Sandvik Mining and Construction Oy

Jussi Puura

Lauri Siivonen

Tomi Von Essen

Mikko Kitula

Petri Timonen

Petri Rantanen

Jouko Muona

Jukka Osara

Sirpa Launis

Tommi Säleniemi

Samuli Verho

Pertti Koivunen

Markus Saarela

Anssi Kouhia

Tuomo Kivelä

Jussi Collin

Henri Liikanen

Pekka Laine

Mikko Valtee

Pekka Anttonen

Samuel Hyyppa

Tuukka Vainio

Tiina Ärrälä

Tatu Hautala

Samuel Hyyppä

According to an example aspect, there is provided a method, comprising the steps of obtaining route plan information indicative of a set of route points for a tunnel system of an underground worksite for at least partially autonomous driving of a vehicle, performing for at least some of route points in the set: detecting space information indicative of spaces required by the vehicle at associated route points, generating a set of envelopes on the basis of the space information, wherein an envelope is indicative of space required by the vehicle at an associated route point, and controlling visualization of the set of envelopes in a tunnel model to represent planned route trace of the vehicle when driving via the route points.

Underground vehicle monitoring system field

Drill rig

A method for positioning a mobile object in an underground tunnel includes the steps of determining horizontal progression of a mobile object in an underground tunnel from a preceding position estimate or an initial position of the mobile object; determining horizontal position of the mobile object on the basis of a floor model of the tunnel and the estimated horizontal progression of the mobile object; and generating a three-dimensional position indicator on the basis of the horizontal position of the mobile object and a three-dimensional model of the tunnel.

Positioning of mobile object in underground worksite

Wheel loader

A drilling boom and rock drilling rig. The drilling boom includes a basic boom part, a distal end of which is provided with a front joint assembly of a wrist. The wrist connects a feed beam assembly to the basic boom part. The wrist has three joints, which are a roll-over joint, a feed tilt joint and a feed swing joint. The order of the joints of the wrist is optimized when the joints are in the mentioned order. The rock drilling rig is provided with one or more such drilling booms provided with face drilling units or bolting heads.

Drilling boom and rock drilling rig

A mine control system for monitoring mine operations includes a plurality of mine vehicles provided with on-board monitoring means. Monitoring data is transmitted from the mine vehicle to the mine control system, which is provided with a mine plan. The mine control unit is configured to compare the received monitoring data with the mine plan and to determine the current state of the mine relative to the mine plan on the basis of the monitoring data.

Mine control system

An arrangement and method of utilizing rock drilling information in a mine whereby drill holes are drilled in a surrounding rock material by a first mining vehicle. During drilling measuring data is produced and is inputted to a monitoring device for analyzing procedures. The monitoring device produces rock condition data of the rock material being drilled. The produced rock condition data is then implemented in a second mining vehicle.

Arrangement and method of utilizing rock drilling information

A method and mine vehicle includes at least one scanning device for scanning surroundings of the mine vehicle and producing operational point cloud data. The mine vehicle has a control unit provided with reference point cloud data of the mine. The control unit is configured to match the operational point cloud data to the reference point cloud data in order to determine position of the mine vehicle. The control unit further includes a mine work plan, which is connected to the detected position of the mine vehicle.

Mine vehicle and method of initiating mine work task

A method and equipment for displaying holes to be drilled when drilling holes into rock with a rock-drilling rig having control equipment and a display belonging thereto and measuring means for defining the direction and position of a drill rod, by using a pre-designed drilling plan defined in a three-dimensional coordinate system, in which a starting point (to) and end point (to) is defined for each hole to be drilled. A base plane running through the end point (to) of the hole and parallel to the projection plane is defined for each hole (to), and a projection of the intersection of a hole or its extension created when drilling in accordance with the current location of the drill rod and the defined base plane is displayed with a graphical location symbol on the projection plane.

Method and equipment for displaying drill holes and method for directing drill rod when holes are drilled into rock

The invention relates to a method and apparatus as well as to a computer program for adjusting the operation of a hydraulically operated boom, the boom () comprising at least two mutually movably coupled boom parts (), which are coupled to move with respect to one another by means of a hydraulic actuator (--), control means () for controlling the hydraulic actuators, a detector () for detecting the position between the boom parts (), whereby for adjusting the operation of the boom () it is possible to configure a movement-specific adjustment parameter of the joint controller in the control means () for each particular movement. In the invention the mutual movement of the boom parts () is controlled with respect to a predetermined position, on both sides thereof, between the boom parts (), the actual position and motional speed values obtained from the detector () in response to the control signal are compared with the theoretical position and motional speed values, and the adjustment parameter of the joint controller is adjusted on the basis of the difference between the values.

Method, apparatus and computer program for adjusting hydraulically operated boom

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Tampere, Finland

Jussi Puura