Method and arrangement for controlling execution of a drill plan

Abstract

The present disclosure relates to a method and arrangement in a rock drilling rig, as well as a rock drilling rig. In particular, the disclosure relates to a computer-implemented method for controlling a drill plan execution by a rock drilling rig. The disclosure also relates to an arrangement in a rock drilling rig, the arrangement being configured for controlling a drill plan execution. The disclosure also relates to corresponding computer programs configured to cause execution of the method in the arrangement of a rock drilling rig.

Description

[0001] Method and arrangement for controlling execution of a drill plan

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a method and arrangement in a rock drilling rig, as well as a rock drilling rig. In particular, the disclosure relates to a computer-implemented method for controlling a drill plan execution by a rock drilling rig having one or more rock drilling machines. The disclosure also relates to an arrangement in a rock drilling rig, the arrangement being configured for controlling a drill plan execution. The disclosure also relates to corresponding computer programs configured to cause execution of the method in the arrangement of a rock drilling rig.

[0004] BACKGROUND

[0005] In tunneling, mining and excavation, including underground mining and excavation, it is common to drill holes in a face or roof of rock or earth. Day-to-day operations of mining and tunnelling typically involve cycles of drilling, bolting, and charging using work machines, e.g., drilling rigs configured for performing such operations. The operation is normally based on a drill plan, identifying a plurality of drill holes, bolt holes or charge holes to be drilled or subject to the post processing of bolting or charging during the operation. The drill plan outlines where and how holes may be drilled, including the orientation and direction of the drilled holes themselves Support for execution such a drill plan may be provided locally to the operator, e.g., through a plurality of markers manually provided in the operational area, i.e., a stope; in other scenarios execution of the drill plan is left to the operator's judgement.

[0006] For tunnelling, large rock drilling rigs are often used, with a carrier comprising a plurality of booms with associated drilling machines. The drill plan comprises drilling of a large number of holes. The drilling of these holes takes a long time, and typically a working shift, or an even longer period of time, is completed before the drilling rig needs to be moved for blasting or new drilling. For ore mining, fewer holes may be drilled, but, on the other hand, these may be considerably longer, so that in this case a "drilling round" of a drill plan can also take a long time. Thus, it is also the case here that the production drilling rig does not need to be moved very often. As it is very important that both tunnelling and ore mining is carried out precisely where it is intended to be carried out, the position of these rigs is measured very precisely before a new round of drilling commences.

[0007] Thus, execution of the drill plan is highly dependent on the positioning of the rock drilling rig. In a case where a plurality of holes are to be drilled at consecutive positions along the length of the stope, deviations in the appropriate positioning of a rock drilling rig may lead to imprecise directions and positions for a plurality of the holes. This may eventually lead to poor fragmentation, creation of boulders or an uneven rock face after blasting, or to deficiencies when performing a bolting operation with the rock drilling rig.

[0008] Furthermore, there is also a need for increase automation during the execution of a drill plan. Manual positioning of a rock drilling rig and manual drilling of a rock face, roof, or wall, is generally slower than automated positioning and drilling.

[0009] Execution of a drill plan is presented with a number of environmental challenges, whether executed by an operator in the rock drilling rig, at a remote station or being fully automated. The drilling or excavation process may bring about an environment with low visibility at least during part of the drill plan execution. In addition to the harsh environment in which they operate, positioning of the rock drilling rig usually require line of sight to so called total stations.

[0010] A total station, TS, or total station theodolite, TST, is an electronic / optical instrument used to measure both vertical and horizontal angles and the distance from the instrument to a particular point. Measurement of distance may be accomplished with a modulated infrared carrier signal, generated by a small solid-state emitter within the instrument's optical path, and reflected by one or more prism reflectors. A typical total station can measure distances up to 1,500 meters (4,900 ft) with an accuracy of about 1.5 millimeters (0.059 in) ± 2 parts per million. [2]

[0011] The coordinates of an unknown point relative to a known coordinate can be determined using the total station as long as a direct line of sight can be established between the two points. Angles and distances are measured from the total station to markers or points under survey, e.g., reflective prisms, and the coordinates (X, Y, and Z; or easting, northing, and elevation) of surveyed points relative to the total station position are calculated using trigonometry and triangulation. To determine an absolute location, a total station requires line of sight observations and can be set up over a known point or with line of sight to 2 or more markers, e.g., reflective prisms, with known location. While use of one or more total stations provides an ability to accurately determine an absolute location of a rock drilling rig operating within line of sight from a total station, there remains a need to improve the positioning of the rock drilling rig to achieve consistent and reliable results in the context of executing a drill plan, e.g., when using a rock drilling machine to create drilled holes, thereby saving time and increasing accuracy.

[0012] SUMMARY

[0013] It is therefore an object of the present disclosure to provide a method, an arrangement, and a computer program product, and a rock drilling rig that seeks to mitigate, alleviate, or eliminate all or at least some of the above-discussed drawbacks of presently known solutions.

[0014] This and other objects are achieved by means of a method, an arrangement, a computer program product, and a rock drilling rig as defined in the appended claims. The term exemplary is in the present context to be understood as serving as an instance, example or illustration.

[0015] In accordance with one aspect of the disclosure, a computer-implemented method for execution of a drill plan in a mine passage is provided. A rock drilling rig is configured to perform rock drilling operations according to the drill plan in mine passage of an underground environment, the underground environment being mapped in a global mine reference system and the underground mining environment comprising at least one total station. The method comprises the steps of arranging the total station in a line-of-sight position of the mine passage and in line of sight communication with at least two markers positioned at predetermined reference coordinates in the underground mine environment. Coordinates of the total station are determined in the global mine reference system based on measured distances to the at least two markers. A drill plan is obtained comprising positions and orientations of a plurality of bore holes, the position and orientation of each bore hole being presented with coordinates of the global mine reference system. The method further comprises calculating one or more positions of the rock drilling rig for execution of the drill plan, wherein the calculated one or more positions represent a travelled distance from the coordinates of the total station. When determining that there is a need to reposition the rock drilling rig for execution of the drill plan, the method further comprises the steps of controlling tramming the rock drilling rig to a calculated position in the mine passage for execution of a portion of the drill plan, wherein the tramming control is based on distances measured from the total station to a set of markers, e.g., reflective prisms, on the rock drilling rig, and controlling positioning of one or more rock drilling machines for execution of the portion of the drill plan, wherein the positioning of the one or more rock drilling machines is related to coordinates in the global mine reference system. A set of holes are drilled according to said portion of the drill plan, and the steps of controlling tramming of the rock drilling rig to a calculated position, verifying the position, controlling positioning of one or more rock drilling machines, and drilling a set of drill holes are then repeated until the drill plan execution is completed.

[0016] The disclosed method provides for navigation and control of the rock drilling rig and equipment on the rock drilling rig in real time. All control is performed using the global mine reference system, i.e., regulating all aspects of the rock drilling rig and associated equipment using a same reference system as that used for the drill plan.

[0017] The disclosed method has the advantage of improving accuracy and consistency for drill plan execution. The disclosed method further improves productivity during drill plan execution, in that all planning and positioning is performed using the global mine reference system. Moreover, the disclosed method has the advantage that it can be easily implemented in existing mining machines. The present features enable to reduce or avoid movement or re-parking of the rock drilling rig after stopping at the drilling position, during the drilling unit positioning stage, or having to re-enter the tramming stage due positioning of the drilling unit failing. The tramming assistance information may indicate for the operator if, and in a further embodiment what, corrective steering and / or other rig actuator actions may need to be performed to have the drilling unit at the target pose or close to the target pose already at end of the tramming stage. Since orientation of the drilling unit is defined based on the orientation of the rock drilling rig, orientation sensors may be avoided at the drilling unit (or boom), where they would be much more vulnerable to be damaged.

[0018] In some examples, coordinates of the rock drilling rig are matched to coordinates in the global mine reference system.

[0019] In some examples, total station is arranged in a line-of-sight communication with at least two markers, e.g., reflective prisms, positioned at predetermined reference coordinates in the underground mine environment. The coordinates of the total station in the global mine reference system is determined based on measured distances and directions to the least two markers. The total station may be arranged using a wall mount at a predetermined height, or could be movably provided on a stand, tripod, or wheeled carrier. When using a wheeled carrier, repeated updating of the coordinates of the total station will be required to ensure that control of tramming and rock drilling machine positioning is based on an accurate, real-time position of the total station.

[0020] According to a second aspect of the disclosure, an arrangement for execution of a drill plan by a rock drilling rig is provided. The rock drilling rig comprises one or more rock drilling machines configured to perform rock drilling operations according to the drill plan in mine passages of an underground mining environment. The arrangement comprises a total station arranged in a line-of-sight position of the mine passage and in line of sight communication with at least two markers positioned at predetermined reference coordinates in the underground mine environment, and processing circuitry configured to obtain a drill plan comprising positions and orientations of a plurality of bore holes, the position and orientation of each bore hole being presented with coordinates of a global mine reference system, and to calculate one or more positions of the rock drilling rig for execution of the drill plan, wherein the calculated one or more positions represent a travelled distance from coordinates of a total station. The processing circuitry is further configured to determine when there is a need to reposition the rock drilling rig for execution of the drill plan. Until the drill plan execution is completed, the processing circuitry is arranged to control tramming of the rock drilling rig to a calculated position in the mine passage for execution of a portion of the drill plan, wherein the tramming control is based on distances measured from the total station to a set of markers on the rock drilling rig; to control positioning of one or more rock drilling machines for execution of the portion of the drill plan, wherein the positioning of the one or more rock drilling machines is related to coordinates in the global mine reference system; and to drill a set of drill holes according to said portion of the drill plan.

[0021] According to a third aspect of the disclosure, there is provided a computer program product comprising a non-transitory computer readable medium having thereon a computer program comprising program instructions loadable into processing circuitry and configured to cause execution of the method according to the first aspect when the computer program is run in an arrangement according to a second aspect of the disclosure.

[0022] According to a fourth aspect of the disclosure a rock drilling rig comprising an arrangement according to the third aspect is provided. The rock drilling rig comprises a mobility platform, one or more booms connected to the mobility platform and associated feedbeams configured to carry respective rock drilling machines.

[0023] The above reflected advantages and others are provided also by the arrangement, the computer program code, and the rock drilling rig.

[0024] BRIEF DESCRIPTION OF DRAWINGS

[0025] The foregoing will be apparent from the following more particular description of the example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the example embodiments.

[0026] Figure 1 illustrates a rock drilling rig comprising an arrangement according to the present disclosure,

[0027] Figure 2 illustrates a view of a mine passage and rock drilling rig,

[0028] Figure 3 provides a flowchart representation of example method steps,

[0029] Figure 4 discloses an example block diagram of the arrangement. DETAILED DESCRIPTION

[0030] Aspects of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. The apparatus and method disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the aspects set forth herein. Like numbers in the drawings refer to like elements throughout.

[0031] The terminology used herein is for the purpose of describing particular aspects of the disclosure only and is not intended to limit the invention. It should be emphasized that the term "comprises / comprising" when used in this specification is taken to specify the presence of stated features, integers, steps, or components, but does not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0032] Embodiments of the present disclosure will be described and exemplified more fully hereinafter with reference to the accompanying drawings. The solutions disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the embodiments set forth herein.

[0033] In some implementations and according to some aspects of the disclosure, the functions or steps noted in the blocks can occur out of the order noted in the operational illustrations. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality / acts involved. Also, the functions or steps noted in the blocks can according to some aspects of the disclosure be executed continuously in a loop.

[0034] It will be appreciated that when the present disclosure is described in terms of a method, it may also be embodied in one or more processors and one or more memories coupled to the one or more processors, wherein the one or more memories store one or more programs that perform the steps, services and functions disclosed herein when executed by the one or more processors.

[0035] In the following description of exemplary embodiments, the same reference numerals denote the same or similar components. Figure 1 illustrates a rock drilling rig 100 comprising a mobility platform 101 enabling transportation / tramming of the rock drilling rig in the underground mining environment. The rock drilling rig further comprises at least one (drilling) boom 102 movably attached to the mobility. The boom is further connected to a drilling unit by at least one joint. The drilling unit comprises a feed beam 103 on which a rock drilling machine 104 can be moved. Further, a tool is connectable to the rock drilling machine, by which tool the impact pulses given by the percussion device of the rock drilling machine are transmitted to the rock to be drilled.

[0036] It is to be noted that Figure 1 is simplified and represents one example of a rock drilling rig. It is to be appreciated that the presently disclosed features may be applied for a wide variety of rock drilling rigs, some examples of which include tunnel development, long- hole, support, in-the-hole, and top-hammer drilling rig types. Depending on drilling rig type, the rock drilling rig and the drilling unit may comprise various further device, such as a rod handling cassette, a support rack, cylinder(s), a bolting unit, further drilling support elements, etc.

[0037] The rock drilling rig 1 further comprises a motor, such as a combustion engine and / or an electric motor. The rock drilling rig typically comprises a system of pumps for generating hydraulic pressure for operating various parts of the machine, such as actuating the boom, the feed beam, and the rock drilling machine.

[0038] The rock drilling rig further comprises processing circuitry, e.g., at least one control unit 110, arranged to control actuators of the rock drilling rig during execution of a drill plan. The control unit 110 may comprise one or more processors executing computer program code stored in a memory. The control unit 110 may comprise or be connected to a user interface with a display device as well as operator input interface for receiving operator commands and information to the control unit 110 and generating display views and other output for an operator of the rock drilling rig. In some embodiments, the control unit 110 is configured to perform at least tramming control related operations and positioning of the rock drilling rig as part of execution of a drill plan.

[0039] The rock drilling rig further comprises at least two markers 111, reflective prisms, arranged with full visibility and at different positions on the rock drilling rig. Preferably, the rock drilling rig comprises three markers. The position of these markers are known in a local coordinate system of the machine, i.e., a machine reference system. Each marker is an optical target device configured for measuring by a so-called total station that will be further explained below.

[0040] In a tramming stage of a rock drilling rig work procedure or cycle, i.e., when executing a drill plan, the rock drilling rig trams to a drilling position at the worksite.

[0041] It is to be appreciated that Figure 1 provides only one example, and many other configurations are applicable. For example, instead of one boom, there may be two booms or more than two booms, such as three or even four booms in a single drilling rig. Another type of work machine may be attached to the boom, such as a bolting unit, a concrete sprayer, a platform, a scaling unit, or an explosives charger unit, for example. It is to be also noted that the drilling rig may be unmanned. Thus, the user interface may be remote from the rig and the rig may be remotely controlled by an operator in the tunnel, or in control room at the worksite area or even long distance away from the worksite via communications network(s).

[0042] Figure 1 represents an example rock drilling rig applicable for use in an underground construction and / or mining site. In drilling-blasting based methods rock is excavated in rounds. For excavating rock, a drill plan, which may comprise at least one drilling pattern, or drill hole pattern, is designed in advance. The drill plan defines target holes and their position, direction, and length in a mine associated coordinate system, i.e., a global mine reference system. The drill plan is provided for the rock drilling rig for execution; wherein execution of the drill plan comprises drilling of the target holes and in some instances associated post processing, e.g., during a bolting process.

[0043] In some examples, the rock drilling rig further comprises a graphical user interface configured to provide a visual representation of at least a portion of the drill plan to an operator during execution of the drill plan. The graphical user interface may be provided within the rock drilling rig and / or at a remote operator station used to control the rock drilling rig from a location at a distance from the rock drilling rig.

[0044] To execute a drill plan, the rock drilling rig is trammed to a position identifiable through the drill plan, e.g., a position located within a predetermined allowable work range of the rock drilling rig. Tramming may generally refer to driving the rig. After tramming the rig to a desired position in a mining passage for drilling, the rock drilling rig is connected to an electrical grid of the network, connected to a water supply and stabilized. Furthermore, one or more drilling units, i.e., rock drilling machines, of the rock drilling rig need to be positioned at appropriate position and orientation before starting drilling. Positioning of the respective rock drilling machine is performed by moving a feeder carrying the rock drilling machine as well as a boom supporting the feeder.

[0045] Execution of the drill plan is highly dependent on the positioning of the rock drilling rig and the ability to obtain correct positioning of the rock drilling machines. In a case where a plurality of holes are to be drilled at consecutive positions along the length of the stope, deviations in the appropriate positioning of a rock drilling rig may lead to imprecise directions and positions for a plurality of the holes. This may eventually lead to poor fragmentation, creation of boulders or uneven rock face after blasting, or to deficiencies when performing a bolting operation with the rock drilling rig. If the rock drilling rig has been stopped at the end of the tramming stage to a pose which does not allow correct positioning of the rock drilling machine, the rock drilling rig needs to be driven back and forth to obtain appropriate pose to correctly position the rock drilling machine. Obtaining the correct position of the rock drilling machine is a particular challenge in narrow underground tunnels, wherein global positioning data is not readily available in the mine passage. In the following, the term pose will be used to reflect the positioning of the rock drilling machine as well as that of the boom and feeder during execution of a drill plan.

[0046] In order to obtain positioning data in an underground mining environment, so called total stations are used.

[0047] A total station, TS, or total station theodolite, TST, is an electronic / optical instrument used to measure both vertical and horizontal angles and the distance from the instrument to a particular point. Measurement of distance may be accomplished with a modulated infrared carrier signal, generated by a small solid-state emitter within the instrument's optical path, and reflected by one or more prism reflectors. A typical total station can measure distances up to 1,500 meters (4,900 ft) with an accuracy of about 1.5 millimeters (0.059 in) ± 2 parts per million. [2] The coordinates of an unknown point relative to a known coordinate can be determined using the total station as long as a direct line of sight can be established between the two points. Angles and distances are measured from the total station to markers, e.g., reflective prisms, and the coordinates (X, Y, and Z; or easting, northing, and elevation) of surveyed points relative to the total station position are calculated using trigonometry and triangulation.

[0048] To determine a location, a total station requires line of sight observations and can be set up over a known point or with line of sight to 2 or more markers with known coordinates. The present disclosure improves the ability to use such TS during execution of a drill plan as will be further disclosed below.

[0049] In according to some examples, a total station is mounted in the vicinity of a mine passage and to provide line of sight of the mine passage extension. Coordinates of the total station in a global mine reference system are determined using markers arranged in a line-of- sight direction from the total station, which markers usually consist of reflectors, often reflective prisms, that reflect light that has been transmitted from the total station toward these reflective prisms. The measurement is carried out using known markers, that is, markers whose identities and coordinates are predetermined. The resulting position is the coordinates of the total station in the coordinate system of the mine.

[0050] When the coordinates of the total station have been determined, a position of the rock drilling rig may be determined in relation to the instrument. This is carried out in a similar manner, where three markers, e.g., reflective prisms, are arranged on the rock drilling rig and used to determine the position of the rock drilling rig and its inclination. The markers that are arranged on the drilling rig are known to a control system of the rig, and since the position of these markers in the coordinate system of the tunnel is determined using the instrument, the position of the rig in the coordinate system of the mine can also be determined, so that the drilling rig thereby can drill precisely at an intended position in a controlled manner. The rock drilling rig comprises communications circuitry configured to communicate with the total station; the measured coordinates of the rock drilling rig are received in information provided by the total station to the rock drilling rig. With reference to Figure 2, illustrating a top view of a tunnel and drilling rig, a drill plan defines positions and orientations of holes to be drilled. The holes to be drilled may be arranged in multiple drill hole rows.

[0051] The rock drilling machine, boom and / or feed beam positioning for achieving the target pose for the drilling unit, may be automated. Thus, on the basis of a target pose, i.e., a hole position and orientation, information obtained from the drill plan, and detected information of current position and orientation of the feed beam, drilling machine and / or boom, a control unit may compute control actions for positioning the rock drilling rig to arrive at the target pose. If the parking position of the rock drilling rig and the movement platform, does not enable the target pose for execution of the drill plan, there is a need for repositioning.

[0052] The rock drilling rig may be configured to operate at least some operations in an autonomous mode, such as at least some of operations of a drilling work cycle.

[0053] In some examples, the rock drilling rig is configured for remote operation; the operator controlling the rock drilling rig and execution of the drill plan from a remote location.

[0054] When executing a drill plan, the rock drilling rig is trammed in proximity of a surface to be drilled according to a target hole pattern defined in the drill plan or a mine passage for drilling of one or more target hole patterns according to the drill plan. The tramming is performed to a predetermined position, identifiable through reference of a mining environment reference system. Subsequent to the locating of the rock drilling rig, a positioning stage may be carried out. Thus, the boom and the feed beam are controlled to position the rock drilling machine at the defined hole / target pose, at appropriate position and alignment based on hole position and orientation information defined in the drill plan. The drill plan comprises starting position for each target hole, a direction or orientation of the target hole, and a depth to be drilled for the target hole.

[0055] In some examples, starting points of the target holes, as identified in the target hole pattern of the drill plan, may be recorded by an operator prior to initiating execution of the drill plan. The rock drilling rig is also stabilized for drilling, whereby typically a set of ground supports are pushed onto the ground. The drilling unit and / or feed beam may be positioned after the stabilization or re-positioned after the stabilization to ensure correct pose to drill the first planned hole according to the drill plan.

[0056] Figure 3 illustrates a method according to some embodiments. The disclosed method may be performed by an arrangement for execution of a drill plan, e.g., by a control unit of the rock drilling rig. In its most general implementation, the method comprises the step S30 of arranging a total station in a line-of-sight position of the mine passage and in line of sight communication with at least two markers positioned at predetermined reference coordinates in the underground mine environment. Thus, the total station is provided in a line-of-sight position of a mine passage before allowing the rock drilling rig to enter into the mine passage. Additionally, at least two reference points are provided for the total station, the reference points being provided by prisms located at predetermined, known locations in the mine and having predetermined coordinates in the global mine positioning system.

[0057] Following provisioning of the total station at the entry of a mine passage, the reference points are used to establish coordinates of the total station in said global mine reference system; determining S31 coordinates of the total station in the global mine reference system based on measured distances to the at least two markers.

[0058] Drilling is performed based on the information provided through a so called drill plan, a plan outlining information on hole position and direction in coordinates of a global mine reference system. Thus, the drill plan may indicate a plurality of holes that are to be drilled on a surface in the underground mining environment and within the rock geometry of the environment to specified depths and in specified directions. The method also comprises obtaining S32 the drill plan, e.g., receiving or requesting the drill plan from a planning system located outside of the underground mine environment, including the information on hole position and direction in coordinates of a global mine reference system. The global mine reference system provides navigable coordinates for the mine as a whole in a common reference system. The global mine reference system may be a mine coordinate system based on a global coordinate system.

[0059] The drill plan may be received from an internal or external memory, or from another apparatus, such as the remote controller unit or a worksite control arrangement. Obtaining of the drill plan may be based on obtaining positioning data indicative of current location of the rock drilling rig. Location data for the mobile platform of the rock drilling rig is obtained from a total station arranged in line-of-sight communication with the rock drilling rig. The drill plan defines the position and the orientation of holes to be drilled in the mine reference system.

[0060] The method further comprises step S33 of calculating one or more positions of the rock drilling rig for execution of the drill plan, wherein the calculated one or more positions represent a travelled distance from the coordinates of the total station. When determining that there is a need to reposition the rock drilling rig for execution of the drill plan, the step S34 of controlling tramming of the rock drilling rig to a calculated position in the mine passage for execution of a portion of the drill plan is performed. The tramming control is based on distances measured from the total station to a set of markers, e.g., reflective prisms, on the rock drilling rig. The position of the rock drilling rig in the global mine reference system may be verified, e.g., by distance measurements from the total station and processing these measurements in the rock drilling rig.

[0061] The method further comprises the step S35 of controlling positioning of one or more rock drilling machines for execution of the portion of the drill plan, wherein the positioning of the one or more rock drilling machines is related to coordinates in the global mine reference system.

[0062] In some examples, the rock drilling rig may convert the coordinates from the drill plan to corresponding machine coordinates related to the rock drilling rig, whereby the rock drilling rig is considered as a local reference system, e.g., a rig coordinate system, in relation to which position and orientation of rig portions, such as the movable platform, boom, and rock drilling machine may be defined.

[0063] In some examples, the rock drilling rig will establish communication with the total station prior to entering the mine passage. The rock drilling rig will then obtain relevant position data in the global mine reference system, thereby enabling control of rock drilling rig positioning using the references from the global mine reference system.

[0064] Following accurate positioning of the rock drilling rig and one or more rock drilling machines, the step S36 of drilling of a set of drill holes is performed according to a portion of the drill plan. The above-mentioned steps are then repeated to continue drilling of a further set of drill holes according to another portion of the drill plan.

[0065] During execution of the drill plan, the machine may be tramming from a cul-de-sac portion of the mine passage toward the total station as illustrated in Figure 2, thereby successively reducing the distances between the rock drilling rig and the total station.

[0066] The positions of the markers on the rig are preferably stored in the control system of the rig with coordinates, e.g., in an internal coordinate system of the rock drilling rig. When determining coordinates of the prisms in the global mine reference system, rig coordinates may also be determined in the global rig reference system.

[0067] In some examples, the position of the rock drilling machine is related to the positions indicated in the drill plan.

[0068] In some examples, tramming assistance information is provided to an operator of the rock drilling rig so that the rock drilling rig may be steered to one or more positions enabling execution of a drill plan.

[0069] Figure 4 discloses an example block diagram of an arrangement for controlling drill plan execution by a rock drilling rig having one or more rock drilling machines configured to perform rock drilling operations according to the drill plan in mine passages of an underground mining environment. The arrangement comprising processing circuitry 41, also known as control circuitry configured for obtaining a drill plan comprising positions, orientations, and depth of a plurality of bore holes, the position and orientation of each bore hole being presented with coordinates of the global mine reference system. The drill plan may be stored in a memory 41b of the processing circuitry.

[0070] The processing circuitry is further configured for calculating one or more positions of the rock drilling rig for execution of the drill plan, wherein the calculated one or more positions represent a travelled distance from the coordinates of the total station. Calculating may be performed in one or more processor(s) 41a of the processing circuitry 41.

[0071] The processing circuitry 41 is further configured to determine a need for repositioning of the rock drilling rig. Such repositioning would be required when a portion of the drill plan has been executed, e.g., following drilling of a first set of bore holes. When determining that there is a need to reposition the rock drilling rig for execution of the drill plan, the processing circuitry 41 is configured to control tramming the rock drilling rig to a calculated position in the mine passage for execution of a portion of the drill plan, e.g., a further portion of the drill plan having concluded a first set of bore holes. The tramming control is based on distances received from the measuring the total station. The measurements relate to distances to a set of markers on the rock drilling rig.

[0072] The processing circuitry may also be arranged to verify the position of the rock drilling rig using coordinates of the global mine reference system. Such verification would imply a check against the drill plan that the rock drilling rig has been positioned in a position enabling further execution of the rock drilling plan.

[0073] The processing circuitry 41 is further configured to control positioning of one or more rock drilling machines for execution of the portion of the drill plan, wherein the positioning of the one or more rock drilling machines is related to coordinates in the global mine reference system. Such coordinates are provided for the movable part of the rock drilling rig as well as for the boom, feed beam, and rock drilling machine.

[0074] Following positioning of the rock drilling machines, a set of drill holes may be drilled according to a portion of the drilled plan. In some examples, the operator of the machine may teach such positions of the rock drilling machine and pre-record the taught positions, whereafter drilling may take place according to an automated sequence. It is of course fully possible to perform an automated sequence merely using the predefined coordinates.

[0075] The arrangement for controlling execution of the drill pan, will repeat the above- mentioned actions until determining that drill plan execution has been finalized. At such time, the rock drilling rig will be approaching the entry / exit point of the mine passage.

[0076] As illustrated in Figure 4, software comprising a computer program for execution in the processing circuitry 41 may be provided. A computer program product 42 comprising a non-transitory computer readable medium having thereon a computer program comprising program instructions loadable into processing circuitry is foreseen within the scope of the disclosure. The computer program is configured to cause execution of the method as described in relation to Figure 3 when the computer program is run by the processing circuitry.

[0077] The description of the example embodiments provided herein have been presented for purposes of illustration. The description is not intended to be exhaustive or to limit example embodiments to the precise form disclosed; modifications and variations are possible in light of the above teachings or may be acquired from practice of various alternatives to the provided embodiments. The examples discussed herein were chosen and described in order to explain the principles and the nature of various example embodiments and its practical application to enable one skilled in the art to utilize the example embodiments in various manners and with various modifications as are suited to the particular use contemplated. The features of the embodiments described herein may be combined in all possible combinations of source nodes, target nodes, corresponding methods, and computer program products. It should be appreciated that the example embodiments presented herein may be practiced in combination with each other.

[0078] The described embodiments and their equivalents may be realized in software or hardware or a combination thereof. The embodiments may be performed by general purpose circuitry. Examples of general-purpose circuitry include digital signal processors (DSP), central processing units (CPU), co-processor units, field programmable gate arrays (FPGA) and other programmable hardware. Alternatively, or additionally, the embodiments may be performed by specialized circuitry, such as application specific integrated circuits (ASIC). The general-purpose circuitry and / or the specialized circuitry may, for example, be associated with or comprised in an apparatus such as a wireless communication device or a network node.

[0079] Embodiments may appear within an electronic apparatus comprising arrangements, circuitry, and / or logic according to any of the embodiments described herein. Alternatively, or additionally, an electronic apparatus may be configured to perform methods according to any of the embodiments described herein. Generally, all terms used herein are to be interpreted according to their ordinary meaning in the relevant technical field, unless a different meaning is clearly given and / or is implied from the context in which it is used.

Claims

CLAIMS1. A computer-implemented method for controlling a drill plan execution by a rock drilling rig having one or more rock drilling machines configured to perform rock drilling operations according to the drill plan in mine passages of an underground mining environment, the underground mining environment being mapped in a global mine reference system and the underground mining environment comprising at least one total station, the method comprising: arranging (S30) the total station in a line-of-sight position of the mine passage and in line of sight communication with at least two markers positioned at predetermined reference coordinates in the underground mine environment; determining (S31) coordinates of the total station in the global mine reference system based on measured distances to the at least two markers; obtaining (S32) a drill plan comprising positions and orientations of a plurality of bore holes, the position and orientation of each bore hole being presented with coordinates of the global mine reference system; calculating (S33) one or more positions of the rock drilling rig for execution of the drill plan, wherein the calculated one or more positions represent a travelling distance in relation to the coordinates of the total station, when determining that there is a need to reposition the rock drilling rig for execution of the drill plan, controlling (S34) tramming the rock drilling rig to a calculated position in the mine passage for execution of a portion of the drill plan, wherein the tramming control is based on distances measured from the total station to a set of markers on the rock drilling rig; controlling positioning (S35) of one or more rock drilling machines for execution of the portion of the drill plan, wherein the positioning of the one or more rock drilling machines is related to coordinates in the global mine reference system; drilling (S36) a set of drill holes according to said portion of the drill plan; and repeating the steps of controlling tramming of the rock drilling rig to a calculated position, verifying the position, controlling positioning of one or more rock drilling machines, and drilling a set of drill holes until the drill plan execution is completed.

2. The method of claim 1, further comprising verifying the position of the rock drilling rig, the position being presented in the global mine reference system;3. The method of claim 1 or 2, further comprising arranging the total station at a predetermined height using a wall mount.

4. The method of any of claims 1 to 3, wherein the controlling of tramming and / or positioning of the one or more rock drilling machines comprises repetitively receiving real-time measurement data from the total station and adjusting the tramming movement and / or positioning of the one or more rock drilling machines using the real-time measurement data until reaching a predetermined position of rock drilling rig and / or rock drilling machines.

5. The method of claim 4, further comprising the step of stabilizing the rock drilling rig in a drilling position prior to controlling the positioning of the one or more rock drilling machines and wherein stabilizing comprises lifting the rock drilling rig by means of one or more pairs of lifting jacks.

6. The method of claim 5, wherein the controlling of the one or more rock drilling machines comprises controlling of one or more boom positions and respective feed beam positions, and wherein the one or more boom positions and respective feed beam positions are calculated from the measurement data received from the total station.

7. An arrangement for controlling a drill plan execution by a rock drilling rig having one or more rock drilling machines configured to perform rock drilling operations according to the drill plan in mine passages of an underground mining environment, the arrangement comprising a total station arranged in a line-of-sight position of the mine passage and in line of sight communication with at least two markers positionedat predetermined reference coordinates in the underground mine environment, and processing circuitry configured to: determine coordinates of the total station in the global mine reference system based on measured distances to the least two markers; obtain a drill plan comprising positions and orientations of a plurality of bore holes, the position and orientation of each bore hole being presented with coordinates of a global mine reference system; calculate one or more positions of the rock drilling rig for execution of the drill plan, wherein the calculated one or more positions represent a travelled distance from coordinates of a total station, when determining that there is a need to reposition the rock drilling rig for execution of the drill plan, control tramming the rock drilling rig to a calculated position in the mine passage for execution of a portion of the drill plan, wherein the tramming control is based on distances measured from the total station to a set of markers on the rock drilling rig; control positioning of one or more rock drilling machines for execution of the portion of the drill plan, wherein the positioning of the one or more rock drilling machines is related to coordinates in the global mine reference system; drill a set of drill holes according to said portion of the drill plan; and repeat the steps of controlling tramming of the rock drilling rig to a calculated position, verifying the position, controlling positioning of one or more rock drilling machines, and drilling a set of drill holes until the drill plan execution is completed.

8. A computer program product comprising a non-transitory computer readable medium having thereon a computer program comprising program instructions loadable into processing circuitry and configured to cause execution of the method according to any of claims 1-6 when the computer program is run by the processing circuitry.

9. A rock drilling rig comprising a mobility platform, one or more booms connected to the mobility platform, associated feedbeams configured to carry respective rock drilling machines, and the arrangement of claim 7.

10. The rock drilling rig of claim 9, further comprising a graphical user interface configured to provide a visual representation of at least a portion of the drill plan during execution of the drill plan.

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