Rock Drilling Rig Path Teaching for Collision-Free Positioning
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Solution Overview
Problem
Existing rock drilling rigs face challenges in preventing collisions with obstacles in narrow underground tunnels during drilling operations, particularly when forming transverse drill hole patterns for blast holes or reinforcing rock surfaces with bolts, due to deviations caused by drilling and blasting techniques.
Innovation Solution
An apparatus that generates collision-free movement paths for rock drilling units by manually teaching the unit to move around obstacles, using existing sensors on the rig to gather data and calculate a safe path, which is then implemented during actual drilling without requiring separate spatial sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a teaching procedure is implemented to detect collision-free movement paths, then collision prevention capability is improved, but system complexity increases
Solution Approach 1:
The system performs a teaching procedure before actual drilling operations to detect and store collision-free movement paths. During this preliminary phase, the rock drilling unit is manually moved through the work area while sensors record position data and identify obstacles. The stored path information is then reused during automated drilling operations, eliminating the need for real-time collision detection algorithms and reducing system complexity during critical operations.
Solution Approach 2:
The system creates a digital copy of the collision-free movement path during the teaching phase by recording sensor data on unit position and orientation. This copied path information is stored in memory and reused during actual drilling operations, allowing the system to avoid collisions without requiring complex real-time sensing and calculation capabilities during production operations.
2Ease of manufacture
If existing sensors are utilized for gathering sensing data, then cost is reduced, but measurement precision may be insufficient
Solution Approach 1:
The system uses the rock drilling rig's own existing sensors (boom joint sensors, unit position sensors) to gather data for collision-free path detection, rather than requiring separate dedicated sensing devices. These sensors normally serve for positioning and control functions, and their data is repurposed for collision detection during the teaching phase, eliminating additional hardware costs while maintaining adequate measurement precision for the application.
3Measurement precision
If manual teaching is performed to define movement paths, then collision detection accuracy is improved, but time consumption increases
Solution Approach 1:
Manual teaching to define collision-free movement paths is performed once during an initial setup phase before production drilling operations begin. Although this manual process consumes time, the resulting path information is stored and reused for all subsequent drilling operations, making the initial time investment amortized over many productive cycles. The system effectively trades upfront time consumption for long-term operational efficiency and collision-free performance.
Data Source
AI summary
An apparatus, rock drilling rig and drilling method is provided. The apparatus provides position control data for controlling positioning a rock drilling unit of a rock drilling rig arranged for drilling transverse drill hole patterns in an underground tunnel. The apparatus includes a teaching feature for gathering data on manually controlled movements at the location of the drill hole pattern and to thereby detect a movement path, which is collision free. The data on the taught collision free movement path is implemented when controlling the rock drilling unit during an actual drilling phase.