US 12,331,638 B1
Controlling a track-mounted drill rig
Toni Peltomaa, Tampere (FI); and Mika Sahlman, Tampere (FI)
Assigned to Sandvik Mining and Construction Oy, Tampere (FI)
Filed by SANDVIK MINING AND CONSTRUCTION OY, Tampere (FI)
Filed on Dec. 14, 2023, as Appl. No. 18/539,392.
Int. Cl. E21B 7/02 (2006.01); E21B 15/04 (2006.01); E21B 44/00 (2006.01)
CPC E21B 7/022 (2013.01) [E21B 15/045 (2013.01); E21B 44/00 (2013.01)] 16 Claims
OG exemplary drawing
 
15. A method for controlling a track-mounted drill rig, the method comprising:
determining a target position for a drill bit of the track-mounted drill rig;
determining a turning trajectory of an aiming point of the drill bit;
monitoring position of the turning trajectory of the aiming point of the drill bit with respect to the target position of the drill bit during approach of the track-mounted drill rig to the target position; and
causing turning of the track-mounted drill rig to align the aiming point of the drill bit with the target position of the drill bit based on determining that the turning trajectory of the aiming point of the drill bit substantially coincides with the target point of the drill bit.