The open pit mining of mineral deposits (first of all, the development of coal deposits) is of great importance for the economy of Russia as a whole, as well as for individual regions, including the Kemerovo region -Kuzbass. In 2018, 255.3 million tons of coal were extracted in Kuzbass, of which 165.8 million tons (65%) were produced by open-cast method. There is no reason to believe that the part of coal extracted at open-pit mines will decrease. Taking into account that the Russian Federation Government Decree No. 14-r of January 24, 2012 approved the Long-Term Development Programme for the Coal Industry of Russia until 2030, which includes, among other things, the Subprogramme "Development of Production Potential of Existing Coal Production and Processing Facilities and Development of New Coal Deposits", one of the objectives of which is the introduction of advanced coal production technologies, and the Subprogramme "Ensuring Technological Development of the Industry and Strengthening the Scientific and Technical Base of the Russian Coal Industry", it is safe to say that it is necessary to develop the key areas of this Program, in particular, the development of new and existing technologies and types of equipment aimed at improving the efficiency of coal mining, preparation, processing and integrated use and increasing the added value of coal products. Road transport currently dominates the transportation of overburden and coal at open-pit mines. Its share has been steadily growing since the 1970s. This is due to objective reasons, firstly, rather limited area of application of railroad transport: considerable range of transportation, large cargo turnover and shallow depth of the mine. First, it concerned the depth of the open-pit mines, because when deepening the quarry by one bench it was necessary to extract significant volumes of overburden to ensure the placement of transport berms because of the large radius of curvature of the railway track, which reached 200 m. Therefore, given the fact that the openpit mining had gone to great depths at almost all enterprises, there was a widespread abandonment of rail transport for in-quarry transport in favour of dump trucks. That is why the problem of research and description of key characteristics of quarry transport at open pit coal mining is actual.

Abstract. The article presents the power dependencies for determining the number of blades of the cutting body of geokhod for destruction of rocks of low hardness. The obtained dependences are based on the developed method of calculation of the blade cutting body of the geokhod. The presented dependences make it possible to choose the rational number of blades of the geokhod cutting body. The intensity of the development of underground space by the countries of the world community, including Russia, is increasing. In this connection, the tasks are to increase the rate of development and to reduce the cost of work.

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Introduction. The article presents the results of studies related to the description of the synthesis and further analysis of the dynamic behavior of unmanned vehicles (UMV) operating in coal-mining pits and other mining quarries. The urgency of the discussed study is dictated by the need to create safe and effective conditions for stripping / mining and transportation operations. This is ensured, among other things, by the operation of unmanned heavy-duty dump cars. Research aim is to develop the concept for the formation of route parameters and models of the movement dynamics of vehicles along technological routes. Methodology. The paper describes the technology for generating and processing the signals in control subsystems as parts of both the computer-aided dispatching system and the on-board autonomous ISSN 0536-1028 «Известия вузов. Горный журнал», № 8, 2020 119 control subsystem of the UMV. The methods used in the research include the study of the forms and characteristics of current trajectories (CT) in relation to a nominal axial trajectory (NAT). In this case, a current trajectory of the UMV is considered within the framework of the so-called S-frames, which are generated in the form of geolocations on a working route of the UMV from the mining face to the place of unloading and vice versa. As a variable characterizing the behavior of the UMV on a current trajectory, a 1D-signal with a time-dependent frequency is adopted, the nature of the change of which is determined by the dynamic shape of a CT with regard to the NAT. Results. Such chirp-signals, together with the wavelet transform apparatus introduced into consideration, allow in a semantically transparent and information-rich video graphic form to represent and subject to further processing the signals characterizing a certain UMV current behavior on the route. The obtained parameters of such secondary wavelet representations of the UMV current dynamics (wavelet maps) are further planned to be used in the subsystem for dynamic modal controlling the UMV movement in the opencast mine. Conclusions. The results of the research allow us to form current routes of UMVs movement according to the models based on the analytical tools accompanying the dynamics of the UMV, proposed in the work.

The article presents the sequence of calculating the energy intensity of the rock destruction with the blade of the geokhod cutting body. The influence of the number of cutting elements of the geokhod body on the energy intensity of rock destruction is determined. To substantiate the relevance of the study, features of the new class of mining machines – geokhods and the main provisions of geokhod technology are presented. The main research stages are formulated, based on the method for determining the energy intensity of the destruction of the rock face with the blade of the geokhod body. Geometrical features and power parameters of the geokhod blade cutting body that affect the energy intensity of rock destruction are identified. To determine the influence of the number of blades of the geokhod body on the energy intensity of the destruction of the rock face, the geometrical parameters of the blade body and the parameters of the mining and technical conditions of the mine working are substantiated. For carrying out mathematical calculations, an algorithm has been developed for calculating the energy intensity of the destruction of a rock face with a blade body a geokhod. As a result of the study, it was revealed that the energy intensity of the destruction of rock with the blade cutting body increases unevenly with increasing number of blades.