AUTOMATED CONTINUOUS HAULAGE SYSTEM Russian patent published in 2007 - IPC B65G65/02 B62D53/00 E21D9/12 

FIELD: automated vehicle control means adapted to be used in underground environment and vehicle control methods.

SUBSTANCE: control method involves determining vehicle route from distances between vehicle and mine wall measured by means of vehicle sensors, angular vehicle velocity and left and right vehicle wheels or caterpillar velocities, as well as vehicle acceleration with the use of controller to direct vehicle to the nearest route point. Control system has distance and angular position measuring means to determine position of movable bridge conveyer 10 and angular position of associated face chain conveyers 30. Electronic controller receives input data from each sensor at each movable bridge conveyer 10 to calculate position and direction of bridge conveyer 10 and face chain conveyers 30. Controller plans optimal movement route and calculates speed of each independently acting caterpillar unit of bridge conveyer.

EFFECT: increased accuracy of conveyer system position determination.

16 cl, 10 dwg, 1 tbl