IMPROVEMENTS RELATING TO UNDERGROUND MINING

Abstract

The specification discloses a driverless haulage vehicle (10,32,43,44,45) for use within an underground mining operation including a unitary support chassis (11) having a first end section (15), a second end section (16) and a central section (50) located between said first and said second end sections (15,16), haulage vehicle transport means (51) including a first wheel assembly (52), associated with and supporting the first end section (15), a second wheel assembly (53) associated with and supporting said second end section (16) of the unitary support chassis (11), and a third wheel assembly (54) associated with and supporting the central section (50) of the unitary support chassis (11), steerage means (55) carried on said driverless haulage vehicle (10,32,43,44,45) for directing said vehicle along a transport path with an underground mine, the steerage means (55) including said first wheel assembly (52) and said second wheel assembly (53), said steerage means (55) further including a sensor set from which sensor data is generated representing internal status of the driverless haulage vehicle (10,32,43,44,45), and/or environmental status within which the driverless haulage vehicle (10,32,43,44,45) is operating, and controllable activators (27) to control steering movements of said first wheel assembly (52) and said second wheel assembly (53) whereby driving steering, wheels (13) of the first wheel assembly (52) are directed oppositely to wheels (13) of the second wheel assembly (53).

Claims

1. A driverless haulage vehicle for use with an underground mining operation, said vehicle including support and transport means including an electrically powered drivetrain, said electrically powered drivetrain having at least one electric motor.

2. A driverless haulage vehicle according to claim 1, wherein the drivetrain includes three sections, a first section being located towards a first end of the driverless haulage vehicle, a second section being located towards a second end of the driverless haulage vehicle opposite to said first end, and a central section being located between said first section and said second section.

3. A driverless haulage vehicle according to claim 2, wherein each said drivetrain section is driven by at least one said electric motor.

4. A driverless haulage vehicle according to claim 2, wherein wheels of the first section and the second section of said drivetrain are movable by steerage linkages, with the wheels of said first section being arranged to be moved during a corner-turning operation in an opposite orientation to the wheels of the second section whereby a turning circle of the driverless haulage vehicle is reduced.

5. A driverless haulage vehicle according to claim 4, wherein wheels of the central section of the drivetrain are non-steering.

6. A driverless haulage vehicle according to claim 5, wherein the central section of the drivetrain is configured to carry a greater load than the first section and/or second section of the drivetrain.

7. A driverless haulage vehicle for use with an underground mining operation, said driverless haulage vehicle including a unitary support chassis with a first end section, a second end section opposite said first end section and a central section located between said first end section and said second end section, haulage vehicle transport means including a first wheel assembly associated with and supporting said first end section of the unitary support chassis, a second wheel assembly associated with and support said second end section of the unitary support chassis, and a third wheel assembly associated with and supporting said central section of the unitary support chassis, said haulage vehicle transport means including steerage means operable for directing said driverless haulage vehicle along a transport drive path, and an electrically powered drive train for driving said haulage vehicle transport means whereby said driverless haulage vehicle is remotely drivable along said transport drive path.

8. A driverless haulage vehicle according to claim 7, wherein either of said first end section or said second end section of said unitary support chassis is operationally selectable as a forward end of said driverless haulage vehicle for movement along said transport drive path.

9. A driverless haulage vehicle according to claim 7, wherein said first wheel assembly includes a pair of spaced first wheel means with a first axle arrangement operationally connected thereto, said spaced first wheel means being selectably steerable by said steerage means.

10. A driverless haulage vehicle according to claim 7, wherein said second wheel assembly includes a pair of spaced second wheel means with a second axle arrangement operationally connected thereto, said spaced second wheel means being selectably steerable by said steerage means.

11. A driverless haulage vehicle according to claim 10, wherein said first wheel means are steered in a first direction by said steerage means, said second wheel means are steered in a second direction opposite to said first direction.

12. A driverless haulage vehicle according to claim 9, wherein said pair of spaced wheel means are independently steered relative to said first axle arrangement and to each other.

13. A driverless haulage vehicle according to claim 10, wherein said pair of spaced wheel means are independently steered relative to said second axle arrangement and to each other.

14. A driverless haulage vehicle according to claim 1 wherein the third wheel assembly includes a pair of spaced third wheel means with a third axle arrangement connected thereto, said third wheel means being non-steerably mounted to said third axle arrangement.

15. A driverless haulage vehicle according to claim 9, wherein at least one of the first wheel means, the second wheel means, and the third wheel means includes a single wheel hub structure carrying a pneumatically supported tyre.

16. A driverless haulage vehicle according to claim 9, wherein at least one of the first wheel means, the second wheel means and the third wheel means includes at least two wheel hub structures each carrying a separate pneumatically supported tyre.

17. A driverless haulage vehicle according to claim 7, further including a work platform structure carried by said unitary support chassis, said work platform structure having a vertical height adjustment capability to enable operational height variation relative to ground level.

18. A driverless haulage vehicle according to claim 7, wherein said work platform structure is movably adjustable in a lateral direction relative to said unitary support chassis to assist with load balancing.

19. A driverless haulage vehicle according to claim 1 further including an electrical energy generator adapted to convert energy from motion of said driverless haulage vehicle into electrical energy.

20. A driverless haulage vehicle according to claim 17, wherein the electrical energy generator is also selectably driven by a generator drive motor.

21. A driverless haulage vehicle according to claim 7, wherein the driverless haulage vehicle has a maximum speed and/or power in a first direction with said first end section facing forwardly relative to said transport drive path that is between 80 to 100% of a maximum speed and/or power in a second direction with said second end section facing forwardly relative to said transport drive path.

22. A driverless haulage vehicle according to claim 1 further including a bidirectional lighting configuration arranged to switch in dependence on direction of travel of the driverless haulage vehicle.

23. A driverless haulage vehicle according to claim 1 further including a work platform structure.

24. A driverless haulage vehicle according to claim 23, wherein said work platform structure is a tub or container for receiving and carrying excavated mine material, said tub or container being drivable via a tub or container driving mechanism to offload the carried excavated mine material from the driverless haulage vehicle.

25. A driverless haulage vehicle according to claim 24, wherein said work platform structure is a container configured to carry and/or dispense water or other liquid materials.

26. A driverless haulage vehicle according to claim 23, further including a work platform structure exchange mechanism.

27. A driverless haulage vehicle according to claim 1, further including: (a) a sensor set from which sensory data is generated, the sensor data representing internal status of the driverless haulage vehicle, and/or environmental status within which the driverless haulage vehicle is operating; and (b) controllable actuators, controllable in response to sensor data from said sensor set.

28. A driverless haulage vehicle according to claim 27, further including a communications system for communicating with a remote command system, the communications system being arranged to transmit the sensor data to the remote command system, and/or receive from said remote command system, control instructions for controlling operation of the driverless haulage vehicle via said controllable actuators.

29. A driverless haulage vehicle according to claim 1 having a height no greater than 3 meters, a width of no greater than 3 meters and a length of no greater than 10 meters.

30. A driverless haulage vehicle according to claim 29, wherein the height is between 2 and 3 meters, the width is between 2 and 3 meters and the length is between 6 and 10 meters.

31. A driverless haulage vehicle according to claim 30 wherein the length is no greater than 9.5 meters.

32. A driverless haulage vehicle for use with an underground mining operation, said vehicle including a unitary support chassis having a first end section, a second end section and a central section located between said first and said second end sections, haulage vehicle transport means including a first wheel assembly associated with and supporting the first end section, a second wheel assembly associated with and supporting said second end section of the unitary support chassis, and a third wheel assembly associated with and supporting the central section of the unitary support chassis, steerage means carried on said driverless haulage vehicle for directing said vehicle along a transport path with an underground mine, the steerage means including said first wheel assembly and said second wheel assembly, said steerage means further including a sensor set from which sensor data is generated representing internal status of the driverless haulage vehicle, and/or environmental status within which the driverless haulage vehicle is operating, and controllable actuators to control steering movements of said first wheel assembly and said second wheel assembly whereby during steering, wheels of the first wheel assembly are directed oppositely to wheels of the second wheel assembly.

33. An underground mining system for use in an underground mine including: (a) one or more driverless haulage vehicles according to claim 1; and (b) a mining command system to determine: (i) a positional representation of the mine; and (ii) status data of the or each said driverless haulage vehicle, including position data of the or each said driverless haulage vehicle, to optimise delivery of excavated mine material to a delivery zone above ground.

34. An underground mining system according to claim 33, wherein the mining command system also determines status data of other assets located within the positional representation of the mine.

35. An underground mining process including deploying at least one driverless haulage vehicle according to claim 1 for movement along a transport drive path between a first zone being a delivery zone for mine excavation material located above ground and a second zone being an extraction zone located within an underground mine, said mine excavation material being carried from said second zone to said first zone by the same said driverless haulage vehicle.

36. An underground mining process according to claim 35 involving two or more said driverless haulage vehicles simultaneously operating along the transport drive path defined in part or wholly by underground tunnels within the underground mine, providing a remote command system for transmitting instructions to said driverless haulage vehicles, and/or receiving status reports from said driverless haulage vehicles, and providing a communications network arranged to communicatively link the network remote command system to said driverless haulage vehicles, to enable free passage of said driverless haulage vehicles, either loaded or unloaded, between said first zone and said second zone.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0101] FIG. 1 is a side elevation view of a first preferred embodiment of a driverless autonomous mine haulage vehicle for use in an underground mine;

[0102] FIG. 2 is a plan view of the embodiment illustrated in FIG. 1;

[0103] FIG. 3 is an underneath plan view of the embodiment illustrated in FIG. 1;

[0104] FIG. 4a is a perspective view of one end region of the vehicle shown in FIG. 1;

[0105] FIG. 4b is a detailed view of part of the vehicle illustrate in FIG. 4a;

[0106] FIG. 5a is a side elevation view of a second preferred embodiment of driverless autonomous mine haulage vehicle for use in an underground mine;

[0107] FIG. 5b is a side elevation view similar to FIG. 5a with portions removed to show underlying features with greater clarity;

[0108] FIG. 6 is an underneath plan view of the vehicle shown in FIG. 5a FIG. 7 is a perspective view of the vehicle show in in FIGS. 5a/5b;

[0109] FIG. 8a is a side elevation view of a vehicle similar to that shown in FIGS. 5a/5b but with a side tipping bin for unloading carried excavated mine material;

[0110] FIG. 8b is a perspective view of the vehicle shown in FIG. 8a;

[0111] FIG. 9a is a side elevation view of a vehicle similar to that shown in FIGS. 5a/5b but carrying a water tank as a possible alternative arrangement;

[0112] FIG. 9b is a perspective view of the vehicle show in in FIG. 9a;

[0113] FIG. 10a is a side elevation view of a vehicle similar to that shown in FIGS. 5a/5b but with a further possible alternative equipment carrying tray for use in an underground mine; and

[0114] FIG. 10b is a perspective view of the vehicle show in in FIG. 10a.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0115] The annexed drawings illustrate various possible preferred embodiments of driverless autonomous haulage vehicles capable of use in tunnels of declines and drives of an underground mine, primarily but not exclusively, for removal of excavated mine material. While these vehicles are configured for use in an underground mine facility, there is no reason why the vehicles cannot also be used partially, or completely, above ground.

[0116] Referring first to FIGS. 1, 2, 3, 4a and 4b, a first preferred embodiment of an autonomous mine haulage vehicle 10 is illustrated having a unitary fabricated support chassis 11, an upper work platform structure 12 located above carried by the chassis 11, and spaced ground engaging support and transport wheels 13 operationally connected to the chassis 11. In this illustrated embodiment, the work platform structure 12 is configured as a container or tub 14 adapted to receive and carry excavated mine (ore or the like) material between desired operational zones within a mine facility. The container or tub 14 may include an upper cover structure or may be open as desired by the mine facility. The container or tub 14 may be mounted to side tip to the right or left of the vehicle 10 or may be mounted to tip towards the first end section 15 or the opposed second end section 16 of the vehicle 10 to allow excavated mine material to be discharged therefrom when desired. Conveniently, the wheels 13 each include at least one hub structure 17 with a pneumatically supported tyre structure 18 mounted thereon. The tyre structures 18 will be designed and rated for use in mine conditions. In the annexed drawings, each wheel 13 has a single hub and tyre structure 17, 18, however, if loading requirements are such, these structures can be configured as adjacent pairs of wheels 13. Each wheel (or pair of wheels) 13 are located at opposed ends of axle structures 19, 20, 21 extending laterally across the vehicle 10 with the axle structure 19 being located adjacent the first end section 15 of the vehicle and the axle structure 21 being located adjacent the second end section 16 of the vehicle. The axle structure 20 for the centrally located pare of wheels 13 is preferably located, as far as is possible, equal distances from the axle structures 19 and 21.

[0117] Preferably, a suitable suspension and support system 22 is provided between the work platform structure 12 and the axle structures 19, 20, 21. The suspension and support system may be hydraulically based and include hydraulic actuators 23, however, any other support and suspension system 22 might also be used.

[0118] Conveniently, each of the axle structures 19, 20, 21 are driven by motors 24, when actuated selectably, to drive the vehicle 10 either towards the first end section 15 direction or towards the second end section 16 direction. The motors 14 might preferably be electric motors powered by rechargeable batteries 25. It is, however, possible for any suitable internal combustion engine means to be provided to drive the axle structures. Still further it may well, in some instances, be possible for separate motors to be provided to drive each separate wheel 13 rather than the connecting axle structures.

[0119] In the driverless haulage vehicle 10 illustrated, conveniently the wheels 13 and axle structure 19 form a first wheel assembly 52, with the wheels 13 and axle structure 21 forming a second wheel assembly 53. The wheels 13 and axle structure 20 form a third wheel assembly 54. The first wheel assembly 52 is located below and supports the first end section 15 with the second wheel assembly 53 being located below and supporting the second end section 16. A third wheel assembly 54 is located below and supports a central section 50 of the unitary vehicle chassis 11. Steerage means 55 is provided to enable the wheels 13 of at least the first wheel assembly 52 and the second wheel assembly 53. As is best seen in FIG. 3, the steerage means 55 includes actuators 27 whereby each of the wheel pairs 13 supporting the first end section 15 and the second end section 16 are steerable with the pairs of wheels 13 being steerably movable in opposite directions. Preferably the wheels 13 of the third wheel assembly 54 are not steerable.

[0120] As can be seen in FIG. 3, the actuators 27 can be independently operated whereby the angle of each wheel 13 in a pair of such wheels can be chosen to be located at selectable angles relative to each other to assist with cornering when desired. This is possible with the wheels 13 of each of the pairs of such wheels 13 operably mounted to axle arrangements 19, 21.

[0121] In a possible alternative arrangement, the axle structures 19, 21 might be mounted to provide steering movement rather than having the wheels 13 steerably more relative to the axles 19, 21.

[0122] The unitary chassis 11 may be fabricated from steel including tubular steel but the first, second and central sections 15,16 and 50 are not relatively articulated or movable relative to one another. Conveniently, the chassis 11 may also carry holding means 26 for spare or replaceable batteries which may be automatically switched to operative mode to drive motors 24 when the main batteries 25 are sufficiently depleted or discharged in use.

[0123] Each end of the vehicle 10 adjacent the respective first end 15 and the second end 16, may provide a housing structure 28, 29 for mounting various items including a generator or multiple generators, a motor for driving the or each generator when needed, cooling and/or ventilation equipment, and potentially air filtering equipment. The generator(s) can be operated by motion created by the downward movement of the vehicle 10 and supplemented by a drive motor such as an internal combustion engine. Air can be drawn into the cooling and or ventilation equipment via vent means 30 leading into the housing structure 28. Appropriate lighting means 31 might be provided at either the first end 15 and the second end 16 shining forwardly from the housing structures 28, 29. Conveniently tail (or reverse) lights may also be provided which are selectively activated depending on which end of 15 or 16 forms the trailing end of the vehicle when in use. The main directional lighting 31 at either end is selectably activated depending on direction movement of the vehicle 10.

[0124] Desirably, the vehicle 10 has a length up to but not exceeding 10 meters, a height of up to but not exceeding 3 meters and a width of up to but not exceeding 3 meters. Typically, the height of the vehicle is between 2 and 3 meters and its width is between 2 and 3 meters. Preferably, the length of the vehicle is less than 9.5 meters and is between 8 and 9.5 meters. The objective is for the vehicle to comfortably fit within the tunnel of a mine which commonly has a height of 4.5 meters and a width of 4 meters. It is also desirable that the vehicle be able to readily pass another similarly sized and configured vehicle when passing either up or down a typical decline. Declines in mines typically have a height of about 5.5 meters and a width of 5 meters, and may include one or more widened areas along the decline to allow the vehicles to pass.

[0125] FIGS. 5a, 5b, 6 and 7 illustrate a similar mine haulage 32 to the vehicle 10 shown in earlier drawings, features of a similar nature and effect have been given the same reference numeral. Features illustrated and described in the earlier embodiment might also be included, if desired in this embodiment. In this embodiment, the work platform structure 12 may be an upwardly open bin or tub 33 carried by the vehicle chassis 11 where the excavated mine material (ore or the like) can be deposited into the bin or tub 33 at the position in the mine where it is dug, and can thereafter be moved either to the left or to the right (FIG. 5a/FIG. 5b), as required to move same to a delivery above or near surface ground level. The bin or tub 33 may be tipped about a lateral pivot axis to deposit the excavated material adjacent to the first end 15 or the second end 16, or about a longitudinal axis to tip the excavated material to either side of the vehicle 10. The driven axle assemblies 19, 20 and 21 for the wheels 13 are driven preferably by electric motors through drive connections 35, the motors not being illustrated for the sake of drawing clarity. Alternative drive means might also be utilised as with previously described embodiments. This embodiment may also include an electric power generator/motor set 36 conveniently located in the first end section 15 or optionally in both end sections 15, 16. FIG. 6 illustrates cooler and/or ventilation means 37 adapted to receive and operate on an air flow via the vent structure 30 in the end section 15. Lighting facilities 31 are provided as described in relation to the earlier embodiment.

[0126] The preferred embodiment of FIGS. 8a/8b illustrate a possible vehicle 43 with a side tipping function of the bin or tub 33. The preferred embodiments of FIGS. 9a/9b illustrate a vehicle 44 with possible alternative work platform structure 12 being a tank facility 38 adapted to store, carry and/or dispense a liquid or semi liquid material. Typically, but not exclusively, the liquid might be water that can be discharged via a spray bar structure 39 located at the second end section 16. The preferred embodiment of FIGS. 10a/10b illustrate a vehicle 45 with yet another possible alternative work platform structure 12. In this embodiment, the work platform structure 12 comprises a carry tray 40 with a crane lifting assembly 41 to allow equipment or other material to be selectably lifted onto or off the carry tray 40. Apart from the above discussed variations, the vehicles 43, 44 and 45 may have the same features as those discussed in the preceding in relation to other preferred embodiments.

[0127] As is disclosed herein, the driverless haulage vehicle 10, 32, 43, 44 and 45 and associated systems and control apparatus, provide for efficient, safe and inexpensive recovery of mined excavation materials. The vehicle and system may include: [0128] Electric Hybrid (series) drive (minimal transmission) which enables electric power to be used without driveshafts linking each axle through a transmission; this also saves space to enable a compact design; [0129] 3× electric motors with continuous 220 kW output power, 2000 Nm output torque each; enough power to enable loaded top speed up the decline; this results in a faster climbing speed than the current haulage technology; [0130] Battery and genset powered; this enables a dual power unit to energise the vehicle; [0131] 24V DC control system; this enables the use of not only standard automotive electronic equipment but also standard industrial automation equipment; [0132] Solar charging system integrated from top of mine; this can offset or even eliminate the need to have electricity supplied from the grid; [0133] 6 wheel drive, 3 solid/rigid planetary axles; the three axles allow for the 40 tonne (60 t GVM) payload and maximum traction for acceleration and braking; the planetary axles act as a reduction between the electric motors and wheels as well as reliably distributing torque minimising imbalance and causing stress concentrations in the drivetrain; [0134] Secondary failsafe braking system (Spring applied hydraulically released brakes (SAHR), integrated wet disc brakes (service), parking brakes; [0135] Brake lights on both ends of the vehicle, indicator lights to show mode of operation and audible warnings; [0136] Direct drive mechanism, electric motors mounted or integrated into axles in either colinear parallel or through right angle gear train; eliminate the need for drive shafts to improve efficiency and reliability due to fewer moving parts; [0137] Centre axle wheels may be double wheels each side, or may be increased capacity single tyres with change in dimension of both height and width to match weight distribution of 30% from both outer axles (18 tonne each axle) and 40% inner axle (24 tonne). This arrangement of axles enables a bidirectional vehicle that can perform the same in either direction, eliminates the need to turn around in narrow sections—it simply reverses out (similar to the motion of a locomotive). There are no known operational vehicles that can do this and haul ore. As a result mines have to be designed to cater for large turning circles or use other equipment to compensate, adding to energy and time wastage; [0138] Cut outs in “tub” to allow for larger wheels/tyres; [0139] Tub options are rear tip, side tip water carriage, utility tray or roll on/roll off tub exchange system from chassis for changeover in limited space. The benefit of this is flexibility to suit a mine's characteristics, the roll on/roll off system allows an exchange of tubs in tight places and also has the benefit of having the loading equipment being utilised 100% of the time without having to stop operations; [0140] Tub material high tensile steel, approx. 18 to 22 m.sup.3 volume tub; [0141] Smallest footprint possible to pass same vehicle on 5 m wide×5.5 m high decline; this improves process balance and simplifies traffic management, especially when demand increases, and more volume is required to haul; [0142] 40 t payload, approx. 60 t GVM; a payload to net mass ratio of approx. 2 (40 t/20 t=2:1), emphasising minimum vehicle mass to haul a maximum payload; this directly improves efficiency and saves energy; current haulage vehicles have an approx. ratio of 1.5:1 which is a less efficient design; [0143] Top speed 18-20 km/hr, loaded, up a 1 in 7 decline. A higher return velocity (loaded) results in reduced cycle time and balanced process ultimately saving time. Most of the current haulage technology cannot reach this speed and therefore cycle times are longer and by default create process balance—time down decline vs time up the decline; [0144] Automated guided vehicle (AGV) with remote control capabilities. This saves on cost of labour, eliminates human error due to fatigue, and allows the vehicle to enter tighter spaces due to not needing a cabin to house an operator. It allows dangerous areas to be accessed without putting lives at risk. The remote control capability allows the main control room or an operator in the mine to control the vehicle from anywhere in the mine, allowing an automated vehicle into an area which may be occupied by people or manual equipment. It also has the benefit of operating a vehicle in an area that hasn't been installed with infrastructure to guide the vehicle autonomously; [0145] 4 wheel steering on outer axles. This enables a very tight turning circle and capability of maneuvers in a 4 m wide×4.5 high drive around 85° corners, allowing access into tight places as a hauling vehicle; [0146] Comparable CAPEX cost to current 60 t capacity (105 t GVM) haulage truck (approx. $1.8 m AUD); [0147] Batteries are mounted as low as possible to improve center of gravity, handling and stability. The narrowness and payload net-mass-ratio of this vehicle requires as low a center of gravity as possible, especially as the batteries will make up a sizable portion of the net mass and they need to be located as low as possible; [0148] The aim is to have interchangeable parts that can be easily upgraded as technology such as batteries and generators improves. To achieve this the vehicle is made from off the shelf items, reducing vehicle development time to a minimum. and disrupting one-supplier cost inefficiencies of many OEM's; [0149] Hydraulic, computer-controlled suspension, level sensing and levelling along or square to drive direction, remote angle adjustments, independent cylinder control, controls load distribution, data logged and real time monitoring/control through traffic management system, adjustable height settings, load measuring, roll stabilisation. In order to keep the vehicle stable it needs an advanced suspension system that is both flexible and robust—the payload to net-mass-ratio will cause inherent stability issues that need to be overcome with this type of control. Another benefit of this system is the capacity for varying ride heights depending on the headspace and/or terrain (it will be possible to lift the vehicle to a higher driving position over rough terrain and a lower position for low head space areas). Current haulage technology lacks sophisticated suspension as a trade off for payload capacity and does not have the flexibility to decrease its head height when needed; [0150] LiFePO.sub.4 or NMC battery technology; [0151] Standard vehicle fitted with 400 kWh of batteries+maximum 280 kW (constant) generator for charging, Optional additional 200 kWh batteries and smaller generators, modular design (this modular approach allows the vehicle to be customised depending on the mines characteristics). If there is a long haul then the customer can increase battery and charging capacity OR if there is a short haul the customer can reduce costs by having only what is needed. As the mine gets deeper the customer can add capability and minimise energy usage [0152] Approx. vehicle dimensions 2.8 m wide, 8.9 m long, 2.5 m high in crouch position, 3 m high in upper position; these dimensions allow maneuvering around 85° bends in a 4.5 m wide×5 m high drive; [0153] Integrated traffic management software and hardware, route planning/scheduling/optimisation, multi vehicle control, collision avoidance and coordination system, digital software based mine mapping system integrating all vehicles. This is a control system that ultimately tracks and controls the vehicles whilst in autonomous mode and allows the entire mine to operate as one system rather than fragmented parts; [0154] Redundant safety systems (both wireless and hardwired) enable the fleet to be shutdown in an emergency; [0155] Integrated high speed network and wireless system in mine for vision, communications and control; [0156] Charging points with automatic docking, distributed along haulage length. To mimic a fragmented conveyor the vehicles need to stop in situ in the mine at the end of a hauling shift. This enables process balance but also a place for the vehicle to charge—designated docking points that the vehicle can drive near and automatically connect to the grid and charge the onboard batteries; [0157] Wireless shutdown, low latency safety monitoring controlling normally open contacts to shut down the vehicle, physical bumpstops for E-Stop, optical safety scanners, vision system to analyse moving targets and change in environment. [0158] Remote and manual override to remote control; [0159] Multi redundant AGV system using laser, camera, radar, sonar, thermal inertial navigation and 3D scanning technology, vehicle management system controlling acceleration, braking, steering, direction with communications to a control; [0160] Approximate inside turning circle under low speed 2.8 m, outside turning circle 6.5 m, with the aim of matching or improving maneuverability of the LHD loading vehicle to fit in the same dimensioned drive (tunnel) with the capability of maneuvering 85° bends within a 4.5 m high×4 m wide drive; [0161] Bidirectional performance. The vehicle won't need to turn around in tight places which would otherwise restrict access and process flexibility; [0162] Mine safety layout to isolate personnel away from main decline and any levels/drives undergoing haulage operation, physical barriers (concrete/metal etc) and sensory devices (safety scanners and cameras) may be used at each entrance to stop automated vehicle from entering the same area as personnel, sensory devices and cameras to be in communication with the control/management system directly linked to low latency monitored shut-off system; [0163] If haulage is interrupted by manual equipment/vehicle or personnel proximity then the mine is sectioned into safety zones; [0164] Real time tracking and tagging system fitted to personnel, equipment and vehicles to determine location within mine and integrated into control/management system. The same system utilises geofencing, collision detection, alarms/alerts, all with data-logging capabilities; [0165] Roll off/roll on maintenance designated AGV allows for transport of equipment and supplies to and from above-ground without interrupting haulage convoy, to be operated via remote when within human reach. This system allows the haulage convoy to continue operation without stoppages but also underground crews to remain well supplied at any time. May be fitted with automatic fire suppression system in case of fire.

[0166] Although the invention has been described in conjunction with specific preferred embodiments, it will be evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the scope of the appended claims.