Method For Controlling Drilling Unit of Rock Drilling Rig, and Rock Drilling Rig

Abstract

A method for excavating a rock cavern one round at a time and a rock drilling rig for the same. The rock drilling rig includes at least one drilling boom and at least one drilling unit is arranged in the drilling boom. A plurality of holes of a round is drilled in accordance with a drilling pattern designed for the round. In order to drill each single hole, the drilling unit is controlled in a rotating angle that effects a location and direction determined for the particular hole from the drilling pattern designed for the particular round. The rotating angle of the drilling unit to be used for drilling the hole is determined on the basis of the rotating angle of the drilling unit carried out in connection with the drilling of one or more previously drilled holes.

1 . A method for controlling at least one drilling unit arranged in at least one drilling boom of a rock drilling rig when excavating a rock cavern one round at a time, the method comprising the steps of:
 drilling holes of a round in accordance with a drilling pattern designed for the round;   controlling, in order to drill each single hole, the drilling unit in a rotating angle which carries out a location and direction determined in the drilling pattern of the particular round for the particular hole, the rotating angle defining a quantity of rotating of the drilling unit around a rotating axis, which is substantially parallel with a feed beam of the drilling unit;   storing the rotating angle of the drilling unit carried out during the drilling of each hole of the round; and   determining the rotating angle of the drilling unit to be used for drilling the hole on the basis of the rotating angle of the drilling unit carried out in connection with the drilling of one or more previously drilled holes.   
     
     
         2 . A method as claimed in  claim 1 , wherein determining the rotating angle of the drilling unit to be used for drilling the hole is on the basis of the rotating angle of the drilling unit carried out in connection with the drilling of one or more holes of one or more previously drilled rounds. 
     
     
         3 . A method as claimed in  claim 1  further comprising the step of, when determining the rotating angle of the drilling unit to be used for drilling the hole, choosing, as initial data for the determination, location data about the hole and data about the rotating angle of the drilling unit associated with the one or more previously drilled holes which were drilled by the drilling unit arranged in the same drilling boom as the drilling unit to be used for drilling the hole to be drilled; determining a distance between the one or more previously drilled holes chosen in the previous step and the hole to be drilled; choosing, on the basis of the distance between the one or more previously drilled holes and the hole to be drilled, one or more already drilled holes on the basis of whose rotating angle of the drilling unit carried out in the drilling thereof the rotating angle of the drilling unit to be used for drilling the hole to be drilled is determined, and determining, on the basis of the rotating angle of the drilling unit carried out in the drilling of the one or more previously drilled holes, the rotating angle of the drilling unit to be used for drilling the hole to be drilled. 
     
     
         4 . A method as claimed in  claim 3 , wherein determining the rotating angle of the drilling unit to be used for drilling the hole to be drilled corresponds with the rotating angle of the drilling unit carried out in the drilling of a previously drilled hole closest to the hole to be drilled. 
     
     
         5 . A method as claimed in  claim 3 , wherein determining the rotating angle of the drilling unit to be used for drilling the hole to be drilled corresponds with a mean value of the rotating angles of the drilling unit carried out in the drilling of a predetermined number of distance-wise closest already drilled holes. 
     
     
         6 . A method as claimed in  claim 3 , wherein determining the rotating angle of the drilling unit to be used for drilling the hole to be drilled corresponds with a mean value of the rotating angles of the drilling unit carried out in the drilling of the one or more previously drilled holes residing at no more than a predetermined distance, or, if no previously drilled hole resides at said no more than a predetermined distance, determining the rotating angle of the drilling unit to be used for drilling the hole to be drilled to correspond with the rotating angle of the drilling unit carried out in the drilling of the closest already drilled hole. 
     
     
         7 . A method as claimed in  claim 5 , wherein determining the mean value of the rotating angles of the drilling unit carried out in the drilling of the one or more previously drilled holes further comprises dividing the value of each rotating angle into a vertical component and a horizontal component, by determining a mean value of the vertical components and a mean value of the horizontal components, and by determining the rotating angle of the drilling unit to be used for drilling the hole on the basis of the mean value of the vertical components and the mean value of the horizontal components. 
     
     
         8 . A method as claimed in  claim 7 , wherein determining the rotating angle of the drilling unit to be used for drilling the hole on the basis of the mean value of the vertical component and the mean value of the horizontal component by employing a calculation formula:
   Φ mean =atan 2(Φ cos     —     mean ,Φ sin     —     mean ), wherein
   Φ cos     —     mean  is the mean value of the horizontal component, and   Φ sin     —     mean  is the mean value of the vertical component.   
     
     
         9 . A method as claimed in  claim 1 , wherein determining the rotating angle of the drilling unit to be used for drilling the hole with respect to an origin of a coordinate system attached to the rock drilling rig. 
     
     
         10 . A rock drilling rig, comprising:
 a movable carrier;   at least one drilling boom;   at least one drilling unit arranged in the drilling boom, the drilling unit including a feed beam and a rock drill, the rock drill being movable on the feed beam by a feed device;   a rotating mechanism for rotating the drilling unit in a rotating angle, the rotating angle defining a quantity of rotation of the drilling unit around a rotating axis, which is substantially parallel with the feed beam of the drilling unit;   at least one storage unit for storing a drilling pattern to be used for drilling a round to be excavated for a rock cavern;   at least one control unit configured, via the rotating mechanism, to control the drilling unit in the rotating angle which carries out a location and direction determined for a hole in the drilling pattern of the round; and   at least one storage unit for storing the rotating angle of the drilling unit carried out in the drilling of each hole of the round to be excavated, wherein the control unit is configured to determine the rotating angle of the drilling unit to be used for drilling the hole on the basis of the rotating angle of the drilling unit carried out in connection with the drilling of one or more previously drilled holes.   
     
     
         11 . A rock drilling rig as claimed in  claim 10 , wherein the control unit determines the rotating angle of the drilling unit to be used for drilling the hole on the basis of the rotating angle of the drilling unit carried out in connection with the drilling of one or more holes of one or more previously drilled rounds. 
     
     
         12 . A rock drilling rig as claimed in  claim 10 , wherein the control unit determines the rotating angle of the drilling unit to be used for drilling the hole by choosing, from the storage unit, as initial data for the determination, location data about the hole and data about the rotating angle of the drilling unit associated with the one or more previously drilled holes which were drilled by the drilling unit arranged in the same drilling boom as the drilling unit to be used for drilling the hole to be drilled, by determining a distance between the already drilled holes chosen in the previous step and the hole to be drilled, and by choosing, on the basis of the distance between the one or more previously drilled holes and the hole to be drilled, one or more previously drilled holes on the basis of whose rotating angle of the drilling unit carried out in the drilling thereof the rotating angle of the drilling unit to be used for drilling the hole to be drilled is determined, and by determining, on the basis of the rotating angle of the drilling unit carried out in the drilling of the one or more previously drilled holes, the rotating angle of the drilling unit to be used for drilling the hole to be drilled. 
     
     
         13 . A rock drilling rig as claimed in  claim 12 , wherein the control unit determines the rotating angle of the drilling unit to be used for drilling the hole to be drilled to correspond with the rotating angle of the drilling unit carried out in the drilling of a previously drilled hole closest to the hole to be drilled. 
     
     
         14 . A rock drilling rig as claimed in  claim 12 , wherein the control unit determines the rotating angle of the drilling unit to be used for drilling the hole to be drilled to correspond with a mean value of the rotating angles of the drilling unit carried out in the drilling of a predetermined number of distance-wise closest previously drilled holes. 
     
     
         15 . A rock drilling rig as claimed in  claim 12 , wherein the control unit determines the rotating angle of the drilling unit to be used for drilling the hole to be drilled to correspond with a mean value of the rotating angles of the drilling unit carried out in the drilling of the one or more previously drilled holes residing at no more than a predetermined distance, or, if no previously drilled hole resides at said no more than a predetermined distance, to determine the rotating angle of the drilling unit to be used for drilling the hole to be drilled to correspond with the rotating angle of the drilling unit carried out in the drilling of the closest previously drilled hole. 
     
     
         16 . A rock drilling rig as claimed in  claim 14 , wherein the control unit determines the mean value of the rotating angles of the drilling unit carried out in the drilling of the one or more previously drilled holes by dividing the value of each rotating angle into a vertical component and a horizontal component, by determining the mean value of the vertical components and the mean value of the horizontal components, and by determining the rotating angle of the drilling unit to be used for drilling the hole on the basis of the mean value of the vertical components and the mean value of the horizontal components. 
     
     
         17 . A rock drilling rig as claimed in  claim 16 , wherein the control unit determines the rotating angle of the drilling unit to be used for drilling the hole on the basis of the mean value of the vertical component and the mean value of the horizontal component by employing a calculation formula:
   Φ mean =atan 2(φ cos     —     mean ,Φ sin     —     mean ), wherein
   Φ cos     —     mean  is the mean value of the horizontal component, and   Φ sin     —     mean  is the mean value of the vertical component.   
     
     
         18 . A rock drilling rig as claimed in  claim 10 , wherein the control unit determines the rotating angle of the drilling unit to be used for drilling the hole with respect to an origin of a coordinate system attached to the rock drilling rig.