to any one of the claims 1 to 11 ; and controlling (502a) the breaking of rock of the rock formation (700) based on the determined one or more properties of the rock of the rock formation (700).

13. 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, 500) according to any one of the claims 1 to 12.

14. A control arrangement (130) for rock breakage, wherein the control arrangement (130) is configured to: perform (401 b) one or more indentations on a rock formation (700) in ground by usage of an indentation device (200) so as to produce an indentation response, the indentation device (200) comprising one or more sensors (208, 210); compare (402) the produced indentation response to previously determined indentation responses associated with different rock categories with one or more properties; and based on the comparison of the produced indentation response to the previously determined indentation responses, determine (403) the rock category of the rock formation (700) and thus one or more properties of the rock of the rock formation (700).

15. An indentation device (200) for performing one or more indentations on a rock formation (700) in ground, wherein the indentation device (200) comprises: an indenter (202) for penetrating the rock formation (700) and forming an indentation in the rock formation (700), a holder (204),a tubular member (206), one or more first sensors (208) for determining the indentation force of the indenter (202) forming the indentation in the rock formation (700), and one or more second sensors (210) for determining the indentation depth, wherein the holder (204) is configured to hold the indenter (202) and the tubular member (206), wherein the tubular member (206) surrounds the indenter (202), wherein the tubular member (206) is movable in relation to the holder (204), wherein the one or more second sensors (210) is / are configured to determine the displacement of the tubular member (206) in relation to the holder (204) and thus configured to determine the indentation depth, and wherein the indentation device (200) is configured to produce an indentation response based on determinations by the first and second sensors (208, 210).

16. An indentation device (200) according to claim 15, wherein the indentation device (200) is configured to produce a force-penetration response based on determinations by the first and second sensors (208, 210).

17. An indentation device (200) according to claim 15 or 16, wherein the tubular member (206) has a top portion (212) and a bottom portion (214), wherein when in use the indentation device (200) is configured to position the top portion (212) between the bottom portion (214) and the rock formation (700) to be penetrated, wherein the top portion (212) is configured for engagement with the rock formation (700), and wherein the top portion (212) has an annular edge (216) comprising teeth (218).

18. A system (300) for rock breakage, wherein the system (300) comprises an indentation device (200) for performing one or more indentations on a rock formation (700) in ground, and a control arrangement (130) according to claim 14, wherein the indentation device (200) comprises one or more sensors (208, 210), andwherein the indentation device (200) is configured to produce an indentation response.

19. A system (300) according to claim 18, wherein the system (300) comprises one or more of the group of:• an indentation device (200) according to any one of the claims 15 to 17; and• a data storage device (150) for storing rock classification data about different rock categories with one or more properties, the one or more data storage devices being configured to store previously determined indentation responses associated with the different rock categories.

20. A drilling rig (100) comprising one or more of the group of:• a control arrangement (130) according to claim 14;• an indentation device (200) according to any one of the claims 15 to 17; and • a system (300) according to claim 18 or 19.