Patent ID: 8744746
Filing Date: 2014-06-03
Classification: G05D

Abstract:
1. A method of determining a route for automatically controlling a mobile mining machine, the method comprising, for the purpose of performing a task, determining a route the mining machine is to follow, wherein the method further comprises determining the route for the mining machine computer-aidedly by executing, by a data processing machine configured for generating routes, the following steps of: retrieving an environment model comprising wall location data, receiving from a user at least an input for determining a starting point of the route and an input for determining an end point of the route, determining the route between the starting point and the end point on the basis of the environment model and data concerning properties of the mining machine by executing at least one route determination algorithm to determine route points for which at least position data are calculated, and storing the data determining the route to be used for automatically guiding the mining machine, determining position data for a set of route points of the route on the basis of the environment model, calculating a path curvature on the basis of the determined position data, determining, on the basis of the calculated path curvature and route-point-specifically, a certain position of a steering angle by which the mining machine follows the route, determining a space required by the mining machine at said position of the steering angle on the basis of the mining machine property data, checking if a predetermined minimum distance from tunnel walls is exceeded on the basis of the determined space required by the mining machine, route point position data, and the tunnel wall location data determined by the environment model, and updating the position of the route point in response to the predetermined minimum distance not being exceeded.