Method for adjusting at least one drilling parameter in real time during rock drilling by drilling machine

Abstract

The present disclosure relates to a method for adjusting at least one drilling parameter in real time during rock drilling by a drilling rig (10), where the drilling rig (10) is configured to operate with a set of adjustable drilling parameters that affect rock drilling performance, the method comprising: during an ongoing rock drilling operation, adjusting a set of adjustable drilling parameters; measuring (S1), by using at least one sensor, a particle size of a particle produced by the rock drilling operation while the drilling rig (10) is operating with a specific set of drilling parameters of the set of adjustable drilling parameters, where the measured particle is associated with a point in time when the specific set of drilling parameters is used; and adjusting (S2) at least one drilling parameter of the set of specific drilling parameters in real time when the measured particle size meets a predefined criterion. The disclosure also relates to a control system (100), a drilling machine (10), a computer program and a computer readable medium.

Description

Technical Field

[0001] The present disclosure relates to a method for adjusting at least one drilling parameter in real time during rock drilling by a drilling rig. The present disclosure also relates to a control system, a drilling rig, a computer program and a computer-readable medium for adjusting at least one drilling parameter in real time during rock drilling by a drilling rig. Background Art

[0002] Rock drilling (i.e., boring a hole in rock by excavating it) is a challenging and demanding operation. Rock drilling is typically performed by percussion drilling, wherein a percussion piston, typically hydraulically operated, is used to generate shock waves by means of an impact force generated by hydraulic pressure (percussion pressure). The shock waves are transmitted to the drill bit and, through it, to the rock. Rock drilling can also or alternatively be performed by rotary drilling (e.g., by rotating the drill bit during rock drilling). The drill bit can also or alternatively be subjected to a feed force that forces the drill bit further into the borehole during the rock drilling operation.

[0003] During rock drilling operations, rock cuttings are generated. These cuttings are preferably removed from the borehole by flushing. Flushing typically involves the use of a flushing medium, such as air and / or water, that removes the rock cuttings from the borehole. Accordingly, during rock drilling, a flushing medium may be injected into the borehole under pressure to remove the rock cuttings.

[0004] Rock drilling is controlled by using one or more drilling parameters. For example, the one or more drilling parameters may be a specific percussion frequency, a specific feed rate, and / or a specific rotational speed of the drill bit. Accordingly, the one or more drilling parameters will affect rock drilling performance, such as the quality of the resulting borehole and / or how quickly drilling proceeds. The one or more drilling parameters will also affect the service life of rock drilling components. Thus, the one or more drilling parameters influence both the quality of the borehole and the cost of drilling the resulting borehole.

[0005] It has been recognized that there is a need to develop improved techniques to enhance rock drilling performance. Summary of the Invention

[0006] In view of the foregoing, an object of the present disclosure is to provide an improved method for adjusting at least one drilling parameter in real time during rock drilling by a drilling rig, which method can alleviate at least one disadvantage of the prior art or can at least provide a suitable alternative. Another object of the present disclosure is to provide an improved control system that can at least alleviate at least one disadvantage of the prior art or can at least provide a suitable alternative. Other objects of the present disclosure are to provide an improved drilling rig, computer program, and computer-readable medium, or at least provide a suitable alternative.

[0007] According to a first aspect of the present disclosure, at least one of the objects is achieved by a method according to claim 1 .

[0008] Therefore, a method for adjusting at least one drilling parameter in real time during rock drilling by a drilling rig is provided.The drilling rig is configured to operate with a set of adjustable drilling parameters that influence rock drilling performance.

[0009] Methods include:

[0010] During the ongoing rock drilling operation, while the drilling rig is operating with a particular set of drilling parameters from a set of adjustable drilling parameters, measuring a particle size of particles generated by the rock drilling operation by using at least one sensor, wherein the measured particles are associated with a point in time when the particular set of drilling parameters is used; and

[0011] When the measured particle size meets a predefined criterion, at least one drilling parameter in the set of specific drilling parameters is adjusted in real time.

[0012] As used herein, rock drilling operations may also refer to the primary rock drilling operation when a drilling tool (e.g., a drill bit) is drilling a hole in rock, particularly homogeneous rock. A punching and drilling operation may be performed before the actual rock drilling operation begins. Accordingly, the rock drilling operation as disclosed herein is not a punching and drilling operation.

[0013] By providing a method as disclosed herein, when the measured particle size meets a predefined criterion, at least one drilling parameter is adjusted in real time. This allows for improved drilling operations while drilling. Consequently, drilling performance can be enhanced during drilling. The present disclosure is based on the recognition that it is advantageous to measure the size of particles generated by the drilling operation and use this information to adjust one or more drilling parameters during drilling. More specifically, it has been recognized that it is advantageous to measure the size of the particles relative to a point in time when a specific set of drilling parameters is being used. Therefore, the measured particle size is used as an indicator of drilling performance associated with the use of this specific set of drilling parameters. Accordingly, the predefined criterion is used to indicate when drilling performance is unsatisfactory and when adjustment of at least one of the drilling parameters is required.

[0014] Particles generated by a rock drilling operation may also refer to rock cuttings as mentioned above, or at least form part of rock cuttings.Particles may also refer to rock particles, ie rock particles removed from the rock by the rock drilling operation.

[0015] Measuring the particle size may include obtaining an average particle size value for the measured particles and using the average particle size value for comparison with a predefined standard. Additionally or alternatively, measuring the particle size may include obtaining a particle size distribution for the measured particles and using the particle size distribution value for comparison with a predefined standard or in an optimization algorithm such as a machine learning algorithm. For example, the peak value (i.e., the maximum value) of the particle size distribution may be used for comparison with the predefined standard.

[0016] Optionally, the steps of measuring the particle size and adjusting at least one drilling parameter in real time are performed continuously in a control loop during the rock drilling operation, thereby ensuring that the rock drilling performance is optimized during the entire rock drilling operation, i.e. until the borehole is drilled to its final length.

[0017] Optionally, adjusting at least one drilling parameter in real time comprises increasing or decreasing at least one drilling parameter based on the measured particle size, thereby obtaining an updated set of drilling parameters to be used in the ongoing rock drilling operation.

[0018] Optionally, the method further comprises:

[0019] evaluating rock drilling performance based on an updated set of drilling parameters;

[0020] obtaining, by using the evaluation, a correlation between the updated set of drilling parameters, rock drilling performance, and measured grain size; and

[0021] The correlation is used to determine the need to update the adjustment level based on the measured particle size.

[0022] Therefore, it has been further recognized that it can be advantageous to evaluate the rock drilling performance based on an updated set of drilling parameters, thereby evaluating whether an adjustment level needs to be updated based on the measured particle size. In other words, by learning over time, for example by using a machine learning algorithm, the adjustment of at least one drilling parameter can be improved over time, thereby leading to further improved rock drilling performance.

[0023] For example, the evaluation can be performed using one or more sensors adapted to measure values ​​indicative of rock drilling performance, such as a value indicative of the quality of the drilled hole and / or a value indicative of how quickly the drilling is proceeding (i.e., drilling speed). The quality of the drilled hole can be related to the straightness of the hole. The evaluation can further include values ​​related to the cost of drilling the hole, such as a value related to the degradation of a rock drilling component (e.g., a drill bit used for drilling the rock). Additionally or alternatively, the evaluation can also include manual input from a user during and / or after the drilling operation.

[0024] Optionally, the set of adjustable drilling parameters includes at least one of the following drilling parameters:

[0025] The rotational speed of the drilling tool of the drilling rig;

[0026] Static loads applied to the drilling tools of the drilling rig;

[0027] The impact force applied to the drilling tool of the drilling rig;

[0028] Impact frequency;

[0029] Feed rate of the drilling tool of the drilling rig;

[0030] a parameter indicative of the particle removal rate of particles generated by the rock drilling operation;

[0031] irrigation parameters such as irrigation pressure and / or irrigation rate;

[0032] The torque applied to the drilling tool of a drilling rig.

[0033] Optionally, measuring the particle size of the particles is performed by at least one of the following particle size measurement techniques:

[0034] Laser diffraction;

[0035] Dynamic light scattering;

[0036] Electrostatic separation;

[0037] Sieve analysis;

[0038] sedimentation;

[0039] Electric area.

[0040] Further measurement techniques known to the skilled person may be used. However, the above-described measurement techniques have been shown to be able to effectively measure the particle size of particles produced by rock drilling operations.

[0041] Optionally, measuring the particle size of particles generated by the rock drilling operation includes using a time delay parameter that indicates a difference between a point in time when the specific set of drilling parameters was used and a point in time when the particle size measurement was performed, wherein the time delay parameter is used to correlate the measured particles with the point in time when the specific set of drilling parameters was used. It has further been recognized that performing particle size measurements at a location remote from where actual contact between the drilling tool and the rock occurs can be advantageous. More specifically, the equipment used for measurement does not need to be adapted to the harsh environment of the drilling tool and rock. Thus, by using the time delay parameter, a more accurate value of the particle size associated with the point in time when the specific set of drilling parameters was used can be obtained. Consequently, adjustment of at least one drilling parameter can be improved, resulting in improved rock drilling performance. Preferably, the particle size measurement can be performed outside the borehole, for example, on particles that have been removed from the borehole by a flushing operation.

[0042] Optionally, the time delay parameter is variable during an ongoing drilling operation, for example depending on the current drilling depth. Thus, a more correct value of the particle size associated with the point in time when the particular set of drilling parameters is used can be obtained.

[0043] Optionally, the predefined criteria are associated with the type of rock in which the drilling operation is being performed. The particle size of particles produced by the drilling operation may vary between different types of rock. Accordingly, by associating the predefined criteria with the type of rock, drilling performance can be further improved.

[0044] Optionally, the predefined criterion is associated with the specific set of drilling parameters. Accordingly, for example, the predefined criterion can vary depending on the specific set of drilling parameters used. For example, for the specific set of drilling parameters, it can be expected that particles should have a size within a specific range, while for another specific set of drilling parameters, it can be expected that particles should have a size within another specific range. Thus, by associating the predefined criterion with the specific set of drilling parameters, the adjustment of at least one drilling parameter can be improved. Consequently, rock drilling performance can be further enhanced.

[0045] Optionally, the method further includes using the adjusted set of drilling parameters in a subsequent drilling operation to drill another borehole. Thus, at the start of the subsequent drilling operation, the adjusted set of drilling parameters can already be used. Still optionally, the method includes using the adjusted set of drilling parameters in the subsequent drilling operation to drill the other borehole when the other borehole meets a predefined drilling criterion. For example, the predefined drilling criterion may be a predefined maximum distance from a location where the first drilling operation using the adjusted set of drilling parameters was performed. Additionally or alternatively, the predefined drilling criterion may indicate that the other borehole is to be drilled in a similar or identical type of rock.

[0046] Optionally, the method further comprises: maintaining the specific set of drilling parameters when the measured particle size is outside a predefined standard. Thus, the rock drilling operation can continue with the specific set of drilling parameters, ie, the currently used drilling parameters provide satisfactory rock drilling performance.

[0047] Optionally, the method can be used in conjunction with other sources of information indicative of current drilling performance. For example, a sensor that measures the stress wave waveform generated by the drilling operation can also be used to assess current drilling performance. When the measured stress wave waveform indicates a need to update at least one drilling parameter, the at least one drilling parameter can be adjusted. Combining this with particle size measurements has been shown to further improve the adjustment of the at least one drilling parameter.

[0048] According to a second aspect of the present disclosure, at least one of the objects is achieved by a control system according to claim 12 .

[0049] Thus, a control system is provided for adjusting at least one drilling parameter in real time during rock drilling by a drilling rig, wherein the drilling rig is configured to operate with a set of adjustable drilling parameters that influence rock drilling performance. The control system includes at least one sensor for measuring the particle size of particles generated by the rock drilling operation of the drilling rig. Furthermore, the control system is configured to perform the method according to any one of the embodiments of the first aspect of the present disclosure.

[0050] The advantages and effects of the second aspect of the present disclosure are similar to those of the first aspect of the present disclosure. It should also be noted that all embodiments of the first aspect of the present disclosure can be combined with all embodiments of the second aspect of the present disclosure, and vice versa.

[0051] According to a third aspect of the present disclosure, at least one of the objects is achieved by a drilling rig according to claim 13 .

[0052] Hence, there is provided a drilling rig comprising a control system according to any one of the embodiments of the second aspect of the present disclosure.

[0053] According to a fourth aspect of the present disclosure, at least one of the objects is achieved by a computer program according to claim 14. Therefore, a computer program is provided comprising instructions for causing the control system of the second aspect of the present disclosure to perform the method according to any one of the embodiments of the first aspect of the present disclosure.

[0054] According to a fifth aspect of the present disclosure, at least one of the objects is achieved by a computer readable medium according to claim 15. Therefore, a computer readable medium having stored thereon the computer program according to the fourth aspect of the present disclosure is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] A more detailed description of embodiments of the present disclosure cited as examples follows with reference to the accompanying drawings.

[0056] In the attached figure:

[0057] Figure 1 shows a side view of a drilling apparatus and a drilling rig according to an example embodiment of the present disclosure;

[0058] Figure 2 a flowchart illustrating a method according to an example embodiment of the present disclosure; and

[0059] Figure 3 A control system according to an example embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0060] Figure 1 A drilling rig 1 according to an exemplary embodiment is depicted. The drilling rig 1 is herein a mobile drilling rig that includes track wheels 2 and a user cabin 3. However, it should be understood that the drilling rig can be configured differently. For example, the drilling rig may not include a user cabin. Conventional wheels may be used instead of track wheels, etc. Furthermore, the drilling rig may not have any wheels at all.

[0061] Accordingly, the present disclosure is applicable to any type of drilling equipment suitable for drilling holes in rock.

[0062] The drilling rig 1 may be operated by an onboard user or operator. Additionally or alternatively, it may be remotely operated and / or may be operated automatically, ie without any direct human involvement.

[0063] Drilling equipment 1 includes a drilling rig 10 according to an exemplary embodiment of the present disclosure. Drilling rig 10 includes a drill string having a drilling tool 12 or drill bit for drilling a borehole H in rock R. The drilling rig need not be connected to drilling equipment 1, but in alternative embodiments may be a portable device such as a handheld device. Drilling rig 10 may be adapted to perform rock drilling using any of percussion drilling, rotary drilling, and percussion-assisted rotary drilling.

[0064] In the illustrated embodiment, the drilling machine 10 is adapted to perform a rock drilling operation by rotating the drilling tool 12 at a specific rotational speed while also feeding the drilling tool into the borehole H by application of a static load imposed on the drilling tool 12. Furthermore, during the rock drilling operation, an impact force having a specific impact frequency is applied to the drilling tool 12.

[0065] The drill rig 10 may be adapted, for example, to drill boreholes having a diameter in the range of 20 mm to 450 mm. However, the present disclosure is also applicable to drill rigs adapted to drill boreholes having smaller or larger diameters. The drill rig 10 may also be adapted to drill boreholes having varying depths (e.g., in the range of 0.1 m to 500 m).

[0066] During the rock drilling operation, particles are generated. The particles can be removed by a flushing operation (for example, by using pressurized air injected into the borehole H).

[0067] refer to Figure 2 , showing an example embodiment of the method according to the present disclosure. The method can be performed as follows Figure 1 1. The drilling rig 10 shown in FIG. 1 is performed. Accordingly, the drilling rig 10 may further include at least one sensor (not shown) for measuring the particle size of particles generated by the rock drilling operation. The at least one sensor for measuring the particle size may be located outside the borehole H. Additionally or alternatively, the at least one sensor for measuring the particle size may be located inside the borehole H, for example, adjacent to, on, or in the drilling tool 12 or drill bit.

[0068] The method performs real-time adjustment of at least one drilling parameter during rock drilling by the drilling rig 10 .

[0069] The drilling rig 10 is configured to operate with a set of adjustable drilling parameters that affect rock drilling performance.

[0070] For example, the set of adjustable drilling parameters may include at least one of the following drilling parameters:

[0071] the rotational speed of the drilling tool 12 of the drilling machine 10;

[0072] a static load applied to the drilling tool 12 of the drilling rig 10;

[0073] an impact force applied to the drilling tool 12 of the drilling machine 10;

[0074] Impact frequency;

[0075] the feed rate of the drilling tool 12 of the drilling machine 10;

[0076] a parameter indicative of the particle removal rate of particles generated by the rock drilling operation;

[0077] irrigation parameters such as irrigation pressure and / or irrigation rate;

[0078] The torque applied to the drilling tool 12 of the drilling machine 10 .

[0079] Methods include:

[0080] S1: During an ongoing rock drilling operation, when the drilling rig 10 is operated with a specific set of drilling parameters from the set of adjustable drilling parameters, measuring a particle size of particles generated by the rock drilling operation using at least one sensor. The measured particles are associated with a point in time when the specific set of drilling parameters is used.

[0081] The method further comprises:

[0082] S2: When the measured particle size meets a predefined criterion, adjusting at least one drilling parameter in the set of specific drilling parameters in real time.

[0083] For example, the power P applied to the rock R at the point of contact between the drilling tool 12 and the rock R can be defined as P = E × f, where E is the impact force or energy applied to the drilling tool 12 of the drilling rig 10, and f is the impact frequency. Accordingly, when the measured particle size meets predefined criteria, the parameters E and f can be adjusted in real time. Thus, drilling performance can be improved during the drilling operation. For example, by adjusting at least one drilling parameter in real time, drilling quality, such as the straightness of the borehole H, can be improved. Additionally or alternatively, by adjusting at least one drilling parameter in real time, the time required to drill the borehole H can be reduced.

[0084] During an ongoing rock drilling operation, any of the above-mentioned rock drilling parameters may be adjusted in real time.

[0085] For example, a predefined criterion can be associated with particles having a particle size less than a predefined threshold. Too small a particle can indicate an impact force that is too low or too high. It can also indicate too many impacts in the same area, suggesting that particles are being crushed several times, such as due to a rotation speed that is too slow or too high. It can also indicate a too slow particle removal rate, i.e., flushing is being performed at a too slow flushing rate. In another example, a predefined criterion can be associated with particle size distribution. How the particles are distributed can be used in a control loop to set drilling parameters to achieve the desired particle size distribution.

[0086] Preferably, during the rock drilling operation, the steps of measuring the particle size and adjusting at least one drilling parameter in real time (S1 and S2) are performed continuously in a control loop. Figure 2 Indicated by an arrow pointing from box S2 to box S1.

[0087] The real-time adjustment of at least one drilling parameter may include increasing or decreasing the at least one drilling parameter based on the measured particle size, thereby obtaining an updated set of drilling parameters to be used in the ongoing rock drilling operation. For example, the real-time adjustment may include increasing or decreasing the rotational speed of the drilling tool 12.

[0088] The method may further comprise:

[0089] evaluating rock drilling performance based on an updated set of drilling parameters;

[0090] obtaining, by using the evaluation, a correlation between the updated set of drilling parameters, rock drilling performance, and measured grain size; and

[0091] The correlation is used to determine the need to update the adjustment level based on the measured particle size. Accordingly, when it is determined that the adjustment level needs to be updated, the adjustment level can be updated. Additionally or alternatively, the correlation can be used to update the predefined standard.

[0092] For example, the assessment of rock drilling performance may be an assessment of how straight the borehole H is. Additionally or alternatively, the assessment may be an assessment of how fast the borehole H is being drilled. Additionally or alternatively, the assessment may be an assessment of how fast the borehole H is being drilled relative to degradation of the drilling rig 10 (e.g., degradation of the drilling tool 12).

[0093] For example, updating the adjustment level and / or predefined criteria can be performed using a machine learning algorithm. This allows for continuous improvement in rock drilling performance. The predefined criteria and / or adjustment level for at least one drilling parameter can initially be manually set by a user. The user can then set the predefined criteria and / or adjustment level for at least one drilling parameter based on the user's current knowledge of satisfactory rock drilling performance. Thereafter, the predefined criteria and / or adjustment level can be continuously updated based on the evaluation of rock drilling performance. Accordingly, as more information regarding rock drilling performance and its correlation with the updated set of drilling parameters and the measured grain size becomes available, the method can be further refined.

[0094] The measurement of the particle size of the particles may be performed by at least one of the following particle size measurement techniques:

[0095] Laser diffraction;

[0096] Dynamic light scattering;

[0097] Electrostatic separation;

[0098] Sieve analysis;

[0099] sedimentation;

[0100] Electric area.

[0101] Other particle size measurement techniques may be optical, ultrasonic or electric field methods, and also mechanical methods such as centrifugation methods.

[0102] Any other known technique for measuring particle size may be used.

[0103] Furthermore, measuring the particle size of particles generated by the rock drilling operation may include using a time delay parameter Δt that indicates a difference between a point in time when the particular set of drilling parameters was used and a point in time when the particle size measurement was performed. The time delay parameter Δt is used to correlate the measured particles with the point in time when the particular set of drilling parameters was used.

[0104] For example, from Figure 1 Particles generated by the borehole H in the embodiment of the present invention can be measured after they have been removed from the borehole H, for example, at a location close to the drilling rig 10 and the drilling equipment 1. Therefore, even if at least one drilling parameter has been adjusted during the time window defined by the time delay parameter Δt, the measured particle size can be associated with the specific set of drilling parameters used when the particles were generated. Therefore, it can be ensured that the adjustment of at least one drilling parameter will be based on the size of the particles generated when using the specific set of drilling parameters.

[0105] The time delay parameter Δt may be variable. Preferably, during an ongoing drilling operation, the time delay parameter Δt is variable according to the current drilling depth.

[0106] Furthermore, the predefined criteria can be associated with the type of rock in which the drilling operation is being performed. More specifically, different particle sizes can be expected when drilling in different types of rock. Therefore, changing the predefined criteria based on the rock type can lead to further improved drilling performance.

[0107] Furthermore, predefined criteria can be associated with the specific set of drilling parameters. Accordingly, the predefined criteria can also be varied based on the specific set of drilling parameters. This can result in a database containing different predefined criteria associated with, for example, different specific sets of drilling parameters, different types of rock, and so on. The database can be continuously updated, for example, using the aforementioned machine learning algorithms. The database can be shared among different drilling equipment and rigs. Additionally or alternatively, the database can be fed with data from different drilling equipment and rigs.

[0108] The method may further include using the adjusted set of drilling parameters in a subsequent drilling operation to drill another borehole. Thus, when drilling the other borehole, drilling performance can already be at a higher level at the start of drilling than when drilling the first borehole H. For example, the method may include using the adjusted set of drilling parameters in a subsequent drilling operation to drill the other borehole when the other borehole meets a predefined drilling criterion. For example, the predefined drilling criterion may be a predefined maximum distance from a location where the first drilling operation using the adjusted set of drilling parameters was performed. Additionally or alternatively, the predefined drilling criterion may indicate that the other borehole is drilled in a similar or identical type of rock. Additionally or alternatively, the predefined drilling criterion may indicate a time period starting from the drilling of the previous borehole H.

[0109] refer to Figure 3 , depicts a schematic diagram of a control system 100 according to the present disclosure. The control system 100 is used to adjust at least one drilling parameter in real time during rock drilling by the drilling rig 10. The drilling rig 10 is configured to operate with a set of adjustable drilling parameters that affect rock drilling performance. The control system 100 includes at least one sensor 110 for measuring the particle size of particles generated by the rock drilling operation of the drilling rig. The control system 100 is further configured to perform the method according to any one of the embodiments of the first aspect of the present disclosure. For example, the control system 100 may include one or more control units 120 for performing the method. As shown in Figure 3 As indicated by the arrows, at least one sensor 110 can communicate with a control unit 120, i.e., it can continuously or intermittently transmit measured particle size values ​​to the control unit 120. The sensors 110 and the control unit 120 can be provided on the drilling rig 10 and / or the drilling equipment 1. However, other configurations are also possible. For example, the control unit 120 can be an off-board control unit, such as provided at a location remote from the drilling equipment 1 and the drilling rig 10. Accordingly, the communication between the sensor 110 and the control unit 120, which can be one-way or two-way communication, can be wired and / or wireless.

[0110] The control unit 120 is an electronic control unit in this document. It may include processing circuitry suitable for running a computer program as disclosed herein. The control unit 120 may include hardware and / or software for executing the method according to the present invention. In an embodiment, the control unit 120 may be represented as a computer. The control unit 120 may be composed of one or more separate sub-control units.

[0111] It should be understood that the present disclosure is not limited to the embodiments described above and illustrated in the drawings; on the contrary, those skilled in the art will recognize that many changes and modifications are possible within the scope of the appended claims.

Claims

1. A method for adjusting at least one drilling parameter in real time during rock drilling by a drilling rig (10), wherein: The drilling rig (10) is configured to operate with a set of adjustable drilling parameters that affect the rock drilling performance, the method comprising: During an ongoing rock drilling operation, when the drilling rig (10) is operated with a specific set of drilling parameters from the set of adjustable drilling parameters, measuring (S1) a particle size of particles generated by the rock drilling operation by using at least one sensor, wherein the measured particles are associated with a point in time when the specific set of drilling parameters is used; and When the measured particle size meets a predefined criterion, at least one drilling parameter in the set of specific drilling parameters is adjusted (S2) in real time.

2. The method according to claim 1, wherein: During said rock drilling operation, the steps of measuring particle size and adjusting at least one drilling parameter in real time are continuously performed in a control loop.

3. A method according to any of the preceding claims, wherein real-time adjustment of the at least one drilling parameter comprises increasing or decreasing the at least one drilling parameter according to the measured particle size, thereby obtaining a set of updated drilling parameters to be used for the ongoing rock drilling operation.

4. The method according to claim 3, further comprising: evaluating the rock drilling performance based on the set of updated drilling parameters; obtaining, by using said evaluation, a correlation between said updated set of drilling parameters, said rock drilling performance and said measured particle size; as well as The correlation is used to determine the need to update the adjustment level based on the measured particle size.

5. The method according to any one of the preceding claims, wherein the set of adjustable drilling parameters comprises at least one of the following drilling parameters: the rotation speed of the drilling tool (12) of the drilling machine (10); a static load applied to a drilling tool (12) of the drilling machine (10); an impact force applied to a drilling tool (12) of the drilling machine (10); Impact frequency; the feed rate of the drilling tool (12) of the drilling machine (10); a parameter indicative of a particle removal rate of particles generated by said rock drilling operation; irrigation parameters such as irrigation pressure and / or irrigation speed; A torque is applied to a drilling tool (12) of the drilling machine (10).

6. The method according to any one of the preceding claims, wherein measuring the particle size of particles is performed by at least one of the following particle size measurement techniques: Laser diffraction; Dynamic light scattering; Electrostatic separation; Screening analysis; Sedimentation; Electric area.

7. A method according to any one of the preceding claims, wherein: Measuring the particle size of particles produced by the rock drilling operation includes using a time delay parameter, which indicates the difference between the time point when the specific set of drilling parameters is used and the time point when the measurement of the particle size is performed, wherein the time delay parameter is used to associate the measured particles with the time point when the specific set of drilling parameters is used.

8. The method according to claim 7, wherein: The time delay parameter may be variable, for example varying during the ongoing drilling operation according to the current drilling depth.

9. A method according to any one of the preceding claims, wherein: The predefined criteria are associated with the type of rock in which the ongoing drilling operation is being performed.

10. A method according to any one of the preceding claims, wherein: The predefined criteria are associated with the particular set of drilling parameters.

11. The method according to any one of the preceding claims, further comprising: The adjusted set of drilling parameters is used in a subsequent rock drilling operation to drill another borehole.

12. A control system (100) for adjusting at least one drilling parameter in real time during rock drilling by a drilling rig (10), wherein: The drilling rig (10) is configured to operate with a set of adjustable drilling parameters that affect the rock drilling performance, and the control system (100) includes at least one sensor (110) for measuring the particle size of particles generated by the rock drilling operation of the drilling rig, wherein the control system (100) is configured to perform the method according to any one of claims 1 to 11.

13. A drilling rig (10) comprising a control system (100) according to claim 12.

14. A computer program comprising instructions for causing a control system (100) according to claim 11 to perform a method according to any one of claims 1 to 11.

15. A computer readable medium having stored thereon a computer program according to claim 14.

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