Apparatus, method and software product for drilling sequence planning

Abstract

The invention relates to a device, a method and a software product for planning a drilling sequence. The solution also relates to a rock drilling machine (1) and a computer program product (12). The device searches for several possible drilling solutions for drilling a given drilling pattern (10). The different actions required by the solutions have given costs and the executed algorithm calculates the total cost of the solutions found. The solution with the lowest cost is selected.

Description

Technical Field

[0001] The invention relates to a device for planning a drilling sequence for a rock drilling rig.

[0002] The invention further relates to a rock drilling rig, a method for drilling sequence planning and a computer program product.

[0003] The technical field of the invention is defined more particularly in the preambles of the independent claims. Background Art

[0004] In mines and other working areas, rock drills are used to drill boreholes into the rock surface. Drilling is usually performed according to a pre-designed drilling plan. A drilling plan may be a drilling pattern that defines the position, direction and length of a number of boreholes that a drilling round is intended to drill. When performing drilling of the designed drilling pattern, the selection of the drilling sequence plays an important role for the drilling efficiency. The same applies to the selection of the boom, i.e. which drilling boom and drilling unit is pointed to which borehole during the drilling process. It is known to pre-design a drilling sequence to define the drilling sequence and the drilling boom selection. However, the known drilling sequences are performed at an office and these known drilling sequences have been shown to contain some disadvantages. Summary of the invention

[0005] The object of the invention is to provide a novel and improved device and method for planning a drilling sequence for a rock drilling rig provided with several drilling booms. The invention also relates to a rock drilling rig and to a computer program product.

[0006] The device according to the invention is characterized by the characterizing features of the first independent device claim.

[0007] The rock drilling rig according to the invention is characterized by the characterizing features of the second independent equipment claim.

[0008] The method according to the invention is characterized by the characterizing features and steps of the independent method claim.

[0009] The computer program product according to the invention is characterized by the characterizing features of the third independent device claim.

[0010] The idea of ​​the disclosed solution is to provide an apparatus for planning a drilling sequence of a rock drilling rig, the rock drilling rig comprising two or more drilling booms provided with drilling units for drilling boreholes into a rock surface. The boreholes are blast holes. The apparatus comprises one or more control units, each of which comprises a processor for executing a drilling sequence planning procedure. The control unit is provided with a drilling pattern comprising drilling data about the boreholes to be drilled and with data about the drilling booms. A drilling sequence for the inputted drilling pattern is generated by the drilling sequence planning procedure and comprises data about the drilling sequence of the boreholes and the selection of the boom for drilling each borehole. When generating the drilling sequence, the control unit searches for a further number of drilling steps for each drilling unit and generates a number of possible drilling sequence schemes based on the search, each of which defines a different drilling sequence, a selection of drilling units and a transfer of drilling units between adjacent boreholes. The control unit compares and selects between several solutions. In order to define the evaluation of the solutions, the control unit is provided with rules for defining cost values ​​for several possible actions of the drilling step, and the control unit detects the actions required by the drilling steps of the solution. In addition, the control unit calculates the total cost for the solution based on the input rules, and selects a drilling sequence solution with the lowest total cost from the checked solutions for the several subsequent drilling steps.

[0011] An advantage of the disclosed solution is that, when the drilling sequence is intelligently planned according to the disclosed solution, the existing rock drilling capacity of the rock drilling rig can be utilized more efficiently. In other words, a significant increase in productivity can be achieved simply by the selection of more efficient drilling and booms, and without modifying the physical device. The improved control leads to better operating capabilities and results.

[0012] The improved ability to create adaptive, complex and intelligent drilling sequences makes it easier to automate deep rock drilling. Remote control and tele-drilling as well as fully automated drilling are easier to implement when algorithms take into account the most appropriate and profitable drilling sequence and boom selection.

[0013] Furthermore, the disclosed solution can be retrofitted to existing rock drilling machines in order to improve their productivity without any renewal of the mechanics and components. It goes without saying that such renewal of the control unit and its program only is very cheap compared to the case of an alternative renewal, in which the renewal consists in replacing the rock drilling machine, boom and other operating devices with a new one.

[0014] An additional advantage is that in the present solution the drilling sequence to be executed is determined only after several alternative drilling sequence solutions have been checked by the control unit. This way, the "line of sight" is longer and the optimization is more reliable when considering a large number or alternative paths starting from an undrilled situation or a currently drilled situation.

[0015] A further advantage is that the disclosed solution for determining the drilling sequence can be applied to all drilling applications in which the drilling pattern and the drilling sequence are performed with two or more drilling booms. The solution is particularly suitable for rock face drilling in tunnelling, where the number of boreholes can exceed one hundred and the drilling is performed with a drilling rig which is usually provided with three drilling booms. However, the solution can also be used for other drilling applications, such as for long hole drilling etc.

[0016] According to one embodiment, the search process is performed simultaneously during the drilling process. In other words, the drilling sequence is not first planned and then executed. An advantage of this embodiment is that possible changes in drilling and situations can be easily considered for the remainder of the drilling pattern.

[0017] According to one embodiment, the at least one control unit for searching for drilling solutions and generating a drilling sequence is located on the rock drilling rig.Thereby, the sequence is generated on the rock drilling rig and not in an office as is conventionally the case.

[0018] According to one embodiment, the following search principles are also utilized: each subsequent step depends on its previous step; and the search never returns to the same borehole.

[0019] According to one embodiment, the solution implements a non-greedy search algorithm. The algorithm can then choose the next suboptimal or even worse drilling step to be performed, because the algorithm is aimed at the good drilling step afterwards. Therefore, the algorithm not only looks ahead to the next drilling step but also looks ahead to the drilling steps in the near future. In other words, the disclosed solution does not necessarily optimize the subsequent selection of the borehole, but instead tries to optimize a wider part of the drilling pattern or sometimes even the entire drilling pattern. The implementation of the algorithm is characterized by this non-greedy feature, and this feature can also be identified by the algorithm when examining the search process.

[0020] According to one embodiment, the principle of the search process can be such that the control unit sets a price for each searched drilling sequence solution and the aim is to consider the cheapest solution as the best. Then, the costs of individual conversions and other actions are not significantly important. The search algorithm has the ability to consider larger entities and evaluate their costs.

[0021] According to one embodiment, when seeking a favorable drilling sequence for a drilling pattern, the device implements AI artificial intelligence. The device can implement one or more graph and tree search algorithms. Thus, the search can be based on an A* search algorithm, for example. The algorithm can also be called a search program or a pathfinding computer program, and the program can implement a heuristic. As an alternative to the mentioned A*, it is intended that Dijkstra or other suitable and commercially available programs can be implemented.

[0022] According to one embodiment, the device implements a heuristic algorithm. The heuristic algorithm may first try each possibility at each step. However, the algorithm may stop searching at any time if the current possibility is already worse than the best solution found. In such a search problem, a heuristic can be used to try good choices first in order to eliminate bad choices as early as possible. Limiting the power of the search means that some possibilities will never be generated because they are considered unlikely to complete the solution. This has a positive impact on the search speed and the required computing power because unnecessary calculations are avoided.

[0023] According to one embodiment, the heuristic algorithm and method disclosed in the previous embodiment can accomplish its task by using a search tree. However, instead of generating all possible solution branches, the heuristic selects branches that are more likely to produce an effect than other branches. Thus, there is a choice at each decision point, thereby selecting the branch that is more likely to produce a solution.

[0024] According to one embodiment, the device implements a heuristic algorithm. The heuristic algorithm may be based on experimental data or real data related to rock drilling. In addition, the heuristic algorithm may include rules of thumb based on real-world observations or the experience of skilled drillers.

[0025] According to one embodiment, the drilling sequence planner or search algorithm is configured to simulate the selection of boreholes for the drilling boom several steps forward from the starting situation in the following manner. In case the device is provided with sufficient computing power, the device can calculate or simulate the drilling pattern from the completely undrilled situation or the current situation to the completely finished situation.

[0026] According to one embodiment, the search algorithm is configured to check a selected number of upcoming transitions after the current situation. The device can then define, for example, a drilling sequence for each drilling boom that proceeds 4 to 10 drilling steps forward. In other words, a complete drilling pattern, which typically includes more than a hundred boreholes, is checked in several sections.

[0027] According to one embodiment, the control unit of the device is configured to perform several searches for the drilling pattern during the drilling process in order to find several new drilling sequence solutions. The control unit calculates the total cost for the new drilling sequence solutions found, compares the costs of these solutions and detects which drilling sequence solution has the lowest total cost. Finally, the control unit updates the selection of a drilling sequence solution to be implemented next by selecting the drilling sequence solution with the lowest total cost.

[0028] According to one embodiment, the device is configured to actively update the drilling sequence. In this way, the final drilling sequence executed is always different from the one originally planned at the beginning of drilling of the drilling pattern. Therefore, during the drilling process, the initially planned sequence is updated several times. When considering drilling patterns of large size, the number of updates for each drilling pattern may be hundreds or even thousands.

[0029] According to one embodiment, the control unit is configured to automatically perform a new search depending on the propagation and status of the drilling of the drilling pattern.The control unit is able to perform an automatic and almost constant updating of the drilling sequence.

[0030] According to one embodiment, the control unit is configured to perform a new search towards the end of the drilling mode when all boreholes have been processed. The search will be performed as long as possible, taking into account the available time for the search. The number of steps to search for the target forward depends, for example, on the capabilities of the control unit and the complexity of the drilling mode.

[0031] According to one embodiment, the control unit is configured to dynamically update the disclosed search process and update process in response to detecting at least one of the following events: completion of drilling of any borehole; interruption or failure of drilling of any borehole; manual control step performed by the operator; failure of the drilling unit; updating the drilling mode; updating the rules of the data element. In other words, when one of the predetermined events occurs during the drilling process, the dynamic update is initiated. If necessary, the list of events that trigger the update can be modified based on the specific situation.

[0032] According to one embodiment, the control unit is configured to compare an intermediate cost of an unfinished cost calculation of a drilling sequence plan with a calculated total cost of the drilling sequence plan during the cost calculation process. The control unit may interrupt an unfinished cost calculation of a drilling sequence plan for which the intermediate cost has exceeded the previously calculated total cost, thereby avoiding redundant calculations. Thus, the control unit monitors the generation of drilling sequence plans and limits further processing only to cases when a good result is expected. In this way, available resources can be concentrated in a more efficient manner.

[0033] According to one embodiment, the device implements a graph and tree search algorithm.The at least one data element then comprises a heuristic rule defining a cost at least for a transition of the drilling unit.

[0034] According to one embodiment, the control unit is provided with an A* computer algorithm for searching for possible transitions between boreholes of the drilling pattern. The control unit is also provided with heuristic rules for the algorithm. The algorithm calculates costs for the found transitions based on the heuristic rules. The algorithm is configured to generate a number of drilling sequence solutions and calculate a total cost for at least part of the drilling sequence solutions. Furthermore, the algorithm is configured to select the solution to be executed next, which has the lowest cost for a further number of boreholes.

[0035] According to one embodiment, the control unit is provided with at least one data element comprising predetermined rules for defining cost values ​​for transferring between selectable adjacent boreholes.

[0036] According to one embodiment, these rules define that the longer the distance between boreholes, the greater the transfer cost. The distance component may have the highest priority among all components. During long distance transfers, no actual drilling is performed, which justifies setting higher costs for longer transfer distances.

[0037] According to one embodiment, these rules may define a cost for the proximity of two or more booms. The closer the booms are relative to each other, the greater the cost may be. An advantage of this solution is that the drilling booms are controlled to operate as far away from each other as possible so that they do not collide nor impede or hinder each other's operation.

[0038] According to one embodiment, the rules may also define other cost value components, which may be selectively input to the control unit.Thereby, when the situation or operating conditions of the rock drilling rig change, the operation of the device can be adjusted by changing said cost value components.

[0039] According to one embodiment, the rule defining the transfer cost value takes into account the minimum joint movement required for the conversion. The greater the number of joint movements required, the greater the impact of the conversion cost value component on the total conversion cost value, and vice versa. The advantage of this embodiment is that the cantilever movement may be efficient and fast when only a small number of joints need to be moved.

[0040] According to one embodiment, the rule defining the cost value for the transfer takes into account the speed at which the joints of the joints of the drilling boom move. The boom of a rock drilling rig has different types of joints, which also have different speeds at which the joints move. In other words, some of the joints can move faster than other joints. The algorithm can determine which joints need to be moved to reach the selectable borehole, and can then take into account the speed of movement of these joints when determining the transfer cost value. When the transfer utilizes a fast joint, the transfer cost value component is lower, and when a slow joint is included, the cost value component is higher.

[0041] According to one embodiment, the number of drilling passes of a borehole of a drilling pattern is taken into account when determining the cost value. The number of drilling passes of the drilling pattern for previous drilling rounds may be stored, and the stored data may be used to evaluate the number of drilling passes of subsequent drilling patterns. Thus, empirical data may be utilized. The algorithm may take into account the data on the number of drilling passes when selecting the drilling sequence. In this way, drilling will be performed in a controlled manner and unnecessary and time-consuming diversions may be avoided.

[0042] According to one embodiment, the algorithm is configured to take into account the required flip joint position of the drilling boom for drilling the boreholes when determining the cost value component of the drilling of the selectable boreholes. In this way, the ability to position the drilling unit at the starting point of each selected borehole and then perform the drilling is ensured, as well as the possibility of drilling the selectable adjacent boreholes using the entire capacity of the drilling boom. In addition, the ability to perform the drilling of the boreholes with good quality and accuracy can also be taken into account, and the data on this ability can be based on empirical data, modeling or simulation.

[0043] According to one embodiment, the algorithm is configured to take into account the location of one or more drilling tool change stations and the estimated service life of the replaceable drilling tools. The algorithm is then configured to consider the location of the change station as a point at which a changeover is required. The algorithm can determine cost values ​​for different tool change situations and requirements, and the algorithm can take this cost value into account when planning the drilling sequence. In general, the more tool change requirements and the longer the distance from the change station, the higher the cost value component of the tool change for drilling.

[0044] According to one embodiment, the device is provided with data relating to the maximum allowed distance for the searchable adjacent boreholes, whereby the generated drilling sequence plan only includes transitions whose length is shorter than the maximum allowed distance. In other words, only boreholes located within a certain range are accepted as selectable adjacent boreholes. The advantage of this embodiment is that the number of selectable adjacent boreholes after the previous borehole is limited, whereby the planning time can be shortened and the computing power of the processor can be reduced. Furthermore, this embodiment assumes that it is more effective to try to avoid long transitions.

[0045] According to one embodiment, the device may be set up to consider only a limited number of adjacent boreholes during the search. Advantageously, the search process may then be simplified and accelerated.

[0046] According to one embodiment, the control unit is provided with data related to the selection of the initial borehole determined for each drilling boom. Then, the start of drilling of the boom is informed by the control unit. The control unit is configured to search for a possible transfer of each boom from the initial borehole to a subsequent adjacent borehole within the reach of the boom. The search is repeated in several subsequent rounds of drilling until all boreholes of the rock face drilling mode are included. Then, the search target is achieved and the search is terminated.

[0047] According to one embodiment, the selection of the initial borehole disclosed in the previous embodiment is performed manually by an operator.

[0048] According to one embodiment, the device is configured to automatically select an initial borehole for each boom. For example, the selection may be based on empirical data related to the drilling sequence of previous drilling rounds, or may be based on heuristic rules.

[0049] According to one embodiment, the device is configured to graphically display the found drilling sequence solution on a display device by showing the found path as lines between the boreholes. In the disclosed illustration, the found path can also be referred to as a route and the boreholes can be referred to as nodes. In addition, the control unit can be provided with a simulation program or algorithm for simulating the search process and the planned execution of the drilling.

[0050] According to one embodiment, the drilling sequence planning process can be considered as a game, where the goal is to drill all holes in a given drilling pattern with the lowest possible cost and according to given game rules. The game searches, suggests several possible decisions, calculates the cost value for the decision and makes a selection based on the calculated cost.

[0051] According to one embodiment, the disclosed solution only concerns rock drilling rigs comprising two, three or even more booms. Each of the booms has its own reachable area, which depends, for example, on the size and structure of the boom and also on the mounting position of the boom on the carrier of the rock drilling rig. Usually, the booms are moved in turns during operation, and simultaneous transfers are extremely rare. When transfers occur in turns, calculations are faster and easier, because the number of possible alternating transfers is limited.

[0052] According to one embodiment, the control unit may comprise a single computer, or the control unit may consist of several computers operating in cooperation. The control unit may be located on the rock drilling rig, or alternatively, the search process may be performed in one or more control units external to the rock drilling rig and communicate with the on-board control unit via a data transmission path.

[0053] The embodiments disclosed above may be combined to form a suitable solution having required ones of the above mentioned features. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Some embodiments are described in more detail in the accompanying drawings, in which:

[0055] Figure 1 is a general schematic diagram of the disclosed solution and related features,

[0056] Figure 2 is a schematic diagram showing the basic principle of the disclosed planning process of the drilling sequence,

[0057] Figure 3 is a schematic diagram showing some events that may lead to a dynamic update of the drilling order,

[0058] Figure 4 is a schematic diagram of an apparatus intended for use in generating a drilling sequence,

[0059] Figure 5 is a schematic diagram showing some possible cost value components that may be considered by the device,

[0060] Figure 5 is a schematic diagram showing some possible cost value components that may be considered by the device,

[0061] Figure 6 is a schematic diagram showing some possible rules that may be input into the device as basic settings,

[0062] Figure 7 is a schematically simplified view showing four boreholes and the accessible area of ​​two drilling booms intended for drilling said boreholes,

[0063] Figure 8 is a diagrammatic illustration showing some of the principles of the transition between drilling and boring and discloses the Figures 9 to 19 A schematic diagram of some cost values ​​implemented in the example shown in ,

[0064] Figures 9 to 19 It shows the Figure 7 and Figure 8 A schematic diagram of the search steps and calculation steps for different drilling sequence schemes for a simplified example case of

[0065] Fig. 20 is a schematic diagram showing a drilling sequence planning procedure for three boreholes and two drilling booms, and wherein a proximity cost value is used as a heuristic function.

[0066] For the sake of simplicity, the drawings show some embodiments of the disclosed solution in a simplified manner. In the drawings, like reference numerals represent like elements. DETAILED DESCRIPTION

[0067] Figure 1 A rock drilling rig 1 is shown which is intended for drilling a borehole 2 into a rock surface 3. The drilling may involve tunnelling 4, wherein the borehole 2 is a blast hole drilled in several consecutive wheels of drilling 5a to 5d.

[0068] The rock drilling rig 1 comprises a movable carrier and several booms connected to the carrier, in this case three booms: boom 1, boom 2 and boom 3. At the distal end of the drilling boom is a drilling unit 6. The drilling unit 6 may comprise a feed beam 7 and a rock drilling machine 8 supported on the feed beam. A drilling tool 9 is connected to the rock drilling machine 8. At least one control unit CU is on board the rock drilling rig 1 for controlling the operation of the booms. The onboard control unit CU may also be configured to execute the search algorithm disclosed in this document. The onboard control unit CU may communicate with one or more control units CU′ external to the rock drilling rig 1.

[0069] Drilling is performed according to a pre-designed drilling pattern 10, which defines the location, length and method of the boreholes 2 and the number of boreholes 2. Based on the drilling pattern 10, a drilling sequence 11 is designed, which defines the drilling order of the boreholes 2 for each boom. It can be noted that boom 1 is operated on the left, boom 3 is operated on the right, and boom 2 is operated in the middle, whereby the booms do not interfere with each other. The drilling sequence can also determine the start and end drilling for each boom. When representing the drilling sequence, the transitions between the boreholes 2 can be shown as lines.

[0070] Figure 2 The basic principle for planning a drilling sequence according to the present solution is disclosed. A drilling sequence planning program 12, an algorithm or a drilling plan sequencer is configured to search 13 for several further drilling steps starting from the current drilling situation. The system searches further forward, but not necessarily until the end or the target is reached. The search is performed for all booms. Afterwards, the program generates 14 several alternative drilling sequence solutions based on the possible drilling steps found in the search. Next, the planning program determines the actions 15 required for executing the solution and also determines the costs of these actions in order to compare different solutions. When the cost comparison is completed, the program selects 16 a solution with the lowest total cost. The selected solution is executed. In addition, the program dynamically updates 17 the planning process, whereby possible changes in the situation and operability can be taken into account.

[0071] Figure 3 Some actions or events are disclosed that may cause the planner to update the drilling order.A triggering event may be predetermined and may be input to the control unit. Figure 3 The events listed in have already been disclosed above in this document and are therefore not disclosed in detail here.

[0072] Figure 4 Some features and components related to an apparatus 18 intended for drilling sequence planning are disclosed. The apparatus 18 includes one or more processors or data processing devices 19, at least one input device 20 and at least one output device 21. The apparatus 18 may also include a data communication device 22 and a memory device 23. The disclosed planning algorithm or program 12 is input to the apparatus 18 and may be stored in the memory device 23. The apparatus 18 may communicate with other control units, sensing devices and user interfaces via the data communication device 22. Control instructions, selections and data inputs may be made manually as required by an operator 24. The input device 20 may also receive data about the drilling mode 10, data about heuristic rules 25, data about cost values ​​26, sensing and status data 27 and also data about basic settings 28. The basic settings 28 may include data about the drilling boom and the drilling unit and data about the starting hole of the drilling sequence and the sequence of movement of the boom. The sensing and status data may, for example, include data about the operating conditions of the drilling system and sensing data about the situation and drilling characteristics. The device 18 executes the algorithm in the processor 19 and takes into account the input data. The device can display the generated drilling sequence on the display device 29 and the device can communicate the drilling sequence to the drilling control device 30 of the rock drilling rig and can also send the sequence to the drilling automation system 31.

[0073] Figure 5A number of cost value components 32 are disclosed which may be considered when determining the total cost of the drilling sequence solution found. The cost value components may be selected and adjusted as appropriate. Thus, desired features may be prioritized and weighted relative to other features. Cost values ​​have been extensively disclosed elsewhere in this document.

[0074] Figure 6 Some basic settings and rules for planning are disclosed 28. Some of these rules are determined by the physical structure of the rock drilling rig used, while some of them can be determined by the operator. These rules have been discussed in more detail elsewhere in this document.

[0075] Figure 7 A highly simplified arrangement is disclosed in which four boreholes A to D are drilled using two drilling booms (boom 1 and boom 2). Boom 1 has a first coverage area 32a, and boom 2 has a second coverage area 32b. The areas 32a and 32b partially overlap, whereby there is an intersecting middle area 32c in which both booms can operate. However, in order to ensure collision-free drilling, a rule can be input into the planning device, which defines that the booms cannot be present in the middle area 32c at the same time. Of course, there may be other rules that restrict the free movement of the booms and the choice of boreholes to be drilled. In the disclosed arrangement, boom 1 is capable of drilling boreholes A, B and C, and boom 2 is capable of drilling boreholes B, C and D. The arrangement is used in Figures 9 to 19 In the example disclosed in .

[0076] Figure 8 It is disclosed that in a graphical illustration, nodes indicate drilling of a borehole and can be shown as circles. Transfers between nodes are indicated as lines between circles. Cost values ​​can be indicated as being associated with the lines. Cost values ​​can also be indicated inside the circles, as will be shown in the reference example. In addition, the device is provided with data on transfer cost values ​​33 and other cost values ​​34. In this example, the longer the transfer distance, the higher the transfer cost. In addition, cost values ​​can be set for other events such as waiting and drilling. It can be understood that waiting has a higher cost than drilling. In this example, the total cost has two components: 1) the cost of the actions that have been taken so far in the plans that have been checked; and 2) the lowest remaining cost for drilling that is optimistically estimated from all remaining costs.

[0077] Figures 9 to 20 An example of a planning process is disclosed that utilizes a graph and tree search algorithm. The search steps are performed in turns and the process starts with cantilever 1. In this example, the basic data disclosed and Figure 7 and Figure 8The disclosed solution can be illustrated as a search tree including several branches with nodes and transitions between the nodes. The algorithm can utilize a heuristic function (also referred to as a heuristic for short) that can rank alternative solutions at each branching step based on available information to decide which branch to follow. Different branches are examined until all boreholes are drilled and the goal is achieved.

[0078] Regarding the initial positions of the cantilevers, cantilever 1 is initially located at borehole A, and cantilever 2 is initially located at borehole D.

[0079] exist Fig. 9 In , different alternative solutions are searched for cantilever 1. When borehole A is selected, since cantilever 1 is already located at borehole A, the transfer cost is 0. Figure 8 As shown in , the drilling cost is 10. Since there are still three holes that have not been drilled after hole A is drilled, the heuristic function that defines the cost of the undrilled holes is 30. Then, as Fig. 9 As shown in , the total cost of solution a1 with boom 1 and hole A is 40. Holes B and C can be drilled using boom 1, so total costs of 55 and 70 are calculated for these holes. Since hole D is out of range, boom 1 needs to wait, resulting in additional cost and the total cost is then 85. Since nodes a2 to 24 have a larger total cost, the algorithm selects node a1 with a total cost of 40.

[0080] exist Fig.10 , the search process continues and a borehole is selected for boom 2. Boreholes D, C and B are within the range of boom 2, thereby enabling the transfer cost and drilling cost to be defined for nodes b1 to b3. Hole A is out of range and requires a waiting cost equal to 45 in node b4. As can be noted, node b1 with boom 2 and hole D yields the lowest total cost value of 40 and is therefore selected.

[0081] exist Fig.11 In the example above, it is the turn of boom 1 to move again. Holes B and C are still undrilled, so the algorithm searches for nodes c1 and c2. Node c1 has a lower total cost value than node c2, so node c1 is prioritized. If boom 1 waits and passes, thereby drilling any of the remaining holes B and C, the total cost of node c3 is 85. Node c1 with boom 1 and hole B has the lowest total cost of 55 and is selected.

[0082] Fig.12 It is disclosed that the cantilever 1 is Figure 732c, thus not allowing boom 2 to select the remaining hole C. Boom 1 and boom 2 may not be in the middle area 32c at the same time, so drilling boom 2 may just wait, so the total cost value is 100. The algorithm then goes back and checks nodes b2 to b4, and selects node b2 with the lowest total cost value of 55.

[0083] exist Fig.13 In , since cantilever 2 is already at the middle section, cantilever 1 cannot enter the middle section. Then, cantilever 1 needs to wait and the total cost value is 100. Therefore, the algorithm returns to the earlier branch and selects node a2.

[0084] exist Fig.14 , the algorithm selects hole D and creates a new node b5 with a total cost value of 55. This node is also the most attractive and is chosen for the next step.

[0085] exist Fig.15 , the subsequent node of b5 is shown. Cantilever 1 can now drill hole C (c5), move to A, drill that hole (c6) or wait (c7). Drilling hole C is the most attractive option.

[0086] exist Fig.16 It is shown in , that after c5, cantilever 2 can just wait, and for this reason, nodes a3, b3, c2 and c6 are equally attractive. c6 is chosen because it is the newest.

[0087] exist Fig.17 In Figure 1, subsequent nodes d3 and d4 are shown. d3 means moving cantilever 2 to C. d4 means waiting for cantilever 2. At this point, the total cost of the new node is so high that the previous nodes a3, b3, and c2 are more attractive. c2 is chosen because it is the newest.

[0088] exist Fig.18 It is shown in Figure 2 that after c2, only the waiting option is available for cantilever 2. b3 and a3 are more attractive, so the algorithm falls back to b3.

[0089] exist Fig.19 In , the only successor of b3 is Wait (c7), which is not attractive. The algorithm selects a3 for further examination.

[0090] exist Fig. 20 , the algorithm considers b7 (which means waiting for cantilever 2) to be unattractive, and moves to the next most attractive node d3. c3 is equally attractive, but d3 is chosen because it is the newest. This node d3 is now the target node, and the algorithm completes the search.

[0091] The highlighted path is now the plan that was created:

[0092] 1) Use cantilever 1 to drill hole B,

[0093] 2) Use cantilever 2 to drill hole D,

[0094] 3) using cantilever 1 to drill hole A, and

[0095] 4) Use cantilever 2 to drill hole C.

[0096] The drawings and the related description are intended only to illustrate the idea of ​​the invention. In its detailed aspects the invention may vary within the scope of the claims.

Claims

1. A device (18) for planning a drilling sequence (11) of a rock drilling rig (1), the rock drilling rig comprising at least two drilling booms, the at least two drilling booms being provided with drilling units (6) for drilling boreholes (2) into a rock face of a rock surface (3); The device (18) comprises at least one control unit (CU), the at least one control unit (CU) comprising a processor (19), the processor (19) being adapted to execute a drilling sequence planning program (12); The control unit (CU) is provided with a drilling mode (10) comprising drilling data about a borehole (2) to be drilled, wherein: The drilling data at least includes the position data of the starting point of the drilling (2); the control unit (CU) being provided with data about the drilling booms, wherein the data include data about the number of the drilling booms, data about the reach of the drilling booms and furthermore data about the position of the drilling booms relative to the drilling mode (10); and wherein the drilling sequence planning program (12) executed in the processor (19) of the device (18) is configured to generate a drilling sequence (11) for the provided drilling mode (10), wherein the drilling sequence (11) comprises data on the drilling sequence of the boreholes (2) and data on the selection of a drilling boom for drilling each borehole (2); It is characterized in that The control unit (CU) is configured to further search for a number of drilling steps for each drilling unit (6), and based on the search, the control unit (CU) is configured to generate a number of possible drilling sequence plans, each of the drilling sequence plans defining a different drilling sequence, drilling unit selection and transfer of the drilling units (6) between adjacent boreholes (2); The control unit (CU) is provided with at least one data element, the at least one data element comprising a predetermined rule for defining cost values ​​for several possible actions of the drilling step; The control unit (CU) is configured to detect actions required by the drilling steps of the searched drilling sequence plan, and is configured to calculate a total cost for the searched drilling sequence plan based on the rule; and The control unit (CU) is configured to select a drilling sequence plan having a lowest total cost from the checked plans for the subsequent drilling steps.

2. The device according to claim 1, characterized in that The control unit (CU) is further configured to: During the drilling process, performing the search several times for the drilling pattern (10) in order to seek several new drilling sequence solutions; calculating a total cost for the new drilling sequence solution found; and The selection of a drilling sequence plan to be implemented next is updated by selecting a drilling sequence plan with the lowest total cost from a group of several new drilling sequence plans.

3. The device according to claim 2, characterized in that The control unit (CU) is configured to dynamically update the disclosed search and update process in response to detecting at least one of the following events: completion of drilling of any borehole (2); interruption or failure of drilling of any borehole (2); an operator has performed a manual control step; a drilling unit (6) fails; updating the drilling mode (10); updating the rules of the data elements.

4. The device according to any one of the preceding claims 1 to 3, characterized in that The control unit (CU) is configured to compare an intermediate cost of an unfinished cost calculation of the drilling sequence plan with a calculated total cost of the drilling sequence plan during the cost calculation process, and is configured to interrupt the unfinished cost calculation of such a drilling sequence plan whose intermediate cost has exceeded the previously calculated total cost, thereby avoiding redundant calculations.

5. The device according to any one of the preceding claims 1 to 3, characterized in that The device (18) implements graph and tree search algorithms; and The at least one data element comprises a heuristic rule (25) defining at least a cost for a conversion of the drilling unit.

6. The device according to any one of the preceding claims 1 to 3, characterized in that The control unit (CU) is provided with an A* computer algorithm for searching for possible transitions between the boreholes (2) of the drilling mode (10); The control unit (CU) is provided with heuristic rules (25) for the algorithm; The algorithm is configured to calculate a cost for the found transitions based on the heuristic rule (25); The algorithm is configured to generate a number of drilling sequence plans and calculate a total cost for at least a portion of the drilling sequence plans; and The algorithm is configured to select the solution to be executed next, which solution has the lowest cost for a further number of drillings.

7. The device according to any one of the preceding claims 1 to 3, characterized in that The control unit (CU) is provided with at least one data element comprising a predetermined rule for defining a cost value (26) for a transfer between selectable adjacent boreholes (2).

8. The device according to any one of the preceding claims 1 to 3, characterized in that The device (18) is provided with data relating to a maximum permissible distance for searchable adjacent boreholes (2), whereby the generated drilling sequence plan only comprises transitions whose length is shorter than the maximum permissible distance.

9. The device according to any one of the preceding claims 1 to 3, characterized in that The control unit (CU) is provided with data relating to the selection of an initial borehole determined for each drilling boom; The control unit (CU) is configured to search for a possible transfer from the initial borehole to a subsequent adjacent borehole within the reach of the drilling boom for each drilling boom, and to repeat the search in several subsequent rounds of drilling until all the boreholes of the rock face drilling mode are included, and terminate the search.

10. The device according to any one of the preceding claims 1 to 3, characterized in that The device (18) is configured to graphically display the found drilling sequence plan on a display device (29) by displaying the found path as lines between the boreholes (2).

11. The device according to any one of the preceding claims 1 to 3, characterized in that The apparatus is configured to generate the drilling sequence (11) for the remaining boreholes of the drilling mode (10) simultaneously during the drilling; and The at least one control unit (CU) generating the drilling sequence (11) is located on board the rock drilling rig (1).

12. A rock drilling machine (1), comprising: Movable carrier; two or more drilling booms provided with a drilling unit (6), the drilling unit (6) comprising a feed beam (7) and a rock drilling machine (8), the rock drilling machine (8) being supported to the feed beam (7); and at least one control unit (CU); It is characterized in that The rock drilling rig (1) is provided with a device (18) for planning a drilling sequence (11); and The device (18) is a device according to any one of the preceding claims 1 to 11.

13. A method of planning a drilling sequence (11) for a rock drilling rig (1), the rock drilling rig comprising a number of drilling booms intended for drilling; The method comprises: executing said planning in at least one control unit (CU); causing the control unit (CU) to be provided with a drilling mode (10), the drilling mode (10) comprising drilling data regarding a borehole (2) to be drilled; causing the control unit (CU) to be provided with data concerning the drilling boom; and executing a drilling sequence planning program (12) in a processor (19) of the control unit (CU) and generating a drilling sequence (11) for the set drilling mode (10), wherein the drilling sequence (11) comprises data on the drilling sequence of the boreholes (2) and the selection of a drilling boom for drilling each borehole (2); Features The method comprises: searching for a further plurality of drilling steps for each drilling boom to generate a plurality of possible drilling sequence schemes, each of which defines a different drilling sequence, drilling unit selection and transfer of the drilling boom between adjacent boreholes (2); causing the control unit (CU) to be provided with at least one data element, the at least one data element comprising a predetermined rule for defining cost values ​​for several possible actions of the drilling step; detecting actions required by the drilling steps of the searched drilling sequence plan, and calculating a total cost for the searched drilling sequence plan based on the rule; and For the subsequent drilling steps, a drilling sequence plan with the lowest total cost is selected from the checked plans.

14. A computer program product (12) for planning a drilling sequence (11), It is characterized in that The computer program product (12) comprises program code means configured to perform the method as claimed in claim 13 when run on a computer or a data processing device (19).

Images