US 12,072,712 B2
System and method of controlling the movement of a mobile mining machine
Guenther Weiermair, Zeltweg (AT)
Assigned to Sandvik Mining and Construction G.m.b.H., Zeltweg (AT)
Appl. No. 17/048,675
Filed by SANDVIK MINING AND CONSTRUCTION G.M.B.H., Zeltweg (AT)
PCT Filed Apr. 20, 2018, PCT No. PCT/EP2018/060252
§ 371(c)(1), (2) Date Oct. 19, 2020,
PCT Pub. No. WO2019/201455, PCT Pub. Date Oct. 24, 2019.
Prior Publication US 2021/0373568 A1, Dec. 2, 2021
Int. Cl. B62D 11/02 (2006.01); B62D 7/02 (2006.01); B62D 7/15 (2006.01); B62D 11/20 (2006.01); E21F 13/02 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0236 (2013.01) [B62D 7/026 (2013.01); B62D 7/1509 (2013.01); B62D 11/02 (2013.01); B62D 11/20 (2013.01); E21F 13/02 (2013.01); G05D 1/0255 (2013.01)] 15 Claims
OG exemplary drawing
 
13. A mobile mining machine or a mobile machine for material haulage comprising:
a vehicle unit having at least one pair of parallelly arranged right and left crawlers driven by respective crawler motors; and
a system arranged for controlling the mobile mining machine, the system comprising:
an input means arranged for setting an operating value for at least one driving parameter for each of the parallelly arranged right and left crawlers;
at least one sensor arranged for measuring an actual value of the at least one driving parameter for each of the parallelly arranged right and left crawlers; and
a controller arranged for determining a control signal for each right and left crawler and sending the control signal to a regulating means to adjust the movement of the mobile mining machine, wherein the regulating means is arranged for regulating the respective crawler motor in response to the control signal for the respective crawler, and wherein the controller is configured to receive said operating value of the driving parameter from the input means and said actual value of the driving parameter from the at least one sensor, to generate the control signal for the respective crawler based on said operating value of the driving parameter of the respective crawler and the actual values of the driving parameter of the pair of right and left crawlers including the respective crawler.