Controlling drilling unit based on distance to rock surface

Abstract

Example embodiments related to controlling of a drill rig. An apparatus may comprise: at least one processor; and at least one memory including program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position

Description

TECHNICAL FIELD

[0001] Various example embodiments generally relate to the field of rock drilling. Some example embodiments relate to controlling a drilling unit based on a distance between the drilling unit and a rock surface determined based on scanning of the rock surface with a scanning device coupled to the drilling unit.BACKGROUND

[0002] In various rock drilling applications, such as for example mining or excavation, it may be desired to drill holes to a rock surface at predetermined positions, for example according to a drilling plan. A human operator may control the drilling for example by teaching an automated drill rig the drilling locations before initiating automatic drilling operation.SUMMARY

[0003] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] According to a first aspect, an apparatus for controlling a drill rig is disclosed. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

[0005] According to a second aspect, a drill rig is disclosed. The drill rig may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the drill rig at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

[0006] According to a third aspect, a method for controlling a drill rig is disclosed. The method may comprise: causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and causing the drilling unit to drill a hole at the planned hole position.

[0007] According to a fourth aspect, an apparatus for controlling a drill rig is disclosed. The apparatus may comprise: means for causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; means for determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; means for controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and means for causing the drilling unit to drill a hole at the planned hole position.

[0008] According to a fifth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium for controlling a drill rig is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

[0009] According to some aspects, there is provided the subject matter of the independent claims. Some further aspects are defined in the dependent claims. Many of the attendant features will be more readily appreciated as they become better understood by reference to the following description considered in connection with the accompanying drawings.LIST OF DRAWINGS

[0010] The accompanying drawings, which are included to provide a further understanding of the example embodiments and constitute a part of this specification, illustrate example embodiments and, together with the description, help to explain the example embodiments. In the drawings: FIG. 1 illustrates an example of a mobile bolter machine; FIG. 2 illustrates an example of an underground drill rig; FIG. 3 illustrates an example of a drilling unit; FIG. 4 illustrates an example of a drill rig communicatively coupled to a remote control device; FIG. 5 illustrates an example of planned drill fans on a tunnel surface; FIG. 6 illustrates an example of a flow chart for controlling a drill rig; FIG. 7 illustrates an example of distance measurements by a scanning device coupled to a drilling unit of a drill rig; FIG. 8 illustrates an example of an apparatus configured to practise one or more example embodiments; and FIG. 9 illustrates an example of a method for controlling a drill rig.

[0011] Like references are used to designate like parts in the accompanying drawings.DESCRIPTION

[0012] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0013] Automatic boom positioning of drill rigs, e.g., long hole drill rigs, rock support drill rigs, or surface drill rigs, may be based on a preconfigured drilling plan combined with manual teaching of the actual profile of the rock surface subject to drilling. Preconfigured hole coordinates of the drilling plan may be based on a theoretical tunnel profile, which might not be accurate enough for autonomous drilling applications. Therefore, a human operator of the drill rig may need to manually configure the controller of the drill rig with more accurate drilling locations before initiating automatic drilling. The operator may need to repeat this for several holes such as every hole, for example to ensure that stingers of the drill rig can be used during drilling. Such manual reconfiguration of drilling locations may be time consuming and prone to errors. This may reduce applicability of automatic drilling and the perceived value of the automatic drilling feature.

[0014] Example embodiments of the present disclosure enable to improve automatic or semi-automatic drilling based on distance measurement sensor(s), e.g., radar or ultrasound sensor(s), installed on the drilling unit for measuring distance to the rock surface, e.g., walls or ceiling of a tunnel. Information about the current distance between the drilling unit and the rock surface may be used to control movement of the drilling unit, for example to actively adjust the distance between the drilling unit and the rock surface in real time, while controlling positioning of the drilling unit with a boom. Manual teaching of the actual surface profile may be therefore avoided.

[0015] The distance measurements may be also used to determine a more accurate surface profile. For example, by installing a scanning device to the feed beam of the drilling unit, the drill rig may be enabled to determine the true surface profile by driving the feed beam near the rock surface, for example next to a planned drill fan to be drilled. The true surface profile may be then used, for example, for updating the drilling plan.

[0016] The surface profile may further include information about previously drilled holes or instrumentation (e.g., ventilation pipes) installed on the rock surface, for example as detected by a machine vision system comprising one or more cameras as the scanning device(s). The surface profile may be for example displayed to the operator of the drill rig on a graphical user interface (GUI) or stored on a server. The distance sensor(s) may be battery-powered and / or connected to a control system of the drill rig wirelessly. Power consumption of a sensor may be reduced by powering the sensor down when the boom is not moving, thereby enabling to increase battery life in case of battery-powered sensor. Furthermore, the sensor may be covered by a protective lid which may be configured to be opened for scanning the rock surface. Further example embodiments and benefits of such a system are described below.

[0017] FIG. 1 illustrates an example of a drill rig. In this example, drill rig 100 comprises a mobile bolter machine, but example embodiments of the present disclosure may be applied also to other type of drill rigs, such as for example underground drill rigs (cf., FIG.2) or drill rigs configured for drilling holes on rock cuttings along roads or railways. Drill rig 100 may comprise, for example, a bolting drill rig, a rock bolter drill rig, a roof bolter, a rock bolter, a mining bolter, a multifunction drill rig, a cable bolter, or the like. In general, a drill rig may be any vehicle configured for rock drilling.

[0018] Drill rig 100 may be an automated drill rig, for example an automated vehicle, e.g., a mining vehicle, equipped with tools configured for drilling. An automated vehicle, for example an automated drill rig, operating in an automatic mode may be configured to, for example, receive a task to be performed, perceive the environment of the automated vehicle, and autonomously perform the task while taking the environment into account. An automated vehicle operating in an automatic mode may be configured to operate independently but may be taken under external control at certain operation areas or conditions, such as during states of emergencies. Example embodiments of the present disclosure may be however applied also in non-autonomous or semi-autonomous drill rigs, for example remote-controlled drill rigs.

[0019] In the example of FIG. 1, axis x represents the forward driving direction of drill rig 100. Axis z represents the vertical direction, in this example towards the roof of the tunnel. Note that axis z may or may not be parallel to the vector of gravity depending on whether drill rig 100 is ascending or descending, for example in a tunnel. Axis y may be perpendicular to axes x and z. Drill rig 100 may comprise a movable carrier 110 and at least one boom 120 connected to movable carrier 110. Movable carrier 110 may comprise equipment for moving or stabilising drill rig 100, such as for example a motor, wheels, or stabilizer jacks (e.g., ground support). Movable carrier 110 may be configured to move autonomously or it may be configured to be controlled by a human operator, either remotely or locally at drill rig 100. Even though one boom 120 has been illustrated in FIG. 1, drill rig 100 may generally comprise one or a plurality (e.g., two, three, four,...) of booms 120.

[0020] A drilling unit 124, in this example a bolter, may be coupled to a distal end portion of boom 120. Drilling unit 124 may be for example configured to be held by clamp 126, which may be configured to enable drilling unit 124 to be rotated, for example to enable drilling holes to the roof or floor of the tunnel. In general, drilling unit 124 may be movable relative to drill rig 100, e.g., movable relative to carrier 110. This provides the benefit of enabling holes to be drilled at different positions of rock surface 140 without moving movable carrier 110.

[0021] Drilling unit 124 may be configured to drill holes at rock surface 140, for example at planned hole position(s) 142. The planned hole position(s) 142 may be defined in a drilling plan, which may be preconfigured at drill rig 100 or delivered to drill rig 100 over a communication interface. Rock surface 140 may comprise the roof, floor, or wall(s) of the tunnel, or any portion(s) thereof. It is however noted that rock surface 140 may comprise any rock surface to be drilled. For example, rock surface 140 might be located outside any tunnel.

[0022] Scanning device(s) 112 (e.g., sensor(s)) may be coupled to drilling unit 124 for scanning environment of drill rig 100, for example, rock surface 140 and any instrumentation installed thereon. Scanning device(s) 112 may be integrated or mechanically coupled to drilling unit 124. Scanning device(s) 112 may be configured to be stationary with respect to drilling unit, i.e., to move with drilling unit 124. Drilling unit 124 may comprise scanning device(s) 112. Scanning device(s) 112 may be covered by protective lid(s), which may be configured to be opened during scanning.

[0023] Scanning device(s) 112 may include for example one or more of the following: one or more cameras, one or more microwave radio detection and ranging (radar) sensors, or one or more ultrasonic distance sensors, or the like. An ultrasonic distance sensor may be an instrument which is configured to measure the distance to an object using ultrasonic sound waves. Scanning device(s) 112 may comprise a single scanning device or a group of two or more scanning devices. Scanning device(s) 112 may be configured to scan rock surface 140, for example to detect a distance to rock surface 140 or particular features of rock surface 140 or particular features associated with rock surface 140, such as instrumentation installed on rock surface 140. Scanning rock surface 140 may comprise scanning with scanning device(s) 112 such that their sensing direction is towards rock surface 140.

[0024] A visual representation of rock surface 140 captured by camera(s) may be combined with distance information provided by other scanning device(s) 112, for example to detect previously drilled holes or objects protruding from rock surface 140. Alternatively, a camera may be used to extract depth information of objects (e.g., a ventilation pipe), for example by comparing two images taken at slightly different positions (e.g., by two camera units). Alternatively, scanning device(s) 112 may comprise a time-of-flight (ToF) camera, which may be configured to determine a distance between the camera and an object, e.g., rock surface 140 or instrumentation installed thereon, by measuring a round-trip time of an artificial light signal provided by a laser or a light-emitting diode (LED). A lidar sensor may be configured to determine a distance to an object by targeting the object with a laser and measuring the time for the reflected light to return to a receiver of the lidar sensor. A radar sensor, e.g., a microwave radar sensor, may be configured to transmit electromagnetic energy towards rock surface 140 and to observe the echoes returned from the rock surface, or instrumentation installed thereon, to determine a distance to rock surface 140. A microwave radar sensor may be configured to transmit electromagnetic energy at the microwave frequency range of 300 MHz to 30 GHz.

[0025] Drill rig 100 may comprise a controller (C) 114. Controller 114 may be communicatively coupled to scanning device(s) 112, for example to receive scanned sensor data from scanning device(s) 112, or, to request scanning device(s) 112 to initiate scanning of rock surface 140. Controller 114 may be provided, for example, as a software application residing on a memory and being executable by a processor. An example of an apparatus suitable for implementing controller 114 is provided in FIG. 8.

[0026] Controller 114 may comprise, or be communicatively coupled to, various functions, blocks, or applications for implementing functionality of controller 114. For example, controller 114 may comprise or be communicatively coupled to a data management server, which may be configured to store information on a drilling plan, tunnel lines or profiles, a mine map point cloud, or the like. The drilling plan may comprise a digital drilling plan indicative of the planned hole position(s) 142, for example as position(s) of individual hole(s), positions of planned holes of one or more drill fans, or position(s) of planned drill fan(s) (e.g., a line for drilling holes of a drill fan). The drilling plan may therefore comprise an indication of the planned hole positions(s) 142, which may be optionally associated with at least one drill fan configured to be drilled on rock surface 140.

[0027] Controller 114 may comprise a navigation application configured to control, or enable a human operator to control, navigation of drill rig 100, for example to move it to a position from which drilling unit 124 is determined to reach the planned hole position(s) 142. Position of drill rig 100 may be referred to as a navigation position. The position of drill rig 100 may be defined in an external coordinate frame (F ext ), which may be stationary with respect to rock surface 140. Controller 114 may be configured to determine the position of drill rig 100 based on a positioning device of drill rig 100, such as for example a short-range wireless positioning (e.g., Bluetooth ™< ) device or a satellite positioning device (e.g. a Global Positioning System, GPS, or Global Navigation satellite System, GNSS, receiver. Alternatively, controller 114 may be configured to determine the position of drill rig 100 based on a simultaneous localization and mapping (SLAM) system, which may be configured to scan the environment of drill rig 100 to obtain point cloud data of surrounding surfaces or objects and use them for detecting the position of drill rig 100. Controller 114 may be configured to use the obtained point cloud data for determining the position of drill rig 100 based on comparing the scanning data to reference data, such as for example a three-dimensional (3D) model of rock surface 140 (e.g., a tunnel).

[0028] Based on scanning of rock surface 140, drill rig 100 may be configured to obtain information on the distance between drilling unit 124 and rock surface 140. The distance between drilling unit 124 and rock surface 140 may be the distance between rock surface 140 and the respective scanning device, in this example scanning device 112-1, or between rock surface 140 and a reference point of drilling unit 124 (e.g., the drill bit of drilling unit 124). The reference point may be located at a fixed or configurable distance and direction from scanning device 112-1. Controller 114 may be configured to determine the distance between rock surface 140 and the reference point based on the detected distance between scanning device 112-1 and rock surface 140 and the position of the reference point relative to the position of scanning device 112-1.

[0029] A kinematic model of drill rig 100, or component(s) thereof, may comprise a mathematical description of at least a part of drill rig 100. A kinematic model may describe motion of drill rig 100 or component(s) of drill rig 100 without taking into account the forces that cause the motion. The kinematic model may be used for estimating a position of drill rig 100 or component(s) of drill rig 100, for example based on measurement data from one or more sensors associated with drill rig 100 or motion of drill rig 100 (e.g., drilling unit 124) caused by given control inputs. The kinematic model of drill rig 100 may comprise at least dimensions of drill rig 100 and / or reach of drill rig 100 such as a movement range of at least one boom 120 or drilling unit 124 of drill rig 100.

[0030] The kinematic model may comprise information on dimensions of boom(s) 120, or parts thereof, for example drilling unit 124, characteristics of joint(s) 122 (e.g., their degrees of freedom), constraints between moving parts of drill rig 100, or the like. The kinematic model may thus enable modelling movement of the component(s) of drill rig 100, for example to determine the current position of drilling unit 124 relative to drill rig 100 (e.g., movable carrier 110). The 3D model(s) of the component(s) may be provided as point cloud data indicative of the surface of the component(s). Point cloud data may comprise a plurality of data points representing, for example, distances between drill rig 100 and its component(s) or other objects in the environment of drill rig 100, for example at a particular time instance. An individual point included in a point cloud may be presented by, for example x, y, and z coordinates with respect to a particular coordinate frame, e.g., the external coordinate frame (F ext ).

[0031] Controller 114 may be further configured to monitor the position of drilling unit 124 with respect to drill rig 100, e.g., in a coordinate frame of drill rig 100 (F rig ), which may be stationary with respect to drill rig 100, or a certain portion thereof (e.g., movable carrier 110). For example, controller 114 may be configured to determine the current position of drilling unit 124 relative to a reference point of drill rig 100 based on the kinematic model.

[0032] Controller 114 may be configured to determine and / or maintain the drilling plan (e.g., a digital drilling plan), a 3D model of at least one component of drill rig 100 (e.g., a 3D model of boom(s) 120 or drilling unit 124), and / or the kinematic model of drill rig 100, or component(s) thereof. A 3D model of a component of drill rig 100 may comprise 3D geometry data of the component, obtained for example from a computer aided design (CAD) model of the respective physical component.

[0033] FIG. 2 illustrates another example of a drill rig. In this example, drill rig 100 is represented by an underground drill rig, again comprising movable carrier 110 and booms 120 connected thereto. An underground drill rig may further comprise components similar to the mobile bolter machine of FIG. 1, for example boom(s) 120 and joint(s) 122, as well as equipment for moving or stabilising the underground drill rig.

[0034] Drilling unit 124 comprising scanning device 112-1 may be again coupled to a distal end portion of boom 120. In the example of FIG. 2, drill rig 100 comprises two drilling units with respective scanning devices 112-1, 112-2. Drilling unit 124 may comprise a feeding system configured to keep the drill bit of drilling unit 124 in contact with the drilling face, in this example rock surface 140, and to enable a drill rod to move along a feed beam during drilling. Boom(s) 120 may comprise a plurality of boom parts coupled to each other, movable carrier 110, and / or drilling unit 124 by joint(s) 122. Controllable joints 122 enable drilling unit 124 to be placed at a desired position and orientation with respect to rock surface 140. As already described with reference to FIG. 1, drill rig 100 may comprise controller (C) 114 configured to control various functions of drill rig 100.

[0035] FIG. 3 illustrates an example of a drilling unit. Drilling unit 124 may comprise a feed beam 301 and a rock drilling machine 302 supported on it. Rock drilling machine 302 may comprise a shank at a front end of the rock drilling machine 302 for connecting a tool, such as for example drill rod 303 comprising, or configured to be coupled to, drill bit 304. Furthermore, drilling unit 130 may comprise one or more rod handling devices 305, such as for example a tool hold device, a tool changing apparatus or manipulator, and / or a tool magazine or storage. In addition to this, one or more additional devices 306 may be supported to feed beam 301.

[0036] Scanning device 112-1 may be coupled to drilling unit 124, for example at feed beam 301. Providing scanning device 112-1 at drilling unit 124 enables more accurate scanning of rock surface 140, because drilling unit 124 may be moved near rock surface 140 for scanning. This is in contrast to, for example, solutions where a scanning device (e.g., a lidar sensor) is provided at movable carrier 110. Alternatively, sufficient scanning accuracy may be achieved with less complex and less expensive sensor(s), for example ultrasonic distance sensor or microwave radar sensor. Furthermore, providing scanning device 112-1 at drilling unit 124 provides the benefit of enabling real-time scanning and controlling of drilling unit 124 based on the true surface profile upon initiation of drilling a planned hole.

[0037] FIG. 4 illustrates an example of a drill rig communicatively coupled to a remote control device. Drill rig 100 may be controlled by a remote control device 200, which may be external to drill rig 100. Remote control device 200 may be for example a server located remote from drill rig 100, for example outside the tunnel at which drill rig 100 is operating. Functionality of controller 114 may be distributed between drill rig 100, for example a local controller of drill rig 100, and remote control device 200. Information may be exchanged between remote control device 200 and drill rig 100 over a communication interface including any suitable wireless or wired connection. Examples of suitable communication interfaces are described with reference to FIG. 8.

[0038] Controller 114 may be configured to determine and / or maintain the drilling plan. The drilling plan, the 3D model(s), or the kinematic model(s) of drill rig 100 may be stored at controller 114, for example based on pre-configuration of the models. Alternatively, controller 114 may be configured to receive the drilling plan or one or more of the models from drill rig 100 or the data management server. Controller 114 may also be configured to receive, for example from drill rig 100, the scanned sensor data of scanning device(s) 112, which controller 114 may be configured to use for determining the distance between drilling unit 124 and rock surface 140 and to control movement of drilling unit 124 accordingly. Example embodiments of the present disclosure may be thus implemented locally by drill rig 100, by remote control device 200, or by a system comprising drill rig 100 and remote control device 200.

[0039] FIG. 5 illustrates an example of drill fans on a tunnel surface. A drill fan may comprise a line of planned or drilled hole positions at rock surface 140. Note that depending on curvature of rock surface 140, the hole positions along the line might not be located at a straight geometrical line in a 3D coordinate frame. A drill fan may for example comprise planned or drilled holes at a particular plane in the external coordinate frame (F ext ), for example planned hole positions on theyz-plane at a particular point along the x-axis, as illustrated by the two drill fans in FIG. 5. Note that planned hole positions need not include a specific location for each individual hole to be drilled. The planned hole positions could be for example indicated by the number of holes to be drilled at a particular line. The planned hole positions might be for example described by the following instruction: `drill eight holes on a line perpendicular to the longitudinal axis of the tunnel at distances x 1 and x 2 along the longitudinal axis of the tunnel', as illustrated in FIG. 5.

[0040] FIG. 6 illustrates an example of a flow chart for controlling a drill rig. Even though operations of the flow chart have been described to be performed by controller 114, it is understood that similar operations may be performed by any device configured to control drill rig 100, either locally or remotely.

[0041] At operation 601, controller 114 may be configured to obtain a drilling plan. As described above, the drilling plan may comprise planned hole positions for drilling holes at rock surface 140. The holes may be associated with drill fan(s) configured to be drilled on rock surface 140. The planned hole positions may comprise coordinates of the planned holes in the external coordinate frame (F ext ). Alternatively, the planned hole positions may be indicated by a line of a drill fan in the external coordinate frame (F ext ). Controller 114 may be configured to obtain the drilling plan by retrieving the drilling plan from a memory of drill rig 100 or by receiving it from another device, e.g., remote control device 200, over a communication interface.

[0042] At operation 602, controller 114 may be configured to determine a position of drill rig 100. The position of drill rig 100 may comprise a position of drill rig 100 in the external coordinate frame (F ext ). Controller 114 may be for example configured to read output(s) of the positioning device of drill rig 100 or the SLAM system to determine the position of drill rig 100.

[0043] At operation 603, controller 114 may be configured to determine a position of drilling unit 124 relative to the position of drill rig 100, e.g., relative to a reference point of drill rig 100 such as a particular point of movable carrier 110. Controller 114 may be configured to determine, at least initially, the position of drilling unit 124 relative to drill rig 100, e.g., in the coordinate frame of drill rig 100 (F rig ). Controller 114 may be further configured to transform the position of drilling unit 124 to the external coordinate frame (F ext ), for example based on the kinematic model of drill rig 100 and control instructions provided by controller 114 for moving drilling unit 124. Note that controller 114 may be configured to continuously, periodically, or intermittently monitor the position of drilling unit 124, either relative to rock surface 140 (e.g., in F ext ) or relative to drill rig 100 (e.g., in F rig ). Controller 114 may be further configured to cause scanning device(s) 112 to enter a power-down mode, in response to determining that drilling unit is stationary (e.g., has not moved within a predetermined period of time). In the power-down mode, operation of a respective scanning device may be limited or power supply to the scanning device restricted. Controller 114 may be configured to cause scanning device(s) 112 to transition from the power-down mode to an operational mode to enable scanning, in response to detecting movement of drilling unit 124 or boom 120. This provides the benefit of reducing power consumption, for example in case of battery-powered scanning device(s) 112.

[0044] At operation 604, controller 114 may be configured to cause scanning of rock surface 604 by scanning device(s) 112. For example, controller 114 may be configured to transmit, to scanning device(s) 112, a request to initiate scanning. Controller 114 may be configured to determine to cause the scanning, for example in response to detecting that the planned hole location(s) are within the reach of drilling unit 124 from the current position of drill rig 100. Controller 114 may be configured to determine the reach of drilling unit 124 based on the kinematic model.

[0045] An example of scanning data obtained by scanning rock surface 140 by scanning device 112-1 is illustrated in FIG. 7. Positions of drilling unit 124 (p DU ) are illustrated by the inner group of circles 702 and positions of rock surface 140 (p RS ) determined based on detected distances (d) at respective positions of drilling unit 124 are illustrated by the outer group of circles 704. Note that positions of drilling unit 124 are associated with a direction of drilling unit 124, which may be recorded by controller 114 during scanning of the respective distance to rock surface 140.

[0046] Controller 114 may be configured to cause the protective cover(s) of scanning device(s) to open, in response to determining to cause initiation of the scanning of the rock surface. Controller 114 may for example transmit control instructions to actuator(s) coupled to the protective cover(s) to cause the protective cover(s) to move from a closed position to an opened position. In the closed position the protective cover(s) may be configured to cover scanning device(s) 112, for example in order to protect them from particles falling from rock surface 140. Controller 114 may be configured to cause the protective cover(s) to be closed, in response to completing the scanning, for example before initiation of drilling at the scanned position of rock surface 140.

[0047] Controller 114 may be further configured to cause camera(s), which may belong to scanning device(s) 112, to capture a representation of rock surface 140. The representation of rock surface 140 may comprise a visual representation such as an image, a group of images, a set of video frames, or machine vision data in general.

[0048] At operation 605, controller 114 may be configured to determine the distance between drilling unit 124 and rock surface, for example 140 at a planned hole position. Controller 114 may be for example configured to receive scanning data (e.g., a distance value(s)) obtained by scanning device(s) 112. For example, controller 114 may be configured to receive a first distance value from scanning device 112-1. Scanning device 112-1 may be coupled to a first end of drilling unit 124. Controller 114 may be configured to determine, based on the scanning, a first distance between drilling unit 124 and a first portion of rock surface 140. In the example of FIG. 1, the first portion is located at the roof of the tunnel.

[0049] In some example embodiments, controller 114 may be further configured to receive a second distance value, e.g., from scanning device 112-2, which may be coupled to a second end of drilling unit 124. Controller 114 may be configured to determine, based on the scanning, a second distance between drilling unit 124 and a second portion of rock surface 140. In the example of FIG. 1, the second portion is located at the floor of the tunnel.

[0050] Coupling of a scanning device to an end of drilling unit 124 may refer to coupling the scanning device such that it is enabled to scan towards rock surface 140 along (e.g., parallel to) a longitudinal axis of drilling unit 124, for example as illustrated in FIG. 1 and FIG. 2 by the dotted arrows. Scanning devices 112-1 and 112-2, which may be coupled to opposite ends of drilling unit 124, may be, for example, configured to scan towards opposite directions from drilling unit 124, as also illustrated in FIG. 1. This provides the benefit of enabling more secure movement of drilling unit 124 in confined spaces by enabling to avoid collisions to different portions of rock surface 140.

[0051] Operations 603 to 605 may be iterated to sequentially determine distances between drilling unit 124 and rock surfaces at a plurality of planned hole positions. Controller 114 may be configured to cause movement of drilling unit 124 after operation 605, for example to another planned hole position, determine the new position of drilling unit at operation 603, cause scanning of rock surface 140 at the new position of drilling unit 124, and determine the distance(s) to rock surface 140 at the new position of drilling unit 124. Controller 114 may be configured to iterate operations 603 to 605 for example when configured to scan planned hole positions of a drill fan before initiating drilling of the drill fan.

[0052] Controller 114 may be, alternatively or additionally, configured to iterate operations 602 to 605. In this case, controller 114 may be configured to cause drill rig 100 to move to a new position, determine the new position of drill rig at operation 602, and perform operations 603 to 605 as described above. Controller 114 may be optionally configured to iterate operations 603 to 605 of the inner loop within a single iteration of the outer loop (operations 602 to 605).

[0053] The scanning of operation 604 may therefore comprise scanning of rock surface 140 at a single planned hole location or scanning rock surface 140 sequentially at a plurality of planned hole positions (e.g., without drilling between movement from one planned hole position to another). Scanning and determining the distance to rock surface 140 without iterating provides the benefit of avoiding unnecessary movement of drilling unit 124, because the distance may be determined in real-time and drilling of the planned hole initiated instantly. However, iterating operations 602 / 603 to 605 provides the benefit of enabling to consider the surface profile of a larger area, for example when determining updated hole positions. For example, controller 114 may be configured to determine updated position(s) for at least one of the planned hole positions based on the distances determined at the plurality of planned hole positions, for example along a drill fan.

[0054] Controller 114 may be configured to detect, based on the representation of rock surface 140 captured at operation 604, obstacle(s) on rock surface 140. Controller 114 may be for example configured to apply a machine vision system to detect the obstacle(s). The machine vision system may be configured to detect potential obstacles (e.g., previously drilled holes or instrumentation such as ventilation pipes) on rock surface 140, for example based on their visual characteristics such as colour or shape. Controller 114 may be configured to detect obstacle(s) further based on the determined distance to rock surface 140, which, in case of a protruding obstacle, may actually be the distance between drilling unit 124 and the obstacle. Controller 114 may be configured to detect an obstacle based on determining that the machine vision system has detected the obstacle and that the measured distance to rock surface 140 at the position of the detected obstacle differs (e.g., by a threshold) from the distance to rock surface 140 at other position(s).

[0055] At operation 606, controller 114 may be configured to determine updated hole position(s). Controller 114 may be configured to determine the updated hole position(s) based on the true surface profile of rock surface 140. Controller 114 may be configured to determine the true surface profile based on scanning of rock surface 140, for example as described with reference to operation 610. Controller 114 may be configured to determine an updated hole position based on the position of drilling unit 124 relative to the position of drill rig 100 (e.g., as determined at operation 603) and the distance between drilling unit 124 and the and rock surface 140 at the planned hole position (e.g., as determined at operation 605). Controller 114 may be configured to determine the updated hole position(s) at the coordinate frame of drill rig 100 (F rig ). This provides the benefit of lower complexity, because the transformation of the updated hole position(s) to the external coordinate frame (F ext ) may be avoided. If drill rig 100 is stationary between scanning and drilling, drill rig 100 may be configured to use the updated hole position(s) defined at its own coordinate frame (F rig ) for controlling movement of drilling unit 124 in order to drill holes at the updated hole position(s).

[0056] Controller 114 may be alternatively configured to determine the updated hole positions in the external coordinate frame (F ext ), for example if it is desired to transmit a report or a drilling plan comprising the updated hole position(s) to a device external to drill rig 100. Controller 114 may be therefore configured to also use the position of drill rig 100 (e.g., as determined at operation 602), in addition to the position of drilling unit 124 relative to the position of drill rig 100 and the distance between drilling unit 124 and the and rock surface 140 at the planned hole position, in order to determine the updated hole position(s). This provides the benefit of enabling drill rig 100 to share the information on the updated hole position(s), or the surface profile in general, with other devices.

[0057] Controller 114 may be configured to determine the updated hole position such that it is at the distance determined at operation 605 from the position of drilling unit 124 (e.g., the position from which the distance was measured). Controller 114 may be configured to determine the updated hole position such that it is at the determined distance from the position of drilling unit 124 towards the direction of scanning, which may be parallel to a longitudinal axis of drilling unit 124. Furthermore, controller 114 may be configured to update the planned hole position such that it is at a distance (e.g., at or beyond a preconfigured minimum distance) from obstacle(s) detected at operation 604. This distance may be, for example, substantially perpendicular to the scanning direction, (e.g., a lateral shift of the hole position on rock surface 140).

[0058] In case the distance was measured at a plurality of planned hole positions (e.g., by iterating operations 603 to 605), controller 114 may be configured to determine updated hole positions for one or more of the plurality of planned hole locations based on the respective drilling unit positions and distances, optionally also considering respective drill rig position(s). Alternatively, controller 114 may be configured to perform operation 606 within the iteration loop(s) of operations 602 / 603 to 605 and determine an updated hole position for one of the planned hole positions at each iteration.

[0059] At operation 607, controller 114 may be configured to update the drilling plan with the updated hole position(s). For example, controller 114 may be configured to replace planned hole position(s) of the drilling plan with respective updated hole position(s). Note that controller 114 may be configured not to update a planned hole position, for example if the measured distance to rock surface 140 is substantially equal to (e.g., within a threshold) the distance from drilling unit 124 to the planned hole position.

[0060] At operation 608, controller 114 may be configured to control movement of drilling unit 124. Controller 114 may be configured to control movement of drilling unit 124 towards the planned hole position, e.g., in order to prepare for drilling a hole at the planned, possibly updated, hole position. Movement towards the planned hole position may comprise any movement of drilling unit 124 configured to decrease the distance between drill bit 304 and the planned hole position. The movement may therefore comprise movement of drilling unit 124 as a whole and / or movement of drill bit 304 relative to drilling unit 124. Controller 114 may be configured to control the movement of drilling unit 124 based on the distance between drilling unit 124 and rock surface 140 at the planned hole position (e.g., as determined at operation 605). Controlling movement of drilling unit 124 based on the distance measured by a scanning device coupled to drilling unit 124 provides the benefit of enabling accurate automatic and real-time control of drilling unit 124 based on the true surface profile, for example instead of human-assisted adjustment of the planned hole positions.

[0061] At operation 609, controller 114 may be configured to cause drilling unit 124 to drill a hole at the planned hole location. Note that the planned position may be the updated hole position determined at operation 606. For example, controller 114 may be configured to transmit control instructions to actuator(s) of boom 120 and / or drilling unit 124, or component(s) thereof such as rock drilling machine 302, in order to cause drill bit 304 to start rotating and to cause drill rod 303 to start pushing drill bit 304 against rock surface 140. Controller 114 may be further configured to cause drilling unit 124 to terminate drilling of the hole, in response to reaching a preconfigured depth or end position. The depth or end positions may be configured for example in drilling plan.

[0062] In case multiple planned hole positions were scanned at operation 604 and respective distances were determined at operation 605, controller 114 may be configured to iterate operations 608 and 609 to sequentially move drilling unit 124 and to drill holes at the planned, possibly updated, hole positions (e.g., without scanning between drilling of the holes).

[0063] Considering different iterations of operation 608, controller 114 may be configured to control sequential movement of drilling unit 124 between the planned hole positions (e.g., sequentially from one hole to another). Controller 114 may be configured to control this sequential movement (e.g., cause the sequential movement) based on the determined distances between drilling unit 124 and rock surface 140 at the planned hole positions. For example, controller 114 may be configured to update the planned hole positions based on the distances and control movement of drilling unit 124 based on the updated hole locations. Controlling the movement of drilling unit 124 may be based on positions of drilling unit 124 at which the planned hole positions were scanned. For example, controller 114 may be configured to cause drill bit 304 to be moved to a position, which is at the scanned distance and direction from the position of drilling unit 124 during scanning of the respective planned hole position. Considering different iterations of operation 609, controller 114 may be configured to cause drilling unit 114 to sequentially drill holes at the planned hole positions.

[0064] At operation 610, controller 114 may be configured to determine a profile of rock surface 140, also referred to as the surface profile. Controller 114 may be configured to determine the profile of rock surface 140 based on the position of drill rig 100, different positions of drilling unit 124 (e.g., as determined at different iterations of operation 603), and the distances between drilling unit 124 and rock surface 140 at the different positions of drilling unit 124 (e.g., as determined at different iterations of operation 605). For example, controller 114 may be configured to construct a point-cloud representing the position of rock surface 140 at the scanned positions. An example of such point cloud is provided in FIG. 7 by the determined positions 704 (p RS ) of rock surface 140. Determining the profile of rock surface 140 based on distance measurements by scanning devices 112 located at drilling unit 124 provides the benefit of enabling to obtain an accurate model of the true surface profile with low-complex scanning device(s). Furthermore, the profile of rock surface 140 may be obtained in real-time and associated with drilling of rock surface 140, which means that the profile of rock surface 140 may be obtained without unnecessarily consuming time for separately scanning rock surface 140. Efficiency of operating drill rigs is therefore improved.

[0065] At operation 611, controller 114 may be configured to cause output of one or more of the following: a report comprising the updated hole position(s), the drilling plan comprising the updated hole position(s), or the profile of rock surface 140 determined by controller 114. Controller 114 may be configured to transmit a report comprising the updated hole position(s), the drilling plan comprising the updated hole position(s), or the determined profile of rock surface 140 to a server external to drill rig 100, for example remote control device 200 or a server of a remote operator station. This provides the benefit of enabling to deliver information about the true profile of rock surface 140.

[0066] Alternatively, or additionally, outputting the drilling plan or the profile of rock surface 140 may comprise causing visualization of the drilling plan (e.g., with the updated hole position(s)) or the determined surface profile on a display, for example a display of drill rig 100 or a display of the remote operator station. Note that controller 114 might be located external to drill rig 100, for example at the remote operator station. Visualization of the drilling plan or the profile of rock surface 140 provides the benefit of enabling a human operator to monitor operations of drill rig 100 and / or to take drill rig 100 under human control if needed.

[0067] FIG. 8 illustrates an example of an apparatus 800 configured to practise one or more example embodiments. Apparatus 800 may be or comprise a control device, such as for example a server, communicatively coupled to drill rig 100, a control apparatus located at drill rig 100, controller 114, drill rig 100 itself, remote control device 200, a remote operator station, or in general any apparatus or system configured to implement the functionality described herein. Although apparatus 800 is illustrated as a single device, it is appreciated that, wherever applicable, functions of apparatus 800 may be distributed to a plurality of physically separate apparatuses, for example drill rig 100 and remote control device 200.

[0068] Apparatus 800 may comprise at least one processor 802. The at least one processor 802 may comprise, for example, one or more of various processing devices, such as for example a co-processor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, or the like.

[0069] Apparatus 800 may further comprise at least one memory 804. The at least one memory 804 may be configured to store, for example, computer program code or the like, for example operating system software and application software. The at least one memory 804 may comprise one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination thereof. For example, the memory may be embodied as magnetic storage devices (such as hard disk drives, etc.), optical magnetic storage devices, or semiconductor memories (such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). Memory 804 is provided as an example of a (non-transitory) computer readable medium. The term "non-transitory," as used herein, is a limitation of the medium itself (i.e., tangible, not a signal) as opposed to a limitation on data storage persistency (e.g., RAM vs. ROM). The at least one memory 804 may be also embodied separate from apparatus 800, for example as a computer readable (storage) medium, examples of which include memory sticks, compact discs (CD), or the like.

[0070] When apparatus 800 is configured to implement some functionality, some component and / or components of apparatus 800, such as for example the at least one processor 802 and / or the at least one memory 804, may be configured to implement this functionality. Furthermore, when the at least one processor 802 is configured to implement some functionality, this functionality may be implemented using program code 806 comprised, for example, in the at least one memory 804.

[0071] The functionality described herein may be performed, at least in part, by one or more computer program product components such as software components. According to an example embodiment, apparatus 800 comprises a processor or processor circuitry, such as for example a microcontroller, configured by the program code 806, when executed, to execute the embodiments of the operations and functionality described herein. Program code 806 is provided as an example of instructions which, when executed by the at least one processor 802, cause performance of apparatus 800.

[0072] For example, control apparatus 114 may be at least partially implemented as program code 806 configured to cause apparatus 800 to perform functionality of controller 114. Similarly, transmission or reception of data (e.g., scanning data, drilling plan data, or surface profile data) over an internal or external communication interface of drill rig 100 may be controlled by software.

[0073] Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing unit (NPU), tensor processing unit (TPU), or the like.

[0074] Apparatus 800 may comprise a communication interface 808 configured to enable apparatus 800 to transmit and / or receive information. Communication interface 808 may comprise an internal or external communication interface, such as for example a radio interface between drill rig 100 and remote control device 200. Apparatus 800 may further comprise other components and / or functions such as for example user interface 810 comprising at least one input device and / or at least one output device. The input device may take various forms such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may for example comprise a display, a speaker, or the like. User interface 810 may enable a human operator to monitor various functions and data, such as for example any type of dumping position, or the like.

[0075] Apparatus 800 may be configured to perform or cause performance of any aspect of the method(s) described herein. Further, a computer program or a computer program product may comprise instructions for causing, when executed by apparatus 800, apparatus 800 to perform any aspect of the method(s) described herein. Further, apparatus 800 may comprise means for performing any aspect of the method(s) described herein. In one example, the means comprises the at least one processor 802, the at least one memory 804 including program code 806 (instructions) configured to, when executed by the at least one processor 802, cause apparatus 800 to perform the method(s). In general, computer program instructions may be executed on means providing generic processing functions. Such means may be embedded for example in a computer, a server, or the like. The method(s) may be thus computer-implemented, for example based algorithm(s) executable by the generic processing functions, an example of which is the at least one processor 802. Apparatus 800 may comprise means for transmitting or receiving information, for example one or more wired of wireless (e.g., radio) transmitters or receivers, which may be coupled or be configured to be coupled to one or more antennas, or transmitter(s) or receiver(s) of a wired communication interface.

[0076] According to a first aspect of the present disclosure, apparatus may be configured to control a drill rig. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

[0077] According to an example embodiment of the first aspect, the at least one scanning device comprises an ultrasonic distance sensor or a microwave radar sensor.

[0078] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine a position of the drill rig at a coordinate frame stationary with respect to the rock surface; and / or determine a position of the drilling unit relative to the position of the drill rig.

[0079] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine an updated hole position for the planned hole position based on the position of the drilling unit relative to the position of the drill rig and the distance between the drilling unit and the rock surface at the planned hole position, wherein the updated hole position is at the determined distance from the position of the drilling unit.

[0080] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: obtain a drilling plan comprising the planned hole position; and update the drilling plan with the updated hole position.

[0081] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: cause the drilling unit to drill a hole at the updated hole position, cause transmission of the drilling plan comprising the updated hole position to a server external to the drill rig, cause transmission of a report comprising the updated hole position to the server external to the drill rig, or cause visualization of the drilling plan on a display of the drill rig or a remote operator station.

[0082] According to an example embodiment of the first aspect, the drilling plan comprises a plurality of planned hole positions associated with at least one drill fan configured to be drilled on the rock surface.

[0083] According to an example embodiment of the first aspect, the at least one scanning device further comprises at least one camera, and wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: cause the at least one camera to capture a representation of the rock surface; detect, based on the representation of the rock surface, at least one obstacle on the rock surface; and determine the updated hole position to be at a distance from the at least one obstacle.

[0084] According to an example embodiment of the first aspect, the at least one obstacle comprises instrumentation attached to the rock surface or at least one previously drilled hole on the rock surface.

[0085] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine distances between the drilling unit and the rock surface at a plurality of positions of the drilling unit; and determine a profile of the rock surface based on the position of the drill rig, the plurality of positions of the drilling unit, and the distances between the drilling unit and the rock surface at the plurality of positions of the drilling unit.

[0086] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: cause transmission of the profile of the rock surface to a server external to the drill rig, or cause visualization of the profile of the rock surface on a display of the drill rig or a remote operator station.

[0087] According to an example embodiment of the first aspect, the at least one scanning device comprises a first scanning device coupled to a first end of the drilling unit and a second scanning device coupled to a second end of the drilling unit, wherein the first scanning device and the second scanning device are configured to scan towards opposite directions from the drilling unit, and wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: determine, based on scanning of the rock surface with the first scanning device and the second scanning device, a first distance between a first end of the drilling unit and a first portion of the rock surface and a second distance between a second end of the drilling unit and a second portion of the rock surface; and control movement of the drilling unit based on the first distance and the second distance.

[0088] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: cause a protective cover of the at least one scanning device to open, in response to determining to cause initiation of the scanning of the rock surface.

[0089] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: sequentially scan the rock surface at a plurality of planned hole positions; determine, based on the sequential scanning of the rock surface, distances between the drilling unit and the rock surface at the plurality of planned hole positions; control sequential movement of the drilling unit between the plurality of planned hole positions based on the distances between the drilling unit and the rock surface at the planned hole positions; and cause the drilling unit to sequentially drill holes at the plurality of planned hole positions.

[0090] According to a second aspect of the present disclosure, a drill rig comprises the apparatus according to any example embodiment of the first aspect. For example, the drill rig may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the drill rig at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position. The computer program code may be configured to, with the at least one processor, cause the drill rig to perform any example embodiment of the method of the third aspect.

[0091] FIG. 9 illustrates an example of a method for controlling a drill rig, according to a third aspect of the present disclosure. The method may comprise a computer-implemented method performed by, for example, apparatus 800 such as controller 114.

[0092] At 901, the method may comprise causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig.

[0093] At 902, the method may comprise determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position.

[0094] At 903, the method may comprise controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position.

[0095] At 904, the method may comprise causing the drilling unit to drill a hole at the planned hole position.

[0096] According to an example embodiment of the third aspect, the at least one scanning device comprises an ultrasonic distance sensor or a microwave radar sensor.

[0097] According to an example embodiment of the third aspect, the method comprises: determining a position of the drill rig at a coordinate frame stationary with respect to the rock surface; and / or determining a position of the drilling unit relative to the position of the drill rig.

[0098] According to an example embodiment of the third aspect, the method comprises: determining an updated hole position for the planned hole position based on the position of the drilling unit relative to the position of the drill rig and the distance between the drilling unit and the rock surface at the planned hole position, wherein the updated hole position is at the determined distance from the position of the drilling unit.

[0099] According to an example embodiment of the third aspect, the method comprises: obtaining a drilling plan comprising the planned hole position; and update the drilling plan with the updated hole position.

[0100] According to an example embodiment of the third aspect, the method comprises: causing the drilling unit to drill a hole at the updated hole position, causing transmission of the drilling plan comprising the updated hole position to a server external to the drill rig, causing transmission of a report comprising the updated hole position to the server external to the drill rig, or causing visualization of the drilling plan on a display of the drill rig or a remote operator station.

[0101] According to an example embodiment of the third aspect, the drilling plan comprises a plurality of planned hole positions associated with at least one drill fan configured to be drilled on the rock surface.

[0102] According to an example embodiment of the third aspect, the method comprises: causing the at least one camera to capture a representation of the rock surface; detecting, based on the representation of the rock surface, at least one obstacle on the rock surface; and determining the updated hole position to be at a distance from the at least one obstacle.

[0103] According to an example embodiment of the third aspect, the at least one obstacle comprises instrumentation attached to the rock surface or at least one previously drilled hole on the rock surface.

[0104] According to an example embodiment of the third aspect, the method comprises: determining distances between the drilling unit and the rock surface at a plurality of positions of the drilling unit; and determining a profile of the rock surface based on the position of the drill rig, the plurality of positions of the drilling unit, and the distances between the drilling unit and the rock surface at the plurality of positions of the drilling unit.

[0105] According to an example embodiment of the third aspect, the method comprises: causing transmission of the profile of the rock surface to a server external to the drill rig, or causing visualization of the profile of the rock surface on a display of the drill rig or a remote operator station.

[0106] According to an example embodiment of the third aspect, the at least one scanning device comprises a first scanning device coupled to a first end of the drilling unit and a second scanning device coupled to a second end of the drilling unit, wherein the first scanning device and the second scanning device are configured to scan towards opposite directions from the drilling unit, and wherein the method comprises: determining, based on scanning of the rock surface with the first scanning device and the second scanning device, a first distance between a first end of the drilling unit and a first portion of the rock surface and a second distance between a second end of the drilling unit and a second portion of the rock surface; and controlling movement of the drilling unit based on the first distance and the second distance.

[0107] According to an example embodiment of the third aspect, the method comprises: causing a protective cover of the at least one scanning device to open, in response to determining to cause initiation of the scanning of the rock surface.

[0108] According to an example embodiment of the third aspect, the method comprises: sequentially scanning the rock surface at a plurality of planned hole positions; determining, based on the sequential scanning of the rock surface, distances between the drilling unit and the rock surface at the plurality of planned hole positions; controlling sequential movement of the drilling unit between the plurality of planned hole positions based on the distances between the drilling unit and the rock surface at the planned hole positions; and causing the drilling unit to sequentially drill holes at the plurality of planned hole positions.

[0109] The method may be performed by controller 114 (e.g., a control apparatus), drill rig 100, or remote control device 200, for example based on program code 806, when executed by processor 802. Various examples of the methods are explained above with regard to functionalities of controller 114, drill rig 100, and / or remote control device 200, and are therefore not repeated here. It should be understood that example embodiments described may be combined in different ways unless explicitly disallowed.

[0110] According to a fourth aspect, an apparatus is disclosed. The apparatus may comprise: means for causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; means for determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; means for controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and means for causing the drilling unit to drill a hole at the planned hole position.. The apparatus may comprise means for performing any example embodiment of the method of the third aspect.

[0111] According to a fifth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position. The computer program, the computer program product, or the (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus to perform any example embodiment of the method of the third aspect.

[0112] Although the subject matter has been described in language specific to structural features and / or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as examples of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.

[0113] It will be understood that the benefits and advantages described above may relate to one embodiment or may relate to several embodiments. The embodiments are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages. It will further be understood that reference to 'an' item may refer to one or more of those items.

[0114] The steps or operations of the methods described herein may be carried out in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the example embodiments described above may be combined with aspects of any of the other example embodiments described to form further example embodiments without losing the effect sought.

[0115] The term 'comprising' is used herein to mean including the method, blocks, or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.

[0116] As used herein, "at least one of the following: " and "at least one of " and similar wording, where the list of two or more elements are joined by "and" or "or", mean at least any one of the elements, or at least any two or more of the elements, or at least all the elements. Term "or" may be understood to also cover a case where both of the items separated by "or" are included. Hence, "or" may be understood as an inclusive "or" rather than an exclusive "or".

[0117] Although subjects may be referred to as 'first' or 'second' subjects, this does not necessarily indicate any order or importance of the subjects. Instead, such attributes may be used solely for the purpose of making a difference between subjects.

[0118] It will be understood that the above description is given by way of example only and that various modifications may 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 certain degree of particularity, or with reference to one or more individual embodiments, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from scope of this specification.

Examples

Embodiment Construction

[0012]Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0013]Automatic boom positioning of drill rigs, e.g., long hole drill rigs, rock support drill rigs, or surface drill rigs, may be based on a preconfigured drilling plan combined with manual teaching of the actual profile of the rock surface subject to drilling. Preconfigured hole coordinates of the drilling plan may be based on a theoretical tunnel profile, which might not be accurate enough for autonomous drilling applic...

TECHNICAL FIELD

[0001] Various example embodiments generally relate to the field of rock drilling. Some example embodiments relate to controlling a drilling unit based on a distance between the drilling unit and a rock surface determined based on scanning of the rock surface with a scanning device coupled to the drilling unit.BACKGROUND

[0002] In various rock drilling applications, such as for example mining or excavation, it may be desired to drill holes to a rock surface at predetermined positions, for example according to a drilling plan. A human operator may control the drilling for example by teaching an automated drill rig the drilling locations before initiating automatic drilling operation.SUMMARY

[0003] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] According to a first aspect, an apparatus for controlling a drill rig is disclosed. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

[0005] According to a second aspect, a drill rig is disclosed. The drill rig may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the drill rig at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

[0006] According to a third aspect, a method for controlling a drill rig is disclosed. The method may comprise: causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and causing the drilling unit to drill a hole at the planned hole position.

[0007] According to a fourth aspect, an apparatus for controlling a drill rig is disclosed. The apparatus may comprise: means for causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; means for determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; means for controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and means for causing the drilling unit to drill a hole at the planned hole position.

[0008] According to a fifth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium for controlling a drill rig is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

[0009] According to some aspects, there is provided the subject matter of the independent claims. Some further aspects are defined in the dependent claims. Many of the attendant features will be more readily appreciated as they become better understood by reference to the following description considered in connection with the accompanying drawings.LIST OF DRAWINGS

[0010] The accompanying drawings, which are included to provide a further understanding of the example embodiments and constitute a part of this specification, illustrate example embodiments and, together with the description, help to explain the example embodiments. In the drawings: FIG. 1 illustrates an example of a mobile bolter machine; FIG. 2 illustrates an example of an underground drill rig; FIG. 3 illustrates an example of a drilling unit; FIG. 4 illustrates an example of a drill rig communicatively coupled to a remote control device; FIG. 5 illustrates an example of planned drill fans on a tunnel surface; FIG. 6 illustrates an example of a flow chart for controlling a drill rig; FIG. 7 illustrates an example of distance measurements by a scanning device coupled to a drilling unit of a drill rig; FIG. 8 illustrates an example of an apparatus configured to practise one or more example embodiments; and FIG. 9 illustrates an example of a method for controlling a drill rig.

[0011] Like references are used to designate like parts in the accompanying drawings.DESCRIPTION

[0012] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0013] Automatic boom positioning of drill rigs, e.g., long hole drill rigs, rock support drill rigs, or surface drill rigs, may be based on a preconfigured drilling plan combined with manual teaching of the actual profile of the rock surface subject to drilling. Preconfigured hole coordinates of the drilling plan may be based on a theoretical tunnel profile, which might not be accurate enough for autonomous drilling applications. Therefore, a human operator of the drill rig may need to manually configure the controller of the drill rig with more accurate drilling locations before initiating automatic drilling. The operator may need to repeat this for several holes such as every hole, for example to ensure that stingers of the drill rig can be used during drilling. Such manual reconfiguration of drilling locations may be time consuming and prone to errors. This may reduce applicability of automatic drilling and the perceived value of the automatic drilling feature.

[0014] Example embodiments of the present disclosure enable to improve automatic or semi-automatic drilling based on distance measurement sensor(s), e.g., radar or ultrasound sensor(s), installed on the drilling unit for measuring distance to the rock surface, e.g., walls or ceiling of a tunnel. Information about the current distance between the drilling unit and the rock surface may be used to control movement of the drilling unit, for example to actively adjust the distance between the drilling unit and the rock surface in real time, while controlling positioning of the drilling unit with a boom. Manual teaching of the actual surface profile may be therefore avoided.

[0015] The distance measurements may be also used to determine a more accurate surface profile. For example, by installing a scanning device to the feed beam of the drilling unit, the drill rig may be enabled to determine the true surface profile by driving the feed beam near the rock surface, for example next to a planned drill fan to be drilled. The true surface profile may be then used, for example, for updating the drilling plan.

[0016] The surface profile may further include information about previously drilled holes or instrumentation (e.g., ventilation pipes) installed on the rock surface, for example as detected by a machine vision system comprising one or more cameras as the scanning device(s). The surface profile may be for example displayed to the operator of the drill rig on a graphical user interface (GUI) or stored on a server. The distance sensor(s) may be battery-powered and / or connected to a control system of the drill rig wirelessly. Power consumption of a sensor may be reduced by powering the sensor down when the boom is not moving, thereby enabling to increase battery life in case of battery-powered sensor. Furthermore, the sensor may be covered by a protective lid which may be configured to be opened for scanning the rock surface. Further example embodiments and benefits of such a system are described below.

[0017] FIG. 1 illustrates an example of a drill rig. In this example, drill rig 100 comprises a mobile bolter machine, but example embodiments of the present disclosure may be applied also to other type of drill rigs, such as for example underground drill rigs (cf., FIG.2) or drill rigs configured for drilling holes on rock cuttings along roads or railways. Drill rig 100 may comprise, for example, a bolting drill rig, a rock bolter drill rig, a roof bolter, a rock bolter, a mining bolter, a multifunction drill rig, a cable bolter, or the like. In general, a drill rig may be any vehicle configured for rock drilling.

[0018] Drill rig 100 may be an automated drill rig, for example an automated vehicle, e.g., a mining vehicle, equipped with tools configured for drilling. An automated vehicle, for example an automated drill rig, operating in an automatic mode may be configured to, for example, receive a task to be performed, perceive the environment of the automated vehicle, and autonomously perform the task while taking the environment into account. An automated vehicle operating in an automatic mode may be configured to operate independently but may be taken under external control at certain operation areas or conditions, such as during states of emergencies. Example embodiments of the present disclosure may be however applied also in non-autonomous or semi-autonomous drill rigs, for example remote-controlled drill rigs.

[0019] In the example of FIG. 1, axis x represents the forward driving direction of drill rig 100. Axis z represents the vertical direction, in this example towards the roof of the tunnel. Note that axis z may or may not be parallel to the vector of gravity depending on whether drill rig 100 is ascending or descending, for example in a tunnel. Axis y may be perpendicular to axes x and z. Drill rig 100 may comprise a movable carrier 110 and at least one boom 120 connected to movable carrier 110. Movable carrier 110 may comprise equipment for moving or stabilising drill rig 100, such as for example a motor, wheels, or stabilizer jacks (e.g., ground support). Movable carrier 110 may be configured to move autonomously or it may be configured to be controlled by a human operator, either remotely or locally at drill rig 100. Even though one boom 120 has been illustrated in FIG. 1, drill rig 100 may generally comprise one or a plurality (e.g., two, three, four,...) of booms 120.

[0020] A drilling unit 124, in this example a bolter, may be coupled to a distal end portion of boom 120. Drilling unit 124 may be for example configured to be held by clamp 126, which may be configured to enable drilling unit 124 to be rotated, for example to enable drilling holes to the roof or floor of the tunnel. In general, drilling unit 124 may be movable relative to drill rig 100, e.g., movable relative to carrier 110. This provides the benefit of enabling holes to be drilled at different positions of rock surface 140 without moving movable carrier 110.

[0021] Drilling unit 124 may be configured to drill holes at rock surface 140, for example at planned hole position(s) 142. The planned hole position(s) 142 may be defined in a drilling plan, which may be preconfigured at drill rig 100 or delivered to drill rig 100 over a communication interface. Rock surface 140 may comprise the roof, floor, or wall(s) of the tunnel, or any portion(s) thereof. It is however noted that rock surface 140 may comprise any rock surface to be drilled. For example, rock surface 140 might be located outside any tunnel.

[0022] Scanning device(s) 112 (e.g., sensor(s)) may be coupled to drilling unit 124 for scanning environment of drill rig 100, for example, rock surface 140 and any instrumentation installed thereon. Scanning device(s) 112 may be integrated or mechanically coupled to drilling unit 124. Scanning device(s) 112 may be configured to be stationary with respect to drilling unit, i.e., to move with drilling unit 124. Drilling unit 124 may comprise scanning device(s) 112. Scanning device(s) 112 may be covered by protective lid(s), which may be configured to be opened during scanning.

[0023] Scanning device(s) 112 may include for example one or more of the following: one or more cameras, one or more microwave radio detection and ranging (radar) sensors, or one or more ultrasonic distance sensors, or the like. An ultrasonic distance sensor may be an instrument which is configured to measure the distance to an object using ultrasonic sound waves. Scanning device(s) 112 may comprise a single scanning device or a group of two or more scanning devices. Scanning device(s) 112 may be configured to scan rock surface 140, for example to detect a distance to rock surface 140 or particular features of rock surface 140 or particular features associated with rock surface 140, such as instrumentation installed on rock surface 140. Scanning rock surface 140 may comprise scanning with scanning device(s) 112 such that their sensing direction is towards rock surface 140.

[0024] A visual representation of rock surface 140 captured by camera(s) may be combined with distance information provided by other scanning device(s) 112, for example to detect previously drilled holes or objects protruding from rock surface 140. Alternatively, a camera may be used to extract depth information of objects (e.g., a ventilation pipe), for example by comparing two images taken at slightly different positions (e.g., by two camera units). Alternatively, scanning device(s) 112 may comprise a time-of-flight (ToF) camera, which may be configured to determine a distance between the camera and an object, e.g., rock surface 140 or instrumentation installed thereon, by measuring a round-trip time of an artificial light signal provided by a laser or a light-emitting diode (LED). A lidar sensor may be configured to determine a distance to an object by targeting the object with a laser and measuring the time for the reflected light to return to a receiver of the lidar sensor. A radar sensor, e.g., a microwave radar sensor, may be configured to transmit electromagnetic energy towards rock surface 140 and to observe the echoes returned from the rock surface, or instrumentation installed thereon, to determine a distance to rock surface 140. A microwave radar sensor may be configured to transmit electromagnetic energy at the microwave frequency range of 300 MHz to 30 GHz.

[0025] Drill rig 100 may comprise a controller (C) 114. Controller 114 may be communicatively coupled to scanning device(s) 112, for example to receive scanned sensor data from scanning device(s) 112, or, to request scanning device(s) 112 to initiate scanning of rock surface 140. Controller 114 may be provided, for example, as a software application residing on a memory and being executable by a processor. An example of an apparatus suitable for implementing controller 114 is provided in FIG. 8.

[0026] Controller 114 may comprise, or be communicatively coupled to, various functions, blocks, or applications for implementing functionality of controller 114. For example, controller 114 may comprise or be communicatively coupled to a data management server, which may be configured to store information on a drilling plan, tunnel lines or profiles, a mine map point cloud, or the like. The drilling plan may comprise a digital drilling plan indicative of the planned hole position(s) 142, for example as position(s) of individual hole(s), positions of planned holes of one or more drill fans, or position(s) of planned drill fan(s) (e.g., a line for drilling holes of a drill fan). The drilling plan may therefore comprise an indication of the planned hole positions(s) 142, which may be optionally associated with at least one drill fan configured to be drilled on rock surface 140.

[0027] Controller 114 may comprise a navigation application configured to control, or enable a human operator to control, navigation of drill rig 100, for example to move it to a position from which drilling unit 124 is determined to reach the planned hole position(s) 142. Position of drill rig 100 may be referred to as a navigation position. The position of drill rig 100 may be defined in an external coordinate frame (F ext ), which may be stationary with respect to rock surface 140. Controller 114 may be configured to determine the position of drill rig 100 based on a positioning device of drill rig 100, such as for example a short-range wireless positioning (e.g., Bluetooth ™< ) device or a satellite positioning device (e.g. a Global Positioning System, GPS, or Global Navigation satellite System, GNSS, receiver. Alternatively, controller 114 may be configured to determine the position of drill rig 100 based on a simultaneous localization and mapping (SLAM) system, which may be configured to scan the environment of drill rig 100 to obtain point cloud data of surrounding surfaces or objects and use them for detecting the position of drill rig 100. Controller 114 may be configured to use the obtained point cloud data for determining the position of drill rig 100 based on comparing the scanning data to reference data, such as for example a three-dimensional (3D) model of rock surface 140 (e.g., a tunnel).

[0028] Based on scanning of rock surface 140, drill rig 100 may be configured to obtain information on the distance between drilling unit 124 and rock surface 140. The distance between drilling unit 124 and rock surface 140 may be the distance between rock surface 140 and the respective scanning device, in this example scanning device 112-1, or between rock surface 140 and a reference point of drilling unit 124 (e.g., the drill bit of drilling unit 124). The reference point may be located at a fixed or configurable distance and direction from scanning device 112-1. Controller 114 may be configured to determine the distance between rock surface 140 and the reference point based on the detected distance between scanning device 112-1 and rock surface 140 and the position of the reference point relative to the position of scanning device 112-1.

[0029] A kinematic model of drill rig 100, or component(s) thereof, may comprise a mathematical description of at least a part of drill rig 100. A kinematic model may describe motion of drill rig 100 or component(s) of drill rig 100 without taking into account the forces that cause the motion. The kinematic model may be used for estimating a position of drill rig 100 or component(s) of drill rig 100, for example based on measurement data from one or more sensors associated with drill rig 100 or motion of drill rig 100 (e.g., drilling unit 124) caused by given control inputs. The kinematic model of drill rig 100 may comprise at least dimensions of drill rig 100 and / or reach of drill rig 100 such as a movement range of at least one boom 120 or drilling unit 124 of drill rig 100.

[0030] The kinematic model may comprise information on dimensions of boom(s) 120, or parts thereof, for example drilling unit 124, characteristics of joint(s) 122 (e.g., their degrees of freedom), constraints between moving parts of drill rig 100, or the like. The kinematic model may thus enable modelling movement of the component(s) of drill rig 100, for example to determine the current position of drilling unit 124 relative to drill rig 100 (e.g., movable carrier 110). The 3D model(s) of the component(s) may be provided as point cloud data indicative of the surface of the component(s). Point cloud data may comprise a plurality of data points representing, for example, distances between drill rig 100 and its component(s) or other objects in the environment of drill rig 100, for example at a particular time instance. An individual point included in a point cloud may be presented by, for example x, y, and z coordinates with respect to a particular coordinate frame, e.g., the external coordinate frame (F ext ).

[0031] Controller 114 may be further configured to monitor the position of drilling unit 124 with respect to drill rig 100, e.g., in a coordinate frame of drill rig 100 (F rig ), which may be stationary with respect to drill rig 100, or a certain portion thereof (e.g., movable carrier 110). For example, controller 114 may be configured to determine the current position of drilling unit 124 relative to a reference point of drill rig 100 based on the kinematic model.

[0032] Controller 114 may be configured to determine and / or maintain the drilling plan (e.g., a digital drilling plan), a 3D model of at least one component of drill rig 100 (e.g., a 3D model of boom(s) 120 or drilling unit 124), and / or the kinematic model of drill rig 100, or component(s) thereof. A 3D model of a component of drill rig 100 may comprise 3D geometry data of the component, obtained for example from a computer aided design (CAD) model of the respective physical component.

[0033] FIG. 2 illustrates another example of a drill rig. In this example, drill rig 100 is represented by an underground drill rig, again comprising movable carrier 110 and booms 120 connected thereto. An underground drill rig may further comprise components similar to the mobile bolter machine of FIG. 1, for example boom(s) 120 and joint(s) 122, as well as equipment for moving or stabilising the underground drill rig.

[0034] Drilling unit 124 comprising scanning device 112-1 may be again coupled to a distal end portion of boom 120. In the example of FIG. 2, drill rig 100 comprises two drilling units with respective scanning devices 112-1, 112-2. Drilling unit 124 may comprise a feeding system configured to keep the drill bit of drilling unit 124 in contact with the drilling face, in this example rock surface 140, and to enable a drill rod to move along a feed beam during drilling. Boom(s) 120 may comprise a plurality of boom parts coupled to each other, movable carrier 110, and / or drilling unit 124 by joint(s) 122. Controllable joints 122 enable drilling unit 124 to be placed at a desired position and orientation with respect to rock surface 140. As already described with reference to FIG. 1, drill rig 100 may comprise controller (C) 114 configured to control various functions of drill rig 100.

[0035] FIG. 3 illustrates an example of a drilling unit. Drilling unit 124 may comprise a feed beam 301 and a rock drilling machine 302 supported on it. Rock drilling machine 302 may comprise a shank at a front end of the rock drilling machine 302 for connecting a tool, such as for example drill rod 303 comprising, or configured to be coupled to, drill bit 304. Furthermore, drilling unit 130 may comprise one or more rod handling devices 305, such as for example a tool hold device, a tool changing apparatus or manipulator, and / or a tool magazine or storage. In addition to this, one or more additional devices 306 may be supported to feed beam 301.

[0036] Scanning device 112-1 may be coupled to drilling unit 124, for example at feed beam 301. Providing scanning device 112-1 at drilling unit 124 enables more accurate scanning of rock surface 140, because drilling unit 124 may be moved near rock surface 140 for scanning. This is in contrast to, for example, solutions where a scanning device (e.g., a lidar sensor) is provided at movable carrier 110. Alternatively, sufficient scanning accuracy may be achieved with less complex and less expensive sensor(s), for example ultrasonic distance sensor or microwave radar sensor. Furthermore, providing scanning device 112-1 at drilling unit 124 provides the benefit of enabling real-time scanning and controlling of drilling unit 124 based on the true surface profile upon initiation of drilling a planned hole.

[0037] FIG. 4 illustrates an example of a drill rig communicatively coupled to a remote control device. Drill rig 100 may be controlled by a remote control device 200, which may be external to drill rig 100. Remote control device 200 may be for example a server located remote from drill rig 100, for example outside the tunnel at which drill rig 100 is operating. Functionality of controller 114 may be distributed between drill rig 100, for example a local controller of drill rig 100, and remote control device 200. Information may be exchanged between remote control device 200 and drill rig 100 over a communication interface including any suitable wireless or wired connection. Examples of suitable communication interfaces are described with reference to FIG. 8.

[0038] Controller 114 may be configured to determine and / or maintain the drilling plan. The drilling plan, the 3D model(s), or the kinematic model(s) of drill rig 100 may be stored at controller 114, for example based on pre-configuration of the models. Alternatively, controller 114 may be configured to receive the drilling plan or one or more of the models from drill rig 100 or the data management server. Controller 114 may also be configured to receive, for example from drill rig 100, the scanned sensor data of scanning device(s) 112, which controller 114 may be configured to use for determining the distance between drilling unit 124 and rock surface 140 and to control movement of drilling unit 124 accordingly. Example embodiments of the present disclosure may be thus implemented locally by drill rig 100, by remote control device 200, or by a system comprising drill rig 100 and remote control device 200.

[0039] FIG. 5 illustrates an example of drill fans on a tunnel surface. A drill fan may comprise a line of planned or drilled hole positions at rock surface 140. Note that depending on curvature of rock surface 140, the hole positions along the line might not be located at a straight geometrical line in a 3D coordinate frame. A drill fan may for example comprise planned or drilled holes at a particular plane in the external coordinate frame (F ext ), for example planned hole positions on theyz-plane at a particular point along the x-axis, as illustrated by the two drill fans in FIG. 5. Note that planned hole positions need not include a specific location for each individual hole to be drilled. The planned hole positions could be for example indicated by the number of holes to be drilled at a particular line. The planned hole positions might be for example described by the following instruction: `drill eight holes on a line perpendicular to the longitudinal axis of the tunnel at distances x 1 and x 2 along the longitudinal axis of the tunnel', as illustrated in FIG. 5.

[0040] FIG. 6 illustrates an example of a flow chart for controlling a drill rig. Even though operations of the flow chart have been described to be performed by controller 114, it is understood that similar operations may be performed by any device configured to control drill rig 100, either locally or remotely.

[0041] At operation 601, controller 114 may be configured to obtain a drilling plan. As described above, the drilling plan may comprise planned hole positions for drilling holes at rock surface 140. The holes may be associated with drill fan(s) configured to be drilled on rock surface 140. The planned hole positions may comprise coordinates of the planned holes in the external coordinate frame (F ext ). Alternatively, the planned hole positions may be indicated by a line of a drill fan in the external coordinate frame (F ext ). Controller 114 may be configured to obtain the drilling plan by retrieving the drilling plan from a memory of drill rig 100 or by receiving it from another device, e.g., remote control device 200, over a communication interface.

[0042] At operation 602, controller 114 may be configured to determine a position of drill rig 100. The position of drill rig 100 may comprise a position of drill rig 100 in the external coordinate frame (F ext ). Controller 114 may be for example configured to read output(s) of the positioning device of drill rig 100 or the SLAM system to determine the position of drill rig 100.

[0043] At operation 603, controller 114 may be configured to determine a position of drilling unit 124 relative to the position of drill rig 100, e.g., relative to a reference point of drill rig 100 such as a particular point of movable carrier 110. Controller 114 may be configured to determine, at least initially, the position of drilling unit 124 relative to drill rig 100, e.g., in the coordinate frame of drill rig 100 (F rig ). Controller 114 may be further configured to transform the position of drilling unit 124 to the external coordinate frame (F ext ), for example based on the kinematic model of drill rig 100 and control instructions provided by controller 114 for moving drilling unit 124. Note that controller 114 may be configured to continuously, periodically, or intermittently monitor the position of drilling unit 124, either relative to rock surface 140 (e.g., in F ext ) or relative to drill rig 100 (e.g., in F rig ). Controller 114 may be further configured to cause scanning device(s) 112 to enter a power-down mode, in response to determining that drilling unit is stationary (e.g., has not moved within a predetermined period of time). In the power-down mode, operation of a respective scanning device may be limited or power supply to the scanning device restricted. Controller 114 may be configured to cause scanning device(s) 112 to transition from the power-down mode to an operational mode to enable scanning, in response to detecting movement of drilling unit 124 or boom 120. This provides the benefit of reducing power consumption, for example in case of battery-powered scanning device(s) 112.

[0044] At operation 604, controller 114 may be configured to cause scanning of rock surface 604 by scanning device(s) 112. For example, controller 114 may be configured to transmit, to scanning device(s) 112, a request to initiate scanning. Controller 114 may be configured to determine to cause the scanning, for example in response to detecting that the planned hole location(s) are within the reach of drilling unit 124 from the current position of drill rig 100. Controller 114 may be configured to determine the reach of drilling unit 124 based on the kinematic model.

[0045] An example of scanning data obtained by scanning rock surface 140 by scanning device 112-1 is illustrated in FIG. 7. Positions of drilling unit 124 (p DU ) are illustrated by the inner group of circles 702 and positions of rock surface 140 (p RS ) determined based on detected distances (d) at respective positions of drilling unit 124 are illustrated by the outer group of circles 704. Note that positions of drilling unit 124 are associated with a direction of drilling unit 124, which may be recorded by controller 114 during scanning of the respective distance to rock surface 140.

[0046] Controller 114 may be configured to cause the protective cover(s) of scanning device(s) to open, in response to determining to cause initiation of the scanning of the rock surface. Controller 114 may for example transmit control instructions to actuator(s) coupled to the protective cover(s) to cause the protective cover(s) to move from a closed position to an opened position. In the closed position the protective cover(s) may be configured to cover scanning device(s) 112, for example in order to protect them from particles falling from rock surface 140. Controller 114 may be configured to cause the protective cover(s) to be closed, in response to completing the scanning, for example before initiation of drilling at the scanned position of rock surface 140.

[0047] Controller 114 may be further configured to cause camera(s), which may belong to scanning device(s) 112, to capture a representation of rock surface 140. The representation of rock surface 140 may comprise a visual representation such as an image, a group of images, a set of video frames, or machine vision data in general.

[0048] At operation 605, controller 114 may be configured to determine the distance between drilling unit 124 and rock surface, for example 140 at a planned hole position. Controller 114 may be for example configured to receive scanning data (e.g., a distance value(s)) obtained by scanning device(s) 112. For example, controller 114 may be configured to receive a first distance value from scanning device 112-1. Scanning device 112-1 may be coupled to a first end of drilling unit 124. Controller 114 may be configured to determine, based on the scanning, a first distance between drilling unit 124 and a first portion of rock surface 140. In the example of FIG. 1, the first portion is located at the roof of the tunnel.

[0049] In some example embodiments, controller 114 may be further configured to receive a second distance value, e.g., from scanning device 112-2, which may be coupled to a second end of drilling unit 124. Controller 114 may be configured to determine, based on the scanning, a second distance between drilling unit 124 and a second portion of rock surface 140. In the example of FIG. 1, the second portion is located at the floor of the tunnel.

[0050] Coupling of a scanning device to an end of drilling unit 124 may refer to coupling the scanning device such that it is enabled to scan towards rock surface 140 along (e.g., parallel to) a longitudinal axis of drilling unit 124, for example as illustrated in FIG. 1 and FIG. 2 by the dotted arrows. Scanning devices 112-1 and 112-2, which may be coupled to opposite ends of drilling unit 124, may be, for example, configured to scan towards opposite directions from drilling unit 124, as also illustrated in FIG. 1. This provides the benefit of enabling more secure movement of drilling unit 124 in confined spaces by enabling to avoid collisions to different portions of rock surface 140.

[0051] Operations 603 to 605 may be iterated to sequentially determine distances between drilling unit 124 and rock surfaces at a plurality of planned hole positions. Controller 114 may be configured to cause movement of drilling unit 124 after operation 605, for example to another planned hole position, determine the new position of drilling unit at operation 603, cause scanning of rock surface 140 at the new position of drilling unit 124, and determine the distance(s) to rock surface 140 at the new position of drilling unit 124. Controller 114 may be configured to iterate operations 603 to 605 for example when configured to scan planned hole positions of a drill fan before initiating drilling of the drill fan.

[0052] Controller 114 may be, alternatively or additionally, configured to iterate operations 602 to 605. In this case, controller 114 may be configured to cause drill rig 100 to move to a new position, determine the new position of drill rig at operation 602, and perform operations 603 to 605 as described above. Controller 114 may be optionally configured to iterate operations 603 to 605 of the inner loop within a single iteration of the outer loop (operations 602 to 605).

[0053] The scanning of operation 604 may therefore comprise scanning of rock surface 140 at a single planned hole location or scanning rock surface 140 sequentially at a plurality of planned hole positions (e.g., without drilling between movement from one planned hole position to another). Scanning and determining the distance to rock surface 140 without iterating provides the benefit of avoiding unnecessary movement of drilling unit 124, because the distance may be determined in real-time and drilling of the planned hole initiated instantly. However, iterating operations 602 / 603 to 605 provides the benefit of enabling to consider the surface profile of a larger area, for example when determining updated hole positions. For example, controller 114 may be configured to determine updated position(s) for at least one of the planned hole positions based on the distances determined at the plurality of planned hole positions, for example along a drill fan.

[0054] Controller 114 may be configured to detect, based on the representation of rock surface 140 captured at operation 604, obstacle(s) on rock surface 140. Controller 114 may be for example configured to apply a machine vision system to detect the obstacle(s). The machine vision system may be configured to detect potential obstacles (e.g., previously drilled holes or instrumentation such as ventilation pipes) on rock surface 140, for example based on their visual characteristics such as colour or shape. Controller 114 may be configured to detect obstacle(s) further based on the determined distance to rock surface 140, which, in case of a protruding obstacle, may actually be the distance between drilling unit 124 and the obstacle. Controller 114 may be configured to detect an obstacle based on determining that the machine vision system has detected the obstacle and that the measured distance to rock surface 140 at the position of the detected obstacle differs (e.g., by a threshold) from the distance to rock surface 140 at other position(s).

[0055] At operation 606, controller 114 may be configured to determine updated hole position(s). Controller 114 may be configured to determine the updated hole position(s) based on the true surface profile of rock surface 140. Controller 114 may be configured to determine the true surface profile based on scanning of rock surface 140, for example as described with reference to operation 610. Controller 114 may be configured to determine an updated hole position based on the position of drilling unit 124 relative to the position of drill rig 100 (e.g., as determined at operation 603) and the distance between drilling unit 124 and the and rock surface 140 at the planned hole position (e.g., as determined at operation 605). Controller 114 may be configured to determine the updated hole position(s) at the coordinate frame of drill rig 100 (F rig ). This provides the benefit of lower complexity, because the transformation of the updated hole position(s) to the external coordinate frame (F ext ) may be avoided. If drill rig 100 is stationary between scanning and drilling, drill rig 100 may be configured to use the updated hole position(s) defined at its own coordinate frame (F rig ) for controlling movement of drilling unit 124 in order to drill holes at the updated hole position(s).

[0056] Controller 114 may be alternatively configured to determine the updated hole positions in the external coordinate frame (F ext ), for example if it is desired to transmit a report or a drilling plan comprising the updated hole position(s) to a device external to drill rig 100. Controller 114 may be therefore configured to also use the position of drill rig 100 (e.g., as determined at operation 602), in addition to the position of drilling unit 124 relative to the position of drill rig 100 and the distance between drilling unit 124 and the and rock surface 140 at the planned hole position, in order to determine the updated hole position(s). This provides the benefit of enabling drill rig 100 to share the information on the updated hole position(s), or the surface profile in general, with other devices.

[0057] Controller 114 may be configured to determine the updated hole position such that it is at the distance determined at operation 605 from the position of drilling unit 124 (e.g., the position from which the distance was measured). Controller 114 may be configured to determine the updated hole position such that it is at the determined distance from the position of drilling unit 124 towards the direction of scanning, which may be parallel to a longitudinal axis of drilling unit 124. Furthermore, controller 114 may be configured to update the planned hole position such that it is at a distance (e.g., at or beyond a preconfigured minimum distance) from obstacle(s) detected at operation 604. This distance may be, for example, substantially perpendicular to the scanning direction, (e.g., a lateral shift of the hole position on rock surface 140).

[0058] In case the distance was measured at a plurality of planned hole positions (e.g., by iterating operations 603 to 605), controller 114 may be configured to determine updated hole positions for one or more of the plurality of planned hole locations based on the respective drilling unit positions and distances, optionally also considering respective drill rig position(s). Alternatively, controller 114 may be configured to perform operation 606 within the iteration loop(s) of operations 602 / 603 to 605 and determine an updated hole position for one of the planned hole positions at each iteration.

[0059] At operation 607, controller 114 may be configured to update the drilling plan with the updated hole position(s). For example, controller 114 may be configured to replace planned hole position(s) of the drilling plan with respective updated hole position(s). Note that controller 114 may be configured not to update a planned hole position, for example if the measured distance to rock surface 140 is substantially equal to (e.g., within a threshold) the distance from drilling unit 124 to the planned hole position.

[0060] At operation 608, controller 114 may be configured to control movement of drilling unit 124. Controller 114 may be configured to control movement of drilling unit 124 towards the planned hole position, e.g., in order to prepare for drilling a hole at the planned, possibly updated, hole position. Movement towards the planned hole position may comprise any movement of drilling unit 124 configured to decrease the distance between drill bit 304 and the planned hole position. The movement may therefore comprise movement of drilling unit 124 as a whole and / or movement of drill bit 304 relative to drilling unit 124. Controller 114 may be configured to control the movement of drilling unit 124 based on the distance between drilling unit 124 and rock surface 140 at the planned hole position (e.g., as determined at operation 605). Controlling movement of drilling unit 124 based on the distance measured by a scanning device coupled to drilling unit 124 provides the benefit of enabling accurate automatic and real-time control of drilling unit 124 based on the true surface profile, for example instead of human-assisted adjustment of the planned hole positions.

[0061] At operation 609, controller 114 may be configured to cause drilling unit 124 to drill a hole at the planned hole location. Note that the planned position may be the updated hole position determined at operation 606. For example, controller 114 may be configured to transmit control instructions to actuator(s) of boom 120 and / or drilling unit 124, or component(s) thereof such as rock drilling machine 302, in order to cause drill bit 304 to start rotating and to cause drill rod 303 to start pushing drill bit 304 against rock surface 140. Controller 114 may be further configured to cause drilling unit 124 to terminate drilling of the hole, in response to reaching a preconfigured depth or end position. The depth or end positions may be configured for example in drilling plan.

[0062] In case multiple planned hole positions were scanned at operation 604 and respective distances were determined at operation 605, controller 114 may be configured to iterate operations 608 and 609 to sequentially move drilling unit 124 and to drill holes at the planned, possibly updated, hole positions (e.g., without scanning between drilling of the holes).

[0063] Considering different iterations of operation 608, controller 114 may be configured to control sequential movement of drilling unit 124 between the planned hole positions (e.g., sequentially from one hole to another). Controller 114 may be configured to control this sequential movement (e.g., cause the sequential movement) based on the determined distances between drilling unit 124 and rock surface 140 at the planned hole positions. For example, controller 114 may be configured to update the planned hole positions based on the distances and control movement of drilling unit 124 based on the updated hole locations. Controlling the movement of drilling unit 124 may be based on positions of drilling unit 124 at which the planned hole positions were scanned. For example, controller 114 may be configured to cause drill bit 304 to be moved to a position, which is at the scanned distance and direction from the position of drilling unit 124 during scanning of the respective planned hole position. Considering different iterations of operation 609, controller 114 may be configured to cause drilling unit 114 to sequentially drill holes at the planned hole positions.

[0064] At operation 610, controller 114 may be configured to determine a profile of rock surface 140, also referred to as the surface profile. Controller 114 may be configured to determine the profile of rock surface 140 based on the position of drill rig 100, different positions of drilling unit 124 (e.g., as determined at different iterations of operation 603), and the distances between drilling unit 124 and rock surface 140 at the different positions of drilling unit 124 (e.g., as determined at different iterations of operation 605). For example, controller 114 may be configured to construct a point-cloud representing the position of rock surface 140 at the scanned positions. An example of such point cloud is provided in FIG. 7 by the determined positions 704 (p RS ) of rock surface 140. Determining the profile of rock surface 140 based on distance measurements by scanning devices 112 located at drilling unit 124 provides the benefit of enabling to obtain an accurate model of the true surface profile with low-complex scanning device(s). Furthermore, the profile of rock surface 140 may be obtained in real-time and associated with drilling of rock surface 140, which means that the profile of rock surface 140 may be obtained without unnecessarily consuming time for separately scanning rock surface 140. Efficiency of operating drill rigs is therefore improved.

[0065] At operation 611, controller 114 may be configured to cause output of one or more of the following: a report comprising the updated hole position(s), the drilling plan comprising the updated hole position(s), or the profile of rock surface 140 determined by controller 114. Controller 114 may be configured to transmit a report comprising the updated hole position(s), the drilling plan comprising the updated hole position(s), or the determined profile of rock surface 140 to a server external to drill rig 100, for example remote control device 200 or a server of a remote operator station. This provides the benefit of enabling to deliver information about the true profile of rock surface 140.

[0066] Alternatively, or additionally, outputting the drilling plan or the profile of rock surface 140 may comprise causing visualization of the drilling plan (e.g., with the updated hole position(s)) or the determined surface profile on a display, for example a display of drill rig 100 or a display of the remote operator station. Note that controller 114 might be located external to drill rig 100, for example at the remote operator station. Visualization of the drilling plan or the profile of rock surface 140 provides the benefit of enabling a human operator to monitor operations of drill rig 100 and / or to take drill rig 100 under human control if needed.

[0067] FIG. 8 illustrates an example of an apparatus 800 configured to practise one or more example embodiments. Apparatus 800 may be or comprise a control device, such as for example a server, communicatively coupled to drill rig 100, a control apparatus located at drill rig 100, controller 114, drill rig 100 itself, remote control device 200, a remote operator station, or in general any apparatus or system configured to implement the functionality described herein. Although apparatus 800 is illustrated as a single device, it is appreciated that, wherever applicable, functions of apparatus 800 may be distributed to a plurality of physically separate apparatuses, for example drill rig 100 and remote control device 200.

[0068] Apparatus 800 may comprise at least one processor 802. The at least one processor 802 may comprise, for example, one or more of various processing devices, such as for example a co-processor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, or the like.

[0069] Apparatus 800 may further comprise at least one memory 804. The at least one memory 804 may be configured to store, for example, computer program code or the like, for example operating system software and application software. The at least one memory 804 may comprise one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination thereof. For example, the memory may be embodied as magnetic storage devices (such as hard disk drives, etc.), optical magnetic storage devices, or semiconductor memories (such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). Memory 804 is provided as an example of a (non-transitory) computer readable medium. The term "non-transitory," as used herein, is a limitation of the medium itself (i.e., tangible, not a signal) as opposed to a limitation on data storage persistency (e.g., RAM vs. ROM). The at least one memory 804 may be also embodied separate from apparatus 800, for example as a computer readable (storage) medium, examples of which include memory sticks, compact discs (CD), or the like.

[0070] When apparatus 800 is configured to implement some functionality, some component and / or components of apparatus 800, such as for example the at least one processor 802 and / or the at least one memory 804, may be configured to implement this functionality. Furthermore, when the at least one processor 802 is configured to implement some functionality, this functionality may be implemented using program code 806 comprised, for example, in the at least one memory 804.

[0071] The functionality described herein may be performed, at least in part, by one or more computer program product components such as software components. According to an example embodiment, apparatus 800 comprises a processor or processor circuitry, such as for example a microcontroller, configured by the program code 806, when executed, to execute the embodiments of the operations and functionality described herein. Program code 806 is provided as an example of instructions which, when executed by the at least one processor 802, cause performance of apparatus 800.

[0072] For example, control apparatus 114 may be at least partially implemented as program code 806 configured to cause apparatus 800 to perform functionality of controller 114. Similarly, transmission or reception of data (e.g., scanning data, drilling plan data, or surface profile data) over an internal or external communication interface of drill rig 100 may be controlled by software.

[0073] Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing unit (NPU), tensor processing unit (TPU), or the like.

[0074] Apparatus 800 may comprise a communication interface 808 configured to enable apparatus 800 to transmit and / or receive information. Communication interface 808 may comprise an internal or external communication interface, such as for example a radio interface between drill rig 100 and remote control device 200. Apparatus 800 may further comprise other components and / or functions such as for example user interface 810 comprising at least one input device and / or at least one output device. The input device may take various forms such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may for example comprise a display, a speaker, or the like. User interface 810 may enable a human operator to monitor various functions and data, such as for example any type of dumping position, or the like.

[0075] Apparatus 800 may be configured to perform or cause performance of any aspect of the method(s) described herein. Further, a computer program or a computer program product may comprise instructions for causing, when executed by apparatus 800, apparatus 800 to perform any aspect of the method(s) described herein. Further, apparatus 800 may comprise means for performing any aspect of the method(s) described herein. In one example, the means comprises the at least one processor 802, the at least one memory 804 including program code 806 (instructions) configured to, when executed by the at least one processor 802, cause apparatus 800 to perform the method(s). In general, computer program instructions may be executed on means providing generic processing functions. Such means may be embedded for example in a computer, a server, or the like. The method(s) may be thus computer-implemented, for example based algorithm(s) executable by the generic processing functions, an example of which is the at least one processor 802. Apparatus 800 may comprise means for transmitting or receiving information, for example one or more wired of wireless (e.g., radio) transmitters or receivers, which may be coupled or be configured to be coupled to one or more antennas, or transmitter(s) or receiver(s) of a wired communication interface.

[0076] According to a first aspect of the present disclosure, apparatus may be configured to control a drill rig. The apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

[0077] According to an example embodiment of the first aspect, the at least one scanning device comprises an ultrasonic distance sensor or a microwave radar sensor.

[0078] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine a position of the drill rig at a coordinate frame stationary with respect to the rock surface; and / or determine a position of the drilling unit relative to the position of the drill rig.

[0079] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine an updated hole position for the planned hole position based on the position of the drilling unit relative to the position of the drill rig and the distance between the drilling unit and the rock surface at the planned hole position, wherein the updated hole position is at the determined distance from the position of the drilling unit.

[0080] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: obtain a drilling plan comprising the planned hole position; and update the drilling plan with the updated hole position.

[0081] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: cause the drilling unit to drill a hole at the updated hole position, cause transmission of the drilling plan comprising the updated hole position to a server external to the drill rig, cause transmission of a report comprising the updated hole position to the server external to the drill rig, or cause visualization of the drilling plan on a display of the drill rig or a remote operator station.

[0082] According to an example embodiment of the first aspect, the drilling plan comprises a plurality of planned hole positions associated with at least one drill fan configured to be drilled on the rock surface.

[0083] According to an example embodiment of the first aspect, the at least one scanning device further comprises at least one camera, and wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: cause the at least one camera to capture a representation of the rock surface; detect, based on the representation of the rock surface, at least one obstacle on the rock surface; and determine the updated hole position to be at a distance from the at least one obstacle.

[0084] According to an example embodiment of the first aspect, the at least one obstacle comprises instrumentation attached to the rock surface or at least one previously drilled hole on the rock surface.

[0085] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: determine distances between the drilling unit and the rock surface at a plurality of positions of the drilling unit; and determine a profile of the rock surface based on the position of the drill rig, the plurality of positions of the drilling unit, and the distances between the drilling unit and the rock surface at the plurality of positions of the drilling unit.

[0086] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: cause transmission of the profile of the rock surface to a server external to the drill rig, or cause visualization of the profile of the rock surface on a display of the drill rig or a remote operator station.

[0087] According to an example embodiment of the first aspect, the at least one scanning device comprises a first scanning device coupled to a first end of the drilling unit and a second scanning device coupled to a second end of the drilling unit, wherein the first scanning device and the second scanning device are configured to scan towards opposite directions from the drilling unit, and wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: determine, based on scanning of the rock surface with the first scanning device and the second scanning device, a first distance between a first end of the drilling unit and a first portion of the rock surface and a second distance between a second end of the drilling unit and a second portion of the rock surface; and control movement of the drilling unit based on the first distance and the second distance.

[0088] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: cause a protective cover of the at least one scanning device to open, in response to determining to cause initiation of the scanning of the rock surface.

[0089] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to: sequentially scan the rock surface at a plurality of planned hole positions; determine, based on the sequential scanning of the rock surface, distances between the drilling unit and the rock surface at the plurality of planned hole positions; control sequential movement of the drilling unit between the plurality of planned hole positions based on the distances between the drilling unit and the rock surface at the planned hole positions; and cause the drilling unit to sequentially drill holes at the plurality of planned hole positions.

[0090] According to a second aspect of the present disclosure, a drill rig comprises the apparatus according to any example embodiment of the first aspect. For example, the drill rig may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the drill rig at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position. The computer program code may be configured to, with the at least one processor, cause the drill rig to perform any example embodiment of the method of the third aspect.

[0091] FIG. 9 illustrates an example of a method for controlling a drill rig, according to a third aspect of the present disclosure. The method may comprise a computer-implemented method performed by, for example, apparatus 800 such as controller 114.

[0092] At 901, the method may comprise causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig.

[0093] At 902, the method may comprise determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position.

[0094] At 903, the method may comprise controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position.

[0095] At 904, the method may comprise causing the drilling unit to drill a hole at the planned hole position.

[0096] According to an example embodiment of the third aspect, the at least one scanning device comprises an ultrasonic distance sensor or a microwave radar sensor.

[0097] According to an example embodiment of the third aspect, the method comprises: determining a position of the drill rig at a coordinate frame stationary with respect to the rock surface; and / or determining a position of the drilling unit relative to the position of the drill rig.

[0098] According to an example embodiment of the third aspect, the method comprises: determining an updated hole position for the planned hole position based on the position of the drilling unit relative to the position of the drill rig and the distance between the drilling unit and the rock surface at the planned hole position, wherein the updated hole position is at the determined distance from the position of the drilling unit.

[0099] According to an example embodiment of the third aspect, the method comprises: obtaining a drilling plan comprising the planned hole position; and update the drilling plan with the updated hole position.

[0100] According to an example embodiment of the third aspect, the method comprises: causing the drilling unit to drill a hole at the updated hole position, causing transmission of the drilling plan comprising the updated hole position to a server external to the drill rig, causing transmission of a report comprising the updated hole position to the server external to the drill rig, or causing visualization of the drilling plan on a display of the drill rig or a remote operator station.

[0101] According to an example embodiment of the third aspect, the drilling plan comprises a plurality of planned hole positions associated with at least one drill fan configured to be drilled on the rock surface.

[0102] According to an example embodiment of the third aspect, the method comprises: causing the at least one camera to capture a representation of the rock surface; detecting, based on the representation of the rock surface, at least one obstacle on the rock surface; and determining the updated hole position to be at a distance from the at least one obstacle.

[0103] According to an example embodiment of the third aspect, the at least one obstacle comprises instrumentation attached to the rock surface or at least one previously drilled hole on the rock surface.

[0104] According to an example embodiment of the third aspect, the method comprises: determining distances between the drilling unit and the rock surface at a plurality of positions of the drilling unit; and determining a profile of the rock surface based on the position of the drill rig, the plurality of positions of the drilling unit, and the distances between the drilling unit and the rock surface at the plurality of positions of the drilling unit.

[0105] According to an example embodiment of the third aspect, the method comprises: causing transmission of the profile of the rock surface to a server external to the drill rig, or causing visualization of the profile of the rock surface on a display of the drill rig or a remote operator station.

[0106] According to an example embodiment of the third aspect, the at least one scanning device comprises a first scanning device coupled to a first end of the drilling unit and a second scanning device coupled to a second end of the drilling unit, wherein the first scanning device and the second scanning device are configured to scan towards opposite directions from the drilling unit, and wherein the method comprises: determining, based on scanning of the rock surface with the first scanning device and the second scanning device, a first distance between a first end of the drilling unit and a first portion of the rock surface and a second distance between a second end of the drilling unit and a second portion of the rock surface; and controlling movement of the drilling unit based on the first distance and the second distance.

[0107] According to an example embodiment of the third aspect, the method comprises: causing a protective cover of the at least one scanning device to open, in response to determining to cause initiation of the scanning of the rock surface.

[0108] According to an example embodiment of the third aspect, the method comprises: sequentially scanning the rock surface at a plurality of planned hole positions; determining, based on the sequential scanning of the rock surface, distances between the drilling unit and the rock surface at the plurality of planned hole positions; controlling sequential movement of the drilling unit between the plurality of planned hole positions based on the distances between the drilling unit and the rock surface at the planned hole positions; and causing the drilling unit to sequentially drill holes at the plurality of planned hole positions.

[0109] The method may be performed by controller 114 (e.g., a control apparatus), drill rig 100, or remote control device 200, for example based on program code 806, when executed by processor 802. Various examples of the methods are explained above with regard to functionalities of controller 114, drill rig 100, and / or remote control device 200, and are therefore not repeated here. It should be understood that example embodiments described may be combined in different ways unless explicitly disallowed.

[0110] According to a fourth aspect, an apparatus is disclosed. The apparatus may comprise: means for causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; means for determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; means for controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and means for causing the drilling unit to drill a hole at the planned hole position.. The apparatus may comprise means for performing any example embodiment of the method of the third aspect.

[0111] According to a fifth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position. The computer program, the computer program product, or the (non-transitory) computer-readable medium may comprise program instructions which, when executed by an apparatus, cause the apparatus to perform any example embodiment of the method of the third aspect.

[0112] Although the subject matter has been described in language specific to structural features and / or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as examples of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.

[0113] It will be understood that the benefits and advantages described above may relate to one embodiment or may relate to several embodiments. The embodiments are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages. It will further be understood that reference to 'an' item may refer to one or more of those items.

[0114] The steps or operations of the methods described herein may be carried out in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the example embodiments described above may be combined with aspects of any of the other example embodiments described to form further example embodiments without losing the effect sought.

[0115] The term 'comprising' is used herein to mean including the method, blocks, or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.

[0116] As used herein, "at least one of the following: " and "at least one of " and similar wording, where the list of two or more elements are joined by "and" or "or", mean at least any one of the elements, or at least any two or more of the elements, or at least all the elements. Term "or" may be understood to also cover a case where both of the items separated by "or" are included. Hence, "or" may be understood as an inclusive "or" rather than an exclusive "or".

[0117] Although subjects may be referred to as 'first' or 'second' subjects, this does not necessarily indicate any order or importance of the subjects. Instead, such attributes may be used solely for the purpose of making a difference between subjects.

[0118] It will be understood that the above description is given by way of example only and that various modifications may 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 certain degree of particularity, or with reference to one or more individual embodiments, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from scope of this specification.

Examples

Embodiment Construction

[0012]Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0013]Automatic boom positioning of drill rigs, e.g., long hole drill rigs, rock support drill rigs, or surface drill rigs, may be based on a preconfigured drilling plan combined with manual teaching of the actual profile of the rock surface subject to drilling. Preconfigured hole coordinates of the drilling plan may be based on a theoretical tunnel profile, which might not be accurate enough for autonomous drilling applic...

Claims

1. An apparatus for controlling a drill rig, the apparatus comprising: at least one processor; and at least one memory including program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.

2. The apparatus according to claim 1, wherein the at least one scanning device comprises an ultrasonic distance sensor or a microwave radar sensor.

3. The apparatus according to claim 1 or 2, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: determine a position of the drill rig at a coordinate frame stationary with respect to the rock surface; and / or determine a position of the drilling unit relative to the position of the drill rig.

4. The apparatus according to claim 3, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: determine an updated hole position for the planned hole position based on the position of the drilling unit relative to the position of the drill rig and the distance between the drilling unit and the rock surface at the planned hole position, wherein the updated hole position is at the determined distance from the position of the drilling unit.

5. The apparatus according to claim 4, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: obtain a drilling plan comprising the planned hole position; and update the drilling plan with the updated hole position.

6. The apparatus according to claim 4 or 5, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: cause the drilling unit to drill a hole at the updated hole position, cause transmission of the drilling plan comprising the updated hole position to a server external to the drill rig, cause transmission of a report comprising the updated hole position to the server external to the drill rig, or cause visualization of the drilling plan on a display of the drill rig or a remote operator station.

7. The apparatus according to claim 5 or 6, wherein the drilling plan comprises a plurality of planned hole positions associated with at least one drill fan configured to be drilled on the rock surface.

8. The apparatus according to any of claims 3 to 7, wherein the at least one scanning device further comprises at least one camera, and wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: cause the at least one camera to capture a representation of the rock surface; detect, based on the representation of the rock surface, at least one obstacle on the rock surface; and determine the updated hole position to be at a distance from the at least one obstacle.

9. The apparatus according to claim 8, wherein the at least one obstacle comprises instrumentation attached to the rock surface or at least one previously drilled hole on the rock surface.

10. The apparatus according to any of claims 3 to 9, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: determine distances between the drilling unit and the rock surface at a plurality of positions of the drilling unit; and determine a profile of the rock surface based on the position of the drill rig, the plurality of positions of the drilling unit, and the distances between the drilling unit and the rock surface at the plurality of positions of the drilling unit.

11. The apparatus according to claim 10, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: cause transmission of the profile of the rock surface to a server external to the drill rig, or cause visualization of the profile of the rock surface on a display of the drill rig or a remote operator station.

12. The apparatus according to any of claims 1 to 11, wherein the at least one scanning device comprises a first scanning device coupled to a first end of the drilling unit and a second scanning device coupled to a second end of the drilling unit, wherein the first scanning device and the second scanning device are configured to scan towards opposite directions from the drilling unit, and wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: determine, based on scanning of the rock surface with the first scanning device and the second scanning device, a first distance between a first end of the drilling unit and a first portion of the rock surface and a second distance between a second end of the drilling unit and a second portion of the rock surface; and control movement of the drilling unit based on the first distance and the second distance.

13. The apparatus according to any of claims 1 to 12, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: cause a protective cover of the at least one scanning device to open, in response to determining to cause initiation of the scanning of the rock surface.

14. The apparatus according to any of claims 1 to 13, wherein the computer program code is further configured to, with the at least one processor, cause the apparatus to: sequentially scan the rock surface at a plurality of planned hole positions; determine, based on the sequential scanning of the rock surface, distances between the drilling unit and the rock surface at the plurality of planned hole positions; control sequential movement of the drilling unit between the plurality of planned hole positions based on the distances between the drilling unit and the rock surface at the planned hole positions; and cause the drilling unit to sequentially drill holes at the plurality of planned hole positions.

15. A drill rig comprising the apparatus according to any of claims 1 to 14.

16. A method for controlling a drill rig, the method comprising: causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and causing the drilling unit to drill a hole at the planned hole position.

17. A computer program comprising instructions which, when executed by an apparatus, cause the apparatus at least to: causing scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determining, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; controlling movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and causing the drilling unit to drill a hole at the planned hole position.

Images