A method for the operation of a mining or construction machine

Abstract

A method for the operation of a mining or construction machine. The method comprises: by usage of a path planner, planning a path for the mining or construction machine. The planning comprises: obtaining determined kinematic constraints associated with the mining or construction machine; obtaining pose candidates in accordance with the kinematic constraints; in an evaluation of a path planner cost function, projecting the obtained pose candidates onto a three-dimensional terrain map; performing a path planner search in two dimensions by usage of one or more search algorithms so as to minimize the path planner cost function; and based on the performed path planner search, determining a trajectory for the mining or construction machine.

Description

[0001] A METHOD FOR THE OPERATION OF A MINING OR CONSTRUCTION MACHINE

[0002] Technical Field

[0003] The disclosure relates to a method for the operation of a mining or construction machine. Further, the disclosure relates to a control arrangement and to a system comprising one or more mining or construction machines.

[0004] Background

[0005] For breaking or fracturing rock and excavating and drilling tunnels or rooms above ground, such as in a surface mine, or underground, mining or construction machines may be used. The mining or construction machine may be a drilling rig having one or more drilling machines drilling into to a rock formation, or rock. The drilling machine may be a percussive or percussion drilling machine, or any other type of drilling machine. However, other mining or construction machines may be used, such as vehicles for the transportation of fractured rock, or other materials. In general, the mining or construction machine has means for propulsion, such as wheels or continuous tracks. Some mining or construction machines may be autonomous, or selfdriving, machines. For the operation of mining or construction machines, such as autonomous machines, path planning for the machine may be performed.

[0006] Summary

[0007] The inventors have found drawbacks in conventional solutions for path planning for the operation of a mining or construction machine. For example, some conventional solutions are not efficient enough and can be further improved.

[0008] An object of embodiments of the disclosure is to provide a solution which mitigates or solves drawbacks and problems of conventional solutions.

[0009] The above and further objects are solved by the subject matter of the appended independent claims. Further advantageous embodiments can be found in the dependent claims.

[0010] According to a first aspect of the disclosure, the above mentioned and other objects are achieved with a method for the operation of a mining or construction machine. The method comprises: by usage of a path planner, planning a path for the mining or construction machine. The planning, or the step of planning, comprises: obtaining determined kinematic constraints associated with the mining or construction machine; obtaining pose candidates in accordance with the kinematic constraints; in an evaluation of a path planner cost function, projecting the obtained pose candidates onto a three-dimensional terrain map; performing a path planner search in two dimensions by usage of one or more search algorithms so as to minimize the path planner cost function; and based on the performed path planner search, determining a trajectory for the mining or construction machine.

[0011] In general, the pose of the mining or construction machine refers to both the position of the mining or construction machine and the orientation of the mining or construction machine.

[0012] An advantage of the method according to the first aspect is an improved operation of a mining or construction machine. An advantage of the method according to the first aspect is an improved path planning for the operation of a mining or construction machine. An advantage of the method according to the first aspect is an improved navigation of a mining or construction machine, for example, an improved autonomous navigation of a mining or construction machine.

[0013] The inventors of the present invention have identified problems with conventional solutions: Firstly, some conventional path planners do not take the terrain into consideration. Even though the paths are feasible in a two-dimensional approximation of the world, it might not be in the real world. If the path ranges over areas with high inclination, the stability of the mining or construction machine may be compromised. Conventional path planners also lack the possibility to evaluate paths against each other in relation to preferred routes in the terrain. This could for example be that it is, according to the stability of the mining or construction machine, possible to traverse a steep inclination, but the mining or construction machine would have to be driven so slowly that it would in fact be faster to choose a longer detour. Secondly, a drill sequence of a mining or construction machine, which conventionally is produced by manual work by a user, also does not fully take the terrain into consideration. It is not trivial for a user to grasp the complexity of a terrain, and the risk of creating sub-optimal sequences is high. These problems of conventional solutions, and other problems, are solved, or at least mitigated, by embodiments of the method according to the first aspect.

[0014] An advantage of the method according to the first aspect is a global path planner for the mining or construction machine is provided. An advantage of the method according to the first aspect is an automated drill sequence provider is provided. With only a drill plan and knowledge of the terrain as input, embodiments of the of the method according to the first aspect provide a feasible and efficient motion plan to completely drill an unprepared area.

[0015] Embodiments of the method according to the first aspect are especially advantageous for autonomous, or self-driving, mining or construction machines. Embodiments of the method according to the first aspect are advantageous for remotely controlled mining or construction machines.

[0016] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: operating the mining or construction machine to move along the determined trajectory.

[0017] According to a further advantageous embodiment of the method according to the first aspect, the determined trajectory for the mining or construction machine comprises a path and movement from a first position to at least one second position.

[0018] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: based on the performed path planner search, selecting a trajectory for the mining or construction machine from two or more generated trajectories for the mining or construction machine.

[0019] An advantage of this embodiment is a further improved path planning for the operation of a mining or construction machine. According to yet another advantageous embodiment of the method according to the first aspect, the obtained pose candidates are two-dimensional. An advantage of this embodiment is faster processing time to obtain path candidates, due to a more limited search space.

[0020] According to still another advantageous embodiment of the method according to the first aspect, the method further comprises: including one or more auxiliary penalties in the path planner cost function; and applying the one or more auxiliary penalties in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

[0021] An advantage of this embodiment is a flexible path planning process that can be adapted to various constraints and environments. An advantage of this embodiment is a further improved path planning for the operation of a mining or construction machine.

[0022] According to an advantageous embodiment of the method according to the first aspect, the one or more auxiliary penalties com prises / com prise one or more of the group of:

[0023] • a penalty for turning the mining or construction machine;

[0024] • a penalty for changing turning directions of the mining or construction machine;

[0025] • a penalty for a change from forward movement to reverse movement of the mining or construction machine; and

[0026] • a penalty for increased power consumption of the mining or construction machine.

[0027] An advantage of this embodiment is a flexible path planning process that can be adapted to various constraints and environments. An advantage of this embodiment is a path planning process that plans feasible paths. An advantage of this embodiment is a further improved navigation of a mining or construction machine.

[0028] According to a further advantageous embodiment of the method according to the first aspect, the kinematic constraints comprise motion primitives associated with the mining or construction machine. An advantage of this embodiment is an efficient path planning process that guarantees feasible paths. An advantage of this embodiment is a further improved navigation of a mining or construction machine. According to an advantageous embodiment of the method according to the first aspect, the method further comprises: by usage of a lattice planner, planning a path for the mining or construction machine.

[0029] An advantage of this embodiment is a path planning process that plans feasible paths within a limited computational time. An advantage of this embodiment is a further improved navigation of a mining or construction machine.

[0030] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: applying a heuristic function in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

[0031] An advantage of this embodiment is a path planning process able to find feasible paths in complex environments. Environments may be complex in that the environment is not simply a flat surface. For example, the complex environment may include objects that are to be avoided by the mining or construction machine, or the complexity of the environment may be the structure of the terrain itself, for example including slopes, depressions, inclinations etc.

[0032] According to yet another advantageous embodiment of the method according to the first aspect, the method further comprises: by usage of a speed limit provider, computing speed limits for two or more two- dimensional poses of the mining or construction machine; and applying the computed speed limits in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

[0033] An advantage of this embodiment is an efficient path planning process that plans paths in accordance with the terrain. An advantage of this embodiment is a safer navigation of a mining or construction machine.

[0034] According to still another advantageous embodiment of the method according to the first aspect, the method further comprises: by usage of a speed limit provider, projecting two or more two-dimensional poses of the mining or construction machine onto the three-dimensional terrain map so as to obtain two or more three-dimensional poses of the mining or construction machine; by usage of the speed limit provider, computing speed limits for the two or more three-dimensional poses of the mining or construction machine; and applying the computed speed limits in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

[0035] An advantage of this embodiment is an efficient path planning process that plans paths in accordance with the terrain. An advantage of this embodiment is a further safer navigation of a mining or construction machine.

[0036] According to an advantageous embodiment of the method according to the first aspect, the method further comprises: based on the performed path planner search, determining a trajectory for the mining or construction machine in a discrete state space; and by usage of a trajectory smoother, adjusting the trajectory in the discrete state space to a continuous state space.

[0037] An advantage of this embodiment is a path planning process that produces trajectories that are easier to navigate.

[0038] According to a further advantageous embodiment of the method according to the first aspect, the mining or construction machine comprises one or more drilling machines, and wherein the method further comprises: by usage of a drill sequence provider and a based on the determined trajectory for the mining or construction machine, setting a drill sequence of drill holes to be drilled in one or more rock formations by usage of the one or more drilling machines.

[0039] An advantage of this embodiment is a more efficient operation of one or many mining or construction machines. An advantage of this embodiment is further enabling more autonomous operation in relation to conventional solutions.

[0040] According to yet another advantageous embodiment of the method according to the first aspect, the method further comprises: by usage of an approach angle constraint solver and a based on the determined trajectory for the mining or construction machine, setting an approach angle of each drill hole of the drill sequence of drill holes to be drilled. An advantage of this embodiment is a further improved operation of a mining or construction machine.

[0041] According to still another advantageous embodiment of the method according to the first aspect, the method further comprises: including the determined trajectory for the mining or construction machine in an optimizer cost function of an optimizer; in an evaluation of the optimizer cost function, performing an optimizer search by usage of one or more search algorithms so as to minimize the optimizer cost function; and based on the performed optimizer search, setting one or more of the group of:

[0042] • a drill sequence of drill holes to be drilled in one or more rock formations by usage of the one or more drilling machines; and

[0043] • an approach angle of each drill hole of the drill sequence of drill holes to be drilled.

[0044] An advantage of this embodiment is a further improved operation of a mining or construction machine.

[0045] According to another advantageous embodiment of the method according to the first aspect, the method further comprises: including the position of one or more drilled drill holes of the drill sequence of drill holes to be drilled in the path planner cost function, and directly or indirectly applying the position of the one or more drilled drill holes of the drill sequence of drill holes to be drilled in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

[0046] An advantage of this embodiment is an efficient path planning process that avoids planning paths that would intersect already drilled holes.

[0047] According to a second aspect of the disclosure, the above mentioned and other objects are achieved with a computer program or a computer-readable medium comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method according to any one of the embodiments disclosed above or below. Advantages of the computer program or the computer-readable medium according to the second aspect correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0048] According to an aspect of the present disclosure, the above-mentioned computer program or the computer-readable medium is configured to implement the method and its embodiments described herein.

[0049] According to a third aspect of the disclosure, the above mentioned and other objects are achieved with a control arrangement for the operation of a mining or construction machine. The control arrangement is configured to: by usage of a path planner, plan a path for the mining or construction machine; obtain determined kinematic constraints associated with the mining or construction machine; obtain pose candidates in accordance with the kinematic constraints; in an evaluation of a path planner cost function, project the obtained pose candidates onto a three-dimensional terrain map; perform a path planner search in two dimensions by usage of one or more search algorithms so as to minimize the path planner cost function; and based on the performed path planner search, determine a trajectory for the mining or construction machine.

[0050] It is to be appreciated that all the embodiments described for the method aspects of the disclosure are applicable also to the control arrangement aspects of the disclosure. Thus, all embodiments described for the method aspects of the disclosure may be performed by the control arrangement, which may include one or more controllers, control units, or one or more control devices. The embodiments of the control arrangement have advantages corresponding to advantages mentioned above for the method and its embodiments.

[0051] According to a fourth aspect of the disclosure, the above mentioned and other objects are achieved with a system comprising one or more mining or construction machines. The system comprises a control arrangement according to any one of the embodiments disclosed above or below. Advantages of the system according to the fourth aspect and of its embodiments correspond to advantages of the method according to the first aspect and its embodiments mentioned above or below.

[0052] The above-mentioned features and embodiments of the method, the computer program, the computer-readable medium, the control arrangement, and the system, respectively, may be combined in various possible ways providing further advantageous embodiments.

[0053] Further advantageous embodiments of the method, the computer program, the computer-readable medium, the control arrangement and the system and further advantages of the embodiments emerge from the detailed description of embodiments.

[0054] Brief Description of the Drawings

[0055] Embodiments of the disclosure will now be illustrated, for exemplary purposes, in more detail by way of embodiments and with reference to the enclosed drawings, where similar references are used for similar parts, in which:

[0056] Figure 1 is a schematic side view of a first embodiment of a mining or construction machine;

[0057] Figure 2 is a schematic side view of a second embodiment of a mining or construction machine;

[0058] Figure 3 is a schematic side view of a third embodiment of a mining or construction machine;

[0059] Figure 4 is a schematic top view illustrating three different trajectories;

[0060] Figure 5 schematically illustrates side views of the trajectories of figure 4;

[0061] Figure 6 is a schematic diagram illustrating an underground mine;

[0062] Figure 7 is a schematic flow chart illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0063] Figure 8 is another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure;

[0064] Figure 9A is yet another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure; Figure 9B is yet another schematic flow chart illustrating further aspects of embodiments of the method according to the first aspect of the disclosure; Figure 10 is a schematic diagram illustrating a representation of a set of motion primitives;

[0065] Figure 11 is a schematic diagram illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0066] Figure 12 is another schematic diagram illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0067] Figure 13 is yet another schematic diagram illustrating aspects of embodiments of the method according to the first aspect of the disclosure;

[0068] Figure 14 is a schematic diagram illustrating an embodiment of the system according to the fourth aspect of the disclosure; and

[0069] Figure 15 is a schematic diagram illustrating an embodiment of the control arrangement according to the third aspect of the disclosure, in which a method according to any one of the herein described embodiments may be implemented.

[0070] Detailed Description

[0071] With reference to figures 1 to 3, three different embodiments of a mining or construction machine 100a, 100b, 100c are schematically illustrated. In general, the mining or construction machine 100a-c has equipment 170a-d, or means, for propulsion, such as wheels 111 , 113, 172b, 172d or continuous tracks 172c. Embodiments of the method 400, of the control arrangement 330, 330a-c and of the system 100e may be utilized in combination with the above- and below-described kinds of mining or construction machines 10Oa-c, but also in combination with any other kind of mining or construction machine. However, for the sake of simplicity, the disclosure of the embodiments of the method 400, of the control arrangement 330, 330a-c and of the system 100e is exemplified hereinbelow with reference to the mining or construction machines 100a-c illustrated in figures 1 to 3. For some embodiments, the mining or construction machine 100a, 100b, 100c may be referred to, or comprise, a mining or construction vehicle.

[0072] With reference to figure 1 , the mining or construction machine 100a is schematically illustrated as a drilling rig, which also may be referred to as a rock drilling rig. The mining or construction machine 100a, or drilling rig, may be utilised in tunnelling, surface mining, underground mining, and rock reinforcement. The mining or construction machine 100a, or drilling rig, may be used, for example, for drilling drill holes, blast holes, grout holes, holes for installing rock bolts, water wells and other wells, as well as for piling and foundations drilling etc, in a rock formation 700a, for example during tunnelling or mining. The mining or construction machine 100a may rest and travel on a support surface 109, such as ground.

[0073] With reference to figure 1 , in general, the mining or construction machine 100a may comprise a carrier 115 and one or more booms 101 attached to the carrier 115, where the booms 101 may carry associated drilling machines 104b1 and / or other tools. The mining or construction machine 100a illustrated in figure 1 includes one boom 101. A first end 101 a of the boom 101 may be attached in such a way that the boom 101 can pivot in relation to the carrier 115, such as a vehicle, via one or more articulated connections (not shown). The mining or construction machine 100a may include a feed beam 103 carrying and guiding a feeder 104a, which is movable in relation to the feed beam 103. The mining or construction machine 100a may include a drilling machine 104b1 attached to the feeder 104a and thus movable in relation to the feed beam 103. The feed beam 103 may be attached to a second end 101 b of the boom 101 via one or more articulated connections, such as one or more rotators (not shown). The drilling machine 104b1 may be moved along the feed beam 103 as the drilling of a drill hole 160a progresses. The drilling machine 104b may comprise and / or hold a drill string 104c and / or a drill bit 104d for drilling a drill hole 160a. It is to be understood that the embodiment of figure 1 is only exemplary, and that the mining or construction machine 100a may carry any kind of tool, such as a bolt installation tool for installation of rock bolts. Other and / or additional tools may also be utilised. The mining or construction machine 100a includes equipment 170a, or means, for the propulsion of the mining or construction machine 100a, which in figure 1 comprises wheels 111 , 113.

[0074] With reference to figure 1 , the mining or construction machine 100a may be configured to carry one or more electric battery units 106a for driving the mining or construction machine 100a. For some embodiments, the drilling machine 104ba may be hydraulically driven and power supplied from one or more hydraulic pumps 105, which in turn may be driven by one or more electric motors driven by the one or more electric battery units 106a. For other embodiments, the drilling machine 104ba may instead be driven pneumatically, electrically or by fluid. The drilling process may be controlled by an operator from a cabin 107 of the mining or construction machine 100a. Alternatively, the mining or construction machine 100a may be remotely controlled or be configured to operate autonomously.

[0075] With reference to figure 1 , the feed beam 103 may comprise a first end 103a and a second end 103b. The feed beam 103 may be configured to position the first end 103a of the feed beam 103 between the second end 103b of the feed beam 103 and the rock formation 700a to be penetrated or drilled. For some embodiments, during drilling, the first end 103a of the feed beam 103 may abut, or rest, against the rock formation 700a. For example, the drilling rig 100a may be utilised in tunnelling, surface mining, underground mining, rock reinforcement and raise boring. For some embodiments, the mining or construction machine 100a may include a scanner 102 for scanning the surroundings 116 of the mining or construction machine 100a so as to produce a range scan.

[0076] With reference to figure 2, the mining or construction machine 100b is schematically illustrated as a dump truck 100b, or dumper. The dump truck 100b may, for example, transport fractured rock, or rock material, or any other material used in mining or constructions. The mining or construction machine 100b has equipment 170b, or means, for propulsion. In the embodiment of figure 2, the equipment 170b for propulsion comprises wheels 172b. The mining or construction machine 100b may be configured to carry one or more electric battery units 106b for driving the mining or construction machine 100b. For other embodiments, the mining or construction machine 100b may comprise an internal combustion engine for driving the mining or construction machine 100b. For some embodiments, the mining or construction machine 100b may include one or more scanners 102, 104, such as two scanners 102, 104 for scanning the surroundings 116 of the mining or construction machine 100a so as to produce one or more range scans, such as two or more range scans.

[0077] With reference to figure 3, the mining or construction machine 100c is schematically illustrated as a drilling rig. The mining or construction machine 100c has equipment 170c, or means, for propulsion. In the embodiment of figure 3, the equipment 170c for propulsion comprises one or more continuous tracks 172c. The mining or construction machine 100c may include a feed beam 174c and a drilling machine 104b3 connected to the feed beam 174c. The drilling machine 104b3 may comprise and / or hold a drill string 176c and / or a drill bit 178c for drilling a drill hole. The mining or construction machine 100c may be configured to carry one or more electric battery units 106c for driving the mining or construction machine 100c. For other embodiments, the mining or construction machine 100c may comprise an internal combustion engine for driving the mining or construction machine 100c. For example, the drilling rig 100c may be utilised in surface mining, underground mining and raise boring. For some embodiments, the mining or construction machine 100c may include a scanner 102 for scanning the surroundings 116 of the mining vehicle 100a so as to produce one or more range scans.

[0078] With reference to figures 1 to 3, for some embodiments, the mining or construction machine 100a, 100b, 100c may include a control arrangement 330a-c, for example, for controlling the mining or construction machine 100a, 100b, 100c. Embodiments of the control arrangement 330a-c are disclosed in further detail hereinbelow.

[0079] Embodiments of the method 400 may be applied to mining or construction machines 100a, 100b, 100c above ground, such as in a surface mine, or on other construction sites. Figures 4 and 5 schematically illustrate different trajectories 212a, 212b, 212c, more specifically three different trajectories 212a, 212b, 212c for a mining or construction machine 100a, 100b, 100c above ground. However, it is to be understood that there may be several more trajectories. With reference to figure 4, the ground may include one or more depressions 206a, 205b, one or more elevations 208 and one or more slopes or inclinations 210, and other obstacles. The disclosure of embodiments of the method hereinbelow will refer to trajectories 212a, 212b, 212c of figures 3 and 4.

[0080] Embodiments of the method 400 may be applied to mining or construction machines 100a, 100b, 100c underground, for example in an underground mine 200. With reference to figure 6, an example of an underground mine 200 is schematically illustrated, provided in a rock formation 700a. The underground mine 200 includes a plurality of tunnels or tunnel segments 204a, 204b, 204c, which are connected to one another by one or more helical ramps 202 of the underground mine 200. The tunnel segments 204a, 204b, 204c are at different levels, or at different distances below the ground surface. A mining or construction machine 100a, 100b, 100c may travel in a vertical direction along the helical ramp 202 so as to travel between the tunnel segments 204a, 204b, 204c and between different levels of the underground mine 200.

[0081] With reference to figures 7 to 9B, embodiments of the method 400 for the operation (or control) of a mining or construction machine 100a-c are schematically illustrated in flow charts.

[0082] With reference to figure 7, embodiments of the method 400 for the operation of a mining or construction machine 100a-c include:

[0083] • by usage of a path planner 131 , planning 401 a path for the mining or construction machine 100a, 100b, 100c, wherein the planning 401 , or the step of planning 401 , comprises:

[0084] • obtaining 402 determined (or defined) kinematic constraints (or motion constraints) associated with the mining or construction machine 100a-c;

[0085] • obtaining 403 (for example by creating, or by computing) pose candidates in accordance with the kinematic constraints;

[0086] • in an evaluation of a path planner cost function, projecting 404 the obtained pose candidates onto a three-dimensional terrain map (such as a map in digital format);

[0087] • performing 405 a path planner search in two dimensions by usage of one or more search algorithms so as to minimize the path planner cost function; and

[0088] • based on the performed path planner search, determining 406 a trajectory 212a (see figures 4 and 5) for the mining or construction machine 100a-c.

[0089] In general, the pose of the mining or construction machine refers to both the position of the mining or construction machine and the orientation of the mining or construction machine. In general, the position of the mining or construction machine is the spatial or geographical position of the mining or construction machine, such in a three- dimensional coordinate system, and may, for example, be defined by three- dimensional coordinates, such as x, y and z, of the three-dimensional coordinate system. In general, the orientation of the mining or construction machine is the direction, angle, or alignment, of the mining or construction machine, such as the angle of the mining or construction machine in a horizonal, or two-dimensional, plane, such as the angle in an xy-plane. In three dimensions, the orientation of the mining or construction machine may, for example, be represented by a roll angle, a pitch angle, and a yaw angle.

[0090] With reference to figures 4 and 5, for some embodiments, the determined trajectory 212a for the mining or construction machine 100a-c may comprise a path and movement from a first position A to at least one second position B. For some embodiments, it may be defined that the obtained pose candidates are two- dimensional, i.e. , defined in two dimensions.

[0091] With reference to figures 7 and 12, for some embodiments, the method 400 may further comprise: by usage of a lattice planner 132 (see figure 12), planning 401 a path for the mining or construction machine 100a-c. For some embodiments, the method 400 may be described as a method for the navigation of a mining or construction machine 100a- c, for example, the autonomous navigation of a mining or construction machine 100a- c.

[0092] With reference to figure 8, embodiments of the method 400 for the operation of a mining or construction machine 100a-c may include one or more of the steps of:

[0093] • determining 400a (or defining) kinematic constrains associated with the mining or construction machine 100a-c;

[0094] • operating 423 (or controlling) the mining or construction machine 100a-c to move along the determined trajectory 212a;

[0095] • based on the performed path planner search, selecting 406a a trajectory 212a for the mining or construction machine 100a-c from two or more generated trajectories 212a, 212b, 212c for the mining or construction machine 100a-c;

[0096] • including 407 one or more auxiliary penalties in the path planner cost function; and

[0097] • applying 408 the one or more auxiliary penalties in the evaluation of the path planner cost function so as to guide the performance of the path planner search; • applying 409 a heuristic function in the evaluation of the path planner cost function so as to guide the performance of the path planner search;

[0098] • by usage of a speed limit provider 133 (see figure 11 ), computing 410 (or determining) speed limits (such as normalized speed limits) for two or more two- dimensional poses of the mining or construction machine 100a-c; and

[0099] • applying 411 the computed speed limits in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

[0100] With reference to step 409 mentioned above, the heuristic function may represent an estimation or a rough approximation of the cost function from the current pose / path candidate to the goal. In its simplest form, it is simply the Euclidean distance to the goal. In some search algorithms (for example, a Hybrid A* search algorithm mentioned hereinbelow), having a heuristic function is standard and important. For other search algorithms, it is not.

[0101] With reference to figure 8, for some embodiments, the one or more auxiliary penalties may comprise (but not necessarily limited to) one or more of the group of:

[0102] • a penalty for turning the mining or construction machine 100a-c;

[0103] • a penalty for changing turning directions of the mining or construction machine 100a-c;

[0104] • a penalty for a change from forward movement to reverse movement of the mining or construction machine 100a-c; and

[0105] • a penalty for increased power consumption of the mining or construction machine 100a-c.

[0106] For some embodiments, the penalty, for example the penalty for turning, may be added to the path planner cost function to guide the search so as to avoid certain items. If, for example, the path planner cost function is designed to reflect the travel time, then the penalty for turning the mining or construction machine 100a-c may be the addition of some extra seconds to the travel time in the path planner cost function.

[0107] With reference to figures 7 and 8, for some embodiments, the kinematic constraints may comprise motion primitives associated with the mining or construction machine 100a-c. For some embodiments, it may be defined that the motion primitives are two- dimensional, i.e., defined in two dimensions. The kinematic constraints, motion constraints, or motion primitives, may comprise (but not necessarily limited to) one or more of the group of:

[0108] • a short path candidate;

[0109] • a sequence of poses;

[0110] • a single pose; and

[0111] • coordinates, such as x, y, z coordinates.

[0112] Figure 10 shows a diagram schematically illustrating a representation of a set of motion primitives. More specifically, the diagram of figure 10 schematically illustrates an example of locally defined path segments (motion primitives) originating from the origin 0. The origin 0 may represent a starting point of a mining or construction machine 100a-c. The x axis and y axis represent an environment, or a map, in two dimensions. For example, the x axis may represent a direction to the east while the y axis may represent a direction to the north. The units of the x axis and y axis may be in meter, or any other unit for distance. Thus, as viewed from the origin 0 with a certain heading, such as an end or goal position / point B, the graphs in the diagram of figure 10 show path candidates, which (in relation to the starting position of the mining or construction machine 100a-c) can be evaluated by embodiments of the method 400.

[0113] With reference to figure 9A, embodiments of the method 400 for the operation of a mining or construction machine 100a-c may include the steps of:

[0114] • by usage of a speed limit provider 133 (see figure 11 ), projecting 412 two or more two-dimensional poses of the mining or construction machine 100a-c onto the three-dimensional terrain map so as to obtain two or more three-dimensional poses of the mining or construction machine 100a-c;

[0115] • by usage of the speed limit provider (133), computing 413 (or determining) speed limits (such as normalized speed limits) for the two or more three- dimensional poses of the mining or construction machine 100a-c; and

[0116] • applying 414 the computed speed limits in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

[0117] With reference to figure 9A, embodiments of the method 400 for the operation of a mining or construction machine 100a-c may include the steps of: • based on the performed path planner search, determining 406 a trajectory 212a for the mining or construction machine 100a-c in a discrete state space; and

[0118] • by usage of a trajectory smoother 134 (see figure 11 ), adjusting 415 (or transferring, or converting) the trajectory 212a in the discrete state space to a continuous state space.

[0119] With reference to figure 9B, embodiments of the method 400 for the operation of a mining or construction machine 100a-c may include one or more of the steps of:

[0120] • when the mining or construction machine 100a, 100c comprises one or more drilling machines 104b1 , 104b3, by usage of a drill sequence provider 135 (see figure 13) and a based on the determined trajectory 212a for the mining or construction machine 100a-c, setting 416 a drill sequence of drill holes to be drilled in one or more rock formations 700a by usage of the one or more drilling machines 104b1 ; 104b3; and

[0121] • by usage of an approach angle constraint solver 136 (see figure 13) and a based on the determined trajectory 212a for the mining or construction machine 100a- c, setting 417 an approach angle of each drill hole of the drill sequence of drill holes to be drilled.

[0122] With reference to figure 9B, embodiments of the method 400 for the operation of a mining or construction machine 100a-c may include the steps of:

[0123] • when the mining or construction machine 100a, 100c comprises one or more drilling machines 104b1 , 104b3, including 418 the determined trajectory 212a for the mining or construction machine 100a-c in an optimizer cost function of an optimizer 137 (see figure 13);

[0124] • in an evaluation of the optimizer cost function, performing 419 an optimizer search by usage of one or more search algorithms so as to minimize the optimizer cost function; and

[0125] • based on the performed optimizer search, setting 420 one or more of the group of: a drill sequence of drill holes to be drilled in one or more rock formations 700a by usage of the one or more drilling machines 104b1 ; 104b3; and an approach angle of each drill hole of the drill sequence of drill holes to be drilled.

[0126] With reference to figure 9B, embodiments of the method 400 for the operation of a mining or construction machine 100a-c may include the steps of:

[0127] • when the mining or construction machine 100a, 100c comprises one or more drilling machines 104b1 , 104b3, including 421 the position of one or more drilled drill holes of the drill sequence of drill holes to be drilled in the path planner cost function, and

[0128] • directly or indirectly applying 422 the position of the one or more drilled drill holes of the drill sequence of drill holes to be drilled in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

[0129] With reference to figure 9B, for some embodiments, the method 400 may include controlling the drilling machine 104b1 ; 104b3 to drill one or more drill holes 160a in one or more rock formations 700a. For some embodiments, the method 400 may include controlling the drilling machine 104b1 ; 104b3 to drill one or more drill holes 160a in one or more rock formations 700a based on one or more of the group of:

[0130] • the set drill sequence of drill holes to be drilled in one or more rock formations 700a by usage of the one or more drilling machines 104b1 ; 104b3; and

[0131] • the set approach angle of each drill hole of the drill sequence of drill holes to be drilled.

[0132] For some embodiments, the path planner cost function in its basic form approximates the path travel time for mining or construction machine 100a-c. This may be achieved with different levels of approximation where adding fixed penalties is one of them. For some embodiments, the part of the path planner cost function related to the terrain computes an approximated travel time based on speed limits due to properties in the terrain.

[0133] The above-mentioned features and embodiments of the method 400 may be combined in various possible ways. Unless disclosed otherwise, it should be noted that the method steps illustrated in figures 7 to 9B and described herein do not necessarily have to be executed in the order illustrated in figures 7 to 9B. The steps may essentially be executed in any suitable order. Further, one or more steps may be added without departing from the scope of the appended claims. One or more steps may be excluded without departing from the scope of the appended claims.

[0134] In figure 11 , an embodiment of a path planner 131 is schematically illustrated, which may be implemented as software. The path planner 131 may include, and / or communicate with, a lattice planner 132, a speed limit provider 133 and a trajectory smoother 134. For some embodiments, the path planner 131 may be described as a global path planner 131.

[0135] In figure 12, an embodiment of a lattice planner 132 is schematically illustrated, which may be implemented as software.

[0136] With reference to figures 11 and 12, for some embodiments, the lattice planner 132 is planning in a discrete state space using predefined motion primitives, wherein the primitives are designed from a kinematic model of the drill rig, or the mining or construction machine 100a-c. The motion primitives may be defined in two dimensions. The path planner cost function minimized by a Hybrid A* search algorithm is evaluated by projecting the two-dimensional motion primitives onto the three-dimensional terrain map. Then, the expected travel time is computed with respect to the provided speed limiters. This implies that undrivable terrain will give a high cost. Additional penalties may also be included in the path planner cost function to guide the search. This could for example be penalties for turning, changing direction etc. This makes it possible to set a preferred type of trajectories for a specific application. The path planner cost function may be computed for each motion primitive and, for some embodiments, may be defined as:

[0137] L is the length of the motion primitive. Cspeednmit is the estimated travel time according to the speed limit. Pretm is a penalty to prefer later maneuvers before earlier along the path. Pdirchange penalizes direction change (forward / reverse). Pnonstraight is a penalty to prefer straight path over turning. Pwiggie penalizes changing turning direction. Preverse penalizes going in a reverse direction. Pextra is an extra penalty factor that can be used for scaling. The heuristic function may guide the search algorithm to make it computationally feasible. A proper heuristic function is advantageous for this kind of search algorithm to find a path within a limited time. The heuristic function represents the estimated cost to reach the goal B from the current position A in the ongoing search. This estimated cost may be computed by taking the maximum of a non- holonomic Reeds-Shepp distance and a holonomic obstacle aware cost estimation. The Reeds-Shepp distance may be computed in two dimensions without considering the terrain. The holonomic terrain aware cost may be computed by projecting positions onto the terrain and approximate a best case cost given the speed limit providers. However, it is to be understood that several other versions of the path planner cost function are possible.

[0138] With reference to figure 11 , for some embodiments, the speed limit provider 133 may compute a normalized speed limit for given two-dimensional poses. The speed limit provider 133 may comprise multiple layers, where each layer has its own method for evaluating the speed limit. The layers are combined by taking the minimum limit for each pose. The provided limit could be zero, meaning that the evaluated pose(s) is not feasible. A layer either provides a speed limit directly from the two-dimensional pose or by first projecting it onto the terrain. Terrain aware speed limit layers project the two- dimensional pose onto the terrain to obtain a three-dimensional pose. The projection method may consider the dynamics and kinematics of the drill rig, or of the mining or construction machine 100a-c, since a simple point projection may be misleading. Such layers could for example be

[0139] • Inclination speed limit: Evaluates a speed limit based on the stability of the drill rig, or of the mining or construction machine 100a-c;

[0140] • Roughness: Evaluates the surrounding terrain, as covered by the footprint of the drill rig, or of the mining or construction machine 100a-c. An uneven terrain may give a lower limit; and

[0141] • Crest / toe: The drill rig, or the mining or construction machine 100a-c, needs to slow down when approaching a crest or toe. Another layer may also be a depression / trench, which may have the same effect as a crest / toe. Non-terrain aware speed limit layers do not use the terrain map but use information obtained from other parts of the system. Known obstacles may be already drilled holes, geofence etc. In general, a drill rig, or a mining or construction machine 100a-c, should not drive over an already drilled hole. This layer typically provides zero speed limit so as to make areas with present obstacles undrivable.

[0142] With reference to figure 11 , for some embodiments, since some lattice planners 132 only provide a trajectory in a discrete state space, the trajectory smoother 134 may be used to adjust the trajectory to a continuous state space. The trajectory smoother 134 may adjust the end of the trajectory to become perfectly aligned with the goal position. It may also remove artifacts due to the discretization, which will make the trajectory smoother.

[0143] With reference to figure 11 , for some embodiments, the path planner 131 may include a speed profile provider 138. A trajectory may comprise a path and a speed profile with the velocities along the path. The speed profile provider 138 may create a speed profile using the same speed limit providers 133 that are used when planning a path. This results in a trajectory 212a that the drill rig, or the mining or construction machine 100a- c, is able to execute.

[0144] In figure 13, an embodiment of a drill sequence provider 135 is schematically illustrated, which may be implemented as software. The drill sequence provider 135 may include, and / or communicate with, the path planner 131 , an approach angle constraint solver 136 and an optimizer 137. For some embodiments, the drill sequence provider 135 may be described as an automated drill sequence provider 135.

[0145] The drill sequence provider 135 may create an ordered sequence of holes to be drilled by a drill rig. Each hole in the sequence may also include the angle with which it should be approached. An arbitrary approach angle might not be allowed due to the geometry of the terrain or the kinematics constraints of the drill rig. This effect is more pronounced when the drill plan contains non-vertical holes. The approach angle constraint for each hole in the drill plan may be computed offline given the terrain. The approach angle constraint solver 136 may provide this information to the optimizer 137. The objective of the optimizer 137 is to minimize an optimizer cost function, wherein the cost is provided by the path planner 131 in terms of an estimated time it takes for the drill rig, or the mining or construction machine 10Oa-c, to travel from a start position A to a goal position B. The optimization problem is not trivial due to fact that each already visited hole results in a new obstacle in the search space, since the mining or construction machine 100a-c in general is not allowed to drive over a drilled hole. These new obstacles may be included in the path planner cost function by adding them to the obstacle layer in the speed limit provider 133 used by the path planner 131 . The optimizer 137 may implement a search algorithm with constraints from the approach angle constraint solver and the path planner cost function evaluated by the path planner 131. A sampled based search algorithm is suitable since a non-optimal solution may be sufficient. Examples of such sampled base search algorithms are RRT, RRT* etc. Alternative embodiments may use a model-based reinforcement learning algorithm. A drill plan may contain a list of hole coordinates in two dimensions and their angles against the vertical planes.

[0146] With reference to figures 1 , 14 and 15, aspects of embodiments of the control arrangement 330, 330a-c for the operation of a mining or construction machine 100a- c are schematically illustrated. Embodiments of the control arrangement 330, 330-c are configured to:

[0147] • by usage of a path planner 131 , plan 401 a path for the mining or construction machine 100a-c;

[0148] • obtain 402 determined kinematic constraints associated with the mining or construction machine 100a-c;

[0149] • obtain 403 pose candidates in accordance with the kinematic constraints;

[0150] • in an evaluation of a path planner cost function, project 404 the obtained pose candidates onto a three-dimensional terrain map;

[0151] • perform 405 a path planner search in two dimensions by usage of one or more search algorithms so as to minimize the path planner cost function; and

[0152] • based on the performed path planner search, determine 406 a trajectory 212a for the mining or construction machine 100a-c.

[0153] For some embodiments, the control arrangement 330 may be stationary and external to the mining or construction machine 100a-c. The control arrangement 330 may be located in cloud, in a control or computer system, or elsewhere. The control arrangement 330a-c may be located in the mining or construction machine 100a-c. The control arrangement 330, 330-d may be located at two or more of said locations.

[0154] With reference to figures 1 and 14, some embodiments of the control arrangement 330, 330a-c may include reception unit 331 for obtaining data in order to perform steps 402 and 403 in figures 7 to 9B. Some embodiments of the control arrangement 330, 330a-c may include one or more processing units 332 in order to perform steps 404, 405, 407, 408, 409, 410, 411 , 412, 413, 414, 415, 418, 419, 421 and 422 in figures 7 to 9B. Some embodiments of the control arrangement 330, 330a-c may include a determination unit 333 in order to perform steps 406 and 406a in figures 7 to 9B. Some embodiments of the control arrangement 330, 330a-c may include a setting unit 334 in order to perform steps 416, 417 and 420 in figure 9B. Some embodiments of the control arrangement 330, 330a-c may include a controlling unit 335 in order to perform step 423 in figure 8.

[0155] With reference to figures 1 and 14, for some embodiments, the control arrangement 330, 330a-c may be configured to directly or indirectly communicate, for example wirelessly or via signal lines (or cables, or wires), with one or more of the system 10Oe and mining or construction machine 100a-c. Thus, for some embodiments, there may be one or more signal connections between the control arrangement 330, 330a-c and one or more of the system 100e and mining or construction machine 100a-c.

[0156] Figure 15 shows in schematic representation an embodiment of the control arrangement 330, 330a-c according to the third aspect of the disclosure, which may include a controller 600, which may correspond to or may include one or more of the above-mentioned units 331 to 335 of the control arrangement 330, 330a-c. The controller 600 may comprise a computing unit 601 , which can be constituted by essentially any suitable type of processor or microcomputer, for example a circuit for digital signal processing (Digital Signal Processor, DSP), or a circuit having a predetermined specific function (Application Specific Integrated Circuit, ASIC). The computing unit 601 is connected to a memory unit 602 arranged in the controller 600. The memory unit 602 provides the computing unit 601 with, for example, the stored program code and / or the stored data which the computing unit 601 requires to be able to perform computations. The computing unit 601 is also arranged to store partial or final results of computations in the memory unit 602.

[0157] With reference to figure 15, in addition, the controller 600 may be provided with devices 611 , 612, 613, 614 for receiving and transmitting input and output signals. These input and output signals may contain waveforms, impulses, or other attributes which, by means of the devices 61 1 , 613 for the reception of input signals, can be detected as information and can be converted into signals which can be processed by the computing unit 601 . These signals are then made available to the computing unit 601 . The devices 612, 614 for the transmission of output signals are arranged to convert signals received from the computing unit 601 in order to create output signals by, for example, modulating the signals, which, for example, can be transmitted to parts and / or systems of, or associated with, the mining or construction machine 100a-c, the system 100e and / or a data storage device 150 (see figure 1 ) for storing data. Each of the connections to the devices for receiving and transmitting input and output signals can be constituted by one or more of the group of: a cable; a data bus; and a wireless connection. With reference to figure 1 , the data stored in the data storage device 150, which may include data about the routes of the one or more mining or construction machines 100a-c, may be used for machine learning and / or Al applications.

[0158] Here and in this document, units are often described as being provided for performing steps of the method 400 according to embodiments of the disclosure. This also includes that the units are designed to and / or configured to perform these method steps.

[0159] With reference to figures 1 and 14, the units 331 to 335 of the control arrangement 330, 330a are in figure 1 and 14 illustrated as separate units. These sperate units may, however, be logically separated but physically implemented in the same unit, or can be both logically and physically arranged together. The units 331 to 335 may for example correspond to groups of instructions, which can be in the form of programming code, that are input into, and are utilized by a processor / computing unit 601 (see figure 15) when the units are active and / or are utilized for performing its method step. With reference to figures 1 , 14 and 15, the control arrangement 330, 330a-c, which may include one or more controllers 600, for example one or more devices, or control devices, according to embodiments of the present disclosure, may be arranged to perform all of the method steps mentioned above, in the claims, and in connection with the herein described embodiments. The control arrangement 330, 330a-c is associated with the above-described advantages for each respective embodiment of the method 400.

[0160] With reference to figure 15, according to the second aspect of the disclosure, a computer program 603 or a computer-readable medium is provided, comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method 400 according to any one of the embodiments disclosed above.

[0161] The person skilled in the art will appreciate that the herein described embodiments of the method 400 according to the first aspect may be implemented in a computer program 603 (see figure 15), which, when it is executed in a computer, instructs the computer to execute the method 400. The computer program is usually constituted by a computer program product 603 stored on a non-transitory / non-volatile digital storage medium, in which the computer program is incorporated in the computer-readable medium of the computer program product. The computer-readable medium comprises a suitable memory, such as, for example: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk unit, etc.

[0162] With reference to figure 14, an embodiment of the system 100e is schematically illustrated. The system 100e includes one or more mining or construction machines 100a-c. The system 100e includes a control arrangement 330, 330a-c according to any one of the embodiments disclosed above or below.

[0163] Finally, it should be understood that the invention is not limited to the embodiments described above, but also relates to and incorporates all embodiments within the scope of the appended independent claims.

Claims

Claims1. A method (400) for the operation of a mining or construction machine (100a-c), wherein the method (400) comprises: by usage of a path planner (131 ), planning (401 ) a path for the mining or construction machine (100a-c), wherein the planning (401 ) comprises obtaining (402) determined kinematic constraints associated with the mining or construction machine (100a-c); obtaining (403) pose candidates in accordance with the kinematic constraints; in an evaluation of a path planner cost function, projecting (404) the obtained pose candidates onto a three-dimensional terrain map; performing (405) a path planner search in two dimensions by usage of one or more search algorithms so as to minimize the path planner cost function; and based on the performed path planner search, determining (406) a trajectory (212a) for the mining or construction machine (100a-c).

2. A method (400) according to claim 1 , wherein the method (400) further comprises: operating (423) the mining or construction machine (100a-c) to move along the determined trajectory (212a).

3. A method (400) according to claim 1 or 2, wherein the determined trajectory (212a) for the mining or construction machine (100a-c) comprises a path and movement from a first position (A) to at least one second position (B).

4. A method (400) according to any one of the claims 1 to 3, wherein the method (400) further comprises: based on the performed path planner search, selecting (406a) a trajectory (212a) for the mining or construction machine (100a-c) from two or more generated trajectories (212a-c) for the mining or construction machine (100a-c).

5. A method (400) according to any one of the claims 1 to 4, wherein the obtained pose candidates are two-dimensional.

6. A method (400) according to any one of the claims 1 to 5, wherein the method (400) further comprises: including (407) one or more auxiliary penalties in the path planner cost function; and applying (408) the one or more auxiliary penalties in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

7. A method (400) according to claim 6, wherein the one or more auxiliary penalties com prises / com prise one or more of the group of:• a penalty for turning the mining or construction machine (1 OOa-c);• a penalty for changing turning directions of the mining or construction machine (1 OOa-c);• a penalty for a change from forward movement to reverse movement of the mining or construction machine (100a-c); and• a penalty for increased power consumption of the mining or construction machine (1 OOa-c).

8. A method (400) according to any one of the claims 1 to 7, wherein the kinematic constraints comprise motion primitives associated with the mining or construction machine (1 OOa-c).

9. A method (400) according to any one of the claims 1 to 8, wherein the method (400) further comprises: by usage of a lattice planner (132), planning (401 ) a path for the mining or construction machine (1 OOa-c).

10. A method (400) according to any one of the claims 1 to 9, wherein the method (400) further comprises: applying (409) a heuristic function in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

11. A method (400) according to any one of the claims 1 to 10, wherein the method (400) further comprises:by usage of a speed limit provider (133), computing (410) speed limits for two or more two-dimensional poses of the mining or construction machine (100a-c); and applying (411 ) the computed speed limits in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

12. A method (400) to any one of the claims 1 to 11 , wherein the method (400) further comprises: by usage of a speed limit provider (133), projecting (412) two or more two- dimensional poses of the mining or construction machine (100a-c) onto the three- dimensional terrain map so as to obtain two or more three-dimensional poses of the mining or construction machine (100a-c); by usage of the speed limit provider (133), computing (413) speed limits for the two or more three-dimensional poses of the mining or construction machine (100a-c); and applying (414) the computed speed limits in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

13. A method (400) to any one of the claims 1 to 12, wherein the method (400) further comprises: based on the performed path planner search, determining (406) a trajectory (212a) for the mining or construction machine (100a-c) in a discrete state space; and by usage of a trajectory smoother (134), adjusting (415) the trajectory (212a) in the discrete state space to a continuous state space.

14. A method (400) according to any one of the claims 1 to 13, wherein the mining or construction machine (100a; 100c) comprises one or more drilling machines (104b1 ; 104b3), and wherein the method (400) further comprises: by usage of a drill sequence provider (135) and a based on the determined trajectory (212a) for the mining or construction machine (100a-c), setting (416) a drill sequence of drill holes to be drilled in one or more rock formations (700a) by usage of the one or more drilling machines (104b1 ; 104b3).

15. A method (400) to claim 14, wherein the method (400) further comprises:by usage of an approach angle constraint solver (136) and a based on the determined trajectory (212a) for the mining or construction machine (100a-c), setting (417) an approach angle of each drill hole of the drill sequence of drill holes to be drilled.

16. A method (400) to claim 14 or 15, wherein the method (400) further comprises: including (418) the determined trajectory (212a) for the mining or construction machine (100a-c) in an optimizer cost function of an optimizer (137); in an evaluation of the optimizer cost function, performing (419) an optimizer search by usage of one or more search algorithms so as to minimize the optimizer cost function; and based on the performed optimizer search, setting (420) one or more of the group of:• a drill sequence of drill holes to be drilled in one or more rock formations (700a) by usage of the one or more drilling machines (104b1 ; 104b3); and• an approach angle of each drill hole of the drill sequence of drill holes to be drilled.

17. A method (400) to any one of the claims 14 to 16, wherein the method (400) further comprises: including (421 ) the position of one or more drilled drill holes of the drill sequence of drill holes to be drilled in the path planner cost function, and directly or indirectly applying (422) the position of the one or more drilled drill holes of the drill sequence of drill holes to be drilled in the evaluation of the path planner cost function so as to guide the performance of the path planner search.

18. A computer program (603) or a computer-readable medium comprising instructions which, when the program or the instructions is / are executed by a computer, cause the computer to carry out the method (400) according to any one of the claims 1 to 17.

19. A control arrangement (330; 330a-c) for the operation of a mining or construction machine (100a-c), wherein the control arrangement (330; 330a-c) is configured to:by usage of a path planner (131 ), plan (401 ) a path for the mining or construction machine (100a-c); obtain (402) determined kinematic constraints associated with the mining or construction machine (100a-c); obtain (403) pose candidates in accordance with the kinematic constraints; in an evaluation of a path planner cost function, project (404) the obtained pose candidates onto a three-dimensional terrain map; perform (405) a path planner search in two dimensions by usage of one or more search algorithms so as to minimize the path planner cost function; and based on the performed path planner search, determine (406) a trajectory (212a) for the mining or construction machine (100a-c).

20. A system (100e) comprising one or more mining or construction machines (100a-c), wherein the system (100e) comprises a control arrangement (330; 330a-c) according to claim 19.

Images