Patent ID: 9476256
Filing Date: 2016-10-25
CPC Classification: E21B

Claim Text:
1. A mining vehicle comprising: a movable carrier; at least one boom having a plurality of boom joints; at least one sensor arranged to measure at least one boom joint for measuring orientation with respect to gravity; a plurality of boom actuators for moving the at least one boom in different positions including an operating position; at least one mining work device arranged at a distal portion of the boom; measuring means for determining an actual position of the boom; and at least one control unit for controlling the position of the boom according to measurement data received from the measuring means and input control data, wherein at least one position of the boom is predetermined, and at least one intermediate position is determined for the boom between the operating position and the predetermined position, the at least one control unit being configured to utilize measured data received from the at least one sensor when moving the boom to the predetermined position wherein at least lateral swing and forward-backward tilt of the mining work device are determined, to retrieve stored data on the predetermined position of the boom, to move the at least one boom from the operating position to the predetermined position via the at least one intermediate position in response to a received control command, and to move at least one boom joint affecting the lateral swing to a predetermined position and to keep the boom joint unchanged when moving the boom to the predetermined position by moving other boom joints, and wherein a transport position relative to the mining vehicle is pre-defined for the boom, the control unit being arranged to employ stored data on the transport position of the boom and automatically move the boom from any current position to the defined transport position.