A method for rock drilling

Abstract

A method (400) for rock drilling, wherein the method (400) comprises: monitoring (401), by usage of one or more detection systems (200), a flow comprising cuttings exiting a drill hole (160a; 160b) being drilled in a rock formation (700a; 700b) by usage of a drilling machine (104b); detecting (402a) one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole (160a; 160b) by usage of one or more detection systems (200); and controlling (403) the rock drilling in the rock formation (700a; 700b) based on the one or more detected varying physical quantities of the flow comprising cuttings. Further, a system (300) for rock drilling. The system (300) comprises a detection system (200) and a control arrangement (130) for performing the method.

Description

[0001] A METHOD FOR ROCK DRILLING

[0002] Technical Field

[0003] The disclosure relates to a method for rock drilling, for example percussion drilling.

[0004] Further, the disclosure relates to a control arrangement and a system for rock drilling.

[0005] Background

[0006] For breaking or fracturing rock and excavating and drilling tunnels or rooms under ground, or above ground, drilling rigs having one or more drilling machines drilling into to a rock formation, or rock, may be used. The drilling machine may be a percussive or percussion drilling machine. However, other drilling machines are possible. Some drilling rigs may be provided with means for propulsion of the drilling rig, such as wheels or continuous tracks. Other drilling rigs, such as platform drilling rigs, may be configured to be stationary without any means for propulsion, such as placed above and / or on ground.

[0007] Summary

[0008] The inventor has found drawbacks in conventional solutions for rock drilling. For example, some conventional solutions are not efficient enough and can be further improved.

[0009] An object of embodiments of the disclosure is to provide a solution which mitigates or solves drawbacks and problems of conventional solutions.

[0010] The above and further objects are solved by the subject matter of the appended independent claims. Further advantageous embodiments can be found in the dependent claims.

[0011] According to a first aspect of the disclosure, the above mentioned and other objects are achieved with a method for rock drilling, wherein the method comprises: monitoring, by usage of one or more detection systems, a flow comprising cuttings exiting a drill hole being drilled in a rock formation by usage of a drilling machine; detecting one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole by usage of one or more detection systems; and controlling the rock drilling in the rock formation based on the one or more detected varying physical quantities of the flow comprising cuttings.

[0012] An advantage of the method according to the first aspect is an improved control of the rock drilling. An advantage of the method according to the first aspect is an improved rock drilling. An advantage of the method according to the first aspect is that the rock drilling is facilitated. An advantage of the method according to the first aspect is that the rock drilling or the control of the rock drilling is made more efficient in relation to conventional solutions. An advantage of the method according to the first aspect is a decrease in energy required for drilling, or a decrease in energy required per meter drilled. Thus, the emissions of CO2 can be reduced. An advantage of the method according to the first aspect is a more efficient control of the rock drilling in relation to conventional solutions, because of a quicker feedback control since the varying physical quantities of the flow comprising cuttings are detected upon exit from the drill hole. An advantage of the method according to the first aspect is an improved determination of one or more varying physical quantities and / or properties of the cuttings and / or of the flow comprising cuttings. An advantage of the method according to the first aspect is that autonomous drilling can improved by way of the innovative method.

[0013] The inventor has found that the control, or the feedback control, of the rock drilling is improved in relation to conventional solutions by monitoring the flow comprising cuttings upon exit from, or when the flow exits, the drill hole during the drilling of the drill hole and by detecting the one or more varying physical quantities of the flow upon exit from, or when exiting, the drill hole, and based thereupon, controlling the rock drilling. By performing the above-mentioned steps upon the cuttings’ exit from the drill hole according to the method according to the first aspect, a quicker feedback control is attained in relation to conventional solutions, instead of observing the cuttings later on, or further downstream, in the process of removal and transportation of the cuttings, such as observing the cuttings on a shaker screen. According to an advantageous embodiment of the method according to the first aspect, the method further comprises: determining one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole by usage of one or more detection systems.

[0014] An advantage of this embodiment is a further improved control of the rock drilling. An advantage of this embodiment is a further improved rock drilling.

[0015] According to a further advantageous embodiment of the method according to the first aspect, the method comprises: controlling the rock drilling in the rock formation so as to regulate one or more varying physical quantities of the flow comprising cuttings to one or more targets based on the one or more detected varying physical quantities of the flow comprising cuttings. An advantage of this embodiment is a further improved control of the rock drilling. An advantage of this embodiment is a further improved rock drilling.

[0016] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: determining, by usage of one or more detection systems, one or more values of the one or more detected varying physical quantities of the flow comprising cuttings; and controlling the rock drilling in the rock formation so as to regulate the one or more varying physical quantities of the flow comprising cuttings to one or more targets based on the one or more determined values of the one or more detected varying physical quantities.

[0017] An advantage of this embodiment is a further improved control of the rock drilling. An advantage of this embodiment is a further improved rock drilling.

[0018] According to yet another advantageous embodiment of the method according to the first aspect, the method comprises: monitoring, by usage of one or more detection systems, cuttings exiting a drill hole being drilled in a rock formation by usage of a drilling machine; detecting one or more varying physical quantities of the cuttings upon exit from the drill hole by usage of one or more detection systems; and controlling the rock drilling in the rock formation based on the one or more detected varying physical quantities of the cuttings.

[0019] An advantage of this embodiment is a further improved control of the rock drilling. An advantage of this embodiment is a further improved rock drilling.

[0020] According to still another advantageous embodiment of the method according to the first aspect, the method comprises: detecting one or more varying properties of the cuttings upon exit from the drill hole by usage of one or more detection systems; and controlling the rock drilling in the rock formation based on the one or more detected varying properties of the cuttings.

[0021] An advantage of this embodiment is a further improved control of the rock drilling. An advantage of this embodiment is a further improved rock drilling.

[0022] According to an advantageous embodiment of the method according to the first aspect, the method comprises: controlling a rate of an air flow conveyed into the drill hole based on the one or more detected varying physical quantities of the flow comprising cuttings.

[0023] An advantage of this embodiment is a further improved control of the rock drilling. An advantage of this embodiment is a further improved rock drilling. For some embodiments, the method may include controlling or regulating a water flow, or a rate of the water flow, conveyed into the drill hole and / or into the air flow based on the one or more detected varying physical quantities of the flow comprising cuttings. An advantage of these two embodiments is that the amount of air and / or the amount of water can be efficiently regulated or controlled based on the one or more detected varying physical quantities, and thereby, a further improved control of the rock drilling is attained.

[0024] According to a further advantageous embodiment of the method according to the first aspect, the method comprises: monitoring, by usage of one or more detection systems, a flow comprising cuttings exiting an opening of a drill hole being drilled in a rock formation by usage of a drilling machine; and detecting one or more varying physical quantities of the flow comprising cuttings at the opening of the drill hole by usage of one or more detection systems.

[0025] An advantage of this embodiment is a further improved control of the rock drilling. An advantage of this embodiment is a further improved rock drilling.

[0026] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: monitoring a flow comprising cuttings and detecting one or more varying physical quantities of the flow comprising cuttings by usage of one or more detection systems comprising one or more of the group of:

[0027] • a vision detection system;

[0028] • a camera detection system;

[0029] • a radar detection system;

[0030] • a laser detection system; and

[0031] • a light detection and ranging, LIDAR, detection system.

[0032] An advantage of these embodiment is a further improved control of the rock drilling. An advantage of these embodiments is a further improved rock drilling.

[0033] According to yet another advantageous embodiment of the method according to the first aspect, the method comprises: monitoring, by usage of one or more detection systems, a flow of cuttings exiting a drill hole being drilled in a rock formation by usage of a drilling machine; detecting one or more varying physical quantities of the flow of cuttings upon exit from the drill hole by usage of one or more detection systems; and controlling the rock drilling in the rock formation based on the one or more detected varying physical quantities of the flow of cuttings.

[0034] An advantage of this embodiment is a further improved control of the rock drilling. An advantage of this embodiment is a further improved rock drilling.

[0035] According to still another advantageous embodiment of the method according to the first aspect, the one or more varying physical quantities or properties comprises / comprise one or more of the group of:

[0036] • a velocity of the flow comprising cuttings exiting the drill hole;

[0037] • a velocity of the flow of cuttings exiting the drill hole; • a flow rate of the flow comprising cuttings exiting the drill hole;

[0038] • a flow rate of the flow of cuttings exiting the drill hole;

[0039] • a velocity of one or more cuttings exiting the drill hole;

[0040] • a size of one or more cuttings exiting the drill hole;

[0041] • a number of cuttings exiting the drill hole per second;

[0042] • an acceleration of one or more cuttings exiting the drill hole;

[0043] • a colour of one or more cuttings exiting the drill hole;

[0044] • moisture or water content of the flow comprising cuttings exiting the drill hole;

[0045] • a volume of the flow comprising cuttings exiting the drill hole; and

[0046] • a volume of the flow of cuttings exiting the drill hole.

[0047] An advantage of these embodiments is a further improved control of the rock drilling. An advantage of these embodiments is a further improved rock drilling.

[0048] According to a second aspect of the disclosure, the above mentioned and other objects are achieved with a computer program or a computer-readable medium comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method according to any one of the embodiments disclosed above or below. Advantages of the computer program or the computer-readable medium according to the second aspect correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0049] According to an aspect of the present disclosure, the above-mentioned computer program or the computer-readable medium is configured to implement the method and its embodiments described herein.

[0050] According to a third aspect of the disclosure, the above mentioned and other objects are achieved with a control arrangement for rock drilling, wherein the control arrangement is configured to: monitor, by usage of one or more detection systems, a flow comprising cuttings exiting a drill hole being drilled in a rock formation by usage of a drilling machine; detect one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole by usage of one or more detection systems; and control the rock drilling in the rock formation based on the one or more detected varying physical quantities of the flow comprising cuttings.

[0051] It is to be appreciated that all the embodiments described for the method aspects of the disclosure are applicable also to the control arrangement aspects of the disclosure. Thus, all embodiments described for the method aspects of the disclosure may be performed by the control arrangement, which may include one or more control units, or one or more control devices. The embodiments of the control arrangement have advantages corresponding to advantages mentioned above for the method and its embodiments.

[0052] According to a fourth aspect of the disclosure, the above mentioned and other objects are achieved with a system for rock drilling, wherein the system comprises one or more detection systems, and a control arrangement according to any one of the embodiments disclosed above or below, wherein the detection system is configured to monitor a flow comprising cuttings exiting a drill hole being drilled in a rock formation by usage of a drilling machine, and wherein the detection system is configured to detect one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole.

[0053] Advantages of the system according to the fourth aspect and of its embodiments correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0054] According to a fifth aspect of the disclosure, the above mentioned and other objects are achieved with a drilling rig comprising one or more of the group of:

[0055] • a control arrangement according to any one of the embodiments disclosed above or below; and

[0056] • a system according to any one of the embodiments disclosed above or below. Advantages of the drilling rig according to the fifth aspect correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0057] The above-mentioned features and embodiments of the method, the computer program, the computer-readable medium, the control arrangement, the system and the drilling rig, respectively, may be combined in various possible ways providing further advantageous embodiments.

[0058] Further advantageous embodiments of the method, the computer program, the computer-readable medium, the control arrangement, the system and the drilling rig, and further advantages with the embodiments of emerge from the detailed description of embodiments.

[0059] Brief Description of the Drawings

[0060] Embodiments of the disclosure will now be illustrated, for exemplary purposes, in more detail by way of embodiments and with reference to the enclosed drawings, where similar references are used for similar parts, in which:

[0061] Figure 1 is a schematic side view of an embodiment of the drilling rig according to the fifth aspect of the disclosure, provided with an embodiment of the control arrangement according the third aspect of the disclosure and an embodiment of the system according to the fourth aspect of the disclosure;

[0062] Figure 2 is a schematic enlargement of the the feed beam of figure 1 and an alternative mounting and position of a detector of the detection system;

[0063] Figures 3 is a schematic side view of another embodiment of the drilling rig according to the fifth aspect of the disclosure, provided with an embodiment of the control arrangement according the third aspect of the disclosure and an embodiment of the system according to the fourth aspect of the disclosure;

[0064] Figure 4 is a schematic diagram illustrating an embodiment of the system according to the fourth aspect of the disclosure;

[0065] Figure 5 is a schematic flow chart illustrating aspects of embodiments of the method according to the first aspect of the disclosure; Figure 6 is another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure;

[0066] Figure 7 is a schematic flow chart illustrating further aspects of embodiments of the method according to the second aspect of the disclosure; and

[0067] Figure 8 is a schematic diagram illustrating an embodiment of the control arrangement according to the third aspect of the disclosure, in which a method according to any one of the herein described embodiments may be implemented.

[0068] Detailed Description

[0069] With reference to figures 1 to 4, aspects of embodiments of the drilling rig 100a, 100b according to the fifth aspect of the disclosure, aspects of embodiments of the control arrangement 130 for rock drilling according to the third aspect of the disclosure and aspects of embodiments of the system 300 for rock breakage according to the fourth aspect of the disclosure are schematically illustrated. For some embodiments, the drilling rig 100a, 100b may be referred to as a rock drilling rig. For example, embodiments of the drilling rig 100a, 100b according to the fifth aspect may be utilised in tunnelling, surface mining, underground mining, rock reinforcement and raise boring. Embodiments of the drilling rig 100a, 100b may be used, for example, for drilling drill holes 160a, 160b, blast holes, grout holes, holes for installing rock bolts, water wells and other wells, as well as for piling and foundations drilling etc, in rock formation 700a, 700bs, for example during tunnelling or mining.

[0070] Embodiments of the method 400, of the control arrangement 130 and of the system 300 may be utilised in combination with the above-described kinds of drilling rigs, but also in combination with any other kind of mining and / or construction machine. However, for the sake of simplicity, the disclosure of the embodiments of the method 400, of the control arrangement 130, and of the system 300 is exemplified hereinbelow with reference to the drilling rigs 100a and 100b illustrated in figures 1 to 3. With reference to figures 1 and 3, the drilling rig 100a, 100b, or drill rig, may rest, or be configured to rest, on a support surface 109, such as ground.

[0071] With reference to figures 1 and 2, in general, the drilling rig 100a may comprise a carrier 102 and one or more booms 101 attached to the carrier 102, where the booms 101 may carry associated drilling machines 104b and / or other tools. The drilling rig 100a illustrated in figure 1 includes one boom 101. A first end 101 a of the boom 101 may be attached in such a way that the boom 101 can pivot in relation to the carrier 102, such as a vehicle, via one or more articulated connections (not shown). The drilling rig 100a may include a feed beam 103 carrying and guiding a feeder 104a, which is movable in relation to the feed beam 103. The drilling rig 100a may include a drilling machine 104b attached to the feeder 104a and thus movable in relation to the feed beam 103. The feed beam 103 may be attached to a second end 101 b of the boom 101 via one or more articulated connections, such as one or more rotators (not shown). The drilling machine 104b may be move along the feed beam 103 as the drilling of a drill hole 160a progresses. The drilling machine 104b may comprise and / or hold a drill string 104c and / or a drill bit 104d for drilling a drill hole 160a. It is to be understood that the embodiment of figures 1 and 2 is only exemplary, and that the drilling rig 100a may carry any kind of tool, such as a bolt installation tool for installation of rock bolts. Other and / or additional tools may also be utilised. Some embodiments of the drilling rig 100a may include means for the propulsion of the drilling rig 100a, such as wheels 1 1 1 , 1 13, or continuous tracks. However, for some embodiments, such means of propulsion may be excluded.

[0072] With reference to figures 1 and 2, for some embodiments, the drilling machine 104b may be hydraulically driven and power supplied from one or more hydraulic pumps 105, which in turn may be driven by one or more electric motors and / or combustion engines 106. For other embodiments, the drilling machine 104b may instead be driven pneumatically, electrically or by fluid. The drilling process may be controlled by an operator from a cabin 107 of drilling rig 100a. Alternatively, the drilling rig 100a may be remotely controlled or be configured to operate autonomously.

[0073] With reference to figures 1 and 2, the drilling rig 100a may include, or be equipped with, one or more detection systems 200, or one or more detection systems 200 may be applied, or applicable, to the drilling rig 100a. The detection system 200 may include one or more detectors 202. As illustrated in figure 1 , the detector 202 may be attached to the carrier 102, or to the boom 101 . In figure 1 , alternative positions of the detector 202 are illustrated by dotted line. With reference to figure 2, another alternative position and attachment of the detector 202 to the drilling rig 100a is schematically illustrated. As illustrated in figure 2, detector 202 may be attached to the drilling machine 104b and / or to the feeder 104a. However, it is to be understood that the detector 202 may be attached and positioned at other locations. For some embodiments, the detection system 200 may include two or more detectors 202.

[0074] With reference to figures 1 and 2, the feed beam 103 may comprise a first end 103a and a second end 103b. The feed beam 103 may be configured to position the first end 103a of the feed beam 103 between the second end 103b of the feed beam 103 and the rock formation 700b to be penetrated or drilled. For some embodiments, during drilling, the first end 103a of the feed beam 103 may abut, or rest, against the rock formation 700a.

[0075] With reference to figure 3, another embodiment of the drilling rig 100b according to the fifth aspect of the disclosure is schematically illustrated. The drilling rig 100b of figure 3 may be referred to as a platform drilling rig. The drilling rig 100b of figure 3 may be configured to be placed above ground. The drilling rig 100b may include a guide 170, or tower, for holding and guiding a drill string 104c and a drill bit 104d for drilling a drill hole 160b in a rock formation 700b. The drilling rig 100b may include a drilling machine (not shown) connected to the drill bit 104d for drilling a drill hole 160b. The drilling rig 100b may include a cabin 172, from where the drilling process may be controlled by an operator. Alternatively, the drilling rig 100b may be remotely controlled or be configured to operate autonomously. It is to be understood that the embodiment of figure 3 is only exemplary, and that the drilling rig 100b may carry any kind of tool. Other and / or additional tools may also be utilised.

[0076] With reference to figure 3, the drilling rig 100b may include, or be equipped with, one or more detection systems 200, or one or more detection systems 200 may be applied, or applicable, to the drilling rig 100b. The detection system 200 may include one or more detectors 202. As illustrated in figure 1 , the detector 202 may be attached to a carrier 102 of the drilling rig 100b. The detector 202 may be located below the cabin 172, for example at a distance from the drill hole 160b. However, it is to be understood that the detector 202 may be attached and positioned at other locations. With reference to figure 4, an embodiment of the system 300 for rock breakage according to the fourth aspect of the disclosure is schematically illustrated. The system 300 includes one or more detection systems 200, for example of a sort disclosed above or below. The detection system 200 may include one or more detectors 202, for example two or more detectors 202. The system 300 includes a control arrangement 130 according to any one of embodiments disclose above or below. The detection system 200 is configured to monitor a flow comprising cuttings exiting a drill hole 160a, 160b being drilled in a rock formation 700a, 700b (see figures 1 to 3) by usage of a drilling machine 104b. The detection system 200 is configured to detect one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole 160a, 160b.

[0077] With reference to figures 1 , 3 and 4, the drilling rig 100a, 100b may include a control arrangement 130 according to any one of the embodiments disclosed above or below. The drilling rig 100a, 100b may include a system 300 according to any one of the embodiments disclose above or below.

[0078] With reference to figures 5, embodiments of the method 400 for rock drilling according to the first aspect include the steps of:

[0079] • monitoring 401 , by usage of one or more detection systems 200, a flow comprising cuttings exiting a drill hole 160a, 160b being drilled in a rock formation 700a, 700b by usage of a drilling machine 104b;

[0080] • detecting 402a one or more varying physical quantities (for example, one or more varying properties) of the flow comprising cuttings upon exit from the drill hole 160a, 160b by usage of one or more detection systems 200; and

[0081] • controlling 403a the rock drilling in the rock formation 700a, 700b in ground based on the one or more detected varying physical quantities of the flow comprising cuttings.

[0082] By performing the step of monitoring 401 the flow comprising cuttings exiting the drill hole 160a, 160b, i.e., when the flow comprising cuttings exits the drill hole 160a, 160b, and the step of detecting 402a one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole 160a, 160b, i.e., when the flow comprising cuttings exits from the drill hole 160a, 160b, it is to be understood that that these steps are performed at, or adjacent to, the drill hole 160a, 160b and not further downstream in a process of removal and transportation of the cuttings, such as at a shake table or shaker screen. For some embodiments, the varying physical quantity may be referred to as a varying property.

[0083] The flow comprising cuttings may also include one or more of water, air, soil, dust, and drilling fluid used during drilling, such as a mixture thereof. It is be understood that the cuttings are pieces of rock, or broken rock, and / or solid components, released from the rock formation 700a, 700b when drilling. For example, embodiments of the method according to the first aspect may be applied to autonomous drilling or drilling equipment / rigs.

[0084] As stated above, an advantage of embodiments of the method according to the first aspect is that the rock drilling or the control of the rock drilling is made more efficient. In general, efficient rock drilling may be seen as maximizing the velocity of the drilling while minimizing the energy consumed during drilling and at the same time creating a stable drill hole 160a, 160b. The inventor has found that one way to measure or determine the efficiency of the drilling is to observe the size of the cuttings and the velocity of the cuttings when they leave or exit the drill hole 160a, 160b. The inventor has found that one way to measure or determine the efficiency of the drilling is to observe the flow comprising cuttings, or the cuttings, exiting the drill hole 160a, 160b. In general, if the cuttings are too small, such as dust-like cuttings, the drill bit 104d is doing more work than necessary, as the drill bit 104d is re-grinding the cuttings. In general, if the cuttings are large it can be concluded that the drill bit 104d is drilling or excavating the rock or rock formation 700a, 700b with minimal work. The cuttings need, or the flow comprising cuttings needs, enough velocity to be evacuated from the drill hole 160a, 160b. However, if the cuttings have, or the flow comprising cuttings has, a too high velocity, excessive energy is consumed, or energy is wasted, and the wear on the drilling equipment is increased. Further, in general, for an efficient drilling, the right amount of water is to be used in the drill hole 160a, 160b. Too little water while drilling creates large amounts of dust. Too much water can have a negative effect on the drill bit bearings and may require more air volume in order evacuate the cuttings from the drill hole 160a, 160b. Too much water may slow down the drilling. The result of too much water is also an increase in maintenance work of the drilling equipment. Water can be added by the drilling equipment or already be present in the rock formation as ground water. In addition to the size of the cutting and the velocity of the flow comprising cuttings, or the velocity of the cuttings, the inventor has identified additional varying physical quantities or properties disclosed hereinbelow, which can be used for the control of the rock drilling in a rock formation 700a, 700b.

[0085] In general, the cuttings, or the flow comprising cuttings, obtain / obtains a velocity by compressed air in order to be evacuated form the drill hole 160a, 160b. In general, the velocity of the cuttings, or of the flow comprising cuttings, can be reduced by providing less compressed air to the drill hole 160a, 160b while the velocity of the cuttings, or of the flow comprising cuttings, can be increased by providing more compressed air to the drill hole 160a, 160b. In general, the rock drilling can be controlled, inter alia, by controlling the rate of the air flow, or compressed air, conveyed into the drill hole 160a, 160b. In general, for efficient drilling which requires minimal energy, the right amount, or rate, of air, or compressed air, should be conveyed into the drill hole 160a, 160b. The air flow, or compressed air, may be conveyed into the drill hole 160a, 160b by conventional equipment, such as equipment including a tube, or a pipe, having holes or openings for letting air through. In general, further, the rock drilling can be controlled, inter alia, by controlling a water flow, or the rate of the water flow, conveyed into the drill hole 160a, 160b. The water flow may be provided into the air flow (or, into the compressed air stream). For example, a metered amount of water may be injected into the air flow, or into the compressed air, so as to suppress dust creation. For some embodiments, the method may include controlling or regulating a water flow, or the rate of the water flow, conveyed into the drill hole 160a; 160b, and / or into the air flow, based on the one or more detected varying physical quantities of the flow comprising cuttings.

[0086] With reference to figure 3, when drilling by way of a platform drilling rig 100b, the flow comprising cuttings, or the cuttings, may be described to be carried, or conveyed, in the drill hole 160a up to the support surface 109 by way of drilling fluid circulating upwards from the drill bit 104d.

[0087] For some embodiments, it may be defined that the step detecting 402a one or more varying physical quantities of the flow comprising cuttings involves detecting 402a one or more varying physical quantities of the flow comprising cuttings when the flow comprising cuttings exits from the drill hole 160a, 160b to a space, or location, where the drilling rig 100a, 100b holding the drilling machine 104b is located.

[0088] With reference to figure 6, some embodiments of the method 400 may include one or more of the steps of:

[0089] • monitoring 401 , by usage of one or more detection systems 200, a flow comprising cuttings exiting a drill hole 160a, 160b being drilled in a rock formation 700a, 700b by usage of a drilling machine 104b;

[0090] • detecting 402a one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole 160a, 160b by usage of one or more detection systems 200;

[0091] • determining 402b one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole 160a, 160b by usage of one or more detection systems 200;

[0092] • determining 402c, by usage of one or more detection systems, one or more values of the one or more detected varying physical quantities of the flow comprising cuttings;

[0093] • controlling 403b the rock drilling in the rock formation 700a, 700b so as to regulate one or more varying physical quantities of the flow comprising cuttings to one or more targets based on the one or more detected varying physical quantities of the flow comprising cuttings;

[0094] • controlling 403c the rock drilling in the rock formation 700a, 700b so as to regulate the one or more varying physical quantities of the flow comprising cuttings to one or more targets based on the one or more determined values of the one or more detected varying physical quantities; and

[0095] • controlling 403d a rate of an air flow, such as compressed air, and / or a water flow, conveyed into the drill hole 160a, 160b based on the one or more detected varying physical quantities of the flow comprising cuttings.

[0096] With reference to figures 5 and 6, for some embodiments, the method 400 may include:

[0097] • monitoring 401 , by usage of one or more detection systems 200, a flow comprising cuttings exiting an opening 162a, 162b of a drill hole 160a, 160b being drilled in a rock formation 700a, 700b by usage of a drilling machine 104b; and • detecting 402a one or more varying physical quantities of the flow comprising cuttings at the opening 162a, 162b of the drill hole 160a, 160b by usage of one or more detection systems 200.

[0098] With reference to figures 5 and 6, for some embodiments, the method 400 may include: monitoring 401 a flow comprising cuttings and detecting 402a one or more varying physical quantities of the flow comprising cuttings by usage of one or more detection systems 200 comprising one or more of the group of:

[0099] • a vision detection system;

[0100] • a camera detection system;

[0101] • a radar detection system;

[0102] • a laser detection system; and

[0103] • a light detection and ranging, LIDAR, detection system.

[0104] The detector 202 of the detection system may comprise a camera, a transmitter, an optical sensors, or any other kind of sensor. However, other detectors 202 and other detection systems 200 may also be used.

[0105] With reference to figures 5 and 6, for some embodiments, it may be defined that the method 400 comprises:

[0106] • monitoring 401 , by usage of one or more detection systems 200, a flow of cuttings exiting a drill hole 160a, 160b being drilled in a rock formation 700a, 700b by usage of a drilling machine 104b;

[0107] • detecting 402a one or more varying physical quantities of the flow of cuttings upon exit from the drill hole 160a, 160b by usage of one or more detection systems 200; and

[0108] • controlling 403a the rock drilling in the rock formation 700a, 700b based on the one or more detected varying physical quantities of the flow of cuttings.

[0109] With reference to figure 7, for some embodiments, the method 400 may include:

[0110] • monitoring 501 , by usage of one or more detection systems 200, cuttings exiting a drill hole 160a, 160b being drilled in a rock formation 700a, 700b by usage of a drilling machine 104b; • detecting 502a one or more varying physical quantities of the cuttings upon exit from the drill hole 160a, 160b by usage of one or more detection systems 200; and

[0111] • controlling 503a the rock drilling in the rock formation 700a, 700b based on the one or more detected varying physical quantities of the cuttings.

[0112] With reference to figure 7, for some embodiments, the method 400 may include:

[0113] • detecting 502a one or more varying properties of the cuttings upon exit from the drill hole 160a, 160b by usage of one or more detection systems 200; and

[0114] • controlling 503a the rock drilling in the rock formation 700a, 700b based on the one or more detected varying properties of the cuttings.

[0115] With reference to figures 5 to 7, for some embodiments of the method, the one or more varying physical quantities or properties comprises / comprise one or more of the group of:

[0116] • a velocity of the flow comprising cuttings exiting the drill hole 160a, 160b;

[0117] • a velocity of the flow of cuttings exiting the drill hole 160a, 160b;

[0118] • a flow rate of the flow comprising cuttings exiting the drill hole 160a, 160b;

[0119] • a flow rate of the flow of cuttings exiting the drill hole 160a, 160b;

[0120] • a velocity of one or more cuttings exiting the drill hole 160a, 160b;

[0121] • a size of one or more cuttings exiting the drill hole 160a, 160b;

[0122] • a number of cuttings exiting the drill hole 160a, 160b per second;

[0123] • an acceleration of one or more cuttings exiting the drill hole 160a, 160b;

[0124] • a colour of one or more cuttings exiting the drill hole 160a, 160b;

[0125] • moisture or water content of the flow comprising cuttings exiting the drill hole 160a, 160b;

[0126] • a volume of the flow comprising cuttings exiting the drill hole 160a, 160b; and

[0127] • a volume of the flow of cuttings exiting the drill hole 160a, 160b.

[0128] However, other varying physical quantities or properties are also possible.

[0129] For example, the volume of the flow comprising cuttings exiting the drill hole 160a, 160b or the volume of the flow of cuttings exiting the drill hole 160a, 160b, such as the material excavated from the drill hole 160a, 160b may be compared to a predetermined, or theoretical, volume value, so as to detect voids in the rock formation 700a, 700b, which is being drilled.

[0130] Unless disclosed otherwise, it should be noted that the method steps illustrated in figures 5 to 7 and described herein do not necessarily have to be executed in the order illustrated in figures 5 to 7. The steps may essentially be executed in any suitable order. Further, one or more steps may be added without departing from the scope of the appended claims. One or more steps may be excluded without departing from the scope of the appended claims.

[0131] With reference to figures 1 and 8, aspects of embodiments of the control arrangement 130 for rock breakage according to the third aspect of the disclosure are schematically illustrated. Embodiments of the control arrangement 130 are configured to:

[0132] • monitor 401 , by usage of one or more detection systems 200, a flow comprising cuttings exiting a drill hole 160a, 160b being drilled in a rock formation 700a, 700b by usage of a drilling machine 104b;

[0133] • detect 402a one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole 160a, 160b by usage of one or more detection systems 200; and

[0134] • control 403a the rock drilling in the rock formation 700a, 700b based on the one or more detected varying physical quantities of the flow comprising cuttings.

[0135] With reference to figure 1 , some embodiments of the control arrangement 130 may include a monitoring unit 131 for the monitoring of cuttings, or a flow comprising cuttings, exiting a drill hole 160a, 160b in order to perform steps 401 and 501 in figures 5 to 7. Some embodiments of the control arrangement 130 may include a detection unit 133 for the detection of one or more varying physical quantities or properties in order to perform steps 402a and 502a in figures 5 to 7. Some embodiments of the control arrangement 130 may include a determination unit 132 for determining one or more varying physical quantities or properties in order to perform steps 402b and 402c in figure 6. Some embodiments of the control arrangement 130 may include a controlling unit 134, or rock drilling controller, for the control of the rock drilling in the rock formation 700a, 700b in order to perform steps 403a, 403b, 403c, 403d and 503a in figure 6. With reference to figures 1 and 5, for some embodiments, the control arrangement 130 may be configured to directly or indirectly communicate, for example via signal lines (or cables or wires) or wirelessly, with one or more of the system 300 and detection system 200. Thus, for some embodiments, there may be one or more signal connections between the control arrangement 130 and one or more of the system 300 and detection system 200.

[0136] Figure 8 shows in schematic representation an embodiment of the control arrangement 130 according to the third aspect of the disclosure, which may include a control unit 600, which may correspond to or may include one or more of the above-mentioned units 131 to 134 of the control arrangement 1 16. The control unit 600 may comprise a computing unit 601 , which can be constituted by essentially any suitable type of processor or microcomputer, for example a circuit for digital signal processing (Digital Signal Processor, DSP), or a circuit having a predetermined specific function (Application Specific Integrated Circuit, ASIC). The computing unit 601 is connected to a memory unit 602 arranged in the control unit 600. The memory unit 602 provides the computing unit 601 with, for example, the stored program code and / or the stored data which the computing unit 601 requires to be able to perform computations. The computing unit 601 is also arranged to store partial or final results of computations in the memory unit 602.

[0137] With reference to figure 8, in addition, the control unit 600 may be provided with devices 61 1 , 612, 613, 614 for receiving and transmitting input and output signals. These input and output signals may contain waveforms, impulses, or other attributes which, by means of the devices 61 1 , 613 for the reception of input signals, can be detected as information and can be converted into signals which can be processed by the computing unit 601 . These signals are then made available to the computing unit 601 . The devices 612, 614 for the transmission of output signals are arranged to convert signals received from the computing unit 601 in order to create output signals by, for example, modulating the signals, which, for example, can be transmitted to parts and / or systems of, or associated with, the drilling rig 100a, a data storage device 150 for storing data, the detection system 200 and / or the system 300. Each of the connections to the devices for receiving and transmitting input and output signals can be constituted by one or more of the group of: a cable; a data bus; and a wireless connection. The data stored in the data storage device 150, which may include data about the varying physical quantities or properties of the cuttings or of the flow comprising cuttings, may be used for machine learning and / or Al applications.

[0138] Here and in this document, units are often described as being provided for performing steps of the method 400 according to embodiments of the disclosure. This also includes that the units are designed to and / or configured to perform these method steps.

[0139] With reference to figures 1 , the units 131 to 134 of the control arrangement 130 are in figure 1 illustrated as separate units. These sperate units may, however, be logically separated but physically implemented in the same unit, or can be both logically and physically arranged together. The units 131 to 134 may for example correspond to groups of instructions, which can be in the form of programming code, that are input into, and are utilized by a processor / computing unit 601 (see figure 8) when the units are active and / or are utilized for performing its method step.

[0140] With reference to figures 1 and 8, the control arrangement 130, which may include one or more control units 600, for example one or more devices, controllers or control devices, according to embodiments of the present disclosure may be arranged to perform all of the method steps mentioned above, in the claims, and in connection with the herein described embodiments. The control arrangement 130 is associated with the above-described advantages for each respective embodiment of the method 400.

[0141] With reference to figure 8, according to the second aspect of the disclosure, a computer program 603 or a computer-readable medium is provided, comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method 400 according to any one of the embodiments disclosed above.

[0142] The person skilled in the art will appreciate that the herein described embodiments of the method 400 according to the first aspect may be implemented in a computer program 603 (see figure 8), which, when it is executed in a computer, instructs the computer to execute the method 400. The computer program is usually constituted by a computer program product 603 stored on a non-transitory / non-volatile digital storage medium, in which the computer program is incorporated in the computer-readable medium of the computer program product. The computer-readable medium comprises a suitable memory, such as, for example: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk unit, etc.

[0143] With reference to figures 1 to 3, according to the fifth aspect of the disclosure, a drilling rig 100a, 100b is provided. The drilling rig 100a, 100b includes one or more of the group of:

[0144] • a control arrangement 130 according to any one of the embodiments disclosed above; and

[0145] • a system 300 according to any one of the embodiments disclosed above or below.

[0146] The embodiments disclosed above may be applied to rock drilling under ground or above ground.

[0147] Finally, it should be understood that the invention is not limited to the embodiments described above, but also relates to and incorporates all embodiments within the scope of the appended independent claims.

Claims

Claims1 . A method (400) for rock drilling, wherein the method (400) comprises: monitoring (401 ), by usage of one or more detection systems (200), a flow comprising cuttings exiting a drill hole (160a; 160b) being drilled in a rock formation (700a; 700b) by usage of a drilling machine (104b); detecting (402a) one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole (160a; 160b) by usage of one or more detection systems (200); and controlling (403a) the rock drilling in the rock formation (700a; 700b) based on the one or more detected varying physical quantities of the flow comprising cuttings.

2. A method (400) according to claim 1 , wherein the method (400) further comprises: determining (402b) one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole (160a; 160b) by usage of one or more detection systems (200).

3. A method (400) according to claim 1 or 2, wherein the method (400) comprises: controlling (403b) the rock drilling in the rock formation (700a; 700b) so as to regulate one or more varying physical quantities of the flow comprising cuttings to one or more targets based on the one or more detected varying physical quantities of the flow comprising cuttings.

4. A method (400) according to any one of the claims 1 to 3, wherein the method (400) further comprises: determining (402c), by usage of one or more detection systems, one or more values of the one or more detected varying physical quantities of the flow comprising cuttings; and controlling (403c) the rock drilling in the rock formation (700a; 700b) so as to regulate the one or more varying physical quantities of the flow comprising cuttings to one or more targets based on the one or more determined values of the one or more detected varying physical quantities.

5. A method (400) according to any one of the claims 1 to 4, wherein the method (400) comprises: monitoring (501 ), by usage of one or more detection systems (200), cuttings exiting a drill hole (160a; 160b) being drilled in a rock formation (700a; 700b) by usage of a drilling machine (104b); detecting (502a) one or more varying physical quantities of the cuttings upon exit from the drill hole (160a; 160b) by usage of one or more detection systems (200); and controlling (503a) the rock drilling in the rock formation (700a; 700b) based on the one or more detected varying physical quantities of the cuttings.

6. A method (400) according to any one of the claims 1 to 5, wherein the method (400) comprises: detecting (502a) one or more varying properties of the cuttings upon exit from the drill hole (160a; 160b) by usage of one or more detection systems (200); and controlling (503a) the rock drilling in the rock formation (700a; 700b) based on the one or more detected varying properties of the cuttings.

7. A method (400) according to any one of the claims 1 to 6, wherein the method (400) comprises: controlling (403d) a rate of an air flow conveyed into the drill hole (160a; 160b) based on the one or more detected varying physical quantities of the flow comprising cuttings.

8. A method (400) according to any one of the claims 1 to 7, wherein the method (400) comprises: monitoring (401 ), by usage of one or more detection systems (200), a flow comprising cuttings exiting an opening (162a; 162b) of a drill hole (160a; 160b) being drilled in a rock formation (700a; 700b) by usage of a drilling machine (104b); and detecting (402a) one or more varying physical quantities of the flow comprising cuttings at the opening (162a, 162b) of the drill hole (160a; 160b) by usage of one or more detection systems (200).

9. A method (400) according to any one of the claims 1 to 8, wherein the method (400) further comprises: monitoring (401 ) a flow comprising cuttings and detecting (402a) one or more varying physical quantities of the flow comprising cuttings by usage of one or more detection systems (200) comprising one or more of the group of:• a vision detection system;• a camera detection system;• a radar detection system;• a laser detection system; and• a light detection and ranging, LIDAR, detection system.

10. A method (400) according to any one of the claims 1 to 9, wherein the method (400) comprises: monitoring (401 ), by usage of one or more detection systems (200), a flow of cuttings exiting a drill hole (160a; 160b) being drilled in a rock formation (700a; 700b) by usage of a drilling machine (104b); detecting (402a) one or more varying physical quantities of the flow of cuttings upon exit from the drill hole (160a; 160b) by usage of one or more detection systems (200); and controlling (403a) the rock drilling in the rock formation (700a; 700b) based on the one or more detected varying physical quantities of the flow of cuttings.

11. A method (400) according to any one of the claims 1 to 10, wherein the one or more varying physical quantities or properties comprises / comprise one or more of the group of:• a velocity of the flow comprising cuttings exiting the drill hole;• a velocity of the flow of cuttings exiting the drill hole;• a flow rate of the flow comprising cuttings exiting the drill hole;• a flow rate of the flow of cuttings exiting the drill hole;• a velocity of one or more cuttings exiting the drill hole;• a size of one or more cuttings exiting the drill hole;• a number of cuttings exiting the drill hole per second;• an acceleration of one or more cuttings exiting the drill hole;• a colour of one or more cuttings exiting the drill hole;• moisture or water content of the flow comprising cuttings exiting the drill hole;• a volume of the flow comprising cuttings exiting the drill hole; and• a volume of the flow of cuttings exiting the drill hole.

12. A computer program (603) or a computer-readable medium comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method (400) according to any one of the claims 1 to 1 1 .

13. A control arrangement (130) for rock drilling, wherein the control arrangement (130) is configured to: monitor (401 ), by usage of one or more detection systems (200), a flow comprising cuttings exiting a drill hole (160a; 160b) being drilled in a rock formation (700a; 700b) by usage of a drilling machine (104b); detect (402a) one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole (160a; 160b) by usage of one or more detection systems (200); and control (403a) the rock drilling in the rock formation (700a; 700b) based on the one or more detected varying physical quantities of the flow comprising cuttings.

14. A system (300) for rock drilling, wherein the system (300) comprises one or more detection systems (200), and a control arrangement (130) according to claim 13, wherein the detection system (200) is configured to monitor a flow comprising cuttings exiting a drill hole (160a; 160b) being drilled in a rock formation (700a; 700b) by usage of a drilling machine (104b), and wherein the detection system (200) is configured to detect one or more varying physical quantities of the flow comprising cuttings upon exit from the drill hole (160a; 160b).

15. A drilling rig (100a; 100b) comprising one or more of the group of:• a control arrangement (130) according to claim 13; and• a system (300) according to claim 14.

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