Apparatus and method for monitoring rock drilling rig

Abstract

Example embodiments provide an apparatus for monitoring a rock drilling rig. The apparatus may be configured to determine a support pattern of the rock drilling rig and a total center of gravity of the rock drilling rig. The rock drilling rig may be monitored based on the position of the total center of gravity relative to the support pattern. An apparatus, a method and a computer program are disclosed.

Description

Technical Field

[0001] The present application relates generally to mining vehicles. In particular, some example embodiments of the present application relate to monitoring rock drilling rigs. Background Art

[0002] Mining vehicles may need to operate in confined spaces underground. For example, a mining vehicle operator may need to move a large mining vehicle through a narrow intersection in a mine. The operator may need to steer and turn different parts of the mining vehicle so that the mining vehicle can fit through the intersection. Maintaining the stability of the mining vehicle can be challenging when working in difficult ground conditions. Summary of the invention

[0003] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] Example embodiments may make it possible to monitor the stability of a mining vehicle based on the overall center of gravity and support pattern of the mining vehicle. An operator of the mining vehicle may be guided based on the monitored stability. Thus, the safety and maneuverability of the mining vehicle may be improved.

[0005] According to a first aspect, there is provided an apparatus for monitoring a rock drilling rig, the rock drilling rig comprising a plurality of structural components. The apparatus comprises: at least one processor; and at least one memory, the at least one memory comprising instructions, which when executed by the at least one processor causes the apparatus to: receive information about the positions of the plurality of structural components of the rock drilling rig relative to each other; receive mass characteristics of the plurality of structural components; determine local centers of gravity of the plurality of structural components; determine a total center of gravity of the rock drilling rig based on the local centers of gravity of the plurality of structural components, the mass characteristics of the plurality of structural components and the information about the positions of the plurality of structural components of the rock drilling rig relative to each other; receive information about ground support members supporting the rock drilling rig, the information comprising at least the positions of the ground support members; calculate a support pattern of the rock drilling rig based on the information about the ground support members supporting the rock drilling rig; determine information about the stability of the rock drilling rig based on the position of the total center of gravity relative to the support pattern; and output data about the stability of the rock drilling rig.

[0006] In one embodiment, the at least one memory further comprises instructions which, when executed by the at least one processor, cause the apparatus to: receive information about a change in position of at least one first structural component of the plurality of structural components relative to at least one second structural component of the plurality of structural components; and update the total center of gravity based on the information about the change in position.

[0007] In one embodiment, additionally or alternatively, the information about the change in position indicates at least one of a translational movement or a rotational movement of the first component relative to the second component.

[0008] In one embodiment, additionally or alternatively, the at least one memory further comprises instructions which, when executed by the at least one processor, cause the apparatus to: receive information regarding a change in position of at least one of the ground support members; and update the support pattern based on the information regarding the change in position of the at least one ground support member.

[0009] In one embodiment, additionally or alternatively, the plurality of structural components comprises at least one carrier and at least one suspension rod.

[0010] In one embodiment, additionally or alternatively, the plurality of structural components comprises two vehicles and each vehicle comprises a plurality of ground support members; and wherein the at least one memory further comprises instructions which, when executed by the at least one processor, cause the apparatus to: calculate a support pattern for the rock drilling rig based on the information about the ground support members supporting the rock drilling rig and the positions of the vehicles relative to each other.

[0011] In one embodiment, additionally or alternatively, the at least one memory further comprises instructions which, when executed by the at least one processor, cause the device to: determine the information about the stability of the rock drilling rig based on the distance between the total center of gravity and at least one edge of the support pattern.

[0012] In one embodiment, additionally or alternatively, the at least one memory further comprises instructions which, when executed by the at least one processor, cause the device to: determine the information about the stability of the rock drilling rig based on the support force of each ground support member supporting the rock drilling rig.

[0013] In one embodiment, additionally or alternatively, said at least one memory further comprises instructions which, when executed by said at least one processor, cause said apparatus to determine said information about the stability of said rock drilling rig during operation of said rock drilling rig.

[0014] In one embodiment, additionally or alternatively, the ground support member supporting the rock drilling rig comprises at least one of tracks, wheels, a rear oscillating axle or a ground support cylinder.

[0015] In one embodiment, additionally or alternatively, the at least one memory further comprises instructions which, when executed by the at least one processor, cause the device to: detect a risk of instability based on the information about the stability of the rock drilling rig; and when the risk of instability is detected, cause the rock drilling rig to at least one of limit speed or stop.

[0016] In one embodiment, additionally or alternatively, the at least one memory further comprises instructions which, when executed by the at least one processor, cause the device to: detect a risk of instability based on the information about the stability of the rock drilling rig indicating that a threshold value of the distance between the position of the total center of gravity and at least one edge of the support pattern is met or that the supporting force of each ground support member is lower than a predetermined threshold.

[0017] In one embodiment, additionally or alternatively, the at least one memory comprises instructions which, when executed by the at least one processor, cause the device to: receive information indicating the position of at least one box of the rock drilling rig; receive information indicating the filling level of the at least one box; determine the mass of the at least one box based on the filling level; determine the local center of gravity of the at least one box; and wherein the total center of gravity is also based on the local center of gravity of the at least one box, the mass of the at least one box and the position of the at least one box.

[0018] According to a second aspect, there is provided a rock drilling rig comprising the apparatus according to the first aspect.

[0019] According to a third aspect, there is provided a computer-implemented method for monitoring a rock drilling rig, the rock drilling rig comprising a plurality of structural components. The method comprises: receiving information about the positions of the plurality of structural components of the rock drilling rig relative to each other; receiving mass characteristics of the plurality of structural components; determining local centers of gravity of the plurality of structural components; determining a total center of gravity of the rock drilling rig based on the local centers of gravity of the plurality of structural components, the mass characteristics of the plurality of structural components and the information about the positions of the plurality of structural components of the rock drilling rig relative to each other; receiving information about ground support members supporting the rock drilling rig, the information comprising at least the positions of the ground support members; calculating a support pattern of the rock drilling rig based on the information about the ground support members supporting the rock drilling rig; determining information about the stability of the rock drilling rig based on the position of the total center of gravity relative to the support pattern; and outputting data about the stability of the rock drilling rig.

[0020] According to a fourth aspect, there is provided a computer program comprising instructions which, when executed by a computer, cause the computer to perform the method according to the second aspect.

[0021] By referring to the following detailed description considered in conjunction with the accompanying drawings, many of the attendant features will be more readily appreciated as they become better understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are included to provide a further understanding of example embodiments and constitute a part of this specification, illustrate example embodiments and together with the description help explain the principles of example embodiments. In the drawings:

[0023] Figure 1 An example of a mining vehicle according to an example embodiment is shown;

[0024] Figure 2 An example of an apparatus for monitoring a rock drilling rig according to an example embodiment is shown;

[0025] Figure 3 An example of monitoring a rock drilling rig in a mine is shown according to an example embodiment;

[0026] Figure 4 An example of monitoring a rock drill in an intersection of a mine is shown according to an example embodiment;

[0027] Figure 5 An example of a method for monitoring a rock drilling rig according to an example embodiment is shown.

[0028] In the drawings, like reference numerals are used to refer to like parts. DETAILED DESCRIPTION

[0029] Reference will now be made in detail to example embodiments, examples of which are illustrated in the accompanying drawings. The detailed description provided below in conjunction with the accompanying drawings is intended as a description of this example and is not intended to represent the only form in which this example can be constructed or utilized. This specification describes the functions of the example and possible sequences of operations for constructing and operating the example. However, the same or equivalent functions and sequences may be implemented by different examples.

[0030] The stability monitoring of a mining vehicle can be left to the operator. The operator may be aware of only some general tilt limits of the mining vehicle that cannot be crossed. Due to the complexity of the problem, the operator may be instructed that some parts of the mining vehicle cannot be moved from their nominal positions during driving or walking. The nominal position may refer to a predefined position of a part relative to the mining vehicle, wherein the predefined position makes stable driving or walking possible. The nominal position may also be referred to as the unadjusted position of the part. The part may be at least partially moved from the nominal position to another position, for example for performing a task. In addition, when the ground support cylinder of the mining vehicle is not in contact with the ground, the operator may be instructed not to move the part from the nominal position of a part. However, in order to move the mining vehicle through a narrow intersection in a mine, for example, the boom of the mining vehicle may need to be turned. Without turning the boom, it may be difficult or even impossible to pass through a corner. When the boom is turned, the mining vehicle is in danger of tipping over.

[0031] The mining vehicle may be, for example, Figure 1The rock drilling rig 100 shown in FIG. The rock drilling rig 100 may include a plurality of structural components. The plurality of structural components may include, for example, at least one carrier and / or at least one boom. The at least one carrier may include, for example, a first carrier 112 (such as a front carrier) and a second carrier 110 (such as a rear carrier). The front carrier may include a first carrier in a forward driving direction. The rear carrier may include a carrier that follows the front carrier in the forward driving direction. The first carrier 112 and the second carrier 110 may be coupled via an articulated joint 114. Thus, when the rock drilling rig 100 is turned, the first carrier 112 and the second carrier 110 may move relative to each other. Turning the rock drilling rig may include, for example, changing the position of the rock drilling rig from a first position to a second position. The change in position may include, for example, movement of the rock drilling rig in a particular direction and / or a change in the orientation of the rock drilling rig. The first carrier 112 and the second carrier 110 may move relative to each other such that the position of the first carrier 112 may change relative to the position of the second carrier 110 within the limits of the articulated joint 114. The position of the first vehicle 112 may be changed, for example, to the right or left in the driving direction relative to the second vehicle 110. In addition, the tilt level of the first vehicle 112 may be changed relative to the tilt level of the second vehicle 110. The tilt level of the first vehicle 112 may be changed, for example, to the right or left in the driving direction, or up and down relative to the second vehicle 110.

[0032] The rock drill 100 may include a plurality of ground support members, such as wheels, tracks, and / or ground support cylinders. The rock drill 100 may include a plurality of wheels 106 coupled to the carriers 112, 110 for moving the rock drill. Alternatively, the rock drill 100 may include tracks for moving the rock drill. The rock drill 100 may also include a plurality of ground support cylinders 108 mounted on at least one of the carriers 112, 110. The ground support cylinders 108 may include ground jacks. The ground support members may be configured to provide support for a mining vehicle, such as the rock drill 100, when the ground support members are in ground contact. In addition, the ground support members may be configured to help maintain ground contact of other ground support members. In one embodiment, the rock drill 100 may also include an oscillating shaft, such as a rear oscillating shaft, configured to help, for example, the wheels maintain ground contact on uneven ground.

[0033] Although depicted as a rock drill, the mining vehicle may be any type of mining vehicle, such as, for example, a bolter or loader. Typically, a mining vehicle may include one or more carriers and ground support members. In one embodiment, a mining vehicle may include operating equipment for performing certain tasks in a mine. These tasks may be associated with, for example, drilling, bolting, grid installation, maintenance, or supply. The operating equipment may be coupled to, for example, the first carrier 112 or the second carrier 110. The operating equipment may protrude from the mining vehicle in any suitable direction, such as in a first direction (such as a forward driving direction) or a second direction (such as a rearward driving direction) of the mining vehicle. The operating equipment may have a variable size so that the operating equipment may be configured to move relative to at least one other component of the mining vehicle. In addition, the positions of the components of the operating equipment may be changed relative to each other. Depending on the use case, the operating equipment may be mounted, for example, on the first carrier 112 or the second carrier 110 or both. The operating equipment may include, for example, one or more movable arms, such as one or more booms or one and / or more mechanical arms.

[0034] In one embodiment, the rock drilling rig 100 may comprise at least one boom, for example at least one extendable boom and / or at least one non-extendable boom. In one embodiment, the rock drilling rig 100 may comprise a plurality of booms.

[0035] The boom may be provided with a mining working tool. The mining working tool may include one or more devices used in underground or surface mining. The mining working tool may include, for example, a rock drilling unit, a bolting head or a bucket.

[0036] The boom may be configured to move between different working positions. The working positions may include, for example, a transport position into which the boom is moved to move a mining vehicle from a first location to a second location. As another example, the working positions may include an operating position for operating, for example, a rock drilling unit disposed at a distal end of the boom. As another example, the working positions may include an operating position for bucket filling.

[0037] A mining vehicle, such as a rock drill rig 100 may include two booms 104, such as Figure 1As shown in the example of . The boom 104 may include, for example, an adjustable arm extending from the first carrier 112 or the second carrier 110. The boom 104 may be configured to move with multiple degrees of freedom. The multiple degrees of freedom may include, for example, six degrees of freedom (6DoF). The boom 104 may include multiple boom components that are movable relative to each other. These boom components may be configured to perform at least one of the following: provide a base for one or more other components; make it possible to extend the reach of one or more other components; or perform operations such as rock drilling. For example, the multiple boom components may include: a component at the front end or rear end of the boom; an inner tube / outer tube of a telescopic boom component; a component between the carrier and the feed swing axis; a flip joint; a swing joint; a crossbeam of a bracket or a drilling feed component. The rear end of the boom may include a first end of the boom connected to the first carrier 112 or the second carrier 110, and the front end of the boom may include a second end of the boom connected to a mining working tool. These components may be connected via multiple joints. These joints may include at least one of a swing, lift, feed tilt, feed swing or crossing of the flip axis and the bolting axis. Thus, the size of the boom 104 may be adjusted by changing the relative positions of the components via the joints.

[0038] A mining vehicle, such as a rock drill 100, may include a plurality of sensors. The plurality of sensors may be configured to measure at least one of a translational motion or a rotational motion of at least one structural component of the rock drill 100. The plurality of sensors may be configured to measure relative positions of the plurality of structural components. The plurality of sensors may be configured to measure a plurality of joint angles of the rock drill 100. At least one sensor may be configured to measure, for example, a pitch angle of the rock drill 100 and / or any structural component of the plurality of structural components, such as the boom 104. At least one sensor may be configured to measure, for example, a roll angle of the rock drill 100 and / or any structural component of the plurality of structural components, such as the boom 104. As another example, at least one sensor may be configured to measure an articulation angle of the rock drill 100. The articulation angle of the rock drill 100 includes an angle between a first vehicle 112 of the rock drill 100 and a second vehicle 110 of the rock drill 100. The angle between the first vehicle 112 and the second vehicle 110 may include a yaw angle.

[0039] A mining vehicle, such as a rock drilling rig 100 may further comprise an apparatus for monitoring the rock drilling rig 100. Monitoring the rock drilling rig 100 may comprise, for example, monitoring the stability of the rock drilling rig 100. The apparatus may be any suitable device configured to monitor the stability of the rock drilling rig. Figure 2An example of such an apparatus is shown in . The apparatus 200 may be configured to communicate with one or more devices (such as one or more sensors) of the rock drilling rig 100. Communicating with a device may include receiving information from the device and / or transmitting information to the device. The apparatus 200 may be configured to determine information about the stability of the rock drilling rig 100. The apparatus 200 may be configured to determine information about the stability of the rock drilling rig 100 based on the received information. Receiving information may include, for example, receiving measurement data related to the stability of the rock drilling rig 100 or measuring the stability of the rock drilling rig 100.

[0040] The device 200 may be configured to receive data from the plurality of sensors. The data may include measurement data related to the position or movement of any structural component, such as at least one of the first carrier 112, the second carrier 110, or one or more boom components of the one or more booms 104. The device 200 may be configured to determine the position of the first carrier 112, the second carrier 110, or the one or more boom components relative to at least one of the first carrier 112, the second carrier 110, or at least one other component based on the received data. The device 200 may be configured to store data indicating the relative position of the one or more carriers 112, 110 and / or the boom components of the one or more booms 104. The device 200 may be configured to receive data indicating the relative position of the carriers 112, 110 from one or more sensors. However, the data received from the one or more sensors may be processed, for example, by the device to obtain data indicating the relative position of the carriers 112, 110. In one embodiment, the relative positions of the first vehicle 112 and the second vehicle 110 may be obtained by the device 200 in real time based on sensor data from sensors associated with the articulated joint 114. Based on the sensor data and the relative positions, the device 200 may be configured to determine the positions of different parts of the mining vehicle relative to each other in real time. Alternatively, the device 200 may be configured to determine the relative positions at predetermined intervals. Alternatively, the device 200 may be configured to determine the relative positions in response to the device 200 detecting movement of a structural component (such as one of the vehicles 112, 110 and / or the boom component of the boom 104) based on the sensor data.

[0041] In one embodiment, the device 200 may be configured to receive information about the plurality of structural components. The information about the plurality of structural components may include information about the state of the structural components and / or information about at least one characteristic of the structural components, such as information about the position of the structural components of the rock drilling rig 100, information about mass characteristics of the structural components and / or information about the local center of gravity of the structural components. The device 200 may be configured to store data about the local center of gravity and mass characteristics of the boom components of the at least one vehicle (such as the vehicles 112, 110) and the boom 104. Alternatively, the device 200 may be configured to determine the local center of gravity of the structural components based on the information about the mass characteristics. The mass characteristics may include at least the mass of the structural components.

[0042] The local center of gravity comprises a point at which the weight of the vehicle body can be considered to be concentrated, such that if the vehicle body is supported at that point, the vehicle body will remain balanced. Thus, the local center of gravity of a structural component can comprise a point at which the weight of the structural component can be considered to be concentrated.

[0043] As explained above, the structural components may include at least one carrier, such as the first carrier 112 and / or the second carrier 110, at least one boom 104 and boom components of the at least one boom 104. The structural components may also include one or more boxes of the rock drilling rig 100, for example.

[0044] The device 200 may be configured to receive the position of a structural component, for example, from one or more internal systems of the rock drilling rig 100. For example, the rock drilling rig 100 may include a boom system 102, which includes a boom base and a boom 104. The boom base may be configured to provide a base to which mobile boom components of the boom 104 may be attached. The boom system 102 may be configured to calculate forward kinematics of the boom 104. Generally, calculating forward kinematics may refer to the process of obtaining the position and velocity of an object given known joint angles and angular velocities. Forward kinematics may make it possible to determine the position and orientation of the boom 104 based on joint values ​​associated with the boom 104. Therefore, the boom system 102 may be configured to automatically position the boom 104. Based on forward kinematics, a 6DOF (six degrees of freedom) transformation matrix of each mobile boom component may be calculated by the boom system 102. The transformation matrix may be used to express data in one coordinate system relative to another coordinate system. Each structural component of the rock drilling rig 100 may include a local coordinate system, which is based on, for example, joints associated with the structural component. For example, a coordinate vector associated with a structural component may be multiplied by a transformation matrix expressing the rotational and translational motion of the structural component between coordinate systems. By calculating the forward kinematics from the base coordinate system to the structural component of interest, data provided in other coordinate systems can be expressed in the base coordinate system. For example, the local center of gravity of all structural components can be expressed in the coordinate system of the vehicle 110, 112 for calculating the total center of gravity of the rock drilling rig 100. In addition to information about each boom component relative to the boom base, the position of the boom 104 relative to the vehicle 112, 110 may be known based on forward kinematics. The boom system 102 may be configured to provide the device 200 with a 6DOF transformation matrix for each moving boom component of the boom 104. In one embodiment, the device 200 may be configured to receive the position of the boom 104 from the boom system 102. Alternatively, the apparatus 200 may be configured to calculate the position of the boom 104 based on forward kinematics received from the boom system 102. Furthermore, the center of gravity and mass of each boom component may be obtained by the apparatus 200, for example from a computer aided design (CAD) system used to model the rock drilling rig 100.

[0045] In one embodiment, the device 200 may be configured to receive a 6DOF transformation matrix of each vehicle 112, 110 of the rock drilling rig 100 from a traveling system of the rock drilling rig 100. The traveling system of the rock drilling rig may be configured to move the rock drilling rig 100. Based on the 6DOF transformation matrix, the device 200 may be configured to determine the position and orientation of the first vehicle 112 and the second vehicle 110 relative to other structural components. Instead of using the transformation matrix, the rotation and translation information of the position of the structural components may also be received by the device 200 from the one or more internal systems as quaternions or roll, pitch and yaw angles or as xyz translation. In addition, the device 200 may be configured to receive information about the local center of gravity and mass characteristics of each vehicle. For example, the local center of gravity and mass characteristics of each vehicle may be received from a CAD design system used to model the rock drilling rig 100.

[0046] In one embodiment, the mining vehicle may be an automated mining vehicle. The automated mining vehicle may be configured to perform tasks autonomously. For example, the automated mining vehicle may include an autonomous driving system. In one embodiment, the mining vehicle may be an automated rock drill 100. In the case of an automated mining vehicle, the position of the structural components may be known in real time by the control system of the mining vehicle based on data from associated sensors for control purposes. For example, in the case of an autonomous driving system, the relative position may be determined by the autonomous driving system for autonomous path following control. The apparatus 200 may be configured to obtain information about the relative position of the structural components from a control system of the mining vehicle, such as an autonomous driving system.

[0047] In one embodiment, the rock drilling rig 100 may include one or more structural components with varying characteristics. For example, the rock drilling rig 100 may include a tank with varying mass. The tank may include, for example, at least one of an onboard water tank, a fuel tank, or a hydraulic fluid tank. The tank with varying characteristics may include a fill level sensor. The apparatus 200 may be configured to receive the fill level sensor readings and estimate the mass of the corresponding tank in real time based on the fill level sensor readings. In addition, the apparatus 200 may be configured to obtain the center of gravity of the tank, for example, from a CAD design system used to model the rock drilling rig 100.

[0048] According to an example embodiment, the device 200 is configured to monitor the stability of the mining vehicle by comparing the calculated support pattern and the determined total center of gravity of the mining vehicle. The device 200 can be configured to perform the monitoring in real time. In one embodiment, the device 200 can be configured to perform the monitoring during the operation of the mining vehicle. In addition, the data on stability can be output to the operator of the mining vehicle as a visual or auditory signal to help the operator steer the mining vehicle under different conditions so that tipping can be avoided. Therefore, as long as the data provided on stability indicates that the mining vehicle remains stable, the structural components of the mining vehicle (such as a boom or a mechanical arm) can be moved during driving or walking without worrying about losing stability. The mining vehicle can therefore be driven even in very small intersections, and the boom can be turned while driving, because the operator can know how the movement of the boom affects stability based on the information provided on stability. Difficult stability problems can be visualized to the operator to provide a driver assistance feature. If the stability of the mining vehicle approaches the stability limit, the operator can be able to smoothly stop the mining vehicle or limit the speed of the mining vehicle to prevent the stability limit from being reached. The stability limit may indicate a limit, for example in terms of boom position, after which the mining vehicle may become unstable and overturn.The apparatus 200 may be configured to monitor the stability limit based on a distance between the overall center of gravity and at least one edge of the support pattern.

[0049] Figure 2 An example of an apparatus for monitoring a rock drilling rig according to an example embodiment is shown. Monitoring the rock drilling rig may include, for example, monitoring the stability of the rock drilling rig.

[0050] The device 200 may include at least one processor 202. The at least one processor 202 may include, for example, one or more of a variety of processing devices, such as, for example: a coprocessor; a microprocessor; a controller; a digital signal processor (DSP); processing circuitry with or without an accompanying DSP; or various other processing devices including integrated circuits, such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a dedicated computer chip, etc.

[0051] The device 200 may also include at least one memory 204. The memory 204 may be configured to store, for example, computer program code 206, such as operating system software and application software. The memory 204 may include one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination thereof. For example, the memory may be implemented as a magnetic storage device (such as a hard drive, a magnetic tape, etc.), an optical magnetic storage device, or a semiconductor memory (such as a mask ROM, a PROM (programmable ROM), an EPROM (erasable PROM), a flash ROM, a RAM (random access memory), etc.).

[0052] The device 200 may also include a communication interface 208 configured to enable the device 200 to transmit and / or receive information to / from other devices. These devices may include, for example, sensors configured to monitor the movement and position of multiple structural components of a mining vehicle. The communication interface 208 may be configured to provide at least one radio connection, such as, for example, a 3GPP mobile broadband connection (e.g., 3G, 4G, 5G). However, the communication interface 208 may be configured to provide one or more other types of connections, such as: a wireless local area network (WLAN) connection, such as, for example, standardized by the IEEE 802.11 series or the Wi-Fi Alliance; a short-range wireless network connection, such as, for example, Bluetooth, NFC (near field communication) or RFID connection; a wired connection, such as, for example, a local area network (LAN) connection, a universal serial bus (USB) connection, or an optical network connection, etc.; or a wired Internet connection. The communication interface 208 may include (or be configured to be connected to) at least one antenna to transmit and / or receive radio frequency signals. One or more of the various types of connections may also be implemented as separate communication interfaces that may be coupled or configured to couple to multiple antennas.

[0053] The apparatus 200 may include a user interface 210. The user interface 210 may include at least one of an input device or an output device. The input device may take various forms, such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may, for example, include a display, a tactile device, or a speaker. The apparatus 200 may be configured to output data about the stability of the mining vehicle to an operator via the output device. The data may be provided as at least one of a visual signal, a tactile feedback, or an auditory signal.

[0054] The device 200 may include, for example, a server device, a client device, a mobile phone, a tablet computer, a laptop computer, etc. In one embodiment, the device 200 may include a control device for a mining vehicle. In one embodiment, the device 200 may include a plurality of sensors. In one embodiment, the device 200 may include a travel system for a mining vehicle. In one embodiment, the device 200 may include a boom system for a mining vehicle. In one embodiment, the device 200 may include an autonomous driving system for a mining vehicle. In one embodiment, the device 200 may include a mining vehicle. In one embodiment, the device 200 may include a rock drill. Although the device 200 is shown as a single device, it should be understood that the functionality of the device 200 may be distributed to multiple devices where applicable.

[0055] When the device 200 is configured to implement a certain function, a certain component and / or some components of the device 200 (such as, for example, the at least one processor 202 and / or the memory 204) may be configured to implement the function. In addition, when the at least one processor 202 is configured to implement a certain function, the function may be implemented using, for example, the program code 206 included in the memory 204.

[0056] The functions described herein may be performed at least in part by one or more computer program product components, such as software components. According to one embodiment, the device 200 includes a processor 202 or a processor circuit (such as, for example, a microcontroller) configured by a program code 206, and the program code 206 performs the described operations and embodiments of the functions when executed. Alternatively, or in addition to this, the functions described herein can be performed at least in part by one or more hardware logic components. For example and without limitation, illustrative types of hardware logic components that can be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and graphics processing units (GPUs).

[0057] The device 200 includes means for performing at least one method described herein. In one example, the means includes the at least one processor 202, and the at least one memory 204 includes instructions that, when executed by the at least one processor 202, cause the device 200 to perform the method.

[0058] Figure 3 An example of monitoring a rock drill in a mine according to an example embodiment is shown. Monitoring the rock drill may include, for example, monitoring the stability of the rock drill. The rock drill 100 may include Figure 2 Device 200 for monitoring stability.

[0059] The apparatus 200 may be configured to determine a support pattern 300 and a total center of gravity 302 of a mining vehicle for monitoring the stability of the mining vehicle. The total center of gravity comprises a point at which the weight of the vehicle body may be considered to be concentrated, such that if the vehicle body is supported at this point, the vehicle body will remain balanced. Thus, the total center of gravity may comprise a point at which the total weight of the rock drilling rig 100 may be considered to be concentrated.

[0060] The support pattern may include areas formed relative to the rock drilling rig 100 based on the positions of ground support members of the rock drilling rig 100 that are in contact with the ground. Areas defined based on the positions of the ground support members may include areas that determine corners of the support areas based on the positions of the ground support members. In one embodiment, the apparatus 200 may be configured to receive information about the positions of a plurality of structural components of the rock drilling rig 100 relative to each other.

[0061] In one embodiment, the structural components may include one or more carriers. In one embodiment, the structural components may also include one or more booms. The apparatus 200 may also be configured to receive mass characteristics of the plurality of structural components. Furthermore, the apparatus 200 may be configured to determine a local center of gravity of the plurality of structural components. The apparatus 200 may be configured to determine a total center of gravity 302 of the rock drilling rig based on the local centers of gravity of the plurality of structural components, the mass characteristics of the plurality of structural components, and information about the positions of the plurality of structural components of the rock drilling rig relative to each other.

[0062] The apparatus 200 may be configured to receive information about ground support members supporting the rock drill, the information including at least the position of the ground support members. The information may be received from a plurality of sensors mounted on the mining vehicle. The apparatus 200 may be configured to calculate a support pattern 300 of the rock drill based on the information about the ground support members supporting the rock drill. Furthermore, the apparatus 200 may be configured to determine information about the stability of the rock drill based on the position of the total center of gravity 302 relative to the support pattern 300. The apparatus 200 may be configured to output data about the stability of the rock drill 100 using the information about the stability of the mining vehicle.

[0063] In one embodiment, the apparatus 200 may include a plurality of carriers. Each of the plurality of carriers may include a plurality of ground support members. The apparatus 200 may be configured to calculate a support pattern 300 for the rock drilling rig 100 based on information about the ground support members supporting the rock drilling rig and the positions of the carriers relative to each other. When the ground support members mounted on different carriers move relative to each other, the positions of the carriers may affect the support pattern 300 as the carriers move relative to each other via articulated joints.

[0064] The support pattern 300 may form a polygon. Typically, the support pattern 300 may be determined based on each ground support member being in contact with the ground or helping at least some of the ground support members maintain contact with the ground. If the rock drilling rig 100 is equipped with ground support cylinders, the positions of the ground support cylinders may be known, for example, from a CAD design system and drawings of the rock drilling rig. The ground support cylinders may be equipped with pressure sensors that indicate whether the ground support cylinders are in contact with the ground. The device 200 may be configured to receive an indication that one or more ground support cylinders are in contact with the ground. Thus, the device 200 may be configured to include the one or more ground support cylinders in the support pattern 300 in response to receiving the indication from the one or more pressure sensors. Otherwise, wheel or track positions may be used. In the event that the rock drilling rig 100 includes a rear oscillation shaft, the device 200 may be configured to use the center of the rear oscillation shaft in the support pattern 300 instead of the rear wheel position. For example, in Figure 3 and Figure 4 In the embodiment, the support pattern 300 may form a triangle based on the position of the front wheels of the rock drilling rig 100 and the center of the rear oscillation axis.

[0065] As explained above, a mining vehicle may include one or more tanks with variable mass. The apparatus 200 may be configured to receive information indicating the position of at least one tank of the rock drilling rig and information indicating the filling level of the at least one tank. The apparatus 200 may be configured to determine the mass of the at least one tank based on the filling level. The apparatus 200 may also be configured to obtain a local center of gravity of the at least one tank. The apparatus 200 may be configured to determine a total center of gravity 302 further based on the local center of gravity of the at least one tank, the mass of the at least one tank and the position of the at least one tank.

[0066] In one embodiment, information about the stability of the rock drilling rig 100 may be determined based on the distance between the overall center of gravity 302 and at least one edge of the support pattern 300. Figure 3 In the situation shown in , the rock drill 100 may be moving in a generally straight tunnel portion of the mine 304. Therefore, the boom 104 may be in a nominal position. Figure 3, the total center of gravity 302 is located near the center of the support pattern 300. The device 200 may be configured to determine that the rock drilling rig 100 is in a stable position when the distance between the total center of gravity 302 and an edge of the support pattern 300 is above a threshold. In one embodiment, the device 200 may be configured to determine that the rock drilling rig 100 is in a stable position when the distance between the total center of gravity 302 and the edge closest to the total center of gravity 302 is above the threshold. For example, this situation may change in response to movement of the rock drilling rig 100 along a tunnel portion of a mine, a changed position of at least one boom 104, and / or when ground support changes from wheels to ground support cylinders or vice versa. The device 200 may be configured to update at least one of the total center of gravity 302 and / or the support pattern 300 in response to a triggering event. The triggering event may include, for example, a change in the position of at least one structural component of the rock drilling rig 100 or a change in a ground support member in contact with the ground. Updating the total center of gravity 302 may include, for example, determining the total center of gravity 302 based on information about a change in position of at least one of the plurality of structural components relative to the other structural components. Updating the support pattern 300 may include, for example, recalculating the support pattern 300 based on information about a change in ground support members supporting the rock drilling rig 100.

[0067] The overall center of gravity 302 may be re-determined by the apparatus 200 when the positions of different structural components of the rock drilling rig 100 change relative to each other. Furthermore, the support pattern 300 may be recalculated when at least one of the ground support members in contact with the ground changes. If the distance between the overall center of gravity 302 and at least one edge of the support pattern 300 reaches a threshold in response to a change in the position of at least one structural component relative to other structural components or in response to a change in ground contact of the ground support members, the apparatus 200 may be configured to provide a warning to an operator of the rock drilling rig 100. The distance between the overall center of gravity 302 and at least one edge of the support pattern 300 may be determined based on a distance from at least one edge of the support pattern 300 to the overall center of gravity 302. Alternatively, the distance between the overall center of gravity 302 and at least one edge of the support pattern 300 may be determined based on a distance from the overall center of gravity 302 to at least one edge of the support pattern 300. Additionally or alternatively, the apparatus 200 may be configured to monitor and provide various warnings to an operator when the overall center of gravity 302 approaches or reaches one of the edges of the support pattern 300 .

[0068] For example, when the rock drilling rig 100 reaches an intersection or corner in the mine 304, the operator may need to move the boom 104 so that the rock drilling rig 100 can fit into the turn.

[0069] Figure 4An example of monitoring a rock drilling rig 100 in this case according to an example embodiment is shown. Monitoring the rock drilling rig may comprise, for example, monitoring the stability of the rock drilling rig.

[0070] When a mining vehicle, such as the rock drill 100, is steered to turn, the positions of the first vehicle 112 and the second vehicle 110 change relative to each other, depending on the articulation angle of the articulated joint 114. In addition, the position of the boom 104 relative to the first vehicle 112 and the second vehicle 110 changes. Furthermore, the positions of the components of the boom 104 relative to each other may change. As a result, both the support pattern 300 and the position of the overall center of gravity 302 within the support pattern 300 may change. Figure 3 In comparison, Figure 4 In the example case of FIG. 1 , the apparatus 200 is configured to recalculate the support pattern 300 in response to the changed relative positions of the structural components of the rock drilling rig 100. In addition, the overall center of gravity 302 is now greater than Figure 3 In the example of FIG. 3 , it is positioned closer to the edge of the support pattern 300 .

[0071] The device 200 may be configured to continuously output data about the current situation of the stability of the mining vehicle 100 to the operator based on the position of the overall center of gravity 302 within the support pattern 300. Thus, the operator may be able to control the mining vehicle 100 so that the stability of the mining vehicle 100 is maintained. For example, based on the warnings provided by the device 200, the operator may know when to stop the mining vehicle 100. Alternatively, the operator may be guided by the warnings to limit the speed of the mining vehicle 100. Thus, moving to the stability limit of the rock drill due to the movement of the rock drill may be avoided. If the stability limit is reached, the mining vehicle may become unstable. The stability limit may correspond to a predetermined distance between the overall center of gravity 302 and an edge of the support pattern 300. Alternatively or in addition, the stability limit may be reached when the position of the overall center of gravity 302 relative to the support pattern 300 has reached an edge of the support pattern 300. Thus, the stability limit may be provided as, for example, a minimum allowed distance between at least one edge (e.g., the closest edge) of the support pattern and the overall center of gravity. Alternatively, the stability limit may be provided as the location of an edge of the support pattern that the overall center of gravity is not allowed to be crossed. In one embodiment, the output data may include the location of the entire rock drilling rig 100; and the location of the support pattern 300 and the overall center of gravity 302 relative to the rock drilling rig. In one embodiment, the output data may include a visual indication that the stability limit is approached or reached. In one embodiment, the output data may include an audible indication of the stability limit being reached.

[0072] In one embodiment, the device 200 may be configured to receive data indicating a change in position of at least one first structural component of the plurality of structural components relative to at least one second structural component of the plurality of structural components. For example, the first structural component may include a first carrier, and the second structural component may include a second carrier. For example, the first structural component may include at least one boom, and the second structural component may include a first carrier or a second carrier. For example, the first structural component and the second structural component may be different boom components of the at least one boom. The device 200 may be configured to update the total center of gravity 302 based on the received information about the change in position of the first structural component relative to the second structural component. The information about the change in position may include at least one of a translational movement or a rotational movement of the corresponding component. The device 200 may be configured to receive information about the change in position, for example, from a sensor that monitors a joint associated with the corresponding component.

[0073] In one embodiment, the apparatus 200 may be configured to receive data indicating a change in position of at least one of the ground support members supporting the rock drilling rig 100. The position of at least one of the ground support members may have changed, for example, relative to the first vehicle or the second vehicle. Alternatively, the position of one of the ground support members may have changed when a floor jack of the mining vehicle is activated and placed in contact with the ground or is deactivated and lifted from the ground. The apparatus 200 may be configured to receive information about the activated floor jack, for example, from a pressure sensor associated with the floor jack. In one embodiment, the change in position of at least one of the ground support members supporting the rock drilling rig 100 may be measured via a pressure in a floor support hydraulic cylinder chamber, the pressure indicating a weight on the floor support cylinder. Alternatively, the change in position may be measured with an inductive switch based on the movement of the floor support cylinder carrying the weight. Thereafter, the apparatus 200 may be configured to update the support pattern 300 based on the data indicating the change in position of the at least one ground support member.

[0074] In one embodiment, information about the stability of the rock drilling rig may be determined by the apparatus 200 based on the support force of each ground support member supporting the rock drilling rig 100. The apparatus 200 may be configured to determine the support force of each ground support member. The apparatus 200 may be configured to determine the information about the stability based on the determined support force, the support pattern 300, and the position of the overall center of gravity 302 relative to the support pattern 300. If the support force of any ground support member is below a predetermined threshold, the stability of the rock drilling rig 100 may be lost.

[0075] In one embodiment, the apparatus 200 may be configured to detect a risk of instability. The risk of instability may include a risk of the rock drilling rig 100 tipping over or overturning. The apparatus 200 may be configured to detect a risk of instability based on information about stability indicating that a support force of each ground support member is below a predetermined threshold. The apparatus 200 may be configured to at least one of stop the rock drilling rig or limit the speed of the rock drilling rig 100 when the support force is below the predetermined threshold.

[0076] In one embodiment, the apparatus 200 may be configured to detect a risk of instability when the information about the stability of the rock drilling rig indicates that a predetermined distance between the position of the overall center of gravity 302 and at least one edge of the support pattern 300 is met. The apparatus 200 may be configured to at least one of limit the speed of the rock drilling rig 100 or stop the rock drilling rig 100 in response to detecting the risk of instability.

[0077] In one embodiment, the device 200 may be configured to monitor the stability angle of the rock drilling rig 100. The stability angle may indicate an angle at which the rock drilling rig 100 may become unstable. The stability angle may include, for example, an angle at which the overall center of gravity 302 is located outside the support pattern 300. When the stability angle reaches zero, the rock drilling rig 100 may lose stability. The stability angle may be monitored based on a vertical distance from the overall center of gravity 302 to an edge of the support pattern 300 and an inverse tangent function of a z-coordinate component of the overall center of gravity 302. For example, when the support pattern 300 is calculated by the device 200 based on the positions of the front wheels and the rear oscillation axis of the rock drilling rig 100 (the support pattern 300 is formed as shown in FIG. 2 ), the rock drilling rig 100 may lose stability. Figure 3 and Figure 4 ), the device 200 may be configured to calculate the stability angle, for example, based on the vertical distance of the total center of gravity 302 to the edge of the formed triangular support pattern 300. The device 200 may be configured to limit the speed of the rock drill 100 in response to detecting that the stability angle reaches a first predetermined value. The device 200 may be configured to stop the rock drill 100 in response to detecting that the stability angle reaches a second predetermined value. The second predetermined value may be, for example, a zero angle or close to zero.

[0078] An example embodiment makes it possible to steer the rock drill 100 in very tight corners by turning the boom 104, while the device 200 makes it possible to reduce the risk of tipping. Although a rock drill is used as an example, the device 200 may be configured to monitor the stability of any mining vehicle including sensors for monitoring the position of different parts of the mining vehicle.

[0079] Although the mining vehicle is operated by an operator in the example, the mining vehicle 100 may be an autonomous mining vehicle. In one embodiment, the device 200 may be configured to provide data about the stability of the mining vehicle to an autonomous control system of the mining vehicle. In one embodiment, the device 200 may be configured to stop the mining vehicle based on information about the stability of the mining vehicle indicating that a certain stability limit has been reached. In one embodiment, the device 200 may be configured to cause the mining vehicle to limit speed based on information about the stability of the mining vehicle indicating that a certain stability limit has been reached. For example, the device 200 may be configured to send information about stability to an autonomous driving system of the mining vehicle, which may be configured to make a decision about stopping or reducing speed.

[0080] Figure 5 An example of a method 500 for monitoring a mining vehicle according to an example embodiment is shown. The mining vehicle may be a rock drilling rig comprising a plurality of structural components.

[0081] At operation 502, the method may include receiving information about the positions of the plurality of structural components of the rock drilling rig relative to each other. The structural components may include, for example, one or more carriers. The structural components may also include one or more booms.

[0082] At operation 504 , the method may include receiving mass characteristics of the plurality of structural components.

[0083] At operation 506 , the method may include determining a local center of gravity of the plurality of structural components.

[0084] At operation 508 , the method may include determining an overall center of gravity of the rock drilling rig based on the local centers of gravity of the plurality of structural components, mass properties of the plurality of structural components, and information regarding positions of the plurality of structural components of the rock drilling rig relative to each other.

[0085] At operation 510, the method may include receiving information about a ground support member supporting the rock drilling rig, the information including at least a position of the ground support member. The ground support member may include a plurality of wheels of the rock drilling rig. Alternatively, the ground support member may include one or more tracks of the rock drilling rig. The ground support member may also include a plurality of ground support cylinders. The ground support member may also include a rear oscillating shaft.

[0086] At operation 512, the method may include calculating a support pattern for the rock drilling rig based on information regarding ground support members supporting the rock drilling rig.

[0087] At operation 514 , the method may include determining information regarding the stability of the rock drilling rig based on the position of the overall center of gravity relative to the support pattern.

[0088] At operation 516, the method may include outputting data regarding the stability of the rock drilling rig. The outputted data may include a warning. The warning may be configured to instruct an operator of the rock drilling rig to limit the speed of the rock drilling rig. Alternatively, the warning may be configured to instruct the operator to stop the rock drilling rig. The content of the warning may depend on how close the position of the total center of gravity is to at least one edge of the support pattern. Each warning may be based on a predetermined threshold of the distance between the position of the total center of gravity and the at least one edge of the support pattern. In one embodiment, the rock drilling rig may be an at least partially autonomous vehicle, and the rock drilling rig may be caused to limit its speed or stop based on the information regarding the stability of the rock drilling rig.

[0089] It is obvious to a person skilled in the art that, as technology advances, the basic idea of ​​the invention can be implemented in various ways. Therefore, the invention and its embodiments are not limited to the examples described above, but they may vary within the scope of the claims.

[0090] Further features of the method derive directly from the functionality and parameters of the device as described in the accompanying claims and throughout the specification and are therefore not repeated here.It should be noted that one or more operations of the method may be performed in a different order.

[0091] The device may be configured to perform or cause the performance of any aspect of the method described herein. In addition, the computer program may include instructions for causing the device to perform any aspect of the method described herein when executed. In addition, a device may include means for performing any aspect of the method described herein. According to an example embodiment, the device includes: at least one processor; and at least one memory, the memory including program code, the at least one memory and the program code being configured to cause the performance of any aspect of the method when executed by the at least one processor.

[0092] Any range or device value given herein may be expanded or changed without losing the effect sought. Furthermore, unless explicitly not permitted, any embodiment may be combined with another embodiment.

[0093] Although the subject matter has been described with language specific to structural features and / or actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are disclosed as examples of implementing the claims, and other equivalent features and actions are intended to fall within the scope of the claims.

[0094] It should be understood that the benefits and advantages described above may relate to one embodiment, or may relate to several embodiments. The embodiments are not limited to: embodiments that solve any or all of the problems described; or embodiments that have any or all of the benefits and advantages described. It will also be understood that reference to "an" item may refer to one or more of those items.

[0095] The operations of the methods described herein may be performed in any suitable order, or may be performed simultaneously where appropriate. In addition, individual step boxes may be deleted from any method without departing from the scope of the subject matter described herein. The aspects of any embodiment in the above-described embodiments may be combined with the aspects of any embodiment in the described other embodiments to form additional embodiments without losing the effects sought.

[0096] The term "comprising" is used herein to mean including the identified methods, step blocks or elements, but such step blocks or elements do not include an exclusive list and the method or apparatus may contain additional step blocks or elements.

[0097] As used in this application, the term "circuitry" may refer to one or more or all of the following: (a) hardware circuit implementations only (such as implementations in analog and / or digital circuits only); and (b) combinations of hardware circuits and software, such as (where applicable): (i) combinations of analog and / or digital hardware circuits and software / firmware; and (ii) hardware processors and software (including digital signal processors), any portion of software and memory that work together to enable a device (such as a mobile phone or server) to perform various functions; and (c) hardware circuits and / or processors that require software (e.g., firmware) to operate, such as a microprocessor or a portion of a microprocessor, but when software is not required to operate, the software may not be present. This definition of circuitry applies to all uses of the term in this application (including in any claims).

[0098] As another example, as used in this application, the term circuitry also covers an implementation of only a hardware circuit or processor (or multiple processors) or a portion of a hardware circuit or processor and its (or their) accompanying software and / or firmware. The term circuitry also covers, for example (and if applicable to a particular claim element): a baseband integrated circuit or processor integrated circuit for a mobile device or a similar integrated circuit in a server, cellular network device, or other computing or network device.

[0099] It will be understood that the above description is given as an example only, and various modifications may be made by those skilled in the art. The above description, examples and data provide a complete description of the structure and use of the exemplary embodiments. Although various embodiments have been described above with a certain degree of particularity or with reference to one or more individual embodiments, those skilled in the art may make many changes to the disclosed embodiments without departing from the scope of this specification.

Claims

1. A device for monitoring a rock drilling rig, the rock drilling rig comprising a plurality of structural components, the device comprising: at least one processor; as well as at least one memory, the at least one memory comprising instructions that, when executed by the at least one processor, cause the apparatus to: receiving information about positions of the plurality of structural components of the rock drilling rig relative to each other; receiving mass properties of the plurality of structural components; determining a local center of gravity of the plurality of structural components; determining an overall center of gravity of the rock drilling rig based on the local centers of gravity of the plurality of structural components, mass properties of the plurality of structural components and information about the positions of the plurality of structural components of the rock drilling rig relative to each other; receiving information about a ground support member supporting the rock drilling rig, the information including at least a position of the ground support member; calculating a support pattern for the rock drilling rig based on the information about the ground support members supporting the rock drilling rig; determining information about the stability of the rock drilling rig based on the position of the overall center of gravity relative to the support pattern; detecting a risk of instability based on said information about the stability of said rock drilling rig; causing the rock drilling rig to at least one of limit speed or stop when a risk of instability is detected; as well as Data regarding the stability of the rock drilling rig is output.

2. The device according to claim 1, wherein: The at least one memory further comprises instructions which, when executed by the at least one processor, cause the device to: receiving information regarding a change in position of at least one first structural component of the plurality of structural components relative to at least one second structural component of the plurality of structural components; as well as Based on the information about the change in position, the overall center of gravity is updated. 3 . The apparatus of claim 2 , wherein the information regarding the change in position indicates at least one of a translational movement or a rotational movement of the first component relative to the second component.

4. Apparatus according to any preceding claim, wherein: The at least one memory further comprises instructions which, when executed by the at least one processor, cause the device to: receiving information regarding a change in position of at least one of the ground-supporting members; as well as Based on the information regarding the change in position of the at least one ground supporting member, the support pattern is updated.

5. Apparatus according to any preceding claim, wherein: The plurality of structural components include at least one carrier and at least one hanger.

6. Apparatus according to any preceding claim, wherein: The plurality of structural components include two vehicles, and each vehicle includes a plurality of ground supporting members; and wherein the at least one memory further includes instructions that, when executed by the at least one processor, cause the apparatus to: Based on the information about the ground support members supporting the rock drilling rig and the positions of the vehicles relative to each other, the support pattern of the rock drilling rig is calculated.

7. Apparatus according to any preceding claim, wherein: The at least one memory further comprises instructions which, when executed by the at least one processor, cause the apparatus to: determine the information about the stability of the rock drilling rig based on a distance between the overall centre of gravity and at least one edge of the support pattern.

8. Apparatus according to any preceding claim, wherein: The at least one memory further comprises instructions which, when executed by the at least one processor, cause the apparatus to: determine the information about the stability of the rock drilling rig based on a support force of each ground support member supporting the rock drilling rig.

9. Apparatus according to any preceding claim, wherein: The at least one memory further comprises instructions which, when executed by the at least one processor, cause the apparatus to determine the information about the stability of the rock drilling rig during operation of the rock drilling rig.

10. Apparatus according to any preceding claim, wherein: The ground support member supporting the rock drilling rig comprises at least one of tracks, wheels, a rear oscillating axle or a ground support cylinder.

11. The device according to claim 1, wherein: The at least one memory further comprises instructions which, when executed by the at least one processor, cause the apparatus to: A risk of instability is detected based on that the information about the stability of the rock drilling rig indicates at least one of a threshold value for the distance between the position of the total centre of gravity and at least one edge of the support pattern is met or a supporting force of each ground support member is below a predetermined threshold.

12. A rock drilling rig comprising an apparatus according to any preceding claim.

13. A computer implemented method for monitoring a rock drilling rig, the method comprising: receiving information about positions of the plurality of structural components of the rock drilling rig relative to each other; receiving mass properties of the plurality of structural components; determining a local center of gravity of the plurality of structural components; determining an overall center of gravity of the rock drilling rig based on the local centers of gravity of the plurality of structural components, mass properties of the plurality of structural components and information about the positions of the plurality of structural components of the rock drilling rig relative to each other; receiving information about a ground support member supporting the rock drilling rig, the information including at least a position of the ground support member; calculating a support pattern for the rock drilling rig based on the information about the ground support members supporting the rock drilling rig; determining information about the stability of the rock drilling rig based on the position of the overall center of gravity relative to the support pattern; detecting a risk of instability based on said information about the stability of said rock drilling rig; causing the rock drilling rig to at least one of limit speed or stop when a risk of instability is detected; as well as Data regarding the stability of the rock drilling rig is output.

14. A computer program comprising instructions which, when executed by a computer, cause the computer to perform the method according to claim 13.

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