초록 ▼

The invention relates to a method for correcting positioning errors in rock drilling, and a rock drilling equipment. Deviation of the boom position from the theoretical position is measured as a function of the position of at least one boom joint, the measured deviations are stored in the memory of

The invention relates to a method for correcting positioning errors in rock drilling, and a rock drilling equipment. Deviation of the boom position from the theoretical position is measured as a function of the position of at least one boom joint, the measured deviations are stored in the memory of the drilling rig, and when the boom is positioned to the drilling position, its position is corrected on the basis of the stored deviation. The drilling equipment includes a memory for storing the deviations between the true position of the boom and the theoretical position calculated on the basis of the joint sensor values, and a calculating device for correcting the boom position on the basis of the deviations stored in the memory of the drilling rig.

대표청구항 ▼

The invention claimed is: 1. A method for correcting positioning errors in rock drilling occurring in a drilling rig comprising a boom and a rock drill, the boom attached at one end thereof to a carrier and being turnable in relation to it about one or more joint axes of one or more respective join

The invention claimed is: 1. A method for correcting positioning errors in rock drilling occurring in a drilling rig comprising a boom and a rock drill, the boom attached at one end thereof to a carrier and being turnable in relation to it about one or more joint axes of one or more respective joints, the rock drill being turnably mounted to another end of the boom, the apparatus arranged in a drilling position for drilling a hole in a way that the boom is controlled using control devices of the drilling rig wherein the boom is subjected to various movements until the boom is in a desired set position, wherein a deviation of the boom's actual turning angle about one of said joint axes from a desired turning angle about said one of said joint axes is measured using a movement sensor, and the boom's position is corrected on the basis of the measured deviation, the method comprising the steps of: A) storing, in a memory, a first set of deviations obtained by turning the boom through incremental turning angles about said one of said joint axes from a reference position to predetermined angularly spaced intervals about said one of said joint axes, and measuring using a movement sensor, for each such interval, a deviation of the boom position from a desired incremental turning angle, and B) using the stored first set of deviations during a subsequent drilling operation as correction values for locating the boom at the desired incremental turning angles corresponding to the respective predetermined angularly spaced intervals about said one of said joint axes. 2. The method according to claim 1 wherein step A further comprises storing a second set of deviations obtained independently of the first set of deviations by turning the boom through incremental turning angles about a second one of said one or more joint axes of one or more respective joints from a reference position to predetermined angularly spaced intervals about said second one of said one or more joint axes and measuring using a movement sensor, for each such interval, a deviation of the boom position from a desired incremental turning angle; step B comprising using the stored second set of deviations during the drilling operation as correction values for locating the boom at the desired incremental turning angles corresponding to the respective predetermined angularly spaced intervals about said second one of said one or more joint axes. 3. The method according to claim 1 wherein an outer section of the boom is linearly extendable and retractable relative to an inner section thereof, step A further comprising storing another set of deviations obtained independently of the first set of deviations by moving the outer section from a reference position to linearly spaced intervals and measuring, for each linearly spaced interval, a deviation of the boom outer section from a desired position; step B comprising using the stored other set of deviations during the drilling operation as correction values to locate the boom in the desired positions corresponding to the linearly spaced intervals. 4. The method according to claim 1 wherein deviations occurring at a location between two of the angularly spaced intervals is determined by calculating an approximation based upon the measured deviations at the two angularly spaced intervals. 5. A method for correcting positioning errors in a rock drilling rig, the rock drilling rig comprising: a boom attached at one end to a carrier and being rotatable in relation to the carrier about a plurality of joints; a rock drill being turnably mounted to the other end of the boom; and control devices for controlling the boom through various positions until the boom is set in a drilling position for drilling a hole; wherein a deviation of the boom's drilling position is measured from a calculated theoretical position of where the boom should be located for drilling, and the boom's drilling position is corrected on the basis of the measured deviation, the method comprising the steps of: storing in memory, a set of deviations obtained by turning the boom through the various positions and measuring, at predetermined angular intervals about at least one joint, the deviation of the boom's position from a calculated theoretical position at each interval, and using the set of stored deviations to correct the drilling position of the boom relative to the at least one joint. 6. The method according to claim 5, wherein the deviation of the boom position from the calculated theoretical position at each interval is measured in the turning direction of at least one joint between the boom and the carrier. 7. The method as claimed in claim 5, wherein the method is employed for rotations about each of the plurality of joints, such that a set of deviations and an error compensation function are provided for boom movements relating to each of the plurality of joints. 8. The method according to claim 5, wherein the deviations corresponding to each joint position are measured at predefined angular intervals in a certain joint position value and, when positioning the boom to the drilling position, the calculated theoretical position of the boom is corrected on the basis of the deviations corresponding to the joint positions obtained in this way. 9. The method according to claim 8, wherein the deviation between adjacent, stored joint positions of each turning movement is defined by calculating an approximation for the change of deviation from one position value to the other on the basis of the measured deviations between the said joint position values. 10. The method according to claim 9, wherein the approximation for the deviation is calculated between the deviation values stored in a memory. 11. The method according to claim 5, wherein deviation caused by at least one other movement is measured as a function of the value of a movement sensor, and the theoretical position of the boom is corrected on the basis of the deviation corresponding additionally to this movement when positioning the boom to the drilling position. 12. The method according to claim 5, wherein the deviations are stored as deviations of the drill bit position of the rock drill and deviations of the drilling direction determined by the drill steel axis.