SCANNING-BASED MOTION CONTROL OF MOBILE TRAFFIC TRANSPORT UNIT FOR CONTINUOUSLY TRANSPORTING FRAGMENTED MATERIAL Russian patent published in 2020 - IPC E21F13/02 E21F13/08 G05D1/02 G01S17/42 G01S17/87 G01S17/89 B65G41/00 

FIELD: control systems.

SUBSTANCE: invention relates to control device and control method of mobile transfer unit for continuous transportation of fragmented material in transportation direction. Control device comprises first and second control units located in first and second transport nodes, respectively, and configured to exchange, store and process data and to generate a motion control signal for controlling movement of a first or second transport node, respectively. First and second control units comprise first and second sensors for scanning at least an environment sector. Control device is configured to compare second scanning results received from second sensor with first scanning results obtained from first sensor, at that second scanning results are obtained at travel position of second transport node corresponding to that of first transport node in which first scanning results were obtained.

EFFECT: high reliability and efficiency of determining the direction of movement and/or movement of the mobile transport unit, in particular in mine shafts of underground development of the deposit.

15 cl, 8 dwg