Cabless Connecting Truck

Abstract

A driverless articulated truck (100) comprising a first vehicle module (101) having a first frame (2) and at least one first axle (21), and a second vehicle module (102) having a second frame (3) and at least one second axle (22), the first vehicle module (101) being interconnected to the second vehicle module (102) so as to be articulated about a vertical pin and / or a vertical axis V. Each of the first vehicle module (101) and the second vehicle module (102) comprises a load handling device (7, 8).

Description

Technical Field

[0001] The present invention relates to the field of cabless articulated vehicles. The present invention relates to the field of autonomous articulated trucks. The present invention relates to the field of mining machinery.

Background Art

[0002] Mining machinery used for removing excavated rock material includes loading and transportation equipment. There is provided an articulated truck such as a dump that pivotally connects a front vehicle module to a rear vehicle module having a load carrying device such as a floor, a dump box, a loading bin, etc., about a vertical pin.

[0003] The configuration of this articulated truck allows such a truck to have a smaller turning radius than a truck with a steerable axle if the vehicle lengths are the same. Such an articulated truck is particularly useful in situations such as underground mines and is a preferred vehicle for transporting ore in underground mines where the tunnels can be extremely narrow.

[0004] A typical underground articulated truck has a front vehicle module housing that includes a driver's cab and an engine that drives the wheels of both the front module and the rear vehicle module, and the rear vehicle module includes a load carrying device. Further, a complex drive system is required to power both the front vehicle module and the rear vehicle module having the load carrying device.

[0005] In mining and underground excavations, generally a high loading capacity is required for the transportation equipment so that the rock material can be removed as efficiently as possible. On the other hand, the transportation equipment should be designed to be able to move and turn conveniently within a relatively narrow and / or low-height underground mining tunnel.

[0006] The drawbacks of current prior art transportation equipment solutions are that their payload capacities may not be sufficient with respect to the space required to travel within narrow and / or low-height underground mining tunnels. At the same time, the turning angles of articulated trucks can be extremely limited.

Summary of the Invention

[0007] The present disclosure provides a cabless articulated truck.

[0008] According to a first aspect, the present invention provides a cabless articulated truck. According to the present invention, the cabless articulated truck comprises · a first vehicle module comprising a first frame and at least one first axle, · a second vehicle module comprising a second frame and at least one second axle and the first vehicle module is interconnected to be articulated with respect to the second vehicle module about a vertical pin and / or a vertical axis, each of the first vehicle module and the second vehicle module comprises a load handling device.

[0009] The technical effect is that due to the cabless design of the cabless articulated truck, each of the first vehicle module and the second vehicle module can be provided with a load handling device, and because of the cabless structure, the space divided by the cab can be used for the load, so the payload capacity of the cabless articulated truck is large. The articulation between the first vehicle module and the second vehicle module enables good maneuverability and makes the vehicle agile. Furthermore, an embodiment of a cabless articulated truck with only one axle provided for each vehicle module can save space and keep the structure of the cabless articulated truck simple. A further advantage can be that the design of the cabless articulated truck can be kept quite low. In one embodiment, it is possible to obtain an optimal weight distribution of the cabless articulated truck.

[0010] The cabless articulated truck is characterized by the content described in the independent claims.

[0011] Some other embodiments are characterized by the content described in the remaining claims. Embodiments of the present invention are also disclosed in the specification and drawings of this patent application. Furthermore, the subject matter of this patent application may be defined in ways other than as defined in the following claims. Additionally, the subject matter of the present invention may be formed from several distinct inventions, especially when the present invention is considered in the context of explicit or implicit subtasks or in view of the benefits or groups of benefits obtained. Thus, some of the definitions included in the following claims may be unnecessary in view of the concepts of the distinct inventions. The features of different embodiments of the present invention may be applied to other embodiments within the scope of the basic inventive concept.

[0012] In one embodiment of a cabless articulated truck, the first vehicle module and the second vehicle module may be interconnected to rotate relative to each other about the longitudinal axis L. In one embodiment, this tilting movement may be referred to as rocking. In one embodiment, the central rocking may enable the first frame of the first vehicle module and the second frame of the second vehicle module of the cabless articulated truck structure to move laterally relative to each other by a specific amount. The advantage of interconnecting the first vehicle module and the second vehicle module to rotate relative to each other about the longitudinal axis L is that it helps to ensure that all tires, such as for example four tires, remain in contact with the ground on uneven terrain. It also enables a vehicle design where the axles may not require separate rocking devices. This saves space and keeps the vehicle structure simple. In one embodiment, due to the central articulated rocking joint facility, separate rocking facilities for the axles can be dispensed with. This allows for space savings and enables, for example, the placement of a greater number of batteries compared to prior art electric articulated trucks having rocking axles and a driver's cab. Also, due to the central articulated rocking joint, the structures of the first vehicle module and the second vehicle module can be kept simple and complex structures can be avoided. Being less complex is also advantageous in terms of manufacturing and assembly, as well as vehicle maintenance.

[0013] In one embodiment of a cabless articulated truck, the first axle of the first vehicle module and / or the second axle of the second vehicle module may comprise at least one hub motor and means for transmitting torque from the hub motor to at least one wheel. The advantage of using the hub motor as a drive motor is that it enables a simple structure for transmitting torque to the wheels. A complex cardan axle facility is not required to transmit torque from the drive motor to the wheels.

[0014] In one embodiment of a cabless articulated truck, each of the first vehicle module and the second vehicle module may include an energy storage device for a drive motor, such as a battery. The advantage in this regard is that due to the simple structure of the first vehicle module having a first frame and at least one axle and the second vehicle module having a second frame and at least one axle, there is sufficient space in each of the vehicle modules for an energy storage device such as a battery. In one embodiment, the cabless articulated truck may be an electric vehicle, and battery equipment requires space. The advantage is that the structure and design of the cabless articulated truck enable space for distributing and arranging the battery, for example, along the length and / or width of the first vehicle module and / or the second vehicle module.

[0015] In one embodiment of a cabless articulated truck, the cabless articulated truck may be an autonomous vehicle. The advantage in this regard is that no space for a driver is required in the vehicle. As a result, all suitable space can be utilized for loading purposes. A further advantage is that an autonomous cabless articulated truck may be ideal for the purpose of transporting loads in an underground mine. The structure can be made sufficiently low and narrow for the vehicle to move through a mining tunnel without a driver. The cabless articulated truck may be configured to move in both its main directions, i.e., the direction with the first vehicle module in front or the direction with the second vehicle module in front. A further advantage may be that there is no need to turn the vehicle.

[0016] In one embodiment of a cabless articulated truck, the cabless articulated truck may be a remotely controlled truck. The advantage may be basically the same as the advantages described above, but a further advantage may be that remote control enables a driver to control the vehicle, for example, in the event of a failure.

[0017] In one embodiment of a cabless articulated truck, the load handling device may be a dump floor. An advantage in this regard is that a dump floor is suitable for mining solutions for transporting, in particular, mined materials such as rock materials.

[0018] In one embodiment of a cabless articulated truck, the load handling device may be a floor equipped with an ejector-type unloading device. The advantage of using an ejector-type unloading device in a cabless articulated truck is that the floor or dump box may be a fixed structure arranged on the frame. Thereby, the structures of the first vehicle module and the second vehicle module can be made robust. Also, space is saved. In one embodiment, since there is no need to tilt the floor to unload the material from the floor, the dump box can be unloaded in a low-height space.

[0019] In one embodiment of a cabless articulated truck, a first load handling device extends over the length and width of the first vehicle module, and a second load handling device extends over the length and width of the second vehicle module. An advantage in this regard is that the loading capacity of this embodiment can be relatively large. In one embodiment, the design of the truck can be kept low and a cab for the driver is not required (cabless design or cab-free design).

[0020] In one embodiment of a cabless articulated truck, an actuator may be arranged to pivot the first vehicle module and / or the second vehicle module in relation to a vertical pin and / or a vertical axis. The advantage is that the steering of the cabless articulated truck can be kept simple and the vehicle is agile for pivoting in a narrow space such as a mine tunnel.

[0021] In one embodiment of a cabless articulated truck, the first vehicle module and / or the second vehicle module are provided with sensors for sensing the environment of the truck. The structure of the cabless articulated truck allows for a plurality of suitable locations for the sensors. The advantage is that the sensors can be arranged in one or both of the vehicle modules. The advantage is that in one embodiment the vehicle may be configured to move forward and backward, for example, within a mine tunnel, and sensors may be required in both vehicle modules.

[0022] In one embodiment of a cabless articulated truck, the sensors are arranged at the first end of the cabless articulated truck and / or at the second end of the cabless articulated truck. The advantage in this regard is that the vehicle can move in both directions (forward and / or backward), and the sensors can be arranged at both ends of the vehicle to effectively sense the environment of the vehicle.

[0023] In one embodiment of a cabless articulated truck, the sensors are arranged on the tailgate of the first load handling device and / or on the tailgate of the second load handling device. The advantage is that the tailgate provides a good installation point for sensors for sensing the environment of the vehicle.

[0024] In one embodiment of a cabless articulated truck, the sensors are at least one of radar, lidar, camera, ultrasonic sensor, thermographic camera, sonar, GPS, inertial measurement unit, or any combination of two or more of these. The advantage is that several types of sensors can be arranged on the cabless articulated truck according to the requirements of different applications.

[0025] In one embodiment of a cabless articulated truck, the cabless articulated truck autonomous control means for autonomous control of the cabless articulated truck and its use, sensors for sensing the environment of the cabless articulated truck, Control means for controlling a cabless articulated truck and its use based on the sensed environment, Positioning means for continuously determining the position of the truck, Control means for controlling the truck and its use based on the determined position, and further comprising.

[0026] One embodiment of a cabless articulated truck may comprise any one of the above-described embodiments alone or in combination with any other embodiment.

[0027] The accompanying drawings, which are prepared to provide a further understanding of the present invention and form a part of this specification, illustrate embodiments of the present invention and, together with the description, serve to explain the principles of the present invention.

Brief Description of the Drawings

[0028]

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Modes for Carrying Out the Invention

[0029] In the figures, some embodiments are shown simplified for clarity. In the figures, like parts are designated with like reference numerals.

[0030] FIG. 1 shows (in side view) a cabless articulated vehicle such as the cabless articulated truck 100. In one embodiment, the cabless articulated vehicle may be a cabless articulated hauler, and the vehicle driver may not be aboard the cabless articulated vehicle. In one embodiment, the cabless articulated vehicle may be suitable for transporting rock material, and in particular may be intended for use in mines and excavations. In one embodiment, the cabless articulated truck 100 may be a remotely controlled cabless articulated truck. In one embodiment, the cabless articulated truck 100 may be an autonomously controlled cabless articulated truck. In one embodiment, the cabless articulated truck may be an underground mining truck. In one embodiment, the cabless articulated truck may be an underground mining vehicle. In one embodiment, the cabless articulated truck 100 may include a first vehicle module 101 and a second vehicle module 102. The first vehicle module 101 may be interconnected to connect to the second vehicle module 102 about a vertical pin and / or a vertical axis V. In one embodiment, the first vehicle module 101 and the second vehicle module 102 may include load handling devices 7, 8. In one embodiment, the first vehicle module 101 may include a first chassis or frame 2. In one embodiment, the first vehicle module 101 may include at least one first axle 21. Wheels 5 may be provided on the first axle 21. In one embodiment, the second vehicle module 102 may include a second chassis or frame 3. In one embodiment, the second vehicle module 102 may include at least one second axle 22. Wheels 6 may be provided on the second axle 22.

[0031] The drive equipment of the cabless articulated truck may include one or more drive motors and one or more power transmission means for transmitting driving force to one or more wheels 5, 6. The driving force transmission device may include a mechanical gear system and mechanical power transmission members, or the driving force transmission device may be hydraulic or electric. In one embodiment, the drive motor may be at least one hub motor 23. In one embodiment, the power system of the cabless articulated truck 100 may include a hub motor device. In one embodiment, the hub motor device may include a plurality of hub motors 23. In one embodiment, there may be a hub motor 23 for each of the wheels 5, 6 of the axle.

[0032] In one embodiment, the cabless articulated truck may include wheels 5, 6. In one embodiment, the wheels 5, 6 may be supported and arranged on the frames 2, 3 of the first vehicle module 101 and the second vehicle module 102.

[0033] In one embodiment, at least one first pair of the wheels 5 may be arranged on the frame 2 of the first vehicle module 101. Thus, at least one wheel may be arranged on the first side of the frame, at least one second wheel may be arranged on the second side of the frame, and the frame may be arranged between the first wheel and the second wheel.

[0034] In one embodiment, at least one second pair of the wheels 6 may be arranged on the second frame 3 of the second vehicle module 102. Thus, at least one wheel may be arranged on the first side of the frame, at least one second wheel may be arranged on the second side of the frame, and the second frame 3 may be arranged between the first wheel and the second wheel.

[0035] The first frame 2 of the first vehicle module 101 and the second frame 3 of the second vehicle module 102 may be arranged to be inclined with respect to each other about the rotation axis L. In one embodiment, the rotation axis L may be the longitudinal axis of the cabless articulated truck 100. In one embodiment, the rotation axis L may be the axis of the main movement of the cabless articulated truck 100. In one embodiment, each pair of wheels of the wheels may be arranged on different sides of the rotation axis L. In one embodiment, this tilting movement may be referred to as rocking. Central rocking may enable the first frame 2 of the first vehicle module 101 and the second frame 3 of the second vehicle module 102 of the cabless articulated truck structure to move left and right relative to each other by a specific amount. In one embodiment, central rocking may enable the first frame 2 and the second frame 3 of the vehicle structure to move left and right relative to each other, for example, by about + / - 8 degrees. The relative movement may vary depending on the application. Typically, the relative movement between the first frame 2 of the first vehicle module 101 and the second frame 3 of the second vehicle module 102 may be about + / - 5 to 15 degrees left and right. FIGS. 5 and 6 show how central rocking can enable the first vehicle module 101 and the second vehicle module 102 to move relative to each other about the rotation axis L.

[0036] Central rocking can be important for improving the stability of the cabless articulated vehicle. This helps to ensure that all the tires of the wheels 5, 6, such as the tires of the four wheels 5, 6, remain in contact with the ground on uneven ground. In one embodiment, the wheels 5, 6 may also mean a wheel device having a plurality of wheels, such as, for example, a double wheel.

[0037] In one embodiment, the cabless articulated truck 100 of FIG. 1 may have four wheels 5, 6. The number of wheels may vary, and instead of wheels, there may be another type of mechanism for movement, such as, for example, an endless track device. In one embodiment, the first vehicle module 101 and / or the second vehicle module 102 may be provided with several axles.

[0038] In one embodiment, the cabless articulated truck can include a frame structure including a first frame 2 and a second frame 3 frames, and a joint 4 between the first frame 2 and the second frame 3.

[0039] In one embodiment, the first vehicle module 101 and the second vehicle module 102 may be arranged to rotate relative to each other and to rotate relative to the vertical axis V.

[0040] FIG. 2 shows, in a top view, the fastening by the joint 4 of the first vehicle module 101 and the second vehicle module 102 of the articulated transport device according to one embodiment. This figure also shows an actuator 9, such as a hydraulic cylinder, that can pivot the first vehicle module 101 and the second vehicle module 102 relative to each other.

[0041] In one embodiment, the cabless articulated truck 100 a first vehicle module 101 including a first frame 2 and at least one first axle 21, a second vehicle module 102 including a second frame 3 and at least one second axle 22 may be provided. The first vehicle module 101 may be interconnected to be connected to the second vehicle module 102 about a vertical pin and / or a vertical axis V.

[0042] In one embodiment, each of the first vehicle module 101 and the second vehicle module 102 may include load handling devices 7, 8. In one embodiment, the first vehicle module 101 and the second vehicle module 102 may be interconnected to rotate relative to each other about the longitudinal axis L.

[0043] In one embodiment, the first axle 21 of the first vehicle module 101 and / or the second axle 22 of the second vehicle module 102 may comprise at least one hub motor 23 and means for transmitting torque from the hub motor 23 to at least one wheel 5, 6. In one embodiment, the hub motor 23 may be arranged at each of the wheels. In one embodiment, the first axle 21 and / or the second axle 22 may comprise two hub motors 23.

[0044] In one embodiment of a cabless articulated truck, each of the first vehicle module 101 and the second vehicle module 102 may comprise a power source for at least one drive motor such as a hub motor. In one embodiment, the power source may be an energy storage device such as batteries 13, 14.

[0045] In one embodiment, the cabless articulated truck 100 can be operated by at least one rugged high-power battery pack which may be composed of a plurality of battery modules. Each module may be composed of a plurality of cells. In one embodiment, the battery or battery pack may be removably attached to the vehicle 100. In one embodiment, a part of the batteries 13, 14 or the battery assembly may be fixedly attached to the vehicle. In one embodiment, the battery 13 may be attached on a support 26 connected to the first frame 2 of the first vehicle module 101. In one embodiment, the battery 14 may be attached on a support 27 connected to the second frame 3 of the second vehicle module 102. In one embodiment, the power train may comprise cable wiring from the energy storage section to the electric hub motor and other devices required for the electric power train.

[0046] In one embodiment, the cabless articulated truck may be connectable to a power line, for example, to charge an energy storage device. In one embodiment, the cabless articulated truck may be connectable to a power line by a connector. In one embodiment, the connector may be disposed on a trolley pole device disposed on the truck. The truck may be configured to receive current from trolley lines disposed at a predetermined mutual distance and spaced apart from the truck. In one embodiment of the cabless articulated truck, a range extender may be disposed to charge an energy storage device such as a battery. In one embodiment, the range extender may be a fuel-based auxiliary power unit that can extend the driving range of an electric vehicle by driving a generator that charges the vehicle's battery.

[0047] In one embodiment, the cabless articulated truck 100 may be an autonomous vehicle. In one embodiment, the cabless articulated truck may be a ground vehicle that can sense its environment and move safely with little or no human input. In one embodiment, the cabless articulated truck may be an autonomous driving vehicle that can perceive its surroundings by combining various sensors 30 such as a thermographic camera, radar, lidar, sonar, GPS, odometry, and an inertial measurement unit. A control system can be configured to interpret the perception information to identify an appropriate navigation route and obstacles and / or related signs.

[0048] In one embodiment, the cabless articulated truck 100 may be a remotely controlled truck. In one embodiment, the cabless articulated truck 100 may be an unmanned ground vehicle (UGV). The unmanned ground vehicle can operate in contact with the ground without carrying a human. In one embodiment, the cabless articulated truck 100 may have a set of sensors 30 for observing the environment and can autonomously make decisions regarding its behavior or pass information to human operators at different locations who control the vehicle through remote operation.

[0049] In one embodiment of the driverless articulated truck, the load handling devices 7, 8 may be dump floors. In one embodiment of the driverless articulated truck, the load handling devices 7, 8 may be floors provided with ejector-type unloading devices. The ejector-type unloading device may include an ejector 10 movably disposed within the dump box for unloading material from the dump box. The ejector-type unloading device may further include a drive device for moving the ejector within the dump box from a first position to a second position. In one embodiment, the ejector 10 of each dump box 7, 8 is arranged to move from a first position where the ejector 10 is adjacent to the central joint 4 within the dump box towards a second position, i.e., towards the ends 15, 16 of the driverless articulated truck. The advantage of using an ejector-type unloading device in a driverless articulated truck is that the floor or the dump box may be a fixed structure arranged on the frame. Thereby, the structures of the first vehicle module and the second vehicle module can be made robust. Also, space is saved. In one embodiment, since there is no need to tilt the floor to unload the material from the floor, the unloading of the dump box can be performed in a low-height space.

[0050] In one embodiment, the first load carrier 7 may extend in the longitudinal and transverse directions of the first vehicle module 101. In one embodiment of FIGS. 1 and 2, the length L1 of the first load carrier 7 may extend substantially to the length of the first frame 2 of the first vehicle module 101. The width W1 of the first load carrier 7 may extend substantially to the width of the first vehicle module 101. In one embodiment, the second load carrier 8 may also extend in the longitudinal and transverse directions of the second vehicle module 102. In one embodiment of FIGS. 1 and 2, the length L2 of the second load carrier 8 may extend substantially to the length of the second frame 3 of the second vehicle module 102. The width W2 of the second load carrier 8 may extend substantially to the width of the second vehicle module 102. As shown in one embodiment of FIG. 2, the first load carrier 7 can have a "footprint", i.e., a region (width W1 × length L1) that covers the first vehicle module 101, and the second load carrier 8 can have a "footprint", i.e., a region (width W2 × length L2) that covers the second vehicle module 102. The loading capacity of this embodiment can keep the truck design low and is relatively large because a cab for the driver is not required (driverless or cabless design). The height H of the empty driverless articulated truck 100 is shown in FIG. 1. The height H may be measured vertically from the ground to approximately the highest point of the vehicle. In one embodiment, this makes it possible to utilize the space for the load carriers and the loading capacity. In one embodiment, the power system can be easily arranged to be supported by the frame 2 of the first vehicle module 101 and / or the frame 3 of the second vehicle module 102. The batteries 13, 14 can be arranged distributed in the length and / or width of the first vehicle module 101 and / or the second vehicle module 102. Thereby, the design of the driverless articulated truck can be made considerably lower. In one embodiment, it is possible to obtain an optimal weight distribution of the driverless articulated truck. In one embodiment, due to the central connecting swing joint facility, separate swing facilities for the axles are not required.This can enable more batteries to be arranged compared to prior art articulated trucks having a space-saving, oscillating axle and a driver's cab, and also enables the structures of the first vehicle module and the second vehicle module to be kept simple due to the central articulation oscillating joint 4. The cabless articulated truck can have a high carrying capacity. In one embodiment, the cabless articulated truck 100 can have a carrying capacity of about 50 to 75 tons. In one embodiment, the mass (or unladen weight) of the cabless articulated truck 100 can be about 50 tons. Prior art articulated trucks can have a carrying capacity of up to 50 tons, and the mass (or unladen weight) of prior art articulated trucks is 50 tons. In one embodiment, the carrying capacity of the cabless articulated truck 100 can be significantly greater than that of prior art trucks. In one embodiment, the carrying capacity can be about 50% greater than that of prior art articulated trucks.

[0051] In one embodiment, the actuator 9 may be arranged to pivot the first vehicle module 101 and / or the second vehicle module 102 in relation to a vertical pin and / or a vertical axis V. In one embodiment, the first end of the actuator 9 may be arranged on the first vehicle module 101, and the second end of the actuator may be arranged on the second vehicle module 102. In one embodiment, the first vehicle module 101 may have a first connection point 11 for the first end of the actuator 9. In one embodiment, the second vehicle module 102 or the central connecting swing joint 4 may have a second connection point 12 for the second end of the actuator 9. In one embodiment, the actuator 9 may be an electric actuator or a hydraulic actuator or a pneumatic actuator. In one embodiment, the actuator may be a cylinder-piston combination. In one embodiment, the first end of the actuator may be the end of the cylinder, and the second end of the actuator may be the end of the piston rod. In one embodiment, a plurality of actuators 9 may be arranged. In one embodiment, the actuators may be arranged in pairs, with a first actuator arranged on a first side of the longitudinal axis and a second actuator arranged on a second side of the longitudinal axis. In one embodiment, the actuator 9 may be arranged in a position inclined with respect to an axis parallel to the longitudinal axis of the vehicle. In one embodiment, the steering of a cabless articulated truck can be simply maintained, and the actuator can be designed and dimensioned according to the embodiment.

[0052] In one embodiment, the first vehicle module 101 and / or the second vehicle module 102 may be provided with a sensor 30 for sensing the environment of the truck. In one embodiment, the sensor 30 may be arranged at the first end 15 and / or the second end 16 of the cabless articulated truck 100.

[0053] In one embodiment, the sensor 30 may be disposed on the tailgate 17 of the first load carrier 7 and / or the tailgate 18 of the second load carrier 8. In one embodiment, the first tailgate may be disposed at the first end of a cabless articulated truck. In one embodiment, the second tailgate may be disposed at the second end of a cabless articulated truck.

[0054] In one embodiment, the sensor 30 may be at least one of a radar, lidar, camera, ultrasonic sensor, thermographic camera, sonar, GPS, inertial measurement unit, or any combination of two or more thereof.

[0055] In one embodiment, the cabless articulated truck may further include autonomous control means for autonomous control of the cabless articulated truck and its use, a sensor 30 for sensing the environment of the cabless articulated truck (100), control means for controlling the cabless articulated truck (100) and its use based on the sensed environment, positioning means for continuously determining the position of the truck, and control means for controlling the truck and its use based on the determined position. It can further include the above.

[0056] In one embodiment, the cabless articulated truck may include means for autonomous control of the cabless articulated truck and its use and may contain the above.

[0057] The cabless articulated truck may include a steering mechanism for controlling the traveling direction of the cabless articulated truck and may contain the above.

[0058] The cabless articulated truck Sensor means 30 for sensing the environment of the truck, and means for controlling the truck and its use based on the sensed environment may be included.

[0059] The truck may include means for continuously determining the position of the truck, and means for controlling the truck and its use based on the determined position. may be included.

[0060] The truck and its use can be controlled according to a sequence including loading using the load handling device, movement of the loaded truck, and loading and unloading of the load.

[0061] The truck may further include means for tilting the load handling device in at least one lateral direction. may be further included.

[0062] In one embodiment of a cabless articulated truck, a truck application computer program may be provided, which computer program may include program code stored on a computer-readable medium for causing an electronic controller or another computer connected to the electronic controller to perform the above-described steps for controlling the cabless articulated truck.

[0063] Figures 7 and 8 show, looking from above, the space requirements for a cabless articulated truck 100 according to one embodiment of the invention with a platform in a tunnel 24 between tunnel walls 25.

[0064] In one embodiment of the present disclosure, the driverless articulated truck 100 equipped with the first and second load handling devices 7, 8 does not require much space when turning; in other words, for example, it can turn within a smaller / narrower tunnel 24. The space requirement for a conventional transportation device equipped with a driver's cab and having a corresponding loading capacity can be significantly greater than the space requirement of the driverless articulated truck embodiment according to the present disclosure.

[0065] According to one embodiment of the driverless articulated truck, an extremely good loading capacity is achieved with respect to the space required for turning in a mining tunnel. The driverless articulated truck according to the embodiment moves nimbly through curves. The maneuverability and logical manageability of the driverless articulated truck are extremely good. In the driverless articulated truck according to one embodiment, the load can be easily and evenly distributed between the axles. Furthermore, the driverless articulated truck according to one embodiment has extremely good stability.

[0066] With the progress of technology, it is obvious to those skilled in the art that the basic concept of the present invention can be implemented in various ways. Therefore, the present invention and its embodiments are not limited to the above examples, but rather can be various within the technical scope of the claims.

Explanation of Reference Numerals

[0067] 100 Driverless, i.e., cabless, articulated truck 101 First vehicle module 102 Second vehicle module 2 First frame 3 Second frame 4 Central connecting swing joint 5 Wheels of the first vehicle module 6 Wheels of the second vehicle module 7 First load handling device 8 Second load handling device 9 Actuator 10 Discharger Connection point of the first end of the actuator Connection point of the second end of the actuator 13 Power supply / battery 14 Power supply / battery 15 First end of the cabless connected truck 16 Second end of the cabless connected truck 17 Tailgate of the first load handling device 18 Tailgate of the second load handling device 21 First axle 22 Second axle 23 Hub motor 24 Tunnel 25 Tunnel wall 26 Support 27 Support 30 Sensor H Height of the vehicle L1 Length of the first load handling device W1 Width of the first load handling device L2 Length of the first load handling device W2 Width of the first load handling device L Longitudinal axis V Vertical axis

Claims

1. A driverless articulated truck (100), The aforementioned cabless articulated truck and autonomous control means for autonomous control of its use, A sensor (30) for sensing the environment of the aforementioned cabless articulated truck (100), Based on the sensed environment, control means for controlling the use of the driverless articulated truck (100) and Position determination means for continuously determining the position of the aforementioned track, Control means for controlling the track and its use based on the determined position, A first vehicle module (101) comprising a first frame (2) and at least one first axle (21), A second vehicle module (102) comprising a second frame (3) and at least one second axle (22) Equipped with, The first vehicle module (101) and the second vehicle module (102) are interconnected such that they rotate relative to each other around a longitudinal axis (L). The first vehicle module (101) is interconnected with the second vehicle module (102) so as to be connected around a vertical pin and / or vertical axis V. Each of the first vehicle module (101) and the second vehicle module (102) is equipped with a cargo handling device (7, 8), Each of the aforementioned cargo handling devices (7, 8) is a dump bed equipped with a discharger-type unloading device (10), or a dump bed extending to the length and width of the corresponding first or second vehicle module (101, 102), in a cabless articulated truck.

2. The cabless articulated truck according to claim 1, wherein the first axle (21) of the first vehicle module (101) and / or the second axle (22) of the second vehicle module (102) comprises at least one hub motor (23) and means for transmitting torque from the hub motor (23) to at least one wheel (5, 6).

3. The cabless articulated truck according to claim 1, wherein each of the first vehicle module (101) and the second vehicle module (102) is equipped with an energy storage device for the drive motor, such as batteries (13, 14).

4. An autonomous vehicle, a driverless articulated truck as described in claim 1.

5. The articulated truck without a driver's cab, as described in claim 1, is a remotely controlled truck.

6. The cabless articulated truck according to claim 1, wherein the actuator (9) is arranged to pivot the first vehicle module (101) and / or the second vehicle module (102) in relation to the vertical pin and / or the vertical axis (V).

7. The cabless articulated truck according to claim 1, wherein the first vehicle module (101) and / or the second vehicle module (102) are provided with sensors (30) for sensing the environment of the truck.

8. The cabless articulated truck according to claim 1, wherein the sensor (30) is located at the first end (15) and / or the second end (16) of the cabless articulated truck (100).

9. The cabless articulated truck according to claim 1, wherein the sensor (30) is located at the tail gate (17) of the first cargo transport device (7) and / or the tail gate (18) of the second cargo transport device (8).

10. The cabless articulated truck according to claim 1, wherein the sensor (30) is at least one of radar, lidar, camera, ultrasonic sensor, or any combination of two or more of these.

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