AU2020205243B2 - Anti-jam control system for mobile drilling machines - Google Patents

Abstract

ANTI-JAM CONTROL SYSTEM FOR MOBILE DRILLING MACHINES An anti-jam control system for mobile drilling machines is disclosed. The anti-jam control system may include a method for automatically clearing a jam during an automatic drilling mode of a mobile drilling machine including a drill bit mounted on a drill string. The method may include: monitoring a feed rate of the drill bit during the automatic drilling mode; and automatically initiating an anti-jam operation when the feed rate is below a predetermined feed rate threshold. 20 20 20 52 43 1 4 Ju l 2 02 0 Abstract ANTI-JAM CONTROL SYSTEM FOR MOBILE DRILLING MACHINES 2020205243 14 Jul 2020 An anti-jam control system for mobile drilling machines is disclosed. The anti-jam control system may include a method for automatically clearing a jam during an automatic drilling mode of a mobile drilling machine including a drill bit mounted on a drill string. The method may include: monitoring a feed rate of the drill bit during the automatic drilling mode; and automatically initiating an anti-jam operation when the feed rate is below a predetermined feed rate threshold. 3/4 19-0314AU01 20 20 20 52 43 1 4 Ju l 2 02 02020205243 14 Jul 2020 ANTI-JAM 300 310 MONITOR FEED RATE, AIR PRESSURE, AND DRILL ROTATION TORQUE 314 312 IS 3/4 FEED RATE INITIATE ANTI-JAM - BACK AWAY FROM BELOW THRESHOLD OR IS YES AIR PRESSURE OR DRILL ROTATION JAM, INCREASE DRILL ROTATION SPEED, AND RETURN INTO JAM AT DECREASED TORQUE ABOVE FEED RATE TRESHOLD? NO FIG. 3 19-0314AU01

Description

2020205243 14 Jul 2020

ANTI-JAM 300

310 PRESSURE, AIR RATE, FEED MONITOR TORQUE ROTATION DRILL AND 314 3/4

312 IS 3/4

FROM AWAY BACK - ANTI-JAM INITIATE FEED RATE IS OR THRESHOLD BELOW SPEED, ROTATION DRILL INCREASE JAM, YES ROTATION DRILL OR PRESSURE AIR DECREASED AT JAM INTO RETURN AND TORQUE ABOVE FEED RATE TRESHOLD?

NO FIG. 3 19-0314AU01 19-0314AU01

Description 19 Sep 2025

ANTI-JAM CONTROL SYSTEM FOR MOBILE DRILLING MACHINES

Technical Field

[0001] The present disclosure relates generally to mobile drilling machines, and more 2020205243

particularly, to an anti-jam control system for such machines.

Background

[0002] Mobile drilling machines, such as blasthole drilling machines, are typically used for drilling blastholes for mining, quarrying, dam construction, and road construction, among other uses. The process of excavating rock, or other material, by blasthole drilling comprises using the blasthole drill machine to drill a plurality of holes into the rock and filling the holes with explosives. The explosives are detonated causing the rock to collapse and rubble of the collapse is then removed and the new surface that is formed is reinforced. Many current blasthole drilling machines utilize rotary drill rigs, mounted on a mast, that can drill blastholes anywhere from 6 inches to 22 inches in diameter and depths up to 180 feet or more.

[0003] Blasthole drilling machines may also include an automatic drilling mode. During the automatic drilling mode, the drill bit may become stuck or jammed. However, it may be difficult to automatically detect and clear a jam before operator intervention is required. As such, a jam may require the operator to end the automatic drilling mode and manually clear the jam.

[0004] U.S. Patent No. 8,464,808, issued to Leü et al. on June 18, 2013 (“the ’808 patent”), describes a method and device for controlling a drill rig wherein rig parameters are set by a control unit. The system of the ’808 patent includes an anti-jam function that monitors rotation pressure and reverses the feed when the rotation pressure rises to a “jamming limit” level. The ’808 patent further discloses terminating all drilling functions if the jamming does not cease within a set time. However, the system of the ’808 patent may not adequately provide mitigation procedures to reduce overall drilling time when using an anti-jam function.

[0005] The systems and methods of the present disclosure may address or solve one or more of the problems set forth above and/or other problems in the art. The scope of the current disclosure, however, is defined by the attached claims, and not by the ability to solve any specific problem.

[0005A] Reference to any prior art in the specification is not an acknowledgement or 19 Sep 2025

suggestion that this prior art forms part of the common general knowledge in any jurisdiction or that this prior art could reasonably be expected to be combined with any other piece of prior art by a skilled person in the art.

Summary

[0005B] According to a first aspect of the invention there is provided a method for automatically clearing a jam during an automatic drilling mode of a mobile drilling machine 2020205243

including a drill bit mounted on a drill string, the method comprising: monitoring a feed rate of the drill bit during the automatic drilling mode; automatically initiating an anti-jam operation when the feed rate is below a predetermined feed rate threshold; monitoring an anti-jam function during the automatic drilling mode; incrementing a counter each time the anti-jam operation of the anti-jam function is initiated; incrementing the counter at a predetermined rate for an amount of time in the anti-jam operation; and automatically initiating a mitigation procedure when a count of the counter exceeds a threshold, wherein the threshold includes a first threshold and the mitigation procedure includes a first mitigation procedure, and wherein the method further comprises: automatically retracting the drill bit to a top of a hole when the count exceeds the first threshold and when the drill bit is above a predetermined depth threshold.

[0005C] According to a second aspect of the invention there is provided a mobile drilling machine, comprising: a mast including a mast frame; a rotary head movably mounted on the mast frame, the rotary head controllable to rotate a drill bit mounted on a drill string at a rotation speed, wherein the rotary head is further controllable to move up and down the mast frame to feed the drill bit at a feed rate; and a controller configured to: monitor the feed rate of the drill bit during an automatic drilling mode; automatically initiate an anti-jam operation when the feed rate is below a predetermined feed rate threshold; monitor an anti-jam function during the automatic drilling mode of the mobile drilling machine; increment a counter each time the anti- jam operation of the anti-jam function is initiated; increment the counter at a predetermined rate for an amount of time in the anti-jam operation; and automatically initiate a mitigation procedure when a count of the counter exceeds a threshold, wherein the threshold includes a first threshold and the mitigation procedure includes a first mitigation procedure including: automatically retracting, using the controller, the drill bit to a top of a hole responsive to the count exceeding the first threshold and so long as the drill bit is above a predetermined depth threshold.

[0005D] According to a third aspect of the invention there is provided a method for automatically clearing a jam during an automatic drilling mode of a mobile drilling machine

2a

including a drill bit mounted on a drill string, the method comprising: monitoring a feed rate, bit 19 Sep 2025

air pressure, and rotation torque of the drill bit during the automatic drilling mode; automatically initiating an anti-jam operation when the feed rate is below a predetermined feed rate threshold, the bit air pressure is above a predetermined bit air pressure threshold, or the rotation torque is above a predetermined rotation torque threshold; incrementing a counter each time the anti-jam operation is initiated; incrementing the counter at a predetermined rate for an amount of time in the anti-jam operation; and automatically initiating a mitigation procedure when a count of the counter exceeds a threshold, wherein the threshold includes a first threshold and the mitigation 2020205243

procedure includes a first mitigation procedure, and wherein the method further comprises: automatically retracting the drill bit responsive to the count exceeding the first threshold and so long as the drill bit is above a predetermined depth threshold.

[0006] In one embodiment, a method for automatically clearing a jam during an automatic drilling mode of a mobile drilling machine including a drill bit mounted on a drill string is disclosed. The method may include: monitoring a feed rate of the drill bit during the automatic drilling mode; and automatically initiating an anti-jam operation when the feed rate is below a predetermined feed rate threshold.

[0007] In another embodiment, a mobile drilling machine is disclosed. The mobile drilling machine may include: a mast including a mast frame; a rotary head movably mounted on the mast frame, the rotary head controllable to rotate a drill bit mounted on a drill string at a rotation speed, wherein the rotary head is further controllable to move up and down the mast frame to feed the drill bit at a feed rate; and a controller configured to: monitor the feed rate of the drill bit during an automatic drilling mode; and automatically initiate an anti-jam operation when the feed rate is below a predetermined feed rate threshold.

[0008] In yet another embodiment, a method for supervisory control of an anti-jam function during an automatic drilling operation of a mobile drilling machine including a drill bit mounted on a drill string for drilling a hole is disclosed. The method may include: monitoring the anti- jam function during the automatic drilling mode; incrementing a counter each time an anti-jam operation of the anti-jam function is initiated; incrementing the counter at a predetermined rate for an amount of time in the anti-jam operation; and automatically initiating a mitigation procedure when a count of the counter exceeds a threshold.

[0009] In yet another embodiment, a mobile drilling machine is disclosed. The mobile drilling machine may include: a mast including a mast frame; a rotary head movably mounted on

2b

the mast frame, the rotary head controllable to rotate a drill bit mounted on a drill string at a 19 Sep 2025

rotation speed, wherein the rotary head is further controllable to move up and down the mast frame to feed the drill bit at a feed rate; and a controller configured to: monitor an anti-jam function during an automatic drilling mode of the mobile drilling machine; increment a counter each time an anti-jam operation of the anti-jam function is initiated; increment the counter at a predetermined rate for an amount of time in the anti-jam operation; and automatically initiate a mitigation procedure when a count of the counter exceeds a threshold.

3

2020205243 14 Jul 2020 Brief Description Brief of the Description of the Drawings Drawings

[0010] The The

[0010] accompanying accompanying drawings, drawings, which which are are incorporated incorporated in and constitute in and constitute a part aof part of this this specification, specification,illustrate various illustrate exemplary various exemplaryembodiments andtogether embodiments and together with with the the description, description, serve serve

to explain the principles of the disclosure. to explain the principles of the disclosure.

[0011] FIG.FIG.

[0011] 1 illustratesa aschematic 1 illustrates schematic sideview side view of of a drillingmachine a drilling machinewith withananexemplary exemplary anti anti-

jam control system, according to aspects of the disclosure. jam control system, according to aspects of the disclosure.

[0012] FIG.FIG.

[0012] 2 illustratesa aschematic 2 illustrates schematic view view of of thethe exemplary exemplary anti-jam anti-jam control control system system of the of the

drilling machine of FIG. 1. drilling machine of FIG. 1.

[0013] FIG.FIG.

[0013] 3 is3 aisflowchart a flowchart depicting depicting an an exemplary exemplary automatic automatic anti-jam anti-jam function function of anti- of the the anti jamcontrol jam control system systemifif FIGs. FIGs. 11 and and 2. 2.

[0014] FIG.FIG.

[0014] 4 is4 aisflowchart a flowchart depicting depicting an an exemplary exemplary supervisory supervisory control control function function of the of the anti anti-

jamcontrol jam control system systemofofFIGs. FIGs. 1-3. 1-3.

Detailed Description Detailed Description

[0015] BothBoth

[0015] the foregoing the foregoing general general description description and and the the following following detailed detailed description description are are

exemplaryand exemplary andexplanatory explanatoryonly onlyandand arenotnotrestrictive are restrictive of of the the features, features,asasclaimed. claimed. As As used used

herein, the terms "comprises," "comprising," "having," including," or other variations thereof, herein, the terms "comprises," "comprising," "having," including," or other variations thereof,

are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus

that comprises a list of elements does not include only those elements, but may include other that comprises a list of elements does not include only those elements, but may include other

elements not expressly listed or inherent to such a process, method, article, or apparatus. elements not expressly listed or inherent to such a process, method, article, or apparatus.

Further, relative terms, such as, for example, "about," "substantially," "generally," and Further, relative terms, such as, for example, "about," "substantially," "generally," and

"approximately" are used to indicate a possible variation of 10% in a stated value. "approximately" are used to indicate a possible variation of ±10% in a stated value.

[0016] FIG.FIG.

[0016] 1 illustratesa aschematic 1 illustrates schematic sideview side view of of an an exemplary exemplary drilling drilling machine machine 10. 10. The The

disclosure disclosure herein herein may be applicable may be applicable to to any type of any type of drilling drillingmachine, machine, however, reference will however, reference will be be

madebelow made belowparticularly particularlytoto aa mobile mobileblasthole blasthole drilling drilling machine. Asshown machine. As shownin in FIG. FIG. 1, 1,mobile mobile drilling machine drilling 10 may machine 10 mayinclude includea aframe frame12, 12,machinery machinery14,14, andand a drillingmast a drilling mast16. 16.Frame Frame 12 12 maybebesupported may supportedonona aground ground surfacebybya atransport surface transportmechanism, mechanism, such such as crawler as crawler tracks tracks 18.18.

Crawler tracks Crawler tracks 18 18 may mayallow allowmobile mobiledrilling drillingmachine machine10 10 to to maneuver maneuver about about the the ground ground surface surface

to a desired location for a drilling operation. Frame 12 may further include one or more jacks 20 to a desired location for a drilling operation. Frame 12 may further include one or more jacks 20

for supporting for and leveling supporting and leveling mobile drilling machine mobile drilling 10 on machine 10 onthe the ground groundsurface surface during duringthe the drilling drilling operation. Frame operation. Frame1212may may support support thethe machinery machinery 14, 14, which which may may include include engines, engines, motors, motors,

batteries, pumps, batteries, pumps, air aircompressors, compressors, aa hydraulic hydraulic fluid fluidstorage storagetank tank38 38(shown (shown schematically in FIG. schematically in FIG.

4

2020205243 14 Jul 2020 1) and/or 1) and/or any any other other equipment necessarytoto power equipment necessary powerand andoperate operatemobile mobile drillingmachine drilling machine10.10.

Frame1212may Frame may furthersupport further supportananoperator operatorcab cab22, 22,from fromwhich which a user,ororoperator, a user, operator,may may maneuver maneuver

andcontrol and controlmobile mobile drilling drilling machine machine 10 via 10 an via andevice input input 40, device such 40, suchinterfaces as user as user interfaces and and displays. It displays. It isisunderstood understood that thatinput inputdevice device40 40may may be be located located remote from mobile remote from mobiledrilling drilling machine1010such machine suchthat thatmobile mobiledrilling drilling machine machine1010may may be be controlled controlled remotely. remotely.

[0017] As further

[0017] As further shown shown in FIG. in FIG. 1, drilling 1, drilling mast mast 16 may 16 may include include a mast a mast frameframe 24 which 24 which may may support aa drill support drill motor motor assembly, assembly, or rotary rotary head head 26, 26, movably mountedonon movably mounted themast the mast frame frame 24.24.

Rotaryhead Rotary head 26 26 may may couple couple to, andto, and may be may be controllable controllable to rotate, to a rotate, a drill drill string 28 string 28 ofpipe of drilling drilling pipe segments onwhich segments on whicha adrill drill bit bit 30 30 may bemounted may be mountedforfordrilling drilling into into the the ground surface for ground surface for collaring, asas further collaring, furtherdescribed described below. below. Drill Drill bit 30bitmay30include may include any type any type bit, of drill of drill such bit, as, such for as, for example,a rotary example, a rotary drillbit, drill bit,a aclaw claw drillbit, drill bit,a adown-the-hole down-the-hole bit, bit, etc. etc. Rotary Rotary head 26head 26any may be may be any type ofofrotary type rotaryhead, head,such such ashydraulic as a a hydraulic rotary rotary head head or the or the Rotary like. like. Rotary head head 26 may 26 may further further includeaahydraulic include hydraulic fluid fluid line line (not (not shown) shown) for receiving for receiving hydraulic hydraulic fluid. fluid. The The hydraulic hydraulic fluid may fluid may be used be usedtotorotate rotatea ashaft shaftofof rotary rotary head head 26which 26 on on which the string the drill drill string 28 is connected 28 is connected for for rotating rotating the drill the drill string string 28 (andthus 28 (and thusrotating rotating drillbitbit30). drill 30).TheThe hydraulic hydraulic fluid fluid line line of of rotary rotary head head 26 may 26 may be coupled be to aa hydraulic valve 32 (shown coupled to (shownschematically schematicallyininFIG. FIG.1)1)for for controlling controlling the the amount, amount,

and flow and flow rate, rate, of of the thehydraulic hydraulicfluid fluidinto rotary into head rotary 26.26.InIn head thethe exemplary exemplaryembodiment, embodiment,

hydraulic valve hydraulic valve 32 32 may maybebelocated locatedononthe thehydraulic hydraulic fluid fluid storage storage tank tank 38. 38. However, However,hydraulic hydraulic valve3232may valve may be be located located anywhere anywhere along along the the hydraulic hydraulic fluid line fluid of theline of the rotary headrotary 26, as head 26, as necessary. necessary.

[0018] Drilling

[0018] Drilling mast mast 16 may 16 may further further include include a hydraulic a hydraulic feedfeed cylinder cylinder 34 (located 34 (located within within mast mast

frame 24) connected frame 24) connectedtotorotary rotary head head 26 26 via via aa cable cable and and pulley pulley system system(not (not shown) shown)for formoving moving rotary head rotary head 26 up and 26 up and down downalong alongthethemast mastframe frame 24.24. As As such, such, when when hydraulic hydraulic feed feed cylinder cylinder 34 34 is is extended, extended, hydraulic hydraulic feed feed cylinder cylinder 34 34 may exert a force may exert force on on rotary rotary head head 26 26 for for pulling-down pulling-down

rotary head rotary head 26 along mast 26 along mast frame frame24. 24. Likewise, Likewise,when when hydraulic hydraulic feed feed cylinder cylinder 34 34 is is retracted, retracted,

hydraulicfeed hydraulic feed cylinder cylinder 34 may 34 may exert exert a force a force on head on rotary rotary 26 head 26 for up for hoisting hoisting up rotary rotary head 26 head 26 along mast along mast frame frame24. 24. Thus, Thus,hydraulic hydraulicfeed feedcylinder cylinder3434may maybe be controllableto tomove controllable move rotary rotary head head

26 up 26 up and and down downthe themast mastframe frame 24 24 such such thatdrill that drillbit bit 30 on drill 30 on drill string string2828may may be be pulled-down pulled-down

towards, and towards, and into, into, the the ground surface or ground surface or hoisted hoisted up up from from the ground surface. As ground surface. Asused usedherein, herein, the the term"feed" term "feed"in inthethe context context of the of the feedfeed cylinder cylinder 34 includes 34 includes movementmovement ofstring of the drill the drill string 28 in 28 in either direction either direction(up (uporordown). down). Hydraulic Hydraulic feed cylinder feed cylinder 34 mayhydraulic 34 may include includefluid hydraulic fluid lines (not lines (not shown)for shown) for receiving receiving and and conveying conveyinghydraulic hydraulicfluid fluidtoto and andfrom fromthe thefeed feedcylinder cylinder34. 34. The The hydraulicfluid hydraulic fluidmay may be used be used to actuate to actuate hydraulic hydraulic cylinder cylinder 34 such 34 such that a rodthat a rod of cylinder of hydraulic hydraulic cylinder 34 may 34 maybebeextended extendedororretracted. retracted. The Thehydraulic hydraulicfluid fluidline line of of hydraulic hydraulic cylinder cylinder 34 34 may be may be

5

2020205243 14 Jul 2020 coupled to coupled to hydraulic valves 36 hydraulic valves 36 (shown (shownschematically FIG.1)1)for schematicallyininFIG. forcontrolling the amount, controlling the amount, and and flow rate and flow rate andpressure, pressure, of of thethe hydraulic hydraulic into into fluidfluid hydraulic hydraulic cylinder cylinder 34. exemplary 34. In the In the exemplary embodiment,hydraulic embodiment, hydraulicvalve valve3636 may may be be located located on on thethe hydraulic hydraulic fluid fluid storagetank storage tank38. 38. However,hydraulic However, hydraulicvalve valve3636may may be be located located anywhere anywhere along along the the hydraulic hydraulic fluid fluid line line of of thethe hydrauliccylinder hydraulic cylinder 34,34, as necessary. as necessary. It is It is understood understood that hydraulic that hydraulic fluid mayfluid may be any beofany type type of hydraulicfluid, hydraulic fluid,such suchas as hydraulic hydraulic oil oil or the or the like. like.

[0019] FIG.FIG.

[0019] 1 shows 1 shows the drill the drill string string 28 28 located located in in hole50. hole 50.TheThe hole hole 50 50 includes includes a collaring a collaring

portion5252atata atop portion topportion portion of of thethe hole, hole, and and a bottom a bottom of the of the54hole hole 54 desired (e.g., (e.g., desired depth ofdepth hole). of hole).

As shown As shownbybythe thearrows arrowsininFIG. FIG.1,1,drill drill string string 28 28 can can rotate, rotate,and andmove move up and down up and down(e.g. (e.g. feed feed andretract/hoist) and retract/hoist)such suchthat thatdrill drillbit bit3030rotates rotatesandand moves moves updown, up and and respectively. down, respectively. Further Further drill drill string 28 string 28 may include water may include water and andair air lines lines (not (not shown) shown) for for supplying supplying water and/or compressed water and/or compressedair air throughthe through thedrill drillbit bit3030totothe thehole hole 50.50. Drilling Drilling machine machine 10 may 10 may aninclude include an drilling automatic automatic drilling operationthat operation thatincludes includesan an automatic automatic collar collar phase,phase, an automatic an automatic drill drill hole holeand/or phase, phase, an and/or an automatic retract automatic retract phase. The collar phase. The collar phase mayinclude phase may includeforming forminga acollar collarportion portion 52 52ofofthe the hole hole 50. 50. Thedrill The drill hole holephase phaseor or drilling drilling operation operation may include may include drilling drilling the holethe 50 hole after50 theafter theportion collar collar portion 52. Theretract 52. The retractphase phase may may include include retracting retracting drill drill bit 30 bit 30the from from holethe 50 hole when a50 whendepth desired a desired is depth is achievedandand achieved drilling drilling is is complete. complete. During During the of the phases phases of the automatic the automatic drilling operation, drilling operation, the drill the drill bit 30 bit 30 may potentiallyjam. may potentially Therefore, drilling jam. Therefore, drilling machine 10 may machine 10 mayinclude includeanananti-jam anti-jamcontrol control system200, system 200,as as detailed detailed further further below. below.

[0020] FIG.FIG.

[0020] 2 illustratesa aschematic 2 illustrates schematic view view of of thethe exemplary exemplary anti-jam anti-jam control control system system 200 200 of of the drilling the drillingmachine machine of FIG. 1. Control FIG. 1. system200 Control system 200may may include include inputs212-222, inputs 212-222, controller210, controller 210, and outputs and outputs 230-238. 230-238. The The inputsmay inputs may include include sensor sensor input, input, operatorinputs, operator inputs,ororstored stored inputs, inputs, for for example,feed example, feed rate rate limits, limits, rotation rotation speed speed limits, limits, air pressure air pressure limitslimits and torque and torque limits, limits, bit air bit air pressure212, pressure 212,pulldown pulldown forceforce 214, drill 214, drill rotation rotation torquetorque 216, 216, feed feed rate 218,rate and 218, andspeed rotation rotation speed 220. Such 220. Suchsensors, sensors, operation operationinput, input, or or stored stored inputs inputs may be obtained may be obtained using using any anyconventional conventional system (sensors, system (sensors, user user inputs, inputs, etc.) etc.)The The outputs outputs may include, for may include, for example, example, aa feed feed command 230, command 230,

air supply air supply command 232,drill command 232, drillstring string rotation rotation command 234, command 234, watering watering command command 236, 236, and display and display

information238238 information for for the the operator. operator.

[0021] Controller

[0021] Controller 210 210 may may embody embody a single a single microprocessor microprocessor or multiple or multiple microprocessors microprocessors that that mayinclude may includemeans meansforformonitoring monitoring operation operation of of thedrilling the drilling machine machine1010andand issuinginstructions issuing instructions to components to components ofofmachine machine10.10. ForFor example, example, controller controller 210210 may may include include a memory, a memory, a secondary a secondary

storagedevice, storage device,a aprocessor, processor, such such as a as a central central processing processing unit, unit, or any or anymeans other otherformeans for accomplishinga atask accomplishing task consistent consistent with with the the present disclosure. disclosure. The memory The memory or or secondary secondary storage storage

6

2020205243 14 Jul 2020 device associated with controller 210 may store data and/or software routines that may assist device associated with controller 210 may store data and/or software routines that may assist

controller 210 controller 210 in in performing its functions. performing its functions. Further, Further,the thememory or secondary memory or secondarystorage storagedevice device associated with associated controller 210 with controller 210 may also store may also store data data received received from the various from the various inputs inputs 212-222 212-222

associated with associated mobile drilling with mobile drilling machine 10. Numerous machine 10. Numerous commercially commercially available available microprocessors microprocessors

can be configured to perform the functions of controller 210. It should be appreciated that can be configured to perform the functions of controller 210. It should be appreciated that

controller 210 controller 210 could could readily readily embody embody a ageneral generalmachine machinecontroller controllercapable capableofofcontrolling controlling numerousother numerous othermachine machine functions.Various functions. Various other other known known circuits circuits may may be associated be associated with with

controller 210, including signal-conditioning circuitry, communication circuitry, hydraulic or controller 210, including signal-conditioning circuitry, communication circuitry, hydraulic or

other actuation circuitry, and other appropriate circuitry. other actuation circuitry, and other appropriate circuitry.

[0022] As shown

[0022] As shown in FIG. in FIG. 2, controller 2, controller 210 210 may include may include one one or or more more limitslimits 222 222 of of mobile mobile

drilling machine 10. The limits may include feed rate limits, rotation speed limits, air pressure drilling machine 10. The limits may include feed rate limits, rotation speed limits, air pressure

limits, and drill rotation torque limits. Feed rate limits may include maximum limits for the feed limits, and drill rotation torque limits. Feed rate limits may include maximum limits for the feed

rate of the drill bit 30. Rotation speed limits may include maximum limits for the rotation speed rate of the drill bit 30. Rotation speed limits may include maximum limits for the rotation speed

of the drill bit 30. Air pressure limits may include maximum limits for an amount of air pressure of the drill bit 30. Air pressure limits may include maximum limits for an amount of air pressure

provided for provided for the the drill drillbit bit30.30.Torque Torque limits limitsmay may include include maximum limitsfor maximum limits forrotational rotational torque torque on on the drill the drillbit 30.30.These bit Theselimits 238 limits 238may may be be provided provided to to controller controller210 210 in inany any conventional conventional manner manner

and may and maybebeconfigurable. configurable.

[0023] Bit Bit

[0023] air air pressure pressure input input 212 212 maymay be abesensor a sensor for for detecting detecting and/or and/or communicating communicating a neta net force acting on an air supply line. Forces acting on the air supply line may include air pressure. force acting on an air supply line. Forces acting on the air supply line may include air pressure.

Bit air Bit airpressure pressureinput input212 212 may may be be an an air air pressure pressure sensor sensor configured configured to to communicate communicate ananair air pressure signal indicative of air pressure of the air supply line on the drill bit 30 to controller pressure signal indicative of air pressure of the air supply line on the drill bit 30 to controller

210. For example, an air pressure sensor may be located in the air supply line adjacent the drill 210. For example, an air pressure sensor may be located in the air supply line adjacent the drill

bit 30 so as to detect pressure of fluid (e.g., air) within the air supply line. Bit air pressure input bit 30 so as to detect pressure of fluid (e.g., air) within the air supply line. Bit air pressure input

212 may 212 mayalso alsoderive deriveair air pressure pressure information information from fromother othersources, sources, including including other other sensors. sensors.

[0024] Pulldown

[0024] Pulldown forceforce inputinput 214 be 214 may may be a sensor a sensor or other or other mechanism mechanism configured configured to to detect detect and/or communicate and/or communicatea pulldown a pulldown force force acting acting on on thethe drillbit drill bit 30. 30. The Thepulldown pulldown forceacting force actingonon the drill bit 30 may be the force exerted by the hydraulic feed cylinder 34 through the rotary head the drill bit 30 may be the force exerted by the hydraulic feed cylinder 34 through the rotary head

26 to the drill bit 30. As such, the pulldown force may be derived from a pressure of the 26 to the drill bit 30. As such, the pulldown force may be derived from a pressure of the

hydraulic feed hydraulic feed cylinder. cylinder. Thus, Thus, pulldown pulldownforce forceinput input214 214may maybe be a sensorforfordetecting a sensor detectinga anet net force acting on the hydraulic feed cylinder 34, which may be controlled by controller 210. force acting on the hydraulic feed cylinder 34, which may be controlled by controller 210.

Forces acting Forces acting on on the the hydraulic hydraulic feed feed cylinder cylinder 34 34 may include aa head may include head end endpressure pressureand anda arod rodend end pressure. For pressure. For example, example,pulldown pulldown forceinput force input214 214 may may be be oneone or more or more pressure pressure sensors sensors

configured to configured to communicate a pressuresignal communicate a pressure signaltotocontroller controller 210. 210. The Thepressure pressuresensors sensorsmay maybe be

7

2020205243 14 Jul 2020 disposedwithin disposed within a hydraulic a hydraulic fluidfluid line,line, at a at a pump pump of theof the hydraulic hydraulic fluid fluid tank 36,tank 36,within and/or and/or a within a head of head of hydraulic feed feed cylinder cylinder 34. Further, pulldown 34. Further, force input pulldown force input 214 214may mayinclude includea aweight weightofof the drill the drill string string 28 onthe 28 on thedrill drill bit bit 30. 30. AsAs such, such, the the pressure pressure signals signals may may be betoadded added to theofweight the weight of the drill the drill string string 28 actingononthethedrill 28 acting drillbit bit3030totoderive derive pulldown pulldown forceforce input input 214. Alternatively, 214. Alternatively, any any sensor associated sensor associated with pulldown forceinput pulldown force input 214 214may maybebedisposed disposed in in otherlocations other locationsrelative relative to to the hydraulic feed cylinder the cylinder 34. 34. Pulldown forceinput Pulldown force input214 214may mayalso alsoderive derivepulldown pulldown force force

information from information fromother other sources, sources, including including other other sensors. sensors.

[0025] Drill

[0025] Drill rotation rotation torque torque input input 216 216 maymay be one be one or more or more sensors sensors or other or other mechanism mechanism

configuredto todetect configured detect and/or and/or communicate communicate a rotation a rotation torque oftorque of the the drill bit drill bitor30.more 30. One One or more torque torque sensorsmay sensors maybe be physically physically associated associated with with the thebit drill drill 30 bit 30 or or may be may be asensor a virtual virtualused sensor to used to calculate aarotation calculate rotationtorque torque based based on sensed on sensed parameters parameters such as such as rotation rotation speed speed of the of the rotary headrotary head 26 and 26 andpressure pressureat at thethe rotary rotary head head 26.such, 26. As As drill such, rotation drill rotation torque216input torque input 216 may may include one include one or more or moresensors sensors (e.g.,a speed (e.g., a speed sensor) sensor) for detecting for detecting rotation rotation speed speed of of the head the rotary rotary headthus 26 (and 26 (and thus the drill the drill bit bit 30) andone 30) and oneorormore more sensors sensors (e.g., (e.g., a pressure a pressure sensor) sensor) for detecting for detecting pressurepressure of of a fluid a fluid supply to supply to the the rotary rotary head head 26. 26. The speed sensors The speed sensors may maybebedisposed disposedonon or or nearthe near therotary rotaryhead head2626 andthe and thepressure pressuresensors sensors may may be disposed be disposed within within a a fluidline fluid supply supply line of the of the rotary rotary head 26. head 26. Alternatively,any Alternatively, anysensor sensor associated associated with with drill drill rotation rotation torquetorque input input 216 may 216 may beindisposed be disposed other in other locationsrelative locations relativetotothe therotary rotaryhead head 26 and/or 26 and/or drilldrill bit 30. bit 30. DrillDrill rotation rotation torquetorque input input 216 may 216 may also derive also deriverotation rotationtorque torque information information from sources, from other other sources, including including other other sensors. sensors.

[0026] FeedFeed

[0026] raterate input input 218218 may may be a be a sensor sensor or other or other mechanism mechanism configured configured to detect to detect and/orand/or

communicatea feed communicate a feedrate rateofofthe the drill drill bit bit30. 30.Feed Feed rate rateinput input218 218may communicatea afeed may communicate feedrate rate signal indicative signal indicativeofofa afeed feedrate rateof of thethe drillbitbit3030to tocontroller drill controller 210. 210. For example, For example, feed feed rate rate input input 218 may 218 maymonitor monitora a rotationspeed rotation speedofofa asheave sheaveofofthe the cable cable and andpulley pulley system systemfor formoving movingrotary rotary head 26 head 26 up up and anddown down along along thethe mast mast frame frame 24.24. FeedFeed raterate input input 218218 maymay embody embody a conventional a conventional

rotational speed rotational speeddetector detector (e.g.,a rotary (e.g., a rotary encoder) encoder) having having a stationary a stationary element element rigidly connected rigidly connected to to a mounting a bracket mounting bracket of the of the sheave sheave that that is is configured configured to sensetoa sense a relative relative rotational rotational movement movement of the of the sheave(e.g., sheave (e.g.,ofofa ashaft shaftofofthe thesheave). sheave). The The stationary stationary element element may be amay be a or magnetic magnetic optical or optical element mounted element mountedtotothe themounting mounting bracket bracket of of thethesheave sheave andand configured configured to to detectrotation detect rotationofofanan indexingelement indexing element (e.g., (e.g., a toothed a toothed tone tone wheel, wheel, an embedded an embedded magnet, a magnet, a calibration calibration stripe, teethstripe, of a teeth of a timinggear, timing gear,etc.) etc.)connected connected to rotate to rotate withwith the shaft the shaft ofsheave. of the the sheave. Aofsensor A sensor of feed feed rate inputrate input 218 may 218 maybebelocated locatedadjacent adjacentthe the indexing indexingelement elementand andconfigured configured to to generatea signal generate a signaleach eachtime time the indexing the element (or indexing element (or aa portion thereof) thereof) passes passes near near the thestationary stationaryelement. element. The The signal signal may may

be directed be directedtotocontroller controller210, 210, which which maytheuse may use the to signal signal to determine determine a number a number of of shaft shaft rotations rotations of the of the sheave, sheave,occurring occurring within within fixedfixed time time intervals, intervals, and and use useinformation this this information to determine to determine the the

8

2020205243 14 Jul 2020 feed rate value. feed rate value.Feed Feed raterate input input 218 218 mayderive may also also derive feed feed rate rate information information from other from other sources, sources,

including othersensors. including other sensors.

[0027] Rotation

[0027] Rotation speed speed input input 220 220 may may be be a sensor a sensor (e.g., (e.g., a speed a speed sensor) sensor) thatthat maymay be be configured to detect a rotation speed of the drill bit 30. Rotation speed input 220 may configured to detect a rotation speed of the drill bit 30. Rotation speed input 220 may

communicate a rotation speed signal indicative of a rotation speed of the drill bit 30 to controller communicate a rotation speed signal indicative of a rotation speed of the drill bit 30 to controller

210. For 210. Forexample, example,rotation rotationspeed speedinput input220 220may may monitor monitor thethe rotationspeed rotation speed of of therotary the rotaryhead head 26. Rotation 26. Rotation speed speedinput input220 220may mayembody embody a conventional a conventional rotational rotational speed speed detector detector having having a a stationary element rigidly connected to the rotary head 26 that is configured to sense a relative stationary element rigidly connected to the rotary head 26 that is configured to sense a relative

rotational movement of the rotary head 26 (e.g., of a rotational portion of the rotary head 26 that rotational movement of the rotary head 26 (e.g., of a rotational portion of the rotary head 26 that

is operatively connected to the rotary head 26, such as a shaft of the rotary head 26 or the drill is operatively connected to the rotary head 26, such as a shaft of the rotary head 26 or the drill

string 28 string 28 mounted onthe mounted on the rotary rotary head head 26). 26). The Thestationary stationary element elementmay maybe be a magnetic a magnetic or or optical optical

element mounted element mountedtotoa ahousing housingofofthe therotary rotary head headassembly assemblyandand configured configured to to detectrotation detect rotationofofanan indexing element (e.g., a toothed tone wheel, an embedded magnet, a calibration stripe, teeth of a indexing element (e.g., a toothed tone wheel, an embedded magnet, a calibration stripe, teeth of a

timing gear, etc.) connected to rotate with the shaft of the rotary head 26. A sensor of rotation timing gear, etc.) connected to rotate with the shaft of the rotary head 26. A sensor of rotation

speed input speed input 220 220 may maybebelocated locatedadjacent adjacentthe the indexing indexingelement elementand andconfigured configured to to generatea generate a signal each time the indexing element (or a portion thereof) passes near the stationary element. signal each time the indexing element (or a portion thereof) passes near the stationary element.

The signal The signal may maybebedirected directed toto controller controller 210, 210, which mayuse which may usethe thesignal signal to to determine determine aa number numberofof shaft rotations of the rotary head 26, occurring within fixed time intervals, and use this shaft rotations of the rotary head 26, occurring within fixed time intervals, and use this

information to information to determine determine the the rotation rotation speed speed value. Rotation speed value. Rotation speedinput input 220 220may may alsoderive also derive rotation speed information from other sources, including other sensors. rotation speed information from other sources, including other sensors.

[0028] For For

[0028] outputs outputs of control of control system system 200,200, feedfeed command command 230 230 may mayactuation cause cause actuation of the of the hydraulic feed hydraulic feed cylinder cylinder 34 34 and maycause and may causea achange changeofofposition positionofofrotary rotary head head 2626upupand anddown down along the along the mast frame 24. mast frame 24. AsAssuch, such,feed feedcommand command230 230 may control may control the feed the feed rate rate of drill of drill bitbit3030

into and into and out out of of the thehole hole50. 50. Air Air supply supply command 232 command 232 maymay cause cause actuation actuation of aofvalve a valve in in thethe air air

supply line supply line of of the the rotary rotaryhead head26. 26. As As such, such, air airsupply supply command command 2626 may may control control airair pressure pressure

exerted on the drill bit 30. Drill string rotation command 234 may cause actuation of the valve exerted on the drill bit 30. Drill string rotation command 234 may cause actuation of the valve

of hydraulic of hydraulic fluid fluid line lineofofthe rotary the head rotary 26.26.AsAssuch, head such,drill string drill rotation string command rotation command234 234may may

control the rotation speed of the drill string 28 (and thus the drill bit 30). Watering command control the rotation speed of the drill string 28 (and thus the drill bit 30). Watering command

236 may 236 maycause causeactuation actuationofofaavalve valveofofthe the watering watering line. line. As As such, such, the the watering watering command command 236 236

maycontrol may control water waterpressure pressure and andamount amountof of waterofofthe water thewatering wateringline. line. Display Displayoutputs outputs238 238cancan take many different forms to inform the operator or remote personnel of the status of various take many different forms to inform the operator or remote personnel of the status of various

aspects of the anti-jam control system 200. aspects of the anti-jam control system 200.

9

2020205243 14 Jul 2020

[0029] FIG.FIG.

[0029] 3 provides 3 provides an exemplary an exemplary anti-jam anti-jam function function 300the 300 for forautomatic the automatic drilling drilling

operation. During the collar phase, drill hole phase, and/or retract phase, controller 210 may operation. During the collar phase, drill hole phase, and/or retract phase, controller 210 may

monitor, or measure, bit air pressure 212, drill rotation torque 216, and/or feed rate 218 (step monitor, or measure, bit air pressure 212, drill rotation torque 216, and/or feed rate 218 (step

310). Under 310). Undercertain certain conditions, conditions, the the measured measuredbit bit air air pressure pressure 212 and/or the 212 and/or the measured drill measured drill

rotation torque 216 on the drill string 28 may increase beyond their respective limits during one rotation torque 216 on the drill string 28 may increase beyond their respective limits during one

or more phases of the drilling operation. Further, under certain conditions, the measured feed or more phases of the drilling operation. Further, under certain conditions, the measured feed

rate 218 may decrease beyond its respective limit during one or more phases of the drilling rate 218 may decrease beyond its respective limit during one or more phases of the drilling

operation. These operation. Theseconditions conditionsmay mayrepresent representa ajam jamororimpending impending jamjam of the of the drillbit drill bit30. 30. The Theanti anti-

jam function 300 may be configured to automatically react to these conditions. In particular, if jam function 300 may be configured to automatically react to these conditions. In particular, if

the measured the feedrate measured feed rate 218 218 decreases decreases below belowa apredetermined predeterminedfeed feed ratethreshold rate thresholdand/or and/orififthe the measuredbit measured bit air air pressure pressure 212 and/or the 212 and/or the measured drill rotation measured drill rotation torque torque 216 216 increases increases above above a a

predetermined bit air pressure threshold or drill rotation torque threshold, respectively (step 312), predetermined bit air pressure threshold or drill rotation torque threshold, respectively (step 312),

the controller the controller210 210 may automatically initiate may automatically initiate an an "anti-jam" "anti-jam" operation operation (step (step 314). 314). The The

predeterminedfeed predetermined feedrate rate threshold threshold may maybe, be,for for example, example,two twomillimeters millimetersper persecond second(2mm/s). (2mm/s). In In someinstances, some instances, the the measured measuredfeed feedrate rate 218 218 may maydecrease decreasebeyond beyond its its respectivelimit respective limitprior prior to to the the measuredbit measured bit air air pressure pressure 212 and/or the 212 and/or the measured drill rotation measured drill rotation torque torque 216 216 increasing increasing beyond beyond

their respective limits. In one embodiment, controller 210 may automatically initiate the anti their respective limits. In one embodiment, controller 210 may automatically initiate the anti-

jamoperation jam operation when whenone oneor ormore more of of thetheinputs inputs212, 212,216, 216,218 218exceed exceed thethe predetermined predetermined thresholds thresholds

for aa predetermined for amountofoftime. predetermined amount time.For Forexample, example, controller210 controller 210maymay automatically automatically initiatethethe initiate

anti-jam operation anti-jam operation when the measured when the measuredfeed feedrate rate218 218decreases decreasesbelow below thethe predetermined predetermined feedfeed rate rate

threshold for threshold for the the predetermined amountofoftime. predetermined amount time.

[0030] The The

[0030] anti-jam anti-jam operation operation may may include include sending sending a feeda command feed command 230 to 230 to move themove drillthe drill string 28 in a hoist / retract direction or a feed direction to back away from the jam. Further, the string 28 in a hoist / retract direction or a feed direction to back away from the jam. Further, the

feed command feed command 230230 maymay include include an increased an increased pulldown pulldown forceforce (e.g., (e.g., in the in the feed feed directionororhoist direction hoist direction) totoback direction) back away from the away from the jam. jam. AAdrill drill string string rotation rotation command 234maymay command 234 be be sent sent to to

increase the drill string rotation speed to a high speed (a speed significantly higher than the speed increase the drill string rotation speed to a high speed (a speed significantly higher than the speed

prior to prior tothe theanti-jam anti-jamoperation, operation,for example for example between between 60 - 80% 60 80% of of a max a max rotation rotation limit).Once limit). Once the the

drill string drill string2828has hasreached reachedthe thedesired desiredhigh highspeed speedcondition, condition,a feed command a feed 230 may command 230 maybebe provided to provided to slowly slowly feed feed the the drill drill bit bit3030into thethe into jam. jam.The Thefeed feedcommand 230may command 230 may include include a a decreased pulldown force (e.g., in the feed direction or hoist direction) to feed the drill bit 30 into decreased pulldown force (e.g., in the feed direction or hoist direction) to feed the drill bit 30 into

thejam. The slow feed rate can be significantly slower than the feed prior to the anti-jam the jam. The slow feed rate can be significantly slower than the feed prior to the anti-jam

operation, for operation, for example between5 5- -20% example between 20%ofofthe thefeed feedrate rate limit). limit). The direction of The direction of movement movement ofof

the drill string 28 could be in either the feed direction or the hoist / retracting direction, the drill string 28 could be in either the feed direction or the hoist / retracting direction,

depending on whether the jam is determined to be at the bottom of the hole (e.g., below the drill depending on whether the jam is determined to be at the bottom of the hole (e.g., below the drill

10

2020205243 14 Jul 2020 bit 30) or above the drill bit 30 due to a caving in of the hole. Further, the direction of movement bit 30) or above the drill bit 30 due to a caving in of the hole. Further, the direction of movement

of the drill string 28 could be in either the feed direction or the hoist / retracting direction, of the drill string 28 could be in either the feed direction or the hoist / retracting direction,

depending on whether the drill string 28 is being fed towards the bottom of the hole (e.g., during depending on whether the drill string 28 is being fed towards the bottom of the hole (e.g., during

the collar phase and/or the drill hole phase) or being retracted prior to the anti-jam operation. the collar phase and/or the drill hole phase) or being retracted prior to the anti-jam operation.

Even further, the anti-jam operation may cycle between the feed direction and the hoist Even further, the anti-jam operation may cycle between the feed direction and the hoist /

/ retracting direction if jams occur both above and below the drill bit 30. This process of backing retracting direction if jams occur both above and below the drill bit 30. This process of backing

awayfrom away fromthe thejam jamand andslowly slowlyreentering reenteringthe thejam jamcancanbebeautomatically automaticallyrepeated repeated untilthe until thejam jamisis cleared (e.g. feed rate 218 increases or bit air pressure 212 and/or drill rotation torque 216 are cleared (e.g. feed rate 218 increases or bit air pressure 212 and/or drill rotation torque 216 are

lowered to acceptable levels). lowered to acceptable levels).

[0031] The The

[0031] predetermined predetermined thresholds thresholds for air for bit bit air pressure pressure 212, 212, drillrotation drill rotationtorque torque216, 216,and and feed feed rate rate 218 218 may may be configurable -- adjustable be configurable adjustable based basedononuser userinputs, inputs, or or may be manufacturer may be manufacturerset set values and values and not not configurable. configurable. Further, Further, it it isisunderstood understood that thatcontroller controller210 210may may monitor monitor other other

inputs 212-220, inputs such as 212-220, such as pulldown pulldownforce force214, 214,rotation rotation speed speed220, 220, hydraulic hydraulic tank tankpressure, pressure, or or any any other drilling input, for initiating the anti-jam operation, as described above. other drilling input, for initiating the anti-jam operation, as described above.

[0032] FIG.FIG.

[0032] 4 provides 4 provides an exemplary an exemplary supervisory supervisory control control function function 400the 400 for foranti-jam the anti-jam operation. The operation. Thesupervisory supervisorycontrol controlfunction function 400 400may may monitor monitor thethe anti-jam anti-jam function function 300300 (step (step

410). For 410). For example, example,controller controller 210 210may maymonitor monitor thethe anti-jamfunction anti-jam function300300 forfor when when the the anti-jam anti-jam

operation is operation is initiated. initiated.Controller Controller210 210may may increment increment aa counter counter each each time time the the anti-jam anti-jam operation operation is initiated, and increment the same counter at a predetermined rate for the amount of time or is initiated, and increment the same counter at a predetermined rate for the amount of time or

duration that the drill is in the anti-jam operation (step 412). For example, the counter may add a duration that the drill is in the anti-jam operation (step 412). For example, the counter may add a

value to value to aa count count when the counter when the counter is is incremented. Becausethethecounter incremented. Because counterisisbeing beingincremented incrementedbyby both instances (when anti-jam is initiated) and time values (how long drill is in the anti-jam both instances (when anti-jam is initiated) and time values (how long drill is in the anti-jam

operation), a normalization may be applied to one or both of the values. For example, controller operation), a normalization may be applied to one or both of the values. For example, controller

210 may 210 maynormalize normalizethetheinitiation initiation value value by by adding addinga apredetermined predeterminednumber number (e.g.,five (e.g., fiveseconds) seconds)toto the counter whenever the anti-jam operation is initiated, and add the actual time value (in the counter whenever the anti-jam operation is initiated, and add the actual time value (in

seconds) to seconds) to the the counter. For example, counter. For example, the the counter counter may maybebeincremented incremented by by five five seconds seconds each each time time

the anti-jam operation is initiated and the amount of seconds the drill is in the anti-jam operation the anti-jam operation is initiated and the amount of seconds the drill is in the anti-jam operation

maybebeadded may addedtotothe thesame samecount. count.InInsome some embodiments, embodiments, a normalization a normalization factor factor mayapplied may be be applied to the amount of time in the anti-jam operation, such that controller 210 multiplies the amount of to the amount of time in the anti-jam operation, such that controller 210 multiplies the amount of

time in the anti-jam operation by the normalization factor. It is understood that the values for the time in the anti-jam operation by the normalization factor. It is understood that the values for the

predeterminednumber predetermined numberandand thethe weight weight factor factor areare exemplary exemplary only only and and the the values values may may be different. be different.

Further, it is understood that multiple counters may be used so as to avoid the need for Further, it is understood that multiple counters may be used so as to avoid the need for

normalization between normalization betweenanti-jam anti-jaminitiation initiation and and duration. duration. In In such such aa separate separate count count system, system, exceeding the exceeding the count count may maytrigger triggerthe the mitigation mitigation procedures proceduresdiscussed discussedbelow. below.Even Even further,thethe further,

11

2020205243 14 Jul 2020 predeterminednumber predetermined numberandand thethe normalization normalization factor factor maymay be preset be preset andand non-configurable, non-configurable, or or configurable. Controller configurable. Controller 210 210may maythen thendetermine determinewhether whether thethe count count exceeds exceeds threshold- -a a a firstthreshold a first

lift tototoptopthreshold lift (step threshold 414). (step Controller 414). 210210may Controller may also alsodetermine determine whether the count whether the count exceeds exceeds aa

second threshold -- aa stop second threshold stop operation operation threshold threshold (step (step 416). 416). The The second threshold may second threshold maybebegreater greater than the first threshold. than the first threshold.

[0033] The The

[0033] supervisory supervisory control control function function 400 400 may include may include one orone or automatic more more automatic mitigation mitigation

procedures when the anti-jam operation is initiated a large amount and/or if the anti-jam procedures when the anti-jam operation is initiated a large amount and/or if the anti-jam

operation runs operation runs for for aa prolonged period of prolonged period of time. As used time. As usedherein, herein, aa "mitigation "mitigation procedure" is an procedure" is an operation performed operation performedbybycontroller controller 210 210for for responding respondingtotothe the excess excess attempts attemptsof of the the anti-jam anti-jam operation or time in the anti-jam operation. For example, if the count exceeds the first threshold operation or time in the anti-jam operation. For example, if the count exceeds the first threshold

(step 414 -Yes), (step 414 Yes),but butisis less less than than the the second second threshold (step 416 -No), (step 416 No),controller controller 210 210may may determine if the depth of the drill bit 30 is below a predetermined depth threshold (step 418). If determine if the depth of the drill bit 30 is below a predetermined depth threshold (step 418). If

the drill bit 30 is above the predetermined depth threshold (step 418 - No), controller 210 may the drill bit 30 is above the predetermined depth threshold (step 418 - No), controller 210 may

automatically attempt to retract the drill bit 30 to the top of the hole 50 (step 420). For example, automatically attempt to retract the drill bit 30 to the top of the hole 50 (step 420). For example,

controller 210 may retract drill bit 30 to the top of the hole 50 if another jam is not encountered controller 210 may retract drill bit 30 to the top of the hole 50 if another jam is not encountered

during retraction. Ifjam occurs during retraction, controller 210 may initiate the anti-jam during retraction. If jam occurs during retraction, controller 210 may initiate the anti-jam

operation, as described above. Controller 210 may reset the count and/or timer when the drill bit operation, as described above. Controller 210 may reset the count and/or timer when the drill bit

30 is retracted to the top of the hole 50. Alternatively, or additionally, controller 210 may 30 is retracted to the top of the hole 50. Alternatively, or additionally, controller 210 may

decrement the counter for an amount of time not in the anti-jam operation (e.g., in a normal decrement the counter for an amount of time not in the anti-jam operation (e.g., in a normal

operation, such as the collar phase, drill hole phase, and/or retract phase of the drilling operation, such as the collar phase, drill hole phase, and/or retract phase of the drilling

operation). Controller operation). Controller 210 maythen 210 may thenautomatically automaticallyresume resume operation operation (step422) (step 422) andand continue continue

monitoring the monitoring the anti-jam anti-jam function function 300 300 (step (step 410), 410), as as detailed detailed above. The predetermined above. The predetermineddepth depth threshold corresponds to the drill string 28 length, such that when the drill bit 30 is below the threshold corresponds to the drill string 28 length, such that when the drill bit 30 is below the

predetermined depth threshold, the drill string 28 will be longer than the maximum lift height of predetermined depth threshold, the drill string 28 will be longer than the maximum lift height of

the rotary the rotary head head 26 26 on on mast frame 24. mast frame 24. Thus, Thus,when whenthethe drillbit drill bit 30 30 is is below the predetermined below the predetermined

depth threshold, controller 210 may be unable to retract the drill bit 30 to the top of the hole 50. depth threshold, controller 210 may be unable to retract the drill bit 30 to the top of the hole 50.

As such, if the drill bit 30 is below the predetermined depth threshold (step 418 - Yes), controller As such, if the drill bit 30 is below the predetermined depth threshold (step 418 - Yes), controller

210 may 210 maydisplay displaya anotification notification on on input input device device 40 40 (step (step 424). Controller 210 424). Controller 210 may maythen then automatically resume automatically resumeoperation operation(step (step 422) 422) and andcontinue continuemonitoring monitoringthetheanti-jam anti-jamfunction function300 300 (step 410), as detailed above. The notification may inform an operator, or other personnel, that (step 410), as detailed above. The notification may inform an operator, or other personnel, that

the count the count has exceededthe has exceeded the second secondthreshold thresholdsosothat that the the operator operator may stop the may stop the automatic automatic drilling drilling modeand mode andmanually manually attempt attempt to to diagnose diagnose andand clear clear thethe jam. jam.

[0034] Under

[0034] Under certain certain conditions, conditions, drilling drilling machine machine 10 may 10 may notable not be be able to clear to clear a jam a jam by the by the

anti-jam function anti-jam function 300. Thus, controller 300. Thus, controller 210 210 may maycontinue continuetotoattempt attemptthe theanti-jam anti-jamoperation operationfor for aa

12

2020205243 14 Jul 2020 large amount large amount of of attempts attempts and/or and/or for a for longa period long period ofTherefore, of time. time. Therefore, if the if the total total count count exceeds exceeds

the second the threshold (step second threshold 416- - Yes), (step 416 Yes), controller controller 210 maystop 210 may stopthe the operation operation (step (step 426). 426). For For example,controller example, controller 210210 may may stop collaring, stop collaring, drilling, drilling, and/or and/or retracting. retracting. Controller Controller 210 210 may reset may reset the count the and/or timer count and/or timer when operationisis stopped. when operation stopped. Thus, Thus,the themitigation mitigationprocedures proceduresmay may include include

automatically retracting automatically retracting thethe drill drill bitbit 30 30 to to thethe toptop of the of the holehole 50 (e.g., 50 (e.g., a first a first mitigation mitigation

procedure),displaying procedure), displaying a notification a notification (e.g., (e.g., a second a second mitigation mitigation procedure), procedure), and/or the and/or stopping stopping the drilling operation drilling operation(e.g., (e.g.,a athird thirdmitigation mitigation procedure). procedure).

[0035]The first

[0035] The threshold first threshold (e.g., (e.g., thetolift the lift toptothreshold) top threshold) and the and thethreshold second second threshold (e.g., the (e.g., the stop operation stop operationthreshold) threshold) for for the the total total count count may may be be configurable configurable - adjustable - adjustable based based on user on user inputs, or inputs, ormay be manufacturer may be set values manufacturer set values and and not not configurable. configurable.

Industrial Applicability Industrial Applicability

[0036] The The

[0036] disclosed disclosed aspects aspects of the of the anti-jam anti-jam control control system system 200 200 of the of the present present disclosure disclosure maymay

be used be in any used in drilling machine any drilling having an machine having an automatic automaticoperation operationmode. mode.

[0037] As used

[0037] As used herein, herein, the the terms terms automated automated and automatic and automatic are used are used to describe to describe functions functions that that

are done are without user done without user intervention. intervention. Thus, Thus, the the automatic automatic anti-jam anti-jam operation, operation, including including the the various various functionsofofFIGs. functions FIGs. 3-4, 3-4, maymay all proceed all proceed without without user intervention. user intervention.

[0038] SuchSuch

[0038] an anti-jam an anti-jam control control system system 200 help 200 may may efficiently help efficiently enable enable an automatic an automatic drilling drilling

operation. For operation. For example, example,the thedisclosed disclosedsystem system200 200may may automatically automatically clear clear andand preventjams prevent jams

during the during the automatic drilling operation. automatic drilling operation. The disclosed system The disclosed system200 200may may monitor monitor feed feed rateofofthe rate the drill bit, drill bit,as as described above,andand described above, control control feedfeed rate, rate, drill drill string string rotation, rotation, and and air supply air supply functions functions to to automatically detect automatically detect and clearjams and clear jams sooner. For example, sooner. For example,feed feedrate rate may maydecrease decreasebelow below a a thresholdbefore threshold beforebitbit airairpressure pressure and and rotation rotation torque torque increase increase abovethresholds above their their thresholds for initiating for initiating

the anti-jam operation. the Further, system operation. Further, 200 may system 200 mayhelp helptotoensure ensurethe the anti-jam anti-jam operation operation isis not not continuously attempted continuously attemptedwhen when ajam a jam is isunable unabletotobebecleared. cleared. Such Such a system a system 200200 maymay create create a a moreintuitive more intuitive operator control control and and may allowmore may allow moreautonomy autonomy of the of the drillingmachine drilling machine 10.10. Thus, Thus,

the anti-jam the anti-jamcontrol control system system 200 200 ofpresent of the the present disclosure disclosure may helpmay help operators operators execute the execute drilling the drilling operationand operation and maymay helphelp to reduce to reduce damagedamage to the to the drill bitdrill bitthe during during the operation, drilling drilling operation, while while decreasingoverall decreasing overall drilling drilling time. time.

[0039]It will

[0039] It will be apparent be apparent to skilled to those those skilled in the in the art thatart that various various modifications modifications and and variations variations can be can madetoto the be made the disclosed disclosed system systemwithout withoutdeparting departingfrom fromthe thescope scopeofofthe thedisclosure. disclosure. Other Other embodiments embodiments of disclosure of the the disclosure will will be be apparent apparent to thosetoskilled those in skilled infrom the art the consideration art from consideration of of the specification the specificationand and practice practice of the of the invention invention disclosed disclosed herein.herein. It is intended It is intended that the that the

13

specification specification and and examples beconsidered examples be consideredasas exemplary exemplaryonly, only,with witha atrue truescope scopeand andspirit spirit of of the the 2020

invention invention being indicated by being indicated by the the following claims. following claims.

2020205243 14 Jul

Claims (16)

Claims 19 Sep 2025

1. A method for automatically clearing a jam during an automatic drilling mode of a mobile drilling machine including a drill bit mounted on a drill string, the method comprising: monitoring a feed rate of the drill bit during the automatic drilling mode; automatically initiating an anti-jam operation when the feed rate is below a predetermined feed rate threshold; monitoring an anti-jam function during the automatic drilling mode; 2020205243

incrementing a counter each time the anti-jam operation of the anti-jam function is initiated; incrementing the counter at a predetermined rate for an amount of time in the anti- jam operation; and automatically initiating a mitigation procedure when a count of the counter exceeds a threshold, wherein the threshold includes a first threshold and the mitigation procedure includes a first mitigation procedure, and wherein the method further comprises: automatically retracting the drill bit to a top of a hole when the count exceeds the first threshold and when the drill bit is above a predetermined depth threshold.

2. The method of claim 1, further comprising: automatically initiating the anti-jam operation when the feed rate decreases below the predetermined feed rate threshold for a predetermined amount of time.

3. The method of any one of claims 1 to 2, further comprising: monitoring bit air pressure and rotation torque of the drill bit during the automatic drilling mode; and automatically initiating the anti-jam operation when the bit air pressure is above a predetermined bit air pressure threshold or the rotation torque is above a predetermined rotation torque threshold.

4. The method of claim 3, further comprising: automatically initiating the anti-jam operation when the feed rate is below the predetermined feed rate threshold prior to the bit air pressure and drill rotation torque increasing above their respective predetermined thresholds.

5. The method of any one of claims 1 to 4, wherein the increment for the amount of time in 19 Sep 2025

the anti-jam operation includes a normalization factor multiplied by the amount of time.

6. The method of any one of claims 1 to 5, wherein the mitigation procedure includes a second mitigation procedure including: displaying a notification if the count exceeds the first threshold and the drill bit is below the predetermined depth threshold. 2020205243

7. The method of claim 6, wherein the threshold includes a second threshold and the mitigation procedure includes a third mitigation procedure including: automatically stopping the drilling operation if the count exceeds the first threshold and the second threshold.

8. The method of claim 7, wherein the second threshold is greater than the first threshold.

9. A mobile drilling machine, comprising: a mast including a mast frame; a rotary head movably mounted on the mast frame, the rotary head controllable to rotate a drill bit mounted on a drill string at a rotation speed, wherein the rotary head is further controllable to move up and down the mast frame to feed the drill bit at a feed rate; and a controller configured to: monitor the feed rate of the drill bit during an automatic drilling mode; automatically initiate an anti-jam operation when the feed rate is below a predetermined feed rate threshold; monitor an anti-jam function during the automatic drilling mode of the mobile drilling machine; increment a counter each time the anti-jam operation of the anti-jam function is initiated; increment the counter at a predetermined rate for an amount of time in the anti-jam operation; and automatically initiate a mitigation procedure when a count of the counter exceeds a threshold, wherein the threshold includes a first threshold and the mitigation procedure includes a first mitigation procedure including: automatically retracting, using the controller, the drill bit to a top of a hole responsive to the count exceeding the first 19 Sep 2025 threshold and so long as the drill bit is above a predetermined depth threshold.

10. The mobile drilling machine of claim 9, wherein the controller is further configured to: automatically initiate the anti-jam operation when the feed rate decreases below the predetermined feed rate threshold for a predetermined amount of time.

11. The mobile drilling machine of any one of claims 9 to 10, wherein the controller is 2020205243

further configured to: monitor bit air pressure and rotation torque of the drill bit during the automatic drilling mode; and automatically initiate the anti-jam operation when the bit air pressure is above a predetermined bit air pressure threshold or the rotation torque is above a predetermined rotation torque threshold.

12. The mobile drilling machine of claim 11, wherein the controller is further configured to: automatically initiate the anti-jam operation when the feed rate is below the predetermined feed rate threshold prior to the bit air pressure and drill rotation torque increasing above their respective predetermined thresholds.

13. The mobile drilling machine of any one of claims 9 to 12, wherein the increment for the amount of time in the anti-jam operation includes a normalization factor multiplied by the amount of time.

14. The mobile drilling machine of any one of claims 9 to 13, wherein the mitigation procedure includes a second mitigation procedure, and wherein the controller is further configured to: display a notification if the count exceeds the first threshold and the drill bit is below the predetermined depth threshold.

15. The mobile drilling machine of claim 14, wherein the threshold includes a second threshold and the mitigation procedure includes a third mitigation procedure, and wherein the controller is further configured to: automatically stop the drilling operation if the count exceeds the first threshold and the second threshold.

16. A method for automatically clearing a jam during an automatic drilling mode of a mobile drilling machine including a drill bit mounted on a drill string, the method comprising: monitoring a feed rate, bit air pressure, and rotation torque of the drill bit during the automatic drilling mode; automatically initiating an anti-jam operation when the feed rate is below a predetermined feed rate threshold, the bit air pressure is above a predetermined bit air pressure threshold, or the rotation torque is above a predetermined rotation torque threshold; 2020205243

incrementing a counter each time the anti-jam operation is initiated; incrementing the counter at a predetermined rate for an amount of time in the anti- jam operation; and automatically initiating a mitigation procedure when a count of the counter exceeds a threshold, wherein the threshold includes a first threshold and the mitigation procedure includes a first mitigation procedure, and wherein the method further comprises: automatically retracting the drill bit responsive to the count exceeding the first threshold and so long as the drill bit is above a predetermined depth threshold.