(19)

(11)

EP 4 217 808 A1

(12)

(43) Date of publication: 02.08.2023 Bulletin 2023/31 (21) Application number: 20781337.9 (22) Date of filing: 24.09.2020

(51) International Patent Classification (IPC):  G05D 1/02(2020.01) (52) Cooperative Patent Classification (CPC): G05D 2201/021; G05D 1/024; B60T 7/22; B60T 2260/02; B60T 2201/022 (86) International application number: PCT/EP2020/076817 (87) International publication number: WO 2022/063406 (31.03.2022 Gazette 2022/13)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (71) Applicant: Sandvik Mining and Construction Oy 33330 Tampere (FI)	(72) Inventors: PUURA, Jussi 33311 Tampere (FI) SIIVONEN, Lauri 36120 Suinula (FI) (74) Representative: Sandvik  Sandvik Mining and Construction Oy Patent Department PL 100 33311 Tampere 33311 Tampere (FI)