EP4278067B1 - Procédé de positionnement après forage et unité de postforage associée - Google Patents

Procédé de positionnement après forage et unité de postforage associée

Info

Publication number
EP4278067B1
EP4278067B1 EP22702327.2A EP22702327A EP4278067B1 EP 4278067 B1 EP4278067 B1 EP 4278067B1 EP 22702327 A EP22702327 A EP 22702327A EP 4278067 B1 EP4278067 B1 EP 4278067B1
Authority
EP
European Patent Office
Prior art keywords
loading
borehole
post
range finding
drilling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP22702327.2A
Other languages
German (de)
English (en)
Other versions
EP4278067C0 (fr
EP4278067A1 (fr
Inventor
Johan Engblom
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
Original Assignee
Epiroc Rock Drills AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills AB filed Critical Epiroc Rock Drills AB
Publication of EP4278067A1 publication Critical patent/EP4278067A1/fr
Application granted granted Critical
Publication of EP4278067C0 publication Critical patent/EP4278067C0/fr
Publication of EP4278067B1 publication Critical patent/EP4278067B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E21D20/003—Machines for drilling anchor holes and setting anchor bolts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42D—BLASTING
    • F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
    • F42D1/08—Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor

Definitions

  • the present disclosure relates to a method and a post-drilling unit for loading an object into a borehole, which method comprises a process of positioning performed by the post-drilling unit.
  • the present disclosure further relates to a method for controlling operation of the post-drilling unit.
  • Rock drilling is widely applied in various types of rock engineering associated with civil engineering such as tunneling and underground mining.
  • the drilling operation proceeds continuously and is deemed complete when all boreholes are formed according to the drilling plan.
  • the drilling equipment is removed from the last borehole to allow a post-drilling operation which often requires a separate step of loading of an insertion object into each borehole.
  • a post-drilling operation may be a logging operation wherein a logging tool such as a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool or an imaging tool, is loaded into the borehole to collect actual data of the borehole.
  • a logging tool such as a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool or an imaging tool
  • Yet another post-drilling operation may be a cleaning operation wherein a cleaning tool is loaded into the borehole.
  • WO2013098459A1 and WO2013098460A1 disclose a method for post-drilling insertion, wherein contact sensing of feed resistance is used for detecting misalignment between an insertion object and a pre-drilled hole, and wherein the feeding angle of the insertion object is adjusted simultaneously with the action of insertion.
  • the insertion object is used effectively as a probe for the borehole in determining the appropriate feeding angle, which may potentially damage the insertion object.
  • Another object of the disclosure is to increase work efficiency and productivity.
  • Yet another object of the disclosure is to provide a novel and advantageous process of positioning performed by a post-drilling unit for loading an object into a borehole.
  • Yet another object of the disclosure is to provide a robust and reliable process of positioning performed by a post-drilling unit for loading an object into a borehole.
  • Yet another object of the disclosure is to improve mechanization and automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.
  • Operations of the post-drilling unit may be controlled manually and/or mechanically.
  • the measuring position corresponding to the measured distance is identified as a loading position that enables loading of at least a part of the insertion object into the borehole.
  • the process of positioning solves the problem of determining a loading position for loading at least a part of an insertion object into a borehole.
  • the problem is solved by comparing the measured distance(s) with a predetermined reference distance, wherein at least one measured distance is equivalent to the reference distance, or in other words, at least one measuring position is identified as a loading position.
  • the process according to the present disclosure has the advantage of converting spatial position data into linear distance data that is straightforward to obtain by a range finding device and easy to compare.
  • the process according to the present disclosure is more efficient in determining a loading position for loading at least a part of an insertion object into a borehole.
  • the process according to the present disclosure has a further advantage of providing a robust and reliable solution for determining a loading position without the need of interaction between the insertion object and the borehole, thereby reducing or even eliminating the risk of damaging the insertion object during the action of loading the insertion object into the borehole.
  • the reference distance is predetermined by means of at least one selected from a group consisting of a drilling plan, a drilling process, a loading process and a logging process.
  • the reference distance obtained by a drilling plan, a drilling process, a loading process or a logging process provides a reasonable estimation of a loading position that enables loading of at least a part of an insertion object into a borehole.
  • the reference distance may be stored in a memory and facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.
  • the positioning system as was described above may further comprise a navigation system; the process of positioning as was described above may further comprise a step of determining local coordinates of the one or more measuring positions and the loading position, which further step is performed by the navigation system.
  • the step of determining local coordinates of the positions has the advantage of providing a number or symbolic description within a spatial reference system which may be stored in a memory and facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.
  • the process of positioning performed by a post-drilling unit for loading an object into a borehole according to the present disclosure may be at least partially mechanized and/or automatized.
  • the above mentioned objects are also achieved according to a second aspect of the disclosure by a method of loading an object into a borehole, wherein the method comprises the process of positioning as was described above, and a further step of loading the object into the borehole by means of the loading device.
  • the method of loading an object into a borehole has all the advantages that have been described above in conjunction with the process of positioning performed by a post-drilling unit for loading an object into a borehole.
  • a post-drilling unit configured to perform a post-drilling process
  • the post-drilling unit comprises a loading device configured to load an object into a borehole with a longitudinal axis; a range finding device configured to measure one or more distances inward the borehole in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and a positioning system configured to arrange the range finding device in front of a borehole collar, and place the loading device into a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis, wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance; and wherein the range finding device is fixedly connected to the loading device (6); or the range finding device is switchable to a first position in line with the loading device, and to a second position out
  • the positioning system as was described above may comprise a navigation system configured to determine local coordinates of the one or more measuring positions and the loading position.
  • the post-drilling unit according to the present disclosure has all the advantages that have been described above in conjunction with the process of positioning performed by the post-drilling unit for loading an object into a borehole.
  • the range finding device as was described above may comprise at least one selected from a group consisting of a laser, a lidar, a radar, a sonar, an ultrasonic, and an optical rangefinder.
  • the specific range finding device as was described above has the advantage of enabling non-contact sensing means for measuring one or more distances inward a borehole, thereby eliminating the risk of damaging the range-finding device during the measuring action.
  • the insertion object as was described above may comprise at least one selected from a group consisting of a rock bolt, an explosive package, a feeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool.
  • the specific insertion object as was described above has the advantage of performing a specific post-drilling process such as rock bolt reinforcement, blasting, logging or cleaning.
  • the range finding device as was described above may be fixedly connected to the loading device.
  • the fixed connection between the range finding device and the loading device ensures a fixed relationship in terms of the positions of the range finding device and the loading device, which enables that the step of placing the loading device into the loading position is performed in a predictable manner.
  • the fixed positional relationship between the range finding device and the loading device has the advantage of increasing work efficiency and productivity.
  • the range finding device and the loading device may also be fixedly connected such that the positions of the range finding device and the loading device can be adjusted in a synchronized manner, thereby immediate alignment between the loading device and a borehole is achieved once a measuring position is identified as a loading position. There is no need of a separate step of placing the loading device into the loading position by means of the positioning system, thereby further increasing work efficiency and productivity.
  • the range finding device as was described above may be switchable to a first position in line with the loading device, and to a second position out of line with the loading device.
  • the switchable arrangement of the range finding device in relation to the loading device has the advantage of eliminating any risk of blocking the route of loading an object into a borehole.
  • the loading device as was described above may be switchable to a first position in line with the range finding device, and to a second position out of line with the range finding device.
  • the switchable arrangement of the loading device in relation to the range finding device has the advantage of eliminating any risk of blocking the route of loading an object into a borehole.
  • the rig according to the present disclosure has all the advantages that have been described above in conjunction with the post-drilling unit as was described above.
  • the rig as was described above may further comprise a carrier and a boom, wherein the boom is articulated at a terminal end to the carrier and at an opposite terminal end to a mounting device, and wherein the loading device and the range finding device are arranged on the mounting device.
  • the rig construction as was described above provides a positioning system with the advantage of adjusting the positions of the loading device and the range finding device at a number of levels enabling precise positioning.
  • the above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the post-drilling unit has the advantage of at least partially automatizing the process of positioning as was described above and performed by the post-drilling unit for loading an object into a borehole.
  • a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
  • a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
  • the computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.
  • the present disclosure aims to reduce or even eliminate exposure of personnel to the hazardous work environment during operations for loading an object into a borehole.
  • the present disclosure further aims to reduce manual workload without compromising work efficiency or productivity.
  • the present disclosure improves mechanization and automation of the operations for loading an object into a borehole by providing a novel, robust and reliable solution which is advantageous over the state of the art.
  • a “longitudinal axis A” is herein meant an imaginary line passing through the centroid of cross sections of the borehole ( Fig. 2 ). Virtual rotations of the borehole around the longitudinal axis A can be anticipated.
  • a position is herein meant a point or space which may have a number or symbolic description within a spatial reference system.
  • a position may be occupied by any physical object.
  • a position at which a loading device 6 is able to load at least a part of an insertion object into a borehole is referred to as a loading position.
  • a position at which a range finding device 7 measures a distance inward the borehole is referred to as a measuring position.
  • the range finding device 7 may be adjusted to one or more measuring positions in front of the borehole collar 8 to measure a distance inward the borehole at each measuring position.
  • in line is herein meant essentially concentrically arranged in a straight line, which is opposite to “out of line”.
  • the measuring position corresponding to the measured distance is identified as a loading position that enables loading of at least a part of an insertion object into a borehole.
  • more than one measured distance may be equivalent to the reference distance, and subsequently more than one measuring position may be identified as a loading position.
  • Operations of the post-drilling unit may be controlled manually and/or mechanically.
  • the process of positioning performed by the post-drilling unit for loading an object into a borehole may be at least partially automatized.
  • the process of positioning according to the present disclosure solves the problem of determining a loading position for loading an insertion object into a borehole.
  • the problem is solved by comparing the measured distance(s) with a predetermined reference distance, wherein at least one measured distance is equivalent to the predetermined reference distance, or in other words, at least one measuring position is identified as a loading position.
  • the reference distance is predetermined by means of at least one selected from a group consisting of a drilling plan, a drilling process, a loading process and a logging process.
  • the borehole data defined by a drilling plan or obtained from a drilling process facilitates efficient localization of the collar of each borehole at a work site.
  • the position data and reference distance obtained from a loading process or a logging process for a borehole represents a realistic starting point for determining a loading position for a neighboring borehole, which may be combined with the borehole data defined by a drilling plan and/or obtained from a drilling process for a precise estimation of the loading position for the neighboring borehole.
  • a “navigation system” is herein meant a computing system for determining local coordinates of the one or more measuring positions and the loading position, wherein the coordinate system of a rig with a post-drilling unit is connected to the coordinate system of a working site.
  • the navigation system may be any type of computing system suitable for the intended use.
  • Local coordinates may be determined using any type of coordinate system suitable for the intended use.
  • the step of determining local coordinates of the positions has the advantage of providing a number or symbolic description within a spatial reference system which may be stored in a memory 22 to facilitate automation of the process of positioning performed by a post-drilling unit for loading an object into a borehole.
  • the specific range finding device 7 as was described above has the advantage of enabling non-contact sensing means for measuring one or more distances inward a borehole, thereby eliminating the risk of damaging the range-finding device 7 during the measuring action.
  • the insertion object as was described above may comprise at least one selected from a group consisting of a rock bolt, an explosive package, a feeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool.
  • the process as was described above may further comprise a step of placing the loading device 6 into the loading position by means of the positioning system.
  • the process of positioning performed by a post-drilling unit for loading an object into a borehole according to the present disclosure may be at least partially mechanized and/or automatized.
  • a method of loading an object into a borehole comprising the process of positioning as was described above, and a further step of loading the object into the borehole by means of the loading device 6.
  • the method of loading an object into a borehole has all the advantages that have been described above in conjunction with the process of positioning performed by a post-drilling unit for loading an object into a borehole.
  • a post-drilling unit configured to perform a post-drilling process
  • the post-drilling unit comprises a loading device 6 configured to load an object into a borehole with a longitudinal axis A; a range finding device 7 configured to measure one or more distances inward the borehole in one or more measuring positions, wherein each measuring position is correlated to one measured distance; and a positioning system configured to arrange the range finding device 7 in front of the borehole collar 8, and place the loading device 6 into a loading position enabling loading of at least a part of the object into the borehole, wherein the loading position is essentially in line with the borehole along the longitudinal axis A, wherein the loading position is correlated to a predetermined reference distance, and wherein at least one measured distance is equivalent to the reference distance.
  • the positioning system as was described above may comprise a navigation system configured to determine local coordinates of the one or more measuring positions and the loading position.
  • the post-drilling unit according to the present disclosure has all the advantages that have been described above in conjunction with the process of positioning performed by the post-drilling unit for loading an object into a borehole.
  • the insertion object as was described above may comprise at least one selected from a group consisting of a rock bolt, an explosive package, a feeding or charging means, a sensing or measuring instrument, a sampling tool, an analyzing tool, an inspecting tool, an imaging tool and a cleaning tool.
  • the range finding device 7 as was described above may be fixedly connected to the loading device 6.
  • the fixed connection between the range finding device 7 and the loading device 6 ensures a fixed relationship in terms of the positions of the range finding device 7 and the loading device 6, which enables that the step of placing the loading device 6 into the loading position is performed in a predictable manner.
  • the fixed positional relationship between the range finding device 7 and the loading device 6 has the advantage of increasing work efficiency and productivity.
  • the range finding device 7 as was described above may be switchable to a first position in line with the loading device 6, and to a second position out of line with the loading device 6.
  • the switchable arrangement of the range finding device 7 in relation to the loading device 6 has the advantage of eliminating any risk of blocking the route of loading an object into a borehole.
  • the switchable arrangement of the range finding device 7 in relation to the loading device 6 enables synchronized position adjustment of the range finding device 7 and the loading device 6, thereby immediate alignment between the loading device 6 and a borehole can be achieved once a measuring position is identified as a loading position. There is no need of a separate step of adjusting or placing the loading device 6 into the loading position by means of the positioning system, thereby increasing work efficiency and productivity.
  • the loading device 6 as was described above may be switchable to a first position in line with the range finding device 7, and to a second position out of line with the range finding device 7.
  • a rig 1 comprising the post-drilling unit as was described above.
  • the rig 1 may be a complex equipment intended for earth surface use or underground use.
  • the rig 1 may be a mining or construction work rig adapted for various mining operations or construction work.
  • the rig 1 according to the present disclosure has all the advantages that have been described above in conjunction with the post-drilling unit as was described above.
  • the rig 1 as was described above may further comprise a carrier 2 and a boom 4, wherein the boom 4 is articulated at a terminal end to the carrier 2 and at an opposite terminal end to a mounting device 3, and wherein the loading device 6 and the range finding device 7 are arranged on the mounting device 3 ( Fig. 1 ).
  • the rig 1 construction as was described above provides a positioning system with the advantage of adjusting the positions of the loading device 6 and the range finding device 7 at a number of levels enabling precise positioning.
  • the positioning system may comprise a boom 4, a beam 5 and/or at least one angle adjusting device 10 ( Fig. 1 ).
  • a method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the post-drilling unit as was described above for loading an object into a borehole.
  • Example embodiments of the method will be described in a general way by referring to Fig. 3 .
  • the method comprises the following actions, which actions may be taken in any suitable order.
  • Action 102 controlling operation of the loading device 6
  • the action 102 of controlling operation of the loading device 6 may comprise one or more sub-actions of controlling operation of relevant components of the loading device 6 for loading an object into a borehole.
  • the action 103 of controlling operation of the range finding device 7 may comprise one or more sub-actions of controlling operation of relevant components of the range finding device 7 for measuring a distance inward a borehole.
  • the action 104 of controlling operation of the positioning system may further comprise one or more sub-actions of controlling operation of the navigation system for determining local coordinates of the one or more measuring positions and the loading position.
  • control unit 20 may be connected with a loading device 6, a range finding device 7, and a positioning system via the communication links 200a, 200b and 200c respectively.
  • the control unit 20 comprises at least one processor 21, at least one memory 22 and at least one data port 23.
  • the at least one processor 21 is usually an electronic processing circuitry that processes input data and provides appropriate output.
  • the above mentioned method performed by a control unit 20 or a computer connected to the control unit 20 for controlling operation of the post-drilling unit has the advantage of at least partially automatizing the process of positioning as was described above and performed by the post-drilling unit for loading an object into a borehole.
  • a computer program product comprising instructions which, when executed on at least one processor 21, cause the at least one processor 21 to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
  • a computer program which comprises program code for causing a control unit 20 or a computer connected to the control unit 20 to carry out the method as was described above for controlling operation of the post-drilling unit as was described above for loading an object into a borehole.
  • the computer program may comprise routines for obtaining 101 data from the sensing system, controlling 102 operation of the loading device 6, controlling 103 operation of the range finding device, and/or controlling 104 operation of the positioning system.
  • the computer program product provides all the advantages that have been described above in conjunction with the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
  • a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor 21, cause the at least one processor 21 to carry out the method as was described above for controlling operation of the post-drilling unit.
  • a computer-readable storage medium storing a computer program, wherein said computer program comprises program code for causing a control unit 20 or a computer connected to the control unit 20 to carry out the method as was described above for controlling operation of the post-drilling unit for loading an object into a borehole.
  • the computer-readable storage medium may comprise non-volatile memory (NVM) for storing the computer program.
  • NVM non-volatile memory

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Structural Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Earth Drilling (AREA)

Claims (14)

  1. Processus de positionnement mis en œuvre par une unité de post-forage, laquelle unité de post-forage comprend un dispositif de chargement (6) conçu pour charger un objet dans un trou de forage ayant un axe longitudinal (A), un dispositif de télémétrie (7), et un système de positionnement, dans lequel le dispositif de télémétrie (7) est relié de manière fixe au dispositif de chargement (6) ; ou le dispositif de télémétrie (7) est apte à basculer entre une première position alignée avec le dispositif de chargement (6), et une seconde position non alignée avec le dispositif de chargement (6) ; et dans lequel le procédé comprend les étapes suivantes :
    i. le fait d'agencer le dispositif de télémétrie (7) devant un collier (8) de trou de forage au moyen du système de positionnement ;
    ii. le fait de mesurer une ou plusieurs distances vers l'intérieur du trou de forage au moyen du dispositif de télémétrie (7) dans une ou plusieurs positions de mesure, dans lequel chaque position de mesure est corrélée à une distance mesurée ; et
    iii. le fait de déterminer une position de chargement permettant le chargement d'au moins une partie de l'objet dans le trou de forage, dans lequel la position de chargement est essentiellement alignée avec le trou de forage le long de l'axe (A) longitudinal, dans lequel la position de chargement est corrélée à une distance de référence prédéterminée, et dans lequel au moins une distance mesurée est équivalente à la distance de référence.
  2. Processus selon la revendication 1, dans lequel la distance de référence est déterminée au moyen d'au moins un élément choisi dans un groupe constitué par un plan de forage, un procédé de forage, un procédé de chargement et un procédé d'enregistrement.
  3. Processus selon la revendication 1 ou la revendication 2, dans lequel le système de positionnement comprend un système de navigation, et dans lequel le procédé comprend une étape supplémentaire de détermination de coordonnées locales des une ou plusieurs positions de mesure et de la position de chargement, laquelle étape supplémentaire est effectuée par le système de navigation.
  4. Processus selon l'une quelconque des revendications précédentes, dans lequel le procédé comprend une étape supplémentaire de placement du dispositif de chargement (6) dans la position de chargement au moyen du système de positionnement.
  5. Procédé de chargement d'un objet dans un trou de forage, dans lequel le procédé comprend le procédé de positionnement selon l'une quelconque des revendications précédentes, et une étape supplémentaire de chargement de l'objet dans le trou de forage au moyen du dispositif de chargement (6).
  6. Unité de post-forage configurée pour mettre en œuvre un processus de post-forage, dans laquelle l'unité de post-forage comprend
    un dispositif de chargement (6) conçu pour charger un objet dans un trou de forage ayant un axe (A) longitudinal ;
    un dispositif de télémétrie (7) conçu pour mesurer une ou plusieurs distances vers l'intérieur du trou de forage dans une ou plusieurs positions de mesure, dans laquelle chaque position de mesure est corrélée à une distance mesurée ; et
    un système de positionnement conçu pour
    agencer le dispositif de télémétrie (7) devant un collier (8) de trou de forage, et
    placer le dispositif de chargement (6) dans une position de chargement permettant le chargement d'au moins une partie de l'objet dans le trou de forage, dans laquelle la position de chargement est essentiellement alignée avec le trou de forage selon l'axe (A) longitudinal, dans laquelle la position de chargement est corrélée à une distance de référence prédéterminée, et dans laquelle au moins une distance mesurée est équivalente à la distance de référence ; et
    dans laquelle le dispositif de télémétrie (7) est relié de manière fixe au dispositif de chargement (6) ; ou le dispositif de télémétrie (7) est apte à basculer entre une première position alignée avec le dispositif de chargement (6), et une seconde position non alignée avec le dispositif de chargement (6).
  7. Unité de post-forage selon la revendication 6, dans laquelle le système de positionnement comprend un système de navigation configuré pour déterminer des coordonnées locales des une ou plusieurs positions de mesure et de la position de chargement.
  8. Unité de post-forage selon la revendication 6 ou la revendication 7, dans laquelle le dispositif de télémétrie (7) comprend au moins un élément choisi dans un groupe constitué par un laser, un lidar, un radar, un sonar, un système à ultrasons et un télémètre optique.
  9. Unité de post-forage selon l'une quelconque des revendications 6 à 8, dans laquelle l'objet comprend au moins un élément choisi dans un groupe constitué par un boulon d'ancrage, un emballage explosif, un moyen d'alimentation ou de chargement, un instrument de détection ou de mesure, un outil d'échantillonnage, un outil d'analyse, un outil d'inspection, un outil d'imagerie et un outil de nettoyage.
  10. Appareil (1) de forage comprenant l'unité de post-forage selon l'une quelconque des revendications 6 à 9.
  11. Appareil (1) de forage selon la revendication 10 comprenant un support (2) et une flèche (4), dans lequel la flèche (4) est articulée au niveau d'une extrémité terminale au support (2) et au niveau d'une extrémité terminale opposée à un dispositif de montage (3), et dans lequel le dispositif de chargement (6) et le dispositif de télémétrie (7) sont agencés sur le dispositif de montage (3).
  12. Procédé mis en œuvre par une unité de commande (20) ou un ordinateur connecté à l'unité de commande (20) pour commander le fonctionnement de l'unité de post-forage selon l'une quelconque des revendications 6 à 9 afin de mettre en œuvre un procédé de positionnement pour charger un objet dans un trou de forage, dans lequel le procédé comprend les actions suivantes :
    obtention de données,
    commande du fonctionnement du dispositif de télémétrie (7), et
    commande du fonctionnement du système de positionnement.
  13. Produit de programme informatique comprenant des instructions qui, lorsqu'elles sont exécutées sur au moins un processeur (21), amènent ledit au moins un processeur (21) à mettre en œuvre le procédé selon la revendication 12.
  14. Support de stockage lisible par ordinateur stockant un produit de programme informatique comprenant des instructions qui, lorsqu'elles sont exécutées sur au moins un processeur (21), amènent ledit au moins un processeur (21) à mettre en œuvre le procédé selon la revendication 12.
EP22702327.2A 2021-01-13 2022-01-11 Procédé de positionnement après forage et unité de postforage associée Active EP4278067B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE2150018A SE544602C2 (en) 2021-01-13 2021-01-13 A method of positioning after rock drilling and a post-drilling unit, rig, computer program and computer-readable storage medium therefor
PCT/SE2022/050011 WO2022154717A1 (fr) 2021-01-13 2022-01-11 Procédé de positionnement après forage et unité de postforage associée

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EP4278067A1 EP4278067A1 (fr) 2023-11-22
EP4278067C0 EP4278067C0 (fr) 2025-10-01
EP4278067B1 true EP4278067B1 (fr) 2025-10-01

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SE (1) SE544602C2 (fr)
WO (1) WO2022154717A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026024212A1 (fr) * 2024-07-23 2026-01-29 Epiroc Rock Drills Aktiebolag Procédé pour l'exécution d'une opération d'exploitation minière ou de construction

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE519788C2 (sv) * 2002-04-04 2003-04-08 Atlas Copco Rock Drills Ab Förfarande för lokalisering av ett med en bergborrigg borrat hål
FI121393B (fi) * 2003-04-11 2010-10-29 Sandvik Mining & Constr Oy Menetelmä ja järjestelmä porareikätiedon hallitsemiseksi
SE1450819A1 (sv) * 2011-12-28 2014-07-02 Sandvik Mining & Constr Oy Method and arrangement for post-drilling insertion
SE1450818A1 (sv) * 2011-12-28 2014-07-02 Sandvik Mining & Constr Oy Method and mining vehicle for post-drilling insertion
WO2016065402A1 (fr) * 2014-10-31 2016-05-06 Minnovare Limited Appareil et procédé pour orienter, positionner et surveiller de machines de forage
CA2879241C (fr) * 2015-01-22 2017-08-29 Yves Nelson Dispositif de positionnement de foreur pour module porteur geant
CN108487861A (zh) * 2018-04-26 2018-09-04 中国水利水电第四工程局有限公司 一种多臂钻机控制倾斜锚杆钻孔施工系统及施工方法

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WO2022154717A1 (fr) 2022-07-21
SE2150018A1 (en) 2022-07-14
SE544602C2 (en) 2022-09-20
EP4278067C0 (fr) 2025-10-01
EP4278067A1 (fr) 2023-11-22

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