Apparatus, rock drilling rig and method for mining navigation
AssigneeSandvik Mining and Construction Oy
InventorJouko Muona
Life of this patent
Estimating the term…
Abstract
An apparatus, rock drilling rig, method and computer program for executing navigation for a rock drilling rig in a mine tunnel. The rock drilling rig is positioned at faces of rounds and is navigated before initiating drilling. The navigation is executed without a predetermined tunnel line. The realized tunnel line is formed by combining navigation data on several rounds. Length and direction of the round to be drilled next may be adjusted according to need.
Claims16
An apparatus comprising at least one data processing device for executing at least one navigation program in order to navigate a rock drilling rig in a mining tunnel, wherein the mining tunnel is advanced in several successive rounds and the navigation is executed for each round before initiating drilling by means of the rock drilling rig;
- and wherein the apparatus:
- is provided with positioning data relating to determined position and direction of the rock drilling rig relative to a previously excavated round;
- is configured to determine direction and length of each following new round in response to input data and is configured to take a selected direction and length into consideration in the navigation;
- is configured to generate a tunnel line for the mining tunnel by combining the navigation results of each successive rounds one by one;
- is configured to execute coordinate transformations between a machine coordinate system of the rock drilling rig and a mine coordinate system;
- and
- is configured to present the produced mining tunnel line in the mine coordinate system, wherein the navigation is executed without a pre-determined mining tunnel line.
A method of navigating a rock drilling rig in a mining tunnel, which mining tunnel is created by utilizing drilling and blasting methods, wherein rock material is removed in several successive rounds, the method comprising:
- positioning the rock drilling rig at faces of the successive rounds;
- executing the navigation for each round before initiating drilling by means of the rock drilling rig;
- attaching in the navigation a coordinate system of the rock drilling rig to a mine coordinate system;
- and
- determining a mining tunnel line for the realized mining tunnel by combining navigation data of the several successive realized rounds, whereby the navigation is executed without a pre-determined mining tunnel line.
Dependencies are inferred from the claim text.