Automated continuous haulage system

摘要

The present invention relates to an automated continuous haulage apparatus and method designed for use in underground environments. Each mobile bridge carrier ( 10 ) contains distance measurement ( 70 ) and angular position ( 74 ) means for determining the mobile bridge carrier's ( 10 ) position and the angular position of attached piggyback conveyors ( 30 ). Means for determining the ceiling height ( 76 ) are utilized to adjust the height of the piggyback conveyors ( 30 ). On each mobile bridge carrier ( 10 ), input from the various sensors is received by an electronic controller ( 80 ) that calculates the position and orientation of the bridge carrier ( 10 ) and attached piggyback conveyors ( 30 ). The controller then plans an optimal path of movement for the bridge carrier ( 10 ) and computes the rate of movement for each independently operated track assembly on the bridge carrier such that the bridge carrier ( 10 ) and piggyback conveyors ( 30 ) arrive as close as possible to the planned path.