A method for executing a mining or construction operation

Abstract

A method (400) for executing a mining or construction operation performed by a mining or construction work rig (100a-b) comprising a first boom (101) with a feed beam (103; 174b) connected to a rock drilling machine (104b1; 104b2), a first sensing system (180a-b) for the feed beam (103; 174b), and a second boom (112) comprising a logging arrangement (184a-b). The logging arrangement (184a-b) comprises a logging assembly (186a-b) and a shuttling device (188a-b) for shuttling the logging assembly (186a) in a drill hole. The mining or construction work rig (100a-b) comprises a second sensing system (190a-b) for the logging assembly (186a-b). The method (400) comprises: controlling (401) the rock drilling machine (104b1; 104b2) to drill a first drill hole (160a-b); collecting (402) a first set of data while drilling the first drill hole (160a- b); positioning (403) the logging assembly (186a-b) in alignment with the drilled first drill hole (160a-b) based on the collected first set of data; shuttling (404) the logging assembly (186a-b) in the first drill hole (160a-b) and collecting (405) a second set of data; and while collecting (405) the second set of data, controlling (406) the rock drilling machine (104b1; 104b2) to drill a second drill hole (161a-b) based on at least the second set of data collected so far.

Description

[0001] A METHOD FOR EXECUTING A MINING OR CONSTRUCTION OPERATION

[0002] Technical Field

[0003] The disclosure relates to a method for executing a mining or construction operation performed by a mining or construction work rig. Further, the disclosure relates to a mining or construction work rig.

[0004] Background

[0005] 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. Some drilling rigs may comprise a sensing system for sensing and collecting data related to a drilling operation, wherein the collected data may be used for controlling and / or managing the drilling operation.

[0006] Summary

[0007] The inventors have found drawbacks in conventional solutions for sensing and collecting data related to a drilling operation. For example, some conventional solutions are not efficient enough and can be further improved.

[0008] An object of embodiments of the disclosure is to provide a solution which mitigates or solves drawbacks and problems of conventional solutions.

[0009] 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.

[0010] According to a first aspect of the disclosure, the above mentioned and other objects are achieved with a method for executing, or performing, a mining or construction operation performed by a mining or construction work rig. The mining or construction work rig comprises a first boom with a feed beam connected to a rock drilling machine, a first sensing system for the feed beam, and a second boom comprising a logging arrangement. The logging arrangement comprises a logging assembly and a shuttling device for shuttling the logging assembly in a drill hole. The mining or construction work rig further comprises a second sensing system for the logging assembly. The method comprises: controlling the rock drilling machine to drill a first drill hole in a rock formation; collecting a first set of data by usage of the first sensing system while drilling the first drill hole; positioning the logging assembly in alignment with the drilled first drill hole based on the collected first set of data; shuttling the logging assembly in the first drill hole by usage of the shuttling device and collecting a second set of data by usage of the second sensing system; and while collecting the second set of data, controlling the rock drilling machine to drill a second drill hole in the rock formation based on at least the second set of data collected so far.

[0011] The inventors have found that by involving at least two booms in the method, wherein one of the booms comprises the logging arrangement while the other one of the booms comprises the feed beam connected to the rock drilling machine, an uninterrupted and more efficient process can be provided in relation to conventional solutions, which produces better data, such as better measurement data / values, or better sensed data / values. The collection of the second set of data by way of shuttling the logging assembly in the first drill hole while drilling the second drill hole based on at least the second set of data collected so far does not require a perfect drilling of every hole in order to ensure an improved drilling operation as a whole. By way of the collection of the second set of data while drilling the second drill hole based on at least the second set of data collected so far, the speed of execution of a drill plan, based on which the drilling may be controlled, can be significantly increased, since the drilling of a second drill hole does not need to wait for a complete logging of the first drill hole and a calculation of deviation from a drill plan.

[0012] An advantage of the method according to the first aspect is a more efficient mining or construction operation performed by a mining or construction work rig in relation to conventional solutions, since the second set of data is collected by way of shuttling the logging assembly in the first drill hole while drilling the second drill hole based on at least the second set of data collected so far. An advantage of the method according to the first aspect is an improved mining or construction operation performed by a mining or construction work rig. For some embodiments, the improved mining or construction operation may comprise one or more of the group of: excavation; drilling drill holes, blast holes, grout holes, holes for installing rock bolts, water wells and other wells; piling and foundations drilling, for example during tunnelling or mining; managing and / or controlling the extraction of ore from the rock formation; and managing and / or controlling rock formation reinforcement. However, other mining or construction operations are possible.

[0013] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: while shuttling the logging assembly in the first drill hole, controlling the rock drilling machine to drill the second drill hole in the rock formation based on at least the second set of data collected so far.

[0014] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig.

[0015] According to a further advantageous embodiment of the method according to the first aspect, the first set of data comprises data associated with one or more of the first drill hole and rock of the rock formation in which the first drill hole is being drilled, i.e., the first set of data comprises data associated with the first drill hole and / or the rock of the rock formation in which the first drill hole is being drilled.

[0016] According to another advantageous embodiment of the method according to the first aspect, the second set of data comprises data associated with one or more of the first drill hole and rock of the rock formation in which the first drill hole is drilled, i.e., the second set of data comprises data associated with the first drill hole and / or the rock of the rock formation in which the first drill hole is being drilled.

[0017] According to yet another advantageous embodiment of the method according to the first aspect, the method further comprises: based on one or more of the collected first and second sets of data, adjusting a drill plan based on which the drilling performed by the rock drilling machine is controlled.

[0018] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig. The adjustment of the drill plan, or the adjusted drill plan, may be executed automatically and / or the adjustment of the drill plan may be presented or proposed to an operator before any execution or implementation of the adjusted drill plan.

[0019] According to still another advantageous embodiment of the method according to the first aspect, method further comprises: generating and / or updating a geological and / or geotechnical model based on one or more of the collected first and second sets of data.

[0020] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig.

[0021] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: based on the generated and / or updated geological and / or geotechnical model, generating and / or adjusting a drill plan based on which the drilling performed by the rock drilling machine is controlled.

[0022] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig.

[0023] According to a further advantageous embodiment of the method according to the first aspect, one or more of the first and second sets of data comprises / comprise one or more of the group of:

[0024] • position data;

[0025] • directional data;

[0026] • rock drilling parameters;

[0027] • measurement-while-drilling (MWD) data;

[0028] • mining or construction work rig safety data;

[0029] • formation evaluation and correlation data;

[0030] • one or more properties of the rock of the rock formation; • data regarding an interior of the first drill hole;

[0031] • data regarding a hole-mouth of the first drill hole; and

[0032] • relative changes of data or parameters.

[0033] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: collecting the first set of data along the trajectory of the first drill hole, and collecting the second set of data along the trajectory of the first drill hole.

[0034] According to yet another advantageous embodiment of the method according to the first aspect, the method further comprises: determining a deviation of one or more of the collected first and second sets of data from one or more sets of data of a drill plan based on which the drilling performed by the rock drilling machine is controlled.

[0035] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig.

[0036] According to still another advantageous embodiment of the method according to the first aspect, method (further comprises: based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes, adjusting a drill plan based on which the drilling performed by the rock drilling machine is controlled.

[0037] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig.

[0038] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes, adjusting a drill plan based on which the drilling performed by the rock drilling machine is controlled.

[0039] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig. According to a further advantageous embodiment of the method according to the first aspect, the method further comprises: managing and / or controlling rock formation reinforcement based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes.

[0040] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig.

[0041] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: managing and / or controlling rock formation reinforcement based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes.

[0042] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig.

[0043] According to yet another advantageous embodiment of the method according to the first aspect, the method further comprises: managing and / or controlling the extraction of ore from the rock formation based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes.

[0044] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig.

[0045] According to still another advantageous embodiment of the method according to the first aspect, the method further comprises: managing and / or controlling the extraction of ore from the rock formation based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes.

[0046] An advantage of this embodiment is a further improved mining or construction operation performed by a mining or construction work rig. According to an advantageous embodiment of the method according to the first aspect, the method further comprises: while drilling the first drill hole, sensing data of a first set of data by usage of the first sensing system; and while shuttling the logging assembly in the first drill hole, sensing data of a second set of data by usage of the second sensing system.

[0047] 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.

[0048] 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.

[0049] According to a third aspect of the disclosure, the above mentioned and other objects are achieved with a control arrangement for executing a mining or construction operation performed by a mining or construction work rig. The mining or construction work rig comprises a first boom with a feed beam connected to a rock drilling machine, a first sensing system for the feed beam, and a second boom comprising a logging arrangement. The logging arrangement comprises a logging assembly and a shuttling device for shuttling the logging assembly in a drill hole. The mining or construction work rig further comprises a second sensing system for the logging assembly. The control arrangement is configured to: control the rock drilling machine to drill a first drill hole in a rock formation; collect a first set of data by usage of the first sensing system while drilling the first drill hole; position the logging assembly in alignment with the drilled first drill hole based on the collected first set of data; shuttle the logging assembly in the first drill hole by usage of the shuttling device and collect a second set of data by usage of the second sensing system; and while collecting the second set of data, control the rock drilling machine to drill a second drill hole in the rock formation based on at least the second set of data collected so far.

[0050] 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.

[0051] According to a fourth aspect of the disclosure, the above mentioned and other objects are achieved with a mining or construction work rig comprising a first boom with a feed beam connected to a rock drilling machine, a first sensing system for the feed beam, and a second boom comprising a logging arrangement. The logging arrangement comprises a logging assembly and a shuttling device for shuttling the logging assembly in a drill hole. The mining or construction work rig comprises a second sensing system for the logging assembly. The mining or construction work rig further comprises a control arrangement according to any one of the embodiments disclosed above or below.

[0052] Advantages of the mining or construction work rig according to the fourth aspect correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0053] The above-mentioned features and embodiments of the method, the computer program, the computer-readable medium, the control arrangement, and the mining or construction work rig, respectively, may be combined in various possible ways providing further advantageous embodiments. Further advantageous embodiments of the method, the computer program, the computer-readable medium, the control arrangement, and the mining or construction work rig, and further advantages with the embodiments emerge from the detailed description of embodiments.

[0054] Brief Description of the Drawings

[0055] 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:

[0056] Figure 1 is a schematic side view of a first embodiment of the mining or construction work rig according to the fourth aspect of the disclosure to which embodiments of the method according to the first aspect of the disclosure may be applied;

[0057] Figure 2 is a schematic side view of a second embodiment of the mining or construction work rig according to the fourth aspect of the disclosure to which embodiments of the method according to the first aspect of the disclosure may be applied;

[0058] Figures 3-5 are schematic diagrams illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0059] Figure 6 is a schematic flow chart illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0060] Figure 7 is another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure;

[0061] Figure 8 is yet another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure; and

[0062] Figure 9 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. Detailed Description

[0063] With reference to figures 1 and 2, aspects of embodiments of a mining or construction work rig 100a, 100b are schematically illustrated, to which embodiments of the method 400 may be applied. For some embodiments, the mining or construction work rig 100a, 100b may be referred to as a drill rig, a drilling rig, or a rock drilling rig. For example, embodiments of the mining or construction work rig 100a, 100b may be utilised in tunnelling, surface mining, underground mining, rock reinforcement and raise boring. Embodiments of the mining or construction work rig 100a, 100b may be used, for example, for drilling drill holes 160a, 160b, 161 a, 161 b, 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, 700b, for example during tunnelling or mining.

[0064] Embodiments of the method 400 and of the control arrangement 130a-b may be utilised in combination with the above- and below-described kinds of mining or construction work rigs 100a-b, 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 and of the control arrangement 130a-b is exemplified hereinbelow with reference to the mining or construction work rigs 100a and 100b illustrated in figures 1 and 2. With reference to figures 1 and 2, the mining or construction work rig 100a, 100b may rest, or be configured to rest, on a support surface 109, such as ground.

[0065] With reference to figure 1 , a first embodiment of a mining or construction work rig 100a is schematically illustrated. In general, for some embodiments, the mining or construction work rig 100a may comprise a carrier 102 and one or more booms 101 , 1 12 attached to the carrier 102, where the one or more booms 101 may carry one or more drilling machines 104b1 and / or other tools. The mining or construction work rig 100a illustrated in figure 1 includes a first boom 101 and a second boom 1 12. A first end 101 a of the first boom 101 may be attached in such a way that the first boom 101 can pivot in relation to the carrier 102, such as a vehicle, via one or more articulated connections (not shown). The same may apply to the second boom 1 12. With reference to figure 1 , the mining or construction work rig 100a includes a first boom 101 with a feed beam 103 and a rock drilling machine 104b1. For some embodiments, it may be defined that the rock drilling machine 104b1 is arranged on (or provided on, or connected to, or mounted to, or attached to) the feed beam 103. The mining or construction work rig 100a includes a first sensing system 180a for the feed beam 103. For some embodiments, the first sensing system 180a may be described to include one or more first sensors. The mining or construction work rig 100a includes a second boom 1 12 comprising a logging arrangement 184a. For some embodiments, the logging arrangement 184a may be arranged on (or provided on, or connected to, or mounted to, or attached to) the second boom 1 12 via a supporting device 182a. The logging arrangement 184a includes a logging assembly 186a and a shuttling device 188a for shuttling the logging assembly 186a in a drill hole. The mining or construction work rig 100a includes a second sensing system 190a for the logging assembly 186a. For some embodiments, the second sensing system 190a may be described to include one or more second sensors. For some embodiments, the rock drilling machine 104b1 may be a percussive or percussion drilling machine. However, other rock drilling machines are possible. For some embodiments, the feed beam 103 and the supporting device 182a may each be connected to and / or carried by the respective boom 101 , 1 12, which in turn may be connected to the carrier 102.

[0066] With reference to figure 1 , as disclosed above, the mining or construction work rig 100a includes a first boom 101 with a feed beam 103. The feed beam 103 may carry and / or guide a feeding device 104a, which is movable in relation to the feed beam 103. The rock drilling machine 104b1 may be attached to the feeding device 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 first boom 101 via a mounting device (not shown in figure 1 ). The rock drilling machine 104b1 may be moved along the feed beam 103 as the drilling of a drill hole 160a, 161 a progresses. The rock drilling machine 104b1 may be connected / connectable to a drill string 104c and / or a drill bit 104d for drilling a drill hole 160a, 161 a. It is to be understood that the embodiment of figure 1 is only exemplary, and that the mining or construction work 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 mining or construction work rig 100a may include equipment 170a, or means, for the propulsion of the mining or construction work rig 1 OOa, such as wheels 1 1 1 , 1 13, or continuous tracks. However, for some embodiments, such means of propulsion may be excluded.

[0067] With reference to figure 1 , for some embodiments, the rock drilling machine 104b1 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 106a. For other embodiments, the rock drilling machine 104b1 may instead be driven pneumatically, electrically or by fluid. The drilling process may be controlled by an operator from a cabin 107 of the mining or construction work rig 100a. Alternatively, the mining or construction work rig 100a may be remotely controlled or be configured to operate autonomously.

[0068] With reference to figure 1 , the feed beam 103 may comprise a first end 103a and a second end 103b. The first boom 101 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 700a 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. For some embodiments, during drilling, the second end 103b of the feed beam 103 may abut, or rest, against the rock formation 700a.

[0069] With reference to figure 2, a second embodiment of a mining or construction work rig 100b is schematically illustrated. The mining or construction work rig 100b includes a first boom 101 comprising a feed beam 174b connected to a rock drilling machine 104b2. The mining or construction work rig 100b includes a first sensing system 180b for the feed beam 174b. The mining or construction work rig 100b includes a second boom 1 12 comprising a logging arrangement 184b. For some embodiments, the logging arrangement 184b may be arranged on a supporting device 182b. The logging arrangement 184b comprises a logging assembly 186b and a shuttling device 188b for shuttling the logging assembly 186b in a drill hole. The mining or construction work rig 100b comprises a second sensing system 190b for the logging assembly 186b.

[0070] With reference to figure 2, the mining or construction work rig 100b may have equipment 170b, or means, for propulsion. In the embodiment of figure 2, the equipment 170b for propulsion comprises one or more continuous tracks 172b. The rock drilling machine 104b3 may be connected / connectable to a drill string 104c and / or a drill bit 104d for drilling a drill hole 160b, 161 b. For some embodiments, the mining or construction work rig 100c may comprise one or more electric battery units 106b for driving and / or operating the mining or construction work rig 100b and / or may comprise one or more combustion engines for the same purpose. For example, the mining or construction work rig 100b may be utilised in surface mining, underground mining and raise boring. Otherwise, the mining or construction work rig 100b of figure 2 may include one or more features corresponding to one or more features of the mining or construction work rig 100a of figure 1 .

[0071] With reference to figures 6 to 8, embodiments of the method 400 for executing a mining or construction operation performed by a mining or construction work rig 100a-b, such as according to any one 100a-b of the embodiments disclosed above, are schematically illustrated in flow charts.

[0072] With reference to figures 1 , 2 and 6, embodiments of the method 400 for executing a mining or construction operation performed by a mining or construction work rig 100a- b include the steps of:

[0073] • controlling 401 the rock drilling machine 104b1 ; 104b2 to drill a first drill hole 160a-b in a rock formation 700a-b;

[0074] • collecting 402 (or obtaining) a first set of data by usage of the first sensing system 180a-b while drilling the first drill hole 160a-b;

[0075] • positioning 403 the logging assembly 186a-b in alignment with the drilled first drill hole 160a-b based on the collected first set of data;

[0076] • shuttling 404 the logging assembly 186a-b in the first drill hole 160a-b by usage of the shuttling device 188a-b and (or while) collecting 405 (or obtaining) a second set of data by usage of the second sensing system 190a-b; and

[0077] • while collecting 405 the second set of data, controlling 406 the rock drilling machine 104b1 ; 104b2 to drill a second drill hole 161 a-b in the rock formation 700a-b based on at least the second set of data collected so far, or up to the present, for example based on the second set of data collected so far. For some embodiments, the step of shuttling 404 the logging assembly 186a-b may involve or include the step of controlling the shuttling device 188a-b to shuttle the logging assembly 186a-b in the drilled first drill hole 160a-b.

[0078] With reference to figures 1 , 2 and 6, for some embodiments, the method 400 may further comprise: while shuttling 404 the logging assembly 186a-b in the drilled first drill hole 160a-b, controlling 405 the rock drilling machine 104b1 ; 104b2 to drill the second drill hole 161 a-b in the rock formation 700a-b based on at least the second set of data collected so far.

[0079] For some embodiments, the first set of data comprises data associated (or relating to) with one or more of the first drill hole 160a-b and rock of the rock formation 700a-b in which the first drill hole 160a-b is being drilled, i.e., associated with the first drill hole 160a-b and / or the rock of the rock formation 700a-b. For some embodiments, the second set of data comprises data associated with one or more of the first drill hole 160a-b and rock of the rock formation 700a-b in which the first drill hole 160a-b is drilled, i.e., associated with the first drill hole 160a-b and / or the rock of the rock formation 700a-b.

[0080] For some embodiments, one or more of the first and second sets of data may comprise one or more of the group of:

[0081] • position data (such as the position of one or more of the group of: a drill bit 104d of the rock drilling machine 104b1 ; 104b2; the first drill hole 160a-b, the holemouth 163a-b of the first drill hole 160a-b (or opening, entry, drill hole collar, or borehole collar the first drill hole 160a-b), and the end 167a-b of the first drill hole 160a-b);

[0082] • directional data, such as drill hole inclination data, drill hole trajectory data, magnetic direction from north data, azimuth data, and tool facing data;

[0083] • rock drilling parameters, such as bottomhole or downhole temperature, pressure, gas pressure, torque on drill bit, weight on drill bit, rotation speed (revolutions per minute, RPM), smoothness of rotation, rate of penetration, mud flow volume, type and severity of any vibration downhole, depth, and position of drill bit; • measurement-while-drilling (MWD) data. For example, the MWD data may include rock drilling parameters mentioned above. For example, the MWD data may include relative hardness of the rock, tendency to fracture (or fracturing) and specific energy;

[0084] • mining or construction work rig safety data;

[0085] • formation evaluation and correlation data, such as formation resistivity, gammaray, and sonic logs;

[0086] • one or more properties of the rock of the rock formation 700a-b, such as hardness of the rock, tendency to fracture (brittleness) of the rock, density of the rock, composition of the rock, porosity of the rock, and properties of the rock at the hole-mouth of the first drill hole;

[0087] • data regarding an interior 165a-b of the first drill hole 160a-b, such as humidity, and / or pressure;

[0088] • data regarding a hole-mouth 163a-b of the first drill hole 160a-b; and

[0089] • relative changes of data or parameters.

[0090] With reference to figure 7, some embodiments of the method 400 may include one or more of the steps of:

[0091] • collecting 402 the first set of data along the trajectory of the first drill hole 160a- b;

[0092] • collecting 405 the second set of data along the trajectory of the first drill hole 160a-b;

[0093] • based on one or more of the collected first and second sets of data, adjusting 407 a drill plan based on which the drilling performed by the rock drilling machine 104b1 ; 104b2 is controlled;

[0094] • generating 408 and / or updating 409 a geological and / or geotechnical model based on one or more of the collected first and second sets of data;

[0095] • based on the generated and / or updated geological and / or geotechnical model, generating 410 and / or adjusting 407 a drill plan based on which the drilling performed by the rock drilling machine 104b1 ; 104b2 is controlled;

[0096] • determining 41 1 a deviation of one or more of the collected first and second sets of data from one or more sets of data of a drill plan based on which the drilling performed by the rock drilling machine 104b1 ; 104b2 is controlled; • while drilling the first drill hole 160a-b, sensing 416 data of a first set of data by usage of the first sensing system 180a-b, and then collecting 402 the sensed first set of data; and

[0097] • while shuttling 404 the logging assembly in the first drill hole 160a-b, sensing 417 data of a second set of data by usage of the second sensing system 190a- b, and then collecting 402 the sensed second set of data.

[0098] With reference to figure 8, some embodiments of the method 400 may include one or more of the steps of:

[0099] • based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes, adjusting 407 a drill plan based on which the drilling performed by the rock drilling machine 104b1 ; 104b2 is controlled;

[0100] • based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes, adjusting 407 a drill plan based on which the drilling performed by the rock drilling machine 104b1 ; 104b2 is controlled;

[0101] • managing 412 and / or controlling 413 rock formation reinforcement based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes;

[0102] • managing 412 and / or controlling 413 rock formation reinforcement based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes;

[0103] • managing 414 and / or controlling 415 the extraction of ore from the rock formation 700a-b based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes; and

[0104] • managing 414 and / or controlling 415 the extraction of ore from the rock formation 700a-b based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes. With reference to figure 8, the machine learning mentioned above may use, or apply, regression analysis, convolutional modelling, neural network models or multi-task models.

[0105] For some embodiments, the method 400 may include the step of: controlling 401 the rock drilling machine 104b1 ; 104b2 to drill a first drill hole 160a-b in a rock formation 700a-b based on, or according to, a drill plan. For some embodiments, the method 400 may include the step of: while collecting 405 the second set of data, controlling 406 the rock drilling machine 104b1 ; 104b2 to drill a second drill hole 161 a-b in the rock formation 700a-b based on one or more of the drill plan and second set of data collected so far, i.e., based on the drill plan and / or on the second set of data collected so far. The drill plan may be an adjusted or updated drill plan. The drill plan may be continuously or recurringly adjusted and / or updated, for example to attain an optimal drilling. The drill plan may be a predetermined drill plan, for example set from the start. The drill plan may involve planning one or more drill holes. The updating and / or adjustment of the drill plan and / or of the planning of the one or more drill holes may be performed prior to the drilling process or during the drilling process.

[0106] The above-mentioned features and embodiments of the method 400 may be combined in various possible ways.

[0107] Unless disclosed otherwise, it should be noted that the method steps illustrated in figures 6 to 8 and described herein do not necessarily have to be executed in the order illustrated in figures 6 to 8. 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.

[0108] Figures 3 to 5 are schematic diagrams illustrating aspects of embodiments of the method. In figure 3, it is schematically illustrated how the first drill hole 160a-b is drilled by way of the drill bit 104d and the rock drilling machine 104b1 ; 104b2 mounted to the feed beam 103; 174b while the first set of data is collected in steps 401 and 402. In figure 4, it is schematically illustrated how the feed beam 103, 174b and the supporting device 182a-b are positioned at different positions. The logging assembly 186a-b, which is connected to the supporting device 182a-b, is positioned in alignment with the first drill hole 160a-b. The drill bit 104d and the rock drilling machine 104b1 ; 104b2 mounted to the first feed beam 103; 174b are positioned at the location of a future second drill hole 161 a-b.

[0109] In figure 5, it is schematically illustrated how the how the feed beam 103, 174b and the supporting device 182a-b are positioned at different positions. The logging assembly 186a-b is being shuttled in the first drill hole 160a-b by usage of the shuttling device 188a-b and the second set of data is collected in steps 404 and 405 while the second drill hole 161 a-b is drilled by usage of the drill bit 104d and the rock drilling machine 104b1 ; 104b2 mounted to the feed beam 103; 174b in step 406.

[0110] With reference to figures 1 , 2 and 9, aspects of embodiments of the control arrangement 130a, 130b, or rig control system, for executing a mining or construction operation performed by a mining or construction work rig 100a-b are schematically illustrated, wherein the mining or construction work rig 100a-b comprises a first boom 101 with a feed beam 103; 174b connected to a rock drilling machine 104b1 ; 104b2, a first sensing system 180a-b for the feed beam 103; 174b, and a second boom 1 12 comprising a logging arrangement 184a-b, wherein the logging arrangement 184a-b comprises a logging assembly 186a-b and a shuttling device 188a-b for shuttling the logging assembly 186a-b in a drill hole, and wherein the mining or construction work rig 100a-b further comprises a second sensing system 190a-b for the logging assembly 186a-b.

[0111] With reference to figures 1 , 2 and 9, embodiments of the control arrangement 130a-b are configured to:

[0112] • control 401 the rock drilling machine 104b1 ; 104b2 to drill a first drill hole 160a- b in a rock formation 700a-b;

[0113] • collect 402 a first set of data by usage of the first sensing system 180a-b while drilling the first drill hole 160a-b; • position 403 the logging assembly in alignment with the drilled first drill hole 160a-b based on the collected first set of data;

[0114] • shuttle 404 the logging assembly 186a-b in the first drill hole 160a-b by usage of the shuttling device 188a-b and collect 405 a second set of data by usage of the second sensing system 190a-b; and

[0115] • while collecting 405 the second set of data, control 406 the rock drilling machine 104b1 ; 104b2 to drill a second drill hole 161 a-b in the rock formation 700a-b based on at least the second set of data collected so far, for example based on the second set of data collected so far.

[0116] With reference to figure 1 , some embodiments of the control arrangement 130a may include a controlling unit 131 for controlling the rock drilling machine 104b1 ; 104b2 to drill a drill hole 160a-b, 161 a-b in a rock formation 700a-b in order to perform steps 401 and 406 in figures 6 to 8.

[0117] With reference to figure 1 , some embodiments of the control arrangement 130a may include a collector unit 132 for collecting sets of data in order to perform steps 402 and 405 in figures 6 to 8.

[0118] With reference to figure 1 , some embodiments of the control arrangement 130a may include a positioning unit 133 for positioning the logging assembly 186a-b in order to perform step 403 in figures 6 to 8. Some embodiments of the control arrangement 130a may include a shuttling unit 134 for shuttling the logging assembly 186a-b in order to perform step 404 in figures 6 to 8

[0119] With reference to figure 1 , some embodiments of the control arrangement 130a may include a generation and / or adjustment unit 135 for generating and / or updating a drill plan in order to perform steps 407 and 410 in figures 7 and 8.

[0120] With reference to figure 1 , some embodiments of the control arrangement 130a may include a generation and / or updating unit 136 for generating and / or updating a geological and / or geotechnical model in order to perform steps 408 and 409 in figures 7 and 8. With reference to figure 1 , some embodiments of the control arrangement 130a may include a determination unit 137 for determining a deviation of one or more of the collected first and second sets of data in order to perform step 41 1 in figure 7.

[0121] With reference to figure 1 , some embodiments of the control arrangement 130a may include a managing and / or controlling unit 138 in order to perform steps 412, 413, 414 and 415 in figure 8.

[0122] In it is to be understood that embodiments of the control arrangement 130b of figure 2 in corresponding manner may include one or more of the units 131 to 138 disclosed above.

[0123] With reference to figures 1 , 2 and 9, for some embodiments, the control arrangement 130a, 130b may be stationary. The control arrangement 130a, 130b may be located in cloud, in a control system, or elsewhere. The control arrangement 130a-b may be located in one or more mining or construction work rigs 100a-b. The control arrangement 130a-b may be located at two or more of said locations.

[0124] With reference to figures 1 , 2 and 9, for some embodiments, the control arrangement 130a-b 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 first sensing system 180a-b, logging arrangement 184a-b, logging assembly 186a-b, shuttling device 188a- b, second sensing system 190a-b and rock drilling machine 104b1 , 104b2. Thus, for some embodiments, there may be one or more signal connections between the control arrangement 130a-b and one or more of the first sensing system 180a-b, logging arrangement 184a-b, logging assembly 186a-b, shuttling device 188a-b, second sensing system 190a-b and rock drilling machine 104b1 , 104b2.

[0125] Figure 9 shows in schematic representation an embodiment of the control arrangement 130a-b 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 138 of the control arrangement 130a-b. 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.

[0126] With reference to figure 9, in addition, the control unit 600 may be provided with devices 611 , 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 mining or construction work rig 100a-b, a data storage device 150 for storing data, the first sensing system 180a-b, the logging arrangement 184a-b, the logging assembly 186a-b, the shuttling device 188a-b, the second sensing system 190a-b and the rock drilling machine 104b1 , 104b2. 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 the collected first and second sets of data and / or previously or subsequently collected sets of data associated with one or more other drill holes, may be used for machine learning and / or Al applications.

[0127] 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. The units 131 to 138 of the control arrangement 130a-b are in figure 1 illustrated as separate units. These separate 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 138 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 9) when the units are active and / or are utilized for performing its method step.

[0128] With reference to figures 1 , 2 and 9, the control arrangement 130a-b 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 130a-b is associated with the above-described advantages for each respective embodiment of the method 400.

[0129] With reference to figure 9, embodiments of a computer program 603 or of a computer- readable medium are 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.

[0130] 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 9), 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.

[0131] With reference to figures 1 and 2, embodiments of the mining or construction work rig 100a, 100b include, or may include, a control arrangement 130a, 130b according to any one of the embodiments disclosed above. The embodiments disclosed above may be applied to rock drilling under ground or above ground.

[0132] 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 executing a mining or construction operation performed by a mining or construction work rig (100a-b), wherein the mining or construction work rig (100a-b) comprises a first boom (101 ) with a feed beam (103; 174b) connected to a rock drilling machine (104b1 ; 104b2), a first sensing system (180a-b) for the feed beam (103; 174b), a second boom (1 12) comprising a logging arrangement (184a-b), wherein the logging arrangement (184a-b) comprises a logging assembly (186a-b) and a shuttling device (188a-b) for shuttling the logging assembly (186a) in a drill hole, and a second sensing system (190a-b) for the logging assembly (186a-b), wherein the method (400) comprises: controlling (401 ) the rock drilling machine (104b1 ; 104b2) to drill a first drill hole (160a-b) in a rock formation (700a-b); collecting (402) a first set of data by usage of the first sensing system (180a-b) while drilling the first drill hole (160a-b); positioning (403) the logging assembly (186a-b) in alignment with the drilled first drill hole (160a-b) based on the collected first set of data; shuttling (404) the logging assembly (186a-b) in the first drill hole (160a-b) by usage of the shuttling device (188a-b) and collecting (405) a second set of data by usage of the second sensing system (190a-b); and while collecting (405) the second set of data, controlling (406) the rock drilling machine (104b1 ; 104b2) to drill a second drill hole (161 a-b) in the rock formation (700a- b) based on at least the second set of data collected so far.

2. A method (400) according to claim 1 , wherein the method (400) further comprises: while shuttling (404) the logging assembly (186a-b) in the first drill hole (160a-b), controlling (405) the rock drilling machine (104b1 ; 104b2) to drill the second drill hole (161 a-b) in the rock formation (700a-b) based on at least the second set of data collected so far.

3. A method (400) according to claim 1 or 2, wherein the first set of data comprises data associated with one or more of the first drill hole (160a-b) and rock of the rock formation (700a-b) in which the first drill hole (160a-b) is being drilled.

4. A method (400) according to any one of the claims 1 to 3, wherein the second set of data comprises data associated with one or more of the first drill hole (160a-b) and rock of the rock formation (700a-b) in which the first drill hole (160a-b) is drilled.

5. A method (400) according to any one of the claims 1 to 4, wherein the method (400) further comprises: based on one or more of the collected first and second sets of data, adjusting (407) a drill plan based on which the drilling performed by the rock drilling machine (104b1 ; 104b2) is controlled.

6. A method (400) according to any one of the claims 1 to 5, wherein the method (400) further comprises: generating (408) and / or updating (409) a geological and / or geotechnical model based on one or more of the collected first and second sets of data.

7. A method (400) according to claim 6, wherein the method (400) further comprises: based on the generated and / or updated geological and / or geotechnical model, generating (410) and / or adjusting (407) a drill plan based on which the drilling performed by the rock drilling machine (104b1 ; 104b2) is controlled.

8. A method (400) according to any one of the claims 1 to 7, wherein one or more of the first and second sets of data comprises / comprise one or more of the group of:• position data;• directional data;• rock drilling parameters;• measurement-while-drilling data;• mining or construction work rig safety data;• formation evaluation and correlation data;• one or more properties of the rock of the rock formation (700a-b);• data regarding an interior (165a-b) of the first drill hole (160a-b);• data regarding a hole-mouth (163a-b) of the first drill hole (160a-b); and• relative changes of data or parameters.

9. A method (400) according to any one of the claims 1 to 8, wherein the method (400) further comprises: collecting (402) the first set of data along the trajectory of the first drill hole (160a- b), and collecting (405) the second set of data along the trajectory of the first drill hole (160a-b).

10. A method (400) according to any one of the claims 1 to 9, wherein the method (400) further comprises: determining (41 1 ) a deviation of one or more of the collected first and second sets of data from one or more sets of data of a drill plan based on which the drilling performed by the rock drilling machine (104b1 ; 104b2) is controlled.1 1. A method (400) according to any one of the claims 1 to 10, wherein the method (400) further comprises: based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes, adjusting (407) a drill plan based on which the drilling performed by the rock drilling machine (104b1 ; 104b2) is controlled.

12. A method (400) according to any one of the claims 1 to 11 , wherein the method (400) further comprises: based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes, adjusting (407) a drill plan based on which the drilling performed by the rock drilling machine (104b1 ; 104b2) is controlled.

13. A method (400) according to any one of the claims 1 to 12, wherein the method (400) further comprises:managing (412) and / or controlling (413) rock formation reinforcement based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes.

14. A method (400) according to any one of the claims 1 to 13, wherein the method (400) further comprises: managing (412) and / or controlling (413) rock formation reinforcement based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes.

15. A method (400) according to any one of the claims 1 to 14, wherein the method (400) further comprises: managing (414) and / or controlling (415) the extraction of ore from the rock formation (700a-b) based on machine learning based on training data comprising previously collected and stored sets of data associated with one or more other drill holes.

16. A method (400) according to any one of the claims 1 to 15, wherein the method (400) further comprises: managing (414) and / or controlling (415) the extraction of ore from the rock formation (700a-b) based on machine learning based on training data comprising the collected first and second sets of data and previously or subsequently collected and stored sets of data associated with one or more other drill holes.

17. A method (400) according to any one of the claims 1 to 16, wherein the method (400) further comprises: while drilling the first drill hole (160a-b), sensing (416) data of a first set of data by usage of the first sensing system (180a-b); and while shuttling (404) the logging assembly in the first drill hole (160a-b), sensing (417) data of a second set of data by usage of the second sensing system (190a-b).

18. A computer program (603) or a computer-readable medium comprising instructions which, when the program or the instructions is / are executed by acomputer, cause the computer to carry out the method (400) according to any one of the claims 1 to 17.

19. A control arrangement (130a-b) for executing a mining or construction operation performed by a mining or construction work rig (100a-b), wherein the mining or construction work rig (100a-b) comprises a first boom (101 ) with a feed beam (103; 174b) connected to a rock drilling machine (104b1 ; 104b2), a first sensing system (180a-b) for the feed beam (103; 174b), a second boom (1 12) comprising a logging arrangement (184a-b), wherein the logging arrangement (184a-b) comprises a logging assembly (186a-b) and a shuttling device (188a-b) for shuttling the logging assembly (186a-b) in a drill hole, and a second sensing system (190a-b) for the logging assembly (186a-b), wherein the control arrangement ( 130a-b) is configured to: control (401 ) the rock drilling machine (104b1 ; 104b2) to drill a first drill hole (160a-b) in a rock formation (700a-b); collect (402) a first set of data by usage of the first sensing system (180a-b) while drilling the first drill hole (160a-b); position (403) the logging assembly in alignment with the drilled first drill hole (160a-b) based on the collected first set of data; shuttle (404) the logging assembly (186a-b) in the first drill hole (160a-b) by usage of the shuttling device (188a-b) and collect (405) a second set of data by usage of the second sensing system (190a-b); and while collecting (405) the second set of data, control (406) the rock drilling machine (104b1 ; 104b2) to drill a second drill hole (161 a-b) in the rock formation (700a-b) based on at least the second set of data collected so far.

20. A mining or construction work rig (1 OOa-b) comprising a first boom (101 ) with a feed beam (103; 174b) connected to a rock drilling machine (104b1 ; 104b2), a first sensing system (180a-b) for the feed beam (103; 174b), a second boom (1 12) comprising a logging arrangement (184a-b), wherein the logging arrangement (184a-b) comprises a logging assembly (186a-b) and a shuttling device (188a-b) for shuttling the logging assembly (186a-b) in a drill hole, anda second sensing system (190a-b) for the logging assembly (186a-b), wherein the mining or construction work rig (100a-b) comprises a control arrangement (130a-b) according to claim 19.

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