Sandvik Mining and Construction

A method for controlling speed of a mining vehicle may comprise: determining a route for the mining vehicle; determining a first speed for the mining vehicle for travelling on the route for a first time; monitoring at least one operational parameter of the mining vehicle with respect to at least one tolerance criterion, when travelling on the route for the first time; and determining, based on the monitoring of the at least one operational parameter with respect to the at least one tolerance criterion during the travelling on the route for the first time, a second speed for the mining vehicle for travelling on the route for a second time.

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 route for a manually operated vehicle, wherein at least part of the route is in a restricted area of a mine; transmit a configuration of the route to the manually operated vehicle; monitor a position of the manually operated vehicle; and cause a restriction of movement for at least one autonomous mining vehicle configured to operate in the restricted area, in response to determining that the position of the manually operated vehicle deviates from the route within the restricted area.

A hammer drill assembly for coupling to a drill string having a drill bit positioned at the forward end having a drill head and a bit shaft; wherein a plurality of axially extending bit splines project radially outwards from a radially outward facing surface of the bit shaft; wherein each of the bit splines comprises a bit spline tip at its axially rearward end having a rearward axially outer edge and a central bit spline longitudinal axis; and a driver sub provided axially rearward of the drill bit comprising a plurality of axially extending driver sub splines 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 may comprise: obtaining information about positions of targets detected by a scanning device; determining whether a spatial configuration of a first subset of the targets corresponds to a predetermined spatial configuration of targets mounted to a surface of the mine; determining whether a spatial configuration of a second subset of the targets corresponds to a predetermined spatial configuration of targets of the mining vehicle; causing the scanning device to repeat the scanning operation until identifying the first and second subsets of targets; determining a position of the mining vehicle in the coordinate frame of the mine based on the positions of the first subset of the targets in the coordinate frame of the mine and positions of the second subset of the targets relative to the scanning device.

A method comprises: obtaining information about positions of targets detected by a scanning device by a single scanning operation, wherein the positions of the targets are relative to the scanning device; identifying a first subset of the targets based on the first subset having a spatial configuration corresponding to a predetermined spatial configuration of reference targets mounted to a surface of the mine; identifying a second subset of the targets based on the second subset having a spatial configuration corresponding a predetermined spatial configuration of targets of the mining vehicle; obtaining information about positions of the first subset in a coordinate frame of the mine; determining a position of the mining vehicle in the coordinate frame of the mine based on the positions of the first subset in the coordinate frame of the mine and the positions of the second subset of targets relative to the scanning device.

A method for detecting an event of a mining vehicle may comprise: receiving a configuration of an operating point, wherein the configuration of the operating point comprises a position of the operating point and a requested heading of the mining vehicle for the operating point; determining the mining vehicle to be in proximity of the operating point; determining a heading of the mining vehicle in the proximity of the operating point; detecting a change in weight data of the mining vehicle in the proximity of the operating point; and recording an event associated with the operating point, in response to detecting the change in the weight data of the mining vehicle in the proximity of the operating point and in response to determining that the heading of the mining vehicle in the proximity of the operating point corresponds to the requested heading of the mining vehicle for the operating point.

A cable guiding device, a mining vehicle, and a method of guiding a trailing electric cable of an electrically powered mining vehicle. 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 guiding 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 comprises 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 providing a force to a portion of the trailing electric cable (14) that is unwound from the cable reel assembly.

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 reinforcing. 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 comprises 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.

A bolting rig and method for rock reinforcing. 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 delivery plane (16) of a bolt storage.