Method for operating a drill RIG in a drilling area, control device, remote control system and drill rig

Abstract

The present disclosure relates to a method for operating a drill rig (1) in a drilling area (10) where drilling is intended to be performed by the drill rig (1). The method comprises: - obtaining (S1) topography information indicative of the topography in at least a portion of the drilling area (10); - obtaining (S2) a desired drilling plan indicative of at least one drilling hole position (D1-D4) in the drilling area (10) at which the drill rig (1) is intended to carry out drilling and a sequence of drilling hole positions (D1-D4) indicative of an order in which drilling at the at least one drilling hole position (D1-D4) is to be performed; - obtaining (S3) a drill rig (1) operating condition range within which the drill rig (1) is intended to be operated, the drill rig (1) operating condition range comprising at least a maximum allowed inclination of the drill rig (1); - based on the topography information and the desired drilling plan, determining (S4) a drilling path (20) for the drill rig (1) to travel from the drill rig's current position to the next drilling hole position in the sequence of drilling hole positions (D1-D4), such that the drill rig (1) can be operated within the drill rig operating condition range when being located at the next drilling hole position in the sequence of drilling hole positions (D1-D4) as well as when travelling towards the next drilling hole position in the sequence of drilling hole positions, and - controlling (S5) the drill rig (1) to follow the drilling path (20) and perform drilling of the next drilling hole in the sequence of drilling hole positions (D1-D4).

Description

[0001] METHOD FOR OPERATING A DRILL RIG IN A DRILLING AREA, CONTROL DEVICE,

[0002] REMOTE CONTROL SYSTEM AND DRILL RIG

[0003] TECHNICAL FIELD

[0004] The present disclosure generally relates to a method for operating a drill rig in a drilling area. The disclosure further relates to a control device and a control system for performing such a method. Still further, the disclosure relates to a drill rig.

[0005] BACKGROUND

[0006] Surface mines generally require a large number of holes to be drilled in a pattern allowing for the introduction of explosives. Traditionally, these hole patterns were drilled by operator-controlled drill rigs. Recent developments of remotely controlled or autonomous drill rigs have led to increased productivity and safety of drilling operations in surface mines. Using autonomous drill rigs, the operation of the drill rig may be programmed remotely by specifying a drill pattern in a work area where the drilling is to be performed. The drill rig travels along a sequence of drilling holes specified in the drill pattern according to a drill path, which can be programmed and controlled remotely.

[0007] Currently available systems for surface drilling are only suitable for work areas that are essentially flat, i.e. work areas where the surface inclinations, such as slopes or steeps, are below certain thresholds. Traveling over areas with too large surface inclinations is associated with a risk of the drill rig tipping over, potentially damaging the drill rig and / or leading to costs and impaired productivity. Therefore, there are strict constraints on the surface inclinations of the work area where drilling may be performed autonomously.

[0008] Consequently, there is a need for improved methods of operating drill rigs in terrains including large surface inclinations such as slopes or steeps. There is also a need for control systems and control devices for operating drill rigs in such terrains.

[0009] SUMMARY

[0010] A primary object of the present disclosure is to achieve an in at least some aspect improved method for operating a drill rig, and an in at least some aspect improved control device for operating a drill rig. In particular, it is an object to provide such a method and control device that facilitates operation of a drill rig on a varying topography and minimizes the risk for tipping of the drill rig.

[0011] 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.

[0012] According to a first aspect of the present disclosure, there is provided a method for operating a drill rig in a drilling area where drilling is intended to be performed by the drill rig, wherein the method comprises: obtaining topography information indicative of the topography in at least a portion of the drilling area; obtaining a desired drilling plan indicative of at least one drilling hole position in the drilling area at which the drill rig is intended to carry out drilling and a sequence of drilling hole positions indicative of an order in which the at least one drilling hole is to be drilled; obtaining a drill rig operating condition range within which the drill rig is intended to be operated, the drill rig operating condition range comprising at least a maximum allowed inclination of the drill rig; based on the topography information and the desired drilling plan, determining a drilling path for the drill rig to travel from the drill rig’s current position to the next drilling hole position in the sequence of drilling hole positions, such that the drill rig can be operated within the drill rig operating condition range when being located at the next drilling hole position in the sequence of drilling hole positions as well as when travelling towards the next drilling hole position in the sequence of drilling hole positions, and controlling the drill rig to follow the drilling path and perform drilling of the next drilling hole in the sequence of drilling hole positions.

[0013] Thanks to the disclosed method an improved operation of a drill rig in an area with a varying topography may be provided. In particular aspects, a technical benefit may be that that the risk of tipping of the drill rig is appropriately low while operating on a drilling area with a varying topography. Optionally, the method is a computer-implemented method. As such, by way of example, according to an option of the first aspect of the present disclosure, there may be provided a computer-implemented method for operating a drill rig in a drilling area where drilling is intended to be performed by the drill rig, wherein the method comprises performing the features associated with the first aspect of the present disclosure, and optionally also one or more of the optional method features presented below, by a computer system.

[0014] Optionally, the method further comprises updating the drilling path continuously or intermittently while the drill rig follows the drilling path. Thereby, the accuracy of the drilling path is increased as it can be adapted to deviations from the determined path such as due to control errors.

[0015] Optionally, the step of determining a drilling path to the next drilling hole position in the sequence of drilling hole position and the step of controlling the drill rig to follow the drilling path are executed after drilling at a previous drilling hole position in the sequence of drilling hole positions is finished. The disclosed method according to the above allows for planning the path to the next drilling hole position in the sequence of drilling hole positions one at a time instead of planning the drilling path to all holes simultaneously. Thus, the computational burden of the method may be decreased.

[0016] Optionally, the at least one drilling hole position is defined as an absolute position in the drilling area or relative to at least one other drilling hole position of the at least one drilling hole position. Hence, a convenient definition of drilling hole positions may be provided.

[0017] Optionally, the drill rig extends in a longitudinal direction, parallel to an intended direction of travel of the drill rig, along a longitudinal axis. The drill rig also extends in a transversal direction along a transversal axis, the transversal axis being perpendicular to the longitudinal axis. The operating condition range comprises one or more of the following, preferably each one of the following: a maximum allowed inclination around the transversal axis and a maximum allowed inclination around the longitudinal axis.

[0018] Thereby, the risk of tipping of the drill rig may be appropriately low while at the same time exploiting the operating condition ranges and thus avoiding unnecessarily long drilling paths. Optionally, the operating condition range comprises one or more of the following, preferably each one of the following: a maximum allowed inclination around the transversal axis; a minimum allowed inclination around the transversal axis; a maximum allowed inclination around the longitudinal axis, and a minimum allowed inclination around the longitudinal axis. Thereby, the method is adapted to drill rigs having different tipping characteristics in different longitudinal and / or transversal directions.

[0019] Optionally, an absolute value of the maximum allowed inclination around the transversal axis may be different from an absolute value of the minimum allowed inclination around the transversal axis. By way of example only, an absolute value of the difference between the absolute value of the maximum allowed inclination around the transversal axis and the absolute value of the minimum allowed inclination around the transversal axis may be at least 1°, preferably at least 2°.

[0020] Optionally, an absolute value of the maximum allowed inclination around the longitudinal axis may be different from an absolute value of the minimum allowed inclination around the longitudinal axis. By way of example only, an absolute value of the difference between the absolute value of the maximum allowed inclination around the longitudinal axis and the absolute value of the minimum allowed inclination around the longitudinal axis may be at least 1°, preferably at least 2°.

[0021] Optionally, an absolute value of said maximum allowed inclination and / or minimum allowed inclination around said transversal axis is greater than an absolute value of said maximum and / or minimum allowed inclination around said longitudinal axis. By way of example only, an absolute value of said maximum allowed inclination and / or minimum allowed inclination around said transversal axis is greater than an absolute value of said maximum and / or minimum allowed inclination around said longitudinal axis by at least 1°, preferably by at least 2°.

[0022] Optionally, determining the drilling path comprises:

[0023] - generating a candidate drilling path,

[0024] - predicting if the drill rig would enter an operating condition outside the operating condition range when following the candidate drilling path, - if the drill rig is predicted to enter an operating condition outside the operating condition range when following the candidate drilling path, generating a new candidate drilling path.

[0025] Hence, the path generation can be repeated until a path is found that satisfies the operating condition range of the drill rig.

[0026] Optionally, determining a drilling path comprises:

[0027] - generating a set of candidate drilling paths comprising at least two candidate drilling paths;

[0028] - for each candidate drilling paths in the set of candidate drilling paths, predicting if the drill rig would enter an operating condition outside of the operating condition range when following the candidate drilling path,

[0029] - creating a subset of drilling paths containing the candidate drilling path or drilling paths of the set of candidate drilling paths for which no operating conditions outside of the operating condition range is predicted, and

[0030] - selecting the candidate drilling path of the subset of drilling paths associated with a lowest fuel consumption, a lowest energy consumption and / or a shortest operation time as the drilling path.

[0031] Hence, by determining a set of drilling paths and selecting the best path in terms fuel / energy consumption and / or shortest operation time, an optimal path may be obtained. Consequently, the operation time of the drill rig for a given task and / or the fuel / energy consumption may be decreased.

[0032] Optionally, obtaining topography information comprises measuring the topography with a measuring device mounted in an elevated position, such as on an aerial drone, a crane or a tower. Hence, an improved model of the drilling area topography may be obtained.

[0033] Optionally, the measuring device is a camera, a lidar, or a radar device.

[0034] Hence, the accuracy of the topography information may be increased.

[0035] Optionally, the drill rig is an autonomous drill rig.

[0036] Thereby, operation costs may be decreased.

[0037] Optionally, obtaining topography information comprises mapping height information of a 2D-map, such as elevation lines, to a 3D-model of the topography.

[0038] Thus, existing height information may be used to obtain the topography information.

[0039] Optionally, the method further comprises - based on topological features, such as steep inclines, in the topography information, determining a set of exclusion zones comprising at least one exclusion zone, wherein the drill rig is not allowed to enter any exclusion zone in the set of exclusion zones.

[0040] A technical effect may include that the risk of tipping of the drill rig may be appropriately low. Thereby, the risk of damage may be decreased.

[0041] Optionally, the drilling path 20 is determined such that a drilling path portion at an inline, such as a slope, is essentially parallel to an inclination direction of the topography at said drilling path portion.

[0042] This may be beneficial because drill rigs often have a higher tolerance to longitudinal inclinations as compared to transversal inclinations. Travelling parallel to the inclination direction may thus lead to a low risk for tipping of the drill rig.

[0043] According to a second aspect of the present disclosure, there is provided a control device for a drill rig configured to perform the method according to the first aspect, the control device being adapted to issue information to the drill rig for controlling it.

[0044] Advantages and advantageous features of the control device according to the second aspect are largely analogous to advantages and advantageous features of the method according to the first aspect.

[0045] In embodiments, the control device is disposed at a drill rig and / or the control device is part of a remote drill rig control system.

[0046] According to a third aspect of the present disclosure, there is provided a remote drill rig control system, configured to perform the method according to the first aspect, the remote drill rig control system being adapted to issue information to the drill rig for controlling it. The remote drill rig control system may be part of a computer system, for example located on a remote server or a cloud server. Thus, the operation of the drill rig may be planned and controlled remotely.

[0047] According to a fourth aspect of the present disclosure, there is provided a drill rig comprising the control device according to the second aspect.

[0048] Advantages and advantageous features of the drill rig according to the fourth aspect are largely analogous to advantages and advantageous features of the method according to the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In the following, the technology disclosed will be described in detail, with reference to exemplifying embodiments and to the enclosed drawings. In the drawings:

[0050] Fig. 1 schematically illustrates a drill rig according to an embodiment of the disclosure, Fig. 2a-d schematically illustrate a drill rig’s operating range according embodiments of the disclosure,

[0051] Fig. 3 schematically illustrates a drilling area where a drill rig operates according to embodiments of the disclosure,

[0052] Fig. 4 is a flow-chart illustrating steps of a method according to an embodiment of the disclosure.

[0053] Fig. 5 is a flow-chart illustrating steps of a method according to another embodiment of the disclosure.

[0054] Fig. 6 is a flow-chart illustrating steps of a method according to another embodiment of the disclosure.

[0055] The drawings show diagrammatic, exemplifying embodiments of the present disclosure and are thus not necessarily drawn to scale. It shall be understood that the embodiments shown and described are exemplifying and that the disclosure is not limited to these embodiments. It shall also be noted that some details in the drawings may be exaggerated in order to better describe and illustrate the disclosure. Like reference characters refer to like elements throughout the description, unless expressed otherwise.

[0056] DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0057] The following detailed description illustrates embodiments of the present disclosure and ways in which they can be implemented. Although some modes of carrying out the present disclosure have been disclosed, those skilled in the art would recognize that other embodiments for carrying out or practicing the present disclosure are also possible.

[0058] Fig. 1 shows a drill rig 1 according to embodiments of the present disclosure. The drill rig 1 is equipped with a drill arrangement 2 in the form of a boom. The drill arrangement 2 may be arranged pivotably, relative to another portion of the drill rig 1 in one, two or all directions. Further, the drill rig 1 has ground engaging members 3, such as tracks, and a propulsion arrangement (not shown) for propelling the drill rig 1. The drill rig 1 extends in a longitudinal direction, parallel to an intended direction of travel of the drill rig 1 , along a longitudinal axis L and in a transversal direction along a transversal axis T, the transversal axis T being perpendicular to the longitudinal axis L. Moreover, as indicated in Fig. 1, the drill rig 1 may extend in a vertical direction along a vertical axis V wherein the vertical direction is parallel to a normal of a surface supporting the drill rig 1. Furthermore, by way of example, only, the transversal axis T may be perpendicular to each one of the longitudinal axis L and the vertical axis V.

[0059] The operation of the drill rig 1 may be controlled by a control device 100 and / or a remote drill rig control system 200. For this purpose, the control device 100 and / or the remote drill rig control system 200 may be configured to issue control commands to the drill rig 1. The control commands may be sent wirelessly, e.g. via wifi, or via a cable connection. The drill rig 1 may be a remotely controlled or an autonomous drill rig 1.

[0060] Due to the comparably large boom of the drill arrangement 2, the drill rig 1 may be associated with a relatively high risk of tipping over when travelling over topographies with steep height differences. Thus, the drill rig 1 may have an operating condition range within which the drill rig 1 is intended to be operated in terms of an allowed maximum inclination, alternatively in terms of maximum and minimum inclinations. The maximum and minimum inclination may differ in different directions. Figs. 2a-d schematically illustrate the four different cases of inclination of the drill rig 1. In Figs. 2a-d the drilling arrangement 2 is always in a vertical position. Fig. 2a shows the drill rig 1 in a longitudinal forward inclination, i.e. an inclination about the transversal axis T which is perpendicular to the longitudinal axis L. The forward inclination is also referred to as a positive longitudinal inclination. Correspondingly, Fig. 2b shows the drill rig 1 in a longitudinal backward inclination. The backward inclination is also referred to as a negative longitudinal inclination. Fig. 2c shows the drill rig 1 in a right-hand transversal inclination towards the right-hand side as seen in a driving direction, i.e. an inclination about the longitudinal axis L. A right-hand transversal inclination is also referred to as a positive transversal inclination. Fig. 2d shows the drill rig 1 in the corresponding left-hand side transversal inclination, which is referred to as a negative transversal inclination.

[0061] Purely by way of an example, maximum and minimum allowed inclinations for a drill rig 1 are shown in Table 1.

[0062] Table 1: Examples of maximum and minimum allowed inclinations

[0063] The values for the maximum and minimum allowed inclinations may differ substantially from those shown in Table 1 depending on the type of drill rig 1. Further, the maximum and minimum allowed inclinations may be dependent on the pivotal position of the drilling arrangement 2. Only by way of an example, the absolute values of the maximum / minimum allowed transversal inclinations may be generally smaller than the values for the maximum / minimum allowed longitudinal inclinations.

[0064] Fig. 3 schematically illustrates an example of a drilling area 10 where drilling is intended to be performed by the drill rig 1. The drilling area 10 comprises in this example four drilling positions D1-D4. Of course, any other number of drilling positions may be chosen as appropriate for the task at hand. The drilling positions D1-D4 may be specified by an operator of the drill rig 1. For this purpose, the control device 100 and / or the remote drill rig control system 200 may comprise a user interface. Hence, using the user interface, an operator may specify a drilling plan comprising the drill rig 1 positions D1-D4 and a sequence of drilling hole positions D1-D4 in which the drilling is to be performed. The user interface may also enable an operator to specify an approach angle towards each one of the drilling hole position D1-D4. The drilling area 10 may have a topography such as the one illustrated in the example of Fig. 3 with elevation lines 30. Each elevation line 30 is representative for a constant height of the topography in relation to a reference height. In the example of Fig. 3, the drilling area 10 comprises an elevated plateau 11 surrounded by more or less steep inclines. The closer together the elevation lines 30 are at a specific region of the drilling area 10, the steeper is the incline at that specific region. For example, the drilling area 10 exemplified in Fig. 3 has a very steep incline in a steep region 12 marked in the figure by a dashed ellipse. It should be noted that Fig. 3 illustrates a simplified topography for the purpose of exemplifying and explaining the present disclosure. Realistic topographies would be much more complex.

[0065] In a preferred embodiment, the topography information is obtained by measuring from an elevated position, such as a drone equipped with a lidar, a radar or any other distance measuring device. The topography information could also be determined from pictures taken by a camera. Alternatively, the topography information may be obtained from existing height maps of the drilling area 10.

[0066] In the example of Fig. 3, an operator has created a drilling plan for the illustrated drilling area 10. The drill rig 1 may start its operation at a starting position illustrated by the drill rig 1 position in the figure. The drill rig 1 is then expected to travel from the starting position, i.e. the drill rig’s 1 current position when starting the operation, to the first drilling hole position D1. As the shortest path from the starting position towards the first drilling hole position D1 does not involve any inclinations outside of the operation condition range of the drill rig 1 in the Fig. 3 example, a rather direct path from the starting position to the first drilling hole position may be determined. Hence, the drill rig 1 may be controlled to follow the determined direct, i.e. the shortest possible, path towards D1 and to perform drilling at the first drilling hole position D1.

[0067] When drilling at the first drilling hole position is finished, a path to the next drilling hole, i.e. the second drilling hole D2, in the sequence of drilling hole positions D1-D4 is determined. Following a direct path between the first drilling hole position D1 and the second drilling hole position D2, as illustrated by a dashed line in Fig. 3, the drill rig 1 would encounter a steep incline as can be seen by the elevation lines 30 being very close to each other in the steep region 12. Since the inclination direction in the steep region 12, , i.e. the direction perpendicular to the elevation lines 30, substantially deviates from the direct path, the drill rig 1 would also encounter massive transversal inclination.

[0068] Thus, it may be determined that the drill rig 1 would encounter operating conditions outside the permissible operating condition range and that there is a risk for tipping of the drill rig 1. Therefore, a drilling path 20 may be determined that involves traveling over less steep inclinations and / or traveling essentially parallel to the inclination direction, such that excessive transversal inclinations are avoided. Similarly, a direct path between the second drilling hole position D2 and the third drilling hole position D3 would encounter a steep downward slope and transversal inclinations. Thus, an alternative path avoiding the steep downward slope is chosen. The path between the third drilling hole position D3 and the fourth drilling hole D4 involves only minor inclinations and therefore a path rather close to the direct path may be chosen. The inclination direction at a specific region in the drilling area 10 is herein referred to as the direction the terrain faces in the specific region. In topography, the inclination is also commonly referred to as “aspect”. In a map with elevation lines 30 as exemplified in fig. 3, the inclination direction at a specific region is perpendicular to elevation lines at that specific region.

[0069] It should be noted that the drilling path 20 may always be determined from the drill rig’s 1 current position. Hence, the determination of the drilling path 20 from the current position of the drill rig 1 to the next drilling hole in the sequence of drilling hole positions D1-D4 may be executed after a drilling hole has been drilled. Further, the drilling path 20 may be updated continuously or intermittently while following the path. The drill rig’s 1 current position may for this purpose be obtained by any conventional positioning method, such as a global positioning system (GPS) or triangulation of wifi-signals emitted from the drill rig 1. Hence, the drilling path 20 may be updated when deviations from the previously determined drilling path 20 occur.

[0070] Fig. 4 shows a method for operating a drill rig 1 in a drilling area 10. By way of example only, the method may be a computer-implemented method. The method comprises the following actions:

[0071] Action S1 : Obtaining topography information indicative of the topography in at least a portion of the drilling area 10.

[0072] The topography information may include elevation information of the drilling area 10. The topography information may also include obstacles such as buildings, walls, or trees in the drilling area 10. The topography information may be obtained by scanning the drilling area 10 with a distance measuring device such as a lidar or a radar or from a plurality of pictures taken by a camera from an elevated position, such as a drone flying over the drilling area 10.

[0073] Action S2: Obtaining a desired drilling plan indicative of at least one drilling hole position D1-D4 in the drilling area 10 at which the drill rig 1 is intended to carry out drilling and a sequence of drilling hole positions D1-D4 indicative of an order in which drilling at the at least one drilling hole position D1-D4 is to be performed. When the drilling plan includes only one drilling hole position, the sequence of drilling hole positions D1-D4 indicative of an order in which drilling at the at least one drilling hole position D1-D4 is to be performed may comprise a single entity. A desired drilling plan may be specified by an operator of the drill rig 1. The drilling plan may be specified using a user interface of the drill rig’s 1 control device 100 or the remote drill rig control system 200. The user interface may also be incorporated in a separate user device, such as a tablet or a smartphone, which user device is configured to send information to the control device 100 or the remote drill rig control system 200. The drilling plan may include at least one drilling hole position and a sequence in which the drilling hole positions are to be drilled. Optionally, the drilling plan may include approach angles, i.e. angles specifying how the at least one drilling hole position is to be approached.

[0074] Action S3: Obtaining a drill rig 1 operating condition range within which the drill rig 1 is intended to be operated, the drill rig 1 operating condition range comprising at least a maximum allowed inclination of the drill rig 1.

[0075] As already mentioned, there is a risk for tipping when a drill rig 1 travels over an inclined portion of a topography. Thus, in order to avoid tipping, the drill rig 1 may have an operating condition range which comprises at a least a maximum allowed inclination. When operated within the operating condition range, the risk for tipping is considered to be very low.

[0076] Action S4: based on the topography information and the desired drilling plan, determining a drilling path 20 for the drill rig 1 to travel from the drill rig’s 1 current position to the next drilling hole position in the sequence of drilling hole positions D1-D4, such that the drill rig 1 can be operated within the drill rig 1 operating condition range when being located at the next drilling hole position in the sequence of drilling hole positions D1-D4 as well as when travelling towards the next drilling hole position in the sequence of drilling hole positions D1-D4.

[0077] When the action of determining S4 is executed, the drilling path 20 is determined with the current drill rig’s 1 position as a starting point. The action of determining S4 may be repeated continuously or intermittently, i.e. an action of updating S6 the drilling path 20 to the next drilling hole position may be executed as explained in more detail below. As already mentioned, the drill rig’s 1 current position may be obtained using any conventional positioning method. The drilling path 20 determination may include the determination of exclusion zones based on the topographical features in the topography information. For example, exclusion zones may be set around steeps and / or obstacles. The exclusion zones may then be avoided when the drilling path 20 is determined. Further, the drilling path 20 determination may comprise iterative methods for finding an optimal path in terms of fuel / energy consumption or time. These methods are elaborated in more detail with reference to Fig. 5 and 6.

[0078] Action S5: controlling the drill rig 1 to follow the drilling path 20 and perform drilling of the next drilling hole in the sequence of drilling hole positions D1-D4.

[0079] Based on the determined drilling path 20 the drill rig 1 is controlled to follow the drilling path 20 towards the next drilling hole in the sequence of drilling hole positions D1-D4. The control of the drill rig 1 may be performed by the control device 100 sending control commands to the drill rig 1. Additionally or alternatively, the control commands may be issued by the remote drill rig control system 200. Alternatively, the drill rig 1 may be controlled by an operator giving control commands to follow the determined drilling path 20. In the latter case, the user interface may be used to visualize the determined path 20 to the drill rig 1 operator.

[0080] As already mentioned, the method may comprise an optional action of updating S6 the drilling path 20.

[0081] Action S6: updating the drilling path 20 continuously or intermittently while the drill rig 1 follows the drilling path 20 or after the drill rig 1 has finished drilling of a drilling hole.

[0082] The drilling path 20 may be updated by repeating the action of determining S4 the drilling path 20 from the drill rig’s 1 current position to the next drilling hole position at predetermined time points or way points, e.g. every 20 or 30 seconds or every 10 or 20 meters. Alternatively, the drilling path 20 may be updated when a deviation of the drill rig’s 1 position from the previously determined drilling path 20 is detected.

[0083] An example embodiment of the action of determining S4 a drilling path 20 is further described with reference to Fig. 5. According to the example embodiment, a candidate drilling path 20 is generated S4a. It is then predicted S4b based on the topography information if the drill rig 1 would enter an operating condition outside the operating condition range when following the candidate drilling path 20, i.e. if the drill rig 1 would encounter inclinations outside the permissible maximum and minimum defined in the operating condition range. If the drill rig 1 is predicted to enter an operating condition outside the operating condition range when following the candidate drilling path 20, the candidate drilling path 20 may be discarded and a new candidate drilling path 20 may be generated S4c. The actions S4c and S4b may be repeated until a candidate drilling is found that involves no operating conditions outside the operating condition range. The generation of a candidate drilling path 20 may be done by a computer program using any conventional path generation algorithm.

[0084] Another example embodiment of the action determining S4 a drilling path 20 is illustrated in Fig. 6. Here, instead of generating only one candidate path, a set of candidate drilling path 20s comprising at least two candidate drilling path 20s may be generated S4a’.

[0085] Then, it may be predicted S4b’ for each candidate drilling path 20 in the set of candidate drilling path 20s if the drill rig 1 would enter an operating condition outside of the operating condition range when following the candidate drilling path 20.

[0086] Based on the prediction, a subset of drilling path 20s may be created containing the candidate drilling path 20 or drilling path 20s of the set of candidate drilling path 20s for which no operating conditions outside of the operating condition range is predicted.

[0087] Finally, the fuel or energy consumption and / or the operation time for executing may be evaluated. Based thereon, the candidate drilling path 20 of the subset of drilling path 20s associated with a lowest fuel or energy consumption and / or a shortest operation time is selected S4e as the drilling path 20 according to which the drilling rig is controlled. Thus, an optimal drilling path 20 in terms of fuel / energy consumption or operation time is obtained.

[0088] It is to be understood that the present invention is not limited to the embodiments described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.

Claims

CLAIMS1. A method for operating a drill rig (1) in a drilling area (10) where drilling is intended to be performed by said drill rig (1), said method comprising: obtaining (S1) topography information indicative of the topography in at least a portion of said drilling area (10); obtaining (S2) a desired drilling plan indicative of at least one drilling hole position (D1-D4) in said drilling area (10) at which said drill rig (1) is intended to carry out drilling and a sequence of drilling hole positions (D1-D4) indicative of an order in which drilling at the at least one drilling hole position (D1-D4) is to be performed; obtaining (S3) a drill rig (1) operating condition range within which said drill rig (1) is intended to be operated, said drill rig (1) operating condition range comprising at least a maximum allowed inclination of said drill rig (1); based on said topography information and the desired drilling plan, determining (S4) a drilling path (20) for the drill rig (1) to travel from the drill rig’s current position to the next drilling hole position in the sequence of drilling hole positions (D1-D4), such that said drill rig (1) can be operated within said drill rig operating condition range when being located at the next drilling hole position in the sequence of drilling hole positions (D1-D4) as well as when travelling towards the next drilling hole position in the sequence of drilling hole positions, and controlling (S5) the drill rig (1) to follow the drilling path (20) and perform drilling of the next drilling hole in the sequence of drilling hole positions (D1-D4).

2. The method according to claim 1 , further comprising- updating (S6) the drilling path (20) continuously or intermittently while the drill rig (1) follows the drilling path (20).

3. The method according to claims 1 or 2, wherein the step of determining (S4) a drilling path to the next drilling hole position in the sequence of drilling hole position and the step of controlling (S5) the drill rig (1) to follow the drilling path (20) are executed after drilling at a previous drilling hole position in the sequence of drilling hole positions (D1-D4) is finished.

4. The method according to any one of the preceding claims, wherein said at least one drilling hole position (D1-D4) is defined as an absolute position in said drillingarea (10) or relative to at least one other drilling hole position (D1-D4) of said at least one drilling hole position (D1-D4).

5. The method according to any one of the preceding claims, wherein said drill rig (1) extends in a longitudinal direction, parallel to an intended direction of travel of said drill rig (1), along a longitudinal axis (L), said drill rig (1) also extending in a transversal direction along a transversal axis (T), said transversal axis (T) being perpendicular to said longitudinal axis (L), said operating condition range comprising one or more of the following, preferably each one of the following: a maximum allowed inclination around said transversal axis (T) and a maximum allowed inclination around said longitudinal axis (L).

6. The method according to claim 5, wherein said operating condition range comprises one or more of the following, preferably each one of the following: a maximum allowed inclination around said transversal axis (T); a minimum allowed inclination around said transversal axis (T); a maximum allowed inclination around said longitudinal axis (L), and a minimum allowed inclination around said longitudinal axis (L).

7. The method according to claim 6, wherein an absolute value of the maximum allowed inclination around the transversal axis (T) may be different from an absolute value of the minimum allowed inclination around the transversal axis (T), wherein an absolute value of the difference between the absolute value of the maximum allowed inclination around the transversal axis (T) and the absolute value of the minimum allowed inclination around the transversal axis (T) is preferably at least 1°, more preferably at least 2°.

8. The method according to any one of claims 6-7, wherein an absolute value of the maximum allowed inclination around the longitudinal axis (L) may be different from an absolute value of the minimum allowed inclination around the longitudinal axis (L), wherein an absolute value of the difference between the absolute value of the maximum allowed inclination around the longitudinal axis (L) and the absolute value of the minimum allowed inclination around the longitudinal axis (L) is preferably at least 1°, more preferably at least 2°.

9. The method according to any one of claims 5-8, wherein an absolute value of said maximum allowed inclination and / or minimum allowed inclination around said transversal axis (T) is greater than an absolute value of said maximum and / or minimum allowed inclination around said longitudinal axis (L), preferably by at least 1°, more preferably by at least 2°.

10. The method according to any one of the preceding claims, wherein determining (S4) said drilling path (20) comprises:- generating (S4a) a candidate drilling path,- predicting (S4b) if the drill rig (1) would enter an operating condition outside the operating condition range when following the candidate drilling path,- if the drill rig (1) is predicted to enter an operating condition outside the operating condition range when following the candidate drilling path, generating (S4c) a new candidate drilling path.

11. The method according to any one of claims 1 - 9, wherein determining (S4) a drilling path comprises:- generating (S4a’) a set of candidate drilling paths comprising at least two candidate drilling paths;- for each candidate drilling path in said set of candidate drilling paths, predicting (S4b’) if the drill rig would enter an operating condition outside of the operating condition range when following the candidate drilling path,- creating (S4d) a subset of drilling paths containing the candidate drilling path or drilling paths of said set of candidate drilling paths for which no operating conditions outside of the operating condition range is predicted,- selecting the candidate drilling path (S4e) of the subset of drilling paths associated with a lowest fuel, energy consumption and / or a shortest operation time as the drilling path (20).

12. The method according to any one of the preceding claims, wherein obtaining (S1) topography information comprises measuring the topography with a measuring device mounted in an elevated position, such as on an aerial drone, a crane or a tower.

13. The method according to claim 12, wherein the measuring device is a camera, a lidar, or a radar device.

14. The method according to any one of the preceding claims, wherein said drill rig (1) is an autonomous drill rig.

15. The method according to any one of the preceding claims, wherein obtaining (S1) topography information comprises mapping height information of a 2D-map, such as elevation lines, to a 3D-model of the topography.

16. The method according to any one of the preceding claims, further comprising:- based on topological features, such as steep inclines, in the topography information, determining a set of exclusion zones comprising at least one exclusion zone, wherein the drill rig (1) is not allowed to enter any exclusion zone in the set of exclusion zones.

17. The method according to any one of the preceding claims, wherein the drilling path (20) is determined such that a drilling path portion at an inline, such as a slope, is essentially parallel to an inclination direction of the topography at said drilling path portion.

18. Control device (100) for a drill rig (1) configured to perform the method according to any one of claims 1-14, said control device (100) being adapted to issue information to said drill rig (1) for controlling it.

19. The control device (100) according to claim 18, wherein the control device is disposed at a drill rig and / or wherein the control device (100) is part of a remote drill rig control system.

20. Remote drill rig control system (200), configured to perform the method according to any one of claims 1-17, said remote drill rig control system being adapted to issue information to said drill rig (1) for controlling it.

21. A drill rig comprising the control device according to claims 18 or 19.

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