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1. (WO2018184916) APPARATUS AND METHOD FOR CONTROLLING BOOM OF MINE VEHICLE

Pub. No.:    WO/2018/184916    International Application No.:    PCT/EP2018/057779
Publication Date: Fri Oct 12 01:59:59 CEST 2018 International Filing Date: Wed Mar 28 01:59:59 CEST 2018
IPC: E21B 7/02
E21B 15/04
B25J 9/16
Applicants: SANDVIK MINING AND CONSTRUCTION OY
Inventors: LAUNIS, Sirpa
SAARELA, Markus
PUURA, Jussi
KIVELÄ, Tuomo
Title: APPARATUS AND METHOD FOR CONTROLLING BOOM OF MINE VEHICLE
Abstract:
The invention relates to an apparatus for controlling one or more booms of a mine vehicle. The invention further relates to a mine vehicle, method and computer program product. The apparatus comprises a control unit (CU) provided with a boom controller (BC) for controlling movements of the boom (3), and a collision server (CS) for executing collision avoidance measures simultaneously during the control of the boom. The collision server is provided with 3D geometry data on at least one part of the boom and one other physical object and is configured to calculate shortest distance between them. The control unit controls the boom so that the 3D geometry data will not collide.