Control unit, rock drilling RIG, and a method for performing a drilling operation

Abstract

A method for handling a drill performing a drilling operation is provided. The drill comprises a drill bit attached to a drill hammer. The drill is arranged to be pressed in a drilling direction at least partly by a drill string. The drilling operation is performed in the drilling direction at least partly by the drill hammer being actuated to impact the drill bit. The method comprises obtaining (201) a value relating to a penetration rate of the drill performing the drilling operation. The method comprises identifying (202) a drilling anomaly associated with the drilling operation by: -when the value is above a first threshold, identifying that the drilling operation is at least partly performed in a cavity, and / or - when the value is below a second threshold, identifying that the drilling operation is jamming.

Description

[0001] A23042

[0002] 1

[0003] CONTROL UNIT, ROCK DRILLING RIG, AND A METHOD FOR PERFORMING A DRILLING OPERATION

[0004] TECHNICAL FIELD

[0005] Embodiments herein relate to a rock drilling rig, a method, and a control unit for performing a drilling operating. Furthermore, a computer program and a carrier are also provided herein.

[0006] BACKGROUND

[0007] When drilling into rock, unexpected problems may occur which entails risks on the drilling process or drilling tool such as when jamming or drilling into cavities. To handle these issues, a manual operator may need to be ready to detect the problems and halt the drilling process accordingly to assess the situation. Stopping the production for manual inspection leads to production loss and overall inefficiency of handling drilling operations.

[0008] SUMMARY

[0009] An object of embodiments herein is to improve efficiency in drilling operations.

[0010] According to a first aspect, a method for handling a drill performing a drilling operation is provided. The drill comprises a drill bit attached to a drill hammer. The drill is arranged to be pressed in a drilling direction at least partly by a drill string. The drilling operation is performed in the drilling direction at least partly by the drill hammer being actuated to impact the drill bit. The method comprises obtaining a value relating to a penetration rate of the drill performing the drilling operation. The method comprises identifying a drilling anomaly associated with the drilling operation by identifying that the drilling operation is at least partly performed in a cavity when the value is above a first threshold. Additionally or alternatively, the method comprises, identifying the drilling anomaly associated with the drilling operation by identifying that the drilling operation is jamming when the value is below a second threshold.

[0011] Since the drilling anomaly is detected by identifying that the drilling operation is jamming or is in a cavity based on the penetration rate, the drilling operation can be handled in an efficient manner. This since there is no need for further manual inspection, and the anomaly can be quicker and more accurately detected by using the first and A23042

[0012] 2 second threshold compared to manual inspection. Since the type of anomaly can be detected, it is further enabled to automatically resolve said anomaly.

[0013] Optionally, in some examples, the method comprises, in response to identifying the drilling anomaly, performing any one or both out of triggering an alert, and / or triggering an adjustment of the drilling operation. In this way, improved efficiency of handling the drilling operation this is since either a manual operator can be alerted to handle the anomaly, meaning the manual operator is free to not manually inspect the drilling operating during the entire drilling process, or the drilling operation can be automatically adjusted to resolve the anomaly.

[0014] Optionally, in some examples, the method comprises, in response to identifying that the drilling operation is at least partly performed in the cavity, triggering the adjustment of the drilling operation comprises halting the drilling operation, feeding the drill string until a stop condition is fulfilled, triggering a percussive action of the drill hammer, and continuing the drilling operation in the drilling direction. Since the drilling operation is halted and the drill string is fed until the stop condition, the drill bit has reached a new position, the drilling operation can be continued after creating a new indent or hole for the drill bit, which is created by the percussive action of the drill hammer. The drilling operation is then enabled to continue in an efficient manner.

[0015] Optionally, in some examples, halting the drilling operation comprises triggering a halt to a percussive action of the drill hammer, and / or when a rotation unit provides a rotation of the drill string as part of the drilling operation, triggering a halt of the rotation provided by the rotation unit.

[0016] In this way, it is possible to flexibly shutdown all or selected parts of the drilling operation.

[0017] Optionally, in some examples, feeding the drill string comprises triggering an advancement of a position of the drill hammer by triggering a rotation unit to provide a feed force acting on the drill string. In this way, the drill hammer may be moved to a new position where the drilling operation may be continued.

[0018] Optionally, in some examples, the stop condition is fulfilled when detecting that the penetration rate is below a third threshold, and / or when detecting that a rotational pressure provided to the drill string exceeds a fourth threshold.

[0019] In this way, it is possible to efficiently detect when the drill hammer has moved to the new position where the drilling operation may be continued.

[0020] Optionally, in some examples, the method comprises, in response to identifying that the drilling operation is jamming, triggering the adjustment of the drilling operation A23042

[0021] 3 comprises triggering a sequence. In this example, the sequence comprises triggering a retraction of the drill hammer by retracting the drill string, feeding the drill string and thereby subsequently pressing the drill in the drilling direction, and attempting to perform a subsequent drilling operation.

[0022] In this way, the jamming can be resolved. This is since any material that may be stuck in the drill hammer may drop down due to gravity or by air pressure in the drill, and thereby the drill can continue to drill when subsequently pressed in the drilling direction.

[0023] Optionally, in some examples, triggering the sequence is performed iteratively until the subsequent attempted drilling operation is successfully not jamming and / or attempted a predefined number of times.

[0024] In this way, the chance of resolving the jamming is greatly improved. This is since depending on the jam, a few attempts may be needed e.g., to loosen up rocks causing the jam.

[0025] Optionally, in some examples, triggering the adjustment of the drilling operation comprises triggering the drill to at least temporarily to stop the drilling operation.

[0026] In this way, it is ensured that the drill is not damaged and / or that the drilling operation is not continued in an uncontrolled and too fast manner, e.g., in case of cavities.

[0027] Optionally, in some examples, triggering the alert comprises triggering a sound and / or light alert, e.g., an indicated warning symbol, and / or transmitting an alert message to an operator and / or a control station controlling the drill.

[0028] In this way, it is ensured that operators or nearby personnel is aware of the anomaly such that they can take necessary precautions.

[0029] Optionally, in some examples, the alert is indicative of at least one instruction for an operator to perform, to assist in the adjustment of the drilling operation.

[0030] In this way, the anomaly can be resolved by the adjustment.

[0031] Optionally, in some examples, identifying that the drilling operation is jamming comprises identifying that the drill hammer is jamming.

[0032] In this way, it may be determined that it is the drill hammer that needs attention, such as to be cleaned of rocks stuck in the hammer.

[0033] Optionally, in some examples, the value relating to the penetration rate represents a penetration rate of the drilling operation and / or a penetration rate of change of the drilling operation. In examples herein, penetration rate may refer to a speed of penetration, and penetration rate of change may refer to acceleration of the penetration. In preferred examples herein, the value represents the penetration rate. A23042

[0034] 4

[0035] In this way, the anomaly may be detected automatically in an efficient manner based on only penetration rate and / or penetration rate of change.

[0036] Optionally, in some examples, the drill hammer is actuated by pneumatics. This may further mean that pressurized air may be used clean the drill hammer of rocks causing a jam, such as when retracting the drill hammer.

[0037] According to a second aspect, a control unit configured to handle a drill arranged to perform a drilling operation is provided. The drill comprises a drill bit attached to a drill hammer. The drill is arranged to be pressed in a drilling direction at least partly by a drill string. The drilling operation is performed in the drilling direction at least partly by the drill hammer being actuated to impact the drill bit. The control unit being configured to: obtain a value relating to a penetration rate of the drill performing the drilling operation; and identify a drilling anomaly associated with the drilling operation by:

[0038] - when the value is above a first threshold, identifying that the drilling operation is at least partly performed in a cavity, and / or

[0039] - when the value is below a second threshold, identifying that the drilling operation is jamming.

[0040] Advantages and effects of the control unit are analogous to the advantages and effects of the method of the first aspect. Further, all embodiments of the control unit are applicable to and combinable with all embodiments of the method of the first aspect, such as any one or more out of the above-mentioned example, and vice versa.

[0041] According to a third aspect, a rock drilling rig comprising a drill arranged to perform a drilling operation is provided. The drill comprises a drill bit attached to a drill hammer. The drill is arranged to be pressed in a drilling direction at least partly by a drill string of the rock drilling rig. The drilling operation is performed in the drilling direction at least partly by the drill hammer being actuated to impact the drill bit. The rock drilling rig further comprises a control unit according to the second aspect.

[0042] Advantages and effects of the rock drilling rig are analogous to the advantages and effects of the method of the first aspect and / or the control unit of the second aspect. Further, all embodiments of the rock drilling rig are applicable to and combinable with all embodiments of the method of the first aspect, such as any one or more out of the above- mentioned example, and vice versa.

[0043] According to a fourth aspect, a computer program comprising instructions, which when executed by a processor, causes the processor to perform actions according to the first aspect. A23042

[0044] 5

[0045] Advantages and effects of the computer program are analogous to the advantages and effects of the method of the first aspect and / or of the control unit of the second aspect. Further, all embodiments of the computer program are applicable to and combinable with all embodiments of the method of the first aspect and / or of the control unit of the second aspect, such as any one or more out of the above-mentioned example, and vice versa.

[0046] According to a fifth aspect, a carrier comprising the computer program according to the fourth aspect, wherein the carrier is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.

[0047] Advantages and effects of the carrier are analogous to the advantages and effects of the method of the first aspect and / or the control unit of the second aspect. Further, all embodiments of the carrier are applicable to and combinable with all embodiments of the method of the first aspect and / or the control unit of the second aspect, such as any one or more out of the above-mentioned example, and vice versa.

[0048] Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0049] BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0051] Fig. 1 is a schematic block diagram illustrating a scenario according to an example herein.

[0052] Fig. 2 is a flowchart depicting a method according to an example herein.

[0053] Fig. 3 is a schematic block diagram illustrating an example herein.

[0054] Fig. 4 is a schematic block diagram illustrating an example herein.

[0055] Fig. 5 is a schematic block diagram illustrating an example herein.

[0056] Fig. 6 is a schematic block diagram illustrating an example of a control unit.

[0057] DETAILED DESCRIPTION

[0058] Fig. 1 is a schematic overview depicting a rock drilling rig 100 according to some examples herein. The rock drilling rig 100 according to the present example of Fig. 1 constitutes a surface drill rig, although it is to be understood that the rock drilling rig 100 may also be of a type being primarily intended e.g. for underground drilling, or a drill rig for any other use. Drill rig as used herein may mean a rock drilling rig. A23042

[0059] 6

[0060] The rock drilling rig 100 is configured to comprise a drill bit 3 e.g., having a life cycle shorter than the rock drilling rig life cycle.

[0061] The illustrated drill rig 100 is as an example in Fig. 1, in the process of performing a drilling operation by drilling a hole having an expected finished depth d, and where the drilling currently has reached a depth x.

[0062] The rock drilling rig 100 may comprise a carrier 101 , which may carry a boom 102 in a conventional manner. Furthermore, a feed beam 103 is attached to the boom 102. The feed beam 103 may carry a carriage 104, which may be slidably arranged along the feed beam 103 to allow the carriage 104 to run along the feed beam 103. The carriage 104, in turn, may carry or comprise a rotation unit 105 which may run along the feed beam 103 by sliding the carriage 104.

[0063] In use, the rotation unit 105 may provide rotation of the drill bit 3, and the rotation unit 105 may be connected to a percussion device in the form of a down-the-hole (DTH) hammer, also referred to as a drill hammer 4, by means of a drill string 107. The drill hammer 4 may be actuated by pneumatics and may be connected to a source of pressurized air. The rotation unit 105, in addition to rotating the drill string 107, e.g., causing the rotation of the drill bit 3, also may provide a feed force acting on the drill string 107 to thereby press the drill bit 3, e.g., in a drilling direction 117, against the rock face being drilled.

[0064] In other words, the rotation unit 105 may be configured to rotate and / or press a drill 1 down in the drilling direction 117. The drill 1 comprises the drill hammer 4 and the drill bit 3. The rotation provided by the rotation unit 105 may in examples herein transmit rotation to the drill hammer 4, and thereby to the drill bit 3, via the drill string 107.

[0065] The drill hammer 4, e.g., the DTH hammer or percussion device, may work down the hole as part of the drill 1 at the end of the drill string 107. An impact piston (not shown) of the drill hammer 4 may strike or otherwise impact the drill bit 3 to transfer shockwave energy to the drill bit 3 and further into the rock for breaking thereof. Drill hammers such as DTH hammers are useful, inter alia, in that the drilling rate may not be considerably affected by the length / depth of the hole being drilled. The length / depth of the hole to be drilled in examples herein may e.g. be in the order of 3-300 meters but may also be less or more.

[0066] The rock drilling rig 100 may further comprises a rig control system comprising a control unit 70. The control unit 70 may is configured to control various functions of the drill rig 100, such as controlling the drilling process and may also be configured to comprise processing circuitry configured for processing and retrieval of component A23042

[0067] 7 information as will be further described below. Any suitable examples herein may be performed by the control unit 70. The control unit 70 may be located in the rock drilling rig 100, or at a remote location, e.g. for remote control of the rock drilling rig 100. The control unit 70 may be part of a server or a cloud resource. The control unit 70 may be capable of obtaining, e.g., receiving, measurements or values of penetration rate or penetration rate of change of the rock drilling rig 100 performing a drilling operation, e.g., by means of sensors of rock drilling rig 100.

[0068] The control unit 70 may be capable of communicating with, and / or controlling any suitable entity of the rock drilling rig 100, e.g., such that it can move any suitable components of the rock drilling rig 100.

[0069] A number of example will now be described, which example may be performed in any suitable combination.

[0070] Fig. 2 illustrates an example method for handling the drill 1 performing a drilling operation. The drill 1 comprising the drill bit 3 attached to the drill hammer 4. The drill 1 is arranged to be pressed in the drilling direction 117 at least partly by the drill string 107. The drilling operation is performed in the drilling direction 117 at least partly by the drill hammer 4 being actuated to impact the drill bit 3. The drill hammer 4 may be actuated by pneumatics.

[0071] The method comprises the following actions which may be taken in any suitable order. Dashed boxed in Fig. 2 indicates optional actions.

[0072] Action 201

[0073] The method comprises obtaining a value relating to a penetration rate of the drill 1 performing the drilling operation.

[0074] According to some examples herein, the value relating to the penetration rate represents a penetration rate of the drilling operation and / or a penetration rate of change of the drilling operation.

[0075] In other words, the value relates to a velocity or speed of the penetration when performing the drilling operation. The value may be obtained over a set period of time and / or continuously.

[0076] The value may be obtained by using sensors in the rock drilling rig 100 for measuring or estimating the penetration rate of the rock drilling rig 100, e.g., based on a movement of the drill string 107 and / or the drill 1. A23042

[0077] 8

[0078] Penetration rate may be measured using a position sensor, e.g., attached to or mounted on a moving part of the rock drilling rig 100, such as on the drill 1 or on a feeder of the rock drilling rig 100. The penetration rate may be calculated based on recalculating the position changes to a penetration rate / moving speed.

[0079] Action 202

[0080] The method comprises identifying a drilling anomaly associated with the drilling operation by: o when the value is above a first threshold, identifying that the drilling operation is at least partly performed in a cavity 300, and / or o when the value is below a second threshold, identifying that the drilling operation is jamming.

[0081] According to some examples herein, identifying that the drilling operation is jamming comprises identifying that the drill hammer 4 is jamming. This may mean that there are rocks stuck in the drill hammer which may need to be cleaned out, manually or by compressed air.

[0082] Identifying that the drilling operation is at least partly performed in a cavity 300 may further comprise identifying that the value, i.e., the penetration rate, matches over time, a first predefined penetration rate corresponding to drilling into a cavity such as the cavity 300, e.g., the value increases rapidly when entering into the cavity 300 in a predefined manner.

[0083] Identifying that the drilling operation is jamming may further comprise identifying that the value, i.e., the penetration rate, matches over time, a predefined penetration rate corresponding to jamming, e.g., the value is lower than the second threshold over a set period of time.

[0084] Identifying that the drilling operation is jamming may further comprise identifying that the value, i.e., the penetration rate, decreases as a result of the jamming. During a jam, the penetration rate may drop rapidly, e.g., down to zero or within an interval of zero.

[0085] Identifying that the drilling operation is at least partly performed in a cavity 300 may further comprise identifying that the value, i.e., the penetration rate, increases as a result of drilling into the cavity 300. During drilling into the cavity 300, the penetration rate may increase, sometimes rapidly and / or in a jerky manner, as compared to a previous penetration rate.

[0086] Action 203 A23042

[0087] 9

[0088] According to some examples herein, the method comprises triggering an alert. The alert may be triggered in response to identifying the drilling anomaly. The alert may be to a manual operator, e.g., to get the operators attention, or may be to an automated system, e.g., the control unit 70.

[0089] According to some examples herein, triggering the alert comprises any one or more out of: triggering a sound and / or light alert, e.g., an indicated warning symbol, transmitting an alert message to an operator and / or a control station controlling the drill 1.

[0090] According to some examples herein, the alert is indicative of at least one instruction for an operator to perform, to assist in the adjustment of the drilling operation. In other words, when the rock drilling rig 100 is not able to itself resolve the anomaly, it may instruct the manual operator or control system on how to resolve it. For jamming, this may be lifting the drill 1 up and down, i.e. , retracting and pressing down the drill 1, and / or actuating air in the drill hammer 4 to clean out rocks in a drilling hole e.g., to not interfere with the drill hammer 4. For cavity drilling this may be an instruction to reposition the drill bit 3 to start a new hole to drill in.

[0091] Action 204

[0092] According to some examples herein, the method comprises in response to identifying the drilling anomaly, triggering an adjustment of the drilling operation. In this way, the anomaly may be resolved.

[0093] The adjustment may be performed autonomously, i.e., without assistance from a manual operator. For example, the drill string 107 may be fed or retracted to adjust the position of the drill 1 and / or the rotation unit 105 may be adjusted to not provide a feed force and / or rotation using the drill string 107.

[0094] Actions 203 and 204 may be performed concurrently or in isolation / independently.

[0095] According to some examples herein, triggering the adjustment of the drilling operation comprises triggering the drill 1 to at least temporarily to stop the drilling operation.

[0096] Cavity anomalies

[0097] According to some examples herein, in response to identifying that the drilling operation is at least partly performed in the cavity 300, triggering the adjustment of the drilling operation comprises any one or more out of the following actions 204-1 a, 204-1 b, A23042

[0098] 10

[0099] 204-lc, and 204-1d, e.g., as a series of steps. As an alternative, any procedure halting the drilling operation and repositioning the drill 1 into a new drilling position, e.g., by feeding the drill string 107 may be sufficient to resolve the cavity anomaly.

[0100] Action 204-1 a.

[0101] According to some examples herein, triggering the adjustment of the drilling operation comprises, e.g., as a first cavity handling sub-step, halting the drilling operation. This may mean to stop all or some actions relating to drilling, e.g., feeding and / or rotation of the drill string 107, and / or actuation of the drill hammer 3.

[0102] In other words, halting the drilling operation may comprise any one or both out of: triggering a halt to a percussive action of the drill hammer 4, and / or when a rotation unit 105 provides a rotation of the drill string 107 as part of the drilling operation, triggering a halt of the rotation provided by the rotation unit 105.

[0103] Action 204-1 b

[0104] According to some examples herein, triggering the adjustment of the drilling operation comprises, e.g., as a second cavity handling sub-step, feeding the drill string 107 until a stop condition is fulfilled.

[0105] According to some examples herein, feeding 204-1 b the drill string 107 comprises triggering an advancement of a position of the drill hammer 4 by triggering a rotation unit 105 to provide a feed force acting on the drill string 107.

[0106] According to some examples herein, the stop condition is fulfilled when any one or both out of: detecting that the penetration rate is below a third threshold, and / or detecting that a rotational pressure provided to the drill string 107 exceeds a fourth threshold.

[0107] In other words, after halting, the drill 1 and the drill bit 3 may be moved or pressed into a new position for drilling, along the drilling direction 117, until it can be detected that it is not possible to further feed the drill string 107 and that it may be possible to start the drilling operation again.

[0108] Action 204-lc

[0109] According to some examples herein, triggering the adjustment of the drilling operation comprises, e.g., as a third cavity handling sub-step, triggering a percussive action of the drill hammer 4. A23042

[0110] 11

[0111] This may be to create an indent or hole to continue drilling.

[0112] Action 204-1 d

[0113] According to some examples herein, triggering the adjustment of the drilling operation comprises, e.g., as a fourth cavity handling sub-step, continuing the drilling operation in the drilling direction.

[0114] Jamming anomalies

[0115] According to some examples herein, in response to identifying that the drilling operation is jamming, triggering the adjustment of the drilling operation comprises triggering a sequence. The sequence comprises the following actions 204-2a, 204-2b, and 204-2c.

[0116] Action 204-2a

[0117] According to some examples herein, triggering the adjustment of the drilling operation comprises, e.g., as a first jamming handling sub-step, triggering a retraction of the drill hammer 4 by retracting the drill string 107.

[0118] When retracting, the drill hammer 4 may be pressurized such as to blow the hammer clean from any rock or item causing the jam.

[0119] Action 204-2b

[0120] According to some examples herein, triggering the adjustment of the drilling operation comprises, e.g., as a second jamming handling sub-step, feeding the drill string 107 and thereby subsequently pressing the drill 1 in the drilling direction 117.

[0121] Action 204-2c

[0122] According to some examples herein, triggering the adjustment of the drilling operation comprises, e.g., as a third jamming handling sub-step, attempting to perform a subsequent drilling operation.

[0123] According to some examples herein, triggering the sequence, e.g., actions 204-2a, 204-2b, and 204-2c, is performed iteratively until the subsequent attempted drilling operation is successfully not jamming and / or attempted a predefined number of times. A23042

[0124] 12

[0125] Fig. 3 illustrates an example scenario of drilling into a cavity 300. The drill string 107 may press down from above the surface 10, to press the drill 1 , including the drill hammer 4 and the drill bit 3 into the cavity 300. Entering the cavity 300 causes the penetration rate to spike, whereby entering the cavity is detected as an anomaly as in action 201 . Accordingly, the drilling operation may be adjusted such as to halt the drill operation, e.g., as in action 204-1 a, and to move the drill 1 to the new position 301 , e.g., as in action 204-1 b, and to actuate the drill hammer in the new position 301 , e.g., as in action 204-1 c, to start drilling a new hole in the cavity, along the drilling direction 301 , e.g., as in action 204-1 d.

[0126] Fig. 4 illustrates an example scenario of jamming when performing a drilling operation. The drill string 107 may press down from above the surface 10, to press the drill 1 , including the drill hammer 4 and the drill bit 3 along the drilling direction 117

[0127] In the example scenario, rock may get stuck in the drill hammer 4 and the drill 1 may thereby start to jam, as detected, e.g., as in action 201 , due to the low penetration rate.

[0128] To resolve the jam, the drill 1 may iteratively be retracted in an upwards direction 401 , e.g., as in action 204-2a, and pressed down in the direction 402, e.g., as in action 204-2b, e.g., until the jamming stops, and further attempt to continue drilling, e.g., as in action 204-2c.

[0129] Fig. 5 illustrates another example of the rock drilling rig 100. The rock drill rig may comprise the control unit 70 and / or may otherwise be configured to perform the method according to the above-mentioned actions. The rock drilling rig 100 further comprises the drill 1 (underground and not shown). In Fig. 5 the rock drilling rig 100 may be exemplified for core drilling including a vertically positioned feed beam 502 whereon there is supported a to and from moveable rotator device 504, e.g., the rotation unit 105. The rotator device 504 may be arranged a pipe holder 505 for temporal holding of a drill string, e.g., the drill string 107, when this is required. Beside the feed beam 502 of the rock drilling rig 100, a power and supply aggregate 503 may be arranged for providing pressure fluid, a lift winch (not shown) and a magazine 506 for receiving drill string components 508, which are to be delivered to the rock drilling rig 100, e.g., for feeding the drill string such as in action 204-1 b or for any drilling operation.

[0130] The control unit 70 may comprise an arrangement depicted in Fig. 6. A23042

[0131] 13

[0132] To perform embodiments herein, e.g. the method according to the action above, the control unit 70 is configured to handle the drill 1 arranged to perform the drilling operation, e.g., as in the actions above. The drill 1 comprises the drill bit 3 attached to the drill hammer 4. The drill 1 is arranged to be pressed in the drilling direction 117 at least partly by the drill string 107. The drilling operation is performed in the drilling direction 117 at least partly by the drill hammer 4 being actuated to impact the drill bit 3,

[0133] The control unit 70 may comprise an input and output interface 600 e.g. for handling the drill 1 and / or for obtaining penetration rate measurements and / or for alerts, instructions, control commands, etc. The input and output interface 600 may comprise a wireless or wired receiver not shown, a transceiver, one or more antennas, and / or a wired or wireless transmitter not shown, e.g., for remote control.

[0134] The control unit 70 is configured to obtain a value relating to a penetration rate of the drill 1 performing the drilling operation.

[0135] The control unit 70 is configured to identify a drilling anomaly associated with the drilling operation by: o when the value is above a first threshold, identifying that the drilling operation is at least partly performed in a cavity 300, and / or o when the value is below a second threshold, identifying that the drilling operation is jamming.

[0136] In some examples, the control unit 70 is configured to: in response to identifying the drilling anomaly, trigger an alert, and / or trigger an adjustment of the drilling operation.

[0137] In some examples, the control unit 70 is configured to: in response to identifying that the drilling operation is at least partly performed in the cavity 300, trigger the adjustment of the drilling operation by any one or more out of: halting the drilling operation, feeding the drill string 107 until a stop condition is fulfilled, triggering a percussive action of the drill hammer 4, and continuing the drilling operation in the drilling direction.

[0138] In some examples, the control unit 70 is configured to halt the drilling operation by triggering a halt to a percussive action of the drill hammer 4, and / or, when a rotation unit 105 provides a rotation of the drill string 107 as part of the drilling operation, triggering a halt of the rotation provided by the rotation unit 105.

[0139] In some examples, the control unit 70 is configured to feed the drill string 107 by triggering an advancement of a position of the drill hammer 4, e.g., by triggering a rotation unit 105 to provide a feed force acting on the drill string 107. A23042

[0140] 14

[0141] In some examples, the control unit 70 is configured to detect the stop condition is fulfilled when detecting that the penetration rate is below a third threshold, and / or when detecting that a rotational pressure provided to the drill string 107 exceeds a fourth threshold.

[0142] In some examples, the control unit 70 is configured to: in response to identifying that the drilling operation is jamming, trigger the adjustment of the drilling operation by triggering a sequence. The sequence may comprise: the control unit 70 being configured to trigger a retraction of the drill hammer 4 by retracting the drill string 107, the control unit 70 being configured to feed the drill string 107 and thereby subsequently pressing the drill 1 in the drilling direction 117, and the control unit 70 being configured to attempt to perform a subsequent drilling operation.

[0143] In some examples, the control unit 70 is configured to: trigger the sequence iteratively until the subsequent attempted drilling operation is successfully not jamming and / or the control unit 70 has attempted a predefined number of times.

[0144] In some examples, the control unit 70 is configured to: trigger the adjustment of the drilling operation by triggering the drill 1 to at least temporarily to stop the drilling operation.

[0145] In some examples, the control unit 70 is configured to: trigger the alert by any one or more out of: triggering a sound and / or light alert, e.g., an indicated warning symbol, transmitting an alert message to an operator and / or a control station controlling the drill 1.

[0146] In some examples, the control unit 70 is configured to: identify that the drilling operation is jamming by identifying that the drill hammer 4 is jamming.

[0147] The embodiments herein may be implemented through one or more processors, such as a processor 610 of a processing circuitry in the control unit 70, depicted in Fig. 6, together with a computer program 630 comprising instructions, which when executed by a processor, causes the processor to perform the functions and actions of the embodiments herein.

[0148] In some embodiments, a respective carrier 640 comprises the respective computer program 630, wherein the carrier 640 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium. For example, one such carrier may be in A23042

[0149] 15 the form of a CD ROM disc or a memory stick. The computer program 630 may furthermore be provided as pure program code on a server and downloaded to the control unit 70.

[0150] The control unit 70 may further comprise a memory 620 comprising one or more memory units. The memory 620 comprises instructions executable by the processor in the control unit 70. The memory 620 is arranged to be used to store e.g. information, indications, data, configurations, position estimations, quality indicators, and applications to perform the embodiments herein when being executed in the control unit 70.

[0151] Those skilled in the art will appreciate that the units in the control unit 70 described above may refer to a combination of analog and digital circuits, and / or one or more processors configured with software and / or firmware, e.g. stored in the control unit 70, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry ASIC, or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip SoC.

[0152] When using the word "comprise" or “comprising” it shall be interpreted as nonlimiting, i.e. meaning "consist at least of".

[0153] It will be appreciated that the foregoing description and the accompanying drawings represent non-limiting examples of the methods and apparatus taught herein. As such, the apparatus and techniques taught herein are not limited by the foregoing description and accompanying drawings. Instead, the embodiments herein are limited only by the following claims and their legal equivalents.

Claims

A2304216Claims1. A method for handling a drill (1) performing a drilling operation, the drill (1) comprising a drill bit (3) attached to a drill hammer (4), wherein the drill (1) is arranged to be pressed in a drilling direction (117) at least partly by a drill string (107), and wherein the drilling operation is performed in the drilling direction (117) at least partly by the drill hammer (4) being actuated to impact the drill bit (3), the method comprising: obtaining (201) a value relating to a penetration rate of the drill (1) performing the drilling operation; and identifying (202) a drilling anomaly associated with the drilling operation by: o when the value is above a first threshold, identifying that the drilling operation is at least partly performed in a cavity (300), and / or o when the value is below a second threshold, identifying that the drilling operation is jamming.

2. The method according to claim 1 , further comprising: in response to identifying (202) the drilling anomaly, performing any one or both out of: o triggering (203) an alert, and / or o triggering (204) an adjustment of the drilling operation.

3. The method according to claim 2, wherein, in response to identifying that the drilling operation is at least partly performed in the cavity (300), triggering (204) the adjustment of the drilling operation comprises: halting (204-1 a) the drilling operation, feeding (204-1 b) the drill string (107) until a stop condition is fulfilled, triggering (204-1 c) a percussive action of the drill hammer (4), continuing (204-1 d) the drilling operation in the drilling direction.

4. The method according to claim 3, wherein, halting (204-1 a) the drilling operation comprises any one or both out of: triggering a halt to a percussive action of the drill hammer (4), and / or- when a rotation unit (105) provides a rotation of the drill string (107) as part of the drilling operation, triggering a halt of the rotation provided by the rotation unit (105).A23042175. The method according to any of claims 3-4, wherein feeding (204-1 b) the drill string (107) comprises triggering an advancement of a position of the drill hammer (4) by triggering a rotation unit (105) to provide a feed force acting on the drill string (107).

6. The method according to any of claims 3-5, wherein the stop condition is fulfilled when any one or both out of: detecting that the penetration rate is below a third threshold, and / or detecting that a rotational pressure provided to the drill string (107) exceeds a fourth threshold..

7. The method according to any of claims 2-6, wherein, in response to identifying that the drilling operation is jamming, triggering (204) the adjustment of the drilling operation comprises triggering a sequence, the sequence comprising: triggering (204-2a) a retraction of the drill hammer (4) by retracting the drill string (107), feeding (204-2b) the drill string (107) and thereby subsequently pressing the drill(1) in the drilling direction (117), and attempting (204-2c) to perform a subsequent drilling operation.

8. The method according to claim 7, wherein triggering the sequence is performed iteratively until the subsequent attempted drilling operation is successfully not jamming and / or attempted a predefined number of times.

9. The method according to any of claims 2-8, wherein triggering (204) the adjustment of the drilling operation comprises triggering the drill (1) to at least temporarily to stop the drilling operation.

10. The method according to any of claims 2-9, wherein triggering (203) the alert comprises any one or more out of: triggering a sound and / or light alert, e.g., an indicated warning symbol, transmitting an alert message to an operator and / or a control station controlling the drill (1).A230421811 . The method according to any of claims 2-10, wherein the alert is indicative of at least one instruction for an operator to perform, to assist in the adjustment of the drilling operation.

12. The method according to any preceding claim, wherein identifying that the drilling operation is jamming comprises identifying that the drill hammer (4) is jamming.

13. The method according to any preceding claim, wherein the value relating to the penetration rate represents a penetration rate of the drilling operation and / or a penetration rate of change of the drilling operation.

14. The method according to any preceding claim, wherein the drill hammer (4) is actuated by pneumatics.

15. A control unit (70) configured to handle a drill (1) arranged to perform a drilling operation, the drill (1) comprising a drill bit (3) attached to a drill hammer (4), wherein the drill (1) is arranged to be pressed in a drilling direction (117) at least partly by a drill string (107), and wherein the drilling operation is performed in the drilling direction (117) at least partly by the drill hammer (4) being actuated to impact the drill bit (3), the control unit (70) being configured to: obtain a value relating to a penetration rate of the drill (1) performing the drilling operation; and identify a drilling anomaly associated with the drilling operation by: o when the value is above a first threshold, identifying that the drilling operation is at least partly performed in a cavity (300), and / or o when the value is below a second threshold, identifying that the drilling operation is jamming.

16. A rock drilling rig (100, 500) comprising a drill (1) arranged to perform a drilling operation, the drill (1) comprising a drill bit (3) attached to a drill hammer (4), wherein the drill (1) is arranged to be pressed in a drilling direction (117) at least partly by a drill string (107) of the rock drilling rig (100, 500), and wherein the drilling operation is performed in the drilling direction (117) at least partly by the drill hammer (4) beingA2304219 actuated to impact the drill bit (3), the rock drilling rig (100, 500) further comprising a control unit (70) according to claim 15.

17. A computer program (630) comprising instructions, which when executed by a processor, causes the processor to perform actions according to any of the claims 1- 14.

18. A carrier (640) comprising the computer program (630) of claim 16, wherein the carrier is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.

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