Method and system for manoeuvring a mobile mining machine in a tunnel and a mobile mining machine

摘要

Method of manoeuvring a mobile mining machine including two or more self steered and optionally self propelled interconnected units being connected as train units over a respective articulating joint, said mobile mining machine having a forward and a backward direction, wherein in a tunnel following mode the method includes: - producing a set of first signals representative of sideward distances between at least one side of the mobile mining machine and a respective nearby wall of said tunnel, and - evaluating said set of first signals so as to determine a sideways position of the mobile mining machine in respect of the walls of said tunnel during driving, and - producing steering commands to be sent to a propulsion arrangement in order to maintain a position of the mobile mining machine to ensure clearance to tunnel walls during driving. The invention also relates to a system and a mobile mining machine.