Abstract: 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.

Abstract: According to an example aspect of the present invention, there is provided a method including the steps of: assigning a set of obstacle analysis parameters for a mining vehicle, wherein the set of obstacle analysis parameters is specific to a portion of the mining vehicle; detecting, by an obstacle detection function of the mining vehicle, an obstacle candidate on the basis of processing scanning data from a scanner of the mining vehicle; performing an obstacle analysis on the basis of a determined size of the obstacle candidate and the set of obstacle analysis parameters assigned for the mining vehicle to classify the obstacle candidate and determine if the obstacle candidate is an obstacle to be avoided, and providing, in response to the obstacle analysis indicating that the obstacle candidate is an obstacle to be avoided, an alarm or control signal to avoid the mining vehicle hitting the obstacle.

Abstract: An apparatus, method and computer program product for: receiving a first set of measurement data relating to an environment of the mobile mining vehicle at a first time instance, receiving a second set of measurement data relating to the environment of the mobile mining vehicle at a second time instance, determining a transition of the mobile mining vehicle between the first time instance and the second time instance, forming a combined set of measurement data by transforming the first set of measurement data to a coordinate frame of the second set of measurement data based on the transition of the mobile mining vehicle, and providing the combined set of measurement data to an obstacle detection system of the mobile mining vehicle.

Abstract: 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.

Abstract: The invention relates to a method for correcting positioning errors in rock drilling, and a rock drilling equipment. Deviation of the boom position from the theoretical position is measured as a function of the position of at least one boom joint, the measured deviations are stored in the memory of the drilling rig, and when the boom is positioned to the drilling position, its position is corrected on the basis of the stored deviation. The drilling equipment includes a memory for storing the deviations between the true position of the boom and the theoretical position calculated on the basis of the joint sensor values, and a calculating device for correcting the boom position on the basis of the deviations stored in the memory of the drilling rig.

Abstract: A method of controlling rock drilling wherein the cut length changes from a predetermined cut length, the drilling length is changed by transferring the position of the pattern in the longitudinal direction of the tunnel so that the positions of the end points of the holes remain essentially the same with respect to one another, and a collaring surface is crosswise of the tunnel and different from the actual rock surface.