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

Abstract: A scraper, rock drilling unit, and a method of cleaning a feed beam of a rock drilling unit is provided. The scraper includes a scraper element and a bracket mountable to the feed beam. The bracket provides the scraper element with a floating support. There is at least one force element provided for generating a force for moving the scraper element in relation to the bracket.

Abstract: A hydraulic system, rock drilling rig, and method for limiting the output performance of a hydraulic drilling actuator temporarily under execution of a safety function feature of the hydraulic system. The output performance is limited by limiting produced hydraulic fluid flow in a hydraulic circuit of the hydraulic drilling actuator, whereby a restricted magnitude of the fluid flow is produced at a hydraulic pump. This way a restricted operation mode is enabled and is controlled by a control unit.

Abstract: A flushing element, rock drilling machine and method of providing a flushing space around a shank adapter of a rock drilling machine. The flushing element surrounds the shank adapter passing through it. The flushing element has a feed opening for feeding flushing agent to the flushing space and at least two sealing housings for flushing sealings and wherein the flushing sealings are on opposite axial sides of the flushing space. Furthermore, the flushing element has split configuration whereby it is mountable and demountable in radial direction.

Abstract: An operating system, rock drilling rig and method for operating an electrically operated rock drilling rig. The operating system includes an electric system connected to an electric supply source and having one or more electric motors controlled by electric control devices. The system further includes a hydraulic system having one or more hydraulic pumps and hydraulic control devices. There are hydraulic tramming actuators connected to closed loop hydraulic circuits and hydraulic drilling actuators connected to either open or closed loop circuits.

Abstract: A method includes the steps of receiving a three-dimensional input model of an underground tunnel system of a worksite, determining an initial first location in the input model for a virtual probe, determining distances between the first location and tunnel walls on the basis of the input model; determining tunnel heading on the basis of processing the determined distances, relocating the virtual probe at a second location in the input model along with the determined tunnel heading, and generating a logical tunnel model indicative of path of the virtual probe travelling in the input model, on the basis of determined locations of the virtual probe being relocated in the input model.

Abstract: An apparatus, method and computer program product arranged for receiving information on a target position of a drilling rig, receiving status information relating to the drilling rig, calculating, based on the status information, at least a first route according to a first approach type and a second route according to a second approach type to the target position, and selecting, based on at least one criterion, the calculated first route or the calculated second route.

Abstract: An inlet tube of a sampling device, a rock drilling rig, and a method for taking samples is provided. The inlet tube is mountable to a dust collecting system of a rock drilling rig and is provided with at least one actively controllable homogenizing element forming a physical element for generating disturbance in flow and to thereby homogenize particle distribution of the drilling cuttings in the flow.

Abstract: An apparatus, method and computer program product for controlling flushing in rock drilling, and a rock drilling rig. The apparatus includes a control unit and a computer program for controlling feeding of a liquid component in an air mist flushing system in response to detected penetration rate of executed drilling. An operator may set a desired moisture target value for drilling cuttings removed from a drill hole and the control system automatically adjusts the flushing system to control the feeding of the liquid component.

Abstract: A method for generation of a boom trajectory for automated boom positioning includes the steps of receiving target pose data indicative of at least target position of a first boom object of the boom for positioning a work machine of the mine vehicle to a target pose in accordance with a mine work plan, receiving geometry data of the first boom object, the geometry data being mapped with start pose data indicative of the start position and orientation of the first boom object, receiving obstacle data, selecting trajectory generation locations for the first boom object, and generating, before starting positioning of the work machine for the target pose, a positioning trajectory for each of the selected trajectory generation locations on the basis of the target pose data, the geometry data, the start pose data, and the obstacle data.

Abstract: An apparatus, method and computer program product arranged for receiving information on a path to be followed by a drilling rig, the path including a trigger position, determining a position of the drilling rig, instructing the drilling rig to follow the path based on a first reference point associated with the drilling rig, activating, in response to determining that the position of the drilling rig corresponds to the trigger position, a second reference point associated with the drilling rig, and instructing the drilling rig to stop in response to determining that a position of the second reference point corresponds to a target position.

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.

Abstract: A pressure accumulator, rock breaking machine and method of storing pressure energy. The accumulator includes a casing and an elastic membrane arranged inside the casing. The membrane divides an inner space of the casing into two separate pressure spaces. A gas space is prefilled with pressurized gas. On the opposite side of the membrane is a hydraulic space for receiving hydraulic fluid. The membrane is a hat-like element having side walls, a mounting flange at its open end and a closed top end. The mounting flange of the membrane is mounted between the casing and a flange element. The accumulator is without a screen. The flange element is provided with a sealing for sealing a piston.

Abstract: A method is provide, which includes the steps of receiving a three-dimensional tunnel model of an underground tunnel system of a worksite, receiving two-dimensional position data having sets of x coordinate values and y coordinate values of a mobile device in the underground tunnel system, performing a vertical plane ray cast operation in the tunnel model at a mobile device position defined by an x coordinate value and an y coordinate value in the received position data, and determining a z coordinate value for the mobile device position on the basis of the ray cast operation and at least one earlier resolved z coordinate value for a preceding mobile device position.

Abstract: A drilling rig includes a carrier, a ground support attached to the carrier for supporting the carrier on the ground, a drilling boom attached at a first end to the carrier, a feed beam attached to a second end of the drilling boom, a drilling unit attached movably along the feed beam, a ground pin attached to the feed beam for supporting the feed beam onto the ground, and control means configured for performing the steps of at least: receiving ground support force information indicative of force applied by the ground support to the ground, and detecting ground contact state of the ground pin on the basis of the received ground support force information.

Abstract: A down-the-hole drilling assembly activated by fluid under pressure includes a casing having an axially rearward and forward end, a piston arranged movably inside the casing, a plurality of fluid passages for feeding and discharging pressurized fluid into and out of a working chamber for generating reciprocating movement of the piston, a drill bit at the forward end and provided with an anvil facing towards the piston for receiving impacts therefrom and an annular drive sub surrounding at least a portion of a shank and cooperating with the bit to form fluid passages extending length-wise along the shank. The drive sub has a concave arcuate groove extending circumferentially to form a chamber for collecting fluid from the hammer exhaust and redistributing a volume of the collected fluid from channels formed between complimentary splines of the drive sub and splines of the bit to flushing holes arranged in the bit.

Abstract: A rock drilling arrangement includes an impact device having a frame, pressure chambers in the frame, and a piston arranged in the impact device. The arrangement further includes a rear mounting arrangement for attaching the impact device to a carriage, a front mounting arrangement for attaching the impact device to a machine component, at least one fore pressure accumulator arranged on a front side of the rear mounting arrangement in an axial direction of the piston, and at least one rear pressure accumulator arranged on a back side of the rear mounting arrangement. The fore pressure accumulator and the rear pressure accumulator are connected to one of the pressure chambers and arranged to absorb pressure fluctuations in the pressure chambers.

Abstract: A rock drilling unit and method for charging drilled holes. The rock drilling unit includes a feed system for feeding initiators and rock breaking material into the drilled holes. The rock drilling unit is also provided with one or more communicating devices for communicating with the wireless initiators.

Abstract: A down the hole drilling assembly having a drill tube adapter, an elongate casing, a fluid powered piston, a top working chamber, a bottom working chamber, a top sub and an exhaust system, wherein the exhaust system is moveable with respect to the drill string. The top sub includes an exhaust valve arranged for opening and closing the connection between the at least one exhaust passage and the at least one exhaust port.

Abstract: A method for a zone passage control system for an underground worksite having a plurality of operation zones for autonomously operating mobile vehicle operations includes the steps of associating a first passage control unit with a first zone and a second zone, detecting state parameter information of the first zone and the second zone, merging the first zone and the second zone into a fusion zone on the basis of the state parameter information of the first zone and the second zone, and adapting the zone passage control system to allow a first autonomously operating mobile vehicle to pass the first passage control unit in the fusion zone without interrupting operation of a second autonomously operating mobile vehicle in the first zone and/or the second zone.