SANDVIK MINING AND CONSTRUCTION OY

A method for controlling autonomous mine vehicle operations includes the steps of detecting a dust condition for an autonomously operating mine vehicle performing optical environment scanning for positioning the mine vehicle at a worksite, transitioning the mine vehicle operating in an automatic driving mode to a dust driving mode in response to detecting the dust condition, the dust driving mode being associated with one or more control actions for autonomous operation of the mine vehicle, controlling dead-reckoning based positioning for updating the position of the mine vehicle during the dust driving mode, monitoring of a dead-reckoning error parameter during the dust driving mode, and in response to the dead-reckoning error parameter reaching an error threshold, controlling the mine vehicle to stop or reduce speed.

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.

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 ( 7 a, 7 b , . . . ) fastened to the movable plate ( 4 ), and a biasing member ( 9 a, 9 b , . . . ) 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 ( 9 a, 9 b , . . . ) is biasing the movable plate ( 4 ) to the resting position.

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 mining vehicle and a cylinder mounting arrangement for a mining vehicle have a frame including at least one hydraulic cylinder mounted to the frame. The cylinder has a cylinder pin arranged for the mounting. The frame has an opening through which the cylinder can be inserted inside the frame and also removed. A mounting element is assembled to one end of the cylinder and the mounting element includes a front plate assembled against the outside of the frame covering the opening at least partially and two ears for the attachment to the cylinder pin. The front plate is fixed to the frame by mounting bolts or screws from the outside the frame.

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.

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 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.

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.