Device, rock drilling rig and drilling method

Abstract

To provide position control data for controlling positioning of a rock drilling unit of a rock drilling rig for drilling a cross borehole pattern in an underground tunnel.SOLUTION: An apparatus (A) includes a teaching feature part (33) for collecting data about manually controlled movements at locations of a borehole pattern, thereby detecting a collision-free movement path (19). The data about the taught collision-free movement path (19) is implemented when controlling a rock drilling unit during the actual drilling phase.SELECTED DRAWING: Figure 8

Description

[Technical Field]

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

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

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

[0004] Different types of rock drilling rigs are used in underground mines and construction sites. Rock drilling rigs are provided with one or more drilling booms, and a rock drilling unit is positioned at the distal end of the boom to drill a borehole. The purpose of drilling a hole in the rock can be to form a blasthole for severing rock material by blasting, or the borehole can be drilled to reinforce the rock surface by installing rock bolts or other reinforcement inside the drilled hole. Typical underground tunnels in which drilling and bolting strategies are carried out are narrow, so a collision risk exists. Current rock drilling and bolting solutions have shown to include several drawbacks, particularly regarding collision investigation. Summary of the Invention

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

[0006] The device according to the invention is characterized by the characterizing features of the first independent device claim.

[0007] The rock drilling rig according to the invention is characterised by the characterising features of the second independent equipment claim.

[0008] The method according to the invention is characterized by the features and steps characterizing the independent method claims.

[0009] The idea of ​​the disclosed solution is that an apparatus provides position control data for controlling the positioning of a rock drilling unit for drilling a cross-borehole pattern in an underground tunnel. The apparatus uses a teach procedure to provide data about manually controlled movements at the location of the borehole pattern to be drilled. The objective is to find a collision-free movement path. The data about the taught movement path can be implemented when controlling the rock drilling unit during the actual drilling phase.

[0010] The strategy of teaching and generating collision-free travel paths is a preliminary phase that is performed before the actual rock excavation and other strategies that follow are initiated.

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

[0012] An advantage of the disclosed solution is that collisions of the rock excavation unit with rock surfaces and other physical obstacles can be prevented when the rock excavation unit moves during the actual excavation according to a defined collision-free movement path. The disclosed preparatory function takes a little extra time, which does not cause a significant delay for the actual rock excavation.

[0013] A further advantage is that the disclosed solution does not require any separate specific sensing devices, such as spatial sensors. Instead, the disclosed solution implements sensing data collected by existing sensors located on the boom joints and rock drilling units of the rock drilling rig. Thereby, the solution can be simple, durable, and inexpensive.

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

[0015] As used herein, rock drilling rig refers to rock bolter and long-hole drilling rigs that are both equipped with rock drilling units and are used to drill borehole patterns transverse to a tunnel.

[0016] According to one embodiment, the borehole pattern is a rock bolting pattern for providing rock bolts or cable bolts that reinforce the rock in the rock surface that limits the tunnel. Therefore, the device is for supporting the drilling of boreholes for the rock bolts and cable bolts. Therefore, the rock drilling rig can be a rock or cable bolter provided with at least one bolting head comprising a rock drilling unit and a means for feeding the rock bolts or rock support cables. In this case, the collision-free travel path generated includes avoiding collisions of the entire bolting head, which comprises the rock drilling unit and the bolt or cable feeder. When injection material is fed into the drilled hole together with the rock bolts or cable bolts, the collision-free travel path can also include avoiding collisions of the injection material feeder and elements. However, it can also be considered that not only the injection feeder means, but also the rock bolt magazine and the cable bolt feed and cutting device are part of the bolting head.

[0017] According to one embodiment, the borehole pattern is a production start borehole pattern, also known as a long hole pattern, in which the boreholes are filled with explosives after cutting is completed and blasted to remove rock material.

[0018] According to one embodiment, the physical obstacles limiting the collision-free travel path of the rock-excavation unit may include the realized tunnel contour, i.e. rock surfaces such as the walls, ceiling and floor of the tunnel.

[0019] In addition to this, there may be limiting rock surfaces not only across the tunnel but also along its length.

[0020] Physical obstacles may also include possible infrastructure located in the tunnel, such as, for example, ventilation ducts, water pipes, hoses, electrical cables, and other possible structures and elements.

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

[0022] Thus, teaching a collision-free travel path may include avoiding all kinds of physical obstacles that create a collision risk in the borehole pattern being drilled.

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

[0024] Alternatively, the apparatus may be a separate device and located outside the rock drilling rig, so that the apparatus may be a server or external control device that communicates with the control unit of the rock drilling rig.

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

[0026] An alternative is to select virtual or calculated points to be surveyed when determining the collision-free travel path, so that the selected points may also be outside the physical structure of the rock excavation unit or boom.

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

[0028] Alternatively, the selected point may be the rear end of the feed beam, which may be the case if there is a risk of collision with the floor or bottom of the tunnel. Additionally, any other point deemed to be critical for collisions may be selected as the point to be monitored.

[0029] According to one embodiment, the device is configured to investigate the positions of at least two selected points placed at opposite points of the rock drilling unit and to generate collision-free movement paths for the selected points.

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

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

[0032] According to one embodiment, the device is configured to implement the generated collision-free movement path to generate control commands for automatic coarse positioning of the rock drilling unit in the plane of the borehole pattern to defined locations of the boreholes of the borehole pattern.

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

[0034] After the rock drilling unit is coarsely positioned and oriented toward the start of the borehole, fine positioning is initiated. The rock drilling unit moves in the feed direction toward the start until the drilling bit or structure of the rock drilling unit contacts the rock surface. Typically, the rock drilling unit is supported against the rock surface. The fine positioning movement can be performed at low speed or under operator control.

[0035] According to one embodiment, the device is provided with a pre-designed drilling plan for a borehole pattern. The device is therefore configured to control the automated coarse positioning of the rock drilling rig according to the provided drilling plan. The drilling plan may comprise at least the start and end coordinates of the borehole. If needed, the control unit can calculate the orientation angle and the length of the borehole.

[0036] The excavation plan must be guided to excavate a borehole pattern before the actual excavation begins. During guidance, the excavation plan is connected to the current excavation site. The realized tunnel contour and physical obstacles in the realized tunnel contour can be investigated using the disclosed teaching aspects simultaneously as the guidance process is performed. The simultaneous execution of the two processes, i.e., guidance and collision-free travel path search, saves time required for preliminary measures.

[0037] According to one embodiment, the control unit of the device or rock drilling rig is provided with design features that assist the operator in defining the parameters for drilling the borehole pattern, so that it is possible to semi-automatically design the borehole pattern, for example on a display device of the rock drilling rig.

[0038] According to one embodiment, it is possible to move the drilling unit anywhere inside the taught and generated primary collision-free travel path. Therefore, there may be secondary collision-free travel paths at a tolerance distance from the primary travel path. In this way, extra distance from physical obstacles may be defined for the entire travel path or only in selected sections of the travel path. However, when the rock drilling unit moves along the defined primary collision-free travel path, it is placed near the rock surface, and a fine positioning strategy towards the start of the borehole is quickly executed.

[0039] According to one embodiment, the device is further provided with sensory data about the manually controlled movement of the rock drilling unit in a transverse direction to the plane of the borehole fan and at a traversing distance from a physical obstacle in the transverse direction, so that the generated collision-free movement path has a three-dimensional configuration. In other words, there may be a physical obstacle protruding in the longitudinal direction of the tunnel at the location of the borehole fan. Therefore, when teaching a safe movement path, the rock drilling unit cannot move only in the plane of the borehole fan, but must also move in the transverse direction when following the traversal obstacle. Therefore, the generated collision-free movement path has a third dimension in the transverse direction to the plane of the borehole fan. The collision-free movement path is mostly in a plane, but may include a deviation area at the location of the traversal object.

[0040] According to one embodiment, the apparatus is configured to provide data about the realized tunnel contour of the tunnel in response to the collected sensory data. Stated differently, aspects of the teachings provide approximate sensory data on the rock surface in the borehole fan, which can be used to generate an approximation of the realized tunnel contour. A comparison can be performed between the realized tunnel contour and the designed tunnel contour, and the results can be used, for example, to investigate how successful the rock was excavated and the properties of the excavated rock.

[0041] The rock excavation unit does not come into contact with the rock surface during the teaching of the collision-free travel path, so the sensed data of the tunnel contour is an approximation, not an exact tunnel contour.

[0042] According to one embodiment, the apparatus is configured to present an approximation of the realized and designed tunnel contours on a display device. Naturally, the taught collision-free travel path can also be displayed.

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

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

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

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

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

[0048] According to one embodiment, the method further comprises, when detecting a physical obstacle, selecting at least one point of the rock drilling unit to be investigated, saving the movement of the at least one selected point as a collision-free movement path, and monitoring during the drilling movement of the selected at least one point with respect to the saved collision-free movement path.

[0049] The embodiments disclosed above can be combined to form a suitable solution having the required embodiment of the above features.

[0050] Some embodiments are explained in more detail in the accompanying drawings. [Brief explanation of the drawings]

[0051] [Figure 1] 1 is a schematic side view of a rock drilling rig provided with a drilling unit for drilling a borehole pattern in the rock surface of a tunnel or corresponding underground space; FIG. [Figure 2] FIG. 1 is a schematic diagram of a borehole pattern with several boreholes in the transverse direction of the tunnel. [Figure 3] 1 is a schematic diagram showing typical types of borehole patterns. [Figure 4] 1 is a schematic diagram showing a teaching process in which a rock drilling unit is manually moved near a realized rock surface. [Figure 5] Schematic diagram of the manual teaching process in which the rock excavation unit together with the bolting head moves inside the tunnel contour. [Figure 6]1 is a schematic side view of a rock drilling rig and possible physical obstacles in addition to the rock face of the tunnel. [Figure 7] 10 is a schematic top view showing a physical obstacle protruding along the length of the tunnel and its effect on the generated collision-free travel path. FIG. [Figure 8] 1 is a schematic diagram showing some features and connections of an apparatus for implementing the disclosed solution; DETAILED DESCRIPTION OF THE INVENTION

[0052] For clarity, the figures show some embodiments of the disclosed solution in a simplified manner, in which like reference numerals identify like elements.

[0053] FIG. 1 shows a rock drilling rig 1. The rock drilling rig 1 comprises a mobile transport device 2 and at least one drilling boom 3. The boom 3 is provided with a rock drilling unit 4 for drilling a borehole 5 into the rock surface 6 of an underground tunnel 7. The rock drilling unit 4 comprises a feed beam 8 and a rock drilling machine 9 movably mounted on the feed beam 8. When the rock drilling rig 1 is intended for installing reinforcing elements 10, such as rock bolts 11, into the borehole 5, there may be a bolting head 12 connected to the rock drilling unit 4, or there may be a separate boom with a bolting head. Alternatively, the borehole 5 may be drilled to extract material using drilling or blasting techniques. In either case, a borehole pattern 13 comprising several boreholes is drilled. The borehole pattern 13 may be pre-designed externally and transmitted to the control unit CU of the rock drilling rig 1, or alternatively, the operators of the rock drilling rig 1 may design the borehole pattern 13 with the help of the control unit CU.

[0054] The drilling boom 3 and the drilling unit 4 are provided with sensing devices SD for collecting data about their position and orientation so that the control unit CU can calculate position data of the rock drilling unit 4. Before starting the actual drilling phase of the borehole pattern 13, the rock drilling rig 1 is guided at the work site. For example, position markers 14 made on the rock surface 6 can be used for guidance purposes. In the guidance process, the designed borehole pattern 13 is linked to the actual drilling site. Furthermore, teaching of a collision-free travel path is taught as disclosed herein before starting the actual drilling.

[0055] The process of teaching and generating a collision-free travel path is carried out using a device A which may be part of the control unit CU of the rock drilling rig 1 or which may be located externally, for example connected to a server S.

[0056] 2 discloses a borehole pattern 13 comprising several boreholes 5 with different orientations. Typically, the boreholes 5 are located in the same plane transverse to the longitudinal direction of the tunnel. The borehole pattern 13 is sometimes referred to as a borehole fan. The borehole pattern 13 comprises a theoretical tunnel contour 15, and the boreholes 5 can be defined as coordinates of a start point 16 and an end point 17. The start point 16 is located on the theoretical tunnel contour 15. The orientation and length of the boreholes can be determined at the base of the coordinates of the start point 16 and the end point 17.

[0057] Figure 3 discloses two different types of borehole patterns 13. The long-hole pattern 13a is a production type borehole pattern for extracting rock material. The long-hole pattern 13a includes blast holes provided with explosives. The rock reinforcement pattern 13b or bolting pattern comprises several boreholes provided with reinforcing elements to support the rock material surrounding the tunnel. The reinforcing elements can be rock bolts 11 or cable bolts 18.

[0058] FIG. 4 discloses the principle of forming a collision-free travel path 19 inside the realized tunnel contour 20 where the borehole pattern 13 is to be excavated. The collision-free travel path 19 is created by moving the rock excavation unit 4 close to the rock surface of the realized tunnel contour 20 and saving this travel path for later use during the actual excavation phase. The rock excavation rig operator has good visibility to the realized tunnel contour 20 and can control the movement of the rock excavation unit 4 to teach a suitable collision-free travel path. Existing sensing devices of the rock excavation can be used to provide the necessary sensing data for generating position data such as coordinates to define the collision-free travel path. No separate complex sensing devices are required, so the solution can be easily integrated into different existing rock excavation rigs.

[0059] As shown in FIG. 4, the realized tunnel contour 20 deviates from the theoretical tunnel contour 15. This is because the tunnel 7 is formed by excavation and blasting tunneling techniques, in which rock material is blasted. Due to blasting, there will always be some deviation in the shape and dimensions of the actual tunnel. Furthermore, tunnels are typically sized as small as possible to minimize excavation costs. Because of these concerns, there is a potential risk of collision with the rock surface of the tunnel. The disclosed teaching features provide a solution to prevent collision with the walls 21, ceiling 22, and floor 23 of the tunnel 7. In FIG. 4, the drill bit 24 of the drilling tool moves a short distance from the realized tunnel contour 20, i.e., from the realized rock surface at the location of the borehole pattern. However, other elements of the rock excavation unit can be explored when implementing the teaching.

[0060] In FIG. 5, the rock drilling unit 4 includes a bolting head 12. When teaching and generating a collision-free travel path, both the teaching and generation are investigated. The collision-free travel path may include one or more points 25a-25d that are investigated during teaching. The coordinates of the selected points may be calculated and stored to define the taught collision-free travel path. In FIG. 5, several possible locations for the investigated points are shown: point 25a is located at the drill bit 24, point 25b is located at the front end of the rock drilling unit 4, point 25c is located at the rear end of the rock drilling unit 4, and point 25d is located at the bolting head 12. Associated with the bolting head 12 may be different devices, such as a rock bolt magazine and an injection feed means, as well as devices for handling rock bolts and cables, that may be investigated when teaching a collision-free travel path.

[0061] It is also possible that both the bolting head and the rock excavation unit are one combined mechanical structure, thereby forming a unit that is monitored when investigating a collision-free travel path.

[0062] 4 and 5, an exemplary collision-free movement path 19 is shown based on the movement path of the drill bit 24. However, the collision-free movement path 19 can be created for any other selected points or combination of several investigated points, and thereby may have a different appearance when compared to the exemplary case shown in FIGS.

[0063] FIG. 6 discloses that in addition to rock surfaces 6, there may be other physical obstacles in the tunnel 7 that need to be considered when performing the drilling of the borehole pattern. There may be infrastructure 26, such as ventilation ducts, located in the tunnel 7. The investigated physical obstacles may also include the structure of the rock drilling rig 1 itself. Therefore, the generated collision-free travel path may include, for example, avoiding collisions with other booms 27. Furthermore, the rock surfaces 6 in the tunnel 7 may include protruding rock surfaces 28 in the longitudinal or length direction L of the tunnel 7. Therefore, it is necessary to consider when generating the collision-free travel path that not only the limiting rock surfaces 6 may be in the transverse direction T of the tunnel 7, but also the possibility of rock surfaces 28 protruding in the longitudinal direction L. To avoid collisions with such protruding longitudinal surfaces 28, the generated collision-free travel path may include areas 29 that deviate from the plane 30, thereby having a three-dimensional configuration, as shown in the simplified top-view depiction in FIG. 7 .

[0064] 8 discloses a possible setup of apparatus A for generating a collision-free travel path 19 including position data such as coordinates 32 provided by executing a teach feature 33 of apparatus A. Apparatus A comprises a control unit 34 provided with a processor 35 and a computer program product 36 executable on the processor 35 for calculating position control data and providing a collision-free travel path 31. Execution of teach feature 33 includes collecting sensory data 37 from sensing device SD when manual control movements 38 are performed. Apparatus A generates coordinates 32 for selected survey points and provides position control data 39 for controlling the rock drilling unit along the collision-free travel path 19. The generated position control data 39 is implemented when performing coarse position control 40 of the rock drilling unit, i.e., when moving the rock drilling unit close to the designed borehole start points of the borehole pattern. The apparatus A may also comprise or be in communication with a user interface UI or display device for communicating to the rock drilling rig operator the collision-free travel path 19 and an approximation of the realized tunnel contour of the tunnel 7.

[0065] Apparatus A may be part of the control unit or control system of the rock drilling rig, or alternatively apparatus A may be a separate device arranged to communicate with the control unit of the rock drilling rig via a data communication connection or unit DC.

[0066] The drawings and the associated description are only intended to illustrate the idea of ​​the invention. In its details, the invention may vary within the scope of the claims.

Claims

1. 1. An apparatus (A) for providing position control data (39) for controlling the positioning of a rock drilling unit (4) of a rock drilling rig (1) for drilling a cross-borehole pattern (13) in an underground tunnel (7), comprising: A device (A) comprising at least one control unit (34) to which sensory data (37) on the position and orientation of said rock drilling unit (4) are provided, said device (A) is provided with teaching features (33), said device (A) being configured to collect sensory data (37) on a manually controlled movement (38) of said rock drilling unit (4) in a plane of the borehole pattern (13) to be drilled, said rock drilling unit (4) moving along a movement path at a distance from physical obstacles to be drilled placed in said borehole pattern (13); the device (A) is configured to generate a collision-free travel path (19) in response to the collected sensory data (37); said device (A) being configured to implement said generated collision-free movement path (19) in the position control of said rock excavation unit (4); The apparatus (A) is characterized by:

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

3. 2. The device (A) according to claim 1, characterized in that the device (A) is configured to implement the generated collision-free movement path (21) to generate control commands for automatic coarse positioning (40) of the rock drilling unit (4) in the plane of the borehole pattern (13) to defined locations of the boreholes (5) of the borehole pattern (13).

4. 2. The device (A) according to claim 1, characterized in that the device (A) is further provided with sensory data on the manually controlled movement (38) of the rock drilling unit (4) in a transverse direction (T) of the plane of the drilling pattern (13) and in a transverse distance from physical obstacles in the transverse direction (T), whereby the generated collision-free movement path (19) has a three-dimensional configuration.

5. 2. The device according to claim 1, characterized in that the device (A) is adapted to provide data on a realized tunnel contour (20) of the tunnel (7) depending on the received sensory data (37).

6. A rock drilling rig (1) for drilling a transverse borehole pattern (13) in a rock surface (6) of an underground tunnel (7), comprising: A movable transport device (2); At least one boom (3); at least one rock excavation unit (4) supported on said at least one boom (3) and comprising at least a feed beam (8) and a rock excavation machine (9) movably mounted on said feed beam (8); a sensing device (SD) for generating sensory data (37) on the movements of said boom (3) and said rock drilling unit (4); a control unit (CU) for controlling the operation of the rock drilling rig (1); A rock drilling rig (1) comprising: said control unit (CU) being provided with data on collision-free travel paths (31) in the borehole pattern (13) to be drilled and configured to implement said collision-free travel paths (19) in the position control of the rock drilling unit (4), The collision-free travel path (19) is generated using a device (A) according to any one of claims 1 to 5. A rock drilling rig (1).

7. 7. A rock drilling rig according to claim 6, characterised in that the rock drilling rig (1) is a bolting rig comprising a bolting head (12) supported on the boom (3), the bolting head (12) comprising at least a rock bolt or a cable feeder in addition to the rock drilling unit (4).

8. A method for drilling a transverse borehole pattern (13) in a rock face (6) of an underground longitudinal tunnel (7), comprising: A method comprising drilling boreholes (5) of said borehole pattern (13) using a rock drilling rig (1) comprising at least one rock drilling unit (4), performing a preliminary detection of physical obstructions in the borehole pattern (13) before starting the drilling of the boreholes (5) of the borehole pattern (13); - detecting said physical obstacles in said borehole pattern (13) by moving said rock drilling unit (4) under control of an operator adjacent to a physical object comprising at least an inner surface of said tunnel (7) and thereby teaching a collision-free movement path (19); storing the detected collision-free movement path (19) and using the stored collision-free movement path (19) in position control of the rock drilling unit (4) when drilling the borehole (5); A method comprising:

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

10. 9. A method according to claim 8, characterized in that for said detection of said physical obstacles, a continuous manual movement (38) of said rock-digging unit (4) is performed.

11. selecting at least one point (25a-25d) of said rock-excavation unit (4) to be surveyed when detecting said physical obstacle; storing the movement of said at least one selected point as said collision-free movement path (19); monitoring during an excavation movement of said selected at least one point (25a-25d) with respect to said stored collision-free movement path (19); The method according to claim 8, characterized in that

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