Apparatus, rock drilling rig and drilling method

Abstract

An apparatus, a rock drilling rig and a method of drilling. The apparatus (A) provides position control data (39) for controlling the positioning of a rock drilling unit (4) of the rock drilling rig (1) for drilling a transverse drilling pattern (13) into an underground tunnel (7). The apparatus includes a training feature (33) for collecting data regarding manually controlled movement (38) at the location of the drilling pattern and thereby detecting a collision-free movement path. When the rock drilling unit is controlled during the actual drilling phase, data relating to the trained collision-free movement path (19) is implemented.

Description

Technical Field

[0001] The present invention relates to an apparatus for providing position control data for controlling the positioning of a rock drilling unit of a rock drilling rig for drilling a lateral borehole pattern into an underground tunnel or space.

[0002] The invention also relates to a rock drilling rig and a method.

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

[0004] In underground mines and construction sites, different types of rock drilling rigs are used. The rock drilling rig is provided with one or more drilling booms and at the distal end of the booms a rock drilling unit for drilling a borehole is arranged. The purpose of drilling a borehole in the rock can be to form a blast hole for separating rock material by blasting, or the borehole can be drilled in order to reinforce the rock surface by installing rock bolts or other reinforcements inside the drilled hole. Typical underground galleries, where drilling and bolting measures are performed, are narrow and therefore present a risk of collision. Current rock drilling and bolting solutions have been shown to comprise some disadvantages, in particular with regard to collision checks. Summary of the invention

[0005] It is an object of the present invention to provide a novel and improved apparatus, a rock drilling rig and a method for providing collision-free positioning data.

[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 idea of ​​the disclosed solution is that the device provides position control data for controlling the positioning of a rock drilling unit for drilling a lateral borehole pattern into an underground tunnel. The device uses a training procedure to provide data about manually controlled movements at the positions of the borehole pattern to be drilled. The aim is to detect a collision-free movement path. The data about the trained movement path can be implemented when controlling the rock drilling unit during the actual drilling phase.

[0010] The training and generation of collision-free movement paths is a preliminary phase performed before the subsequent actual rock drilling and other measures begin.

[0011] In other words, the disclosed device comprises at least one control unit provided with sensory data about the position and orientation of the rock drilling unit. The device is provided with a training feature, wherein the device is configured to collect sensory data about manually controlled movement of the rock drilling unit at a borehole pattern to be drilled, and wherein the rock drilling unit moves along a movement path at a distance from a physical obstacle located at the borehole pattern to be drilled. The device is configured to generate a collision-free movement path in response to the collected sensory data.

[0012] The advantage of the disclosed solution is that collisions of the rock drilling unit with rock surfaces and other physical obstacles can be prevented when the rock drilling unit is moved according to a defined collision-free movement path during actual drilling. The disclosed preparation function takes only little additional time and therefore does not cause significant delays to the actual rock drilling.

[0013] Another advantage is that the disclosed solution does not require any separate and specialized sensing devices, such as spatial sensors. Instead, the disclosed solution implements sensing data collected by existing sensors arranged to the boom joint and the rock drilling unit of the rock drilling rig. Thus, the solution of the invention can be simple, robust and cheap.

[0014] According to one embodiment, the manual movement or training is a collision-free movement phase, wherein the rock drilling unit is moved in the plane of the drilling pattern to be drilled.

[0015] In this context, a rock drill refers to a rock bolter and a long hole drill, both of which comprise a rock drilling unit and are used to drill a borehole pattern in a transverse direction of a tunnel.

[0016] According to one embodiment, the drilling pattern is a rock bolt pattern, which is used to provide a rock surface for confining a tunnel with a rock bolt or cable bolt for reinforcing the rock. The device is then used to assist in drilling holes for rock bolts and cable bolts. The rock drilling rig can then be a rock bolter or cable bolter, which is provided with at least one bolter head, which at least one bolter head comprises a rock drilling unit and a device for feeding a rock bolt or a rock support cable. In this case, the collision-free movement path generated includes avoiding collisions with the entire bolter head, which comprises a rock drilling unit and an anchor or cable feeding device. When grouting material is fed into the drilled hole together with the rock bolt or cable bolt, the collision-free movement path may also include avoiding collisions with the grouting material feeding device and elements. However, the grouting feeding device as well as the rock bolt magazine and the cable bolt feeding and cutting device can be considered as part of the bolter head.

[0017] According to one embodiment, the drilling pattern is a production blast hole pattern. The production blast hole pattern is also called a long hole pattern. After drilling is completed, explosive materials are loaded into the drill holes in the pattern and blasted to remove rock material.

[0018] According to one embodiment, physical obstacles limiting the collision-free movement path of the rock drilling unit may comprise realized pit contours, ie rock surfaces such as pit walls, pit ceiling and pit floor of the pit.

[0019] In addition, restrictive rock surfaces may be present both in the transverse direction of the tunnel and in the longitudinal direction of the tunnel.

[0020] Physical obstacles may also include possible infrastructure arranged to the tunnel. This infrastructure may include, for example, ventilation ducts, water pipes, hoses, cables and possible other structures and elements.

[0021] Furthermore, physical obstacles may include the structure of the rock drilling rig itself. A collision-free movement path includes avoiding collisions with a boom carrying the rock drilling unit or with other booms of the rock drilling rig. Collisions with vehicles of the rock drilling rig are also avoided.

[0022] Thus, training for a collision-free movement path may include avoiding all kinds of physical obstacles that create a collision risk at the borehole pattern to be drilled.

[0023] According to one embodiment, the device is part of a control unit of a rock drilling rig.

[0024] Alternatively, the device is a separate apparatus and may be located outside the rock drilling rig.The device may then be a server or an external control device communicating with the control unit of the rock drilling rig.

[0025] According to one embodiment, the device is configured to check the position of at least one selected point of the rock drilling unit and is configured to generate a collision-free movement path for the at least one selected point. In other words, the device calculates a collision-free movement path for the selected point based on the collected sensory data and input data about the dimensions and kinematics of the rock drilling unit. The device can calculate a collision-free movement path for any point on the rock drilling unit.

[0026] An alternative is to select virtual or calculated points to be checked when determining a collision-free movement path. The selected points can then even be outside the physical structure of the rock drilling unit or the boom.

[0027] According to one embodiment, the at least one point selected may be, for example, a drill bit of a rock drilling tool, or a front end of a feed beam.

[0028] Alternatively, the selected point may be the rear end of the feed beam. This may be the case when there is a risk of collision to the pit floor or bottom of the pit. Furthermore, any other point considered critical for collision may be selected as the point to be monitored.

[0029] According to one embodiment, the apparatus is configured to check the positions of at least two selected points located at opposite ends of the rock drilling unit and to generate a collision-free movement path for the selected points.

[0030] According to one embodiment, when the rock drilling unit is part of a bolting head of a rock bolter, one or more points on the bolt feeding device may also be selected for collision checking.

[0031] According to one embodiment the device is configured to check the orientation of the rock drilling unit in addition to the position of the at least one selected point and to generate a collision-free movement path and orientation for the at least one selected point.

[0032] According to one embodiment, the apparatus is configured to implement the generated collision-free movement path for generating control commands for automatically coarsely positioning the rock drilling unit on the plane of the drilling pattern to a defined position of a borehole in the drilling pattern.

[0033] In other words, the coarse positioning movement may comprise turning the rock drilling unit to a defined orientation of a borehole in the drilling pattern.In addition to the orientation data, the position data may also comprise position data of the drilling start point.

[0034] After the rock drilling unit is roughly positioned and directed towards the starting point of the drilling, fine positioning then begins. The rock drilling unit is moved in the feeding direction towards the starting point until the drill bit or structure of the rock drilling unit comes into contact with the rock surface. Typically, the rock drilling unit is supported against the rock surface. The fine positioning movement may be performed at a low speed or under the control of an operator.

[0035] According to one embodiment, the device is provided with a pre-designed drilling plan for a drilling pattern. The device is then configured to control the automatic rough positioning of the rock drill according to the provided drilling plan. The drilling plan may include at least the coordinates of the starting point and the ending point of the borehole. If necessary, the control unit may calculate the orientation angle and the length of the borehole.

[0036] Before the actual drilling begins, the drilling plan needs to be navigated in order to drill the drilling pattern. In the navigation, the drilling plan is connected to the current drilling location. While the navigation process is being performed, the realized pit contour and the physical obstacles therein can be checked simultaneously with the aid of the disclosed training phase. The simultaneous execution of the two processes of navigation and collision-free movement path search saves time required for preparatory measures.

[0037] According to one embodiment, the control unit of the device or the rock drilling rig is provided with a design feature which helps the operator to define the parameters of the drilling pattern to be drilled.The drilling pattern can then be designed semi-automatically, for example, on a display device of the rock drilling rig.

[0038] According to one embodiment, the drilling unit can be moved to a point within the trained and generated main collision-free movement path. Thus, there can be an auxiliary collision-free movement path at a tolerance distance from the main movement path. In this way, additional distances from physical obstacles can be defined for the entire movement path or only at selected sections of the movement path. However, when the rock drilling unit moves along the defined main collision-free movement path, it is located near the rock surface and fine positioning measures towards the starting point of the drilling are quickly performed.

[0039] According to one embodiment, the device further provides sensory data about the manually controlled movement of the rock drilling unit in the transverse direction of the plane of the drilling fan and at a certain transverse distance from the physical obstacle in this transverse direction, whereby the collision-free movement path generated has a three-dimensional configuration. In other words, there may be physical obstacles protruding in the longitudinal direction of the tunnel at the location of the drilling fan. Therefore, when training a safe movement path, the rock drilling unit cannot move only in the plane of the drilling fan, but needs to move in this transverse direction when tracking the transverse obstacles. Therefore, the generated collision-free movement path has a third dimension in the transverse direction of the plane of the drilling fan. The collision-free movement path is mainly in the plane, but can include deviation sections at the location of transverse objects.

[0040] According to one embodiment, the apparatus is configured to provide data about an achieved tunnel profile of the tunnel in response to received sensed data. In other words, the training phase provides approximate sensed data about the rock surface at the drill fan, and this data can be used to generate an approximation of the achieved tunnel profile. For example, a comparison between the achieved tunnel profile and the designed tunnel profile can be performed, and the results can be used to check the degree of success of the rock excavation process and the nature of the excavated rock.

[0041] During the training of the collision-free movement path, the rock drilling unit is not in contact with the rock surface, so the sensed data of the tunnel contour is an approximate sensed data rather than an exact tunnel contour.

[0042] According to an embodiment, the device is configured to display the realized tunnel contour and the approximation of the designed tunnel contour on the display device. Of course, the trained collision-free movement path can also be displayed.

[0043] According to one embodiment, the disclosed solution also relates to a rock drilling rig for drilling a transverse drilling pattern into a rock surface of an underground tunnel. The rock drilling rig comprises: a movable carrier; at least one boom; at least one rock drilling unit, the at least one rock drilling unit being supported on the at least one boom and comprising at least a feed beam and a rock drilling machine movably mounted on the feed beam; a sensing device for generating sensing data about the movement of the boom and the rock drilling unit; and a control unit for controlling the operation of the rock drilling rig. The control unit of the rock drilling rig is provided with data about a collision-free movement path at the drilling pattern to be drilled and is configured to implement the collision-free movement path in the position control of the rock drilling unit. The collision-free movement path is generated by an apparatus according to the features and embodiments disclosed herein.

[0044] According to one embodiment, the rock drilling rig is a rock bolter comprising a rock bolting head supported on the boom and comprising, in addition to the rock drilling unit, at least a rock bolt or a cable feeding device.

[0045] According to one embodiment, the disclosed solution also relates to a method of drilling a transverse borehole pattern into a rock surface of an underground longitudinal tunnel. The method comprises: drilling boreholes of the borehole pattern by means of a rock drilling rig, the rock drilling rig comprising at least one rock drilling unit; performing a preliminary detection of physical obstacles at the borehole pattern before starting to drill the boreholes of the borehole pattern; detecting the physical obstacles at the borehole pattern by moving the rock drilling unit under the control of an operator adjacent to a physical object comprising at least an inner surface of the tunnel, and thereby training a collision-free movement path; and storing the detected collision-free movement path and utilizing the stored collision-free movement path in position control of the rock drilling unit when drilling the boreholes.

[0046] According to an embodiment, the method further comprises moving the rock drilling unit at a distance from the physical obstacle, whereby the detection of the physical obstacle is contactless.

[0047] According to one embodiment, the method further comprises implementing continuous manual movement of the rock drilling unit to detect physical obstacles.

[0048] According to one embodiment, the method further comprises: selecting at least one point of the rock drilling unit to be inspected when a physical obstacle is detected; storing the movement of the at least one selected point as a collision-free movement path; and monitoring during the drilling movement of the at least one selected point relative to the stored collision-free movement path.

[0049] The above disclosed embodiments may be combined in order to form a suitable solution having desired ones of the above described features. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Some embodiments are described in more detail in the accompanying drawings, in which

[0051] Figure 1 is a schematic side view of a rock drilling rig provided with a drilling unit for drilling a borehole pattern into a rock surface of a tunnel or corresponding underground space;

[0052] Figure 2 is a schematic view of a drilling pattern comprising a plurality of boreholes in a transverse direction of a tunnel;

[0053] Figure 3 is a schematic diagram showing a typical type of drilling pattern;

[0054] Figure 4 is a schematic view showing a training process for manually moving a rock drilling unit near an achieved rock surface;

[0055] Figure 5 is a schematic view of the manual training process, in which the rock drilling unit together with the bolting head is moved within the pit contour;

[0056] Figure 6 is a schematic side view of a rock drill and possible physical obstructions other than the rock surface of the tunnel;

[0057] Figure 7 is a schematic top view showing a physical obstacle protruding in the longitudinal direction of the pit and its effect on the resulting collision-free movement path, and

[0058] Figure 8 is a schematic diagram showing some features and connections of a device for implementing the disclosed solution.

[0059] For the sake of clarity, the drawings show some embodiments of the disclosed solution in a simplified manner. In the drawings, the same reference numerals represent the same elements. DETAILED DESCRIPTION

[0060] Figure 1A rock drilling rig 1 is shown. The rock drilling rig 1 comprises a movable carrier 2 and at least one drilling boom 3. The boom 3 is provided with a rock drilling unit 4 for drilling a borehole 5 into a rock surface 6 of an underground tunnel 7. The rock drilling unit 4 comprises a feed beam 8 and a rock drilling machine 9 movably mounted on the feed beam 8. When the rock drilling rig 1 is intended for mounting a reinforcement element 10, such as a rock bolt 11, to the borehole 5, there may be a bolting head 12 connected to the rock drilling unit 4, or there may be a separate boom with a bolting head. Alternatively, the borehole 5 may be drilled by means of drill and blast techniques to excavate the material. In both cases, a drilling pattern 13 comprising a plurality of boreholes is drilled. The drilling pattern 13 may be pre-designed externally and may be transmitted to a control unit CU of the rock drilling rig 1, or alternatively, an operator of the rock drilling rig 1 may design the drilling pattern 13 with the help of the control unit CU.

[0061] The drilling boom 3 and the drilling unit 4 are provided with sensing means SD for collecting position and orientation data, so that the control unit CU can calculate position data of the rock drilling unit 4. Before starting the actual drilling phase of the drilling pattern 13, the rock drilling rig 1 is navigated at the work site. For example, position markings 14 made to the rock surface 6 can be used for navigation purposes. During the navigation process, the designed drilling pattern 13 is connected to the actual drilling site. Furthermore, before starting the actual drilling, training is taught for collision-free movement paths, as disclosed herein.

[0062] The process of training and generating collision-free movement paths is performed with the aid of a device A, which may be part of the control unit CU of the rock drilling rig 1 or which may be located externally, such as in connection with a server S.

[0063] Figure 2 A drilling pattern 13 is disclosed which comprises several boreholes 5 having different orientations. Typically, the boreholes 5 are located in the same plane transverse to the longitudinal direction of the tunnel. The drilling pattern 13 is sometimes also referred to as a drilling fan. The drilling pattern 13 comprises a theoretical tunnel profile 15, and the boreholes 5 can be defined as the coordinates of a starting point 16 and an end point 17. The starting point 16 is located on the theoretical tunnel profile 15. The orientation and length of the borehole can be determined based on the coordinates of the starting point 16 and the end point 17.

[0064] Figure 3 Two different types of drilling patterns 13 are disclosed. The long hole pattern 13a is a production drilling pattern for excavating rock material. The long hole pattern 13a comprises blast holes provided with explosive material. The rock reinforcement pattern 13b or bolting pattern comprises a plurality of drill holes provided with reinforcement elements for supporting the rock material surrounding the tunnel. The reinforcement elements may be rock bolts 11 or cable bolts 18.

[0065] Figure 4 The principle of forming a collision-free movement path 19 within an achieved tunnel profile 20 at the location of a borehole pattern 13 to be drilled is disclosed. The collision-free movement path 19 is generated by manually moving a rock drilling unit 4 close to the rock surface of the achieved tunnel profile 20 and storing the movement path for later use in the actual drilling phase. The operator of the rock drilling rig has good visibility of the achieved tunnel profile 20 and can control the movement of the rock drilling unit 4 for teaching a suitable collision-free movement path. Existing sensing devices of rock drilling can be used to provide the required sensing data to generate position data such as coordinates for defining the collision-free movement path. No separate and complex sensing devices are required, whereby the solution of the invention is also easy to retrofit for different existing rock drilling rigs.

[0066] like Figure 4 As shown, the realized tunnel profile 20 deviates from the theoretical tunnel profile 15. This is because the tunnel 7 is formed by a drill and blast tunneling technique, in which rock material is blasted. Due to the blasting, there is always some deviation in the shape and size of the actual tunnel. In addition, the size of the tunnel is usually as small as possible to minimize the excavation costs. Due to these problems, there is a potential risk of hitting the rock surface of the tunnel. The disclosed training features provide a solution for preventing collisions with the pit walls 21, the pit roof 22 and the pit floor 23 of the pit 7. Figure 4 In the embodiment, the drill bit 24 of the drilling tool is moved at a close distance from the realized tunnel profile 20, ie at a close distance from the realized rock surface at the location of the drilling pattern. However, other elements of the rock drilling unit can be checked when performing training.

[0067] exist Figure 5 In the embodiment, the rock drilling unit 4 comprises a bolting head 12. When training and generating a collision-free movement path, they are all checked. The collision-free movement path may include one or more points 25a-25d checked during training. The coordinates of the selected points may be calculated and stored to define the trained collision-free movement path. Figure 5 In FIG. 4 , some possible positions of the points checked are shown: point 25a is located at the drill bit 24, point 25b is located at the front end of the rock drilling unit 4, point 25c is located at the rear end of the rock drilling unit 4, and point 25d is located at the bolting head 12. Regarding the bolting head 12, there may be different equipment, such as rock bolt and cable handling devices as well as rock bolt magazines and grouting feed devices, which may be checked when training the collision-free movement path.

[0068] It is also possible for the bolting head and the rock drilling unit to be located in a combined mechanical structure and thus form a unit which is monitored during the checking of a collision-free movement path.

[0069] exist Figure 4 and Figure 5 In FIG. 1 , an exemplary collision-free movement path 19 based on the movement path of the drill head 24 is shown. However, the collision-free movement path 19 can be generated for any other selected point or combination of several examined points and can therefore be used in conjunction with the Figure 4 and Figure 5 The exemplary case shown in has a different appearance than that in FIG.

[0070] Figure 6 It is disclosed that in addition to the rock surface 6 that needs to be taken into account when performing the drilling of the drilling pattern, other physical obstacles may be present in the tunnel 7. There may be infrastructure 26 arranged to the tunnel 7, such as ventilation ducts. The physical obstacles examined may also include the structure of the rock drilling rig 1 itself. Then, for example, the generated collision-free movement path includes avoiding collisions with other booms 27. In addition, the rock surface 6 of the tunnel 7 may include rock surfaces 28 protruding in the longitudinal direction or length direction L of the tunnel 7. Therefore, the restrictive rock surface 6 may not only be in the transverse direction T of the tunnel 7, but also rock surfaces 28 protruding longitudinally L that need to be taken into account when generating a collision-free movement path. In order to avoid collisions with such longitudinally protruding surfaces 28, the generated collision-free movement path may include sections 29 that deviate from the plane 30 and may therefore have a three-dimensional configuration, as in Figure 7 As shown in the simplified top view in .

[0071] Figure 8A possible setting of an apparatus A is disclosed for generating a collision-free movement path 19 comprising position data such as coordinates 32 provided by executing a training feature 33 of the apparatus A. The apparatus A comprises a control unit 34 provided with a processor 35 and a computer program product 36 executable in the processor 35 for calculating position control data and providing a collision-free movement path 31. Execution of the training feature 33 comprises collecting sensing data 37 from a sensing device SD when performing a manual control movement 38. The apparatus A generates the coordinates 32 of selected checkpoints and provides position control data 39 for controlling the rock drilling unit along the collision-free movement path 19. The generated position control data 39 may be implemented when performing a coarse position control 40 of the rock drilling unit, i.e. when moving the rock drilling unit close to a designed drilling start point of the drilling pattern. The apparatus A may further comprise or be in communication with a user interface UI or display device for conveying the collision-free movement path 19 and an approximation of the achieved tunnel profile of the tunnel 7 to the operator of the rock drilling rig.

[0072] The apparatus A may be part of a control unit or control system of the rock drilling rig or alternatively the apparatus A may be a separate device arranged to communicate with the control unit of the rock drilling rig via a data communication connection or unit DC.

[0073] The drawings and the related description are only intended to illustrate the idea of ​​the invention. In its detailed aspects the invention may vary within the scope of the claims.

Claims

1. An apparatus (A) for providing position control data (39) for controlling the positioning of a rock drilling unit (4) of a rock drilling rig (1) for drilling a lateral drilling pattern (13) into an underground tunnel (7); in, The device (A) comprises at least one control unit (34) provided with sensor data (37) regarding the position and orientation of the rock drilling unit (4); It is characterized in that The device (A) is provided with a training feature (33), wherein the device (A) is configured to collect sensory data (37) about manually controlled movements (38) of the rock drilling unit (4) in the plane of the borehole pattern (13) to be drilled, and wherein the rock drilling unit (4) moves along a movement path at a distance from a physical obstacle located at the borehole pattern (13) to be drilled; The device (A) is configured to generate a collision-free movement path (19) in response to the collected sensory data (37); Furthermore, the device (A) is configured to implement the generated collision-free movement path (19) in position control of the rock drilling unit (4).

2. The device according to claim 1, characterized in that: The device (A) is configured to check the position of at least one selected point (25a-25d) of the rock drilling unit (4) and to generate the collision-free movement path (19) for the at least one selected point (25a-25d).

3. The device according to claim 1 or 2, characterized in that: The device (A) is configured to implement the generated collision-free movement path (21) for generating control commands for automatically coarsely positioning (40) the rock drilling unit (4) on the plane of the drilling pattern (13) to a defined position of a borehole (5) in the drilling pattern (13).

4. The device according to any one of the preceding claims 1 to 3, characterized in that: The device (A) further provides sensory data regarding manually controlled movement (38) of the rock drilling unit (4) in a transverse direction (T) to the plane of the drilling pattern (13) and at a transverse distance from a physical obstacle in the transverse direction (T), whereby the collision-free movement path (19) generated has a three-dimensional configuration.

5. The device according to any one of the preceding claims 1 to 4, characterized in that: The apparatus (A) is configured to provide data regarding an achieved pit profile (20) of the pit (7) in response to the received sensory data (37).

6. A rock drilling rig (1) for drilling a transverse drilling pattern (13) into a rock surface (6) of an underground tunnel (7), in, The rock drilling rig (1) comprises: Movable Vehicles (2); at least one boom (3); at least one rock drilling unit (4) supported on the at least one boom (3) and comprising at least a feed beam (8) and a rock drilling machine (9) movably mounted on the feed beam (8); a sensing device (SD) for generating sensing data (37) regarding the movement of the boom (3) and the rock drilling unit (4); and a control unit (CU) for controlling the operation of the rock drilling rig (1); It is characterized in that The control unit (CU) is provided with data about a collision-free movement path (31) at the drilling pattern (13) to be drilled and is configured to implement the collision-free movement path (19) in the position control of the rock drilling unit (4); The collision-free movement path ( 19 ) is generated by means of a device (A) according to any one of the preceding claims 1 to 5.

7. The rock drilling rig according to claim 6, characterized in that: The rock drilling rig (1) is a rock bolter comprising a rock bolting head (12) supported on the boom (3) and comprising at least a rock bolt or a cable feeding device in addition to the rock drilling unit (4).

8. A method of drilling a transverse borehole pattern (13) into a rock surface (6) of an underground longitudinal tunnel (7); And among them, The method comprises drilling a borehole (5) of the drilling pattern (13) by means of a rock drilling rig (1) comprising at least one rock drilling unit (4); The features include: Prior to commencing drilling of the borehole (5) of the borehole pattern (13), performing a preliminary detection of physical obstacles at the borehole pattern (13); by moving the rock drilling unit (4) under operator control adjacent to a physical object comprising at least an inner surface of the tunnel (7), detecting the physical obstacle at the drilling pattern (13) and thereby training a collision-free movement path (19); And, storing the detected collision-free movement path (19) and utilizing the stored collision-free movement path (19) in position control of the rock drilling unit (4) when drilling the borehole (5).

9. The method according to claim 8, characterized in that include, The rock drilling unit (4) is moved at a distance from the physical obstacle, whereby the detection of the physical obstacle is contactless.

10. The method according to claim 8 or 9, characterized in that include, A continuous manual movement (38) of the rock drilling unit (4) is implemented for detecting the physical obstacle.

11. The method according to any one of the preceding claims 8 to 10, characterized in that include, When the physical obstacle is detected, selecting at least one point (25a-25d) of the rock drilling unit (4) to be inspected; storing the selected movement of the at least one point as the collision-free movement path (19); as well as The at least one selected point (25a-25d) is monitored during the drilling movement relative to the stored collision-free movement path (19).

Images