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WO2008010757A1 - Procédé et dispositif pour déterminer la position d'un boulon de consolidation de roche - Google Patents

Procédé et dispositif pour déterminer la position d'un boulon de consolidation de roche Download PDF

Info

Publication number
WO2008010757A1
WO2008010757A1 PCT/SE2007/000547 SE2007000547W WO2008010757A1 WO 2008010757 A1 WO2008010757 A1 WO 2008010757A1 SE 2007000547 W SE2007000547 W SE 2007000547W WO 2008010757 A1 WO2008010757 A1 WO 2008010757A1
Authority
WO
WIPO (PCT)
Prior art keywords
bolt
determination
boom
carrier
addition
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.)
Ceased
Application number
PCT/SE2007/000547
Other languages
English (en)
Other versions
WO2008010757A9 (fr
Inventor
Hans Gustavsson
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
Atlas Copco 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 Atlas Copco Rock Drills AB filed Critical Atlas Copco Rock Drills AB
Priority to EP07748210.7A priority Critical patent/EP2041395B1/fr
Publication of WO2008010757A1 publication Critical patent/WO2008010757A1/fr
Publication of WO2008010757A9 publication Critical patent/WO2008010757A9/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • E21B47/00—Survey of boreholes or wells
    • E21B47/09—Locating or determining the position of objects in boreholes or wells, e.g. the position of an extending arm; Identifying the free or blocked portions of pipes
    • 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

Definitions

  • the invention relates to a method and an arrangement for determining the position of a rock reinforcing bolt according to the preamble to Claim 1 and Claim 12 respectively.
  • Rock reinforcement in tunnels and mines is usually achieved by the installation of a number of rock bolts distributed over the rock surfaces of the tunnel or drift in the walls and roof. If the installation is documented, this is currently often carried out manually by making notes on paper, but it can also be the case that the installation is not documented at all. Where documentation is actually carried out, the manual documentation process is however time-consuming and unreliable. It is often difficult to ensure the quality of the reinforcing installation, in particular as, especially in the case of tunnelling, the rock bolts are often covered by so-called shotcrete shortly after installation. In addition, the bolts are seldom installed according to a predetermined plan, but are instead often installed where the operator thinks fit, that is where he considers that reinforcement is required, usually with insufficient documentation of the position of the bolts or no documentation at all.
  • An object of the present invention is to provide a method and an arrangement that make possible accurate and time-saving determination of the position of reinforcing bolt installations and that thereby solves the abovementioned problem.
  • a method for determining the position of at least one rock reinforcing bolt installation in a tunnel or a mine, in which the bolt installation is arranged to be carried out using a drilling rig, with the said drilling rig comprising at least one boom with a first end and a second end, with the said first end being attached to a carrier via at least one articulated connection, and with the said boom being arranged to carry an installation tool.
  • the method comprises the steps of determining a position for the said carrier by means of devices arranged on the drilling rig, determining at least one angle of rotation for the said boom in relation to the carrier by determination of an angle of rotation for the said articulated connection, and determining the position of the rock reinforcing bolt in the tunnel or mine on the basis of the said position of the carrier and the said determined angle of rotation.
  • the position can be stored automatically in, for example, a memory in a computer.
  • a list of bolt installations can be drawn up in a simple way which can then be chartered on a map of the tunnel or drift. If, in the future, parts or sections of the walls and/or roof of the tunnel or drift become loose, it can easily be seen on the map that was drawn up which bolt or bolts have been installed in the location in question.
  • a very precise position of the bolt can be determined, as the angle of rotation of the articulated connection of the boom in relation to the carrier is used for the determination of the position of the bolt.
  • the length of the boom should be used for the determination of the position of the bolt, and if, for example, a boom of a certain length is used, the bolt's "offset" in relation to the carrier can thus be determined, which enables a very accurate determination of the position to be carried out.
  • the length of the boom is telescopically adjustable, the actual length of the boom at the time of installation is used.
  • the direction of the installation hole can also be determined, so that the position of the whole length of the bolt can also be determined.
  • a direction from the installation point is preferably stored, with this direction being able to be specified, for example, with reference to the coordinate system for the tunnel/drift.
  • the boom can also be attached to the carrier via more than one articulated connection, with the angle of rotation in relation to the carrier for all these articulated connections being able to be used for determination of the position of the bolt installation.
  • the bolt installation tool can be arranged on a feeder rod, which can, in turn, be attached to the end of the boom facing away from the carrier via one or more articulated connections, with the angle of rotation for these articulated connections also being able to be used for determination of the position (and direction) of the bolt.
  • Figure 1 shows schematically a drilling rig according to the present invention.
  • FIG. 2 shows schematically an embodiment according to the present invention.
  • tunnelling large drilling rigs are often used, with a carrier comprising a plurality of booms with associated drilling machines.
  • the tunnelling is often carried out a few metres at a time, typically 2-6 metres, with the drilling rig drilling a large number of holes according to a predetermined drilling plan.
  • the length of the holes is normally 2-6 metres, and after the drilling is completed, these are charged with explosives for subsequent blasting.
  • the drilling of these holes takes a long time, and typically a working shift, or an even longer period of time, is completed before the drilling rig needs to be moved for blasting or new drilling.
  • Rock reinforcing rigs consist, on the other hand, of considerably smaller rigs that typically do not remain stationary for such a long period of time before they are moved. The time that they remain stationary depends upon how closely the bolts must be set, the length and type of bolt, etc, but the time that they remain stationary can be as little as approximately 30 minutes. During tunnelling, the movement is often sideways or only a short distance forwards, for the insertion of a new rock reinforcing bolt. As mentioned above, the reinforcing bolts are seldom installed according to a predetermined plan, but are instead often installed as the operator sees fit, that is in the places where he considers that reinforcement is required.
  • the present invention solves this problem with a rock reinforcing rig of the type illustrated in Figure 1.
  • the number 10 designates in general a drilling rig for the installation of rock reinforcing bolts, for example, for tunnelling or mining.
  • the drilling rig 10 includes a boom 11, one end 11a of which is attached, in such a way that it can pivot, to a carrier 12, such as a vehicle, via one or more articulated connections and on the other end lib of which is arranged a feeder 13 that carries a bolt installation tool 14.
  • the bolt installation tool 14 can be moved along the feeder 13 and consists at least partially of a drilling machine for drilling holes for reinforcing bolts.
  • the rig 10 comprises a control unit 16 that is used for determining the position of installed reinforcing bolts according to the present invention by monitoring the position, direction and drilled distance, etc, in relation to the drilling machine and carrier.
  • the control unit 16 can also be used to control the movement of the rig 10.
  • movement of the rig can be carried out by means of a separate control unit.
  • the function according to the present invention can advantageously be implemented in an existing calculating unit arranged in the drilling rig, for example as an integrated part of the control system of the drilling rig.
  • the articulated connections are normally provided with absolute position sensors, whereby, at each point in time, an absolute position for each articulated connection for the boom can be obtained.
  • absolute position sensors whereby, at each point in time, an absolute position for each articulated connection for the boom can be obtained.
  • the use of these absolute position sensors is already known, and will therefore not be described here in greater detail.
  • the control unit 16 can calculate the position of the tip of the feeder in relation to the carrier by suitable geometric calculations.
  • the length of the boom is also required, which can be stored in a memory in or connected to the control unit. If the boom length can be adjusted telescopically, the arrangement comprises detectors for determining the increase in length of the boom. In addition, the angle of the feeder can be determined, whereby the direction of the bolt into the rock can also be determined and stored.
  • control unit is shown here as being located on the carrier, it can also be located at a distance, in which case the rotational positions of the articulated connections can be sent, for example by wireless means, to the remote location in order for the position/direction of the reinforcing bolts to be calculated there.
  • the drilling rig 10 comprises means for determining the position of the rig (the carrier) - in the tunnel/mine.
  • These means can, for example, consist of one or more rotating lasers arranged on the carrier, with the rotating laser beam being used to detect reference marks set up in the mine and to determine angles to these reference marks. This is illustrated by Figure 2, where the drilling rig is shown from above.
  • the drilling rig comprises a rotating laser 20 and, in addition, three reference marks 21, 22, 23 are shown.
  • These reference marks can, for example, consist of reflectors that have been set up, and their position can have been made available to the control system of the drilling rig when they were set up.
  • the position of the reference marks can advantageously consist of an absolute position, at least in relation to a coordinate system drawn up for the tunnel/mine, so that the position of the carrier that is determined using the position-determining means can be entered directly in a coordinate system and/or on a map of the tunnel/mine.
  • the use of at least three reflectors means that the position- determining means can determine the position of the carrier by means of triangulation. As is realised, triangulation provides position determination in two dimensions.
  • the third dimension is, however, normally already known, particularly in the case of tunnelling where the tunnel is often drilled in accordance with very strict tolerances concerning its position, and the height of the floor and roof of the tunnel is thus well-known and can be combined with position data according to the invention.
  • the reflectors can, for example, be coded so that it is apparent in which drift they are set up, whereby the height is obtained by knowledge of the height of the drift in the coordinate system of the mine.
  • This height information can either be available in the drilling rig's control system, or alternatively this combining can be carried out in a remote monitoring centre, to which the rig position data is sent.
  • the present invention has thus the advantage that no external measuring of the position of the rig needs to be carried out, as the rig can handle this itself.
  • the position can be obtained continuously by means of the rotating laser.
  • the position of the reflectors can advantageously be determined using a tacheometer.
  • the range of the rotating laser for position determination is of the order of 40 metres, which means that, particularly for tunnelling, reflectors that have been set up can be used for rapid determination of the position of the drilling rig for a long period of time, such as a whole shift or even several days, before one or more new or moved reflectors are required for the position determination.
  • the rig's angle of inclination should also be determined in a longitudinal and/or lateral direction, as this inclination will affect the direction of the boom and hence the determination of the position of the reinforcing bolt.
  • This inclination of the carrier can, for example, be determined by the carrier comprising an inclination sensor such as a gyro.
  • a very good determination of the position of the bolt can thus be carried out, and as this position determination is carried out by a control unit, it can be stored directly in a memory in the drilling rig, for example together with the type of bolt.
  • the position can be sent to a remote centre designed for the collection of data.
  • This transmission can, for example, be arranged to be carried out by wireless means via some existing system for wireless communication in the mine, such as, for example, by means of a WLAN or a mobile communication system.
  • the transmission can be IP-based (Internet Protocol-based) .
  • the invention can also be used for installing reinforcing bolts in accordance with a predetermined plan, for example in order to ensure that an adequate number of bolts are installed per unit of area.
  • suitable software it is also possible to support the installation on site by the provision of position information from a memory for display to an operator, or for automatic control of the process, for example from a remote location.
  • suitable software it is possible, for example, to display the reinforcements that have been carried out in a specific tunnel or mine in various formats, for example in 3D on a monitor.
  • other bolt installation data can also be stored with the position of the bolt.
  • such data can, for example, consist of: maximum pressure attained during the expansion, duration of the expansion time above a predetermined pressure level, bolt tension, type, length, diameter of the bolt and, where appropriate, volume of securing injection mortar.
  • the installation parameters are: expansion tension, bolt tension, type, length, diameter of the bolt and, where appropriate, volume of securing injection mortar.
  • the position determination system on the carrier has been described as a laser system that detects reflectors. It is possible, however, within the scope of the present invention, to use any system by means of which a good determination of the position of the drilling rig can be carried out from the rig.
  • radio transmitters can be used for triangulation using signals received from these transmitters, in which case directional antennas are preferably used for determination of the direction of the transmitters in relation to the carrier.
  • the boom consists of a boom of fixed length or a boom with telescopically-adjustable length.
  • the installation tool can, however, also be attached to the carrier via two or more articulated boom sections.
  • Such an arrangement can, for example, be used to provide increased manoeuvrability in tight spaces, and in this case the rotational position of the said boom sections in relation to each other is also used for the determination of the position of the bolt, which rotational position is preferably determined by determination of at least one angle of rotation for the articulated connection or connections that connect the said sections of the boom.

Landscapes

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

Abstract

La présente invention concerne un procédé pour déterminer la position d'au moins un boulon de consolidation de roche dans un tunnel ou une mine, l'installation du boulon étant conçue pour être effectuée au moyen d'un engin de forage, ledit engin de forage comprenant au moins une flèche présentant une première extrémité et une seconde extrémité, ladite première extrémité étant fixée à un support par l'intermédiaire d'au moins une liaison articulée, et ladite flèche étant conçue pour porter un outil d'installation. Le procédé comprend les étapes consistant à déterminer une position dudit support à l'aide de moyens montés sur l'engin de forage, à déterminer au moins un angle de rotation de ladite flèche relativement au support par détermination d'un angle de rotation de ladite liaison articulée, et à déterminer la position du boulon de consolidation de roche dans le tunnel ou la mine sur la base de ladite position du support et dudit angle de rotation déterminé. L'invention concerne également un système associé.
PCT/SE2007/000547 2006-07-17 2007-06-07 Procédé et dispositif pour déterminer la position d'un boulon de consolidation de roche Ceased WO2008010757A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07748210.7A EP2041395B1 (fr) 2006-07-17 2007-06-07 Procédé et dispositif pour déterminer la position d'un boulon de consolidation de roche

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0601569A SE530113C2 (sv) 2006-07-17 2006-07-17 Förfarande och anordning för positionsbestämning av en bergförstärkningsbult
SE0601569-7 2006-07-17

Publications (2)

Publication Number Publication Date
WO2008010757A1 true WO2008010757A1 (fr) 2008-01-24
WO2008010757A9 WO2008010757A9 (fr) 2008-06-19

Family

ID=38957019

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2007/000547 Ceased WO2008010757A1 (fr) 2006-07-17 2007-06-07 Procédé et dispositif pour déterminer la position d'un boulon de consolidation de roche

Country Status (3)

Country Link
EP (1) EP2041395B1 (fr)
SE (1) SE530113C2 (fr)
WO (1) WO2008010757A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106644225A (zh) * 2017-01-23 2017-05-10 陕西煤业化工技术研究院有限责任公司 一种集锚杆锚索测力与断面成像一体的监测系统及方法
FR3056249A1 (fr) * 2016-09-22 2018-03-23 Bouygues Travaux Publics Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou
WO2018191602A1 (fr) * 2017-04-13 2018-10-18 Joy Global Underground Mining Llc Système et procédé de mesure et d'alignement de boulons de toit
CN114979942A (zh) * 2022-05-12 2022-08-30 煤炭科学技术研究院有限公司 矿用移动通信系统及方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0267181A1 (fr) * 1986-11-07 1988-05-11 VOEST-ALPINE Aktiengesellschaft Dispositif pour déterminer la position d'une machine de havage
US6203111B1 (en) * 1999-10-29 2001-03-20 Mark Ollis Miner guidance using laser and image analysis
WO2001069041A1 (fr) * 2000-03-17 2001-09-20 Sandvik Tamrock Oy Systeme permettant de determiner la position de vehicules telepilotes d"exploitation miniere
US6349249B1 (en) * 1998-04-24 2002-02-19 Inco Limited Automated guided apparatus suitable for toping applications

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE417995B (sv) * 1977-03-03 1981-04-27 Atlas Copco Ab Bergbultaggregat med gemensam styrning for borrmaskinen och rotationsanordningen for bergbultar
AU2002953376A0 (en) * 2002-12-17 2003-01-09 Lms Geotechnical Pty Ltd An apparatus and method to anchor a rock bolt
FI115161B (fi) * 2003-03-25 2005-03-15 Sandvik Tamrock Oy Järjestely kaivosajoneuvon paikannukseen
SE528911C2 (sv) * 2005-01-19 2007-03-13 Atlas Copco Rock Drills Ab Förfarande och system för övervakning och dokumentering av installation av bergförstärkningsbult
FI117570B (fi) * 2005-06-29 2006-11-30 Sandvik Tamrock Oy Menetelmä kallionporauslaitteen paikoittamiseksi porauspaikkaan ja kallionporauslaite

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0267181A1 (fr) * 1986-11-07 1988-05-11 VOEST-ALPINE Aktiengesellschaft Dispositif pour déterminer la position d'une machine de havage
US6349249B1 (en) * 1998-04-24 2002-02-19 Inco Limited Automated guided apparatus suitable for toping applications
US6203111B1 (en) * 1999-10-29 2001-03-20 Mark Ollis Miner guidance using laser and image analysis
WO2001069041A1 (fr) * 2000-03-17 2001-09-20 Sandvik Tamrock Oy Systeme permettant de determiner la position de vehicules telepilotes d"exploitation miniere

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2041395A4 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3056249A1 (fr) * 2016-09-22 2018-03-23 Bouygues Travaux Publics Dispositif automatise de percage d'un trou dans la voute et les murs d'un tunnel et de mise en place d'un element d'ancrage dans ledit trou
US10480319B2 (en) 2016-09-22 2019-11-19 Bouygues Travaux Publics Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole
CN106644225A (zh) * 2017-01-23 2017-05-10 陕西煤业化工技术研究院有限责任公司 一种集锚杆锚索测力与断面成像一体的监测系统及方法
WO2018191602A1 (fr) * 2017-04-13 2018-10-18 Joy Global Underground Mining Llc Système et procédé de mesure et d'alignement de boulons de toit
GB2576840A (en) * 2017-04-13 2020-03-04 Joy Global Underground Mining Llc System and method for measuring and aligning roof bolts
US11174731B2 (en) 2017-04-13 2021-11-16 Joy Global Underground Mining Llc System and method for measuring and aligning roof bolts
GB2576840B (en) * 2017-04-13 2022-10-12 Joy Global Underground Mining Llc System and method for measuring and aligning roof bolts
CN114979942A (zh) * 2022-05-12 2022-08-30 煤炭科学技术研究院有限公司 矿用移动通信系统及方法

Also Published As

Publication number Publication date
WO2008010757A9 (fr) 2008-06-19
SE530113C2 (sv) 2008-03-04
EP2041395B1 (fr) 2017-04-19
EP2041395A4 (fr) 2015-08-19
SE0601569L (sv) 2008-01-18
EP2041395A1 (fr) 2009-04-01

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