Increasing drilling accuracy of mobile subterranean drilling rig and associated apparatus, method and computer program

Abstract

Apparatuses, methods, computer programs and systems for improving drilling accuracy of a mobile subterranean drilling rig are disclosed. With the disclosed inertial measurement unit (IMU) (11), for example, vertical orientation errors caused by bending of the drill boom (3) and / or the feed rail (5) can be measured and corrected directly. Position errors caused by bending of the drill boom (3) may be corrected or at least reduced by using IMU (11) data in the compensation data / model. This combined / new compensation data is independent of drilling directions, such as face drilling, ramp drilling, and cross-section drilling. Furthermore, the IMU (11) can be used to measure changes in the feed angle caused by the contact force between the feed track (5) and the rock, thereby further improving the overall mining accuracy.

Description

Technical Field

[0001] This disclosure relates to the field of industrial systems, and more specifically, to improving the drilling accuracy of mobile underground drilling rigs, as well as related equipment, methods and computer programs. Background Technology

[0002] Mobile underground drilling rigs operate in challenging environments, such as underground mines.

[0003] Rock drilling is typically performed using drilling rigs comprising a carrier with at least one drill arm, at the distal end of which is a rock drilling unit. The rock drilling unit includes a feed system configured to maintain contact between the drill bit and the rock during drilling. The feed system includes a feed rail configured to support and guide the rock drilling rig, which is configured to move along the feed rail during the drilling process. Precise control of the feed rail enables accurate rock drilling; therefore, controlling the position of the feed rail is crucial for effective operation. Summary of the Invention

[0004] The scope of protection sought by the various exemplary embodiments of this disclosure is set forth in the independent claims. Exemplary embodiments and features (if any) described in this specification that do not fall within the scope of the independent claims are to be construed as examples useful for understanding the various exemplary embodiments of this disclosure.

[0005] An example embodiment of a control device for a mobile underground drilling rig includes at least one processor and at least one memory containing computer program code. The mobile underground drilling rig includes a drill arm and a feed rail configured to move relative to a feed carriage connected to the drill arm. The feed rail is further configured to support and guide rock drilling equipment arranged to move along the feed rail during a drilling procedure. The at least one memory and the computer program code are configured, together with the at least one processor, to enable the control device to obtain at least current position information of the drilling tool of the rock drilling equipment. The at least one memory and the computer program code are further configured, together with the at least one processor, to enable the control device to obtain at least supplementary sensor data from an inertial measurement unit (IMU) located at the end of the feed rail closest to the drilling tool or at the feed carriage. The supplementary sensor data indicates at least one of a vertical tilt angle v of the feed rail relative to a gravity vector or a horizontal yaw angle u of the feed rail offset relative to a reference position of the feed rail. The at least one memory and the computer program code are further configured, together with the at least one processor, to enable the control device to adjust the current position information of the drilling tool based at least in part on the acquired supplementary sensor data.

[0006] An example embodiment of a control method for a mobile underground drilling rig includes a drill arm and a feed rail configured to move relative to a feed carriage connected to the drill arm. The feed rail is further configured to support and guide rock drilling equipment arranged to move along the feed rail during a drilling procedure. The control method includes obtaining current position information of the drilling tool of the rock drilling equipment at a control device for the mobile underground drilling rig. The control method further includes obtaining supplementary sensor data from an inertial measurement unit (IMU) at the control device, the IMU being located at the end of the feed rail closest to the drilling tool or at the feed carriage. The supplementary sensor data indicates at least one of a vertical tilt angle of the feed rail relative to a gravity vector or a horizontal yaw angle representing an offset of the feed rail from a reference position of the feed rail. The control method further includes adjusting the obtained current position information of the drilling tool by the control device, at least in part, based on the obtained supplementary sensor data.

[0007] An example embodiment of the computer program includes instructions for causing a control device of a mobile underground drilling rig to perform operations, wherein the mobile underground drilling rig includes a drill arm and a feed rail configured to move relative to a feed bracket connected to the drill arm, the feed rail being further configured to support and guide rock drilling equipment arranged to move along the feed rail during a drilling procedure, the instructions for causing the control device of the mobile underground drilling rig to perform at least the following operations: obtaining current position information of the drilling tool of the rock drilling equipment; obtaining supplementary sensor data from an inertial measurement unit disposed at the end of the feed rail closest to the drilling tool or disposed at the feed bracket, the supplementary sensor data indicating at least one of a vertical tilt angle of the feed rail relative to a gravity vector or a horizontal yaw angle of the feed rail offset relative to a reference position of the feed rail; and adjusting the obtained current position information of the drilling tool based at least in part on the obtained supplementary sensor data.

[0008] In an example embodiment, as an alternative or supplement to the above example embodiment, the at least one memory and the computer program code are further configured, together with the at least one processor, to enable the control device to determine the current position information of the drilling tool based at least in part on at least one of the kinematic model data of the drill arm or the drill arm angle sensor data.

[0009] In the example embodiment, as an alternative or supplement to the above example embodiment, the kinematic model data of the drill arm includes compensation information for inaccuracies.

[0010] In the example embodiment, as an alternative or supplement to the above example embodiment, the compensation information includes at least one of the following: first compensation data for the curvature of at least one of the drill arm or the feed rail, second compensation data for the position of the drilling tool, or third compensation data for the tilt angle of the drilling tool.

[0011] In an example embodiment, as an alternative or supplement to the above example embodiment, the at least one memory and the computer program code are further configured, together with the at least one processor, to enable the control device to combine the acquired supplementary sensor data with the compensation information.

[0012] In an example embodiment, as an alternative or supplement to the above example embodiment, the at least one memory and the computer program code are further configured, together with the at least one processor, to enable the control device to utilize the acquired supplementary sensor data when monitoring the drilling process.

[0013] Example embodiments of a mobile underground drilling rig include a drill arm. The mobile underground drilling rig further includes a feed rail configured to move relative to a feed carriage connected to the drill arm. The feed rail is further configured to support and guide rock drilling equipment arranged to move along the feed rail during a drilling procedure. The mobile underground drilling rig further includes an inertial measurement unit (IMU) arranged at the end of the drilling tool closest to the rock drilling equipment on the feed rail or at the feed carriage. The mobile underground drilling rig further includes control devices according to any of the example embodiments described above.

[0014] In an example embodiment, as an alternative to or supplement to the above example embodiment, the inertial measurement unit includes at least one accelerometer and at least one gyroscope.

[0015] In an example embodiment, as an alternative or supplement to the above example embodiment, the at least one accelerometer includes at least one accelerometer with at least one axis.

[0016] In the example embodiment, as an alternative or supplement to the above example embodiment, the at least one gyroscope includes at least one gyroscope with at least one axis.

[0017] Many of the features described above will be easier to understand as they become clearer with reference to the following detailed description taken in conjunction with the accompanying drawings. Attached Figure Description

[0018] The accompanying drawings are included to provide a further understanding of the embodiments and form part of this specification. The drawings illustrate embodiments and, together with the description, help to explain the principles of the embodiments. In the drawings: Figure 1 Example embodiments of the subject matter described herein are shown, illustrating exemplary mobile underground drilling rigs in which various embodiments of this disclosure can be implemented; Figure 2 Example embodiments of the subject matter described herein are shown, illustrating an example control device for a mobile mining vehicle, in which various embodiments of this disclosure can be implemented; Figure 3 Example embodiments of the subject matter described herein are shown, illustrating a method; and Figure 4 An example embodiment of the subject matter described herein is shown, illustrating the vertical tilt angle and horizontal yaw angle.

[0019] In the accompanying drawings, the same reference numerals are used to denote the same parts. Detailed Implementation

[0020] Reference will now be made in detail to the embodiments, examples of which are illustrated in the accompanying drawings. The detailed description provided below, in conjunction with the accompanying drawings, is intended as a description of the present embodiments and is not intended to represent the only form in which the present embodiments can be constructed or utilized. This specification sets forth the functionality of the embodiments and the sequence of steps for constructing and operating the embodiments. However, the same or equivalent functionality and sequence can be implemented through different embodiments.

[0021] Figure 1 An exemplary mobile underground drilling rig 1 is shown, in which various embodiments of the present disclosure can be implemented.

[0022] The mobile underground drilling rig 1 includes a drill arm 3. The mobile underground drilling rig 1 further includes a feed rail 5 configured to move relative to a feed support 10 connected to the drill arm 3. The feed rail 5 is further configured to support and guide a rock drilling device 6, which is arranged to move along the feed rail 5 during the drilling process.

[0023] The mobile underground drilling rig 1 may further include a carrier 2 and a drilling unit 4 associated with a drill arm 3. The drill arm 3 may include one or more drill arm angle sensors 3a, 3b, 3c. The drill arm 3 may be further connected to the drilling unit 4, for example, via a joint. The drilling unit 4 may include a feed rail 5 on which a rock drilling device 6 can move. In addition, the drilling unit 4 may include a drilling tool 7, which transmits impact pulses provided by the impact device of the rock drilling device 6 to the rock to be drilled.

[0024] exist Figure 1 In the example, the mobile underground drilling rig 1 may further include at least one control unit 8, which is arranged for, for example, controlling the actuators of the mobile underground drilling rig 1. The control unit 8 may include or be connected to a user interface having a display device 9 and an operator input interface for receiving operator commands and information from the control unit 8. In some embodiments, the control unit 8 is configured to control at least operations related to drill arm automation control, and one or more other control units may be present in the mobile underground drilling rig 1 to control other operations.

[0025] The mobile underground drilling rig 1 further includes an inertial measurement unit (IMU) 11, which is arranged at the end of the feed rail 5 closest to the drilling tool 7 or at the feed bracket 10.

[0026] In at least some embodiments, the IMU 11 may include at least one accelerometer and at least one gyroscope. For example, the at least one accelerometer may include at least one accelerometer with at least one axis. For example, the at least one gyroscope may include at least one gyroscope with at least one axis. In at least some embodiments, the at least one accelerometer may include a three-axis accelerometer, and / or the at least one gyroscope may include a three-axis gyroscope.

[0027] The triaxial accelerometer may include three orthogonally mounted accelerometers, enabling analysis of individual components of acceleration. The triaxial accelerometer can be configured to measure the three mutually orthogonal components of gravitational acceleration. The triaxial gyroscope may include three orientation sensors, thereby being configured to measure rotation about three axes, such as pitch, yaw, and roll.

[0028] The mobile underground drilling rig 1 further includes a control device 200. This will be discussed in conjunction with... Figure 2 The control device 200 will be described in more detail. In at least some embodiments, the control device 200 may be included in the control unit 8.

[0029] Various example embodiments will be discussed below. At least some of these example embodiments may allow for improved drilling accuracy of the mobile underground drilling rig 1. Some of the features described are optional features that may provide further advantages.

[0030] Figure 2 This is a block diagram of a control device 200 for a mobile underground drilling rig 1 according to an example embodiment. The device 200 may be, for example, an electronic device, such as a module included in an automation or control system, a chip, or a chipset.

[0031] The control device 200 includes at least one processor 202 and at least one memory 204 containing computer program code. The device 200 may also include... Figure 2 Other components not shown. Furthermore, in at least some embodiments, device 200 may be included or integrated into control unit 8.

[0032] Although device 200 is depicted as including only one processor 202, device 200 may include more processors. In embodiments, memory 204 is capable of storing instructions, such as operating systems and / or various applications. Furthermore, memory 204 may include a storage device that can be used to store, for example, at least some of the information and data used in the disclosed embodiments.

[0033] Furthermore, processor 202 is capable of executing stored instructions. In embodiments, processor 202 may be embodied as a multi-core processor, a single-core processor, or a combination of one or more multi-core processors and one or more single-core processors. For example, processor 202 may be implemented as one or more of a variety of processing devices, such as a coprocessor, microprocessor, controller, digital signal processor (DSP), processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits, such as, for example, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontroller units (MCUs), hardware accelerators, dedicated computer chips, neural network chips, artificial intelligence (AI) accelerators, etc. In embodiments, processor 202 may be configured to perform hard-coded functions. In embodiments, processor 202 is implemented as an executor of software instructions, wherein the instructions may specifically configure processor 202 to perform the algorithms and / or operations described herein when the instructions are executed.

[0034] The memory 204 can be implemented as one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination of one or more volatile memory devices and non-volatile memory devices. For example, the memory 204 can be embodied as a semiconductor memory (such as a mask read-only memory (mask ROM), a PROM (programmable ROM), an EPROM (erasable PROM), a flash ROM, RAM (random access memory), etc.).

[0035] The at least one memory 204 and the computer program code are configured, together with the at least one processor 202, to enable the control device 200 to obtain at least the current position information of the drilling tool 7 of the rock drilling equipment 6.

[0036] In at least some embodiments, the at least one memory 204 and the computer program code may be further configured, together with the at least one processor 202, to enable the control device 200 to determine the current position information of the drilling tool 7 based at least in part on the kinematic model data of the drill arm 3 and / or data from the drill arm angle sensors 3a-3c.

[0037] For example, the kinematic model data may include information about the physical characteristics of the mobile underground drilling rig 1 or its components. According to an example embodiment, the kinematic model data may include information about the physical characteristics of the mobile underground drilling rig 1 or its components that affect the positioning of the drilling tool 7. For example, the kinematic model data may include the dimensions and / or range of the mobile underground drilling rig 1 or its components, such as the dimensions of the drill arm 3 and / or the mobile underground drilling rig 1, the range of the drill arm 3, the characteristics of the joint (e.g., the type of joint, such as rotary or prismatic), constraints between the moving parts of the mobile underground drilling rig 1, etc.

[0038] In at least some embodiments, the kinematic model of the mobile underground drilling rig 1 or its components may include a mathematical description of at least a portion of the mobile underground drilling rig 1. The kinematic model can describe the motion of the mobile underground drilling rig 1 or the motion of its components, without taking into account the forces causing the motion. Therefore, this kinematic model can be used, for example, to determine the position of components of the mobile underground drilling rig 1 based on sensor data, such as data from the drill arm angle sensors 3a-3c.

[0039] In at least some embodiments, the kinematic model data of the drill arm 3 may include compensation information for inaccuracies caused by, for example, mechanical bending and / or manufacturing tolerances (e.g., inaccuracies in the position information of the drilling tool 7). In other words, this compensation information can be used to model inaccuracies caused by mechanical bending, manufacturing tolerances, etc. For example, the compensation information may include first compensation data for the bending of the drill arm 3 and / or the feed rail 5, second compensation data for the position of the drilling tool 7 (here, "position" may include "orientation"), and / or third compensation data for the tilt angle of the drilling tool 7.

[0040] Here, "bending" compensation involves compensation for the longitudinal movement of the drill arm 3 and / or feed rail 5, "position" compensation involves compensation for the lateral / horizontal / vertical movement of the drill arm 3 and / or feed rail 5, and "tilt angle or rollover" compensation involves compensation for the rotational movement of the drill arm 3 around the drill pipe of the rock drilling rig 6. This bending compensation can be modeled, for example, using a bending compensation model of the drill arm 3 and / or feed rail 5.

[0041] The at least one memory 204 and the computer program code are further configured, together with the at least one processor 202, to enable the control device 200 to obtain supplementary sensor data from at least one IMU 11 located at the end of the feed rail 5 closest to the drilling tool 7 or located at the feed bracket 10. Hereinafter, the term "supplementary" in the supplementary sensor data indicates that the supplementary sensor data is used to supplement the current position information obtained by the drilling tool 7 of the rock drilling equipment 6, as described in more detail below. The supplementary sensor data indicates the vertical tilt angle of the feed rail 5 relative to the gravity vector (in... Figure 4 The horizontal yaw angle (shown as "v" in figure 400) and / or the offset of feed trajectory 5 relative to the reference position of feed trajectory 5. Figure 4 (shown as "u" in figure 400).

[0042] In at least some embodiments, the at least one memory 204 and the computer program code may be further configured, together with the at least one processor 202, to enable the control device 200 to combine the acquired supplementary sensor data with the compensation information.

[0043] For example, the disclosed supplemental sensor data can be used to enhance a pre-generated drill arm bending compensation model. In at least some cases, external forces can cause errors in the data within the pre-generated drill arm bending compensation model (e.g., related to the positioning of drilling tool 7). The disclosed supplemental sensor data can be used to correct and / or detect such errors.

[0044] Alternatively, the disclosed supplemental sensor data can be used to enhance or correct the data in the rigid kinematic model of the joints and other components of the mobile underground drilling rig 1.

[0045] The at least one memory 204 and the computer program code are further configured, together with the at least one processor 202, to enable the control device 200 to adjust the current position information of the obtained drilling tool 7 based at least in part on the obtained supplementary sensor data.

[0046] For example, the kinematic model data may include data on the distance between the joints of the drill arm 3 and / or data on the angle of the joints of the drill arm 3. In other words, the kinematic model data may include data on the dimensions of the drill arm 3. Therefore, the kinematic model data can be further used, for example, to determine / obtain initial measurements of the position of the drilling tool 7. The accuracy of the initial measurements thus determined / obtained can then be improved by utilizing the compensation information that can compensate for various possible inaccuracies in the initial measurements. Subsequently, the supplementary sensor data disclosed from the IMU 11 can be used to adjust the initial measurements (e.g., directly or by enhancing / correcting the data in the rigid kinematic model, as described above), thereby further improving the drilling accuracy of the mobile underground drilling rig 1. Furthermore, the data from the IMU 11 can be used as input to the compensation information.

[0047] In at least some embodiments, the at least one memory 204 and the computer program code may be further configured, together with the at least one processor 202, to enable the control device 200 to utilize supplementary sensor data acquired while monitoring the drilling process. For example, the monitoring may include monitoring whether the feed rail 5 loses contact with the rock during drilling.

[0048] Figure 3 An example flowchart of a control method 300 for a mobile underground drilling rig 1 according to an example embodiment is shown. Figure 3 In the example, method 300 includes a computer-implemented method.

[0049] In optional operation 301, control device 200 may determine the current position information of drilling tool 7 of rock drilling equipment 6 based at least in part on kinematic model data of drill arm 3 and / or data from drill arm angle sensors 3a-3c.

[0050] At operation 302, the current position information of drilling tool 7 is obtained at control device 200 (which may have been previously determined at operation 301).

[0051] At operation 303, supplementary sensor data from the inertial measurement unit 11 is obtained at the control device 200. As described above, the inertial measurement unit 11 is arranged at the end of the feed track 5 closest to the drilling tool 7 or at the feed bracket 10, and the supplementary sensor data indicates the vertical tilt angle of the feed track 5 relative to the gravity vector and / or the horizontal yaw angle of the feed track 5 relative to the reference position of the feed track 5.

[0052] As described above, the kinematic model data of drill arm 3 can include compensation information for inaccuracies. In optional operation 304, control device 200 can combine the acquired supplementary sensor data with this compensation information.

[0053] At operation 305, control device 200 adjusts the current position information of the drilling tool 7 based at least in part on the acquired supplementary sensor data.

[0054] In optional operation 306, control device 200 can utilize the supplementary sensor data obtained while monitoring the drilling process.

[0055] Method 300 can be derived from Figure 2 The control device 200 performs the operations. Operations 301-306 can be performed, for example, by the at least one processor 202 and the at least one memory 204. Other features of method 300 are directly generated by the functions and parameters of the control device 200, and therefore will not be repeated here. Method 300 can be executed by a computer program.

[0056] The control device 200 may include means for performing at least one method described herein. In an example, the means may include the at least one processor 202 and the at least one memory 204 including program code configured to cause the control device 200 to perform the method when executed by the at least one processor 202.

[0057] At least some of the disclosed example embodiments can allow for improved drilling accuracy of mobile underground drilling rigs. Using the disclosed IMU 11, for example, vertical orientation errors caused by the bending of the drill arm 3 and / or feed rail 5 can be directly measured and corrected. Positional errors caused by the bending of the drill arm 3 can be corrected or at least reduced by using IMU 11 data in this compensation data / model. This combined / new compensation data is independent of drilling direction, such as face drilling, slope drilling, and cross-cut drilling. Furthermore, the IMU 11 can be used to measure changes in the feed angle caused by the contact force between the feed rail 5 and the rock, thereby further improving overall mining accuracy. This change in feed angle can include a relative change, and in at least some embodiments, this relative change in feed angle can be combined with calculated (and possibly compensated) position / angle data.

[0058] The functions described herein can be performed, at least in part, by one or more computer program product components, such as software components. According to embodiments, control device 200 may include a processor or processor circuitry, such as, for example, a microcontroller, which, when executed, is configured by the program code to perform embodiments of the described operations and functions. Alternatively or additionally, the functions described herein can be performed, at least in part, by one or more hardware logic components. For example, but not limited to, illustrative types of hardware logic components that may be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and graphics processing units (GPUs).

[0059] The ranges or device values ​​given herein may be extended or modified without losing the desired effect. Furthermore, any embodiment may be combined with another embodiment unless expressly permitted.

[0060] Although the subject matter has been described in language specific to structural features and / or actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as examples of implementing the claims, and other equivalent features and actions are intended to fall within the scope of the claims.

[0061] It should be understood that the above benefits and advantages may relate to one embodiment or several embodiments. The embodiments are not limited to embodiments that solve any or all of the stated problems, or embodiments that have any or all of the stated benefits and advantages. It will be further understood that references to "entry" may refer to one or more of those entries.

[0062] The steps of the methods described herein can be performed in any suitable order, or simultaneously where appropriate. Furthermore, individual boxes can be removed from any method without departing from the spirit and scope of the subject matter described herein. Aspects of any of the above embodiments can be combined with aspects of any other described embodiments to form further embodiments without losing the desired effects.

[0063] The term “comprising” is used herein to mean including the identified method, frame, or element, but such frame or element does not include an exclusive list, and the method or apparatus may include additional frames or elements.

[0064] It should be understood that the above description is given by way of example only, and various modifications can be made by those skilled in the art. The above specification, examples, and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above with a degree of specificity or by reference to one or more individual embodiments, those skilled in the art can make many changes to the disclosed embodiments without departing from the scope of this specification.

Claims

1. A control device (200) for a mobile underground drilling rig (1), the mobile underground drilling rig (1) including a drill arm (3) and a feed rail (5), the drill arm (3) including one or more drill arm angle sensors (3a-3c), the feed rail (5) being configured to move relative to a feed bracket (10) connected to the drill arm (3), the feed rail (5) being further configured to support and guide a rock drilling device (6) arranged to move along the feed rail (5) during a drilling procedure, the control device (200) comprising: At least one processor (202); as well as At least one memory (204) including computer program code; The at least one memory (204) and the computer program code are configured, together with the at least one processor (202), to enable the control device (200) to at least: Based on the kinematic model of the drill arm (3) and data from the one or more drill arm angle sensors (3a-3c), the current position information of the drilling tool (7) of the rock drilling equipment (6) is obtained; Supplementary sensor data is obtained from the inertial measurement unit (11) to supplement the current position information of the drilling tool (7) of the rock drilling equipment (6). The inertial measurement unit (11) is arranged at the end of the feed track (5) closest to the drilling tool (7) or at the feed bracket (10). The supplementary sensor data indicates at least one of the vertical tilt angle v of the feed track (5) relative to the gravity vector or the horizontal yaw angle u of the feed track (5) relative to the reference position of the feed track (5). as well as The current position information of the drilling tool (7) is adjusted based at least in part on the obtained supplementary sensor data.

2. The control device (200) according to claim 1, wherein, The at least one memory (204) and the computer program code are further configured, together with the at least one processor (202), to enable the control device (200) to determine the current position information of the drilling tool (7) based at least in part on at least one of the kinematic model data of the drill arm (3) or the data from the drill arm angle sensors (3a-3c).

3. The control device (200) according to claim 2, wherein, The kinematic model data of the drill arm (3) includes compensation information for inaccuracies caused by mechanical bending and / or manufacturing tolerances.

4. The control device (200) according to claim 3, wherein, The compensation information includes at least one of the following: first compensation data for the curvature of at least one of the drill arm (3) or the feed rail (5); second compensation data for the position of the drilling tool (7); or third compensation data for the tilt angle of the drilling tool (7).

5. The control device (200) according to claim 3 or 4, wherein the at least one memory (204) and the computer program code are further configured, together with the at least one processor (202), to cause the control device (200) to combine the acquired supplementary sensor data with the compensation information.

6. The control device (200) according to any one of claims 1 to 5, wherein, The at least one memory (204) and the computer program code are further configured, together with the at least one processor (202), to enable the control device (200) to utilize the acquired supplementary sensor data when monitoring the drilling process.

7. A computer-implemented control method (300) for a mobile underground drilling rig (1), the mobile underground drilling rig (1) including a drill arm (3) and a feed rail (5), the drill arm (3) including one or more drill arm angle sensors (3a-3c), the feed rail (5) being configured to move relative to a feed bracket (10) connected to the drill arm (3), the feed rail (5) being further configured to support and guide a rock drilling device (6) arranged to move along the feed rail (5) during a drilling procedure, the control method (300) comprising: At the control device (200) for the mobile underground drilling rig (1), based on the kinematic model of the drill arm (3) and the data from the drill arm angle sensors (3a-3c), the current position information of the drilling tool (7) of the rock drilling equipment (6) is obtained (302); At the control device (200), supplementary sensor data (303) is obtained from the inertial measurement unit (11) to supplement the current position information of the drilling tool (7) of the rock drilling equipment (6), the inertial measurement unit (11) being arranged at the end of the feed track (5) closest to the drilling tool (7) or at the feed bracket (10), the supplementary sensor data indicating at least one of the vertical tilt angle of the feed track (5) relative to the gravity vector or the horizontal yaw angle of the feed track (5) relative to the reference position of the feed track (5); as well as The control device (200) adjusts (305) the current position information of the drilling tool (7) obtained, at least in part, based on the obtained supplementary sensor data.

8. A computer program comprising instructions for causing a control device of a mobile underground drilling rig to perform operations, the mobile underground drilling rig including a drill arm and a feed rail, the drill arm including one or more drill arm angle sensors (3a-3c), the feed rail being configured to move relative to a feed bracket connected to the drill arm, the feed rail being further configured to support and guide rock drilling equipment arranged to move along the feed rail during a drilling procedure, the instructions for causing the control device of the mobile underground drilling rig to perform at least the following operations: The current position information of the drilling tools of the rock drilling equipment is obtained based on the kinematic model of the drill arm and the drill arm angle sensor data. Supplemental sensor data is obtained from an inertial measurement unit to supplement the current position information of the drilling tool of the rock drilling equipment. The inertial measurement unit is located at the end of the feed rail closest to the drilling tool or at the feed bracket. The supplemental sensor data indicates at least one of the vertical tilt angle of the feed rail relative to the gravity vector or the horizontal yaw angle of the feed rail relative to the reference position of the feed rail. as well as The current position information of the drilling tool is adjusted based at least in part on the obtained supplementary sensor data.

9. A mobile underground drilling rig (1), comprising: Drill arm (3), the drill arm (3) includes one or more drill arm angle sensors (3a-3c); A feed rail (5) is configured to move relative to a feed bracket (10) connected to the drill arm (3), and the feed rail (5) is further configured to support and guide a rock drilling device (6), which is arranged to move along the feed rail (5) during the drilling process. An inertial measurement unit (11) is arranged at the end of the drilling tool (7) closest to the rock drilling equipment (6) on the feed track (5) or at the feed bracket (10); and The control device (200) according to any one of claims 1 to 6.

10. The mobile underground drilling rig (1) according to claim 9, wherein, The inertial measurement unit (11) includes at least one accelerometer and at least one gyroscope.

11. The mobile underground drilling rig (1) according to claim 10, wherein, The at least one accelerometer includes at least one accelerometer with at least one axis.

12. The mobile underground drilling rig (1) according to claim 10 or 11, wherein, The at least one gyroscope includes at least one gyroscope with at least one axis.

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