| CPC E21B 7/025 (2013.01) [E21D 9/006 (2013.01)] | 15 Claims |
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1. An apparatus for generating instructions for controlling a boom of an underground mine vehicle having at least one boom, wherein the boom is movable by a boom actuator, and is attachable to a mine work machine, the apparatus being configured to control a first boom object of the boom for positioning the work machine to a target pose on the basis of a hole position and orientation in accordance with a mine work plan, wherein the apparatus comprises at least one processing core, at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processing core, cause the apparatus at least to:
perform, before starting positioning of the work machine for the target pose, positioning trajectory generation for controlling the first boom object from a starting position to a target position for positioning the work machine to the target pose, the positioning trajectory generation comprising:
receiving target pose data indicative of at least target position of the first boom object for positioning the work machine to the target pose on the basis of the hole position and orientation in accordance with the mine work plan;
receiving geometry data of the first boom object, the geometry data being mapped with start pose data indicative of the start position and orientation of the first boom object;
receiving obstacle data;
selecting trajectory generation locations for the first boom object; and
generating, by a trajectory experimentation algorithm configured to experiment available trajectory options by applying a set of cost functions, a positioning trajectory for each of the selected trajectory generation locations on the basis of the target pose data, the geometry data, the start pose data, and the obstacle data; and
applying at least some of the positioning trajectories for controlling the respective boom when boom movement is initiated.
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