Apparatus and method for monitoring a rock drilling rig

Abstract

Exemplary 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 a position of the total center of gravity relative to the support pattern. An apparatus, method, and computer program are disclosed.

Description

[Technical Field]

[0001] This application relates generally to mining vehicles. In particular, some exemplary embodiments of this application relate to monitoring rock drilling rigs. [Background technology]

[0002] Mine vehicles may need to operate in tight spaces underground. For example, a mine vehicle operator may need to move a large mine vehicle through a narrow intersection within the mine. The operator may need to steer and turn different parts of the mine vehicle so that the mine vehicle can get through the intersection. Maintaining the stability of the mine vehicle can be difficult when operating 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] Exemplary embodiments may enable monitoring of the stability of a mine vehicle based on the total center of gravity and support pattern of the mine vehicle. An operator of the mine vehicle may be guided based on the monitored stability. Thus, safety and maneuverability of the mine vehicle may be improved.

[0005] According to a first aspect, there is provided an apparatus for monitoring a rock drilling rig comprising a plurality of structural components, the apparatus comprising at least one processor and at least one memory containing instructions that, when executed by the at least one processor, cause the apparatus to receive information on positions of a plurality of structural components of the rock drilling rig relative to one another, receive mass properties 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 information on the local centers of gravity of the plurality of structural components, the mass properties of the plurality of structural components and the positions of the plurality of structural components of the rock drilling rig relative to one another, receive information on ground support members supporting the rock drilling rig, the information including at least positions of the ground support members, calculate a support pattern for the rock drilling rig based on the information on the ground support members supporting the rock drilling rig, determine information on stability of the rock drilling rig based on the position of the total center of gravity relative to the support pattern, and output data on the stability of the rock drilling rig.

[0006] In one embodiment, the at least one memory further includes instructions that, when executed by the at least one processor, cause the apparatus to receive 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, and update the total center of gravity based on the information regarding the change in position.

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

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

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

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

[0011] In one embodiment, additionally or alternatively, the at least one memory further includes instructions that, when executed by the at least one processor, cause the apparatus to determine information regarding 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 includes instructions that, when executed by the at least one processor, cause the apparatus to determine information regarding 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, the at least one memory further comprises instructions that, when executed by the at least one processor, cause the apparatus to determine information relating to the stability of the rock drilling rig during operation of the rock drilling rig.

[0014] In one embodiment, additionally or alternatively, the ground support members supporting the rock drilling rig comprise at least one of tracks, wheels, rear swing axles, or ground support cylinders.

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

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

[0017] In one embodiment, additionally or alternatively, the at least one memory includes instructions that, when executed by the at least one processor, cause the apparatus to receive information indicative of a position of at least one tank of the rock drilling rig, receive information indicative of a fill level of the at least one tank, determine a mass of the at least one tank based on the fill level, and determine a local center of gravity of the at least one tank, wherein the total center of gravity is 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.

[0018] According to a second aspect, there is provided a rock drilling rig comprising an 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 comprising a plurality of structural components, the method comprising: receiving information regarding positions of a plurality of structural components of the rock drilling rig relative to one another, receiving mass properties 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 information regarding the local centers of gravity of the plurality of structural components, the mass properties of the plurality of structural components and the positions of the plurality of structural components of the rock drilling rig relative to one another, receiving information regarding ground support members supporting the rock drilling rig, the information including at least positions of the ground support members, calculating a support pattern for the rock drilling rig based on the information regarding the ground support members supporting the rock drilling rig, determining information regarding stability of the rock drilling rig based on the position of the total center of gravity relative to the support pattern, and outputting data regarding 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 carry out a method according to the second aspect.

[0021] Many of the attendant features will be more readily appreciated as the same becomes better understood by reference to the following detailed description considered in connection with the accompanying drawings.

[0022] The accompanying drawings, which are included to provide a further understanding of the exemplary embodiments and are incorporated into and constitute a part of this specification, illustrate exemplary embodiments and, together with the description, serve to explain the principles of the exemplary embodiments. [Brief explanation of the drawings]

[0023] [Figure 1] 1 illustrates an example of a mining vehicle in accordance with an illustrative embodiment; [Figure 2] 1 illustrates an example of an apparatus for monitoring a rock drilling rig, in accordance with an illustrative embodiment; [Figure 3]1 illustrates an example of monitoring a rock drilling rig in a mine, in accordance with an illustrative embodiment; [Figure 4] 1 illustrates an example of monitoring a rock drilling rig at an intersection in a mine, according to an illustrative embodiment; [Figure 5] 1 illustrates an example of a method for monitoring a rock drilling rig, according to an exemplary embodiment.Like reference numerals are used to designate like parts in the accompanying drawings. DETAILED DESCRIPTION OF THE INVENTION

[0024] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. The detailed description provided below in connection with the accompanying drawings is intended as an explanation of the examples and is not intended to represent the only manner in which the examples may be constructed or utilized. The description sets forth functions of the examples and possible sequences of acts for constructing and operating the examples. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0025] Monitoring the stability of the mine vehicle may be left to the operator. The operator may only be aware of some general slope limits that the mine vehicle cannot exceed. The operator may be instructed that some parts of the mine vehicle cannot be moved from their standard positions during driving or tramming due to the complexity of the problem. The standard position may refer to a predetermined position of a part relative to the mine vehicle, which allows for stable driving or tramming. The standard position may also be referred to as the unadjusted position of a part. A part may be at least partially moved from the standard position to another position, for example, to perform a task. Furthermore, the operator may be instructed not to move a part from its standard position when the ground support cylinder of the mine vehicle is not on the ground. However, it may be necessary to rotate the boom of the mine vehicle, for example, to move the mine vehicle through a narrow intersection in a mine. Negotiating corners may be difficult or even impossible without rotating the boom. When rotating the boom, there is a risk of the mine vehicle tipping over.

[0026] The mining vehicle may be, for example, a rock drilling rig 100 as shown in FIG. 1 . 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 the first carrier in the forward direction. The rear carrier may include a carrier that follows the front carrier in the forward direction. The first and second carriers 112, 110 may be coupled via an articulation joint 114. Thus, the first and second carriers 112, 110 may move relative to each other when the rock drilling rig 100 is steered. Steer- ing the rock drilling rig may include, for example, changing the position of the rock drilling rig from a first position to a second position. A change in position may include, for example, movement of the rock drilling rig in a particular direction and / or a change in orientation of the rock drilling rig. The first and second carriers 112, 110 may move relative to one another such that the location of the first carrier 112 may change relative to the location of the second carrier 110 within the limits of the articulation joint 114. The location of the first carrier 112 may change, for example, left or right relative to the second carrier 110 with respect to the driving direction. Furthermore, the tilt level of the first carrier 112 may change relative to the tilt level of the second carrier 110. The tilt level of the first carrier 112 may change, for example, left or right with respect to the driving direction or up or down relative to the second carrier 110.

[0027] The rock drilling rig 100 may include a plurality of ground support members, such as wheels, tracks, and / or ground support cylinders. The rock drilling rig 100 may include a plurality of wheels 106 coupled to carriers 112, 110 for moving the rock drilling rig. Alternatively, the rock drilling rig 100 may include tracks for moving the rock drilling rig. The rock drilling rig 100 may further include a plurality of ground support cylinders 108 mounted on at least one carrier 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 drilling rig 100, when the ground support members are in contact with the ground. Additionally, the ground support members may be configured to assist in maintaining ground contact of other ground support members. In one embodiment, the rock drilling rig 100 may further include a swing axle, such as a rear swing axle, configured to assist the wheels in maintaining ground contact on uneven ground.

[0028] While the mining vehicle is depicted as a rock drilling rig, it may be any type of mining vehicle, such as a bolting rig or a loader. Generally, the mining vehicle may include one or more carriers and ground support members. In one embodiment, the mining vehicle may include operation equipment for performing specific tasks in the mine. The tasks may relate to, for example, drilling, bolting, mesh installation, maintenance, or supplying. The operation equipment may be coupled to, for example, the first carrier 112 or the second carrier 110. The operation equipment may protrude from the mining vehicle in any suitable direction, for example, a first direction, such as the forward direction of the mining vehicle, or a second direction, such as the reverse direction. The operation equipment may have variable dimensions such that the operation equipment can be configured to move relative to at least one other component of the mining vehicle. Furthermore, the positions of the components of the operation equipment may be changed relative to one another. The operation equipment may be mounted, for example, on the first carrier 112 or the second carrier 110, or both, depending on the use case. The manipulation device may comprise, for example, one or more movable arms, such as one or more booms or one and / or more robotic arms.

[0029] In one embodiment, the rock drilling rig 100 may comprise at least one boom, for example at least one telescoping boom and / or at least one non-telescopic boom. In one embodiment, the rock drilling rig 100 may comprise multiple booms.

[0030] The boom may be provided with a mining tool, which may include one or more devices used in underground or surface mining. The mining tool may include, for example, a rock drilling unit, a bolting head, or a bucket.

[0031] The boom may be configured to move between different work positions. The work positions may include, for example, a transfer position where the boom is moved to move the mining vehicle from a first location to a second location. As another example, the work positions may include an operating position for operating, for example, a rock drilling unit provided at the distal end of the boom. As a further example, the work positions may include an operating position for bucket filling.

[0032] A mining vehicle, such as rock drilling rig 100, may include two booms 104, as shown in the example of FIG. 1. Boom 104 may include, for example, an adjustable arm extending from first carrier 112 or second carrier 110. 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 (6 DoF). Boom 104 may include multiple boom components movable relative to each other. The boom components may be configured to perform at least one of the following: provide a base for one or more other components, enable the extension of the reach of one or more other components, or perform an operation such as rock drilling. The multiple boom components may include, for example, a component at the front or rear end of the boom, inner / outer tubes of a telescoping boom component, a component between the carrier and the feed swing axis, a rollover joint, a swing joint, a crosspiece of a cradle, or a drilling feed component. The rear end of the boom may comprise a first end of the boom coupled to the first carrier 112 or the second carrier 110, and the front end of the boom may comprise a second end of the boom coupled to the mining work tool. The components may be coupled via multiple joints. The joints may include at least one of a swing, a lift, a feed tilt, a feed swing, or the intersection of a rollover axis and a bolting axis. Thus, the dimensions of the boom 104 may be adjusted by changing the relative positions of the components via the joints.

[0033] A mining vehicle, such as the rock drilling rig 100, may be equipped with multiple sensors. The multiple sensors may be configured to measure at least one of a translational movement or a rotational movement of at least one structural component of the rock drilling rig 100. The multiple sensors may be configured to measure a relative position of the multiple structural components. The multiple sensors may be configured to measure multiple joint angles of the rock drilling rig 100. At least one sensor may be configured to measure a pitch angle of any of the multiple structural components, such as, for example, the rock drilling rig 100 and / or the boom 104. At least one sensor may be configured to measure a roll angle of any of the multiple structural components, such as, for example, the rock drilling rig 100 and / or the boom 104. As a further example, at least one sensor may be configured to measure a joint angle of the rock drilling rig 100. The joint angle of the rock drilling rig 100 includes the angle between the rock drilling rig first carrier 112 and the rock drilling rig second carrier 110. The angle between the first carrier 112 and the second carrier 110 may include a yaw angle.

[0034] A mining vehicle such as the rock drilling rig 100 may further comprise an apparatus for monitoring the rock drilling rig 100. Monitoring the rock drilling rig 100 may include, 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. An example of such an apparatus is shown in FIG. 2. 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 the devices may include receiving information from the devices and / or transmitting information to the devices. The apparatus 200 may be configured to determine information related to the stability of the rock drilling rig 100. The apparatus 200 may be configured to determine information related to 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.

[0035] The apparatus 200 may be configured to receive data from multiple sensors. The data may include measurement data regarding the position or movement of any of the structural components, such as the first carrier 112, the second carrier 110, or at least one of the one or more boom components of the one or more booms 104. The apparatus 200 may be configured to determine the position of the first carrier 112, the second carrier 110, or 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 apparatus 200 may be configured to store data indicative of the relative positions of the one or more carriers 112, 110 and / or the boom components of the one or more booms 104. The apparatus 200 may be configured to receive data indicative of the relative positions 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 apparatus, to obtain data indicative of the relative positions of the carriers 112, 110. In one embodiment, the relative positions of the first and second carriers 112, 110 may be obtained in real time by the apparatus 200 based on sensor data from sensors associated with the articulation joint 114. Based on the sensor data and the relative positions, the apparatus 200 may be configured to determine the positions of different portions of the mining vehicle relative to one another in real time. Alternatively, the apparatus 200 may be configured to determine the relative positions at predetermined intervals. Alternatively, the apparatus 200 may be configured to determine the relative positions based on the sensor data in response to the apparatus 200 detecting movement of a structural component, such as one of the carriers 112, 110 and / or the boom components of the boom 104. In one embodiment, the apparatus 200 may be configured to receive information about a plurality of structural components. The information about the plurality of structural components may include information about the status of the structural components and / or information about at least one property of the structural component, such as information about the position of the structural component of the rock drilling rig 100, information about the mass properties of the structural component, and / or information about the local center of gravity of the structural component.The apparatus 200 may be configured to store data regarding the local center of gravity and mass properties of at least one carrier, such as carrier 112, 110, and boom component of the boom 104. Alternatively, the apparatus 200 may be configured to determine the local center of gravity of the structural component based on information regarding the mass properties. The mass properties may include at least the mass of the structural component.

[0036] A local center of gravity includes a point where the weight of an object can be considered to be concentrated, so that the object will remain in equilibrium if supported at that point. Thus, a local center of gravity of a structural component can include a point where the weight of the structural component can be considered to be concentrated.

[0037] As mentioned above, the structural components may include at least one carrier, such as first carrier 112 and / or second carrier 110, at least one boom 104, and boom components of at least one boom 104. The structural components may further include, for example, one or more tanks of rock drilling rig 100.

[0038] The apparatus 200 may be configured, for example, to receive the positions of structural components 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 comprising a boom base and a boom 104. The boom base may be configured to provide a base to which movable 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 the joint values ​​associated with the boom 104. Thus, the boom system 102 may be configured to automatically position the boom 104. Based on the forward kinematics, a 6DOF (six degrees of freedom) transformation matrix of each movable 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 based, for example, on the joints associated with the structural component. For example, coordinate vectors associated with a structural component may be multiplied by a transformation matrix that describes the rotational and translational motion of the structural component between the coordinate systems. Calculating forward kinematics from the base coordinate system to the target structural component allows data provided in other coordinate systems to be expressed in the base coordinate system. For example, the local centers of gravity of all structural components may be expressed in the coordinate system of the carriers 110, 112 to calculate the overall center of gravity of the rock drilling rig 100. In addition to information about all boom components relative to the boom base, the position of the boom 104 relative to the carriers 112, 110 may be known based on the forward kinematics. The boom system 102 may be configured to provide the device 200 with a 6DOF transformation matrix of the movable 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 device 200 may be configured to calculate the position of the boom 104 based on the forward kinematics received from the boom system 102.Additionally, 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.

[0039] In one embodiment, the apparatus 200 may be configured to receive 6DOF transformation matrices for each carrier 112, 110 of the rock drilling rig 100 from the rock drilling rig's tramming system. The rock drilling rig's tramming system may be configured to move the rock drilling rig 100. Based on the 6DOF transformation matrices, the apparatus 200 may be configured to determine the position and orientation of the first carrier 112 and the second carrier 110 relative to other structural components. Also, instead of using transformation matrices, rotational and translational information for the positions of the structural components may be received by the apparatus 200 as quaternions or roll, pitch, and yaw angles, or as xyz translations from one or more internal systems. Furthermore, the apparatus 200 may be configured to receive information regarding the local center of gravity and mass properties of each carrier. The local center of gravity and mass properties of each carrier may be received, for example, from a CAD design system used to model the rock drilling rig 100.

[0040] In one embodiment, the mining vehicle may be an autonomous mining vehicle. The autonomous mining vehicle may be configured to perform tasks autonomously. For example, the autonomous mining vehicle may include an autonomous driving system. In one embodiment, the mining vehicle may be an autonomous rock drilling rig 100. In the case of an autonomous mining vehicle, the positions of the structural components may be known by a control system of the mining vehicle for control purposes in real time based on data from associated sensors. For example, in the case of an autonomous driving system, the relative positions may be determined for autonomous path-following control by the autonomous driving system. Apparatus 200 may be configured to obtain information regarding the relative positions of the structural components from a control system of the mining vehicle, such as an autonomous driving system.

[0041] In one embodiment, rock drilling rig 100 may include one or more structural components with varying characteristics. For example, rock drilling rig 100 may include tanks with variable masses. The tanks may include, for example, at least one of an onboard water tank, a fuel tank, or a hydraulic fluid tank. The tanks with varying characteristics may include fill level sensors. Apparatus 200 may be configured to receive fill level sensor readings and estimate the mass of each tank in real time based on the fill level sensor readings. Furthermore, apparatus 200 may be configured to obtain the center of gravity of the tanks, for example, from a CAD design system used to model rock drilling rig 100.

[0042] According to an exemplary embodiment, the device 200 is configured to monitor the stability of the mine vehicle by comparing the calculated support pattern with the determined total center of gravity of the mine vehicle. The device 200 may be configured to perform monitoring in real time. In one embodiment, the device 200 may be configured to perform monitoring while the mine vehicle is in operation. Furthermore, data regarding stability may be output to the operator of the mine vehicle as visual or audible signals to help the operator maneuver the mine vehicle under different conditions so that overturning can be avoided. Therefore, as long as the provided data regarding stability indicates that the mine vehicle remains stable, structural components of the mine vehicle, such as the boom or robotic arm, can be moved during driving or tramming without worrying about losing stability. Therefore, the mine vehicle can be driven through even very small intersections, and the boom can be rotated during driving, because the operator can recognize how boom movement affects stability based on the provided information regarding stability. The difficult topic of stability can be visualized for the operator to provide driver assistance functions. If the stability of the mine vehicle approaches a stability limit, the operator may be able to smoothly stop the mine vehicle or limit the speed of the mine vehicle to prevent the stability limit from being reached. The stability limit may indicate a limit, for example, with respect to the boom position, after which the mine vehicle may become unstable and tip over. The apparatus 200 may be configured to monitor the stability limit based on the distance between the total center of gravity and at least one edge of the support pattern.

[0043] 2 shows an example of an apparatus for monitoring a rock drilling rig, according to an exemplary embodiment. Monitoring the rock drilling rig may include, for example, monitoring the stability of the rock drilling rig.

[0044] Apparatus 200 may comprise at least one processor 202. For example, the at least one processor 202 may include 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 associated DSP, or a variety of 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, or a dedicated computer chip.

[0045] The apparatus 200 may further comprise at least one memory 204. The memory 204 may be configured to store, for example, computer program code 206, such as, for example, 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 embodied as a magnetic storage device (such as a hard disk drive or magnetic tape), a magneto-optical storage device, or a semiconductor memory (such as a mask ROM, a programmable ROM (PROM), an erasable PROM (EPROM), a flash ROM, a random access memory (RAM)), etc.).

[0046] The device 200 may further include a communication interface 208 configured to enable the device 200 to send and / or receive information to and from other devices. The device may include, for example, sensors configured to monitor the movement and position of multiple structural components of the mining vehicle. The communication interface 208 may be configured to provide at least one wireless connection, such as a 3GPP mobile broadband connection (e.g., 3G, 4G, 5G). However, the communication interface 208 may also be configured to provide one or more other types of connections, such as a wireless local area network (WLAN) such as those standardized by the IEEE 802.11 series or the Wi-Fi Alliance, a short-range wireless network connection such as Bluetooth, NFC (Near Field Communication), or an RFID connection, a wired connection such as a local area network (LAN) connection or a universal serial bus (USB) connection or an optical network connection, or a wired internet connection. The communication interface 208 may include, or be configured to be coupled to, at least one antenna for transmitting and / or receiving radio frequency signals. One or more of the various types of connections may also be implemented as a separate communication interface that may be coupled to or configured to be coupled to multiple antennas.

[0047] 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 include, for example, a display, a tactile device, or a speaker. The apparatus 200 may be configured to output data regarding 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, tactile feedback, or an audible signal.

[0048] Apparatus 200 may comprise, for example, a server device, a client device, a mobile phone, a tablet computer, or a laptop. In one embodiment, apparatus 200 may comprise a control device for a mining vehicle. In one embodiment, apparatus 200 may comprise a plurality of sensors. In one embodiment, apparatus 200 may comprise a tramming system for a mining vehicle. In one embodiment, apparatus 200 may comprise a boom system for a mining vehicle. In one embodiment, apparatus 200 may comprise an autonomous driving system for a mining vehicle. In one embodiment, apparatus 200 may comprise a mining vehicle. In one embodiment, apparatus 200 may comprise a rock drilling rig. While apparatus 200 is shown as a single device, it is understood that the functionality of apparatus 200 may be distributed across multiple devices, if desired.

[0049] If the device 200 is configured to implement certain functionality, certain and / or certain components of the device 200 may be configured to implement this functionality, such as, for example, the at least one processor 202 and / or the memory 204. Furthermore, if the at least one processor 202 is configured to implement certain functionality, this functionality may be implemented using, for example, program code 206 contained in the memory 204.

[0050] The functionality 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 apparatus 200 includes a processor 202 or processor circuitry, such as a microcontroller, configured by program code 206 when executed to perform embodiments of the described operations and functionality. Alternatively, or additionally, the functionality described herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), and graphics processing units (GPUs).

[0051] The apparatus 200 comprises means for performing at least one of the methods described herein. In one example, the means comprises at least one processor 202, and at least one memory 204 containing instructions that, when executed by the at least one processor 202, cause the apparatus 200 to perform the method.

[0052] 3 shows an example of monitoring a rock drilling rig in a mine, according to an exemplary embodiment. Monitoring the rock drilling rig may include, for example, monitoring the stability of the rock drilling rig. The rock drilling rig 100 may be equipped with the apparatus 200 of FIG. 2 for monitoring stability.

[0053] The apparatus 200 may be configured to determine the support pattern 300 and the total center of gravity 302 of the mining vehicle in order to monitor the stability of the mining vehicle. The total center of gravity comprises the point at which the weight of an object may be considered to be concentrated, and therefore the object will remain in equilibrium when supported at that point. Thus, the total center of gravity may comprise the point at which the total weight of the rock drilling rig 100 may be considered to be concentrated.

[0054] The support pattern may include an area formed relative to the rock drilling rig 100 based on the location of ground support members of the rock drilling rig 100 that are on the ground. The area defined based on the location of the ground support members may include an area where the corners of the support area are determined based on the positions of the ground support members. In one embodiment, the device 200 may be configured to receive information regarding the positions of multiple structural components of the rock drilling rig 100 relative to each other.

[0055] In one embodiment, the structural component may include one or more carriers. In one embodiment, the structural component may further include one or more booms. The apparatus 200 may be further configured to receive mass properties of the plurality of structural components. In addition, 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 information regarding the local centers of gravity of the plurality of structural components, the mass properties of the plurality of structural components, and the positions of the plurality of structural components of the rock drilling rig relative to one another.

[0056] The apparatus 200 may be configured to receive information about ground support members supporting the rock drilling rig, the information including at least the positions 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 for the rock drilling rig based on the information about the ground support members supporting the rock drilling rig. Furthermore, the apparatus 200 may be configured to determine information about the stability of the rock drilling rig based on the position of the total center of gravity 302 relative to the support pattern 300. The apparatus 200 may be configured to use the information about the stability of the mining vehicle to output data about the stability of the rock drilling rig 100.

[0057] In one embodiment, apparatus 200 may comprise a plurality of carriers. Each carrier of the plurality of carriers may comprise a plurality of ground support members. Apparatus 200 may be configured to calculate a support pattern 300 for the rock drilling rig based on information about the ground support members supporting rock drilling rig 100 and the positions of the carriers relative to one another. The positions of the carriers as they move relative to one another via articulation joints may affect support pattern 300 as ground support members mounted on different carriers move relative to one another.

[0058] The support pattern 300 may form a polygon. Generally, the support pattern 300 may be determined based on each ground support member that is in contact with the ground or that helps maintain at least some of the ground support members in 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 the 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 apparatus 200 may be configured to receive an indication that one or more of the ground support cylinders are in contact with the ground. Thus, the apparatus 200 may be configured to include one or more ground support cylinders in the support pattern 300 in response to receiving an indication from one or more pressure sensors. Alternatively, the location of the wheels or tracks may be used. If the rock drilling rig 100 includes a rear swing axle, the apparatus 200 may be configured to use the center of the rear swing axle in the support pattern 300 instead of the location of the rear wheels. For example, in Figures 3 and 4, the support pattern 300 may form a triangle based on the location of the front wheels and the center of the rear swing axle of the rock drilling rig 100.

[0059] As described above, the mining vehicle may include one or more tanks having variable mass. The apparatus 200 may be configured to receive information indicative of a position of at least one tank of the rock drilling rig and information indicative of a fill level of the at least one tank. The apparatus 200 may be configured to determine a mass of the at least one tank based on the fill level. The apparatus 200 may further 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.

[0060] In one embodiment, information regarding the stability of the rock drilling rig 100 may be determined based on the distance between the total center of gravity 302 and at least one edge of the support pattern 300. In the situation shown in FIG. 3, the rock drilling rig 100 may be traveling through a substantially straight tunnel section of a mine 304. The boom 104 may therefore be in a standard position. As shown in FIG. 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 if the distance between the total center of gravity 302 and an edge of the support pattern 300 is above a threshold value. In one embodiment, the device 200 may be configured to determine that the rock drilling rig 100 is in a stable position if the distance between the total center of gravity 302 and the edge closest to the total center of gravity 302 is above a threshold value. This situation may change, for example, in response to movement of the rock drilling rig 100 along a tunnel section of the mine, a change in the position of the at least one boom 104, and / or a change in ground support from wheels to ground support cylinders or vice versa. The apparatus 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 trigger event. The trigger 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 the ground support member that is 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 regarding a change in the position of at least one structural component of the plurality of structural components relative to other structural components. Updating the support pattern 300 may include, for example, recalculating the support pattern 300 based on information regarding a change in the ground support member that supports the rock drilling rig 100.

[0061] The total center of gravity 302 may be re-determined by the device 200 when the positions of different structural components of the rock drilling rig 100 change relative to one another. Additionally, the support pattern 300 may be recalculated when the contact of at least one of the ground support members changes. The device 200 may be configured to provide a warning to the operator of the rock drilling rig 100 if the distance between the total center of gravity 302 and at least one edge of the support pattern 300 reaches a threshold value in response to a change in the position of the at least one structural component relative to the other structural components or in response to a change in the contact of the ground support member. The distance between the total center of gravity 302 and at least one edge of the support pattern 300 may be determined based on the distance from at least one edge of the support pattern 300 to the total center of gravity 302. Alternatively, the distance between the total center of gravity 302 and at least one edge of the support pattern 300 may be determined based on the distance from the total center of gravity 302 to at least one edge of the support pattern 300. Additionally or alternatively, the device 200 may be configured to monitor and provide a different warning to the operator when the total center of gravity 302 approaches or reaches one of the edges of the support pattern 300.

[0062] For example, when the rock drilling rig 100 reaches an intersection or corner within the mine 304, the operator may need to move the boom 104 to allow the rock drilling rig 100 to fit into a turn.

[0063] 4 shows an example of monitoring a rock drilling rig 100 in such a situation, according to an exemplary embodiment. Monitoring the rock drilling rig may include, for example, monitoring the stability of the rock drilling rig.

[0064] When a mining vehicle such as the rock drilling rig 100 is maneuvered to swing, the positions of the first and second carriers 112, 110 change relative to one another depending on the articulation angle of the articulation joint 114. Furthermore, the position of the boom 104 changes relative to the first and second carriers 112, 110. In addition, the positions of the components of the boom 104 relative to one another may change. Thus, both the support pattern 300 and the location of the total center of gravity 302 within the support pattern 300 may change. Compared to the example situation of FIG. 3 , in the example situation of FIG. 4 , the apparatus 200 is configured to recalculate the support pattern 300 depending on the changed relative positions of the structural components of the rock drilling rig 100. Furthermore, the total center of gravity 302 is now located closer to the edge of the support pattern 300 than in the example of FIG. 3 .

[0065] The device 200 may be configured to continuously output data regarding the current state of stability of the mining vehicle 100 to the operator based on the position of the total 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 a warning provided by the device 200, the operator may know when to stop the mining vehicle 100. Alternatively, the operator may be guided by the warning to limit the speed of the mining vehicle 100. Thus, movement of the rock drilling rig may be prevented from reaching its stability limit. If the stability limit is reached, the mining vehicle may become unstable. The stability limit may correspond to a predetermined distance between the total center of gravity 302 and an edge of the support pattern 300. Alternatively or additionally, the stability limit may be reached when the position of the total center of gravity 302 relative to the support pattern 300 reaches the edge of the support pattern 300. Thus, the stability limit may be provided, for example, as the minimum allowable distance between at least one edge (e.g., the nearest edge) of the support pattern and the total center of gravity. Alternatively, the stability limit may be provided as the location of an edge of the support pattern that the total center of gravity cannot cross. In one embodiment, the output data may include the position of the entire rock drilling rig 100, as well as the support pattern 300 and the total center of gravity 302 relative to the rock drilling rig. In one embodiment, the output data may include a visual indication of the approaching or reached stability limit. In one embodiment, the output data may include an audible indication of the reached stability limit.

[0066] In one embodiment, the apparatus 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 the first carrier or the second carrier. For example, the first structural component and the second structural component may be different boom components of at least one boom. The apparatus 200 may be configured to update the total center of gravity 302 based on the received information regarding the change in position of the first structural component relative to the second structural component. The information regarding the change in position may include at least one of translational or rotational movement of the respective component. The apparatus 200 may be configured to receive the information regarding the change in position, for example, from sensors monitoring joints associated with the respective component.

[0067] In one embodiment, the apparatus 200 may be configured to receive data indicating a change in the 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 carrier or the second carrier. Alternatively, the position of one of the ground support members may have changed when a ground jack of the mining vehicle is activated and placed on the ground or deactivated and raised from the ground. The apparatus 200 may be configured to receive information about an activated ground jack, for example, from a pressure sensor associated with the ground jack. In one embodiment, the change in the position of at least one of the ground support members supporting the rock drilling rig 100 may be measured by a pressure in a ground support hydraulic cylinder chamber, which indicates a weight on the ground support cylinder. Alternatively, the change in position may be measured by an inductive switch based on the movement of the ground support cylinder supporting the weight. The apparatus 200 may then be configured to update the support pattern 300 based on the data indicating the change in the position of the at least one ground support member.

[0068] In one embodiment, information regarding the stability of the rock drilling rig may be determined by the device 200 based on the support force of each ground support member supporting the rock drilling rig 100. The device 200 may be configured to determine the support force of each ground support member. The device 200 may be configured to determine the information regarding the stability based on the determined support forces, the support pattern 300, and the position of the total center of gravity 302 relative to the support pattern 300. If the support force of any of the ground support members falls below a predetermined threshold, the stability of the rock drilling rig 100 may be lost.

[0069] In one embodiment, the apparatus 200 may be configured to detect a risk of instability. The risk of instability may include the risk of the rock drilling rig 100 tipping over or overturning. The apparatus 200 may be configured to detect the risk of instability based on the stability information indicating that the bearing force per ground support member is below a predetermined threshold. The apparatus 200 may be configured to cause the rock drilling rig to at least one of stop and / or limit the speed of the rock drilling rig 100 when the bearing force falls below the predetermined threshold.

[0070] In one embodiment, device 200 may be configured to detect a risk of instability when information regarding the stability of the rock drilling rig indicates that a predetermined distance between the position of the total center of gravity 302 and at least one edge of the support pattern 300 is met. Device 200 may be configured to cause rock drilling rig 100 to at least one of limit the speed or stop rock drilling rig 100 in response to detecting a risk of instability.

[0071] In one embodiment, the apparatus 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, the angle at which the total 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 the arctangent function of the z-coordinate component of the total center of gravity 302 and the perpendicular distance of the total center of gravity 302 to the edge of the support pattern 300. For example, if the support pattern 300 is calculated by the apparatus 200 based on the positions of the front and rear swing axles of the rock drilling rig 100 (when the support pattern 300 forms a triangle as shown in Figures 3 and 4), the apparatus 200 may be configured to calculate the stability angle based, for example, on the perpendicular distance of the total center of gravity 302 to the edge of the support pattern 300 of the formed triangle. In response to detecting that the stability angle has reached a first predetermined value, the apparatus 200 may be configured to limit the speed of the rock drilling rig 100. In response to detecting that the stability angle has reached a second predetermined value, the apparatus 200 may be configured to stop the rock drilling rig 100. The second predetermined value may be, for example, zero degrees or close to zero.

[0072] The exemplary embodiment allows rock drilling rig 100 to maneuver through very tight corners by pivoting boom 104, while apparatus 200 reduces the risk of tipping. Although a rock drilling rig is used as an example, apparatus 200 may be configured to monitor the stability of any mining vehicle that is equipped with sensors to monitor the position of different parts of the mining vehicle.

[0073] In the example, the mining vehicle is operated by an operator, but the mining vehicle 100 may also be an autonomous mining vehicle. In one embodiment, the apparatus 200 may be configured to provide data regarding the stability of the mining vehicle to an autonomous control system of the mining vehicle. In one embodiment, the apparatus 200 may be configured to stop the mining vehicle based on the information regarding the stability of the mining vehicle indicating that a certain stability limit has been reached. In one embodiment, the apparatus 200 may be configured to limit the speed of the mining vehicle based on the information regarding the stability of the mining vehicle indicating that a certain stability limit has been reached. For example, the apparatus 200 may be configured to send the stability information to an autonomous driving system of the mining vehicle, which may be configured to make a decision to stop or slow down.

[0074] 5 illustrates an example of a method 500 for monitoring a mining vehicle, according to an exemplary embodiment. The mining vehicle may be a rock drilling rig comprising multiple structural components.

[0075] In operation 502, the method may include receiving information regarding the positions of a plurality of structural components of the rock drilling rig relative to one another. The structural components may include, for example, one or more carriers. The structural components may further include one or more booms.

[0076] In operation 504, the method may include receiving mass properties of a plurality of structural components.

[0077] In operation 506, the method may include determining local centers of gravity of the plurality of structural components.

[0078] In operation 508, the method may include determining a total center of gravity of the rock drilling rig based on information regarding the local centers of gravity of the plurality of structural components, the mass properties of the plurality of structural components, and the positions of the plurality of structural components of the rock drilling rig relative to each other.

[0079] In operation 510, the method may include receiving information regarding a ground support member supporting the rock drilling rig, the information including at least a location 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 further include a plurality of ground support cylinders. The ground support member may further include a rear swing axle.

[0080] In operation 512, the method may include calculating a support pattern for the rock drilling rig based on information about ground support members that support the rock drilling rig.

[0081] In operation 514, the method may include determining information regarding the stability of the rock drilling rig based on the position of the total center of gravity relative to the support pattern.

[0082] At operation 516, the method may include outputting data regarding the stability of the rock drilling rig. The output 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 location 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 for the distance between the location of the total center of gravity and at least one edge of the support pattern. In one embodiment, the rock drilling rig may be at least partially an autonomous vehicle, and the rock drilling rig may be adapted to limit its speed or stop based on information regarding the stability of the rock drilling rig.

[0083] It is obvious to those skilled in the art that with the advancement of technology, the basic concept of the present invention can be implemented in various ways. Therefore, the present invention and its embodiments are not limited to the above examples, but rather they may vary within the scope of the claims.

[0084] Further features of the method result directly from the functionality and parameters of the apparatus as described in the appended claims and throughout the specification, and therefore will not be repeated here. It should be noted that one or more actions of the method may be performed in a different order.

[0085] The apparatus may be configured to perform or cause the performance of any aspect of the methods described herein. Further, a computer program may include instructions that, when executed, cause the apparatus to perform any aspect of the methods described herein. Further, the apparatus may comprise means for performing any aspect of the methods described herein. According to an exemplary embodiment, the means comprises at least one processor and a memory containing program code, the memory and program code being configured, when executed by the at least one processor, to cause the performance of any aspect of the method.

[0086] Any range or device value given herein may be extended or modified without losing the effect sought, and any embodiment may be combined with another embodiment unless expressly denied.

[0087] Although the subject matter has been described in language specific to structural features and / or acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims, and other equivalent features and acts are intended to be within the scope of the claims.

[0088] It will be understood that the benefits and advantages described above may relate to one embodiment or to several embodiments. The embodiments are not limited to those that solve any or all of the described problems or that have any or all of the described benefits and advantages. It will be further understood that references to "a" or "an" item may refer to one or more of those items.

[0089] The actions of the methods described herein may be performed in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the above-described embodiments may be combined with aspects of any of the other above-described embodiments to form further embodiments without losing the desired effect.

[0090] The term "comprises" is used herein to mean that a specified method, block, or element is included, but that such block or element is not an exclusive list and that a method or apparatus may include additional blocks or elements.

[0091] As used in this application, the term "circuitry" may refer to one or more or all of the following: (a) hardware-only circuit implementations (such as implementations with only analog and / or digital circuitry); and (b) (if applicable) combinations of hardware circuitry and software, such as (i) combinations of analog and / or digital hardware circuitry and software / firmware, and (ii) any portion of a hardware processor having software (including digital signal processors), software, and memory that cooperate to cause a device such as a cell phone or server to perform various functions; and (c) hardware circuitry and / or processors, such as a microprocessor or portion of a microprocessor that requires software (e.g., firmware) to operate, although software may be absent if not required for operation. This definition of circuitry applies to all uses of the term in this application, including any claims.

[0092] As a further example, as used in this application, the term circuitry also encompasses simply a hardware circuit or processor(s), or portion(s) of a hardware circuit or processor, as well as its(their) accompanying software and / or firmware implementation. The term circuitry also encompasses, for example, specific claim elements, where applicable, baseband or processor integrated circuits for mobile devices, or similar integrated circuits in servers, cellular network devices, or other computing or network devices.

[0093] It will be understood that the above description is given by way of example only, and that various modifications may be made by those skilled in the art. The above specification, examples, and data provide a complete description of the structure and use of the exemplary embodiments. While various embodiments have been described above with a degree of specificity, or with reference to one or more individual embodiments, those skilled in the art may make many modifications to the disclosed embodiments without departing from the scope of the present specification.

Claims

1. A device for monitoring a rock drilling rig comprising multiple structural components, wherein the device is At least one processor, The device comprises at least one memory containing an instruction, and when the instruction is executed by the at least one processor, Receiving information regarding the relative positions of the plurality of structural components of the rock drilling rig, To receive the mass properties of the aforementioned plurality of structural components, Determining the local centroid of the aforementioned plurality of structural components, Based on information regarding the local centers of gravity of the plurality of structural components, the mass characteristics of the plurality of structural components, and the relative positions of the plurality of structural components of the drilling rig, the total center of gravity of the drilling rig is determined. Receiving information relating to a ground support member that supports the rock drilling rig, wherein the information includes at least the position of the ground support member. Based on the information relating to the ground support member that supports the rock drilling rig, the support pattern of the rock drilling rig is calculated. Based on the position of the total center of gravity relative to the support pattern, information regarding the stability of the rock drilling rig is determined, Based on the information regarding the stability of the rock drilling rig, the risk of instability is detected, When the risk of the aforementioned instability is detected, the rock drilling rig shall be made to limit its speed or stop, at least one of the following: The system outputs data relating to the stability of the rock drilling rig, and performs the following actions: Device.

2. When the at least one memory is executed by the at least one processor, the device has Receiving information regarding the change in position of at least one first structural component among the plurality of structural components with respect to at least one second structural component among the plurality of structural components, The total center of gravity is updated based on the information regarding the change in position, The apparatus according to claim 1, further comprising an instruction to cause the following to be performed.

3. The apparatus according to claim 2, wherein the information relating to the change in position indicates at least one of the translational motion or rotational motion of the first structural component relative to the second structural component.

4. When the at least one memory is executed by the at least one processor, the device has Receiving information regarding a change in the position of at least one of the ground support members, Based on the information relating to the change in the position of the at least one ground support member, the support pattern is updated. The apparatus according to claim 1, further comprising an instruction to cause the following to be performed.

5. The apparatus according to claim 1, wherein the plurality of structural components include at least one carrier and at least one boom.

6. The plurality of structural components include two carriers, each carrier comprises a plurality of ground support members, and the at least one memory, when executed by the at least one processor, in the device, The command further includes causing the support pattern of the drilling rig to be calculated based on the information relating to the ground support members supporting the drilling rig and the relative positions of the carriers, The apparatus according to claim 1.

7. The apparatus according to claim 1, wherein the at least one memory further includes an instruction, when executed by the at least one processor, that causes the apparatus to determine the information relating to 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.

8. The apparatus according to claim 1, wherein the at least one memory further includes an instruction, when executed by the at least one processor, that causes the apparatus to determine the information relating to the stability of the drilling rig based on the support force of each upper support member supporting the drilling rig.

9. The apparatus according to claim 1, wherein the at least one memory further includes an instruction, when executed by the at least one processor, that causes the apparatus to determine the information relating to the stability of the drilling rig during its operation.

10. The ground support member supporting the rock drilling rig comprises at least one of a track, wheels, rear oscillating axle, or ground support cylinder. The apparatus according to claim 1.

11. When the at least one memory is executed by the at least one processor, the device has The apparatus according to claim 1, further comprising an instruction to detect the risk of instability based on the information relating to the stability of the rock drilling rig, indicating that a threshold is met for the distance between the position of the total center of gravity and at least one edge of the support pattern, or that the support force of each ground support member is below a predetermined threshold, or at least one of these two conditions.

12. A rock drilling rig comprising the apparatus described in any one of claims 1 to 11.

13. A computer implementation method for monitoring a rock drilling rig, wherein the method is Receiving information regarding the relative positions of multiple structural components of the rock drilling rig, To receive the mass properties of the aforementioned plurality of structural components, Determining the local centroid of the aforementioned plurality of structural components, Based on information regarding the local centers of gravity of the plurality of structural components, the mass characteristics of the plurality of structural components, and the relative positions of the plurality of structural components of the drilling rig, the total center of gravity of the drilling rig is determined. Receiving information relating to a ground support member that supports the rock drilling rig, wherein the information includes at least the position of the ground support member. Based on the information relating to the ground support member that supports the rock drilling rig, the support pattern of the rock drilling rig is calculated. Based on the position of the total center of gravity relative to the support pattern, information regarding the stability of the rock drilling rig is determined, Based on the information regarding the stability of the rock drilling rig, the risk of instability is detected, When the risk of the aforementioned instability is detected, the rock drilling rig shall be made to limit its speed or stop, at least one of the following: To output data relating to the stability of the rock drilling rig, Computer implementation methods, including those mentioned above.

14. A computer program that, when executed by a computer, causes the computer to perform the method described in claim 13.

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