Transport machine

A transport machine is provided with a traveling device, a vehicle body, a vessel, a support device and a load detection device. At least a portion of the vehicle body is arranged above the traveling device. The vessel is provided on the vehicle body. The support device includes a slide mechanism that moves the vessel in a lateral direction with respect to the vehicle body, the lateral direction intersecting with a traveling direction of the traveling device when the transport machine travels straight. The load detection device detects a state of a load on the vessel. The slide mechanism is controlled based on a result of detection by the load detection device.

FIELD

The present invention relates to a transport machine.

BACKGROUND

As a mining method in a mine, a surface mining and an underground mining are known. In the surface mining, mining is performed from a surface of the earth. In the underground mining, mining is performed from underground. In recent years, there are many cases where underground mining is employed, in view of its reduced burden on the environment, and increasing depth of locations of ore deposits. Patent Literature 1 discloses an exemplary technique regarding a transport machine operating inside an underground mine.

CITATION LIST

Patent Literature

SUMMARY

Technical Problem

The transport machine used for underground mining operates in an environment different from an environment of surface mining. For example, the transport machine is required to travel in a tunnel. Therefore, the transport machine used for underground mining needs to have a form suitable for the environment of underground mining.

The present invention is intended to provide a transport machine capable of performing operation smoothly even on a site of underground mining

Solution to Problem

According to the present invention, a transport machine comprises: a traveling device; a vehicle body arranged above the traveling device; a vessel provided on the vehicle body; a support device including a slide mechanism configured to move the vessel in a lateral direction with respect to the vehicle body, the lateral direction intersecting with a traveling direction of the traveling device when the transport machine travels straight; and a load detection device configure to detect a state of a load on the vessel, wherein the slide mechanism is controlled based on a result of detection by the load detection device.

In the present invention, in one or both of cases where the load is loaded onto the vessel and the load is discharged from the vessel, the slide mechanism can be configured to move the vessel such that at least a portion of the vessel is arranged outside the vehicle body.

In the present invention, the slide mechanism can be capable of moving the vessel such that at least a portion of the vessel is arranged on each of one and other sides of the vehicle body with respect to the lateral direction.

In the present invention, the load detection device can be configured to detect a form of a load of the vessel, and based on a result of detection by the load detection device, the vessel can be configured to move in the lateral direction by the slide mechanism such that a position of the vessel is adjusted with respect to a loading machine that loads a load onto the vessel.

In the present invention, wherein the load detection device can be configured to detect a weight of the load of the vessel, and based on a result of detection by the load detection device, the vessel can be configured to move in the lateral direction by the slide mechanism such that a position of the vessel is adjusted with respect to a loading machine that loads a load onto the vessel.

In the present invention, the transport machine can comprise: a loading machine detection device configured to detect a loading machine that loads a load onto the vessel, wherein, based on a result of detection by the loading machine detection device, the vessel can be configured to move in the lateral direction by the slide mechanism such that a position of the vessel is adjusted with respect to the loading machine.

In the present invention, the slide mechanism can be configured to reciprocate the vessel with respect to the lateral direction.

In the present invention, the slide mechanism can be configured to reciprocate the vessel in one or both of a loading operation period in which a load is loaded on the vessel and a period after the loading operation period.

In the present invention, the transport machine can comprise: the load detection device configured to detect a state of a load of the vessel, and wherein an amplitude of reciprocation of the vessel can be determined based on a result of detection by the load detection device.

In the present invention, the transport machine can comprise: a form detection device configured to detect a form of a load of the vessel; and a weight detection device configured to detect a weight of the vessel, wherein whether to reciprocate the vessel can be determined based on a result of detection by the form detection device and a result of detection by the weight detection device.

In the present invention, the support device can include a side dump mechanism configured to discharge a load of the vessel to the lateral direction intersecting with the traveling direction.

In the present invention, the traveling device can include a front wheel and a rear wheel, the vehicle body can include a recess arranged between the front wheel and the rear wheel, and at least a portion of the vessel can be arranged at the recess.

In the present invention, the vehicle body can include a front section, at least a portion of the front section being arranged above the front wheel, the vehicle body can include a rear section, at least a portion of the rear section being arranged above the rear wheel, the recess can be arranged between the front section and the rear section, and an upper surface of the vessel can be arranged below an upper surface of the front section and an upper surface of the rear section.

Advantageous Effects of Invention

According to the present invention, it is possible to provide a transport machine capable of performing operation smoothly even on a site of underground mining.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments according to the present invention will be described with reference to the drawings, although the present invention is not limited to the embodiments. In the following, positional relationships between individual portions will be described based on an assumption that a predetermined direction on a horizontal surface is defined as an X0-axis direction, a direction orthogonal to an X-axis direction on the horizontal surface is defined as a Y0-axis direction, a direction orthogonal to each of the X0-axis direction and the Y0-axis direction is defined as a Z0-axis direction.

FIG. 1is a schematic diagram illustrating an exemplary site on which a transport machine1and a loading machine2according to the present embodiment operate. The transport machine1and the loading machine2are used in underground mining, namely, the mining of an ore from underground. The transport machine1is a type of mining machine for transporting a load in a tunnel R. The loading machine2is a type of mining machine for loading the load onto the transport machine1. In the present embodiment, mining is performed with a block caving method. The block caving method is a method of mining in which there are provided, at a lower portion of an ore body (vein), an ore extraction portion DP and the tunnel R for transporting the extracted ore. An upper portion of the extraction portion DP is undercut and then blasted so as to cause the ore to naturally collapse, and accordingly, the ore can be mined from the extraction portion DP. By extracting the ore from the lower portion of the vein allows the collapse to be transmitted to the upper portion, making it possible to extract the ore of the vein efficiently.

In the present embodiment, a management facility3equipped with a management device80is arranged above the ground or inside an underground mine. A mining site is managed by a management system100that includes the management facility3. The management facility3can communicate with a mining machine inside the underground mine including the transport machine1and the loading machine2via a communication system4. In the present embodiment, the communication system4includes wireless communication such as Wi-Fi. The communication system4is connected with the management facility3by a wired connection and has a repeater4A arranged inside the underground mine. One or both of the transport machine1and the loading machine2communicate the management facility3via the repeater4A.

FIG. 2is a schematic diagram illustrating an exemplary underground mine.FIG. 3is a partially enlarged view ofFIG. 2. In the present embodiment, the tunnel R includes a first tunnel DR and a second tunnel CR. The transport machine1travels inside the first tunnel DR. The second tunnel CR is connected with the extraction portion DP. The loading machine2that performs loading operation is arranged inside the second tunnel CR. In the present embodiment, the transport machine1is an unmanned vehicle and travels autonomously in the tunnel R according to a predetermined route CS. Loading operation onto the transport machine1is performed by the loading machine2at a loading position LP, which has been determined to be inside or in the vicinity of the second tunnel CR. Inside the underground mine, there is provided a dumping position (OP) from which the load transported by the transport machine1is discharged.

The extraction portion DP is also called as a drawpoint or a drawbell. Hereinafter, the extraction point DP is referred to as a drawpoint DP. Hereinafter, the first tunnel DR is referred to as a drift DR, the second tunnel CR is referred to as a crosscut CR, and the dumping position OP is referred to as an ore path OP. An area including the drawpoint DP and the loading position LP may be referred to as a loading location. An area including the ore path OP may be referred to as a dumping location. A load is loaded onto the transport machine1at the loading position LP in the vicinity of the drawpoint DP by the loading machine2. Thereafter, the transport machine1travels along the drift DR to reach the ore path OP and discharges the load at the ore path OP.

Hereinafter, for convenience of description, a road surface of the tunnel R along which the transport machine1travels and an X0Y0plane (horizontal surface) are substantially parallel. In practice, the road surface of tunnel R has, in many cases, irregularities, uphill slopes, and downhill slopes.

InFIG. 2, the plurality of drifts DR is provided within the X0Y0plane. The plurality of drifts DR is arranged in the XX0-axis direction, each of which includes a first drift DR1that is elongated and extending in the Y0-axis direction and a second drift DR2that connects ends of the first drifts DR1. The ore path OP is provided at the second drift DR2.

As illustrated inFIG. 3, the crosscut CR is arranged on both sides of the single first drift DR1. A load is loaded onto the transport machine1by the loading machine2, arranged on at least one of the crosscuts CR arranged on both sides of the drift DR1.

Next, the transport machine1will be described.FIG. 4is a perspective view of an exemplary transport machine1.FIG. 5is a side view of an exemplary transport machine1.FIG. 6is a top view of an exemplary transport machine1.FIG. 7is a front view of an exemplary transport machine1.

Hereinafter, for convenience of description, a vehicle-width direction of the transport machine1is determined as the X-axis direction. Hereinafter, for convenience of description, it is assumed that a traveling direction (moving direction) of the transport machine1when it travels straight and the Y-axis direction are parallel, and that the transport machine1travels forward in a +Y direction. When the transport machine1is traveling straight, a rotation shaft of wheels (front wheel8and rear wheel9) is parallel to the X-axis direction, and the rotation shaft of the wheels is orthogonal to the Y-axis. Directions indicated by the arrows in the diagrams represent +X, +Y, and +Z directions, respectively; the opposite directions represent −X, −Y, and −Z directions, respectively.

The transport machine1includes a traveling device5, a vehicle body6, and a vessel7. At least a portion of the vehicle body6is arranged above the traveling device5. The vessel7is supported by the vehicle body6.

The traveling device5includes a front wheel8, a rear wheel9, a front wheel driving device10that drives the front wheel8, and a rear wheel driving device11that drives the rear wheel9. Hereinafter, a portion of the traveling device5including the front wheel8and the front wheel driving device10will be appropriately referred to as a front traveling device5A, and a portion of the traveling device5including the rear wheel9and the rear wheel driving device11will be appropriately referred to as a rear traveling device5B.

The vehicle body6includes a front section6A, a rear section6B, an intermediate section6D, and a recess6C. At least a portion of the front section6A is arranged above the front wheel8. At least a portion of the rear section6B is arranged above the rear wheel9. The intermediate section6D is provided between the front section6A and the rear section6B. The recess6C is arranged between the front section6A and the rear section6B. The intermediate section6D is arranged so as to connect a lower portion of the front section6A and a lower portion of the rear section6B. The recess6C is defined by the front section6A, the rear section6B, and the intermediate section6D. The recess6C is arranged between the front wheel8and the rear wheel9with respect to the Y-axis direction.

The vessel7is a member into which a load is loaded by the loading machine2. At least a portion of the vessel7is arranged at the recess6C. At least a portion of the vessel7is arranged between the front traveling device5A and the rear traveling device5B with respect to the Y-axis direction.

The front section6A includes a holding section13that removably holds a device12. The rear section6B includes a holding section14that removably holds the device12. In the present embodiment, the device12includes a battery. Each of the holding section13and the holding section14has a connector through which power is supplied from a battery12. An electronic device and an electric motor included in the transport machine1are operated by power supplied from the battery12.

In the present embodiment, a portion of (front half of) the vehicle body6, arranged in front of a center AX of the vehicle body6, and a portion of (rear half of) the vehicle body6, arranged in rear of the center AX of the vehicle body6, with respect to the Y-axis direction, namely, the traveling direction of the traveling device5, are arranged (front/rear) symmetrically. In addition, a portion of the traveling device5, arranged in front of the center AX of the vehicle body6, and a portion of the traveling device5, arranged in rear of the center AX of the vehicle body6, with respect to the Y-axis direction, are arranged symmetrically. In addition, a portion of the vessel7, arranged in front of the center AX of the vehicle body6, and a portion of the vessel7, arranged in rear of the center AX of the vehicle body6, with respect to the Y-axis direction, are arranged symmetrically.

In the present embodiment, being symmetric (front/rear symmetric) means that, with respect to a virtual plane (symmetrical plane) that passes through the center AX and is parallel with the XZ plane, a portion arranged in one side (+Y side, front side) and another side (−Y side, rear side) are mirror-symmetrical.

In addition, in the present embodiment, with respect to the X-axis direction intersecting with the traveling direction of the traveling device5, a portion of the vehicle body6arranged in the right direction from the center AX of the vehicle body6(right half portion) and a portion of the vehicle body6arranged in the left direction from the center AX of the vehicle body6(left half portion) are arranged symmetrically (left/right symmetric). In addition, a portion of the traveling device5, which is arranged in the right direction of the center AX of the vehicle body6, and a portion of the traveling device5, which is arranged in the left direction of the center AX of the vehicle body6, are arranged symmetrically with respect to the X-axis direction. In addition, a portion of the vessel7, which is arranged in the right direction from the center AX of the vehicle body6, and a portion of the vessel7, which is arranged in the left direction from the center AX of the vehicle body6, are arranged symmetrically with respect to the X-axis direction.

In the present embodiment, being symmetric (left/right symmetric) means that, with respect to a virtual surface (symmetrical surface) that passes through the center AX and is parallel with the YZ plane, a portion arranged in one side (+X side, right side) and another side (−X side, left side) are mirror-symmetrical.

In the present embodiment, being symmetric includes at least one of a case where forms are symmetric and a case where structures are symmetric. That is, being symmetric includes one or both of having a symmetric form and having a symmetric structure. Note that being symmetric includes at least one of a case where the portions are perfectly symmetric and a case where the portions are substantially symmetric.

A front half portion from the center AX of the vehicle body6with respect to the Y-axis direction includes the front section6A and a front half of the intermediate section6D, which is connected with the front section6A and arranged in front of the center AX. A rear half portion from the center AX of the vehicle body6with respect to the Y-axis direction includes the rear section6B and a rear half of the intermediate section6D arranged in rear of the center AX. The form and structure of the front section6A are substantially equal to the form and structure of the rear section6B. The form and structure of the front half portion of the intermediate section6D are substantially equal to the form and structure of the rear half portion of the intermediate section6D.

The front section6A includes a front surface31, a side surface32, a side surface33, an upper surface34, a lower surface35, and a back surface36. The side surface32is arranged on a +X side that is one side of the front surface31. The side surface33is arranged at a −X side that is another side of the front surface31. The back surface36is arranged in an opposite direction from the front surface31and faces the vessel7. The front surface31is substantially parallel to the XZ plane. Each of the side surface32and the side surface33is substantially orthogonal to the XY plane and tilted with respect to the YZ plane. The side surface32and the side surface33are tilted such that a distance between the side surface32and the side surface33is gradually reduced from the center AX in the +Y direction, namely, the moving direction of the transport machine1. The lower surface35may be substantially parallel to the XY plane, or at least a portion of the lower surface35may be tilted upwardly from the center AX in the +Y direction. The form and area of the front surface31are smaller than the form and area of the back surface36. The form and area of the side surface32are equal to the form and area of the side surface33.

The front section6A includes a recess37in which the battery12is arranged. The recess37is provided on an upper portion of the front section6A. On the recess37, the holding section13is provided. The upper surface34is arranged at least on a portion of a circumference of an upper-end opening of the recess37. In the present embodiment, the recess37is formed so as to connect the front surface31and the back surface36. The upper surface34is arranged on both sides of the recess37with respect to the X-axis direction that intersects with the traveling direction of the traveling device5. Hereinafter, the upper surface34that includes a +X side end of the front section6A and is arranged on the +X side of the recess37will be appropriately referred to as an upper surface34A. The upper surface34that includes a −X side end of the front section6A and is arranged on the −X side of the recess37will be appropriately referred to as an upper surface34B. The +X side end of the front section6A includes an upper end of the side surface32. The −X side end of the front section6A includes an upper end of the side surface33.

Each of the upper surface34A and the upper surface34B is substantially parallel to the XY plane. The upper surface34A and the upper surface34B are equally positioned with respect to the Z-axis direction. The position with respect to the Z-axis direction means a height. The upper surface34A and the upper surface34B are arranged within a same plane (flush with each other).

Note that a height of the upper surface34A and a height of the upper surface34B may differ. Also note that a device may be mounted on at least one of the upper surface34A and the upper surface34B.

The upper surface34A and the upper surface34B are equally formed. In the present embodiment, the recess37and the holding section13are arranged at a central portion of the front section6A with respect to the X-axis direction. As described above, the vehicle body6is left/right symmetrical.

In the present embodiment, the battery12has a rectangular form. The battery12includes a front surface12A, a side surface12B, a side surface12C, an upper surface12D, a lower surface12E, and a back surface12F. The recess37has a shape that corresponds to the form of the battery12. An inner surface of the recess37includes a bottom surface37E, a first inner surface37B and a second inner surface37C. The bottom surface37E faces the lower surface12E of the battery12. The first inner surface37B faces the side surface12B of the battery12. The second inner surface37C faces the side surface12C of the battery12. The bottom surface37E of the recess37and the first inner surface37B of the recess37are substantially orthogonal to each other. The bottom surface37E of the recess37and the second inner surface37C of the recess37are substantially orthogonal to each other.

While the battery12is held by the holding section13of the recess37, the upper surface12D of the battery12is arranged between a first upper surface34A and a second upper surface34B, with respect to the X-axis direction. In the present embodiment, the depth of the recess37is smaller than the height of the battery12. The depth of the recess37corresponds to the dimension of the first inner surface37B and the dimension of the second inner surface37C with respect to the Z-axis direction. The height of the battery12corresponds to the dimension of the battery12with respect to the Z-axis direction. While the battery12is held by the holding section13of the recess37, the upper surface12D of the battery12is arranged above (+Z direction) the upper surface34A and the upper surface34B. In other words, the upper surface34(upper surface34A and upper surface34B) of the front section6A is arranged below (−Z direction) the upper surface12D of the battery12held by the holding section13.

The dimension of the battery12may be equal to or smaller than the dimension of the upper surface34with respect to the Y-axis direction. While the battery12is held by the holding section13, the position of a +Y-side end of the upper surface34and the position of a +Y-side end of the battery12may overlap with each other but need not overlap with each other; the position of a −Y-side end of the upper surface34and the position of a −Y-side end of the battery12may overlap with each other but need not overlap with each other. The configuration may be such that, with respect to the Y-axis direction, the battery12is not arranged outside the upper surface34(not protruding), and the front surface12A of the battery12and the front surface31of the front section6A are arranged on a same plane.

The rear section6B includes a rear surface41, a side surface42, a side surface43, an upper surface44, a lower surface45, and a back surface46. On an upper portion of the rear section6B, a recess47is provided. The holding section14is arranged in the recess47. On both sides of the recess47, an upper surface44A and an upper surface44B are provided. As described above, the rear section6B is formed symmetrically with the front section6A. That is, with respect to the X-axis direction, the recess47and the holding section14are arranged at a center of the rear section6B. The recess47and the holding section14are arranged between the upper surface44A and the upper surface44B. The upper surface44(upper surface44A and upper surface44B) of the rear section6B is arranged below the upper surface12D of the battery12held by the holding section14. The upper surface44A and the upper surface44B are arranged within a same plane. In the present embodiment, the upper surface34A, the upper surface34B, the upper surface44A, and the upper surface44B are arranged within a same plane.

Note that the height of the upper surface44A may differ from the height of the upper surface44B. In addition, a device may be mounted on at least one of the upper surface44A and the upper surface44B.

In the present embodiment, the form and structure of the battery12held by the holding section13are substantially equal to the form and structure of the battery12held by the holding section14. Therefore, even in a state where the battery12is held by the holding section13and the battery12is held by the holding section14, the transport machine1is front/rear symmetrical and left/right symmetrical.

In the present embodiment, power supplied from the battery12held by the holding section13and power supplied from the battery12held by the holding section14are added together, and then, the added power is distributed to an electronic device and an electric motor arranged at a front half portion of the transport machine1and to an electronic device and an electric motor arranged at a rear half portion of the transport machine1. The electronic device and the electric motor arranged at the front half portion of the transport machine1may be operated by the power supplied from the battery12held by the holding section13. The electronic device and the electric motor arranged at the rear half portion of the transport machine1may be operated by the power supplied from the battery12held by the holding section14.

The vessel7includes a recess70, an upper surface7A, a lower surface7B, a side surface7C, a side surface7D, a facing surface7E and a facing surface7F. The recess70houses a load. The upper surfaces7A and7B are arranged around an opening at an upper end of the recess70. The side surface7C faces the +X-side. The side surface7D faces the −X-side. The facing surface7E faces the back surface36of the front section6A. The facing surface7F faces the back surface46of the rear section6B. The facing surface7E is tilted upwardly from the center AX in the +Y direction. The facing surface7F is tilted upwardly from the center AX in the −Y direction. The form and structure of the front half of the vessel7, including the facing surface7E, arranged in front of the center AX are substantially equal to the form and structure of the rear half of the vessel7, including the facing surface7F, arranged in rear of the center AX.

The recess6C has a shape that corresponds to the form of the vessel7. An inner surface of the recess6C includes a bottom surface50capable of facing at least a portion of the lower surface7B, the back surface36and the back surface46. The bottom surface50of the vehicle body6is substantially parallel to the XY plane. The back surface36of the vehicle body6is tilted upwardly from the center AX in the +Y direction. The back surface46of the vehicle body6is tilted upwardly from the center AX in the −Y direction.

With respect to the X-axis direction, the vehicle body6and the vessel7have substantially same dimensions. In a case where the vessel7and the vehicle body6have been positioned such that the center of the vehicle body6and the center of the vessel7overlap with each other with respect to the X-axis direction, the position of the side surface7C, the position of a +X-side end of the back surface36, and the position of a +X-side end of the back surface46overlap with each other, and the position of the side surface7D, the position of a −X-side end of the back surface36, and the position of a −X-side end of the back surface46overlap with each other, with respect to the X-axis direction. In other words, with respect to the X-axis direction, the side surface7C is not arranged outside the side surface32nor outside the side surface42; the side surface7D is not arranged outside the side surface33nor outside the side surface43. Note that in a state where the vessel7and the vehicle body6are positioned such that the center of the vehicle body6and the center of the vessel7overlap with each other with respect to the X-axis direction, the side surface7C may protrude outer than the side surface32and the side surface42; the side surface7D may protrude outer than the side surface33and the side surface43.

The upper surface7A of the vessel7is arranged below the upper surface12D of the battery12held by at least one of the holding section13and the holding section14. The upper surface7A of the vessel7is arranged below the upper surface34of the front section6A and the upper surface44of the rear section6B. The upper surface7A may be arranged below the upper surface12D, above the upper surface34and the upper surface44, or to be at a height that is same as the height of the upper surface34and the upper surface44(may be within a same plane).

The front traveling device5A is arranged on the +Y side in front of the center AX. The rear traveling device5B is arranged on the −Y side in rear of the center AX. The form and structure of the front traveling device5A are substantially equal to the form and structure of the rear traveling device5B.

FIG. 8is a diagram illustrating a portion of the front traveling device5A. The front traveling device5A includes the front wheel8and the front wheel driving device10that drives the front wheel8. The front wheel8supports a tire15. In the present embodiment, the front wheel8is arranged on both sides of the center AX of the vehicle body6with respect to the X-axis direction. The front wheel8may include one tire15or two tires. As illustrated inFIG. 8, in the present embodiment, one front wheel8includes two tires15. That is, in the present embodiment, the front traveling device5A has a double-tire form.

The tire15is a solid tire. No gas is filled inside the tire15. This reduces the diameter of the tire15, suppressing an increase in the height of the transport machine1. Alternatively, the tire15may be a pneumatic tire (tire filled with air).

The front wheel driving device10includes an electric motor (in-wheel motor)16at least a portion of which is arranged in a hub of the front wheel8. The electric motor16operates on power supplied from the battery12. Power is supplied to the electric motor16of the front wheel driving device10from the battery12held by the holding section13of the front section6A. The electric motor16for driving the front wheel8operates on the power supplied from the battery12held by the holding section13of the front section6A. The electric motor16is provided for each of two front wheels8.

The configuration of the rear traveling device5B (not illustrated) is similar to the configuration of the front traveling device5A. The rear wheel9of the rear traveling device5B is arranged on both sides of the center AX of the vehicle body6with respect to the X-axis direction. The rear traveling device5B has a double-tire system. The form and structure of the tire15supported by the front wheel8and the form and structure of the tire15supported by the rear wheel9are substantially equal. The rear wheel driving device11includes the electric motor16connected to each of the two rear wheels9. Power is supplied to the electric motor16of the rear wheel driving device11from the battery12held by the holding section14of the rear section6B. The electric motor16to drive the rear wheel9operates on the power supplied from the battery12held by the holding section14of the rear section6B.

In this manner, in the present embodiment, the front wheel8is driven by the front wheel driving device10, and the rear wheel9is driven by the rear wheel driving device11. In short, the traveling device5operates on a whole-wheel-drive system, in which all four wheels are driven by a driving device. Note that the front wheel driving device10drives the front wheel8and does not drive the rear wheel9. The rear wheel driving device11drives the rear wheel9and does not drive the front wheel8.

FIG. 9is a schematic diagram illustrating an exemplary traveling device5. The front traveling device5A of the traveling device5includes the front wheel8and a front wheel driving device10B that drives the front wheel8. The front wheel driving device10B includes an electric motor160and a power transmission device161that transmits the power generated by the electric motor160to each of left/right front wheels8. The power transmission device161includes a transaxle that combines a transmission and a differential gear. A rear wheel driving device11B that drives the rear wheel9has a structure equivalent to the structure of the front wheel driving device10B. The transport machine1may travel by the traveling device5illustrated inFIG. 9.

In the present embodiment, the transport machine1can move in each of +Y and −Y directions. Accordingly, in the above-described example, when the transport machine1travels in the −Y direction, the rear section6B functions as a front section, the rear wheel9functions as a front wheel, the front section6A functions as a rear section, and the front wheel8functions as a rear wheel.

In the present embodiment, each of the front wheel8and the rear wheel9functions as a steered wheel. For example, when the transport machine1moves in the +Y direction, the front wheel8functions as a steered wheel; when the transport machine1moves in the −Y direction, the rear wheel9functions as a steered wheel. Alternatively, when the transport machine1moves at least in one of the +Y and −Y directions, both the front wheel8and the rear wheel9may function as steered wheels.

FIG. 10is a schematic diagram illustrating an exemplary support device17that supports the vessel7. The support device17supports the vessel7movably. At least a portion of the support device17is arranged between the vehicle body6and the vessel7. The support device17supports the vessel7movably with respect to the vehicle body6.

The support device17includes a slide mechanism18and a side dump mechanism19. The slide mechanism18moves the vessel7in the X-axis direction with respect to the vehicle body6. The side dump mechanism19discharges a load of the vessel7in the X-axis direction. The side dump mechanism19discharges the load from the vessel7by tilting the vessel7around an axis parallel to the Y-axis direction.

The slide mechanism18is arranged between the vehicle body6(bottom surface50of the recess6C) and the lower surface7B of the vessel7. The slide mechanism18includes a slide table20, a guide mechanism21, and a hydraulic cylinder22. The slide table20is movable in the X-axis direction. The guide mechanism21is arranged on the vehicle body6and guides the slide table20that moves in the X-axis direction. The hydraulic cylinder22moves the slide table20in the X-axis direction. The hydraulic cylinder22is connected to at least a portion of the slide table20. With operation of the hydraulic cylinder22, the slide table20moves in the X-axis direction.

The vessel7is supported by the slide table20. Accordingly, when the slide table20moves in the X-axis direction, the vessel7moves in the X-axis direction together with the slide table20. The vessel7is movable in each of one direction (+X direction) and another direction (−X direction), with respect to the X-axis direction.

The side dump mechanism19includes a hoist cylinder23arranged between the slide table20and the vessel7. As illustrated inFIG. 10, there may be provided two hoist cylinders23. With operation of the hoist cylinder23, the vessel7is lifted up.

FIG. 11is a schematic diagram illustrating an exemplary state in which the vessel7moves by the slide mechanism18. In the present embodiment, the vehicle body6and the vessel7have substantially the same dimensions with respect to the X-axis direction. When the vessel7and the vehicle body6are positioned such that the center of the vehicle body6and the center of the vessel7overlap with each other with respect to the X-axis direction, the vessel7does not protrude outer than the vehicle body6.

As illustrated inFIG. 11, the slide mechanism18can move the vessel7such that at least a portion of the vessel7is arranged on each of one or another side of the vehicle body6with respect to the X-axis direction. In other words, the slide mechanism18can move the vessel7in the +X direction, by using the hydraulic cylinder22, such that one side surface7C on the vessel7is arranged outside one side surface32and one side surface42of the vehicle body6. In addition, the slide mechanism18can move the vessel7in the −X direction, by using the hydraulic cylinder22, such that the other side surface7D on the vessel7is arranged outside the other side surface33and the other side surface43of the vehicle body6. In this manner, the slide mechanism18slides the vessel7to both sides with respect to the X-axis direction.

FIG. 12is a schematic diagram illustrating an exemplary state in which the vessel7is lifted up by the side dump mechanism19. As illustrated inFIG. 11, the side dump mechanism19tilts the vessel7around a shaft J parallel to the Y-axis. In short, in the present embodiment, the transport machine1discharges the load from the vessel7using a side-dump system. In the present embodiment, the vessel7includes a vessel main body24, and a side gate25, which is pivotable with respect to the vessel main body24. The side gate25pivots in synchronization with tilting (rising) movement of the vessel main body24. With this operation, an opening7K is formed between the vessel main body24and the side gate25. The load of the vessel7is discharged to a side of the transport machine1through the opening7K. Note that the state that the rotation shaft of the vessel7, namely, the shaft J, and the Y-axis are parallel includes at least one of a state where the Y-axis and the shaft J are perfectly parallel, and a state where the Y-axis and the shaft J are substantially parallel. Alternatively, the shaft J may be non-parallel to the Y-axis. For example, an angle formed by the shaft J and the Y-axis may be one or more degrees and 45 or less degrees.

In the present embodiment, in a state where the vessel7is not lifted up, the support device17is arranged below an upper end of the front wheel8and an upper end of the rear wheel9. In other words, in a state where the transport machine1is traveling along the drift DR, the support device17is arranged below the upper end of the front wheel8and below the upper end of the rear wheel9.

FIG. 13is a schematic diagram illustrating an exemplary side dump mechanism19B. The side dump mechanism19B illustrated inFIG. 13uses a side ejector system to discharge the load from the vessel7B in the X-axis direction. InFIG. 13, the vessel7B includes a vessel main body24B, and a side gate25B that is pivotable with respect to the vessel main body24B. The side gate25B is pivotably moved by the power of a cylinder mechanism251. The side dump mechanism19B includes a plate191, and a driving device192. The plate191is arranged on the vessel main body24B. The driving device192moves the plate191in the X-axis direction. The driving device192includes a multi-stage cylinder mechanism arranged between the vessel main body24B and the plate191. When the load of the vessel7is discharged, the side gate25B is raised by the cylinder mechanism251. With this operation, an opening7K is formed between the vessel main body24B and the side gate25B. In a state where the opening7K is formed, the driving device192moves the plate191in the X-axis direction (−X direction in the example ofFIG. 13). The load of the vessel7B is discharged to a side of the transport machine1through the opening7K.

Next, traveling of the transport machine1will be described. In the present embodiment, the transport machine1is an unmanned vehicle, which is an autonomous traveling vehicle capable of traveling autonomously.FIG. 14is a functional block diagram including a detection system60of the transport machine1.

As illustrated inFIG. 14, the transport machine1includes a processing device51, a storage device52, a communication device53, and the detection system60. The detection system60includes a range sensor61, a non-contact sensor62, a weight sensor63, an imaging device64, a reading device65, a speed sensor66, an acceleration sensor67, and a steering sensor68. The range sensor61outputs physical shape data of a space. The non-contact sensor62detects an obstacle. The weight sensor63detect the weight of the vessel7. The imaging device64can obtain an optical image of an object and detect the form of the object. The reading device65detects a mark M (refer toFIG. 14) provided on the drift DR. The speed sensor66detects a traveling speed of the transport machine1. The acceleration sensor67detects acceleration or an angular speed of the transport machine1. The steering sensor68detects at least one of steering angles of the front wheel8and the rear wheel9.

The processing device51includes a central processing unit (CPU). The processing device51, based on a result of detection by the detection system60, controls the traveling device5such that the transport machine1moves to a predetermined target position. The processing device51controls the traveling device5to travel along a predetermined route (target route) CS at a predetermined speed and acceleration by controlling the electric motor16(driving device) and a braking system of the traveling device5, as well as controlling the steering angle of at least one of the front wheel8and the rear wheel9.

The storage device52includes at least one of random access memory (RAM), read only memory (ROM), flash memory, and a hard disk drive, and is connected with the processing device51. The storage device52stores various types of information required for autonomous traveling.

The communication device53is connected with the processing device51and performs data communication with one or both of the loading machine2and the management facility3. The management facility3communicates with the communication device53of the transport machine1via the communication system4. The communication device53wirelessly communicates with the management facility3via the repeater4A arranged inside the underground mine. The communication device53can perform data communication with a communication device provided on the loading machine2. The communication device53can receive information (including a command signal) transmitted from at least one of the management facility3and the loading machine2. The communication device53can transmit information detected at the detection system60to at least one of the management facility3and the loading machine2.

The range sensor61includes a scanning electro-optical distance measuring instrument capable of outputting physical shape data of a space. The range sensor61includes at least one of a laser scanner and a three-dimensional distance sensor, and is capable of obtaining three-dimensional spatial data. The range sensor61detects at least one of the loading machine2and a wall surface of the drift DR. In the present embodiment, the range sensor61can obtain at least one of shape data of the loading machine2, shape data of a wall surface of the drift DR, and shape data of the load on the vessel7. The range sensor61can detect at least one of a relative position with respect to the loading machine2(relative distance and orientation) and a relative position with respect to the wall surface of the drift DR. In other words, the range sensor61can function as at least one of a load detection device (form detection device), a loading machine detection device (first detection device), and a second detection device. The load detection device detects a state of load (form of load) on the vessel7. The loading machine detection device detects the loading machine2. The second detection device detects the drift DR (tunnel R). The range sensor61is connected with the processing device51and outputs a result of detection to the processing device51. The range sensor61may include radar.

In the present embodiment, information regarding the wall surface of the drift DR has been predetermined and stored in the storage device52. That is, the information regarding the wall surface of the drift DR is known information measured beforehand. The information regarding the wall surface of the drift DR includes information regarding each shape of a plurality of portions of the wall surface and information regarding an absolute position of each portions of the wall surface. The storage device52stores shape of a plurality of portions of the wall surface and a relationship between the shape and the absolute position of the portions of the wall surface having that shape. The processing device51can obtain the absolute position and orientation of the transport machine1in the drift DR based on a result of detection on the wall surface of the drift DR (shape data of wall surface) detected by the range sensor61provided on the transport machine1and based on information stored in the storage device52. In this manner, the range sensor61can also function as a position detection device that detects a position of the transport machine1that travels along the drift CR (tunnel R).

The processing device51can control the traveling device5in the drift DR such that the transport machine1can travel according to the predetermined route CS based on a current position (absolute position) of the transport machine1measured by the range sensor61.

The non-contact sensor62detect an obstacle in front of the transport machine1. The non-contact sensor62includes radar. By emitting at least one of radio waves and ultrasonic waves, and receiving the radio waves reflected on the obstacle, the non-contact sensor62can detect a distance and orientation relative to the obstacle. The non-contact sensor62may include at least one of a laser scanner and a three-dimensional distance sensor. The non-contact sensor62is connected with the processing device51and outputs a result of detection to the processing device51.

The weight sensor63detects a weight of the vessel7. The weight sensor63can detect the weight of the vessel7and a weight of a load loaded onto the vessel7. That is, the weight sensor63can function as a load detection device (weight detection device) that detects a state of the load on the vessel7(weight of the vessel7). The weight sensor63is connected with the processing device51and outputs a result of detection to the processing device51. The processing device51, based on the result of detection by the weight sensor63, obtains information regarding the weight of the load loaded onto the vessel7, and presence/absence of load on the vessel7. The weight sensor63may include a strain gage based load cell provided, for example, between the slide table20and the vessel7, and may include a pressure sensor that detects hydraulic pressure of the hoist cylinder23.

The imaging device64includes an imaging element such as a CCD, and can obtain an optical image of an object and detect a form of the object. In the present embodiment, the imaging device64includes a stereo camera and can obtain three-dimensional form data of the object. The imaging device64can detect a form (appearance of load) of the load of the vessel7. That is, the imaging device64can function as a load detection device (form detection device) to detect a state of the load of the vessel7(form of load). The imaging device64is connected with the processing device51and outputs a result of detection to the processing device51. The processing device51, based on a result of detection by the imaging device64, obtains information regarding a state of the load on the vessel7. The form of the load on the vessel7may be detected by using at least one of a laser scanner and a three-dimensional distance sensor.

The reading device65detects the mark M provided on the drift DR. The mark M is arranged in plurality along with the drift DR. The mark M may be an identifier (code) such as a bar code and a two-dimensional code, or may be an identifier (tag) such as an IC tag and an RFID. The reading device65detects identification information or specific information of the mark M. The reading device65is connected with the processing device51and outputs a result of detection to the processing device51.

In the present embodiment, the information regarding the position of the mark M (absolute position) in the drift DR is known information measured beforehand. Information regarding the absolute position of the mark M is stored in the storage device52. The processing device51can obtain the absolute position of the transport machine1in the drift DR based on the result of detection on the mark M detected by the reading device65provided on the transport machine1, namely, identification information or specific information on the mark M and based on stored information in the storage device52. That is, the reading device65can also function as a position detection device that detects the position of the transport machine1that travels along the drift DR (tunnel R). The reading device65also functions as the second detection device to detect the mark M provided on the drift DR (tunnel R).

The processing device51can control the traveling device5in the drift DR such that the transport machine1can travel according to the predetermined route CS based on a current position (absolute position) of the transport machine1obtained by the reading device65.

The mark M may be a structure such as a landmark. In a case where the mark M is a landmark, the reading device65may include radar. The reading device65emits radio waves from radar and receives at least a portion of the emitted radio waves reflected on the landmark, thereby making it possible to detect a relative distance and orientation with respect to the landmark. In a case where a position (absolute position) at which the landmark is arranged is known and information regarding the absolute position of the landmark has been stored in the storage device52, the processing device51can obtain the absolute position of the transport machine1in the drift DR based on the detected value on the reading device65provided on the transport machine1and based on the information stored in the storage device52.

Each of the speed sensor66, the acceleration sensor67, and the steering sensor68is connected with the processing device51. The speed sensor66outputs a detection value of the traveling speed of the transport machine1onto the processing device51. The acceleration sensor67outputs the detection value of the acceleration of the transport machine1onto the processing device51. The steering sensor68outputs a detection value of the steering angle of at least one of the front wheel8and the rear wheel9onto the processing device51.

In the present embodiment, the processing device51, based on, for example, the detection values of the speed sensor66and the steering sensor68, allows the traveling device5to travel according to dead reckoning navigation. In other words, the processing device51estimates a current position of the transport machine1using dead reckoning navigation, and controls the traveling device5in the drift DR such that the transport machine1travels according to the predetermined route CS.

Dead reckoning navigation is a navigation system of estimating a current position of an object (transport machine1) based on orientation (orientation variation) and a moving distance from a reference position (origin) for which the absolute position is known. Orientation of the transport machine1is detected with the steering sensor68arranged on the transport machine1. The moving distance of the transport machine1is detected by using the speed sensor66arranged on the transport machine1. A detection value of the steering sensor68and a detection value of the speed sensor66are output onto the processing device51of the transport machine1. The processing device51can obtain orientation of the transport machine1from a known reference position bases on the detection value of the steering sensor68. The processing device51can obtain a moving distance of the transport machine1from the known reference position based on the detection value of the speed sensor66. In this manner, the detection system60including the steering sensor68and the speed sensor66can detect the relative position of the transport machine1with respect to the reference position based on dead reckoning navigation. In other words, in the present embodiment, the speed sensor66and the steering sensor68function as relative position detection devices to detect the relative position with respect to the reference position based on dead reckoning navigation. The processing device51, based on the detection value of the steering sensor68and the detection value of the speed sensor66, controls the traveling device5such that the transport machine1travels according to the predetermined route CS. Alternatively, orientation (orientation variation) of the transport machine1may be detected by a gyro sensor arranged on the transport machine1.

After the relative position of the transport machine1with respect to the reference position has been detected with dead reckoning navigation, the processing device51may correct the result of detection based on information regarding the absolute position of the transport machine1in the drift DR obtained by using one or both of the result of detection by the range sensor61and the result of detection by the reading device65. Specifically, in a case where the traveling distance of the transport machine1is increased, detection errors of one or both of the steering sensor68and the speed sensor66have been accumulated. Accordingly, an error might occur between the position that has been estimated (estimated position) and the actual position. This might cause the transport machine1to deviate from the route CS during traveling. In the present embodiment, the configuration may be such that the processing device51controls the traveling device5while correcting the position of the transport machine1that has been derived (estimated) with dead reckoning navigation, by using information regarding the absolute position of the transport machine1obtained from the results of detection by at least one of the range sensor61and the reading device65. The processing device51, based on a detection value of the steering sensor68, a detection value of the speed sensor66, and information regarding the absolute position of the transport machine1, calculates a control amount regarding traveling of the transport machine1, including a correction amount of the position of the transport machine1, such that the transport machine1travels according to the route CS. The processing device51, based on the calculated correction amount and control amount, controls the traveling device5such that the transport machine1travels according to the route CS.

FIG. 15is a schematic diagram illustrating an exemplary detection system60mounted on the transport machine1. As illustrated inFIG. 15, the imaging device (load detection device, form detection device)64is supported by the vehicle body6via a support device69. The imaging device64is arranged at a position where the form of the load on the vessel7is detectable. Note that as described above, in place of the imaging device64, or together with the imaging device64, the range sensor61including at least one of a laser scanner and a three-dimensional distance sensor can be used to detect the form of the load on the vessel7. That is, the range sensor61may be supported by the support device69.

The imaging device64may be arranged at a predetermine position on the vehicle body6, where an optical image of the loading machine2is obtainable. Alternatively, the imaging device64may be arranged at a predetermined position on the vehicle body6, where an optical image of the wall surface of the drift DR (three-dimensional form data) is obtainable. In this case, the imaging device64functions as at least one of a loading machine detection device (first detection device) that detects the loading machine2and a second loading machine that detects the drift DR (tunnel R).

FIG. 16is a schematic diagram illustrating an exemplary detection system60mounted on the transport machine1. As illustrated inFIG. 16, the non-contact sensor62to detect an obstacle may be arranged at one or both of the front surface31and the rear surface41, of the vehicle body6.

A range sensor (second detection device, position detection device, loading machine detection device, and first detection device)61that can detect at least one of shape data of the loading machine2, shape data of a wall surface of the drift DR, the relative position with respect to the loading machine2, and the relative position with respect to the wall surface of the drift DR is arranged at a predetermined position of the vehicle body6. As an example illustrated inFIG. 16, the range sensor61is arranged on a side surface of the vehicle body6such that at least one of the shape data of the wall surface of the drift DR, and the relative position with respect to the wall surface of the drift DR is detectable. The range sensor61may be arranged at least on a portion of the top surface, the side surface, the front surface, and the rear surface, of the vehicle body6, such that at least one of the shape data of the loading machine2, and the relative position of the loading machine2is detectable.

The reading device (position detection device, second detection device)65is arranged at a predetermined position of the vehicle body6, such as a side surface of the vehicle body6, such that the mark M arranged on the wall surface of the drift DR is detectable.

Next, a management device80arranged in the management facility3will be described.FIG. 17is a block diagram illustrating an exemplary management device80according to the present embodiment. As illustrated inFIG. 17, the management device80includes a computer system81, a display device85, an input device86, and a communication device87.

The computer system81includes a processing device82, a storage device83, and an input/output unit84. Each of the display device85, the input device86, and the communication device87is connected with the computer system81via the input/output unit84. The input/output unit84is served for input/output (interface) of information with at least one of the processing device82, the display device85, the input device86, and the communication device87.

The processing device82includes a central processing unit (CPU) and executes various types of processing regarding control of mining machines including the transport machine1and the loading machine2. The processing device82processes information regarding the position of the transport machine1obtained via the communication system4. The processing device82generates the route CS on which the transport machine1travels. The route CS is generated on an absolute position coordinate system. The transport machine1travels at least on a portion of the tunnel R according to the route CS generated by the processing device82.

The storage device83includes at least one of random access memory (RAM), read only memory (ROM), flash memory, and a hard disk drive, and stores various types of information regarding control of mining machines. The display device85includes, for example, a flat panel display such as a liquid crystal display and can display information regarding a position of the mining machine. The input device86includes at least one of a keyboard, a touch panel, a mouse, and an operation switch. When operated, the input device86generates an operation signal and inputs it to the processing device82.

The communication system4includes the communication device87arranged in the management facility3. The communication device87is connected with the repeater4A by a wired connection. The processing device82can transmit various types of information such as information regarding the route CS from the communication device87to the transport machine1. At least one of positional information of the transport machine1and information regarding the state of the load detected by the detection system60is received via the communication device87and stored in the storage device83.

<Operation of Transport Machine>

Next, exemplary operation of the transport machine1will be described with reference toFIG. 18.FIG. 18is a flowchart illustrating exemplary operation of the transport machine1according to the present embodiment. The transport machine1with no load (empty load state) travels along the drift DR toward the loading position LP in order to pick the load (step SP1). During traveling along the drift DR, the center of the vessel7and the center of the vehicle body6overlap with each other with respect to the X-axis direction. Accordingly, the vessel7is not lifted up. Information regarding the route CS is transmitted from the management device80to the transport machine1via the communication system4. The transmitted information is stored in the storage device52of the transport machine1. The route CS is a route based on the absolute position. The processing device51of the transport machine1controls the traveling device5such that the transport machine1travels along the drift DR according to the route CS generated by the management device80. The transport machine1autonomously travels along the drift DR toward the loading position LP such that the vessel7is arranged at the loading position LP, namely, the target position.

As described above, the processing device51can derive an absolute position of the transport machine1on the drift DR based on at least one of the result of detection by the range sensor61and the result of detection by the reading device65, and based on the storage information of the storage device52The processing device51controls the traveling device5such that the transport machine1travels along the drift DR according to the route CS toward the loading position LP. The processing device51controls the traveling device5in the drift DR toward the loading position LP such that the vessel7is arranged at the loading position LP based on at least one of the result of detection by the range sensor61and the result of detection by the reading device65.

The range sensor61can detect the relative position with respect to the wall surface of the drift DR. The processing device51, based on the result of detection by the range sensor61, controls the traveling device5such that the transport machine1travels along the wall surface of the drift DR. The processing device51controls the traveling device5, for example, to prevent the transport machine1from contacting the wall surface of the drift DR during traveling on the drift DR.

Note that, in the drift DR, the transport machine1may contact the wall surface of the drift DR. For example, in a case where the width of the drift DR (road width) is small, or the transport machine1turns a corner of the drift DR, the transport machine1may travel while contacting the wall surface of the drift DR. Alternatively, a guide member (e.g. guide rail) may be provided at a corner of the drift DR and a guided portion (e.g. roller) to be guided by the guide member may be provided on the transport machine1. With this configuration, it is possible to allow the transport machine1to turn the corner of the drift DR while allowing the guided portion to contact the guide member.

In the present embodiment, the transport machine1moves along the drift DR in the +Y0direction to enter the loading position LP. After the transport machine1reaches the vicinity of the loading position LP, the processing device51controls the traveling device5to stop the transport machine1. After the transport machine1reaches the vicinity of the loading position LP, the processing device51detects the loading machine2by using the range sensor61(step SP2). The processing device51obtains form data of the loading machine2by using the range sensor61, and at the same time, detects the relative positions of the transport machine1and the loading machine2. The processing device51, based on the result of detection by the range sensor61, controls the position of the vessel7such that the vessel7is arranged at the loading position LP of the loading machine2.

By obtaining the form data of the loading machine2and detecting the relative position with respect to the loading machine2, it is possible for the processing device51to arrange the vessel7to a position suitable for loading operation. The processing device51, based on the result of detection by the range sensor61, arranges the vessel7at the loading position LP so as to prevent the transport machine1including the vessel7and the loading machine2from coming in contact with each other.

FIG. 19is a perspective view of an exemplary state in which a load is being loaded onto the vessel7by the loading machine2.FIG. 20is a side view. InFIGS. 19 and 20, the loading machine2includes an undercarriage90, a feeder device91, a draw-in device92, and a penetrating member93. The undercarriage90includes a crawler. The feeder device91is supported by the undercarriage90and can supply a load, namely, ore, to the vessel7. The draw-in device92draws the load into the feeder device91. The penetrating member93penetrates into a mine.

The feeder device91includes a tilted conveyer. The feeder device91moves the load from a front section to a rear section of the feeder device91. In the present embodiment, the front section of the feeder device91is arranged below the rear section of the feeder device91. The load drawn into the front section (lower portion) of the feeder device91is raised by the feeder device91and supplied to the vessel7from the rear section (supply unit, upper portion) of the feeder device91. In the present embodiment, the loading position LP includes a position below the supply unit of the feeder device91.

In the present embodiment, based on the result of detection by the range sensor61, the traveling device5is controlled to prevent the transport machine1and the loading machine2from coming in contact with each other, and at the same time, at least a portion of the transport machine1enters below the supply unit of the feeder device91. In the present embodiment, when the vessel7enters the loading position LP, the upper surface34A and the upper surface44A, which are arranged near the feeder device91, are arranged in a low position. Accordingly, it is possible to suppress contact of the feeder device91and the vehicle body6.

As illustrated inFIGS. 19 and 20, the processing device51adjusts the position of the vessel7such that the vessel7is arranged below the supply unit of the feeder device91(step SP3). In the present embodiment, the vessel7is moved by the slide mechanism18such that, when the load is loaded onto the vessel7, at least a portion of the vessel7is arranged outside the vehicle body6. In the present embodiment, with respect to the transport machine1that moves along the drift DR in the +Y0direction, the loading machine2is arranged on the +X side. The processing device51detects relative positions of the transport machine1and the loading machine2by using the range sensor61. Based on the result of detection, the processing device51controls the slide mechanism18such that the vessel7is arranged below the supply unit of the feeder device91arranged on the +X side. The processing device51controls the slide mechanism18based on the result of detection by the range sensor61so as to move the vessel7in the +X direction and adjust the position of the vessel7with respect to the loading machine2. In the present embodiment, the processing device51, in a state where the position of the vehicle body6is fixed, moves the vessel7by using the slide mechanism18so as to arrange the vessel7at the loading position LP.

Note that in a case where the processing device51adjusts the position of the vessel7such that the vessel7is arranged at the loading position LP, the processing device51may adjust the position of the vessel7by controlling the traveling device5to move the vehicle body6. Alternatively, in order to arrange the vessel7at an optimum position, the processing device51may control both the traveling device5and the slide mechanism18to move the vehicle body6with respect to the road surface, and at the same time, may move the vessel7with respect to the vehicle body6.

In a state where the vessel7is arranged at an optimum position with respect to the feeder device91, a load is supplied from the feeder device91to the vessel7. With this operation, the load is loaded from the loading machine2to the vessel7(step SP4). The position of the vessel7is adjusted, and thus, it is possible to suppress the load leakage (load dropping).

FIG. 21is a schematic diagram illustrating an exemplary state where the load is loaded from the feeder device91onto the vessel7. As illustrated inFIG. 21, it might be possible that the ore supplied from the feeder device91is piled on a portion of the vessel7, causing an uneven load on the vessel7. As described with reference toFIGS. 14 and 15, in the present embodiment, the transport machine1includes the imaging device64capable of detecting a state of the load of the vessel7. In the present embodiment, based on the result of detection by the imaging device64, the processing device51can control the slide mechanism18to adjust the position of the vessel7. The imaging device64can detect the form of the load on the vessel7. When the processing device51determines that the load is going to be piled unevenly on the vessel7based on the result of detection by the imaging device64, the processing device51adjusts the position of the vessel7with respect to the feeder device91of the loading machine2by moving the vessel7in the X-axis direction so as to reduce the degree of unevenness. As in an example illustrated inFIG. 21, the load is piled unevenly on an −X-side end of the vessel7. The processing device51moves the vessel7in the −X direction so as to improve the uneven load. With this configuration, the load is supplied from the feeder device91to a +X-side end of the vessel7, making it possible to suppress the uneven load on the vessel7.

Based on the result of detection by the weight sensor63capable of detecting the weight of the vessel7, the position of the vessel7with respect to the loading machine2may be adjusted by moving the vessel7in the X-axis direction with the slide mechanism19. For example, the vessel7may be moved by a predetermined distance in the X-axis direction each time the weight sensor63detects an increase in the predetermined weight. When the relationship between the weight of the vessel7and the form of the load (appearance of load) that corresponds to the weight is known, the processing device51may move the vessel7, based on the result of detection by the weight sensor63, so as to adjust the appearance of the load to be an appropriate shape.

Note that, for example, in a case where the weight sensor63capable of detecting the weight of the vessel7can detect the state of the load of the vessel7, the vessel7may be moved in the X-axis direction by the slide mechanism18based on the result of detection by the weight sensor63. For example, in a case where the weight sensor63can detect uneven loading on the vessel7due to an uneven load, the processing device51may move the vessel7in the X-axis direction so as to improve the unevenness.

The processing device51may control the slide mechanism18so as to reciprocate (rock) the vessel7with respect to the X-axis direction. In a case, for example, where the load is piled unevenly on the vessel7, or piled up too high on the vessel7, it is possible to level the load by reciprocating the vessel7. By leveling the load, it is possible to achieve a higher full-capacity rate of the load on the vessel7.

The processing device51may determine amplitude of reciprocation of the vessel7based on the result of detection by the imaging device64. For example, in a case where it is determined that the load is piled up too high, based on the result of detection by the image device64, the processing device51may reciprocate the vessel7with greater amplitude. In a case where it is determined that the load is piled up in a plurality of locations, based on the result of detection by the image device64, the processing device51may reciprocate the vessel7with smaller amplitude. When increasing the amplitude, the processing device51may decrease the movement speed of the vessel7. When decreasing the amplitude, the processing device51may increase the movement speed of the vessel7. With this operation, it is possible to level the load efficiently.

The processing device51may determine whether to reciprocate the vessel7or may determine one or both of amplitude and speed of reciprocation based on the result of detection by the imaging device64that detects the form of the load of the vessel7and based on the result of detection by the weight sensor63that detects the weight of the vessel7. For example, in a case where it is determined that the vessel7is full of load based on the result of detection by the imaging device64and at the same time, it is determined that the vessel7is not yet full of load based on the result of detection by the weight sensor63, it is estimated that there are numerous gaps between the ores loaded on the vessel7. When the processing device51determines, based on the result of detection by the imaging device64and the result of detection by the weight sensor63, that there are numerous gaps between the ores, the processing device51reciprocates the vessel7by controlling the slide mechanism18. With this configuration, it is possible to reduce the gaps by leveling the load and increase the full-capacity rate.

Operation of reciprocating the vessel7may be executed in parallel with at least part of operation of supplying the load from the feeder device91to the vessel7. In other words, the slide mechanism18may reciprocate the vessel7during a loading operation period in which the load is loaded onto the vessel7. Note that the operation of reciprocating the vessel7may be executed after the load has been supplied from the feeder device91to the vessel7. In short, the slide mechanism18may reciprocate the vessel7during a period after completion of loading operation for the vessel7.

After completion of the loading operation, the transport machine1with load (in a loaded state) travels along the drift DR toward the ore path OP so as to discharge the load (step SP5). The transport machine1that has started from the loading position LP moves along the drift DR in the +Y0direction. During traveling along the drift DR, the center of the vessel7and the center of the vehicle body6overlap with each other with respect to the X-axis direction. Accordingly, the vessel7is not lifted up. The processing device51controls the traveling device5such that the transport machine1travels along the drift DR according to the route CS generated by the management device80. The transport machine1autonomously travels along the drift DR toward the ore path OP such that the vessel7is arranged at the ore path OP, namely, the target position.

In a period of moving toward the ore path OP, the processing device51derives the absolute position of the transport machine1at the drift DR based on the result of detection by at least one of the range sensor61and the reading device65, and based on the information stored in the storage device52. The processing device51, then, controls the traveling device5such that the transport machine1travels along the drift DR according to the route CS toward the ore path OP. The processing device51, based on at least one of the result of detection by the range sensor61and the result of detection by the reading device65, controls the traveling device5at the drift DR toward the ore path OP such that the vessel7is arranged at the ore path OP. The processing device51, based on the result of detection by the range sensor61, controls the traveling device5such that the transport machine1travels along the drift DR. The processing device51controls the traveling device5, for example, to prevent the transport machine1from contacting the wall surface of the drift DR during traveling along the drift DR.

FIG. 22is a diagram illustrating an exemplary state in which a load is being discharged from the vessel7at the ore path OP. After the transport machine1reaches the ore path OP, the processing device51lifts up the vessel7by operating the side dump mechanism19. With this operation, as illustrated inFIG. 22, the side gate25pivots along with rising operation of the vessel7, so as to form the opening7K between the vessel main body24and the side gate25. The load on the vessel7is discharged from the vessel7via the opening7K (step SP6). In an example illustrated inFIG. 22, the vessel7is lifted up such that the load is discharged onto the −X side of the vehicle body6.

When the load is discharged from the vessel7, the processing device51may operate the slide mechanism18so as to move the vessel6such that at least a portion of the vessel7is arranged outside the vehicle body6. For example, the processing device51may move the vessel7in the −X direction by operating the slide mechanism18, and thereafter, may lift up the vessel7by operating the side dump mechanism19. The processing device51may lift up the vessel7while moving the vessel7in the −X direction.

After completion of discharging operation of the load, the transport machine1with no load starts traveling toward the loading position LP for loading operation. The transport machine1repeats the processing described hereinabove.

In the examples illustrated inFIGS. 19 and 20, the load is loaded from the loading machine2arranged at the crosscut CR on the +X side onto the transport machine1that travels along the drift DR in the +Y0direction. As described with reference toFIG. 3, or the like, the load may be loaded onto the transport machine1from the loading machine2arranged at the crosscut CR on the −X side with respect to the transport machine1. For example, the processing device51may detect relative positions of the transport machine1and the loading machine2, which is arranged on the −X side with respect to the transport machine1by using the range sensor61such that the vessel7is arranged at the loading position LP arranged on the −X side with respect to the transport machine1traveling along the drift DR in the +Y0direction. Based on the result of detection, the processing device51may adjust the position of the vessel7with respect to the loading machine2by controlling the slide mechanism18to move the vessel7in the −X direction such that the vessel7is arranged below the supply unit of the feeder device91of the loading machine2. Also in this case, the upper surface34B and the upper surface44B, to be arranged near the feeder device91when the vessel7enters the loading position LP, are arranged at low positions. Accordingly, it is possible to suppress a state where the feeder device91and the vehicle body6come in contact with each other. In the present embodiment, the transport machine1is left/right symmetrical. Accordingly, each of loading operation from the +X side and loading operation from the −X side is performed smoothly onto the transport machine1. With this configuration, when the loading position LP is determined on any one side of the two, with respect to the moving direction of the transport machine1, loading operation is executed from the one determined side smoothly.

In the present embodiment, an example has been described in which the transport machine1traveling along the drift DR in the +Y direction enters the loading position LP while moving in the +Y0direction, thereafter, loading operation is performed onto the transport machine1, thereafter, the transport machine1moves from the loading position LP in the +Y0direction. Needless to say, the transport machine1moving along the drift DR in the −Y0direction may enter the loading position LP while moving in the −Y0direction, thereafter, loading operation may be performed onto the transport machine1, thereafter, the transport machine1may move from the loading position LP in the −Y0direction. In a case where the transport machine1moves in the −Y0direction, the rear section6B may function as a front section and the rear traveling device5B may function as a front traveling device. In addition, the loading position LP at that time may be determined to be on the +X side or on the −X side of the transport machine1. In a case where the loading position LP is determined to be on the +X side, the vessel7may slide to the +X side. In a case where the loading position LP is determined to be on the −X side, the vessel7may slide to the −X side. Alternatively, the transport machine1moving along the drift DR in the +Y0(or −Y0) direction may enter the loading position LP while moving in the +Y0(or −Y0) −Y0direction, thereafter, loading operation may be performed onto the transport machine1, thereafter, the transport machine1may move from the loading position LP in the −Y0(or +Y1) direction. In short, the moving direction of the transport machine1may be switched between a case of entering the loading position LP to execute loading operation and a case of starting from the loading position LP after executing the loading operation. In the present embodiment, the transport machine1is front/rear symmetrical, and thus, can travel in any of +Y0and −Y0directions smoothly even when the moving direction is switched.

As described above, in the present embodiment, the transport machine1includes the non-contact sensor62that detects an obstacle. In a case where the non-contact sensor62detects an obstacle existing on the drift DR when the transport machine1is traveling along the drift DR, the processing device51outputs a result of detection by the non-contact sensor62to the management device80of the management facility3via the communication system4. The management device80may create, for example, the route CS so as to avoid the obstacle.

In a case where the non-contact sensor62detects an obstacle in front of the transport machine1, the processing device51may control the traveling device5to prevent the transport machine1and the obstacle from coming in contact with each other. Specifically, the processing device51may cause the transport machine1to stop traveling, to move reversely, or to travel while avoiding the obstacle.

FIG. 23is another example of the transport machine1. InFIG. 23, the transport machine1includes a bumper150that clears an obstacle or a foreign substance on the road. In a case where the non-contact sensor62detects an obstacle in front of the transport machine1, the transport machine1may continue traveling while driving away the obstacle by using the bumper150.

As described above, at least a portion of the transport machine1operates on power supplied from the battery12.FIG. 24illustrates an example in which the battery12is released from the holding section13and the holding section14. As illustrated inFIG. 24, the battery12is replaceable. On a portion of the drift DR, there is provided a replacement station EX (refer toFIG. 2) at which the battery12is replaced. The holding section13and the holding section14removably hold the battery12. When a remaining capacity of the battery12is lowered, the transport machine1can move to the replacement station EX and replace the battery12. In the present embodiment, the battery12is replaceable by sliding the battery12in a front/rear direction with respect to the recess37. A similar method is applicable to the recess47.

In the present embodiment, the device12that is removably held by the holding section13and the holding section14is a battery. The device12is not limited to a battery. For example, an electronic device storing a program regarding traveling may be removably held by the holding section13and the holding section14. In the present embodiment, the traveling device5operates on electric power. However, in a case where the traveling device5travels on a fuel, a container in which the fuel is contained may be removably held by the holding section13and the holding section14. The device12, in any form as above, is replaceable at the replacement station EX.

In the above-described embodiment, an example has been described in which the transport machine1autonomously travels by using the detection system60including the range sensor61mounted on the transport machine1. For example, the transport machine1may be controlled by using a management system100including a detection system602and a detection system60D. The detection system602is arranged on the loading machine2. The detection system60D is arranged at the drift DR.

FIG. 25is a diagram illustrating an exemplary range sensor612of the detection system602mounted on the loading machine2, and an exemplary range sensor61D of the detection system60D arranged in the tunnel R. For example, in the above-described embodiment, relative positions of the transport machine1and the loading machine2are detected by the range sensor61arranged on the transport machine1. The relative positions of the transport machine1and the loading machine2may be detected by the range sensor (position detection device)612provided on the loading machine2. A result of detection on the relative positions may be transmitted from the loading machine2to the transport machine1, or may be transmitted from the loading machine2to the transport machine1via the management device80. The processing device51of the transport machine1may adjust the position of the vessel7such that the vessel7is arranged at the loading position LP of the loading machine2, based on a result of detection by of the range sensor612. The processing device51may adjust the position of the vessel7by using the slide mechanism18, or by using the traveling device5. Alternatively, the management device80, based on the result of detection by the range sensor612, may transmit a command signal to the support device17and the traveling device5such that the vessel7is arranged at the loading position LP. In short, the management device80may remotely operate the transport machine1.

Meanwhile, the range sensor61D may be arranged at a predetermined position of one or both of the drift DR and the crosscut CR. When the range sensor61D is arranged at a position where the transport machine1and the loading machine2to be arranged at the loading position LP are detectable, it is possible to detect the relative positions of the transport machine1and the loading machine2. A result of detection by the range sensor61D may be transmitted to the transport machine1via the management device80.

In the above-described embodiment, the relative positions of the transport machine1and the wall surface of the drift DR, or the absolute position of the transport machine1, are detected by the detection system60including the range sensor61and the reading device65, arranged on the transport machine1. For example, the drift DR may be provided with a plurality of reading devices that can read identifiers arranged on the transport machine1. The absolute position of the transport machine1may be obtained based on a result of detection by the reading device. In this case, the reading device functions as a position detection device that detects the position of the transport machine1traveling on the drift DR (tunnel R). Moreover, there may be provided, on the drift DR, a plurality of range sensors61D capable of detecting the relative position with respect to the transport machine1. The traveling device5of the transport machine1may be controlled on the drift DR toward a target position (loading position LP, ore path OP, or the like) such that the vessel7of the transport machine1is arranged at the target position, based on a result of detection by the detection system60D provided on the drift DR. The traveling device5may be controlled by the management device80. Specifically, based on the result of detection by the detection system60D arranged on the drift DR, the management device80may transmit a command signal for moving the transport machine1to the target position, and the traveling device5may travel based on the command signal. In short, the management device80may remotely operate the transport machine1.

Moreover, the imaging device (load detection device, form detection device) capable of detecting a state of the load on the vessel7may be mounted on the loading machine2or arranged at a predetermined position on the drift DR. Based on a result of detection by the imaging device, the position of the vessel7may be adjusted, a slide movement amount of the vessel7may be adjusted, and the vessel7may be reciprocated in the X-axis direction. Meanwhile, loading conditions for the loading machine2may be controlled based on a state of load on the vessel7, detected by using at least one of the imaging device arranged in the transport machine1, the imaging device arranged on the loading machine2, and the imaging device arranged at a predetermined position of the drift DR. The loading conditions for the loading machine2include the amount of supply of load per a unit of time by the feeder device91(feeder speed), and the position of the loading machine2with respect to the vessel7.

Alternatively, loading conditions for the loading machine2may be controlled based on at least one of the result of detection by the imaging device, capable of detecting a state of the load of the vessel7, arranged on at least one of the transport machine1, the loading machine2, and the drift DR, and the result of detection by the weight sensor capable of detecting the weight of the vessel V. In this case, loading conditions for the loading machine2include at least one of the feeder speed of the feeder device91and a loading amount (total weight) of the load loaded onto the vessel7by the loading machine2.

As described above, according to the present embodiment, the transport machine1has a form and structure that are substantially front/rear symmetrical. Accordingly, the transport machine1can smoothly travel in any of the directions of the +Y direction, namely, a forward direction of the front section6A, and the −Y direction, namely, a forward direction of the rear section6B. In a case where the transport machine is not front/rear symmetrical, for example, there is a possibility that, while the machine can travel in forward direction of the front section, the machine cannot travel smoothly in the forward direction of the rear section. If such a transport machine that is not front/rear symmetrical is going to change the moving direction during traveling in the +Y0direction, for example, the transport machine might attempt, in the tunnel R, switchback operation (steering wheel operation to change direction) so as to change the moving direction of the front section to the −Y0direction. Unfortunately, in many cases, however, there is a limitation in a size (width) of the tunnel R. Accordingly, such a switchback operation might be difficult. In the present embodiment, the transport machine1is front/rear symmetrical. Therefore, it is possible to move smoothly in any direction without performing such switchback operation.

In the present embodiment, the transport machine1is left/right symmetrical. With this configuration, even in a case where the loading position LP and a drawpoint DP are determined to be located on both sides (+X0side and −X0side) of the drift DR, loading operation is executable smoothly from both sides.

Meanwhile, in the present embodiment, the vessel7is arranged between the front traveling device5A and the rear traveling device5B. Accordingly, it is possible to suppress an increase in the height of the transport machine1. In many cases, the size (height) of the tunnel R has limitation. In the present embodiment, the vehicle-height of the transport machine1is suppressed. Accordingly, the transport machine1can travel smoothly in a narrow tunnel R.

Meanwhile, in the present embodiment, the front wheel8is driven by the front wheel driving device10, and the rear wheel9is driven by the rear wheel driving device11, that is, a whole-wheel-drive system is employed. Accordingly, the traveling device5can move smoothly in the tunnel R. In addition, the front wheel driving device10and the rear wheel driving device11, both of which including the electric motor16, are arranged at a front and rear of the transport machine1, respectively. This configuration makes it possible to suppress an increase in the vehicle-height of the transport machine1and to arrange a high-power electric motor16(160).

In the present embodiment, the support device17that supports the vessel7is arranged below the upper end of the front wheel8, and below the upper end of the rear wheel9. This configuration suppresses an increase in the height of the transport machine1.

Meanwhile, in the present embodiment, the vessel7moves in the X-axis direction by the slide mechanism18. With this configuration, it is possible, in the narrow tunnel R, to allow the vessel7to smoothly enter below the feeder device91, leading to smooth loading operation. In the tunnel R, which has a height limitation, it is probably difficult to arrange a portion of the vehicle body6together with the vessel7below the feeder device91. In the present embodiment, it is possible to slide the vessel7, and arrange the vessel7alone below the feeder device91. With this configuration, it is possible to allow the feeder device91to execute loading operation smoothly even in the narrow tunnel R. In the present embodiment, the vessel7is slidable to both the +X side and the −X side. Accordingly, it is possible to position the vessel7smoothly with respect to the loading machine2to be arranged on each of the +X side and −X side with respect to the transport machine1.

Meanwhile, in the present embodiment, the support device17includes the side dump mechanism19. The transport machine1discharges the load on the vessel7using a side-dump system. With this configuration, it is possible to suppress an increase in the height of the transport machine1.

In the present embodiment, regarding the X-axis direction, an upper surface (first upper surface)34A and an upper surface (first upper surface)34B of the front section6A are arranged below an upper surface (third upper surface)12D of the battery12being at a level between the upper surface34A and the upper surface34B. In addition, an upper surface (fourth upper surface)44A and an upper surface (fifth upper surface)44B of the rear section6B are arranged below an upper surface12D of the battery12being at a level between the upper surface44A and the upper surface44B. Therefore, for example, when the vessel7is arranged below the feeder device91, at least a portion of the vehicle body6is allowed to enter below the supply unit of the feeder device91in a state where at least one of the upper surface34A, the upper surface34B, the upper surface44A, and the upper surface44B are arranged below the supply unit of the feeder device91. With this configuration, it is possible to arrange the vessel7below the feeder device91while suppressing contact between the feeder device91and the vehicle body6. In the present embodiment, the upper surface7A of the vessel7is arranged at a same level of the upper surface34and the upper surface44or below the upper surface34and the upper surface44. With this configuration, it is possible arrange the vessel7below the feeder device91while suppressing the contact between the feeder device91and the vehicle body6.

Moreover, by positioning the upper surface34and the upper surface44at a low level, the device12that has not been arranged in the front section6A and the rear section6B due to capacity shortage can be arranged at a central portion with respect to the X-axis direction. As a result, the transport machine1can travel while carrying the necessary device12.

In the present embodiment, the device12is removably held by each of the holding section13and the holding section14. With this configuration, the device12is smoothly replaceable. In a case where the device12is one of consumables such as a battery, or a renewable device such as a computer program or an electronic device, a configuration in which the device12is replaceable allows the transport machine1to travel smoothly.

In the present embodiment, the configuration may be such that both the holding section13and the holding section14removably hold the device12; or any one of the holding section13and the holding section14removably holds the device12and the other one unremovably holds the device12.

In the present embodiment, a protection member (battery cover) to protect the battery12may be arranged so as to cover the upper surface34A, the upper surface12D of the battery12, and the upper surface34B. In addition, a bracket for attaching various types of sensors for the detection system60may be arranged. In this case, the protection member or the bracket may have a first upper surface of the front section6A that includes an end of the front section6A regarding the X-axis direction, a second upper surface of the front section6B that includes the other end of the front section6A, and a third upper surface arranged between the first upper surface and the second upper surface, above the first upper surface and the second upper surface. In other words, the first surface and the second upper surfaces may be arranged on a member that is separate from the vehicle body6. Alternatively, a member including the first upper surface and the second upper surface may be regarded as a portion of the vehicle body6(front section6A). A similar arrangement is applicable to the rear section6B.

In the present embodiment, a structure that is different from the vessel7may be attached on the vessel7.FIG. 26illustrates an example in which, as a member that is different from the vessel7, a protection member (battery guard)170that protects the battery12is attached on the vessel7. The protection member170is a member, for example, that prevents the load (ore) from hitting the battery12in loading operation of the load onto the vessel7. As illustrated inFIG. 26, the protection member170is arranged above the upper surface7A of the vessel7, the upper surface34of the front section6A, the upper surface44of the rear section6B, and the upper surface12D of the battery12. InFIG. 26, the upper surface7A of the vessel7may be arranged below or above the upper surface34and the upper surface44, or within a same plane as the upper surface34and the upper surface44. In an example illustrated inFIG. 26, the protection member170is a structure different from the vessel7, but may be regarded as a portion of the vessel7. In this case, the upper surface of the vessel7is arranged above the upper surface34, the upper surface44, and the upper surface12D.

In the present embodiment, the upper surface34(upper surface34A and upper surface34B) is arranged on the vehicle body6(front section6A), and the upper surface12D arranged between the upper surface34A and the upper surface34B is arranged on the device12, separate from the vehicle body6. The vehicle body6and the device12may be integrated with each other. That is, the upper surface34and the upper surface12D may be an upper surface with a single member. A similar configuration is applicable to the upper surface44(upper surface44A and upper surface44B) and the upper surface12D.

In the present embodiment, there is provided the imaging device64that detects the form of the load (appearance of load) of the vessel7. Accordingly, based on the result of detection by the imaging device64, it is possible to adjust the position of the vessel7with respect to the supply unit of the feeder device91and to reciprocate the vessel7so as to obtain a form of load in a desired shape. With this configuration, it is possible to suppress load collapse or load dropping and to transport the load in a state with the full-capacity rate of the load on the vessel7being high.

In the present embodiment, the processing device51can travel autonomously based on the result of detection by the detection system60. The processing device51can obtain the relative positions of the transport machine1and the loading machine2based on the result of detection by the detection system60(range sensor61, or the like). Accordingly, it is possible to arrange the vessel7at an optimum position with respect to the loading machine2. The processing device51can obtain the relative positions of the transport machine1and the wall surface of the drift DR based on the result of detection by the detection system60(range sensor61, or the like). Accordingly, it is possible to allow the traveling device5to travel while suppressing the contact with the drift DR. The processing device51can obtain the absolute position of the transport machine1based on the result of detection by the detection system60(reading device65, or the like). Accordingly, it is possible to allow the transport machine1to smoothly travel autonomously.

In the above-described embodiment, the vessel7is provided separate from the vehicle body6and is movably supported by the vehicle body6. The vessel7and the vehicle body6may be integrally provided.

In the above-described embodiment, an operator may ride on the transport machine1. The transport machine1may be a manned vehicle that travels according to operation by the operator.

The constituents described in the embodiments include constituents that could be easily conceived by a person skilled in the art and constituents that are substantially identical or equivalent in scope. Moreover, it is possible to appropriately combine the constituents described in the embodiments. In some cases, a portion of the constituents is not utilized.

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