WO2010149856A2 - Teaching a model for automatic control of mobile mining machine - Google Patents

Teaching a model for automatic control of mobile mining machine Download PDF

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Publication number
WO2010149856A2
WO2010149856A2 PCT/FI2010/050539 FI2010050539W WO2010149856A2 WO 2010149856 A2 WO2010149856 A2 WO 2010149856A2 FI 2010050539 W FI2010050539 W FI 2010050539W WO 2010149856 A2 WO2010149856 A2 WO 2010149856A2
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step
model
user
apparatus
mining machine
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PCT/FI2010/050539
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French (fr)
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WO2010149856A3 (en )
Inventor
Jarkko RUOKOJÄRVI
Hannu MÄKELÄ
Antti Lehtinen
Jouni SIEVILÄ
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Sandvik Mining And Construction Oy
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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C35/00Miscellaneous items relating to machines for slitting or completely freeing the mineral from the seam
    • E21C35/24Remote control specially adapted for machines for slitting or completely freeing the mineral
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18Special adaptations of signalling or alarm devices

Abstract

The present invention relates to defining a model used for automatic control of a mobile mining machine (1), wherein the model is defined of a production area environment and/or route of the mining machine (1) in the production area in a computer-aided manner with a model definition application. The definition of said model is arranged as a route definition process comprising several steps that are executed in a predefined order. This means defining (51) according to predefined step-wise definitions the actions allowed in the current step of the model definition process; displaying (52) to the user,information defined to be displayed for the current step according to predefined stepwise definitions;executing (53) automatically at least some of the functions related said model definition step according to the predefined stepwise definitions;and allowing (52) a user to select only actions allowed in said step and to move only according to the predefined order to an allowed model definition process step.

Description

Teaching a model for automatic control of mobile mining machine

Field of the invention

[0001] The invention relates to arranging the teaching of models for automatic control of mobile mining machines.

Background of the invention

[0002] Various mobile mining machines, such as rock drilling devices, loading devices and transport devices, are used in a mine. Mining machines may be manned or unmanned. Unmanned mining machines may be remote-controlled from a control room, for instance, and they may be equipped with measuring instruments suitable for location determination. Unmanned mining devices may be controlled along a required route in the mine, as long as the location of the device can be determined. The location of the device may be determined by using laser scanners, for instance.

[0003] WO 2007/012198 discloses a method for automatically guiding a mining vehicle. By driving the mining vehicle manually or by using a teleoperator, an operator teaches to the mining vehicle a route, along which the mining device may move without intervention from the operator.

[0004] A pre-taught reference model on the tunnels of the production area is required for use as a base to teach the route. This reference model may be called an environment model. The environment model is typically taught by driving the mining machine through the necessary tunnels in the production area. When the environment model has been taught, the mining machine is taught a route required for a specific production task by driving it along the route. During the drive, a navigation system determines the location of the mining machine and stores route point locations of the driven route to the environment model. Both the environment model and routes may be taught with the same tool, which in response to user input controls the starting and ending of location data collection. The tool may also comprise functions for modifying and testing models. As shown in Figure 4, the user interface of the tool is implemented such that all functions may be selected from a toolbar 40 at the top of the display. Because of the many functions of the tool, the user interface requires expert knowledge. The user must know well both the route definition application and all actions required for defining the model, as well as their correct order. Brief description of the invention

[0005] An improved user interface arrangement has now been developed for the definition of models used in controlling mobile mining devices. The solution is characterised by what is stated in the independent claims.

[0006] According to an aspect of the invention, the definition of a model for automatic control of a mobile mining machine is arranged as a model definition process comprising several different steps that are executed in a predefined order. The model definition process comprises receiving location data of the mining machine defined by a positioning system of the mining machine; defining according to predefined stepwise definitions the actions allowed in the current model definition process step, wherein the model data are defined in at least one step of the model definition process on the basis of the location data of the mining machine defined by the positioning system; displaying in the user interface, according to the predefined stepwise definitions, information defined to be displayed during said step; executing automatically at least some of the functions related said model definition step according to the predefined stepwise definitions; and allowing a user to select in the user interface only actions allowed in said step and to move only according to the predefined order to an allowed model definition process step.

[0007] Some preferred embodiments of the invention are set forth in the dependent claims.

[0008] The now developed process-form model definition that progresses from one step to another in the predefined order and the related user interface provide several advantages. The user interface is adaptive and allows the selection of only appropriate alternatives and the presentation of information relevant to only the current step. With the present process-type user interface that proceeds and guides step by step, it is possible to reduce the required training time related to the use of the model teaching tool and the number of erroneous selections. As many functions related to the model definition as possible are automated, which further speeds up the teaching of the model.

Brief description of figures

[0009] Some embodiments of the invention will now be described in greater detail by means of some preferred embodiments and with reference to the attached drawings, in which Figure 1 is a schematic side representation of a moving mining device,

Figure 2 shows from the top an arrangement for positioning and controlling a mining machine according to an embodiment,

Figure 3 shows an apparatus according to an embodiment for determining routes of a mining machine,

Figure 4 shows a view in a known application,

Figure 5 shows a method according to an embodiment, and

Figures 6a to 11 are user interface examples.

Detailed description of an embodiment of the invention

[0010] Figure 1 shows a mobile mining machine 1 , in this case a loading device with a bucket in front for transporting and loading excavated matter. The mining machine 1 may alternatively be a rock drilling device or a transport device with a pallet, for example. The mining machine 1 comprises a movable platform 2 with several wheels 3, of which at least one is a drive wheel that is driven by a motor 4 through transmission. The motor 4 may be an electric motor, combustion engine, hydraulic motor or any other device for providing a rotation torque. Transmission usually comprises a gearbox 5 and required cardan shafts 6, differential gear and other power transmission members for transmitting rotation torque from the motor 4 to the drive wheels. The mining machine 1 is also equipped with a control system that comprises at least a first control unit 7 that is arranged to control actuators in the mining device 1 for controlling and driving the machine.

[0011] Further, the mining machine 1 may have a data transfer unit 8, with which the first control unit 7 may establish a data transfer connection to a second control unit 10 external to the mining machine 1 by utilising a wireless connection provided by a base station 9. The second control unit 10 may reside in a control room 11 that may be arranged outside the mine. The control units 7 and 10 may be computers equipped with appropriate software.

[0012] It should be noted that a mining machine may generally refer to different machines used in rock excavation operations in an above-ground or underground production area and which may also be used at other locations than in the actual mines. Figure 1 is a simplified figure, and the control system of a mining machine 1 typically comprises several units for implementing different control functions. The control system of the mining machine 1 may be a distributed entity formed of modules connected to a CAN (Controller Area Net- work) bus, for example, that manages all measurements and controls of the machine. The information system of the control room 11 may also comprise one or more servers, databases, operator workstations and a connection to other networks and systems.

[0013] The control system 1 of the mining machine comprises a positioning system or unit. According to an embodiment, the positioning system comprises at least one gyroscope 12 that may be used to accurately determine the direction of the machine for positioning. The positioning system further comprises means for determining the distance the machine 1 has travelled. According to an embodiment, the measuring of distances is done using an arrangement, in which one or more sensors 13 measure the rotation of the wheel 3. On the basis of the measuring data, the positioning system determines the rotation movement of the wheel and then calculates the distance the machine has travelled. The positioning system may further comprise one or more scanners 14, such as a laser scanner or a corresponding device capable of scanning the space and shapes surrounding the mining machine 1.

[0014] Figure 2 shows in accordance with an embodiment the principle of the use of a route used in positioning and based on scanning. On one or both sides of the mining machine 1 , there may be a laser scanner 14, with which the profile and surface contours of a mining tunnel 20 may be determined. When the required route 21 has been taught and stored into the memory of the control system, the mining machine 1 may be controlled to drive the route 21 autonomously. The location of the mobile mining machine 1 may be determined during automatic control by using laser scanners 14, for instance. The laser scanners scan the wall profiles of the tunnel to determine location on the basis of a pre-stored environment model, and no separate identifiers, such as reflectors or radio frequency identifiers, are needed on the tunnel walls. The mobile mining machine 1 is controlled by the control unit 7, for example, to drive the required route on the basis of received route data and real-time positional data produced by the positioning system. It is also possible that at least part of the route data is stored in advance into the memory of the mining device 1 and that the remote control unit 10 only transmits identifiers associated with the route data, for instance those of an entire route, route segments or route points.

[0015] As known, the route 21 of the mining machine 1 may be formed by teaching, in which case the mining machine 1 is driven by manual control along the required route and the control system stores route points 22a, 22b, 22c into the memory at regular intervals at the same time.

[0016] Figure 3 shows an apparatus according to an embodiment for defining models for use in automatic control of a mining machine, especially for defining environment models and routes. The apparatus comprises at least one unit 30 for defining an environment model and/or route on the basis of runtime location data of a mining machine. In an alternative embodiment, the apparatus comprises a first physical or operational unit or an application for defining an environment model and a second unit or application for defining a route. For instance, data for the environment model and/or route may be at least partly generated in the mobile mining device 1. For simplicity reasons, in the following and in Figure 3, an embodiment is disclosed, in which one unit 30, which is called a route definition unit, takes care of the definition of both the environment model and route by executing a model definition application or tool that in the following is referred to as a route definition application. Thus, it should be noted that differing from the following embodiment, the definition of the environment model and route may be implemented with separate applications that utilise the present inventive features.

[0017] The unit 30 may for instance be implemented by a processor of a general-purpose data processing device, in which one or more computer programs executing route definition functions are run. The computer program comprises code for implementing at least some of the features related to the definition of the environment model and route illustrated in Figures 5 to 11. The computer program may be stored on a machine-readable storage medium, such as a memory 31 or a separate memory means, from which the computer program may be fetched for execution on the processor.

[0018] The unit 30 is connected to the memory 31 , in which data used in the definition of a route, such as the environment model, property data of the mining machine, and other data and settings affecting route definition, may be stored. Alternatively, the data may be obtained from an external device over a data transfer network. The user interface of the apparatus typically comprises at least one input device 33, such as a keyboard and/or mouse, for receiving inputs from a user. The user interface also comprises a display 32 for displaying different steps and selectable alternatives of the model definition process in the manner controlled by the unit 30. The unit 30 comprises an interface for the display 32 and at least one interface for at least one input device 33. The apparatus may also have one or more other interfaces to other systems. The apparatus typically comprises at least one data transfer unit that may utilise standard TCP/IP-based (Transport Control Protocol / Internet Protocol) network protocols, for instance.

[0019] According to an embodiment, the unit 30 is operationally connectable to a positioning system 34 that defines the location of the mining machine 1 during its run. The positioning system 34 may be part of a navigation system implemented by the mobile mining machine 1 , such as the control unit 7, and possibly partly also by the external control unit 10 of the mining machine 1.

[0020] The unit 30 may be implemented on an operator workstation, for instance. However, the unit 30 does not need to be part of the data processing equipment used in controlling mining operation or even connectable thereto, which means that defining routes is not fixed to location or specific equipment. At least the equipment implementing the unit 30 may be implemented in different appropriately configured data processing devices, i.e., distributed in two or more devices. In one embodiment, the control system 7 of the mobile mining device 1 is arranged to perform at least some of the functions of the route definition process. The control system 7 may be arranged to receive location data of the mining machine 1 defined by the positioning system and to define environment model and/or route data. Data on the entire or partial environment model and/or route may then be transferred from the mining device 1 to the model definition application providing the user interface for model definition.

[0021] A software application implementing the unit 30 may be stored in a portable computer, for instance, from which route data may be transferred over a telecommunications connection or using a memory device to the control unit 10 of the control room, for instance. It should also be noted that features associated with the implementation of the interface of the present process-wise model definition may be applied when teaching a route on the basis of driving the mining machine 1 or when defining the route computationally on the basis of an environment model and property data of the mining machine 1.

[0022] The system may also have a specific drive task management system, for instance an application executed in the control unit 10 residing in the control room 11. The drive task management system defines drive tasks on the basis of input from the operator and transmits drive task data to the control unit 7 of the mining machine 1. The drive task management system may be connected to the memory 31 and it may be arranged to fetch pre-stored route data from the memory and forward route data and/or control commands to the control unit 7 or navigation system of the mobile mining machine 1.

[0023] Figure 4 shows a view of a known route definition application, in which all functions associated with the definition of the environment model or route are visible and selectable on the toolbar 40 on the top edge of the display. Figure 4 shows how it is possible to select the teaching of a new environment model 42 or a new route segment 43 from the teaching menu alternative 41. The user must know well both the route definition application and the actions required for model definition and their correct order.

[0024] However, a considerably improved route definition tool has now been developed. The route definition application is arranged to implement the definition of said model as a route definition process comprising several different steps that are executed in a predefined order. The view shown to the user is updated to correspond to the current state or step of the route definition process. The view of the route definition application displays data defined to be displayed in said step according to predefined step-wise definitions. The route definition application is arranged to allow the user to select only the actions that are allowed in said step and to move to only the model definition step that is allowed by the predefined order.

[0025] In addition, the route definition application is arranged to perform automatically as many of the functions associated with the current model definition step as possible according to the predefined step-wise definitions. This way, it is possible to further speed up the definition of environment models and routes. The following further describes the operation of the route definition application and the user interface that is updated with the progress of the route definition process.

[0026] Figure 5 shows a method according to an embodiment for teaching a model used in the automatic control of a mining machine 1. The method may be implemented in the unit 30 illustrated in Figure 3, for instance. The method is implemented as part of the step-wise proceeding model definition process. The method may be applied to defining an environment model and/or route of a production area. The production area generally refers to an area where a mobile mining machine is used. For the sake of simplicity, Figure 5 does not show the starting or ending of the model definition process, for instance when activating or closing the route definition application.

[0027] In step 50, the step of the model definition process or teaching, which may also be referred to as the model teaching process step, is defined. This step may be entered when starting the definition of a model, receiving a user input, or ending a model definition process step. The memory 31 used by the route definition unit 30 may contain data on the different steps and the allowed transitions between them in the definitions of the model definition process.

[0028] In step 51 , the available and allowed selections that the user can make using the user interface are defined. For instance, the allowed menus and menu options are defined in step 51. The memory 31 may contain model definition step-specific definitions controlling the operation of the unit 30, and each of the definitions define at least one information source, the information related to which is to be displayed in said model definition process step. The route definition application checks from the stored definitions at least those relating to the current step and forms a new step-wise view for displaying to the user. The actual view to be displayed in said step may also be stored in the definitions. With reference to the view of Figure 9, the user may for instance only be allowed to cancel or stop the "recording" of the teaching in the teaching step of the environment model, in which location data is received from the positioning system 34.

[0029] In step 52, the user interface is updated to allow only the selections that are possible in said model definition step on the basis of step 51. The display 32 may display the relevant information of the step and a text instructing the user. According to an embodiment, the alternatives of the menu options that are to be prevented in said model definition step are defined in step 51 and then hidden or displayed dissimilar from the selectable alternatives. Unsuitable selections may be prevented in many different ways, for instance by preventing them from showing on the display 32 (e.g. by using pre- stored step-wise views) or by preventing their selection in the input device 33. The user interface especially prevents transitions to steps that are not possible or recommended in the current step of teaching. Thus, in step 52, the display 32 displays a model definition step-specific view that contains relevant information and selections for the current step, so no irrelevant information is displayed and incorrect selections may be avoided. In step 53, said step of the model definition process is performed. At least some of the functions associated with the current model definition step are performed automatically according to the predefined step-wise definitions.

[0030] The functions performed in step 53 may naturally vary greatly between steps. For instance, the following steps may be distinguished in the definition of an environment model: selection of environment model teaching (e.g. from the main menu), definition of the start point (when the machine has been driven to the start point), teaching run, ending of teaching, storing the defined environment model, displaying the environment model on the display, editing the environment model. For this step, one or more specific algorithms or applications may be used, for instance a filtering and processing algorithm processing scanning data received from the mining machine 1. It should also be noted that at least some of the model definition operations may be carried out outside the route definition application arranged to carry out the steps of Figure 5. The route definition application may be arranged in step 53 to receive model data. For instance, subsets of the models may be received after definition in the mobile mining device and combined by the application to form the final model. The application may also add further information, such as identifiers, and store the final model.

[0031] In step 54, the application determines whether there is a need to change the step, or state, of the model definition process. It is also possible to move to step 54 at predefined intervals and/or when an input is detected. The need to change may be created on the basis of an input received from the user or when the model definition step ends. If it is necessary to move to the next step, the routine moves to step 50 and the performance of the method is continued in such a manner that the definition of the model proceeds to the next step by instructing the user and enabling the necessary selections.

[0032] It should be noted that Figure 5 is only one example of the functions of the route definition application. A process-wise model definition may also be implemented in a manner that differs from Figure 5, and it may comprise other functions. For instance, a separate check 50 for defining the step is not necessarily needed, and it is possible to move directly from the first step-wise view to a second view that is connected to the first view.

[0033] One example of additional functions is that in step 51 one or more additional checks are made, on the basis of which the selections allowed and/or information displayed in the user interface are defined adaptively. For instance, when the user selects teaching, the routine checks what models are stored in the system. On the basis of the check, the user interface view is then automatically edited such that if no environment model has yet been stored for the area, the selection of route teaching is prevented. On the other hand, if a taught route is found for the area, the system may display to the user the additional option of editing an already stored route.

[0034] According to an embodiment, as many functions of the model definition process as possible are set to be performed automatically. For instance, at least some of the following functions may be defined to be performed automatically: setting up and ending a connection, moving from on model definition process step to another at least in some of the steps, processing received environment model or route data. For instance, the filtering of environment data used in defining an environment model may be defined to be performed automatically without a separate notification and/or acknowledgement to the user.

[0035] According to one embodiment, the model definition process is automated in such a manner that the user only needs to make simple choices, such as define when the model definition is started and stopped, and accept or reject the taught model.

[0036] Figures 6a to 11 show some examples of model definition step-specific user interfaces.

[0037] According to one embodiment, there are different profiles for different users, and the user interface guiding the model definition is updated according to the profiles in the method of Figure 5, for instance. It is, for instance, possible to sign in to the route definition application by using a first profile and a second profile, wherein the first profile is an expert profile and the second profile is an operator profile. The first and second profiles are set to display at least partially differing information and menus in the user interface depending on the predefined profile-specific settings or user interfaces. The route definition application then shows in the user interface the information defined for either the first or second profile on the basis of the profile data entered by the user. Naturally, there may be even more profiles than two. It is possible to define for each user his or her own profile, whereby the operation and user interface of the route definition application may be customised for each user according to his or her wishes or skills. [0038] Figures 6a and 6b show examples of main menus customised for user profiles. The view and selectable alternatives of Figure 6a could be defined for an expert or system administrator, who has the right to edit user information and properties. The view of Figure 6b could, in turn, be defined for an operator, who defines new environment models and routes, when new production areas are taken into use. Naturally, other step-specific views of the model definition process may also be defined for profiles.

[0039] Figure 7 shows a view that is displayed when model definition is selected from the main menu. Because in this example, an environment model has not yet been taught, the route definition application is arranged to prevent selections 71 , 72, 73 related to routes and to allow only the selection of environment model teaching 70.

[0040] Figure 8 shows a view that is displayed in a first step of the model definition process before the collection of data defining the model is begun. The user is displayed 80 a relevant text providing instructions for this step.

[0041] Figure 9 shows a view that is displayed in a second step of the model definition process when data defining the model is collected on the basis of processing data obtained from scanners 14, for instance. Figure 10 shows a view that is displayed in a third step of the model definition process, when the collection of data defining the model has been stopped.

[0042] Figure 11 shows a view that is displayed in a fourth step of the model definition process, when the defined environment model has been stored. The user is offered the option of defining more environment models. Because an environment model has now been stored of the area, the user interface also enables the selection to move to route definition 110. As shown in Figure 11 , for instance, a virtual button 111 for obtaining additional information and instructions may be displayed to the user.

[0043] According to an embodiment, the routes are defined as interconnected route sections, or segments, that have their own identification codes. For each segment it is in turn possible to define (limit) values for driving speeds and other functions according to the properties of the segment. These definitions may even be provided for each mining machine taking into consideration the properties of the machine. The route definition unit 30 may be arranged to define in the manner described above segment-specific data, that is, in the simplest form, the data of the route points belonging to each segment and the identification code of the segment. The features described above may also be utilised in segment-based route definition. Moving from one segment to another may be a phase shift in the route definition process. The segment- specific data may be stored into the memory of the control apparatus of the mining machine 1 , whereby the definition of the route takes place simply by sending a list of identification codes of the route segments associated with a task. Segment-based route definition is described in more detail in WO2004/085965, which is incorporated herein by reference.

[0044] It is obvious to a person skilled in the art that as technology advances, the basic idea of the invention may be implemented in many different ways. The invention and its embodiments are thus not restricted to the examples described above, but may vary within the scope of the claims. Thus, different features may be left out, modified or replaced by equivalent features, and the features described in this patent application may be combined to form various combinations.

Claims

Claims
1. A method for arranging the definition of a model for automatic control of a mobile mining machine (1 ) by defining a model of a production area environment and/or route of the mining machine (1 ) in the production area in a computer-aided manner, c h a r a c t e r i s e d in that the definition of said model is arranged as a model definition process comprising several steps that are executed in a predefined order, comprising receiving location data of the mining machine defined by a positioning system of the mining machine (1 ); defining (51 ) according to predefined step-wise definitions the actions allowed in the current step of the model definition process, wherein the model data are defined in at least one step of the model definition process on the basis of the location data of the mining machine (1 ) defined by the positioning system; displaying (52) to the user information defined to be displayed for the current step according to predefined step-wise definitions; performing (53) automatically at least some of the functions associated with said model definition step according to the predefined step-wise definitions; and allowing (52) the user to select in the user interface only the actions that are allowed in said step and to move to only the model definition step that is allowed by the predefined order.
2. A method as claimed in claim ^ c h a r a c t e r i s e d by preventing the displaying of selection alternatives unsuitable for the current model teaching step on the display of the teaching apparatus or their selection in the input device of the teaching apparatus.
3. A method as claimed in claim 1 or 2, c h a r a c t e r i s e d by instructing (52) the user step-wise on how to perform the current step.
4. A method as claimed in any one of the preceding claims, c h a r a c t e r i s e d in that it is possible to log in to the model definition application by using a first profile and a second profile, the first and second profiles are set to display at least partially differing information and menus on the basis of the predefined profile-specific settings or user interfaces, and the model definition application shows the information defined for either the first or second profile on the basis of the profile data entered by the user.
5. A method as claimed in any one of the preceding claims, c h a r a c t e r i s e d by performing automatically at least some of the following functions associated with the current step of the model definition process: setting up and ending a connection, moving from one model definition process step to another at least in some of the steps, processing received environment model or route data.
6. A method as claimed in any one of the preceding claims, c h a r a c t e r i s e d by checking which models are available in response to the user selecting teaching, and selecting the allowed selections and the information to be displayed to the user in the user interface on the basis of the check.
7. Apparatus comprising a data processing device for defining models used for automatic control of a mobile mining machine, c h a r a c t e r i s e d in that the data processing device is adapted to define the model in a computer-aided manner as a model definition process comprising several steps that are executed in a predefined order, wherein the data processing device is adapted to: receive location data of the mining machine defined by a positioning system of the mining machine (1 ); define (51 ) according to predefined step-wise definitions, actions allowed in the current step of the model definition process, wherein the data processing device is adapted to define model data on the basis of the location data of the mining machine (1 ) defined by the positioning system in at least one step of the model definition process; display (52) to the user information defined to be displayed for said step according to the predefined step-wise definitions; perform (53) automatically at least some of the functions associated with the current model definition step according to the predefined step-wise definitions; and allow (52) the user to select in the user interface only the actions that are allowed in said step and to move to only the model definition step that is allowed by the predefined order.
8. An apparatus as claimed in claim 7, characterised in that the apparatus is arranged to prevent the displaying of selection alternatives unsuitable for the current model teaching step on the display of the teaching apparatus or their selection in the input device of the teaching apparatus.
9. An apparatus as claimed in claim 7 or 8, characterised in that the apparatus is arranged to instruct (52) the user step-wise on how to perform the current step.
10. An apparatus as claimed in any one of claims 7 to 9, character i s e d in that the apparatus is arranged to offer the option of signing in to a model definitions application by using at least a first profile and a second profile, wherein the first and second profiles are set to display to the user at least partially differing information and menus on the basis of the predefined profile- specific settings or user interfaces, and the apparatus is arranged to display to the user the information defined for either the first or second profile on the basis of the profile data entered by the user.
11. An apparatus as claimed in any one of claims 7 to 10, c h a r - acterised in that the apparatus is arranged to perform automatically at least some of the following functions associated with the current step of the model definition process: setting up and ending a connection, moving from one model definition process step to another at least in some of the steps, processing received environment model or route data.
12. An apparatus as claimed in any one of claims 7 to 11 , c h a r - acterised in that the apparatus is arranged to check what models are available in response to the user selecting teaching, and the apparatus is arranged to select the allowed selections and the information to be displayed to the user in the user interface on the basis of the check.
13. A computer program, characterised in that it comprises computer program code means arranged to execute the steps of the method defined in any one of claims 1 to 6, when said program is executed in a computer.
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