Control System, Drill Rig and Method Therein

Embodiments herein relate to a system and a method performed therein. In particular, embodiments herein relate to improving the ability to meet a desired specification.

In the field of mining, quarrying and construction work, a typical work sequence for rock blasting is that a hole pattern is planned, that holes are drilled in the rock in accordance with the hole pattern, that explosives are placed in the holes and that the explosives are detonated. The resulting fragmented rocks, e.g. blasting stones, are then transported away. Usually the fragmented rocks need to be further fragmented by crushing them to get a desired size. Fragmentation equipment may handle fragmented rocks within a set size range. Both in the case when the fragmented rock is to be used directly and in the case when it is to be further fragmented, it is useful that the fragmented rocks are of the right size. This is to make it easier to plan, to increase the profitability and to meet the requirements for the end product. However, a problem is that the fragmented rocks does not always have the right size.

In addition, rock blasting also results in vibrations and possibly also moving stones. Similarly to having a desired fragmentation result, there may be a desire to specify vibrations and the occurrence of flying stones.

The present disclosure presents an improved viable solution of a system that handles rock blasting in an efficient manner.

An object of embodiments herein is to improve the ability to approach a desired target.

According to an aspect of embodiments herein the object is achieved by a method performed by a system for determining one or more parameters to use for drilling a subsequent hole in a rock to approach a target. A first hole is drilled in the rock. The system collects data relating to the rock, which data is collected from a drill rig during drilling of the first hole in the rock. The system further determines at least one drilling parameter, based on the collected data of the rock. A second hole is then drilled in the rock using the at least one drilling parameter, thereby approaching the target.

Such a method enables starting with a drilling plan and improving the plan by collecting data with a drill rig and then use the data to adapt drilling parameters. Such a method thus improves the ability to meet a desired specification, i.e. improves the ability to approach a desired target. This is due to that the collected data during drilling the first hole in a rock will be utilized for determining, e.g. adapting, the drilling parameters, such as a hole size, a hole depth and direction. The determined drilling parameters are then used for drilling a subsequent hole. It is also advantageous to use a drill rig for collecting the data as it may be dangerous for a human to perform this action.

According to one embodiment, data relating to the rock may be collected from a drill rig when pulling up the drill after the drilling of the first hole in the rock. As data may be collected when pulling up the drill after drilling, the drill may be used as a probe and consequently more data may be collected which further improves the ability to approach the desired target.

According to one embodiment, additional data relating to the rock may be collected from a probe, wherein the collected additional data may comprise information about a shock wave propagation, a chemical analysis and/or one or more physical properties of material flow from the drilling, and wherein determining the at least one drilling parameter may be based on the collected additional data of the rock. This is advantageous as the probe enables that additional data is collected, which may be used for determining the drilling parameters and this further improves the ability to approach the desired target.

According to one embodiment, at least one firing parameter may be determined based on the collected data of the rock. According to one embodiment, at least one charging parameter may be determined based on the collected data of the rock The at least one firing parameter and/or the at least one charging parameter may be used, together with the at least one drilling parameter, when blasting to approach the target. This is advantageous as further parameters may be determined, other than the drilling parameters. These may be used for simulating the blasting and drilling the second hole in the rock to approach the target may consequently be more accurate.

According to one embodiment, it may be determined whether the target is achieved, based on whether a result of a blasting fulfils one or more criteria, wherein the result of the blasting may be based on the determined first hole and the determined second hole, and wherein the criteria may be associated to a predicted blasting result. This is advantageous as the result of the blasting will be improved until the target is achieved, which in turn further improves the ability to approach the desired target.

According to one embodiment, when the result of the blasting does not fulfil the one or more criteria, the at least one drilling parameter may be adapted, until the one or more criteria are fulfilled, and when the result of the blasting does fulfil the one or more criteria, drilling the rock may be continued by using the determined at least one drilling parameter. This is advantageous as the drilling parameters will be improved and the drilling using the adapted parameters may continue until the target is achieved, which in turn further improves the ability to approach the desired target.

According to one embodiment, when the result of the blasting does not fulfil the one or more criteria, the at least one charging parameter and/or the at least one firing parameter may be adapted until the one or more criteria are fulfilled, and when the result of the blasting does fulfil the one or more criteria, drilling the rock may be continued by using the determined at least one drilling parameter, and blasted with the at least one charging parameter and/or the at least one firing parameter. This is advantageous as the drilling parameters will be improved and the drilling using the adapted parameters may continue until the target is achieved, which in turn further improves the ability to approach the desired target.

According to one embodiment, the target may be related to one or more of: A size and/or a size distribution of one or more fragmented rocks, a reduction of ground vibrations, a reduction of blasting movements, a reduction of fly-rocks and a reduction of carbon dioxide emission. The target may thus relate to different characteristics which makes the method more flexible and accurate.

According to one embodiment, the collected data of the rock and the target may be used as input to a calculation model, wherein the calculation model may determine a set of parameters to use when drilling the second hole. This will improve the simulation and result in more reliable results, which more reliable results may then be used to correct the placement subsequent holes.

According to one embodiment, at least one second drilling parameter may be determined based on the collected data of the rock and a third hole in the rock may be drilled using the at least one second drilling parameter. The result of the blasting may be based on the determined first hole and the determined second hole.

According to another aspect of embodiments herein, the object is achieved by providing a system configured to determine one or more parameters to use for drilling a subsequent hole in a rock to approach a target. The system is configured to drill a first hole in the rock. The system is further configured to collect data relating to the rock, which data is collected from a drill rig during drilling of a first hole in the rock. The system is further configured to determine at least one drilling parameter, based on the collected data of the rock. The system is further configured to drill a second hole in the rock using the at least one drilling parameter, thereby approaching the target.

It is furthermore provided herein a drill rig comprising a system configured to determine one or more parameters to use for drilling a subsequent hole in a rock to approach a target.

Embodiments herein are based on the realization that the drill rig that drills the holes in the rock can be used for collecting data from drilling a first hole. This data may then be used to drill a second hole where also new data may be collected for e.g. correct placements of subsequent holes to approach the desired target.

It should be noted that the drawings have not necessarily been drawn to scale and that the dimensions of certain elements may have been exaggerated for the sake of clarity.

The present invention is described in more detail below with reference to the appended figures, in which examples of embodiments are shown. The invention is not limited to the described examples of embodiments; it is rather defined by the appended patent claims. Like numbers in the figures refer throughout to like elements.

illustrates a schematic overview of embodiments herein comprising a system. The systemcomprises and controls a drill rig. The systemmay e.g. be a drill rig control system. The systemis configured to determine one or more parameters based on a drilled first hole. The determined one or more parameters will be used for drilling a subsequent hole in a rockto approach a target. The target is related to a subsequent blasting of the rock. The system, may e.g. be a control system, which may be used for performing or partly performing the methods herein. The systemmay e.g. be located in a cloud. Collected data may be communicated from the drill rigto the systemin the cloud, which then may send back updated data such as updated drilling parameters to the drill rig. The systemmay also be placed on the drill rigand calculations are then made locally.

An example scenario of a method performed by the system, according to embodiments herein, will now be described with reference to. The systemmay e.g. be a drill rig control system. The method is for determining one or more parameters to use for drilling a subsequent hole in the rockto approach the target. To improve the ability to meet a desired specification, e.g. that a blasting stone meets the desired specification or a certain reduction of ground vibrations, etc., an improved fragmentation simulation may be desirable. To improve this, reliable data about the rockneeds to be collected. This collected data may then be used to improve a fragmentation simulation and result in more accurate results which may then be used for a subsequent hole's placement and drilling of the subsequent hole in the rockto approach the desired result, e.g. target. According to an example scenario, there is a desired result of a subsequent blasting, and data is collected by the drill rigwhile drilling a first hole. This collected data is then used to determine one or more parameters for the drilling of a second hole. This is to achieve, or at least to approach, the desired result after the blasting.

Action. A first hole is drilled in the rock. This is to enable the systemto collect data.

Action. When the first hole in the rockhas been drilled, data relating to the rockcan be collected. The data is thus collected from the drill rigduring drilling of the first hole in the rock. Data relating to the rockmay e.g., comprise one or more of: Rock mass characteristics, presence and/or amount of water, geology characteristics, jointing, geo-modelling, a wall stability, a hardness factor, a joint plane spacing rating and a joint plane orientation and/or angle. The data relating to the rockmay further comprise presence and/or amount of material flow, which is the return drill flow and may also be referred to as drill cut flow, drill flow or material back flow.

Action. The collected data of the rockrelated to the first hole, is used to determine at least one drilling parameter. This drilling parameter will then be used when drilling a second hole in the rock. The drilling parameters may e.g. comprise one or more of: A drilling pattern, a hole diameter, a hole depth, a hole deviation, an inclination of the rock, a subdrilling and a bench height. Other parameters, such as charging parameters and firing parameters may also be used. Charging parameters when used herein may comprise one or more of: A quantity of an explosive substance, a type of explosive substance, an explosive energy, a hole pattern design, a charging method, a charging design and a charging length. Firing parameters may e.g., comprise one or more of: a detonator system, a delay time, a delay pattern, a cleaned face and a number of free faces. In addition to collecting data during drilling, it may also be possible to collect additional data for the simulation by collecting data of the rockwith a probe. The collected additional data may comprise information about a shock wave propagation, a chemical analysis and/or one or more physical properties of material flow from the drilling. The at least one drilling parameter may then also be based on the collected additional data of the rock. In some embodiments, the data of the rockmay be collected as the drill is pulled out of the hole. In such embodiments, it may correspond to a probe, i.e. that when the drill is on the way down data may be collected via the drill rig, and on the way up, at least a part of the drill may act as a probe.

Action. A second hole is then drilled in the rockusing the at least one drilling parameter and thereby approaching the target. The target may be related to one or more of: A size and/or a size distribution of one or more fragmented rocks, a reduction of ground vibrations, a reduction of blasting movements, a reduction of fly-rocks and a reduction of carbon dioxide emission. As explosives emit carbon dioxide, reducing an amount of explosives may also reduce emissions. The first hole and second hole may be at least a part of a hole pattern. However, the first hole and second hole do not necessarily have to be directly following each other, although they may be. There may be an initial hole pattern that is based on an initial simulation, collected data may be used in an updated simulation which in turn leads to an updated hole pattern. The data is collected when drilling the first hole, which may lead to a first- and a second set of drilling parameters. The first- and second set of drilling parameters may then be used when drilling the second hole and a third hole, respectively. This may be expanded to also apply to more holes than three, for example all remaining holes in a hole pattern. In the same way, collected data from the first hole and the second hole may be used to determine parameters for drilling a third hole.

The method actions performed by the systemfor determining one or more parameters to use for drilling the subsequent hole in the rockto approach the target, wherein the target is related to a subsequent blasting of the rock, according to embodiments herein, will now be described with reference to a flowchart depicted in. The actions do not have to be taken in the order stated below but may be taken in any suitable order. Actions performed in some embodiments are marked with dashed boxes.

Action. The system, e.g. the drill rig, drills the first hole in the rock. This action relates to actionabove.

Action. The systemcollects data relating to the rock, which data is collected from the drill rigduring drilling of the first hole in the rock. This action relates to actionabove.

Action. The systemmay collect data relating to the rock, which data is collected from the drill rigwhen pulling up a drill after the drilling of the first hole in the rock.

Action. The systemmay collect additional data relating to the rock, which additional data is collected from a probe, wherein the collected additional data may comprise information about a shock wave propagation, a chemical analysis and/or one or more physical properties of material flow from the drilling, and wherein determining the at least one drilling parameter may be based on the collected additional data of the rock.

Action. The systemdetermines the at least one drilling parameter, based on the collected data of the rock. This action relates to actionabove.

Action. The systemmay determine at least one charging parameter, based on the collected data of the rock, wherein the at least one charging parameter may be used when blasting to approach the target.

Action. The systemmay determine at least one firing parameter, based on the collected data of the rock, which the at least one firing parameter may be used when blasting to approach the target.

Action. The systemdrills the second hole in the rockusing the at least one drilling parameter, thereby approaching the target. This action relates to actionabove. The first hole and the second hole may be at least a part of a hole pattern. The target may be related to one or more of: a size and/or a size distribution of one or more fragmented rocks e.g. blasting stones, a reduction of ground vibrations, a reduction of blasting movements, a reduction of fly-rocks and a reduction of carbon dioxide emission. The collected data of the rockand the target may be used as input to a calculation model, and wherein the calculation model may determine a set of parameters to use when drilling the second hole.

Action. The systemmay determine whether the target is achieved, based on whether a result of a blasting fulfils one or more criteria. The result of the blasting may be based on the determined first hole and the determined second hole. The criteria may be associated to a predicted blasting result.

According to some embodiments, when the result of the blasting does not fulfil the one or more criteria, the at least one drilling parameter may be adapted, until the one or more criteria are fulfilled. When the result of the blasting does fulfil the one or more criteria, the drilling of the rockmay be continued by using the determined at least one drilling parameters.

According to some other embodiments, when the result of the blasting does not fulfil the one or more criteria, the at least one charging parameter and/or the at least one firing parameter may be adapted, until the one or more criteria are fulfilled. When the result of the blasting does fulfil the one or more criteria, the drilling of the rockmay be continued by using the determined at least one drilling parameter, and blasted with the at least one charging parameter and/or at least one firing parameter.

Action. The systemmay determine at least one second drilling parameter based on the collected data of the rock.

Action. The systemmay drill a third hole in the rock using the at least one second drilling parameter. The result of the blasting may be based on the determined first hole and the determined second hole.

Embodiments herein such as mentioned above will now be further described and exemplified. The text below is applicable to and may be combined with any suitable embodiment described above. Embodiments herein relate to collecting data with the drill rig, simulating with that collected data, and e.g. correcting subsequent holes. The collected data may be used to refine the simulation, e.g. the result from the simulation, using e.g. a Machine Learning (ML) model and/or an Artificial Intelligence (AI) model.

The size of a fragmented blasting stone may be controlled by the system, by having a desired blasting effect. The desired blasting effect may e.g., depend on the amount of explosive placed in the holes, also referred to as bore holes. There are many parameters that may affect the resulting shape and size of blasting stones. If the holes are tight with a small blasting effect, fragmented blasting stones may result in even sizes, but may require many holes. If the holes are sparse, the rocknear the holes may be blasted to a smaller size of the stones than the rockfar away from the hole.

Different explosives may have different explosive effect per volume of the explosive. The hole diameter may then need to be set depending on which explosive that is used and which explosive effect that is requested. The rock'sproperties and explosive action in a hole may affect the hole distance. The hole positions and thereby the hole distances may be determined by the hole pattern.

To plan the hole pattern, knowledge of characteristics of the rockand a simulation of the fragmentation may be needed. By estimating the composition of the rock, how the holes are placed, and the blasting effect, a simulation of the fragmentation may be performed. This may be iterated until the fragmentation simulation indicates that the blasting stone falls within the set specification. This may be that a sufficiently large proportion of the blasting stone is within an accepted size range. The collected data may be used to refine the simulation, e.g. the result from the simulation, using e.g. a ML model and/or an AI model.

How the rock is blasted may be affected e.g., by its composition, the presence of cracks, and the properties of the cracks. Knowledge of this may affect the accuracy of the fragmentation simulation. However, it may be difficult to gather knowledge about shape and size of the blasting stones before the rockis blasted.

As mentioned above, the drill rigthat drills the holes in the rockmay be used for the data collection. Signals from the drill rig'smay control system may provide real-time information about the drill rig's various subsystems, e.g. hydraulic pressure, power, etc. to the system. The signals may also provide direct, or after signal processing, information about the rockthe drill rigis drilling in, to the system. The systemmay filter the data from the drill rig'scontrol system which may result in detailed rock information. An example of such information is the resistance that the drill encounters during drilling. This information, together with other parameters, may describe the composition of the rockwhere the drilling takes place. This in combination with knowledge of where the drill bit is located, e.g. by knowing the position of the entrance hole, the direction of the hole, and how deep it has been drilled, may make it possible for the systemto map the volume of the rock. Especially when the collection takes place from several holes. Through this, a reliable three-dimensional image of the rockmay be built up. In addition to the hardness, the occurrence of cracks may also be determined by the system. By detecting crack patterns and rock hardness between several holes, the intermediate volume may be interpolated, and also different crack planes may be detected. An example of mapping the volume of the rockmay e.g. be: V=B×S×BH×N, where V is Volume, B is Burden, S is Spacing, BH is Bench Hight, and N is Number of holes.

The collected data may then be used by the systemto improve the fragmentation simulation and result in more reliable results. The results may then be used to correct subsequent hole placements. By using the drill rigto measure the actual composition of the rock, a more precise fragmentation analysis may be performed by the system. This may be used to correct e.g. the hole pattern, hole positions and/or explosive charges during ongoing work to achieve an improved method to ensure that the size of the stones after an explosion meets set specifications.

As more and more holes are being drilled, even more information about the rock may be collected and the hole pattern, e.g. hole image, hole positions and/or blasting planning may be further improved.

To further improve the accuracy of the fragmentation simulation, additional information about the rockmay be collected by the system, such as e.g.: Seismic measurements of how waves generated during drilling propagate in the rock. These may typically take place at a place other than drilling. Seismic measurements of how waves generated during blasting propagate in the rock. These may typically take place at a distance from the blasting. Seismic measurements may be used to determine a position of the drill of the drill rigmore accurately. This may be performed by sending a probe into the hole to perform measurements with it. These measurements may, e.g., be about a composition of the rockand a direction of the hole, etc. The systemmay analyse the blasting stone to measure the actual fragmentation distribution. This may be done visually, e.g., with a drone equipped with a camera or a static camera.