Techniques are provided to enable a controller in a mining vehicle to manage proximity detection sensors associated with removable battery assemblies. In some aspects, the controller determines that a current battery assembly currently connected to the mining vehicle will be disconnected from the mining vehicle, removes the at least one proximity detection sensor mounted to the current battery assembly from a set of proximity detection sensors associated with the mining vehicle, thereby generating an updated set of proximity detection sensors associated with the mining vehicle, determines that a new battery assembly is connected to the mining vehicle, and adds the at least one proximity detection sensor mounted to the new battery assembly to the updated set of proximity detection sensors associated with the mining vehicle, thereby generating a further updated set of proximity detection sensors associated with the mining vehicle.
B60L 50/60 - Propulsion électrique par source d'énergie intérieure au véhicule utilisant de la puissance de propulsion fournie par des batteries ou des piles à combustible utilisant de l'énergie fournie par des batteries
2.
VEHICLE AND METHOD FOR CORRECTING DISTANCE IN NON-LINE-OF-SIGHT SENSING OF A REMOTE OBJECT IN UNDERGROUND MINING
A method in a controller of a mining vehicle entails detecting a remote object, determining a distance between the mining vehicle and the remote object and determining that the remote object is not in a direct line of sight with respect to the mining vehicle. The method entails adjusting the determined distance using a compensation factor, thereby obtaining a compensated distance between the mining vehicle and the remote object. The method entails performing a collision avoidance action based on the compensated distance between the mining vehicle and the remote object.
An apparatus, method and computer program product is provided 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 includes 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.
A down the hole drilling assembly includes a drill bit, a shank, a driver sub, a flushing passage sub, at least one flushing channel, and a sealing element arranged in the flushing passage extending radially from the outer surface of the shank to the inner surface of the driver sub. 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. 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.
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 includes 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, the operating area being located within the isolated working area, and the operating area including 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 the operating area includes imposing access restrictions to the operating area, and indicating, to the mining vehicle, an access permission to the operating area.
A bolting head, bolting rig, and method of reinforcing a rock surface is provided. The bolting head includes a frame, a bolting unit provided with a bolt driver, and a rock drilling unit. The bolting head further includes a holding device with movable gripping elements for gripping and holding drilling and bolting tools. At least one indexing actuator is arranged to index the bolting unit and the rock drilling unit in relation to the holding device.
A cable guiding device, a mining vehicle, and a method of guiding a trailing electric cable of an electrically powered mining ve- hicle. A cable guiding device (17) is for guiding a trailing electric cable (14) of an electrically powered mining vehicle (1). The cable guiding device (17) comprises a cable guiding tail (18) which has an elongated arm configuration mountable to the electrically powered mining vehicle (1). The cable guid- ing device further comprises a cable guiding assembly (19) mounted to the cable guiding tail (18) and comprising guide rollers (28) for guiding the trailing electric cable (14). The cable guiding device further com- prises a force assembly (100), being coupled to the cable guiding assembly (19) and/or the cable guiding tail (18), and configured to pull the trailing electric cable (14) out from the cable reel assembly (16) by provid- ing a force to a portion of the trailing electric cable (14) that is unwound from the cable reel assembly.
H02G 11/02 - Installations de câbles ou de lignes électriques entre deux pièces en mouvement relatif utilisant une bobineuse ou tambour
B60L 9/00 - Propulsion électrique par source d'énergie extérieure au véhicule
B65H 75/42 - Noyaux, gabarits, supports ou pièces de tenue pour matériau bobiné, enroulé ou plié, p. ex. tourets, broches, bobines, tubes à cannette, boîtes spécialement adaptés ou montés pour stocker, dérouler de façon répétée et stocker à nouveau des longueurs de matériau prévues pour des buts particuliers, p. ex. tuyaux souples à poste fixe, câbles de force impliquant l'utilisation d'un noyau ou d'un gabarit intérieur formant support pour le paquet de matériau stocké mobile ou transportable fixé à des outils ou machines mobiles ou en faisant partie
B65H 51/10 - Rouleaux, poulies, cabestans ou éléments rotatifs à prise à engrenages disposés pour fonctionner en groupes ou en coopération avec d'autres éléments avec surfaces opposées agissant ensemble, p. ex. formant des resserrements
An underground mining vehicle comprises a load carrying element, a hydraulic operating circuit comprising at least one hydraulic cylinder for operating the load carrying element, and a control system for controlling an operation of the hydraulic operating circuit. The control system comprises at least one data acquisition device for collecting operational data representing an operation of the at least one of the hydraulic operating circuit and the at least one hydraulic cylinder. The control system comprises a control unit configured to control the operation of the hydraulic operating circuit to control, based on the collected operational data, a speed of motion of the at least one hydraulic cylinder for providing a controllable cushioning effect for the at least one hydraulic cylinder. Additionally, a method for controlling an operation of an underground mining vehicle.
A bolting rig and method for rock reinforc- ing. The bolting rig (1) comprises a movable carrier (2), a bolting boom (3) mounted to a boom mounting point (16), and a bolting unit (4) mounted to the bolting boom. There is also a cable reel arrangement (9) which com- prises a cable reel (18) loaded with would cable (26). The cable reel arrangement is located at a front part of the carrier and is in front of the boom mounting point.
E21B 7/02 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 19/08 - Appareils pour faire avancer les tiges ou les câblesAppareils pour augmenter ou diminuer la pression sur l'outil de forageAppareils pour compenser le poids des tiges
A bolting rig and method for rock reinforc- ing. The bolting rig (1) comprises a bolt storage (12) supported at a front part of a carrier (2) and being movable to a pick-up position (PP). A bolting unit (4) comprises a bolt rack (11) and is positioned to the pick-up position for replenishing several rock bolts (5) simultaneously from a deliv- ery plane (16) of a bolt storage.
A bolting rig and method for rock reinforcing is provided. The bolting rig includes a bolt storage supported at a front part of a carrier and being movable to a pick-up position. A bolting unit includes a bolt rack and is positioned in the pick-up position for replenishing several rock bolts simultaneously from a delivery plane of the bolt storage.
A bolting rig and method for rock reinforcing is provided. The bolting rig includes a movable carrier, a bolting boom mounted to a boom mounting point, and a bolting unit mounted to the bolting boom. There is also provided a cable reel arrangement, which includes a cable reel loaded with would cable. The cable reel arrangement is located at a front part of the carrier and is in front of the boom mounting point.
B08B 15/04 - Précautions prises pour empêcher les crasses ou les fumées de s'échapper de la zone où elles sont produitesRamassage ou enlèvement des crasses ou des fumées de cette zone provenant d'un espace restreint, p. ex. d'un outil
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
E21C 35/22 - Appareillage pour empêcher la formation de poussière ou pour évacuer la poussière
15.
BATTERY CHARGING PLATFORM SYSTEM FOR MINING MACHINES
A battery charging platform system to assist with swapping batteries on mining machines and other mining vehicles. In one embodiment, a battery charging platform system includes a first charging station, a second charging station, a moveable platform having a first battery receiving area configured to receive a first battery and a second battery receiving area configured to receive a second battery. The moveable platform is moveable between a first position in which the first battery receiving area is aligned with the first charging station and a second position in which the second battery receiving area is aligned with the second charging station. The battery charging platform system also including an actuator connected to the moveable platform, the actuator being operable to move the moveable platform between the first position and the second position.
A method comprises: detecting the mining machine to have lost connection to an external safety system; controlling the mining machine to stop movement of at least a movable carrier of the mining machine while maintaining a motor of the mining machine in operation, in response to detecting the mining machine to have lost the connection to the external safety system; determining not to cause the motor of the mining machine to enter a non-operational state, in response to detecting the mining machine to have re-established the connection to the external safety system within a first predetermined time period; and causing the motor of the mining machine to enter the non-operational state, in response to detecting the mining machine not to have re-established the connection to the external safety system within the first predetermined time period.
E21C 35/24 - Télécommande spécialement adaptée aux machines pratiquant des saignées ou libérant complètement la matière minérale
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
17.
METHOD FOR MONITORING DUST COLLECTOR PERFORMANCE, A DUST COLLECTING ARRANGEMENT OF A DRILLING APPARATUS AND A ROCK DRILLING RIG
A method for monitoring performance of a dust collector of a drilling apparatus, the method including providing suction by a suction device for drawing air from a drill hole into a dust collector, collecting dust with a filter from the air drawn from the drill hole, monitoring input power of the suction device, transmitting input power data to a controller, and selecting an action automatically by the controller if the input power is decreased. A dust collecting arrangement of a drilling apparatus is also provided.
E21B 21/07 - Dispositions pour traiter les fluides de forage à l'extérieur du trou de forage pour le traitement des fluides gazeux chargés de poussières
E21B 7/02 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 21/01 - Dispositions pour manipuler les fluides de forage ou les déblais à l'extérieur du trou de forage, p. ex. réservoirs à boue
E21B 21/08 - Commande ou surveillance de la pression ou de l'écoulement du fluide de forage, p. ex. remplissage automatique des trous de forage, commande automatique de la pression au fond
A sensor system in a mining vehicle includes at least one sensor configured to scan surroundings of the mining vehicle, at least one computing device configured to execute a plurality of applications, and a managed switch connected to the at least one sensor and the at least one computing device, wherein the managed switch is connected to the at least one computing device from via a first port of the managed switch configured to forward data for a first application of the plurality of applications and from via at least one second port configured to forward data for at least one second application of the plurality of applications. The managed switch is configured to send measurement data of the surroundings from the at least one sensor to the first port and send a copy of the measurement data to the at least one second port.
E21C 35/00 - Détails ou accessoires de machines pratiquant des saignées ou libérant complètement la matière minérale de la veine, non prévus dans les groupes , ou
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. The apparatus may further obtain vehicle information including 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 including movability limits of the movable work device, and determine at least partly based on the map data, the start and end positions, the vehicle information, and 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.
G01C 21/34 - Recherche d'itinéraireGuidage en matière d'itinéraire
E21F 13/00 - Transport spécialement adapté aux conditions du fond
G05D 1/246 - Dispositions pour déterminer la position ou l’orientation utilisant des cartes d’environnement, p. ex. localisation et cartographie simultanées [SLAM]
Example embodiments relate to configuring a route for a mining machine. An apparatus may comprise: at least one processor; and at least one memory including 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 a requested end position of the mining machine and a requested orientation of the mining machine at the end position; determine a route for navigation of the mining machine to the requested end position such that the mining machine is configured to be in the requested orientation when reaching the requested end position; extend the route from the requested end position in a predetermined driving direction of the mining machine to a position of a wheel block; and transmit a configuration of the extended route to the mining machine.
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 also disclosed.
An apparatus is arranged to obtain 3D models of a drilling face and component(s) of a drill rig, a kinematic model of the rig, and a drilling plan indicative of start and end points 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) 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 also determine an updated drilling plan including an adjusted start point of the at least one of the plurality of holes, in response to detecting the simulated collision.
A trolley module (105) for an electric vehicle (100) includes a battery (110), a trolley system adapter (115), and a trolley supply unit controller (1415) configured to modulate electrical power received from a trolley system via the trolley module (105). The trolley supply unit controller (1415) is configured to, in a first mode of operation, deliver power collected via the trolley system adapter (115) to the vehicle (100) to propel the vehicle and, in a second mode of operation, deliver power directly from the battery (110) to propel the vehicle beyond catenary lines of a trolley system.
B60L 5/04 - Collecteurs de courant pour lignes d'alimentation en énergie sur les véhicules propulsés électriquement utilisant des rouleaux ou des sabots curseurs en contact avec le câble du trolley
B60L 5/40 - Collecteurs de courant pour lignes d'alimentation en énergie sur les véhicules propulsés électriquement pour collecter le courant sur des lignes disposées dans des conduits à fente
B60L 50/60 - Propulsion électrique par source d'énergie intérieure au véhicule utilisant de la puissance de propulsion fournie par des batteries ou des piles à combustible utilisant de l'énergie fournie par des batteries
Example embodiments relate to controlling of a mining machine. An apparatus may comprise: at least one processor; and at least one memory including 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 indication of a position of the mining machine; determine that the position of the mining machine is within an operation zone; determine a reliability rating for the position of the mining machine; attach the mining machine to the operation zone without requesting, via a user interface, a confirmation of the attachment of the mining machine to the operation zone, in response to determining that the reliability rating meets a condition; and control operation of the mining machine based on the mining machine being attached to the operation zone.
An arrangement and method for handling drill bits used for drilling drill holes to a rock surface. The arrangement implements at least one drilled drill bit storage (10) which is outside a rock drilling rig (1) and is formed by drilling one or more drill holes (11) to the rock surface. There is a control unit (CU) configured to manage position data (21) of the drilled drill bit storage whereby the control unit can assist pickup of the drill bit (9) from the drilled drill bit storage.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et 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.
According to an example aspect of the present invention, there is provided a method including the steps of: assigning a set of obstacle analysis parameters for a mining vehicle, wherein the set of obstacle analysis parameters is specific to a portion of the mining vehicle; detecting, by an obstacle detection function of the mining vehicle, an obstacle candidate on the basis of processing scanning data from a scanner of the mining vehicle; performing an obstacle analysis on the basis of a determined size of the obstacle candidate and the set of obstacle analysis parameters assigned for the mining vehicle to classify the obstacle candidate and determine if the obstacle candidate is an obstacle to be avoided, and providing, in response to the obstacle analysis indicating that the obstacle candidate is an obstacle to be avoided, an alarm or control signal to avoid the mining vehicle hitting the obstacle.
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G05D 1/646 - Suivi d’une trajectoire prédéfinie, p. ex. d’une ligne marquée sur le sol ou d’une trajectoire de vol
G05D 105/05 - Applications spécifiques des véhicules commandés pour le terrassement, la construction, le génie civil ou l’exploitation minière, p. ex. excavateurs
G05D 107/70 - Sites industriels, p. ex. entrepôts ou usines
An apparatus, method and computer program product for: receiving a first set of measurement data relating to an environment of the mobile mining vehicle at a first time instance, receiving a second set of measurement data relating to the environment of the mobile mining vehicle at a second time instance, determining a transition of the mobile mining vehicle between the first time instance and the second time instance, forming a combined set of measurement data by transforming the first set of measurement data to a coordinate frame of the second set of measurement data based on the transition of the mobile mining vehicle, and providing the combined set of measurement data to an obstacle detection system of the mobile mining vehicle.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et 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.
An arrangement and method for handling drill bits used for drilling drill holes into a rock surface. The arrangement includes and implements at least one drilled drill bit storage, which is outside a rock drilling rig and is formed by drilling one or more drill holes into the rock surface. A control unit is provided and configured to manage position data of the drilled drill bit storage, whereby the control unit can assist pickup of the drill bit from the drilled drill bit storage.
A mining machine having a hybrid diesel-electric drivetrain with launch control includes a diesel engine, an electric generator in communication with the diesel engine to produce electrical power, at least one electric traction motor, at least one brake resistor, and a power controller including a processor. The processor is configured to initiate launch control by receiving an instruction to initiate launch control, increasing electrical power to the at least one brake resistor, increasing power output of the diesel engine to cause the electric generator to produce the increased electrical power, and, upon receiving a launch command, redirecting the electrical power from the at least one brake resistor to the at least one electric traction motor.
B60K 6/46 - Agencement ou montage de plusieurs moteurs primaires différents pour une propulsion réciproque ou commune, p. ex. systèmes de propulsion hybrides comportant des moteurs électriques et des moteurs à combustion interne les moteurs primaires étant constitués de moteurs électriques et de moteurs à combustion interne, p. ex. des VEH caractérisés par l'architecture du véhicule électrique hybride du type série
B60K 6/52 - Entraînement d'une pluralité d'essieux moteurs, p. ex. quatre roues motrices
B60W 10/06 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des ensembles de propulsion comprenant la commande des moteurs à combustion
B60W 10/08 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des ensembles de propulsion comprenant la commande des unités de traction électrique, p. ex. des moteurs ou des générateurs
B60W 20/00 - Systèmes de commande spécialement adaptés aux véhicules hybrides
Systems and methods for swapping batteries in electric vehicles utilize lifting mechanisms integrated into a battery assembly. The lifting mechanisms are electrically powered actuators that raise and lower the battery assembly so that the battery assembly can be mounted and dismounted from an electric vehicle.
B60K 1/04 - Agencement ou montage des ensembles de propulsion électriques des dispositifs d'emmagasinage de l'énergie électrique pour la propulsion
B60L 50/64 - Détails de construction des batteries spécialement adaptées aux véhicules électriques
B60L 50/60 - Propulsion électrique par source d'énergie intérieure au véhicule utilisant de la puissance de propulsion fournie par des batteries ou des piles à combustible utilisant de l'énergie fournie par des batteries
H01M 50/244 - Boîtiers secondairesBâtisDispositifs de suspensionDispositifs de manutentionSupports caractérisés par leur procédé de montage
H01M 50/262 - MonturesBoîtiers secondaires ou cadresBâtis, modules ou blocsDispositifs de suspensionAmortisseursDispositifs de transport ou de manutentionSupports avec des moyens de fixation, p. ex. des serrures
B60L 3/12 - Enregistrement des paramètres de fonctionnement
B60L 53/36 - Moyens pour l’ajustement automatique ou assisté de la position relative des dispositifs de charge et des véhicules par le positionnement du véhicule
B60L 58/21 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries de plusieurs modules de batterie ayant la même tension nominale
B60S 5/06 - Approvisionnement des véhicules en batteries ou retrait des batteries des véhicules
33.
CONTROLLING CLEANING OF A SCANNING DEVICE OF A MINING MACHINE
An apparatus comprises: 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: detect a need to clean a scanning device of the mining machine, wherein the scanning device is configured to provide scanning data to a navigation application of the mining machine; detect a carrier of the mining machine to be substantially stationary; and cause cleaning of the scanning device, in response to detecting the carrier of the mining machine to be substantially stationary.
E21F 5/00 - Moyens ou procédés pour empêcher, fixer, abattre ou enlever la poussièrePrévention des explosions ou des feux
B60S 1/56 - Nettoyage des pare-brise, fenêtres ou dispositifs optiques spécialement adaptés pour nettoyer d'autres parties ou dispositifs que les fenêtres avant ou les pare-brise
E21F 17/00 - Procédés ou dispositifs destinés à être utilisés dans les mines ou tunnels, non couverts ailleurs
A rock drilling rig and method for providing cooling for hydraulic oil in a hydraulic system. The rock drilling rig (1) comprises a cooling arrangement (13) for cooling the hydraulic oil fed to a rock drilling machine (5) by conveying a feed flow of hydraulic oil via a water tank (14) arranged on-board a carrier (2) of the rock drilling rig.
An apparatus comprises: 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 state of the drill rig (100), wherein the state is one of a plurality of states of a drilling cycle of the drill rig; and control based on the state of the drill rig, a position of a protective cover (116) of a scanning device (114) of the drill rig.
E21B 7/02 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 41/00 - Matériel ou accessoires non couverts par les groupes
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
E21F 5/00 - Moyens ou procédés pour empêcher, fixer, abattre ou enlever la poussièrePrévention des explosions ou des feux
36.
CONTROLLING DRILLING UNIT BASED ON DISTANCE TO ROCK SURFACE
Example embodiments related to controlling of a drill rig. An apparatus may comprise: at least one processor; and at least one memory including 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: cause scanning of a rock surface by at least one scanning device coupled to a drilling unit of the drill rig; determine, based on the scanning of the rock surface, a distance between the drilling unit and the rock surface at a planned hole position; control movement of the drilling unit towards the planned hole position based on the distance between the drilling unit and the rock surface at the planned hole position; and cause the drilling unit to drill a hole at the planned hole position.
E21B 7/02 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et 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 functioning and use of mining and construction equipment and tools and usage data; Software as a service (SaaS) featuring software for analyzing, tracking and reporting operational data from mining and construction equipment and tools; Provision of online non-downloadable software for analyzing, tracking and reporting mining and construction tool and equipment usage and maintenance needs
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et 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 functioning and use of mining and construction equipment and tools and usage data; Software as a service (SaaS) featuring software for analyzing, tracking and reporting operational data from mining and construction equipment and tools; Provision of online non-downloadable software for analyzing, tracking and reporting mining and construction tool and equipment usage and maintenance needs
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
(1) 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. (1) 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 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
(1) 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. (1) 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.
A hammer drill assembly (2) for coupling to a drill string having a drill bit (12) positioned at the forward end (8) having a drill head (16) and a bit shaft (14); wherein a plurality of axially extending bit splines (28) project radially outwards from a radially outward facing surface of the bit shaft; wherein each of the bit splines comprises a bit spline tip (30) at its axially rearward end having a rearward axially outer edge (48) and a central bit spline longitudinal axis (32); and a driver sub (26) provided axially rearward of the drill bit comprising a plurality of axially extending driver sub splines (34) projecting radially inwards from an inward facing surface of the driver sub; characterised in that : the rearward axially outer edge on at least of one of bit spline tips is non-perpendicular to the bit spline longitudinal axis along at least 25% of the width of the bit spline tip.
A method is provided, which includes receiving an indication from a first safety system associated with an isolated operating area that a safety operation is to be performed for the work machine operating in the isolated operating area, determining, in response to receiving the indication, a status of a second safety system associated with the work machine, determining, based on the safety operation and the status of the second safety system associated with the work machine, an adapted safety operation, and controlling operation of the work machine based on the adapted safety operation.
An arrangement for recognizing changes in rock drilling is disclosed. Recognized changes can be short-term changes that include cavities, fractures and faults while drilling, or long-term changes, that include wearing of the drill bit. In the arrangement the impact frequency is compared with estimated impact frequency with a give flushing fluid pressure. The difference between the actual impact frequency and the estimated impact frequency can be used in recognizing a change in drilling.
E21B 21/08 - Commande ou surveillance de la pression ou de l'écoulement du fluide de forage, p. ex. remplissage automatique des trous de forage, commande automatique de la pression au fond
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
44.
DRILLING TOOL HOLDER, ARRANGEMENT, AND METHOD OF HANDLING DRILLING TOOLS
A drilling tool holder, an arrangement for storing drilling tools and a method. The drilling tool holder (14) comprises two opposing spring clamps (21) between which is a slot (20) for receiving a drilling tool (8). The tool holder comprises a mechanical tensioner (22) for adjusting holding force generated by the spring clamps.
A protective device, rock drilling unit and method. The protective device (9) comprises a longitudinal protective casing (10) and a feed through panel (14) with a flow channel (15). There is a longitudinal feed through opening (17) and the feed through panel is arranged movably to the feed through opening. The protective device further comprises a first rail (18a) and second rail (18b) mounted to longitudinal edges of the feed through opening. The feed through panel is supported between the rails. There is a closing arrangement (19) for closing free areas of the feed through opening. The closing arrangement is configured to give way to the feed through panel in response to the movements of the feed through panel.
An apparatus, method and computer program product for: receiving information on a first position of an element positioned by a boom (450) based on a pre-programmed automation sequence, receiving image information comprising a representation of a target position (470) of the element and at least part of the element, determining, based on the image information, a second position of the element and a target position of the element, determining a position error based on the second position of the element and the target position of the element, and providing, based on the position error, control information for adjusting the first position of the element until at least one criterion for proceeding with the pre-programmed automation sequence is fulfilled.
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
E21B 7/02 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21D 21/00 - Boulons d'ancrage pour la protection du toit, de la sole ou du revêtement des puits
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
47.
Apparatus and method designing charging and blasting for stope excavation
An apparatus and method for assisting design of charging and blasting of stopes in an underground stope excavation. The apparatus (9) comprises a data processing device (24) and is provided with data on realized drill holes (27) drilled for the stope. The apparatus is also provided with data on an initial free space (28) located below the stope. The apparatus assists in dividing an initial first stope ring (14a) into several blast sections (13a, 13b, 18) 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 (15a, 15) and thereby examines whether the selected blast section fits in blasted expanded state into the available free space.
E21B 7/02 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
F42D 1/08 - Procédés de bourrageProcédés pour charger des trous de mine en explosifsAppareils à cet effet
F42D 3/04 - Applications particulières de techniques de sautage pour faire sauter des rochers
G06F 30/00 - Conception assistée par ordinateur [CAO]
48.
CONDITION MONITORING FOR A ROCK DRILLING ARRANGEMENT DESCRIPTION OF BACKGROUND
The disclosure relates to a method and arrangements for detecting a possible service need of a rock drilling unit. In the method the inverter speed of a rock drilling unit is received at a controlling apparatus. The received inverter speed is compared to a reference value. If the comparison shows a rise in the inverter speed value, the rise may be an indication of a service need of the rock drilling machine of the rock drilling unit.
According to an example aspect, there is provided a method for controlling operation zones of an underground mining automation system. The method comprises: receiving identification information of an identifier unit of a mobile object, wherein the mobile object is in or approaching an operation zone of the mining automation system, defining, on the basis of the identification information, a role of the identifier unit, and controlling change of an operation mode of the operation zone on the basis of the defined role.
E21B 7/02 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 19/08 - Appareils pour faire avancer les tiges ou les câblesAppareils pour augmenter ou diminuer la pression sur l'outil de forageAppareils pour compenser le poids des tiges
Various example embodiments relating to an arrangement and method for measuring rock breaking dynamics is provided. The arrangement includes at least one component of a rock breaking system, wherein the component is subjected to stress during rock breaking. The arrangement further includes at least one measuring system having at least one measuring coil and magnetization components configured to arrange at least part of the component of the rock breaking system into a state of magnetization at least during a measurement period. The at least one measuring system is configured to measure particle velocity on the basis of change in a magnetic flux through the at least one measuring coil in response to movement due to the particle velocity in the component. A measuring system is also disclosed.
G01N 27/72 - Recherche ou analyse des matériaux par l'emploi de moyens électriques, électrochimiques ou magnétiques en recherchant des variables magnétiques
G01N 3/30 - Recherche des propriétés mécaniques des matériaux solides par application d'une contrainte mécanique en appliquant une force unique et brève
52.
MINING MACHINE COMPRISING AN ACTUATOR MOUNTING ARRANGEMENT
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.
E02F 3/42 - Entraînements pour plongeurs, auges, bras-plongeurs ou bras à godets
E02F 9/22 - Entraînements hydrauliques ou pneumatiques
E21C 33/00 - Chariots ou autres dispositifs de transport pour machines pratiquant des saignées ou libérant complètement la matière minérale de la veine
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.
E02F 3/28 - DraguesEngins de terrassement entraînés mécaniquement avec des outils excavateurs montés sur un bras plongeur ou à godets, p. ex. plongeurs, godets
E02F 3/43 - Commande de la position du plongeur ou de l'augeCommande de la succession des opérations d'entraînement
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.
E02F 3/28 - DraguesEngins de terrassement entraînés mécaniquement avec des outils excavateurs montés sur un bras plongeur ou à godets, p. ex. plongeurs, godets
E02F 3/43 - Commande de la position du plongeur ou de l'augeCommande de la succession des opérations d'entraînement
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 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 1/00 - Fourniture de l'énergie électrique à l'équipement auxiliaire des véhicules à traction électrique
B60L 7/10 - Freinage dynamo-électrique par récupération
B60L 9/00 - Propulsion électrique par source d'énergie extérieure au véhicule
B60L 50/53 - Propulsion électrique par source d'énergie intérieure au véhicule utilisant de la puissance de propulsion fournie par des batteries ou des piles à combustible en combinaison avec une alimentation externe, p. ex. par des lignes aériennes de contact
B60L 53/30 - Détails de construction des stations de charge
B60L 55/00 - Dispositions relatives à la fourniture d'énergie emmagasinée dans un véhicule à un réseau électrique, c.-à-d. du véhicule au réseau [V2G]
B60L 58/12 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction de l'état de charge [SoC]
B60L 58/13 - Maintien de l’état de charge [SoC] à l'intérieur d'une plage déterminée
B60L 58/15 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction de l'état de charge [SoC] empêchant les surcharges
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 1/00 - Fourniture de l'énergie électrique à l'équipement auxiliaire des véhicules à traction électrique
B60L 7/10 - Freinage dynamo-électrique par récupération
B60L 9/00 - Propulsion électrique par source d'énergie extérieure au véhicule
B60L 50/53 - Propulsion électrique par source d'énergie intérieure au véhicule utilisant de la puissance de propulsion fournie par des batteries ou des piles à combustible en combinaison avec une alimentation externe, p. ex. par des lignes aériennes de contact
B60L 55/00 - Dispositions relatives à la fourniture d'énergie emmagasinée dans un véhicule à un réseau électrique, c.-à-d. du véhicule au réseau [V2G]
B60L 58/12 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction de l'état de charge [SoC]
B60L 58/13 - Maintien de l’état de charge [SoC] à l'intérieur d'une plage déterminée
B60L 58/15 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction de l'état de charge [SoC] empêchant les surcharges
B60L 53/30 - Détails de construction des stations de charge
67.
COOLING ARRANGEMENT, ROCK DRILLING RIG AND METHOD OF COOLING
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 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et 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 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et 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.
72.
METHOD AND SYSTEM FOR CONDITION MONITORING OF MINING VEHICLE
B60P 1/16 - Véhicules destinés principalement au transport des charges et modifiés pour faciliter le chargement, la fixation de la charge ou son déchargement avec un mouvement de basculement de l'élément supportant ou contenant la charge actionné par un fluide
73.
CONTROLLING A MINING MACHINE IN PROXIMITY OF A SAFETY GATE
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.
G05D 1/246 - Dispositions pour déterminer la position ou l’orientation utilisant des cartes d’environnement, p. ex. localisation et cartographie simultanées [SLAM]
E21F 13/02 - Transport spécialement adapté aux conditions du fond dans les galeries
G01C 21/30 - Mise en coïncidence avec des cartes ou des contours
G05D 101/00 - Détails des architectures logicielles ou matérielles utilisées pour la commande de la position
G05D 107/70 - Sites industriels, p. ex. entrepôts ou usines
79.
METHOD AND SYSTEM FOR CONDITION MONITORING OF MINING VEHICLE
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 - Véhicules destinés principalement au transport des charges et modifiés pour faciliter le chargement, la fixation de la charge ou son déchargement avec un mouvement de basculement de l'élément supportant ou contenant la charge actionné par un fluide
F15B 19/00 - Test des systèmes ou appareils de manœuvre utilisant la pression d'un fluide, dans la mesure où ils ne sont pas prévus ailleurs
80.
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 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
E21B 47/022 - Détermination de l'inclinaison ou de la direction du trou de forage, p. ex. à l'aide de géomagnétisme
G01C 25/00 - Fabrication, étalonnage, nettoyage ou réparation des instruments ou des dispositifs mentionnés dans les autres groupes de la présente sous-classe
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 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
B62D 11/00 - Direction pour roues non orientablesDirection pour véhicules à chenilles ou à dispositifs similaires
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
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 - Appareils de forage caractérisés par des moyens de transport terrestre, p. ex. montés sur des patins ou des roues
E21B 15/04 - Supports pour la machine de forage, p. ex. tours de forage ou mâts de forage spécialement adaptés au forage dirigé, p. ex. appareils pour trous inclinés
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
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 - Soupapes ou clapets à voies multiples, p. ex. clapets mélangeursRaccords de tuyauteries comportant de tels clapets ou soupapesAménagement d'obturateurs et de voies d'écoulement spécialement conçu pour mélanger les fluides dont toutes les faces d'obturation se déplacent comme un tout comportant uniquement des tiroirs à éléments de fermeture articulés à pivot et se déplaçant linéairement
An apparatus, rock drilling rig and drilling method. The apparatus (A) provides position control data (39) for controlling positioning a rock drilling unit (4) of a rock drilling rig (1) for drilling transverse drill hole patterns (13) to an underground tunnel (7). The apparatus comprises a teaching feature (33) for gathering data on manually con¬ trolled movements (38) 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 (19) is implemented when controlling the rock drilling unit during an actual drilling phase.
E21B 44/00 - Systèmes de commande automatique spécialement adaptés aux opérations de forage, c.-à-d. systèmes à fonctionnement autonome ayant pour rôle d'exécuter ou de modifier une opération de forage sans l'intervention d'un opérateur humain, p. ex. systèmes de forage commandés par ordinateurSystèmes spécialement adaptés à la surveillance de plusieurs variables ou conditions de forage
E21C 35/06 - Équipement pour ajuster la position de la machine entière par rapport à son infrastructure
G05B 19/42 - Systèmes d'enregistrement et de reproduction, c.-à-d. dans lesquels le programme est enregistré à partir d'un cycle d'opérations, p. ex. le cycle d'opérations étant commandé à la main, après quoi cet enregistrement est reproduit sur la même machine
G05D 3/00 - Commande de la position ou de la direction
B21B 1/16 - Méthodes de laminage ou laminoirs pour la fabrication des produits semi-finis de section pleine ou de profilésSéquence des opérations dans les trains de laminoirsInstallation d'une usine de laminage, p. ex. groupement de cagesSuccession des passes ou des alternances de passes pour laminer du fil métallique ou un matériau semblable de petite section
B60L 53/18 - Câbles spécialement adaptés pour recharger des véhicules électriques
B65H 57/14 - Poulies, rouleaux ou barres rotatives
B65H 75/42 - Noyaux, gabarits, supports ou pièces de tenue pour matériau bobiné, enroulé ou plié, p. ex. tourets, broches, bobines, tubes à cannette, boîtes spécialement adaptés ou montés pour stocker, dérouler de façon répétée et stocker à nouveau des longueurs de matériau prévues pour des buts particuliers, p. ex. tuyaux souples à poste fixe, câbles de force impliquant l'utilisation d'un noyau ou d'un gabarit intérieur formant support pour le paquet de matériau stocké mobile ou transportable fixé à des outils ou machines mobiles ou en faisant partie
H02G 1/06 - Méthodes ou appareils spécialement adaptés à l'installation, entretien, réparation, ou démontage des câbles ou lignes électriques pour poser les câbles, p. ex. appareils de pose sur véhicule
H02G 11/02 - Installations de câbles ou de lignes électriques entre deux pièces en mouvement relatif utilisant une bobineuse ou tambour
90.
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 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour le test des freins
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 - Méthodes ou appareils spécialement adaptés à l'installation, entretien, réparation, ou démontage des câbles ou lignes électriques pour poser les câbles, p. ex. appareils de pose sur véhicule
B21B 1/16 - Méthodes de laminage ou laminoirs pour la fabrication des produits semi-finis de section pleine ou de profilésSéquence des opérations dans les trains de laminoirsInstallation d'une usine de laminage, p. ex. groupement de cagesSuccession des passes ou des alternances de passes pour laminer du fil métallique ou un matériau semblable de petite section
B65H 57/14 - Poulies, rouleaux ou barres rotatives
H02G 11/00 - Installations de câbles ou de lignes électriques entre deux pièces en mouvement relatif
B60L 53/18 - Câbles spécialement adaptés pour recharger des véhicules électriques
B65H 75/42 - Noyaux, gabarits, supports ou pièces de tenue pour matériau bobiné, enroulé ou plié, p. ex. tourets, broches, bobines, tubes à cannette, boîtes spécialement adaptés ou montés pour stocker, dérouler de façon répétée et stocker à nouveau des longueurs de matériau prévues pour des buts particuliers, p. ex. tuyaux souples à poste fixe, câbles de force impliquant l'utilisation d'un noyau ou d'un gabarit intérieur formant support pour le paquet de matériau stocké mobile ou transportable fixé à des outils ou machines mobiles ou en faisant partie
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 - Noyaux, gabarits, supports ou pièces de tenue pour matériau bobiné, enroulé ou plié, p. ex. tourets, broches, bobines, tubes à cannette, boîtes spécialement adaptés ou montés pour stocker, dérouler de façon répétée et stocker à nouveau des longueurs de matériau prévues pour des buts particuliers, p. ex. tuyaux souples à poste fixe, câbles de force impliquant l'utilisation d'un noyau ou d'un gabarit intérieur formant support pour le paquet de matériau stocké mobile ou transportable fixé à des outils ou machines mobiles ou en faisant partie
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 - Agencement ou montage des ensembles de propulsion électriques
B60P 1/04 - Véhicules destinés principalement au transport des charges et modifiés pour faciliter le chargement, la fixation de la charge ou son déchargement avec un mouvement de basculement de l'élément supportant ou contenant la charge
G02B 27/00 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
B60R 11/00 - Autres aménagements pour tenir ou monter des objets
94.
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.
H02J 7/02 - Circuits pour la charge ou la dépolarisation des batteries ou pour alimenter des charges par des batteries pour la charge des batteries par réseaux à courant alternatif au moyen de convertisseurs
H02J 7/34 - Fonctionnement en parallèle, dans des réseaux, de batteries avec d'autres sources à courant continu, p. ex. batterie tampon
H02M 5/12 - Transformation d'une puissance d'entrée en courant alternatif en une puissance de sortie en courant alternatif, p. ex. pour changement de la tension, pour changement de la fréquence, pour changement du nombre de phases sans transformation intermédiaire en courant continu par convertisseurs statiques utilisant des transformateurs pour la transformation de l'amplitude de la tension ou du courant seulement
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 - Circuits pour la charge ou la dépolarisation des batteries ou pour alimenter des charges par des batteries pour la charge des batteries par réseaux à courant alternatif au moyen de convertisseurs
H02J 7/34 - Fonctionnement en parallèle, dans des réseaux, de batteries avec d'autres sources à courant continu, p. ex. batterie tampon
H02M 1/00 - Détails d'appareils pour transformation
H02M 5/12 - Transformation d'une puissance d'entrée en courant alternatif en une puissance de sortie en courant alternatif, p. ex. pour changement de la tension, pour changement de la fréquence, pour changement du nombre de phases sans transformation intermédiaire en courant continu par convertisseurs statiques utilisant des transformateurs pour la transformation de l'amplitude de la tension ou du courant seulement
97.
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 - Dispositifs caractérisés par l'utilisation de moyens électriques ou magnétiques pour mesurer une vitesse linéaire en mesurant l'amplitude du courant ou de la tension engendrés
G01P 3/50 - Dispositifs caractérisés par l'utilisation de moyens électriques ou magnétiques pour mesurer une vitesse linéaire
G01L 1/12 - Mesure des forces ou des contraintes, en général en mesurant les variations des propriétés magnétiques d'un matériau, résultant de l'application d'un effort
G01N 27/72 - Recherche ou analyse des matériaux par l'emploi de moyens électriques, électrochimiques ou magnétiques en recherchant des variables magnétiques
100.
ARRANGEMENT AND METHOD FOR HEATING HYDRAULIC IMPACT DEVICE
An arrangement and method for heating an impact device (9) of a rock treating machine (Rtm) in low-temperature operating conditions. The arrangement comprises a warm-up mode (WM) for feeding pre-heated hydraulic fluid through a feed channel (19) to a hydraulic circuit (18) of the impact device. There are one or more hydraulic accumulators (Pa) in the hydraulic circuit. The feed channel is provided with a control element (CE) 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 (Se) of the pressure accumulators do not move.
E21B 1/26 - Forage par percussion avec un organe d'impulsion à mouvement alternatif l'organe d'impulsion étant un piston entraîné directement par la pression d'un fluide par la pression d'un liquide
