An actuator mounting arrangement includes a mining machine having a frame and at least one mounting unit. The mounting unit includes a first mounting part having at partial recess for partially receiving a protuberance extending from an outer surface of the actuator, and a second mounting part having a recess for partially receiving the protuberance. The recesses face each other and form a support surface for the protuberance. Each of the first mounting part and the second mounting part has a through hole for receiving the actuator so that the first mounting part and the second mounting part encircle the actuator in a plane transverse of an axis of the actuator in a mounted state. The first mounting part and the second mounting part have matching holes for mounting bolts with which the first mounting part and the second mounting part are detachably mounted together.
An arrangement for attaching a falling post on a base structure, the post being rotatably movable between a standing and a recumbent position. The arrangement includes a stand, wherein the post is attached pivotally to the stand by a pin. The stand includes at least one groove arranged laterally in respect to the post, and the post has at least one projection extending in a lateral direction from the post. The at least one groove is arranged with respect to the at least one projection such that when the stand is in the standing position, the at least one projection lies in the at least one groove and thereby locks the post in the standing position. The at least one projection is attached to the post such that it may move with respect to the stand in a longitudinal direction of the post.
An apparatus and method for assisting design of charging and blasting of stopes in an underground stope excavation is provided. The apparatus includes a data processing device and is provided with data on realized drill holes drilled for the stope. The apparatus is also provided with data on an initial free space located below the stope. The apparatus assists in dividing an initial first stope ring into several blast sections, which are blasted in several partial blasts towards an available free space. The apparatus estimates volumes of rock materials, compares the estimated volumes to available free volumes and then examines whether the selected blast section fits in blasted expanded state into the available free space.
Method of protecting a loading vehicle (100) from hitting a roof (2) of a mine during a dumping operation, comprising steps of : - defining a safe space (110) having a safe height (SH) from the ground, which safe space is a collision free space for the loading vehicle during the dumping operation, - defining at least one reference point of the loading vehicle which is at risk of hitting the roof of the mine during the dumping operation, - detecting a dumping motion at a dumping place, wherein material from a bucket of the loading vehicle is removed into a dumping target, - allowing motion of the mining vehicle after the dumping motion if each defined reference point is below the safe height.
Example embodiments related to controlling of a loader. A method may comprise: monitoring a position of a loader, wherein the loader comprises a scanning device and a bucket configured to carry mining material; causing movement of the bucket to a position configured to enable scanning of a stockpile of mining material by the scanning device; causing scanning of the stockpile of mining material to obtain scanning data comprising a representation of the stockpile of mining material; determining, based on the representation of the stockpile of mining material and the position of the loader, a position of the stockpile of mining material; determining a position for dumping a load of mining material based on the position of the stockpile of mining material; and outputting an indication of the position for dumping the load of mining material.
A mobile mining machine (100), the mobile mining machine comprising: a frame (107), a bucket (103), a boom (102) having a distal end connected to the bucket, and a proximal end rotatably supported by the frame, a sensor device (10) configured to measure a distance between a target and the mobile mining machine, a control unit (CU) configured to control an action of the mobile mining machine. The control unit causes the mobile mining machine (100) to perform a predetermined action on condition that a distance measured by the sensor device (10) takes a value less than or equal to a threshold value, wherein the predetermined action comprises moving of the mobile mining machine (100), and/or stopping the mobile mining machine and/or raising and/or lowering the boom (102) and/or tilting the bucket (103).
A protective device (8), a rock drilling unit (4) and a method for providing protection in a rock drilling unit. The protective device comprises a protective casing (9) mountable to surround a drilling tool (7) connected to a rock drilling machine (6). The protective casing is a volute spring (10) which is a compression spring coiled of flat strip material (13) to a volute and forming inside the volute spring a longitudinally elastic tool space (15) for receiving the drilling tool.
A protective device, rock drilling unit and method. The protective device (9) comprises a protective casing (10) mountable around a drilling tool (8). The protective casing comprises at least openable and closable rigid chain (11) provided with parallel chain members (15a, 15b). The chain members comprise grip elements (16) which can interlock with each other and form a closed structure. By disengaging the grip elements, the protective casing can be opened. The opening and closing is executed in response to movements of a rock drilling machine (6) in a drilling direction (A) and in a reverse direction (B).
A system and a method for increasing capacity of a battery for an electric vehicle during mining operations. The systems and methods provide a battery management software application that allows vehicle operators to designate a value for a target state of charge (SoC) of the battery before initiating a downhill tramming operation that will engage a kinetic energy capture system. The current SoC of the battery is monitored, and when it exceeds the target SoC and the vehicle is connected to a power grid, a power dump can be triggered. The power dump causes a discharge of the battery to a level corresponding to the target SoC. The vehicle can then recharge the battery with a substantially greater net charge in a subsequent downhill tramming operation.
B60L 9/00 - Electric propulsion with power supply external to the vehicle
B60L 50/53 - Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
B60L 55/00 - Arrangements for supplying energy stored within a vehicle to a power network, i.e. vehicle-to-grid [V2G] arrangements
B60L 58/12 - Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
B60L 58/13 - Maintaining the SoC within a determined range
A cooling arrangement, a mining vehicle, and a method for providing cooling in a mine vehicle is provided. The mining vehicle includes a combustion engine arranged to execute tramming, a hydraulic system arranged for powering at least one hydraulic actuator, and an electrically operable powerpack arranged for powering the hydraulic system. The cooling arrangement has a first liquid cooling circuit arranged for cooling the combustion engine and a second liquid cooling circuit arranged for cooling hydraulic oil. The second liquid cooling circuit is selectively connectable to the first liquid cooling circuit when the combustion engine is off.
A dump assistance system of a loading vehicle (100), wherein the loading vehicle comprises - a body (101), - a bucket (102), - a boom (104), a control unit ( CU) configured to control an action of the loading vehicle, wherein the loading vehicle is configured to perforin a dumping motion, in which the material is removed from the bucket by tilting the bucket, wherein the dump assistance system comprises target height (TH) data, and the height of the lowest point of the bucket is calculated, measured or taught.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Monitoring devices for mining and construction equipment and tools, namely, electronic sensors and data loggers for tracking and analyzing usage, location, and maintenance intervals; Electronic tracking devices for mining and construction equipment and tools; Downloadable software for monitoring, tracking, analyzing, and reporting data from mining equipment and tools; Wireless communication devices for transmitting data from mining and construction equipment and tools. Remote monitoring of mining and construction equipment and tools and usage data; Software as a service (SaaS) including software for analyzing, tracking and reporting operational data from mining and construction equipment and tools; Provision of non-downloadable software for analyzing, tracking and reporting mining and construction tool and equipment usage and maintenance needs.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Monitoring devices for mining and construction equipment and tools, namely, electronic sensors and data loggers for tracking and analyzing usage, location, and maintenance intervals; Electronic tracking devices for mining and construction equipment and tools; Downloadable software for monitoring, tracking, analyzing, and reporting data from mining equipment and tools; Wireless communication devices for transmitting data from mining and construction equipment and tools. Remote monitoring of mining and construction equipment and tools and usage data; Software as a service (SaaS) including software for analyzing, tracking and reporting operational data from mining and construction equipment and tools; Provision of non-downloadable software for analyzing, tracking and reporting mining and construction tool and equipment usage and maintenance needs.
16.
A METHOD, AN APPARATUS AND A PROGRAM CODE FOR INDICATING A RESIDUAL LOAD
There is provided a method for providing an indication of a residual load of a mining vehicle comprising a dump box, a cab and an integrated weighing system. The method comprises weighing a residual load on an unloaded dump box of the mining vehicle by the integrated weighing system and comparing a weight of the residual load to a predefined limit. The method further comprises providing the indication of the weighed residual load, in response to the weight of the residual load exceeding the predefined limit. The indication comprises at least one of: an internal indication, which is detectable on an interior of the cab, and an external indication, which is detectable on an exterior of the cab of the mining vehicle.
Example embodiments related to controlling of a mining machine. An apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: measure a quantity associated with a relative distance between the mining machine and a safety gate, in response to determining that the mining machine has lost a network connection to an external safety system; and cause the mining machine to slow down or stop, in response to determining that the measured quantity is indicative of the mining machine being located within a proximity threshold from the safety gate.
According to an example aspect of the present invention, there is provided a method including detecting a first position of a mining vehicle with reference to a first worksite model, receiving information on a plurality of transformation matrices associated with the first worksite model, selecting a transformation matrix associated with the first worksite model based on the first position of the mining vehicle, performing, based on the selected transformation matrix, a coordinate transformation from input coordinates indicative of a second position of the mining vehicle in the first worksite model to transformed coordinates of a second worksite model, and providing the transformed coordinates to represent the second position of the mining vehicle for performing mining automation control based on the second worksite model.
A method for condition monitoring of a mining vehicle. The method comprises controlling a hydraulic circuit to pressurize a lifting cylinder for changing a position of a dump box relative to a body of the mining vehicle, controlling a respective pressure release valve to open the hydraulic circuit for depressurizing the lifting cylinder, measuring a loading applied by the dump box to the body of the mining vehicle both in response to changing the position of the dump box relative to the body of the mining vehicle and in response to control the pressure release valve to open the hydraulic circuit, and determining, based on the said loading measurements, a state of the pressure release valve in response to control the pressure release valve to open the hydraulic circuit for depressurizing the lifting cylinder. Additionally, a system for condition monitoring of the mining vehicle.
B60P 1/16 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load supporting or containing element actuated by fluid-operated mechanisms
F15B 19/00 - Testing fluid-pressure actuator systems or apparatus, so far as not provided for elsewhere
20.
DETERMINING A BUCKET FILL PARAMETER VALUE FOR A LOADER
Example embodiments related to controlling of a loader. An apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: obtain information on a profile of a bucket of the loader; receive, from a scanning device coupled to the loader, scanning data comprising a representation of the bucket; determine a position of the bucket relative to the scanning device; determine a bucket fill parameter value based on the profile of the bucket, the representation of the bucket, and the position of the bucket relative to the scanning device; and provide an output based on the bucket fill parameter value.
A tool bushing of a breaking hammer, an arrangement for lubricating tool bushings of a breaking hammer, a breaking hammer, and a method of lubricating tool bushings of a breaking hammer. The tool bushing (8, 8a, 8b) is a sleeve-like piece comprising lubricating grooves (17) on its inner surfaces whereby lubricant is feedable through transverse lubricating channels (13) to the lubricating grooves for lubricating bearing surfaces on the inner surface. The lubricating grooves are arranged to form at least two local lubricated areas (Lal, La2; La3, La4) opposing each other. The local lubricating areas have dedicated lubricating grooves which do not surround a periphery of the inner surface.
Example embodiments of the present disclosure relate to controlling a mining machine. An apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive an inertial measurement signal from a sensor of the mining machine; determine a motional status of the mining machine indicative of whether at least one part of the mining machine is stationary based on at least one control signal provided by control circuitry of the mining machine or based on at least one sensor signal received from at least one other sensor of the mining machine; and perform calibration of the inertial measurement signal, in response to determining that the motional status of the mining machine is indicative of the sensor being stationary.
E21B 7/02 - Drilling rigs characterised by means for land transport, e.g. skid mounting or wheel mounting
E21B 44/00 - Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systemsSystems specially adapted for monitoring a plurality of drilling variables or conditions
E21B 47/022 - Determining slope or direction of the borehole, e.g. using geomagnetism
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
An apparatus comprises: at least one processor (802); and at least one memory (804) including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: determine a target position (134) for a drill bit (132) of the track-mounted drill rig; determine a turning trajectory of an aiming point of the drill bit; monitor position of the turning trajectory of the aiming point (134) of the drill bit with respect to the target position of the drill bit during approach of the track-mounted drill rig to the target position; and cause turning of the track-mounted drill rig to align the aiming point of the drill bit with the target position of the drill bit based on determining that the turning trajectory of the aiming point of the drill bit substantially coincides with the target position of the drill bit.
E21B 7/02 - Drilling rigs characterised by means for land transport, e.g. skid mounting or wheel mounting
E21B 44/00 - Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systemsSystems specially adapted for monitoring a plurality of drilling variables or conditions
B62D 11/00 - Steering non-deflectable wheelsSteering endless tracks or the like
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
An apparatus includes at least one processor and at least one memory including computer program code. The at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: determine a target position for a drill bit of the track-mounted drill rig; determine a turning trajectory of an aiming point of the drill bit; monitor position of the turning trajectory of the aiming point of the drill bit with respect to the target position of the drill bit during approach of the track-mounted drill rig to the target position; and cause turning of the track-mounted drill rig to align the aiming point of the drill bit with the target position of the drill bit based on determining that the turning trajectory of the aiming point of the drill bit substantially coincides with the target position of the drill bit.
E21B 7/02 - Drilling rigs characterised by means for land transport, e.g. skid mounting or wheel mounting
E21B 15/04 - Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
E21B 44/00 - Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systemsSystems specially adapted for monitoring a plurality of drilling variables or conditions
A control valve, an impact device for a rock breaking apparatus, and a method are provided. The control valve is an elongated piece with a central axis and radial outer and inner surfaces (Ros, Ris). The control valve includes several control surfaces disposed at axial distances from each other for controlling hydraulic fluid flows (Hff) in response to axial control movement (M). One or more radial surfaces of the control valve include one or more slanted surface (SS) a longitudinal direction of which have oblique orientation in relation to the central axis (Ca) of the control valve. The control valve rotates or turns during a working cycle due to hydraulic flow effecting on the slanted surfaces.
F16K 11/078 - Multiple-way valves, e.g. mixing valvesPipe fittings incorporating such valvesArrangement of valves and flow lines specially adapted for mixing fluid with all movable sealing faces moving as one unit comprising only sliding valves with pivoted and linearly movable closure members
26.
MEASURING STOPPING DISTANCE OF A WORKING MACHINE WITH AN APPARATUS
An apparatus for measuring the stopping distance of a working machine is provided. The working machine includes a user interface, at least one processor, and at least one memory including a computer program code. The at least one memory and the computer code are configured to, with the at least one processor, cause the apparatus at least to: receive at least one speed parameter based on at least one user input on the user interface, receive at least one speed information value from a controller or the engine control unit of the working machine, send at least one command to the controller or the engine control unit to at least stop the working machine when the received speed information value is equal to the at least one speed parameter, and calculate the stopping distance of the working machine. A method and a system are also disclosed.
G01L 5/28 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for testing brakes
A cable guiding device, a mining vehicle, and method of guiding a trailing electric cable of an electrically powered mining vehicle. The cable guiding device (17) comprises an elongated cable guiding tail (18) mounted to aa rreeaarr end portion (15) of the mining vehicle (1). At a distal end (18b) of the cable guiding tail there is a cable guiding assembly (19) comprising several guide rollers (28) for guiding the electric cable. The assembly is mounted to the cable guiding tail by means of rotating joint (20) so that the assembly can turn (T) in relation to the cable guiding tail.
H02G 1/06 - Methods or apparatus specially adapted for installing, maintaining, repairing, or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
B21B 1/16 - Metal rolling methods or mills for making semi-finished products of solid or profiled cross-sectionSequence of operations in milling trainsLayout of rolling-mill plant, e.g. grouping of standsSuccession of passes or of sectional pass alternations for rolling wire or material of like small cross-section
H02G 11/00 - Arrangements of electric cables or lines between relatively-movable parts
B60L 53/18 - Cables specially adapted for charging electric vehicles
B65H 75/42 - Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools or machines
A battery electric mining vehicle capable of selective operation between a battery and AC power supplied by a cable includes a cable reel designed to provide a suitable length of cable for a mining vehicle while ensuring that the overall form factor or footprint of the vehicle is unchanged from a battery-only configuration. A cable reel with integrated storage is integrated and mounted within the body of the vehicle without the need for any extension of the platform. The cable reel enables for use of a relatively light cable for fluent handling while meeting the power demands of the tools in heavy duty operations. The cable reel has a drum diameter that is close to the flange diameter to provide a cable support surface on its exterior and a storage hollow on its interior.
B65H 75/42 - Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools or machines
A sensor assembly, a mining vehicle, and a method for providing monitoring data, The sensor assembly (11) comprises at least one sensor (S) for providing sensing data on surroundings of the mining vehicle (1), a body (12), and a protective cover element (13) surrounding the sensor. There is also a cleaning device (14) for removing dirt (21) from outer surfaces of the protective cover. At least the cover element is movable in relation to the body. The assembly is provided with a wiper (15) facing towards an outer surface of the cover element. The wiper is serving as the cleaning device and is configured to wipe off the dirt from the outer surface of the cover element in response to the relative movement between the cover element and the body.
B60K 1/00 - Arrangement or mounting of electrical propulsion units
B60P 1/04 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load supporting or containing element
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
B60R 11/00 - Arrangements for holding or mounting articles, not otherwise provided for
30.
CONTROL SYSTEM, ROCK DRILLING RIG, AND METHOD FOR CONTROLLING COUPLING MEASURES
A control system, rock drilling rig and method for controlling coupling measures is provided. The control system is arranged for controlling coupling and uncoupling measures of a threaded coupling of a rock drilling tool. The control system is configured to detect initial minimum feed force required for moving a rock drilling apparatus in forward direction and is configured to implement the detected minimum feed force during the coupling.
According to an aspect, an electric equipment is provided. The electric equipment may be used in a mining environment. The electric equipment comprises a first circuitry, a second circuitry, and a multi-voltage transformer, wherein. The first circuitry comprises a motor. The second circuitry comprises a rechargeable battery. The primary side is configured to be connected to an electrical network. The first circuitry is configured to be connected to the primary side. The first circuitry is switchable between at least two of the sets of primary tapping points. The second circuitry is configured to be connected to the secondary side.
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from AC mains by converters
H02J 7/34 - Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
H02M 5/12 - Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into DC by static converters using transformers for conversion of voltage or current amplitude only
32.
ENHANCING DRILLING ACCURACY FOR A MOBILE UNDERGROUND DRILLING RIG, AND RELATED DEVICES, METHODS AND COMPUTER PROGRAMS
Apparatuses, methods, computer programs and systems for enhancing drilling accuracy for a mobile underground drilling rig are disclosed. With the disclosed inertial measurement unit (IMU) (11), a vertical orientation error caused by a drilling boom (3) and/or a feed rail (5) bending may be directly measured and corrected, for example. A position error caused by the drilling boom (3) bending may be corrected or at least reduced by using the IMU (11) data in compensation data/models. Such combined/new compensation data does not depend on drilling direction, such as face drilling, ramp drilling, and cross-cut drilling. Furthermore, the IMU (11) may be used to measure a change in a feed angle caused by contact forces between the feed rail (5) and rock, thereby further improving overall mining accuracy.
An arrangement and method of sensing tangential velocity of surface of an object. The arrangement comprises a sensor (S) at a sensing point (SP) for measuring the tangential velocity at least in one sensing direction (SD). The sensor comprises a magnetizing element (10), a sensing element and a sensing gap (SG). The sensing element comprises one or more sensing wires (6) which are arranged to the sensing gap in transverse direction relative to the sensing direction. The magnetizing element generates a magnetic field (2) so that line of flux passes through the sensing gap. Electric voltage is induced to the sensing wire when the object moves. The object is made of hysteric ferromagnetic material and when a rapid change in movement of the object occurs, then the magnetic field deflects due to hysteresis causing thereby induction of the electric voltage. The sensed electric voltage is directly proportional to the tangential velocity.
G01P 3/52 - Devices characterised by the use of electric or magnetic means for measuring linear speed by measuring amplitude of generated current or voltage
G01P 3/50 - Devices characterised by the use of electric or magnetic means for measuring linear speed
G01L 1/12 - Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
G01N 27/72 - Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
34.
SENSOR SYSTEM OF UNDERGROUND MINING VEHICLES AND UNDERGROUND MINING VEHICLE COMPRISING SENSOR SYSTEM
A sensor system of underground mining vehicles, which system is arranged to be fastened at a perimeter of an underground mining vehicle, comprising a sensor (1) and a stand (2), wherein the stand comprises a mounting plate (3) for fastening the stand (2) to the underground mining vehicle, a movable plate (4) fastened moveably to the mounting plate (3), a guard member (7a, 7b, . . . ) fastened to the movable plate (4), and a biasing member (9a, 9b, . . . ) fastened between the movable plate (4) and the mounting plate (3). The sensor (1) is fastened to the movable plate (4). The movable plate (4) has two positions: a resting position, and a retracted position, and the biasing member (9a, 9b, . . . ) is biasing the movable plate (4) to the resting position.
A rock drilling rig and method of handling drill bits. The rock drilling rig (1) comprises a drilling boom (3) provided with a rock drilling unit (4). The rock drilling rig also comprises one or more drill bit magazines (10) for storing the drill bits (9). The magazine comprises a bit change position (13) defined by physical guide surfaces (14) capable to direct the rock drilling unit into correct position and orientation for executing change of the drill bit.
Example embodiments related to controlling of a mobile bolter machine. An apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: obtain scanning data of a rock surface; determine, based on the scanning data, a position of at least one bolt of a previous bolt fan on the rock surface; and determine a position for at least one bolt of at least one subsequent bolt fan on the rock surface based on the determined position of the at least one bolt of the previous bolt fan.
Example embodiments relate to sensor control of a drill rig. An apparatus may comprise: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: obtain information on operational status of the drill rig; determine, based on the operational status of the drill rig, at least one sensor of the drill rig to be transitioned to a power saving mode; and cause the at least one sensor of the drill rig to transition to the power saving mode.
E21B 44/00 - Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systemsSystems specially adapted for monitoring a plurality of drilling variables or conditions
E21B 47/13 - Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling by electromagnetic energy, e.g. of radio frequency range
A control system, a rock drilling unit, and a method for controlling feeding of a rock drilling machine. The control system (CS) comprising a control unit (CU) for controlling a feed device (FD) for generating feed forces (F1, F2) for moving the rock drilling machine (6) on a feed beam (5). The system is provided with a selectable feed testing mode (Mft) for feeding the rock drilling machine idle at least in one feed direction (A, B) and to simultaneously determine feed forces required for moving the rock drilling machine idle along the feed beam. The system can compare the determined feed forces to a reference value setting (Ref) for determining factors resisting movements of the rock drilling machine on the feed beam.
A battery power system for a mobile mining drill rig is disclosed. The disclosed battery power system allows battery- powering a mobile mining drill rig with a drilling motor and a separate tramming motor.
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
E21B 7/02 - Drilling rigs characterised by means for land transport, e.g. skid mounting or wheel mounting
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from AC mains by converters
An apparatus, rock drilling rig and drilling method is provided. The apparatus provides position control data for controlling positioning a rock drilling unit of a rock drilling rig arranged for drilling transverse drill hole patterns in an underground tunnel. The apparatus includes a teaching feature for gathering data on manually controlled movements at the location of the drill hole pattern and to thereby detect a movement path, which is collision free. The data on the taught collision free movement path is implemented when controlling the rock drilling unit during an actual drilling phase.
A redundant dual pump hydraulic system for a vehicle includes a first hydraulic power pack; a second hydraulic power pack; a hydraulically operated vehicle component, selectively driven by the first hydraulic power pack and the second hydraulic power pack; and a system controller including a device processor and a non-transitory computer readable medium. The computer readable medium includes instructions executable by the processor for performing the following functions: receiving data regarding a first vehicle parameter and a second vehicle parameter; and selecting which hydraulic power pack drives the hydraulically operated vehicle component based on the data received regarding the two or more vehicle parameters; wherein the received data is weighted for each of the first vehicle parameter and second vehicle parameter such that one of the vehicle parameters is prioritized over the other in determining which hydraulic power pack will drive the hydraulically operated vehicle component.
According to an aspect, there is provided a calibration method for a machine control system controlling an inverter associated with an electric motor. The method comprises providing a human-machine interface associated with the machine control system for calibrating a position sensor of the electric motor; receiving, via the human-machine interface, a user input initiating the calibration of the position sensor of the electric motor; performing with the machine control system the calibration of the position sensor of the electric motor in response to receiving the user input; and providing, via the human-machine interface, a calibration result.
An apparatus for controlling a track-mounted vehicle, the apparatus comprising: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: obtain information on a path to be followed by the track-mounted vehicle; obtain information on at least one characteristic affecting movement control of the track-mounted vehicle; determine a position of a control point in relation to the track-mounted vehicle based on the at least one characteristic; and control movement of the track-mounted vehicle based on the path and the control point, wherein the control point is configured to be aligned with the path to cause the track-mounted vehicle to follow the path.
An apparatus for controlling a track-mounted vehicle includes at least one processor, and at least one memory including computer program code. The at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus at least to: obtain information on a path to be followed by the track-mounted vehicle; obtain information on at least one characteristic affecting movement control of the track-mounted vehicle; determine a position of a control point in relation to the track-mounted vehicle based on the at least one characteristic; and control movement of the track-mounted vehicle based on the path and the control point, wherein the control point is configured to be aligned with the path to cause the track-mounted vehicle to follow the path.
A hydraulic system, working vehicle, and method for producing hydraulic power to a hydraulic system of a working vehicle is provided. The hydraulic system includes a fixed displacement hydraulic pump and a speed and torque controlled electric motor for driving the hydraulic pump. An electric controller is arranged to adjust the speed of the electric motor and to thereby adjust produced hydraulic fluid flow and pressure in the system. Further, there is a bypass flow channel including a throttle element for directing limited continuous discharge fluid flow from the system.
A towing arrangement for a battery-powered mining machine. The battery machine includes a machine side and a battery unit connected removably to the machine side. The towing arrangement includes a hydraulic cylinder arranged to the machine side to release the brakes of the mining machine when activated, a towing element arranged to move in relation to the battery unit when a towing force is affecting to the towing element, and a mechanical connection located between the towing element and the hydraulic cylinder. The mechanical connection is arranged to activate the hydraulic cylinder for releasing the brakes when a towing force is affected to the towing element. The mechanical connection includes at least one lever.
A hydraulic system, rock drilling rig, and method for limiting output performance of a hydraulic drilling actuator temporarily under execution of a safety function feature of a hydraulic system is provided. The output performance is limited by limiting produced hydraulic fluid flow in a hydraulic circuit of the hydraulic drilling actuator, whereby a restricted magnitude of the fluid flow is produced at a hydraulic pump. This way a restricted operation mode is enabled and is controlled by a control unit.
E21B 1/26 - Percussion drilling with a reciprocating impulse member the impulse member being a piston driven directly by fluid pressure by liquid pressure
Devices, methods and computer programs for user authentication in an industrial system are disclosed. A first apparatus associated with an industrial system receives a user identifier uniquely associated with a user. The first apparatus derives a second symmetric cryptographic key specific at least to the user based at least on the received user identifier and a first symmetric cryptographic key specific to the industrial system and stored in a first storage in the first apparatus. The first apparatus attempts to authenticate the user based at least on the derived second symmetric cryptographic key. In response to successfully authenticating the user, the first apparatus grants the user access to the industrial system.
H04L 9/32 - Arrangements for secret or secure communicationsNetwork security protocols including means for verifying the identity or authority of a user of the system
A powertrain support arrangement of a mobile underground mining machine includes an axle housing arranged transversely to a longitudinal axis of the mobile underground mining machine. The axle housing includes a first end and a second end, a support surface for a hub motor arrangement is arranged on the first end of the axle housing and a support surface for a second hub motor arrangement is arranged on the second end of the axle housing. A space for at least a part of the hub motor arrangement is arranged inside the axle housing.
An actuator arrangement (1) for an inlet air valve of a compressor system of a mining machine, the actuator arrangement comprises a linear actuator (11) compris- ing a movable element (10), operatively connected via a lever mechanism (6, 7, 8, 9; 6, 7, 8, 9, 91, 92) to a shaft (4) of a closing element (3) of the inlet air valve. A linear movement of the movable element (10) of the linear actuator (11) is transmitted via the lever mechanism to a rotation movement of the shaft (4) of the closing element (3) of the inlet air valve, wherein a transmission ratio of the lever mechanism is configured to vary during a movement of the movable element (10) of the linear actuator (11).
F04B 39/10 - Adaptation or arrangement of distribution members
F04B 49/22 - Control of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for in, or of interest apart from, groups by means of valves
F16K 3/04 - Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing with flat sealing facesPackings therefor with pivoted closure members
F16K 3/06 - Gate valves or sliding valves, i.e. cut-off apparatus with closing members having a sliding movement along the seat for opening and closing with flat sealing facesPackings therefor with pivoted closure members in the form of closure plates arranged between supply and discharge passages
F16K 1/22 - Lift valves, i.e. cut-off apparatus with closure members having at least a component of their opening and closing motion perpendicular to the closing faces with pivoted closure members with pivoted discs or flaps with axis of rotation crossing the valve member, e.g. butterfly valves
F16K 31/16 - Operating meansReleasing devices actuated by fluid with a mechanism, other than pulling- or pushing-rod, between fluid motor and closure member
F16K 31/52 - Mechanical actuating means with crank, eccentric, or cam
Disclosed is a system method and computer program product for a monitoring system configured to monitor a volume of an underground work site, the monitoring system comprising a positioning unit configured to store three-dimensional reference data relating to the monitored volume and at least one mobile passage control unit comprising a sensing device configured to provide three-dimensional sensing data relating to the monitored volume, wherein the computer program causes the monitoring system to perform at least the following, detect, by a mobile passage control unit, a triggering event for determining a position of the mobile passage control unit in the underground work site, obtain, as a response to detecting the triggering event, three-dimensional sensing data relating to the monitored volume by the sensing device, receive the three-dimensional sensing data by the positioning unit, determine, by the positioning unit, based on the three-dimensional sensing data and the three-dimensional reference data relating to the monitored volume, the position of the mobile passage control unit, and provide, by the positioning unit, information on the position of the mobile passage control unit to the mobile passage control unit, the information on the position comprising a location and orientation of the mobile passage control unit.
Disclosed is a method for monitoring an environment of a mining vehicle within an underground working area monitored by a monitoring system, the method comprising: obtaining first sensing data regarding the environment of the mining vehicle, wherein the first sensing data comprises data relating to the environment of the mining vehicle upon approaching an area by the mining vehicle, obtaining second sensing data regarding the environment of the mining vehicle, after obtaining the first sensing data, wherein the second sensing data comprises data relating to the environment of the mining vehicle upon passing the area by the mining vehicle, performing a comparison of the first sensing data and the second sensing data, detecting, based on the comparison of the first sensing data and the second sensing data, that the second sensing data comprises a difference compared to the first sensing data, wherein the difference is with respect to a location within the area, and providing an indication regarding the difference to the monitoring system.
Disclosed is a mobile passage control unit, a method and a computer program product for obtaining three-dimensional reference data relating to the monitored volume, the volume being defined by a plurality of sub-volumes, determining, based on the three-dimensional reference data, a set of initially unoccupied sub-volumes within the monitored volume, obtaining, by the sensing device, three-dimensional sensing data relating to the monitored volume, examining obtained three- dimensional sensing data relating to the set of initially unoccupied sub-volumes of the monitored volume, detecting, based on the examining, at least one change event in the set of initially unoccupied sub-volumes, the at least one change event comprising at least one sub-volume in the set of initially unoccupied sub-volumes becoming an occupied sub-volume, and determining, based on the at least one detected change event and at least one criterion relating to the change event, that an object has been moving in the monitored volume.
E21F 17/18 - Special adaptations of signalling or alarm devices
G01S 7/41 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisationTarget signatureTarget cross-section
G01S 7/48 - Details of systems according to groups , , of systems according to group
G01S 7/539 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisationTarget signatureTarget cross-section
G01S 13/89 - Radar or analogous systems, specially adapted for specific applications for mapping or imaging
G01S 15/89 - Sonar systems specially adapted for specific applications for mapping or imaging
G01S 15/931 - Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G05D 1/617 - Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
G06V 20/52 - Surveillance or monitoring of activities, e.g. for recognising suspicious objects
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
Disclosed is a method comprising receiving a first indication from at least one of the one or more mining vehicles operational within the underground working area, wherein the first indication provides information regarding an object hindering operation of the one or more mining vehicles operational within the underground working area, the object having its current location within the underground working area, determining further information relating to the object, the further information comprising at least the current location of the object, providing a second indication to the one or more mining vehicles operational within the underground working area, wherein the second indication comprises information regarding the current location of the object, and receiving, from a mining vehicle, comprised in the one or more mining vehicles operational within the underground working area, a third indication, wherein the third indication provides information regarding the mining vehicle being capable of removing the object from its current location.
A mobile charging station for charging a vehicle in an underground mine is provided. The mobile charging station includes an electric input configured to receive an input voltage from an electrical network of a mine, at least one output configured to charge a battery of the vehicle connected to the output, a charging circuitry configured to provide electric power to the at least one output, and a voltage transformer arranged between the electric input and the charging circuitry, the voltage transformer being configured to transform the input voltage received via the electric input to a configured output voltage for the charging circuitry.
An apparatus, method and computer program product for determining at least one target location of a mobile mining machine, receiving data relating to operation of the mobile mining machine in a mining environment, determining at least one operation characteristic of the mobile mining machine based on the data relating to operation of the mobile mining machine in the mining environment, determining, based on the at least one target location and the at least one operation characteristic, an estimated demand of the mobile mining machine for at least one flowing resource in the at least one target location at a particular time instance, and providing, based on the estimated demand, control information for controlling provision of the at least one flowing resource.
An apparatus for feeding a tube element in- side a drill hole, a rock drilling rig, and a method of supporting mouth openings of drill holes. The apparatus (8) comprises a feed actuator (22) and an elongated guide tube (25) provided with an inner space (26) through which the feed actuator is config- ured to feed the tube elements (14).
A suspension arrangement for a mobile mining machine, wherein the suspension arrangement (1) comprises a suspension actuator (8) and a hub motor arrangement (9), comprising a drive and a hub (7) for a wheel of the mobile mining machine. The suspension actuator (8) comprises a first part (81) and a second part (82) configured movable relative with each other at least in one direction, wherein the first part (81) of the suspension actuator is configured to be connectable on a frame (2) of the mobile mining machine and the second part (82) is connectable to the hub motor arrangement (9), wherein a wheel (3, 4) of the mining machine is connectable to the hub (7) of the hub motor arrangement (9).
A hydraulic system, rock drilling rig, and method for limiting the output performance of a hydraulic drilling actuator temporarily under execution of a safety function feature of the hydraulic system. The output performance is limited by limiting produced hydraulic fluid flow in a hydraulic circuit of the hydraulic drilling actuator, whereby a restricted magnitude of the fluid flow is produced at a hydraulic pump. This way a restricted operation mode is enabled and is controlled by a control unit.
An apparatus, method and computer program product for: determining a reference position of a feed beam, the feed beam being connected to a boom of a mobile mining machine; receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating, based on the measurement information, movement of the inertial measurement unit; and providing, based on the reference position of the feed beam and the estimated movement of the at inertial measurement unit, joint control information for controlling a position of the feed beam.
E21B 19/08 - Apparatus for feeding the rods or cablesApparatus for increasing or decreasing the pressure on the drilling toolApparatus for counterbalancing the weight of the rods
A gripper, a rock drilling unit and a method of handling drilling tools is provided. The gripper includes a hydraulic cylinder and at least one gripping jaw movable by means of the hydraulic cylinder towards and away from the drilling tool. The hydraulic cylinder has at least one adjusting piston having a first operating position with a first fixed stoppage and a second operating position with a fixed second stoppage. The adjusting piston limits movement length of a piston rod at one of the first and second operating positions to provide the gripping jaw with an intermediate position between extreme movement positions of the gripping jaw.
A method for protecting a lubricating system of a rock drilling machine (5), the lubricating system comprising at least a lubricating source (23) and at least one lubricating conduit (21, 22) for conveying lubricant to the rock drilling machine (5) and from the rock drilling machine. The method comprising a step of conveying protective fluid to the lubricating conduit before the lubricant, and/or with the lubricant, and/or after the lubricant. The method further comprising a step of collecting and re-circulating at least part of used protective fluid to the lubricating conduit. The invention relates also to an arrangement and a mining machine.
F16N 7/30 - Arrangements for supplying oil or unspecified lubricant from a stationary reservoir or the equivalent in or on the machine or member to be lubricated the oil being fed or carried along by another fluid
A method is provided including the steps of determining a set of passage control units, PCUs, enabling forming of an isolated operation zone of a mining automation system; maintaining an acknowledgement status record for the set of PCUs; determining, based on the acknowledgement status record, a PCU within the set of PCUs for completing isolation of the operation zone; selecting an acknowledgement unit located outside the operation zone to be isolated, the acknowledgement unit being associated with the PCU; and controlling, in response to receiving an acknowledgement from the selected acknowledgement unit, a state of the operation zone.
A method includes detecting first mapping data, the first mapping data being based on environment scanning by an unmanned aerial vehicle, UAV, associated with a mining vehicle, performing a transformation for the first mapping data to generate second mapping data comprising coordinates of a worksite reference system, and providing the second mapping data for a worksite model comprising third mapping data from another mapping source.
A vehicle includes a first sensor to sense a first beacon emitted by a first beacon-emitting device worn by a person. The vehicle includes a collision-avoidance processor that determines if the person is located in an unsafe location relative to the vehicle based on a first signal generated by the first sensor. The collision-avoidance processor controls the vehicle in response to determining that the person is located in the unsafe location. A second beacon-emitting device near a seat in the vehicle emits a second beacon detectable by a second sensor worn by the person when the person sits in the seat. The second beacon has lower power and less range than the first beacon. The second sensor generates a second sensor signal in response to sensing the second beacon when the person sits in the seat, the first beacon-emitting device being deactivated in response to the second sensor signal.
H04W 4/02 - Services making use of location information
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
H04W 4/80 - Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
66.
CONTROLLING MESH INSTALLATION BASED ON A MESH DEFORMATION PARAMETER
Example embodiments generally relate to the field of mesh installation on a rock surface. An apparatus may obtain a surface model of a rock surface; determine, based on the surface model, whether a mesh can be installed on a planned position of the mesh on the rock surface without violating at least one deformation parameter of the mesh; and determine to refrain from installation of the mesh on the planned position of the mesh, in response to determining that the mesh can not be installed on the planned position of the mesh without violating the at least one deformation parameter.
E21D 11/00 - Lining tunnels, galleries or other underground cavities, e.g. large underground chambersLinings thereforMaking such linings in situ, e.g. by assembling
E21D 11/15 - Plate liningsLaggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
E21D 19/00 - Provisional protective covers for working space
67.
MESHING PLAN UPDATE BASED ON ACTUAL SURFACE MODEL OF A ROCK SURFACE
Example embodiments may generally relate to the field of mesh installation on a rock surface. An apparatus may obtain a meshing plan indicative of at least one of: a planned position of at least one mesh for installation of the at least one mesh to a rock surface, or a planned position of at least one fastener for fastening the at least one mesh to the rock surface; obtain a planned surface model of the rock surface; obtain an actual surface model of the rock surface; detect a discrepancy between the planned surface model and the actual surface model; update the meshing plan based on the detected discrepancy; and control the mesh installation based on the updated meshing plan.
E21D 11/00 - Lining tunnels, galleries or other underground cavities, e.g. large underground chambersLinings thereforMaking such linings in situ, e.g. by assembling
E21D 11/15 - Plate liningsLaggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
E21D 19/00 - Provisional protective covers for working space
68.
ARRANGEMENT FOR FEEDING BULK-LIKE RESIN, MINING MACHINE AND METHOD
An arrangement for resin injection, a mining machine, and a method. The arrangement com- prises separate reservoirs (13, 14) and pumping units (17, 18) for a base component A and resin component B. There is also a reservoir (15) and a feed unit (23) for an accelerator component K which is implemented for adjusting setting time for the produced grouting resin (Gr). The components of the grouting resin are mixed together in one or more mixers (M, M1, M2).
A hydraulic system, mining vehicle, and method for flushing a closed loop hydraulic circuit is provided. The hydraulic system includes at least one closed hydraulic circuit having a hydraulic pump, a motor and one or more hydraulic actuators. The hydraulic system further includes a flushing system arranged for discharging and feeding a limited amount of hydraulic fluid for flushing the closed loop hydraulic circuit. There is a discharge valve, which is actively controlled by a control unit so that fluid flow through the valve is selectively controlled.
F15B 21/00 - Common features of fluid actuator systemsFluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
F15B 15/18 - Combined units comprising both motor and pump
F15B 19/00 - Testing fluid-pressure actuator systems or apparatus, so far as not provided for elsewhere
A method includes receiving, from an inverter unit of a mining vehicle, driveline information indicative of at least a torque status of an electric motor of the mining vehicle configured to perform an autonomous loading and hauling cycle in a mining automation system, detecting, on the basis of the driveline information from the inverter unit, a phase change condition to change a phase of the autonomous loading and hauling cycle performed by the mining vehicle, from a first phase to a second phase, and controlling, in response to the detected phase change condition, the change of the phase of cycle from the first phase to the second phase.
A connector arrangement, drilling arrangement and method for high voltage electro pulse drilling of rock. The connector arrangement (Ca) comprises a high voltage joint (Cj) for connecting high voltage conductors (7, 7a, 7b) and being surrounded by a ground conductor (9). There are flushing channels (11) between the joint and the ground conductor for allowing passage of flushing fluid (F).
A shank sleeve assembly, a rock drilling machine, and a method. The assembly (26) is mountable around a shank adapter (8) in a rock drilling machine (6) and comprises a shank bushing (27) having two-piece configuration comprising a first bushing component (27a) and a second bushing component (27b) connectable against each other. The assembly further comprises a bearing bushing (30) arrangeable to surround the two-piece shank bushing and allowing rotation between the shank bushing and the bearing bushing.
An apparatus, drilling arrangement and method for high voltage electro pulse drilling of rock. The apparatus includes a switch having two electrodes spaced at a distance from each other. The switch is located in connection with a drilling tool. The switch may be surrounded by a chamber, which prevents flushing fluid entering between a switch gap of the electrodes.
A method includes performing a calibration action for a mining vehicle, receiving scanning data of the calibration action on the basis of environment scanning, the scanning data being indicative of at least one position of a portion of a work implement in relation to a body portion, receiving calibration verification reference data indicative of at least one of a calibration target position of the work implement portion for the calibration action or target movement range of the work implement portion related to the body portion for the calibration action, processing the scanning data and the calibration verification reference data to determine at least one of a deviation of current position of the work implement portion from the calibration target position or a deviation of current range of movement of the work implement portion from the target movement range; and verifying the calibration procedure based on the determined deviation.
E02F 3/34 - DredgersSoil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, e.g. dippers, buckets with bucket-arms directly pivoted on the frames of tractors or self-propelled machines
A method for a mining vehicle including a body, a work implement, and a scanner, includes the steps of: receiving scanning data based on environment scanning, wherein the scanning data is indicative of a position of a work implement portion in relation to a body portion, receiving calibration triggering data including a calibration triggering threshold, detecting a need for calibrating the work implement, processing the scanning data and the calibration triggering data to determine at least one of:
if a deviation between the target position and a current position of the work implement portion based on the scanning data meets the threshold, or
if a deviation between a target movement range and a current range of movement of the work implement portion based on the scanning data meets the threshold.
An arrangement and method for heating an impact device of a rock treating machine (Rtm) in low-temperature operating conditions is provided. The arrangement includes a warm-up mode (WM) for feeding pre-heated hydraulic fluid through a feed channel to a hydraulic circuit of the impact device. One or more hydraulic accumulators are provided in the hydraulic circuit. The feed channel is provided with a control element for limiting the feeding of the pre-heated hydraulic fluid during the warm-up mode. The control element limits the feeding of the pre-heated hydraulic fluid in the feed channel so that separating elements of the pressure accumulators do not move.
According to an aspect, an apparatus for a mining vehicle may be configured to obtain, from at least one memory, mining vehicle reference performance data; obtain first machine control data associated with the mining vehicle, when an operator operates the mining vehicle; compare the first machine control data associated with the mining vehicle to the mining vehicle reference performance data to detect at least one first deviation from the mining vehicle reference performance data; and provide a first feedback to the operator in response to detecting the at least one first deviation from the mining vehicle reference performance data.
An apparatus may control movement of a mining tool of a mining vehicle towards a mining tool magazine, wherein a light source is configured to emit light along a plane at a predetermined reference distance to the mining tool magazine; receive visual data comprising a representation of the mining tool; determine a distance between the mining tool and the mining tool magazine based on detecting, based on the visual data, illumination of a predetermined portion of the mining tool or the mining vehicle by the emitted light; monitor the distance between the mining tool and the mining tool magazine based on movement of the mining tool and/or the mining vehicle; and control replacement of at least a distal portion of the mining tool by another mining tool stored in the mining tool magazine based on the monitoring of the distance between the mining tool and the mining tool magazine.
Example embodiments generally relate to the field of mesh installation on a rock surface (140). An apparatus (100) may obtain scanning data of a rock surface to detect at least one first mesh installed on the rock surface; determine, based on the scanning data, a first position of the at least one first mesh (404); determine, a second position for installing a second mesh (401, 402) on the rock surface, wherein the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh, when the second mesh has been installed on the rock surface at the second position; and control installation of the second mesh on the rock surface at the second position.
E21D 11/00 - Lining tunnels, galleries or other underground cavities, e.g. large underground chambersLinings thereforMaking such linings in situ, e.g. by assembling
E21D 11/15 - Plate liningsLaggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
E21D 19/00 - Provisional protective covers for working space
Example embodiments may generally relate to the field of mesh installation on a rock surface. An apparatus may obtain a meshing plan indicative of a planned position of at least one mesh on a rock surface for installation of the at least one mesh to the rock surface by a mesh installation rig, wherein the planned position of the at least one mesh is configured to be indicated with respect to a coordinate frame that is stationary with respect to the rock surface. The apparatus may map the planned position of the at least one mesh to a coordinate frame of the mesh installation rig. The apparatus may control installation of the at least one mesh to the rock surface based on the planned position of at least one mesh.
E21D 11/00 - Lining tunnels, galleries or other underground cavities, e.g. large underground chambersLinings thereforMaking such linings in situ, e.g. by assembling
E21D 11/15 - Plate liningsLaggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
E21D 19/00 - Provisional protective covers for working space
Example embodiments generally relate to the field of mesh installation on a rock surface. An apparatus may obtain scanning data of a rock surface to detect at least one first mesh installed on the rock surface and a second mesh positioned for being installed on the rock surface; determine, based on the scanning data, at least one position where openings of the at least one first mesh and the second mesh overlap; and control mounting of the second mesh to the rock surface at the at least one position via the overlapping openings of the at least one first mesh and the second mesh.
E21D 11/00 - Lining tunnels, galleries or other underground cavities, e.g. large underground chambersLinings thereforMaking such linings in situ, e.g. by assembling
E21D 11/15 - Plate liningsLaggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
E21D 19/00 - Provisional protective covers for working space
A method for controlling an underground drilling rig includes receiving target pose information indicative of at least target pose for the drilling unit in accordance with an input plan, detecting, during tramming of the drilling rig, carrier pose information indicative of orientation of the carrier, defining, during tramming of the drilling rig, orientation of the drilling unit on the basis of the detected carrier pose information, and generating tramming assistance information on the basis of the target pose information and the defined orientation of the drilling unit.
A shank adapter, rock drilling machine and method of mounting a shank adapter of a rock drilling machine inside a slide bearing element. The shank adapter includes a coupling head and a rotation portion at its opposite ends, and a flushing portion located therebetween. Outer diameters of the coupling head and the rotation portion are both greater than outer diameters of portions of the shank adaptor located therebetween.
A flushing element, rock drilling machine and method of providing a flushing space around a shank adapter of a rock drilling machine. The flushing element surrounds the shank adapter passing through it. The flushing element has a feed opening for feeding flushing agent to the flushing space and at least two sealing housings for flushing sealings and wherein the flushing sealings are on opposite axial sides of the flushing space. Furthermore, the flushing element has split configuration whereby it is mountable and demountable in radial direction.
A hydraulic percussion device and method of controlling a working cycle of a percussion piston is provided. A rock breaking machine includes a percussion device provided with a reciprocating piston executing a working cycle. The operation is controlled by means of a control unit generating control signals for independently operable feed and discharge valves of a hydraulic system. The position of the piston is detected by a sensing device.
An apparatus, method and computer program product for controlling flushing in rock drilling, and a rock drilling rig. The apparatus includes a control unit and a computer program for controlling feeding of a liquid component in an air mist flushing system in response to detected penetration rate of executed drilling. An operator may set a desired moisture target value for drilling cuttings removed from a drill hole and the control system automatically adjusts the flushing system to control the feeding of the liquid component.
A rotating sleeve (17), rock drilling machine (6) and method of manufacturing a rotating sleeve. The rotating sleeve is mountable around a shank adapter (8) of a rock drilling machine and comprises several internal teeth (22) provided with opposing first flank surfaces (32) and second flank surfaces (33) for transmitting rotation to the shank adapter. The internal teeth are provided with end reliefs (38, 39) comprising chamfers between the flank surfaces and end surfaces (34) of the teeth.
Disclosed is an apparatus, method and computer program product for monitoring an isolated working area, wherein one or more autonomous work machines are located within the isolated operating area, the method comprising receiving an indication, wherein the indication indicates that a mining vehicle that is at least partly operated manually, is to enter the isolated working area, determining, based at least partly on the indication, an operating area, for the mining vehicle, wherein the operating area is located within the isolated working area, and the operating area comprises at least one of a route area or a work area associated with the mining vehicle, reserving the operating area for the mining vehicle, wherein reserving comprises imposing access restrictions to the operating area, and indicating, to the mining vehicle, an access permission to the operating area.
An apparatus, method and computer program product for: storing information on a first state parameter indicating that the operation zone is reserved for at least one mobile mining vehicle operating in a first mode of operation, detecting an activation point associated with the operation zone, the activation point being located outside the operation zone, determining that a position of a mobile mining vehicle operating in a second mode of operation corresponds to the activation point, and activating a vehicle arrival sequence for releasing the reserved operation zone for the mobile mining vehicle operating in the second mode of operation, the vehicle arrival sequence comprising replacing the first state parameter value with a second state parameter value indicating that the operation zone is reserved for at least one mobile mining vehicle operating in the second mode of operation.
An operating system, rock drilling rig and method for operating an electrically operated rock drilling rig. The operating system includes an electric system connected to an electric supply source and having one or more electric motors controlled by electric control devices. The system further includes a hydraulic system having one or more hydraulic pumps and hydraulic control devices. There are hydraulic tramming actuators connected to closed loop hydraulic circuits and hydraulic drilling actuators connected to either open or closed loop circuits.
A bolting head, bolting rig, and method of reinforcing a rock surface. The bolting head (4) comprises a frame (5), a bolting unit (6) provided with a bolt driver (8), and a rock drilling unit (7). The bolting head further comprises a holding device (12) with movable gripping elements (29) for gripping and holding drilling and bolting tools. At least one indexing actuator (16) is arranged to index the bolting unit and the rock drilling unit in relation to the holding device.
E21B 19/08 - Apparatus for feeding the rods or cablesApparatus for increasing or decreasing the pressure on the drilling toolApparatus for counterbalancing the weight of the rods
A shield arrangement, breaking hammer and method of protecting body of a breaking hammer is provided. The shield arrangement includes a shield element, which is mounted to the body by means of a separate sleeve-like element passing through an opening of the shield element. The sleeve-like element is a tool bushing, which also provides support for a breaking tool.
A down the hole drilling assembly comprising a drill bit, a shank, a driver sub, a flushing passage sub, at least one flushing channel, a sealing element arranged in the flushing passage and extending radially from the outer surface of the shank to the inner surface of the driver sub, wherein the flushing passage and the at least one flushing channel are configured to allow a flow of fluid from the flushing passage to the at least one flushing channel in a flow direction of the fluid, wherein the sealing element is positioned above an inlet port of the at least one flushing channel along the flow direction and wherein the sealing element is configured to prevent a flow of fluid in a direction opposite to the flow direction.
A hammer drill assembly is arranged for coupling to a drill string, wherein the drill bit is releasably attached to a driver sub via a retaining sleeve. The retaining sleeve includes a body that extends between a ring at its forward end and a plurality of tips at its rearward end. Also, methods of attaching and detaching a drill bit from the rest of the assembly are provided.
E21B 17/046 - CouplingsJoints between rod and bit, or between rod and rod with ribs, pins, or jaws, and complementary grooves or the like, e.g. bayonet catches
Example embodiments provide an apparatus for monitoring a rock drilling rig. The apparatus may be configured to determine a support pattern of the rock drilling rig and a total centre of gravity of the rock drilling rig. The rock drilling rig may be monitored based on a position of the total centre of gravity with respect to the support pattern. An apparatus, a method, and a computer program are disclosed.
According to an aspect, an apparatus may obtain map data associated with a tunnel system of an underground worksite, obtain a start position and an end position for a mining vehicle configured to operate in the tunnel system; obtain vehicle information comprising at least kinematic restrictions and space restrictions associated with structural body members of the mining vehicle and a movable work device of the mining vehicle, the kinematic restrictions comprising movability limits of the movable work device; and determine at least partly based on the map data, the start and end positions, and the vehicle information, a collision free continuous route between the start and end positions for the mining vehicle, the collision free continuous route having at least one collision free position for the movable work device within the movability limits of the movable work device along the collision free continuous route.
E21B 7/02 - Drilling rigs characterised by means for land transport, e.g. skid mounting or wheel mounting
E21B 44/00 - Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systemsSystems specially adapted for monitoring a plurality of drilling variables or conditions
G05D 1/02 - Control of position or course in two dimensions
An apparatus may obtain 3D models of a drilling face and component(s) of a drill rig, a kinematic model of the drill rig, and a drilling plan indicative of start and end points of a plurality of holes to be drilled on the drilling face. The apparatus may perform a simulation of the drilling plan based on the 3D models of the drilling face and the component(s) of the drill rig and the kinematic model of the drill rig, and detect, based on the simulation, a simulated collision between the component(s) of the drill rig and the drilling face or between the components of the drill rig, wherein the simulated collision is associated with simulated drilling of at least one of the plurality of holes. The apparatus may determine an updated drilling plan comprising an adjusted start point of the at least one of the plurality of holes, in response to detecting the simulated collision.
Apparatuses, methods, computer programs and systems for environment related data management for a mobile mining vehicle are disclosed. An environment related data management apparatus for a mobile mining vehicle obtains real-time position information of structural body members of the mobile mining vehicle. The apparatus obtains space information of the structural body members of the mobile mining vehicle. The apparatus associates, based on the obtained space information, at least one bounding box with at least one structural body member. The apparatus receives from a sensor configured to scan an environment of the mobile mining vehicle, point cloud data related to the environment of the mobile mining vehicle. In response to determining that data points in the received point cloud data overlap with the associated at least one bounding box, the apparatus generates an overlap indication indicating that at least the overlapping data points are to be excluded.
Example embodiments provide an apparatus for selecting a position for a mining vehicle in a mine for drilling. The apparatus comprises at least one processor and at least memory, the at least one memory comprising instructions which, when executed by the at least one processor, cause the apparatus to select a drill plan associated with a tunnel line for a tunnel to be excavated; select a position of a navigation plane for the drill plan with respect to the tunnel line; determine a first position for the mining vehicle based on the drill plan and the position of the navigation plane; obtain information on a plurality of predefined variations of the first position; determine a plurality of second position for the mining vehicle based on the first position and the information on the plurality of variations; and select, from the plurality of second positions, a target position for the mining vehicle based on the first position and at least one criterion.
E21B 7/02 - Drilling rigs characterised by means for land transport, e.g. skid mounting or wheel mounting
E21B 44/00 - Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systemsSystems specially adapted for monitoring a plurality of drilling variables or conditions
E21C 35/06 - Equipment for positioning the whole machine in relation to its sub-structure
