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

System for maneuvering a mobile mining machine (5) including two or more self steered interconnected units (6, 7) being connected as train units over a respective articulating joint (8), said mobile mining machine (5) having a forward direction (F) and a backward direction, the system comprising:

• first sensor means (11) for producing a set of first signals representative of sideward distances between at least one side of the mobile mining machine (5) and a respective side wall (2, 3) of said tunnel,
• first evaluation means for evaluating said set of first signals so as to determine a sideways position of the mobile mining machine (5) in respect of the side walls (2, 3) of said tunnel during driving,
• second sensor means (9) being at least one fixed unidirectional distance sensor (9) directed essentially in said forward direction (F) for producing a set of second signals representative of distances from the mobile mining machine (5) to a front wall region, to be approached during driving,
• second evaluation means for evaluating said set of second signals so as to determine a position of the mobile mining machine (5) in respect of said front wall ahead, and to create a virtual tunnel line (4) during driving,
• means for producing steering commands and sending them to a propulsion arrangement of the mobile mining machine in order to maintain clearance to the tunnel side walls (2, 3) during driving, said means for producing steering commands being arranged for maneuvering the mobile mining machine (5) towards said virtual tunnel line (4), and
• means for combinatory evaluation of said set of second signals and said set of first signals and for creating said virtual tunnel line (4) during driving, using both said sets of first and second signals for producing said steering commands for maneuvering the mobile mining machine (5) towards said virtual tunnel line (4).