Blast hole drill carriage
Blast hole drill carriage underground
Blast hole drill carriages used in potash mining have, so far, been available in semi-automated mode. iSAM now demonstrates that it is possible to completely automate this facility. The carriage is used in dephts of approximately 800 to 1200 m. For heading work, drilling templates are arranged covering 100 blast holes, each of 7 m bore hole working length.
The required result was achieved solving the following subtasks:
All functions incl. repositioning can be automated within one site.
The required result was achieved solving the following subtasks:
- positioning of the drill carriage
- positioning of the drill arm according to each single hole considering collision protection (10 axes in total)
- drill pattern design based on pre-set deposit limits
- detection of invalid drilling coordinates and self-acting re-calculation
- execution of the drill pattern, scanning of the heading profile
- detection of the centre bore hole (position and direction)
Heading profile detected by 3D-scanners
The required precision of the drill holes as far as spacing between the holes as well as relatively to the centre hole is concerned, poses a particular challenge. However, the deflection of the drill rod due to its dead weight makes it impossible to meet the maximum allowable deviation of 1 cm/m.
Underground, positioning via GPS does not work, therefore, alternative reference is necessary. Wheel-mounted position encoders constantly support the inertial systems. However, this does not satisfy the required accuracy at all. Additionally, surveying of the geodetic points by three-dimensional scanners must be performed every 90 s.
Underground, positioning via GPS does not work, therefore, alternative reference is necessary. Wheel-mounted position encoders constantly support the inertial systems. However, this does not satisfy the required accuracy at all. Additionally, surveying of the geodetic points by three-dimensional scanners must be performed every 90 s.
