Command for underground

A method for controlling a machine in a mine, the machine including an AECM and a LADAR disposed on the machine, the AECM configured to control an operation of the machine based on a mine map, the method comprising:

• displaying the mine map on an interface device disposed remotely from the machine, the mine map including one or more vehicle routes and one or more mine walls;
• adding a virtual wall or a temporary wall to the mine map, wherein the virtual wall is added in response to a first user input received from the interface device, the first user input identifying a placement of the virtual wall on the displayed mine map, wherein the temporary wall is added in response to a second user input received from the interface device, the temporary wall is based on scan data of a physical mine wall captured by the LADAR;
• displaying the virtual wall or the temporary wall on the mine map;
• and
• automatically avoiding, by the AECM, collision of the machine with the virtual wall or the temporary wall.

A control system for a machine, the control system comprising:

• a LADAR disposed on the machine, the LADAR configured to capture scan data of one or more physical mine walls of a mine;
• an interface device disposed remotely from the machine, the interface device configured to display a mine map including one or more vehicle routes and one or more mine walls, the interface device configure to receive and transmit a plurality of user inputs to a processor;
• the processor configured to modify the mine map in response to a first user input received from the interface device, the first user input including instructions to place a virtual wall on or to remove a virtual wall from the mine map and to display the mine map, as modified, on the interface device;
• and
• an AECM disposed on the machine, the AECM configured to control an operation of the machine, based on the mine map, to avoid collision of the machine with the virtual wall when the virtual wall is part of the mine map.