OR CONSTRUCTION WORK EQUIPMENT

TECHNICAL FIELD

The present disclosure relates to a method for stabilizing a feed system of a mining or construction work equipment, a stabilizing arrangement configured to perform the method, and a mining or construction work equipment comprising the stabilizing arrangement. The present disclosure further relates to a computer-implemented method for controlling operation of the stabilizing arrangement, a computer program product for carrying out the computer-implemented method, and a computer-readable storage medium storing the computer program product.

BACKGROUND

Rock bolt reinforcement is commonly used for providing support to the roof or sides of a cavity in mining and civil engineering such as tunneling. The bolt may be a steel rod, a rebar, or a cable bolt installed in a borehole drilled into the roof or walls of a rock formation.

A mining or construction work equipment comprising a rock bolting system is usually applied for rock bolt reinforcement. A typical rock bolting system comprises a drilling machine for drilling boreholes and a bolting device for installing bolts into the boreholes. The rock bolting system may have a single-feed track or a dual-feed track.

In a single-feed track rock bolting system, the drilling machine and the bolting device are sequentially fed onto the single feed track to be shuttled to a rock surface at which a borehole is to be drilled and a bolt is to be installed into the borehole.

In a dual-feed track rock bolting system, one of the feed tracks (a.k.a. a drilling feed track) directs the drilling machine towards a rock surface for drilling a borehole, while the other feed track (a.k.a. a bolting feed track) directs the bolting device towards the borehole for installing the bolt into the borehole.

The rock bolting system may further have a stinger for engaging the rock surface to stabilize the feed track(s) during the drilling and bolt-installing processes. The process of stabilizing the feed track(s) is currently performed by manual operation and relies on the experience of an operator. Mining as well as construction work is an inherently risky occupation. The mining and construction environments are harmful for human health, with dangers ranging from rock collapses to inhalation of toxic particles. It should always be prioritized to minimize exposure of personnel to the harmful working environment. Thus, it is absolutely important and necessary to develop a remote and/or automatic process of stabilizing the feed track(s), wherein the remote and/or automatic control replace or augment onsite operator-based control. At present, the remote and/or automatic control can only be achieved by digitalization of the process for stabilizing the feed track(s).

SUMMARY

In view of the above, one object of the present disclosure is therefore to provide a digitalized method for stabilizing a feed system comprising at least one feed track.

Another object of the disclosure is to increase work efficiency and productivity.

Yet another object of the disclosure is to provide a novel and advantageous method for stabilizing a feed system comprising at least one feed track.

Yet another object of the disclosure is to provide a robust and reliable method for stabilizing a feed system comprising at least one feed track.

Yet another object of the disclosure is to provide an alternative method for stabilizing a feed system comprising at least one feed track.

Yet another object of the disclosure is to facilitate remote control of the process for stabilizing a feed system comprising at least one feed track.

Yet another object of the disclosure is to facilitate at least partial automation of the process for stabilizing a feed system comprising at least one feed track.

The above mentioned objects are achieved according to a first aspect of the disclosure by a method for stabilizing a feed system of a mining or construction work equipment, the feed system comprising at least one feed track, wherein the method is performed by a stabilizing arrangement comprising a stinger assembly with a rock engaging end, a feed extension assembly connected to the stinger assembly for advancing and withdrawing the stinger assembly, and at least one pressure sensor, wherein the method comprises the steps of controlling the stinger assembly such that the rock engaging end engages a rock surface, whereby a first pressure P exerted on the stinger assembly is detected by means of the at least one pressure sensor; and controlling the feed extension assembly to force the stinger assembly towards the rock surface, whereby a second pressure P’ exerted on the stinger assembly is detected by means of the at least one pressure sensor; and wherein P > 0 and P’ > 0.

The method according to the present disclosure for stabilizing a feed system comprising at least one feed track solves the problem of providing a digitalized method for stabilizing the feed system. The problem is solved by using pressures exerted on the stinger assembly and detected by means of the at least one pressure sensor for monitoring the contact established between the rock engaging end and the rock surface. An appropriate contact between the rock engaging end 13 and the rock surface for stabilizing the feed system is achieved by controlling operation of the stabilizing arrangement. The method according to the present disclosure has the advantage of stabilizing the feed system in a robust and reliable manner. The method according to the present disclosure has further advantages of enabling remote and/or automatic control of the process for stabilizing the feed system.

In some embodiments, the second pressure P’ may be higher than or equal to the first pressure

In some embodiments, the stinger assembly has an extendable and retractable length L, wherein the stinger assembly comprises a stinger actuator for controlling the length L of the stinger assembly. The stinger assembly with an extendable and retractable length L has the advantages of more flexible and improved control during stabilization of the feed system.

In some embodiments, the stinger actuator comprises a stinger cylinder and a stinger piston rod, wherein the first pressure P is a first pressure Pstinger detected within the stinger cylinder, the second pressure P’ is a second pressure P’stinger detected within the stinger cylinder. Thus, the stinger actuator acts not only as a conventional actuator, but also as a device for detecting pressures exerted on the stinger assembly and monitoring the contact established between the rock engaging end and the rock surface.

In some embodiments, the feed extension assembly comprises a feed actuator for advancing and withdrawing the stinger assembly. Thus, the feed extension assembly may adjust the spatial position of the stinger assembly by means of the feed actuator.

The feed extension assembly with a feed actuator has the advantages of more flexible and improved control during stabilization of the feed system.

In some embodiments, the feed actuator comprises a feed cylinder and a feed piston rod, wherein the first pressure P is a first pressure Pfeed detected within the feed cylinder, the second pressure P’ is a second pressure P’feed detected within the feed cylinder. Thus, the feed actuator acts not only as a conventional actuator, but also as a device for detecting pressures exerted on the stinger assembly and monitoring the contact established between the rock engaging end and the rock surface.

In some embodiments, the first pressure P is predetermined. The predetermined first pressure P may be used for controlling operation of the stabilizing arrangement during the process for stabilizing the feed system.

In some embodiments, the second pressure P’ is predetermined. The predetermined second pressure P’ may be used for controlling operation of the stabilizing arrangement during the process for stabilizing the feed system.

Predetermination of the first and/or the second pressures exerted on the stinger assembly enables and facilitates remote as well as automatic control of the stabilizing arrangement during the process for stabilizing the feed system. Predetermination of the first and/or the second pressures exerted on the stinger assembly also improves operator-based control of the stabilizing arrangement during the process for stabilizing the feed system.

The method as was described above may further comprise a process PD of determining the first pressure P, the process PD comprising the steps of controlling the stinger actuator to obtain a fully extended length L _m ax of the stinger assembly, controlling the feed extension assembly to advance the stinger assembly with the fully extended length L _m ax to a first displacement distance D for engaging the rock surface, and determining the first pressure P when a contact is established between the rock engaging end and the rock surface.

The stinger assembly acts effectively as a probe for detecting the first pressure when a contact is established between the rock engaging end and the rock surface. In the process of determining the first pressure P, also determined is the first displacement distance D to which the feed extension assembly advances the stinger assembly with the fully extended length L _m ax for engaging the rock surface.

A route of performing the process PD of determining the first pressure P may be recorded in a memory of a control unit.

In some embodiments, the stabilizing arrangement further comprises at least one length sensor configured to measure the first displacement distance D.

The method as was described above may further comprise a process PA of adjusting length L of the stinger assembly, the process PA comprising the steps of controlling the stinger actuator to obtain a fully retracted length L _m in of the stinger assembly; controlling the feed extension assembly to advance the stinger assembly with the fully retracted length Lmin to the first displacement distance D; and controlling the stinger actuator to obtain a length L _x of the stinger assembly, wherein Lmin < L _x < Lmax.

In the process PA of adjusting length L of the stinger assembly, a length L _x of the stinger assembly is determined at the first displacement distance D that is determined in the process PD of determining the first pressure P.

In some embodiments, the stabilizing arrangement further comprises at least one length sensor configured to measure the length L (Lmin, L _x , Lmax) of the stinger assembly.

The method as was described above may further comprise a process PA of adjusting position of the stinger assembly, the process PA comprising the steps of controlling the stinger actuator to obtain a fully retracted length Lmin of the stinger assembly; controlling the feed extension assembly to advance the stinger assembly with the fully retracted length Lmin to a second displacement distance D’, wherein D’ = D + L _x , wherein L _x is a length of the stinger assembly and Lmin Lx ** Lmax.

In the process PA of adjusting position of the stinger assembly, a second displacement distance D’ is determined based on the first displacement distance D determined in the process PD of determining the first pressure and the length L _x of the stinger assembly.

In some embodiments, the stabilizing arrangement further comprises at least one length sensor configured to measure the second displacement distance D’. In some embodiments, L _m in < L _x < 1 - Lmax.

In some embodiments, 14 ■ Lmax — Lx ** Lmax.

The process PA of adjusting length L or position of the stinger assembly may be performed according to the recorded route of performing the process PD of determining the first pressure P as was previously described.

The process PD of determining the first pressure P followed by the process PA of adjusting length L or position of the stinger assembly 10 ensures that the rock engaging end 13 of the stinger assembly 10 is placed at an appropriate distance from a target rock surface before initiating the process of stabilizing the feed system. This has advantages of providing a robust and reliable process of stabilizing the feed system, increased work efficiency and productivity.

In some embodiments, the feed system comprises a drilling feed track and/or a bolting feed track.

The above mentioned objects are also achieved according to a second aspect of a stabilizing arrangement configured to perform the method as was described above, wherein the stabilizing arrangement comprises a stinger assembly with a rock engaging end, a feed extension assembly connected to the stinger assembly for advancing and withdrawing the stinger assembly, and at least one pressure sensor.

In some embodiments, the stinger assembly has an extendable and retractable length L, wherein the stinger assembly comprises a stinger actuator for controlling the length L of the stinger assembly.

In some embodiments, the stinger actuator comprises a stinger cylinder and a stinger piston rod, wherein the first pressure P is a first pressure Pstinger detected within the stinger cylinder, the second pressure P’ is a second pressure P’stinger detected within the stinger cylinder.

In some embodiments, the feed extension assembly comprises a feed actuator for advancing and withdrawing the stinger assembly.

In some embodiments, the feed actuator comprises a feed cylinder and a feed piston rod, wherein the first pressure P is a first pressure Pfeed detected within the feed cylinder, the second pressure P’ is a second pressure P’feed detected within the feed cylinder.

In some embodiments, the stabilizing arrangement further comprises at least one length sensor configured to measure the displacement distance (D, D’), and/or the length L (Lmin, Lx, _m ax) of the stinger assembly.

The stabilizing arrangement has all the advantages that have been described above in conjunction with the method for stabilizing a feed system of a mining or construction work equipment.

The above mentioned objects are also achieved according to a third aspect of a mining or construction work equipment comprising a feed system with at least one feed track, and the stabilizing arrangement as was described above.

In some embodiments, the feed system of the mining or construction work equipment as was described above comprises a drilling feed track and/or a bolting feed track.

The mining or construction work equipment has all the advantages that have been described above in conjunction with the stabilizing arrangement and the method for stabilizing a feed system.

The above mentioned objects are also achieved according to a fourth aspect of a method performed by a control unit or a computer connected to the control unit for controlling operation of the stabilizing arrangement as was described above for stabilizing the feed system comprising at least one feed track, wherein the method comprises the actions of obtaining data from the at least one pressure sensor and/or the at least one length sensor, controlling operation of the stinger assembly, and controlling operation of the feed extension assembly.

The above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the stabilizing arrangement has the advantage of at least partially automatizing the process for stabilizing a feed system of a mining or construction work equipment.

The above mentioned method performed by a control unit or a computer connected to the control unit for controlling operation of the stabilizing arrangement has all the advantages that have been described above in conjunction with the method for stabilizing a feed system of a mining or construction work equipment. The above mentioned objects are also achieved according to a fifth aspect of a computer program product comprising instructions which, when executed on at least one processor , cause the at least one processor to carry out the method performed by a control unit or a computer connected to the control unit for controlling operation of the stabilizing arrangement as was described above for stabilizing the feed system comprising at least one feed track.

The computer program product provides all the advantages that have been described above in conjunction with the method as was described above for controlling operation of the stabilizing arrangement for stabilizing the feed system comprising at least one feed track.

The above mentioned objects are also achieved according to a sixth aspect of a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method performed by a control unit or a computer connected to the control unit for controlling operation of the stabilizing arrangement as was described above for stabilizing the feed system comprising at least one feed track.

The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.

BRIEF DESCRIPTION OF THE DRAWINGS

With reference to the appended drawings, below follows a more detailed description of embodiments of the disclosure cited as examples.

In the drawings:

Figure 1 is a schematic representation of a stabilizing arrangement with a feed extension assembly fully withdrawing a fully retracted stinger assembly (a, a’) or a fully extended stinger assembly (b, b’);

Figure 2 is a schematic representation of a stabilizing arrangement with a feed extension assembly fully advancing a fully retracted stinger assembly (a, a’), a partially extended or retracted stinger assembly (b, b’) or a fully extended stinger assembly (c, c’);

Figure 3 is a block diagram depicting a method for stabilizing a feed system of a mining or construction work equipment; Figure 4 is a block diagram illustrating a control unit and connections with the control unit.

DETAILED DESCRIPTION

The present disclosure aims to reduce or even eliminate exposure of personnel to the hazardous work environment during a process for stabilizing a feed system of a mining or construction work equipment. The present disclosure further aims to reduce manual workload without compromising work efficiency or productivity. The present disclosure enables remote and automatic control of the process for stabilizing a feed system of a mining or construction work equipment by providing a novel, digitalized, robust and reliable solution which is advantageous over the state of the art.

With “advance” is herein meant cause to move forward in relation to a reference position, or move forward in relation to a reference position.

With “withdraw” is herein meant cause to move backward in relation to a reference position, or move backward in relation to a reference position.

The words “advance” and “withdraw” are herein defined as antonyms.

With “extend” is herein meant stretch out or enlarge in length.

With “retract” is herein meant draw back or reduce in length.

The words “extend” and “retract” are herein defined as antonyms.

With a “length L of the stinger assembly 10” is herein meant an extendable or retractable length of the stinger assembly 10 as shown in Figs. 1 and 2. L _m ax is a fully extended length of the stinger assembly 10, L _m in is a fully retracted length of the stinger assembly 10, and L _x is a partially extended or retracted length of the stinger assembly 10.

With a “displacement distance” is herein meant a distance advanced or withdrawn by a stinger assembly 10 irrespective of the length L of the stinger assembly 10.

According to a first aspect of the disclosure, there is provided a method (Fig. 3) for stabilizing a feed system of a mining or construction work equipment, the feed system comprising at least one feed track, wherein the method is performed by a stabilizing arrangement (Figs. 1 and 2) comprising a stinger assembly 10 with a rock engaging end 13, a feed extension assembly 20 connected to the stinger assembly 10 for advancing and withdrawing the stinger assembly 10, and at least one pressure sensor 30, wherein the method comprises the following steps, which steps may be taken in any suitable order, controlling 1001 the stinger assembly 10 such that the rock engaging end 13 engages a rock surface, whereby a first pressure P exerted on the stinger assembly 10 is detected by means of the at least one pressure sensor 30; and controlling 1002 the feed extension assembly 20 to force the stinger assembly 10 towards the rock surface, whereby a second pressure P’ exerted on the stinger assembly 10 is detected by means of the at least one pressure sensor 30; and wherein P > 0 and P’ > 0.

Fig. 3 is a block diagram depicting the method as was described above for stabilizing a feed system of a mining or construction work equipment. The optional method steps are marked with dashed lines in Fig. 3.

The method according to the present disclosure may be operated on-site manually by an operator, remotely and/or automatically.

The method according to the present disclosure for stabilizing a feed system comprising at least one feed track solves the problem of providing a digitalized method for stabilizing the feed system. The problem is solved by using pressures exerted on the stinger assembly 10 and detected by means of the at least one pressure sensor 30 for monitoring the contact established between the rock engaging end 13 and the rock surface. An appropriate contact between the rock engaging end 13 and the rock surface for stabilizing the feed system is achieved by controlling operation of the stabilizing arrangement. The method according to the present disclosure has the advantage of stabilizing the feed system in a robust and reliable manner. The method according to the present disclosure has a further advantage of facilitating more accurate manual control of the process for stabilizing the feed system. The method according to the present disclosure has further advantages of enabling remote and/or automatic control of the process for stabilizing the feed system.

The second pressure P’ is exerted on the stinger assembly 10 when an initial contact has been established between the rock engaging end 13 and the rock surface, which initial contact is indicated by detection of the first pressure P.

In some embodiments, the second pressure P’ may be higher than or equal to the first pressure In some embodiments (Fig. 3), the first pressure P is predetermined such that an appropriate initial contact between the rock engaging end 13 and the rock surface for stabilizing the feed system can be achieved. The predetermined first pressure P may be used for controlling operation of the stabilizing arrangement during the process for stabilizing the feed system.

In some embodiments, the second pressure P’ is predetermined such that an appropriate contact between the rock engaging end 13 and the rock surface for stabilizing the feed system can be achieved. The predetermined second pressure P’ may be used for controlling operation of the stabilizing arrangement during the process for stabilizing the feed system.

Predetermination of the first and/or the second pressures exerted on the stinger assembly 10 enables and facilitates remote as well as automatic control of the stabilizing arrangement during the process for stabilizing the feed system. Predetermination of the first and/or the second pressures exerted on the stinger assembly 10 also improves operator-based control of the stabilizing arrangement during the process for stabilizing the feed system.

In some embodiments (Fig. 3), the method further comprises a process PD of determining the first pressure P, wherein the process PD comprises the following steps, which steps may be taken in any suitable order, controlling 001 the stinger actuator to obtain a fully extended length L _m ax of the stinger assembly 10, controlling 002 the feed extension assembly 20 to advance the stinger assembly 10 with the fully extended length L _m ax to a first displacement distance D for engaging the rock surface, and determining 003 the first pressure P when a contact is established between the rock engaging end 13 and the rock surface.

The stinger assembly 10 acts effectively as a probe for detecting the first pressure when a contact is established between the rock engaging end 13 and the rock surface. In the process of determining the first pressure P, also determined is the first displacement distance D to which the feed extension assembly 20 advances the stinger assembly 10 with the fully extended length Lmax for engaging the rock surface.

A route of performing the process PD of determining the first pressure P may be recorded in a memory 602 of a control unit 600 (Fig. 4). With a “route” is herein meant a path, a course or a process that the stabilizing arrangement takes for getting from a start point to a destination where a contact is established between the rock engaging end 13 of the stinger assembly 10 and a rock surface such that the first pressure P can be detected.

In some embodiments (Fig. 3), the method further comprises a process PA of adjusting the length L of the stinger assembly 10, wherein the process PA comprises the following steps, which steps may be taken in any suitable order, controlling 101 the stinger actuator to obtain a fully retracted length L _m in of the stinger assembly 10; controlling 102a the feed extension assembly 20 to advance the stinger assembly 10 with the fully retracted length Lmin to the first displacement distance D; and controlling 103 the stinger actuator to obtain a length L _x of the stinger assembly, wherein Lmin L _x < Lmax.

In the process PA of adjusting the length L of the stinger assembly 10, a length L _x of the stinger assembly 10 is determined at the first displacement distance D that is determined in the process PD of determining the first pressure P.

The method as was described above may further comprise a process PA of adjusting position of the stinger assembly 10, wherein the process PA comprises the following steps, which steps may be taken in any suitable order, controlling 101 the stinger actuator to obtain a fully retracted length Lmin of the stinger assembly 10; controlling 102b the feed extension assembly 20 to advance the stinger assembly 10 with the fully retracted length Lmin to a second displacement distance D’, wherein D’ = D + L _x , wherein L _x is a length of the stinger assembly 10 and Lmin L _x < Lmax-

In the process PA of adjusting position of the stinger assembly 10, a second displacement distance D’ is determined based on the first displacement distance D determined in the process PD of determining the first pressure P and a length L _x of the stinger assembly 10.

In some embodiments, Lmin < L _x < ¹ /2-L _m a _X .

In some embodiments, 1 ■ Lmax — L _x < Lmax- The process PA of adjusting length L or position of the stinger assembly 10 may be performed based on the recorded route of performing the process PD of determining the first pressure P as was previously described.

The process PD of determining the first pressure P followed by the process PA of adjusting length L or position of the stinger assembly 10 ensures that the rock engaging end 13 of the stinger assembly 10 is placed at an appropriate distance from a target rock surface before initiating the process of stabilizing the feed system. This has advantages of providing a robust and reliable process of stabilizing the feed system, increased work efficiency and productivity.

According to a second aspect of the disclosure, there is provided a stabilizing arrangement configured to perform the method as was described above for stabilizing a feed system of a mining or construction work equipment, the feed system comprising at least one feed track, wherein the stabilizing arrangement comprises a stinger assembly 10 with a rock engaging end 13, a feed extension assembly 20 connected to the stinger assembly 10 for advancing and withdrawing the stinger assembly 10, and at least one pressure sensor 30.

The stabilizing arrangement has all the advantages that have been described above in conjunction with the method for stabilizing a feed system of a mining or construction equipment.

In some embodiments (Figs. 1 and 2), the stinger assembly 10 has an extendable and retractable length L, wherein the stinger assembly 10 comprises a stinger actuator for controlling the length L of the stinger assembly 10.

Fig. 1 shows a bottom view (a) and a side view (a’) of a stabilizing arrangement with a feed extension assembly 20 fully withdrawing a fully retracted stinger assembly 10 with a length L _m in.

Fig. 1 also shows a bottom view (b) and a side view (b’) of a stabilizing arrangement with a feed extension assembly 20 fully withdrawing a fully extended stinger assembly 10 with a length Lmax-

Fig. 2 shows a bottom view (a) and a side view (a’) of a stabilizing arrangement with a feed extension assembly 20 fully advancing a fully retracted stinger assembly 10 with a length L _m in. Fig. 2 also shows a bottom view (b) and a side view (b’) of a stabilizing arrangement with a feed extension assembly 20 fully advancing a partially extended or retracted stinger assembly 10 with a length L _x .

Fig. 2 further shows a bottom view (c) and a side view (o’) of a stabilizing arrangement with a feed extension assembly 20 fully advancing a fully extended stinger assembly 10 with a length Lmax-

The stinger assembly 10 with an extendable and retractable length L has the advantages of more flexible and improved control during stabilization of the feed system. The stinger actuator may be any type of actuator suitable for the intended use. The stinger actuator may be an electric, hydraulic or pneumatic actuator.

In some embodiments (Figs 1 and 2), the stinger actuator comprises a stinger cylinder 11 and a stinger piston rod 12; and wherein the first pressure P is a first pressure Pstinger detected within the stinger cylinder 11 , the second pressure P’ is a second pressure P’stinger detected within the stinger cylinder 11 . Thus, the stinger actuator acts not only as a conventional actuator, but also as a device for detecting pressures exerted on the stinger assembly 10 and monitoring the contact established between the rock engaging end 13 and the rock surface.

The pressures (Pstinger, P’stinger) detected within the stinger cylinder 11 are preferably used in the method as was described above.

In some embodiments (Figs 1 and 2), the feed extension assembly 20 comprises a feed actuator for advancing and withdrawing the stinger assembly 10. Thus, the feed extension assembly 20 may adjust the spatial position of the stinger assembly 10 by means of the feed actuator.

The feed extension assembly 20 with a feed actuator has the advantages of more flexible and improved control during stabilization of the feed system. The feed actuator may be any type of actuator suitable for the intended use. The feed actuator may be an electric, hydraulic or pneumatic actuator.

In some embodiments (Figs 1 and 2), the feed actuator comprises a feed cylinder 21 and a feed piston rod 22; and wherein the first pressure P is a first pressure Pfeed detected within the feed cylinder 21 , the second pressure P’ is a second pressure P’feed detected within the feed cylinder 21. Thus, the feed actuator acts not only as a conventional actuator, but also as a device for detecting pressures exerted on the stinger assembly 10 and monitoring the contact established between the rock engaging end 13 and the rock surface. However, frictions arising during the process for stabilizing the feed system may interfere with the pressures (Pfeed, P’feed) detected within the feed cylinder 21.

In some embodiments, the stabilizing arrangement further comprises at least one length sensor 40 configured to measure the displacement distance (D, D’), and/or the length L (Lmin, Lx, _m ax) of the stinger assembly 10. The length sensor 40 may be a linear sensor, a dimension sensor, a range finding device, an extensometer, an inductive sensor or any other type of length sensor suitable for the intended use.

According to a third aspect of the disclosure, there is provided a mining or construction work equipment comprising a feed system with at least one feed track, and the stabilizing arrangement as was described above.

The mining or construction equipment has all the advantages that have been described above in conjunction with the stabilizing arrangement and the method for stabilizing a feed system.

The mining or construction work equipment may be a mining or construction work rig adapted for various mining operations or construction work. The mining or construction work equipment may be a drilling rig, a bolting rig, or a rock bolter configured for drilling and bolting.

Typically, the feed system and the stabilizing arrangement are arranged on a feed beam of the mining or construction work equipment.

In some embodiments, the feed system comprises a drilling feed track and/or a bolting feed track.

According to a fourth aspect of the disclosure, there is provided a method performed by a control unit 600 or a computer connected to the control unit 600 for controlling operation of the stabilizing arrangement as was described above for stabilizing the feed system comprising at least one feed track, wherein the method comprises the actions of obtaining data from the at least one pressure sensor 30 and/or the at least one length sensor 40, controlling operation of the stinger assembly 10, and controlling operation of the feed extension assembly 20.

The above mentioned method performed by a control unit 600 or a computer connected to the control unit 600 for controlling operation of the stabilizing arrangement has the advantage of at least partially automatizing the process for stabilizing a feed system of a mining or construction equipment.

The above mentioned method performed by a control unit 600 or a computer connected to the control unit (600) for controlling operation of the stabilizing arrangement has all the advantages that have been described above in conjunction with the method for stabilizing a feed system of a mining or construction equipment.

As illustrated in Fig. 4, the control unit 600 may be connected with a stinger assembly 10, a feed extension assembly 20, a pressure sensor 30, and a length sensor 40 via the communication links 100a, 100b, 100c, and 100d respectively. The control unit 600 comprises at least one processor 601, at least one memory 602 and at least one data port 603. The at least one processor 601 is usually an electronic processing circuitry that processes input data and provides appropriate output.

According to a fifth aspect of the disclosure, there is provided a computer program product comprising instructions which, when executed on at least one processor 601, cause the at least one processor 601 to carry out the method performed by a control unit 600 or a computer connected to the control unit 600 for controlling operation of the stabilizing arrangement as was described above for stabilizing the feed system comprising at least one feed track.

The computer program product provides all the advantages that have been described above in conjunction with the method as was described above for controlling operation of the stabilizing arrangement for stabilizing the feed system comprising at least one feed track.

According to some embodiments herein there is provided a computer program which comprises program code for causing a control unit 600 or a computer connected to the control unit 600 to carry out the method as was described above for controlling operation of the stabilizing arrangement as was described above for stabilizing the feed system comprising at least one feed track.

The computer program may comprise routines for obtaining data from the at least one pressure sensor 30 or the at least one length sensor 40, controlling operation of the stinger assembly 10, and controlling operation of the feed extension assembly 20.

According to a sixth aspect of the disclosure, there is provided a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor 601 , cause the at least one processor 601 to carry out the method performed by a control unit 600 or a computer connected to the control unit 600 for controlling operation of the stabilizing arrangement as was described above for stabilizing the feed system comprising at least one feed track.

The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.

According to some embodiments herein there is provided a computer-readable storage medium storing a computer program, wherein said computer program comprises program code for causing a control unit 600 or a computer connected to the control unit 600 to carry out the method as was described above for controlling operation of the stabilizing arrangement as was described above for stabilizing the feed system comprising at least one feed track. The computer-readable storage medium may comprise non-volatile memory (NVM) for storing the computer program.

Although the invention has been described in terms of example embodiments as set forth above, it should be understood that the examples are given solely for the purpose of illustration and are not to be construed as limitations of the claims, as many variations thereof are possible without departing from the scope of the invention. Each feature disclosed or illustrated in the present disclosure may be incorporated in the claims, whether alone or in any appropriate combination with any other feature disclosed or illustrated herein.