WO2015046598A1 - Transportation machine - Google Patents

Abstract

　This transportation machine comprises: a loading platform onto which is loaded ore extracted from a seam of ore formed at an extraction site situated below a vein; a carriage to which the loading platform is mounted and which moves; a position modification mechanism which modifies the position of the loading platform relative to the carriage; an information acquisition device that is provided to the carriage and that obtains load information pertaining the status of the ore loaded onto the loading platform; and a control device that modifies the position of the loading platform on the basis of the load information obtained by the information acquisition device.

Description

Transport machine

The present invention relates to a transport machine that is a work machine used for underground mining.

As mining methods in mines, open-pit mining from the surface and underground mining from the underground are known. In recent years, underground mining has been increasingly adopted due to the reduction of environmental burden and the deepening of the presence of ore. For example, Patent Document 1 describes a working machine that moves a tunnel while holding a drilled ore in a bucket after a vehicle that excavates ore with a bucket enters the tunnel and excavates the ore.

US Pat. No. 7,899,599

Generally, in mines, it is required to increase productivity. The same applies to underground mining. Since the technique described in Patent Literature 1 may be loaded on the bucket in a state where the ore is biased, the ore may spill from the bucket to the tunnel during traveling. Ore spilled into the mineway may become an obstacle for vehicles traveling in the mineway and reduce mine productivity.

The present invention aims to suppress a decrease in productivity in underground mining.

The present invention provides a loading platform for loading the ore mined from an ore ground formed in a mining site installed inside the ore body, a vehicle body that travels by mounting the loading platform, and the loading platform for the vehicle body. Based on the position change mechanism that changes the position, an information collection device that is provided in the vehicle body and acquires load information regarding the state of the ore loaded on the loading platform, and the load information acquired by the information collection device And a control device that changes the position of the loading platform.

It is preferable that the information collection device is an imaging device that images the loading platform.

It is preferable that the cargo information is at least one of a packing form of the ore and an amount of the ore obtained from an image captured by the imaging device.

The present invention provides a loading platform for loading the ore mined from an ore ground formed in a mining site installed inside the ore body, a vehicle body that travels by mounting the loading platform, and the loading platform for the vehicle body. At least one of a position changing mechanism that changes the position, an image pickup device that picks up the loading platform, a packing form of the ore obtained from an image picked up by the image pickup device, and an amount of the ore obtained from the image And a control device that changes the position of the loading platform.

The present invention can suppress a decrease in productivity in underground mining.

Drawing 1 is a mimetic diagram showing an example of the field where the conveyance machine and loading machine concerning this embodiment operate. FIG. 2 is a schematic diagram illustrating an example of a mine and a mine management system. FIG. 3 is an enlarged view of a part of FIG. FIG. 4 is a diagram showing excavation of ore from the natural ground by the loading machine and loading of the ore into the transporting machine. FIG. 5 is a diagram illustrating excavation of ore from the natural ground by the loading machine and loading of the ore into the transporting machine. FIG. 6 is an example of a functional block diagram of a management device provided in the mine management system. FIG. 7 is a perspective view of the transport machine according to the present embodiment. FIG. 8 is a side view of the transport machine according to the present embodiment. FIG. 9 is a diagram illustrating a support structure of a vessel provided in the transport machine according to the present embodiment. FIG. 10 is a top view of the transport machine according to the present embodiment. FIG. 11 is a diagram illustrating a state where the transport machine according to the present embodiment tilts the vessel. FIG. 12 is an example of a block diagram illustrating a control device included in the transport machine. FIG. 13 is a side view of the loading machine according to the present embodiment. FIG. 14 is a top view of the loading machine according to the present embodiment. FIG. 15 is a front view of the loading machine according to the present embodiment. FIG. 16 is a perspective view showing a rotating roller provided in the loading machine according to the present embodiment. FIG. 17 is a perspective view showing a penetrating member provided in the loading machine according to the present embodiment. FIG. 18A is a perspective view illustrating the penetrating member according to a modification. FIG. 18-2 is a perspective view of the penetrating member according to a modification. FIG. 19 is a diagram illustrating a posture when the loading machine according to the present embodiment travels. FIG. 20 is an example of a block diagram illustrating a control device included in the loading machine according to the present embodiment. FIG. 21 is a diagram for explaining a series of operations toward the other draw points after the loading machine enters the draw point and excavates the ore. FIG. 22 is a diagram for explaining a series of operations toward another draw point after the loading machine has entered the draw point and excavated ore. FIG. 23 is a diagram for explaining a series of operations toward another draw point after the loading machine enters the draw point and excavates ore. FIG. 24 is a diagram for explaining a series of operations toward another draw point after the loading machine has entered the draw point and excavated ore. FIG. 25 is a diagram for explaining a series of operations toward the other draw points after the loading machine enters the draw point and excavates the ore. FIG. 26 is a diagram for explaining a series of operations toward another draw point after the loading machine has entered the draw point and excavated ore. FIG. 27 is a diagram for explaining a series of operations toward another draw point after the loading machine enters the draw point and excavates ore. FIG. 28 is a diagram for explaining a series of operations toward another draw point after the loading machine has entered the draw point and excavated ore. FIG. 29 is a diagram for explaining control during excavation of the loading machine. FIG. 30 is a diagram for explaining control when ore is loaded on the transport machine. FIG. 31 is a diagram for explaining the control when ore is loaded on the transport machine. FIG. 32 is a diagram for explaining control when ore is loaded on the transport machine.

EMBODIMENT OF THE INVENTION The form (embodiment) for implementing this invention is demonstrated in detail, referring drawings. In the following, one direction in the predetermined plane is the X-axis direction, the direction orthogonal to the X-axis direction in the predetermined plane is the Y-axis direction, and the direction orthogonal to each of the X-axis direction and the Y-axis direction is the Z-axis direction. The positional relationship of each part will be described. Further, the direction of gravity action is referred to as the downward direction, and the direction opposite to the direction of gravity action is referred to as the upward direction. The productivity of a mine includes both the mining amount per unit time (t / h) and the cost per unit time amount ($ / h). The mine productivity can be based on the quotient of both as shown in the equation (1). In the formula (1), $ / t is an index representing productivity, t is a mining amount, h is time, and $ is cost. The smaller the index $ / t expressed by Equation (1), the higher the productivity of the mine.
$ / T = ($ / h) / (t / h) (1)

<Outline of mining site>
FIG. 1 is a schematic diagram illustrating an example of a site where the transport machine 10 and the loading machine 30 according to the present embodiment operate. The transporting machine 10 and the loading machine 30 are used for underground mining for mining ore from underground. The transport machine 10 is a type of work machine that transports a load in the mine shaft R, and the load machine 30 is a type of work machine that loads a load on the transport machine 10. In this embodiment, ore is mined by the block caving method.

The block caving method is the installation of an ore MR mining place (hereinafter referred to as a draw point) DP on the ore body (or vein) MG of the mine M and a mine channel R for transporting the mined ore. It is a method of mining the ore MR from the draw point DP by undercutting the upper part of the point DP and blasting to naturally collapse the ore MR. The draw point DP is installed inside the ore body MG or below the ore body MG. The block caving method is a method that uses the property that a fragile rock starts to naturally collapse when the lower part of the bedrock or ore body is undercut. When the ore MR is mined from the inside or the bottom of the ore body MG, the collapse propagates to the top. For this reason, when the block caving method is used, the ore MR of the ore body MG can be mined efficiently. In the block caving method, a plurality of draw points DP are usually provided.

In this embodiment, the management device 3 is arranged on the ground. The management device 3 is installed in a management facility on the ground or in a mine. In principle, the management device 3 does not consider movement. The management device 3 manages the mining site. The management device 3 can communicate with work machines in the mine including the transporting machine 10 and the loading machine 30 via a communication system including the wireless communication device 4 and the antenna 4A. In the present embodiment, the transporting machine 10 and the loading machine 30 are unmanned work machines, but may be manned work machines that are operated by an operator's operation.

<About underground mine>
FIG. 2 is a schematic diagram illustrating an example of a mine MI and a mine management system. FIG. 3 is an enlarged view of a part of FIG. As shown in these drawings, the mine shaft R installed below the mine MG includes a first mine shaft DR and a second mine shaft CR. The mine shaft R is installed, for example, inside or below the ore body MG. In the present embodiment, there are a plurality of first mine shafts DR and second mine shafts CR in the underground mine MI. The second tunnel CR connects each draw point DP and the first tunnel DR. The loading machine 30 can approach the draw point DP through the second mine tunnel CR. In the present embodiment, the mine shaft R includes a third mine shaft TR. In the present embodiment, a plurality (two in this example) of third tunnels TR are connected to a plurality of first tunnels DR. Hereinafter, the first mine tunnel DR is appropriately referred to as a drift DR, the second mine tunnel CR is appropriately referred to as a cross-cut CR, and the third mine tunnel TR is appropriately referred to as an outer circumferential path TR.

As shown in FIG. 2, two outer circumferential paths TR are installed in the underground mine MI. Each outer peripheral path TR is not divided by the draw point DP like the cross cut CR. One outer peripheral path TR connects one end of each of the plurality of drifts DR, and the other outer peripheral path TR connects the other end of each of the plurality of drifts DR. Thus, all the drifts DR are connected to the two outer peripheral paths TR. In the present embodiment, the transport machine 10 and the loading machine 30 can enter from one outer circumferential path TR regardless of which drift DR. In the example illustrated in FIG. 3, the transport machine 10 and the loading machine 30 travel in the direction of the arrow FC in the drift DR.

As shown in FIGS. 2 and 3, the loading position LP where the loading operation by the loading machine 30 to the transporting machine 10 is performed is determined at the crosscut CR or in the vicinity thereof. An area including the draw point DP and the loading position LP may be referred to as a loading place LA.

As shown in FIG. 2, the underground mine MI is provided with a soil removal place (or pass) DP from which ore MR as a load transported by the transporting machine 10 is discharged. After the ore MR as a load is loaded by the loading machine 30 at the loading place LA near the draw point DP, the transporting machine 10 travels on the drift DR and moves to the ore pass OP. The transporting machine 10 discharges the ore MR as a load to the arrived orpas OP.

In the present embodiment, the transporting machine 10 shown in FIGS. 2 and 3 includes an electric motor for traveling and a capacitor that supplies electric power to the electric motor. A space SP is connected to the outer circumferential path TR. In the space SP connected to the outer circumferential path TR, a storage battery exchanging device EX for replacing a storage battery mounted on the transporting machine 10 is installed. The capacitor exchange device EX also has a function of charging the capacitor 14.

In the following description, for the sake of convenience, it is assumed that the road surface of the mine shaft R on which the transporting machine 10 travels and the XY plane are substantially parallel. In practice, the road surface of the mine shaft R is often uneven or has an uphill and a downhill.

The mine management system 1 shown in FIG. 2 includes a management device 3 and a radio communication antenna 4A. The management device 3 manages the operation of the transporting machine 10 and the loading machine 30 that operate in the underground mine MI, for example. The management of operation includes allocation of the transporting machine 10 and the loading machine 30, collection of information on the operating states of the transporting machine 10 and the loading machine 30 (hereinafter, referred to as operation information as appropriate), management thereof, and the like. The operation information includes, for example, the operation time of the transporting machine 10 and the loading machine 30, the travel distance, the remaining capacity of the battery, the presence / absence of an abnormality, the location of the abnormality, the load amount, and the like. The operation information is mainly used for operation evaluation, preventive maintenance, abnormality diagnosis, and the like of the transporting machine 10 and the loading machine 30. Therefore, the operation information is useful to meet the needs for improving the productivity of the mine M or improving the operation of the mine M.

The management device 3 includes a communication device as will be described later. The wireless communication device 4 provided with the antenna 4A is connected to this communication device. The management device 3 exchanges information with the transport machine 10 and the loading machine 30 operating in the underground mine MI, for example, via the communication device, the wireless communication device 4 and the antenna 4A. The management device 3 provided in the mine management system 1 manages the operation of the transporting machine 10 and the loading machine 30 as described above.

In the present embodiment, the loading machine 30 travels with a traveling motor, and drives the stirrer with the motor to excavate the ore MR. As shown in FIG. 3, a feeding cable 5 that supplies electric power to these electric motors from the outside of the loading machine 30 is provided in the mine channel R of the mine MI. The loading machine 30 is supplied with power from the power feeding cable 5 via, for example, a power feeding connector 6 as a power supply device provided in the loading place LA and a power cable 7 from the loading machine 30. . The electric power supply apparatus mentioned above should just be provided in any one of drift DR or crosscut CR. In the present embodiment, the loading machine 30 may perform at least one of traveling and excavation with electric power supplied from the outside. Further, the loading machine 30 may be equipped with a capacitor, and may receive at least one of traveling and excavation by receiving power supply from the capacitor. Further, the loading machine 30 may be equipped with a capacitor, and may receive at least one of traveling and excavation by receiving power supply from the capacitor. That is, the loading machine 30 performs at least one of traveling and excavation with at least one of electric power supplied from the outside and electric power supplied from the battery. For example, the loading machine 30 can perform excavation with electric power supplied from the outside and can travel with electric power supplied from the storage battery. Further, when traveling in the crosscut CR, the loading machine 30 may travel with electric power supplied from the outside. In the present embodiment, the loading machine 30 may excavate the ore MR by driving a hydraulic pump with an electric motor to generate hydraulic pressure and driving the hydraulic motor with this hydraulic pressure. Moreover, the loading machine 30 may be provided with an electric storage device, run by electric power supplied from the electric storage device, and excavate.

The connection between the power supply cable 5 and the power cable 7 from the loading machine 30 is not limited to the connector 6. For example, an electrode provided on the tunnel R side and connected to the power supply cable 5 and an electrode connected to the power cable 7 from the loading machine 30 side are used as a power supply device, and both electrodes are brought into contact with each other. Alternatively, power may be supplied from the feeding cable 5 to the loading machine 30. If it does in this way, even if the positioning accuracy of both electrodes is low, both can be contacted and electric power can be supplied to loading machine 30. In this embodiment, although the loading machine 30 shall operate | move with electric power, it is not limited to such a thing. The loading machine 30 may be, for example, one that travels by an internal combustion engine or excavates the ore MR. In this case, the loading machine 30 drives a hydraulic pump by an internal combustion engine, and travels by driving a hydraulic motor, a hydraulic cylinder, or the like with hydraulic oil discharged from the hydraulic pump, or excavates the ore MR. Or you may.

<Ore MR drilling and transportation>
4 and 5 are diagrams showing excavation of the ore MR of the natural ground RM by the loading machine 30 and loading of the ore MR into the transporting machine 10. In the loading place LA, a natural ground RM of the ore MR is formed at the draw point DP. As shown in FIGS. 4 and 5, the loading machine 30 is installed in the crosscut CR at the loading place LA, and the tip portion penetrates into the natural ground RM of the ore MR to excavate it. The loading machine 30 loads the excavated ore MR on the transporting machine 10 that is on the opposite side of the natural ground RM and is waiting in the drift DR. In the drift DR, a power supply cable 5 for supplying power to the loading machine 30 is provided.

4 and 5, the loading machine 30 includes a vehicle body 30BD, a feeder 31 as a conveying device, a rotating roller 33 as an excavating device, a support mechanism 32 that supports the rotating roller 33, and a traveling device. 34. The rotating roller 33 and the support mechanism 32 function as a scraping device that excavates the ore MR and sends it to the feeder 31.

The support mechanism 32 is provided so as to be swingable in the undulation direction with respect to the vehicle body 30BD. The undulation direction is the vertical direction of the vehicle body 30BD. The support mechanism 32 includes a boom 32a as a first member attached to the vehicle body 30BD, and an arm 32b as a second member that is connected to the boom 32a and swings and rotatably supports the rotating roller 33. The vehicle body 30BD of the loading machine 30 includes a penetrating member 35 that penetrates into the natural ground RM of the ore MR, a rotating body 36, and a rock guard 37. The penetration member 35 penetrates the natural ground RM when excavating the ore MR. The rotating body 36 rotates when the penetrating member 35 of the loading machine 30 penetrates the natural ground RM, and assists the penetrating.

The transporting machine 10 includes a vehicle body 10 </ b> B and a vessel 11. The vessel 11 is mounted on the vehicle body 10B. The vessel 11 loads the ore MR as a load. In the present embodiment, the vessel 11 moves in the width direction W of the vehicle body 10B, that is, in a direction parallel to the axle, as shown in FIGS. The vessel 11 is installed at the center in the width direction of the vehicle body 10B when the transporting machine 10 travels. Further, the vessel 11 moves outward in the width direction of the vehicle body 10B when the ore MR is loaded. As a result, since the transporting machine 10 can bring the vessel 11 closer to the lower part D of the feeder 31 of the loading machine 30, the possibility that the ore MR transported by the feeder 31 falls outside the vessel 11, The ore MR can be reliably dropped into the vessel 11.

In the present embodiment, as shown in FIGS. 4 and 5, the loading machine 30 excavates the ore MR and transports the excavated ore MR to the transporting machine 10 and loads it on the transporting machine 10. The transporting machine 10 transports the loaded ore MR to the ore pass OP shown in FIG. 2 and discharges it here. At this time, the loading machine 30 stays in the crosscut CR while leaving the space in which the transporting machine 10 travels in the drift DR, and excavates the ore MR at the draw point DP. Then, the loading machine 30 conveys the excavated ore MR in a direction away from the draw point DP and loads it on the transporting machine 10. The loading machine 30 does not move in a state where the excavated ore MR is loaded. The transport machine 10 loads the ore MR mined at the draw point DP, travels on the drift DR, and transports it to the ore pass OP shown in FIG.

As described above, in this embodiment, the mine management system 1 causes the loading machine 30 to perform only excavation and loading of the ore MR and causes the transport machine 10 to transport only the ore MR. The functions of both are separated. For this reason, the loading machine 30 can concentrate on excavation work and conveyance work, and the conveyance machine 10 can concentrate on conveyance work. That is, the loading machine 30 may not have the function of transporting the ore MR, and the transporting machine 10 may not have the function of excavating and transporting the ore MR. Since the loading machine 30 can specialize in the function of excavation and conveyance, and the conveyance machine 10 can be specialized in the function of conveyance of the ore MR, each function can be exhibited to the maximum. As a result, the mine management system 1 can improve the productivity of the mine M.

<Management device 3 of mine management system 1>
FIG. 6 is an example of a functional block diagram of the management device 3 included in the mine management system 1. The management device 3 includes a processing device 3C, a storage device 3M, and an input / output unit (I / O) 3IO. Further, in the management device 3, a display device 8, an input device 9, and a communication device 3R as an output device are connected to the input / output unit 3IO. The management device 3 is a computer, for example. The processing device 3C is, for example, a CPU (Central Processing Unit). The storage device 3M is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, a hard disk drive, or the like, or a combination thereof. The input / output unit 3IO is used for input / output (interface) of information between the processing device 3C and the display device 8, the input device 9, and the communication device 3R connected to the outside of the processing device 3C.

The processing device 3C executes processing of the management device 3 such as allocation of the transporting machine 10 and the loading machine 30 and collection of operation information thereof. Processing such as vehicle allocation and collection of operation information is realized by the processing device 3C reading the corresponding computer program from the storage device 3M and executing it.

The storage device 3M stores various computer programs for causing the processing device 3C to execute various processes. In the present embodiment, the computer program stored in the storage device 3M collects, for example, a computer program for dispatching the transporting machine 10 and the loading machine 30, and operation information of the transporting machine 10 and the loading machine 30. Computer programs for realizing various kinds of analysis based on computer information, operation information, and the like.

The display device 8 is, for example, a liquid crystal display or the like, and displays information necessary for dispatching the transporting machine 10 and the loading machine 30 and collecting operation information. The input device 9 is, for example, a keyboard, a touch panel, a mouse, or the like, and inputs information necessary for dispatching the transporting machine 10 and the loading machine 30 and collecting their operation information. The communication device 3R is connected to the wireless communication device 4 including the antenna 4A. As described above, the wireless communication device 4 and the antenna 4A are installed in the underground mine MI. The communication device 3R and the wireless communication device 4 are connected by wire. The communication device 3R and the transport machine 10 and the loading machine 30 in the underground mine MI can communicate with each other by, for example, a wireless LAN (Local Aria Network). Next, the transporting machine 10 will be described in more detail.

<Transport machine 10>
FIG. 7 is a perspective view of the transport machine 10 according to the present embodiment. FIG. 8 is a side view of the transport machine 10 according to the present embodiment. The transporting machine 10 includes a vehicle body 10B, a vessel 11 as a loading platform, and wheels 12A and 12B. Further, the transporting machine 10 includes a power storage device 14 as a power storage device, an antenna 15, imaging devices 16A and 16B, and non-contact sensors 17A and 17B. The wheels 12A and 12B are attached to the front and rear of the vehicle body 10B, respectively. In the present embodiment, the wheels 12A and 12B are driven by electric motors 13A and 13B mounted in the vehicle body 10B shown in FIG. Thus, in the transporting machine 10, all the wheels 12A and 12B are driving wheels. In the present embodiment, the wheels 12A and 12B are respectively steered wheels. In the present embodiment, the wheels 12A and 12B are, for example, solid tires. By doing in this way, since wheel 12A, 12B becomes a small diameter, the height of the materials handling machine 10 is suppressed. The transporting machine 10 can travel in any of the direction from the wheel 12A to the wheel 12B and the direction from the wheel 12B to the wheel 12A. The wheels 12A and 12B are not limited to solid tires, and may be pneumatic tires, for example. Further, only one of the wheels 12A and 12B may be a drive wheel.

The vessel 11 is mounted above the vehicle body 10B and supported by the vehicle body 10B. A battery 14 for supplying electric power to the electric motors 13A and 13B is mounted on the vehicle body 10B. In this embodiment, the external shape of the battery 14 is a rectangular parallelepiped shape. One battery 14 is mounted before and after the vehicle body 10B. By doing in this way, since the balance of the mass of front and back becomes close | similar to the conveyance machine 10 equally, it can drive | work stably. The battery 14 is detachably mounted on the vehicle body 10B. The electric motors 13 </ b> A and 13 </ b> B and the electronic device included in the transport machine 10 are operated by the electric power supplied from the battery 14. In the present embodiment, the transport machine 10 is electrically driven, but the internal combustion engine may be a power source.

An antenna 15, imaging devices 16A and 16B, and non-contact sensors 17A and 17B are attached to the vehicle body 10B. The antenna 15 wirelessly communicates with the management device 3 via the antenna 4A and the communication device 3R illustrated in FIG. The imaging devices 16A and 16B photograph the load loaded on the vessel 11, that is, the state (packing state) of the ore MR shown in FIGS. 3 and 4 in this embodiment. The imaging devices 16A and 16B may be, for example, cameras that capture visible light, infrared cameras that capture infrared rays, or stereo cameras. The imaging devices 16A and 16B only need to acquire three-dimensional outline data of an object, and a laser scanner, a three-dimensional distance sensor, or the like can be used even if it is not a camera. In the present embodiment, the transporting machine 10 not only acquires three-dimensional data, but also measures the ore MR depth at a specific point such as the corner or center of the vessel 11 using a distance sensor for each point. You can also. The imaging devices 16A and 16B are attached to the tips of support columns 16AS and 16BS attached to the upper surface of the vehicle body 10B, respectively. With such a structure, each of the imaging devices 16 </ b> A and 16 </ b> B can image the entire vessel 11 from above, so that the state of the ore MR loaded on the vessel 11 can be reliably imaged.

Non-contact sensors 17A and 17B are attached to the front and rear of the vehicle body 10B, respectively. The non-contact sensors 17A and 17B detect an object existing around the transport machine 10, particularly on the traveling direction side, in a non-contact manner. As the non-contact sensors 17A and 17B, for example, radar devices are used. The non-contact sensors 17A and 17B can emit a radio wave or an ultrasonic wave, receive a radio wave reflected by the object, and detect a relative distance and direction from the object. The non-contact sensors 17A and 17B are not limited to radar devices. The non-contact sensors 17A and 17B may include at least one of a laser scanner and a three-dimensional distance sensor, for example.

The transporting machine 10 includes peripheral monitoring cameras 17CA and 17CB as imaging devices before and after the vehicle body 10B. The peripheral monitoring cameras 17CA and 17CB image the periphery of the vehicle body 10B, particularly the front, and detect the shape of an object existing around the vehicle body 10B.

The vehicle body 10B has a recess 10BU between the front and rear. Recess 10BU is arranged between wheel 12A and wheel 12B. The vessel 11 is a member on which ore MR as a load is loaded by the loading machine 30. At least a part of the vessel 11 is disposed in the recess 10BU.

In the present embodiment, a part of the vehicle body 10B disposed on one side of the center portion AX of the vehicle body 10B and a part of the vehicle body 10B disposed on the other side in the front-rear direction of the vehicle body 10B are symmetric (front-back symmetry). Further, in the front-rear direction of the vehicle body 10B, a part of the vessel 11 arranged on one side of the center part AX of the vehicle body 10B and a part of the vessel 11 arranged on the other side are symmetrical (front-rear object). Further, the vehicle body 10B and the vessel 11 are symmetric (laterally symmetric) with respect to the central axis in the front-rear direction of the vehicle body 10B in plan view.

The vessel 11 includes a bottom surface 11B and four side surfaces 11SF, 11SR, 11SA, and 11SB connected to the bottom surface 11B. The side surfaces 11SA and 11SB stand up vertically from the bottom surface 11B. The side surfaces 11SF and 11SR are inclined toward the wheels 12A and 12B, respectively, with respect to the bottom surface 11B. A recess 11U is formed by the bottom surface 11B and the four side surfaces 11SF, 11SR, 11SA, and 11SB. Ore MR as a load is loaded in the recess 11U. The recess 10BU of the vehicle body 10B has a shape along the outer shape of the vessel 11. Next, the support structure of the vessel 11 will be described.

FIG. 9 is a diagram illustrating a support structure of the vessel 11 provided in the transport machine 10 according to the present embodiment. FIG. 10 is a top view of the transport machine 10 according to the present embodiment. FIG. 11 is a diagram illustrating a state in which the transport machine 10 according to the present embodiment tilts the vessel. The vessel 11 is placed on the upper surface of the table 11T via a hydraulic cylinder (hoist cylinder) 11Cb as an actuator for moving the vessel 11 up and down.

The table 11T is supported by the vehicle body 10B via a pair of support bodies 11R and 11R provided on the upper surface of the recess 10BU of the vehicle body 10B. The support 11R is a rod-like member extending in the width direction W of the vehicle body 10B. Each support 11R, 11R is fitted in a pair of grooves 11TU, 11TU provided in a portion of the table 11T facing the vehicle body 10B. The grooves 11TU and 11TU are provided in the direction in which the support 11R extends, that is, in the width direction W of the vehicle body 10B. With such a structure, the table 11T moves along the supports 11R and 11R. That is, the table 11T can move in the width direction W of the vehicle body 10B of the transport machine 10.

A hydraulic cylinder (sliding cylinder) 11Ca is attached as an actuator for moving the table 11T in the width direction W of the vehicle body 10B between the table 11T and the vehicle body 10B. As the hydraulic cylinder 11Ca expands and contracts, the table 11T moves to both sides in the width direction W of the vehicle body 10B. Since the vessel 11 is attached to the table 11T, as shown in FIG. 10, the vessel 11 can also move to both sides in the width direction W of the vehicle body 10B together with the table 11T. The table 11T, the hydraulic cylinder 11Ca, and the supports 11R and 11R function as a position changing mechanism that changes the position of the vessel 11 with respect to the vehicle body 10B. This position changing mechanism changes the position of the vessel 11 in the width direction W of the vehicle body 10B. In this way, the transport machine 10 can change the position of the vessel 11 with respect to the vehicle body 10B.

When the ore MR is loaded on the vessel 11 from the loading machine 30, the vessel 11 moves to the loading machine 30 side as shown in FIG. By doing in this way, the conveyance machine 10 can load the ore MR on the vessel 11 reliably. Further, when the ore MR is loaded on one side of the vessel 11, the transporting machine 10 reciprocates the vessel 11 in the width direction W of the vehicle body 10 </ b> B, thereby dispersing the ore MR over the entire vessel 11, MR bias can be suppressed.

The vessel 11 moves up and down as the hydraulic cylinder 11Cb expands and contracts. FIG. 11 shows a state where the hydraulic cylinder 11Cb is extended and the vessel 11 is tilted. As shown in FIG. 11, the vessel 11 swings about an axis Zb on one side in the width direction W of the vehicle body 10B. The axis Zb is included in the table 11T and is parallel to the front-rear direction of the vehicle body 10B. When the hydraulic cylinder 11Cb extends, the vessel 11 becomes higher on the side opposite to the axis Zb and protrudes from the recess 10BU of the vehicle body 10B. As a result, the vessel 11 is inclined, the lid 11CV on the axis Zb side is opened, and the ore MR is discharged from the axis Zb side. When the hydraulic cylinder 11Cb contracts, the vessel 11 is received in the recess 10BU of the vehicle body 10B. The lid 11CV is interlocked with the operation in which the vessel 11 moves up and down by a link mechanism (not shown).

In the present embodiment, the vessel 11 swings about only the axis Zb existing on one side in the width direction W of the vehicle body 10B, but is not limited to this. For example, the vessel 11 may swing about another axis that is present on the other side and parallel to the longitudinal direction of the vehicle body 10B in addition to the axis Zb on one side of the vehicle body 10B. In this way, the transporting machine 10 can discharge the ore MR from both sides in the width direction W of the vehicle body 10B.

FIG. 12 is an example of a block diagram illustrating the control device 70 provided in the transport machine 10. The control device 70 included in the transport machine 10 controls the travel of the transport machine 10 and the movement and elevation of the vessel 11 in the width direction. The control device 70 includes a processing device 71 and a storage device 72. The processing device 71 includes imaging devices 16A and 16B, non-contact sensors 17A and 17B, peripheral monitoring cameras 17CA and 17CB, a mass sensor 18, a reading device 19, a range sensor 20, a gyro sensor 21, a speed sensor 22, and an acceleration sensor 23. The drive control device 24, the communication device 25, the storage device 72, and the like are connected.

The imaging devices 16A and 16B and the peripheral monitoring cameras 17CA and 17CB include an image sensor such as a CCD or a CMOS, and can acquire an optical image of an object and detect the outer shape of the object. In the present embodiment, at least one of the imaging devices 16A and 16B and the peripheral monitoring cameras 17CA and 17CB includes a stereo camera, and can acquire three-dimensional outline data of an object. The imaging devices 16A and 16B and the surrounding monitoring cameras 17CA and 17CB output the captured results to the processing device 71. The processing device 71 acquires the detection results of the imaging devices 16A and 16B, and acquires information related to the state of the ore MR in the vessel 11 based on the detection results. In the present embodiment, the outer shape of the ore MR loaded on the vessel 11 may be detected using at least one of a laser scanner and a three-dimensional distance sensor.

The non-contact sensors 17A and 17B are connected to the processing device 71 and output the detection result to the processing device 71. The non-contact sensors 17A and 17B output the acquired results to the processing device 71. The mass sensor 18 detects the mass of the vessel 11 and the ore MR loaded on the vessel 11. Since the mass of the vessel 11 is known in advance, the mass of the ore MR loaded on the vessel 11 can be obtained by subtracting the mass of the vessel 11 from the detection result of the mass sensor 18. The mass sensor 18 is connected to the processing device 71 and outputs a detection result to the processing device 71. Based on the detection result of the mass sensor 18, the processing device 71 obtains information on the mass of the ore MR loaded on the vessel 11 and whether or not the ore MR is loaded on the vessel 11. The mass sensor 18 may be, for example, a strain gauge type load cell provided between the vessel 11 and the table 11T, or may be a pressure sensor that detects the hydraulic pressure of the hydraulic cylinder 11Cb.

The reading device 19 detects the identification information (unique information) of the mark provided in the drift DR. A plurality of marks are arranged along the drift DR. The mark may be an identifier (code) such as a barcode and a two-dimensional code, or may be an identifier (tag) such as an IC tag or RFID. The reading device 19 is connected to the processing device 71 and outputs a detection result to the processing device 71.

The range sensor 20 is attached to the outside of the vehicle body 10B of the transporting machine 10, for example, forward and rearward, and acquires and outputs physical shape data of the space around the transporting machine 10. The gyro sensor 21 detects the direction (direction change amount) of the transport machine 10 and outputs the detection result to the processing device 71. The speed sensor 22 detects the traveling speed of the transport machine 10 and outputs the detection result to the processing device 71. The acceleration sensor 23 detects the acceleration of the transport machine 10 and outputs the detection result to the processing device 71. The drive control device 24 is, for example, a microcomputer. The drive control device 24 controls the operation of the electric motors 13A and 13B, the braking system 13BS, the steering system 13SS, and the electric motor 13C that drives the hydraulic pump 13P based on a command from the processing device 71. The hydraulic pump 13P is a device that supplies hydraulic oil to the hydraulic cylinders 11Ca and 11Cb. In the present embodiment, the transporting machine 10 travels using the traveling electric motors 13A and 13B, but is not limited thereto. For example, the transporting machine 10 may travel by a hydraulic motor that is driven by hydraulic fluid discharged from the hydraulic pump 13P. The braking system 13BS and the steering system 13SS may also be electric, or may operate using hydraulic pressure.

In this embodiment, the information regarding the position (absolute position) where the mark is arranged in the drift DR is known information measured in advance. Information regarding the absolute position of the mark is stored in the storage device 72. The processing device 71 determines the absolute value of the transport machine 10 in the drift DR based on the mark detection result (mark identification information) detected by the reading device 19 provided in the transport machine 10 and the storage information in the storage device 72. The position can be determined.

The range sensor 20 includes a scanning lightwave distance meter that can output physical shape data of a space. The range sensor 20 includes, for example, at least one of a laser scanner and a three-dimensional distance sensor, and can acquire and output two-dimensional or three-dimensional spatial data. The range sensor 20 detects at least one of the loading machine 30 and the wall surface of the drift DR. In the present embodiment, the range sensor 20 can acquire at least one of the shape data of the loading machine 30, the shape data of the wall surface of the drift DR, and the shape data of the load of the vessel 11. In addition, the range sensor 20 can detect at least one of a relative position (relative distance and direction) with the loading machine 30 and a relative position with the wall surface of the drift DR. The range sensor 20 outputs the detected information to the processing device 71.

In this embodiment, information regarding the wall surface of the drift DR is obtained in advance and stored in the storage device 72. That is, the information regarding the wall surface of the drift DR is known information measured in advance. The information regarding the wall surface of the drift DR includes information regarding each shape of the plurality of portions of the wall surface and information regarding the absolute position of each of the wall surface portions. The storage device 72 stores the relationship between the shapes of the plurality of wall portions and the absolute positions of the wall portions having the shapes. The processing device 71 transports in the drift DR based on the detection result (wall shape data) of the drift DR detected by the range sensor 20 provided in the transporting machine 10 and the storage information in the storage device 72. The absolute position and orientation of the machine 10 can be determined.

Based on the current position (absolute position) of the transporting machine 10 derived using at least one of the reading device 19 and the range sensor 20, the processing device 71 transports according to a determined route (target route) of the underground mine MI. The transporting machine 10 that travels the drift DR is controlled so that the machine 10 travels.

The processing device 71 is, for example, a microcomputer including a CPU. Based on the detection results of the non-contact sensors 17A, 17B, the reading device 19, the range sensor 20, and the like, the processing device 71 is configured to use the electric motors 13A, 13B, the braking system 13BS, the wheels 12A, The steering system 13SS of 12B is controlled. Then, the processing device 71 causes the transport machine 10 to travel according to the target route described above at a predetermined traveling speed and acceleration.

The storage device 72 includes at least one of a RAM, a ROM, a flash memory, and a hard disk drive, and is connected to the processing device 71. The storage device 72 stores a computer program and various information necessary for the processing device 71 to autonomously run the transporting machine 10. The communication device 25 is connected to the processing device 71 and performs data communication with at least one of the communication device mounted on the loading machine 30 and the management device 3.

In the present embodiment, the transport machine 10 is an unmanned vehicle and can autonomously travel. The communication device 25 can receive information (including a command signal) transmitted from at least one of the management device 3 and the loading machine 30. Further, the communication device 25 can transmit information detected by the imaging devices 16A and 16B, the peripheral monitoring cameras 17CA and 17CB, the speed sensor 22, the acceleration sensor 23, and the like to at least one of the management device 3 and the loading machine 30. The transporting machine 10 transmits information about the periphery of the transporting machine 10 acquired by at least one of the peripheral monitoring cameras 17CA and 17CB and the non-contact sensors 17A and 17B to the management device 3, and the operator transports based on the peripheral information. The machine 10 can also be remotely controlled. Thus, the transport machine 10 can travel not only autonomously but also by an operator's operation, and can slide and lift the vessel 11.

For example, the management device 3 that has acquired the information detected by the speed sensor 22, the acceleration sensor 23, and the like accumulates this information in the storage device 3M, for example, as operation information of the transporting machine 10. When the management device 3 acquires information captured by the peripheral monitoring cameras 17CA and 17CB, the operator operates the transporting machine 10 while visually recognizing an image around the transporting machine 10 captured by the peripheral monitoring cameras 17CA and 17CB. You can also Furthermore, the loading machine 30 which acquired the information regarding the mass of the ore MR of the vessel 11 detected by the mass sensor 18 can also control the loading amount of the ore MR on the vessel 11 based on this information. Next, the loading machine 30 will be described.

<Loading machine 30>
FIG. 13 is a side view of the loading machine 30 according to the present embodiment. FIG. 14 is a top view of the loading machine 30 according to the present embodiment. FIG. 15 is a front view of the loading machine 30 according to the present embodiment. FIG. 16 is a perspective view showing a rotation roller 33 provided in the loading machine 30 according to the present embodiment. FIG. 17 is a perspective view showing the penetrating member 35 provided in the loading machine 30 according to the present embodiment. 18-1 and 18-2 are perspective views showing penetrating members 35a and 35b according to modified examples.

FIG. 13 shows a state in which the loading machine 30 excavates the ore MR of the natural ground RM and conveys the excavated ore MR. The loading machine 30 excavates the natural ground RM of the ore MR in the crosscut CR, and loads the excavated ore MR on the vessel 11 of the transporting machine 10 shown in FIGS. A feeder 31, a support mechanism 32, a travel device 34, a penetrating member 35, a rotating body 36, and a rock guard 37 are attached to the vehicle body 30BD of the loading machine 30. The side on which the penetrating member 35 is provided is the front side of the loading machine 30, and the side opposite to the side on which the penetrating member 35 is provided is the rear side of the loading machine 30. Note that the loading machine 30 may not include the rotating body 36 and the rock guard 37.

The feeder 31 loads the ore MR from the natural ground RM, transports it in a direction away from the natural ground RM at the draw point DP, and then discharges it. That is, the feeder 31 conveys the ore MR loaded in front of the loading machine 30 toward the rear, and discharges it from the rear. For example, the feeder 31 uses a transport belt as an endless transport body and rotates the belt around a pair of rollers to transport the ore MR from the loading side 31F to the discharge side 31E. The loading side 31F is the natural ground RM side, and the discharge side 31E is the opposite side to the loading side 31F. As shown in FIG. 14, the feeder 31 is provided with a pair of guides 31 </ b> G and 31 </ b> G on both sides in the width direction W. The pair of guides 31 </ b> G and 31 </ b> G suppress the ore MR that is being transported from the feeder 31 from dropping off. The width direction W is a direction orthogonal to the direction F in which the feeder 31 transports the ore MR, and is a direction parallel to the rotation center axis of the pair of rollers provided in the feeder 31. The width direction W of the feeder 31 is also the width direction of the vehicle body 30BD. The feeder 31 includes a guide 39 for guiding the ore MR into the vessel 11 of the transporting machine 10 on the discharge side 31E. The feeder 31 swings around the axis of the front side of the vehicle body 30BD, that is, the loading side 31F of the feeder 31. The feeder 31 can change the angle α with respect to the ground G. The angle α is an angle formed between the straight line LC connecting the rotation center axes of the pair of rollers included in the feeder 31 and the ground G.

Rotating roller 33 loads ore MR into feeder 31. The rotating roller 33 feeds the ore MR into the feeder 31 while rotating on the loading side 31F of the feeder 31, that is, in front of the feeder 31. For this reason, at the time of excavation of the ore MR, the rotating roller 33 is installed on the loading side 31F of the feeder 31 by the support mechanism 32 including the boom 32a and the arm 32b. The rotating roller 33 includes a rotating member 33D that rotates around a predetermined axis Zr, and a contact member 33S that is provided on the outer periphery of the rotating member 33D and that contacts the ore MR and excavates.

In the present embodiment, as shown in FIG. 16, the contact member 33 </ b> S protrudes from the rotating member 33 </ b> D to the outside in the radial direction, and is provided with a plurality of plate-like members provided at predetermined intervals in the circumferential direction of the rotating member 33 </ b> D. It is. A plane parallel to the plate surface of the contact member 33S is not orthogonal to the axis Zr. In the present embodiment, a plane parallel to the plate surface of the contact member 33S is parallel to the axis Zr. The contact member 33S is provided with a plate-like member 33BB at the tip, that is, the end opposite to the rotating member 33D. The plate-like member 33BB extends from the tip of the contact member 33S in the direction of rotation of the rotary roller 33 during excavation (the direction indicated by the arrow in FIG. 16). With such a structure, during excavation, the plate-like member 33BB of the rotating roller 33 bites into the natural ground RM that is the excavation target. As a result, the ore MR can be efficiently excavated from the natural ground RM.

The contact member 33S may not have the plate-like member 33BB. In the present embodiment, the number of contact members 33S is four, but is not limited to this, and may be two, three, or five or more. The number of contact members 33 </ b> S can be changed as appropriate according to at least one of the size and type of ore MR excavated by the loading machine 30.

When the rotating roller 33 rotates, the contact member 33S moves away from the feeder 31 when positioned at the upper U, and approaches the feeder 31 when positioned at the lower D. By this movement, the plurality of contact members 33S excavate the ore MR from the natural ground RM and send it to the feeder 31. Since the plurality of contact members 33S rotate together with the rotation member 33D, the ore MR can be continuously excavated and fed into the feeder 31.

The support mechanism 32 that rotatably supports the rotating roller 33 includes a boom 32a attached to the vehicle body 30BD and an arm 32b connected to the boom 32a. The boom 32a is attached to the vehicle body 30BD of the loading machine 30 via, for example, a shaft 38A as a pin, and swings with respect to the vehicle body 30BD about the shaft 38A. For example, the arm 32b is connected to the end of the boom 32a opposite to the vehicle body 30BD via a shaft 38B as a pin, and swings about the shaft 38B with respect to the boom 32a. The arm 32b is an end opposite to the end connected to the boom 32a, and rotatably supports the rotating roller 33. For example, the boom 32a and the arm 32b may be driven to swing by a hydraulic cylinder as an actuator, or may be driven to swing by an electric motor or a hydraulic motor.

The boom 32a swings around the first axis line Za with respect to the vehicle body 30BD, and the arm 32b swings around an axis line Za 'parallel to the first axis line Za. The first axis Za is the central axis of the shaft 38A that connects the boom 32a and the vehicle body 30BD, and the axis Za ′ that is parallel to the first axis Za is the center of the shaft 38B that connects the boom 32a and the arm 32b. Is the axis. In the present embodiment, the arm 32b may further swing around an axis parallel to the second axis perpendicular to the first axis Za. If it does in this way, since the range which can rotate rotation roller 33 becomes large, the freedom degree of excavation work improves.

The boom 32a is a pair of rod-shaped members (first rod-shaped members) provided on both sides in the width direction W of the vehicle body 30BD, in this embodiment, on both sides in the width direction W of the feeder 31. The arms 32b are a pair of rod-shaped members (second rod-shaped members) connected to the respective booms 32a. As shown in FIG. 14, the pair of arms 32b supports the rotating roller 33 between them. In the present embodiment, the pair of booms 32a are connected by beams 32J. Since the rigidity of the support mechanism 32 is improved by such a structure, the excavation efficiency of the ore MR is reduced since the support mechanism 32 can reliably press the rotating roller 33 against the natural ground RM when excavating the ore MR. It is suppressed. Moreover, you may connect a pair of arm 32b with a rod-shaped or plate-shaped member. This is more preferable because the rigidity of the support mechanism 32 is further improved.

In the support mechanism 32, the rotating roller 33 moves when the boom 32a swings with respect to the vehicle body 30BD and the arm 32b swings with respect to the boom 32a. The support mechanism 32 can change the relative positional relationship between the rotation roller 33, the feeder 31, and the vehicle body 30BD by moving the rotation roller 33. Further, the support mechanism 32 excavates different positions of the natural ground RM by moving the rotating roller 33, or moves the rotating roller 33 from the natural ground RM toward the feeder 31 to ore MR from the natural ground RM. Can be scraped into the feeder 31 side. In addition, for example, when the loading machine 30 is traveling, an object is present in the front and is obstructing the traveling, the support mechanism 32 uses the rotating roller 33 to scrape the object toward the feeder 31. , The object ahead of the loading machine 30 in the traveling direction can be removed.

In the present embodiment, the rotating roller 33 is rotated by an electric motor 33M attached to the tip of the arm 32b as shown in FIG. The device for driving the rotating roller 33 is not limited to the electric motor 33M, and may be, for example, a hydraulic motor. Further, the location where the electric motor 33M is attached is not limited to the tip of the arm 32b.

A traveling device 34 for traveling the vehicle body 30BD is attached. The travel device 34 includes a pair of crawler belts 34C provided on both sides in the width direction of the vehicle body 30BD, a pair of drive wheels 34D provided on both sides in the width direction of the vehicle body 30BD, and a pair of wheels provided on both sides in the width direction of the vehicle body 30BD. And a driven wheel 34S. A crawler belt 34C is wound around the drive wheel 34D and the driven wheel 34S. Each drive wheel 34D is driven separately and independently. In the present embodiment, the loading machine 30 includes a traveling electric motor for each drive wheel 34D. With such a structure, the pair of crawler belts 34C and 34C are driven independently.

The penetration member 35 is provided on the loading side 31F of the feeder 31. The penetration member 35 may be attached to the loading side 31F of the feeder 31 or may be attached to the loading side 31F of the feeder 31. As shown in FIG. 17, the penetrating member 35 is a member having a cone shape, and in the present embodiment, has a quadrangular pyramid shape. The penetrating member 35 has a rectangular (including square) bottom surface 35B and four side surfaces 35S connected to the bottom surface 35B. One of the four side surfaces 35S faces the ground G. In this example, a side surface 35S indicated by reference numeral 35U faces the ground G. The side surfaces 35S are all triangular. The bottom surface 35B is attached to the front of the vehicle body 30BD shown in FIG. That is, the penetrating member 35 is attached to the vehicle body 30BD so that the top portion 35P of the cone is in front of the vehicle body 30BD. By doing in this way, when the loading machine 30 penetrates into the natural ground RM, the penetration member 35 penetrates into the natural ground RM from the top 35P.

The shape of the penetrating member 35 is not limited to a quadrangular pyramid shape, and may be a triangular pyramid shape, for example, like a penetrating member 35a according to a modification shown in FIG. The penetrating member 35a has a triangular bottom surface 35Ba and three side surfaces 35Sa connected to the bottom surface 35Ba. The side surfaces 35Sa are all triangular. One of the three side surfaces 35Sa faces the ground G. In this example, the side surface 35Sa indicated by reference numeral 35Ua faces the ground G. By attaching the bottom surface 35Ba to the front of the vehicle body 30BD shown in FIG. 13, the top portion 35Pa of the cone becomes the front of the vehicle body 30BD.

The penetrating member 35b shown in FIG. 18-2 intersects the first plate-like member 35T penetrating the natural mountain RM and the plate surface of the first plate-like member 35T (in the present embodiment, it is orthogonal, but is not limited to this). And a second plate member 35F attached to the loading side 31F of the feeder 31 and attached to the first plate member 35T. The penetrating member 35b is relatively easy to manufacture because the shape of the penetrating member 35b is not a cone but an L-shaped cross section combining two plate-like members. The penetration members 35, 35a, and 35b are manufactured, for example, by welding a plurality of steel plates or casting using cast steel. The material and manufacturing method of the penetrating members 35, 35a, and 35b are not limited to the above.

When the loading machine 30 is excavated, the penetrating member 35 penetrates the natural mountain RM from the top of the cone and breaks the natural mountain RM. When the penetrating member 35 penetrates the natural ground RM, the traveling device 34 causes the feeder 31 and the vehicle body 30BD to which the penetrating member 35 is attached to travel forward, and the feeder 31 is operated while the penetrating member 35 is moved to the natural ground RM. Intrude. At this time, in the feeder 31, the upper conveyor belt moves from the loading side 31F toward the discharging side 31E. That is, when the penetrating member 35 penetrates, the transport belt above the feeder 31 operates in the same direction as the transport direction of the ore MR. The loading machine 30 can penetrate deeper into the natural ground RM because the driving force of the feeder 31 can be used for penetration by operating the feeder 31 in this way during penetration.

A pair of rotating bodies 36 are provided on both sides in the width direction of the vehicle body 30BD, that is, on both sides in the direction orthogonal to the conveying direction of the feeder 31. The pair of rotating bodies 36 is disposed in front of the traveling device 34 and on the loading side 31 </ b> F of the feeder 31. The rotating body 36 is a structure in which a plurality of blades 36B are provided at predetermined intervals around a drum 36D that rotates around a predetermined axis. The rotating body 36 is driven by, for example, an electric motor. The rotating body 36 may be driven by an electric motor that drives the feeder 31. In this case, the driving of the feeder 31 and the driving of the rotating body 36 may be switched by a clutch or the like. For example, when the clutch is engaged, the feeder 31 and the rotator 36 rotate at the same time, and when the clutch is released, only the feeder 31 can rotate.

The rotating body 36 rotates in a direction in which the vehicle body 30BD of the loading machine 30 is pressed against the ground G when the penetrating member 35 penetrates into the natural ground RM. Specifically, the rotating body 36 rotates so that the blade 36B on the natural mountain RM side is directed upward U from the lower side D, and the blade 36B on the traveling device 34 side is directed downward D from the upper side U. In this way, when the blade 36B on the natural ground RM side contacts the natural ground RM, the rotating body 36 pushes the front of the vehicle body 30BD downward D, so that the crawler belt 34C of the traveling device 34 is brought to the ground G. It is more strongly pressed against. As a result, the frictional force between the crawler belt 34C and the ground G increases, so that the traveling device 34 can easily allow the penetration member 35 to penetrate the natural ground RM. When the penetration of the loading machine 30 into the natural ground RM is completed and excavation by the rotating roller 33 and loading by the feeder 31 are started, the rotation of the rotating body 36 is stopped.

A rock guard 37 is provided between the rotating body 36 and the crawler belt 34 </ b> C of the traveling device 34. In the present embodiment, the rock guard 37 is attached to the vehicle body 30BD. For example, the rock guard 37 protects the traveling device 34 from the ore MR flying from the rotating roller 33 during excavation, or protects the traveling device 34 from rocks or the like existing in the tunnel when the loading machine 30 travels. To do. The rock guard 37 suppresses a decrease in durability of the traveling device 34.

In the present embodiment, the vehicle body 30BD includes a fixing device 30F that extends toward the outer side in the width direction of the vehicle body 30BD and is pressed against the wall surface CRW of the crosscut CR connected to the draw point DP. In the present embodiment, one fixing device 30F is provided on each side in the width direction of the vehicle body 30BD so as to face each other, but the number and installation locations of the fixing devices 30F are not limited thereto. For example, the fixing device 30F may be provided above the vehicle body 30BD. In the present embodiment, the fixing device 30F includes, for example, a hydraulic cylinder 30FC and a pressing member 30FP provided at the tip of the piston of the hydraulic cylinder 30FC. The fixing device 30F fixes the loading machine 30 in the cross cut CR when the loading machine 30 is excavated and when the ore MR is conveyed. Specifically, the fixing device 30F extends the hydraulic cylinder 30FC and presses the pressing member 30FP against the wall surface CRW, thereby fixing the vehicle body 30BD of the loading machine 30 in the crosscut CR via these. By doing in this way, the reaction force generated when the loading machine 30 excavates the natural ground RM can be received by the cross cut CR via the fixing device 30F. As a result, since the posture of the loading machine 30 is stable, the natural ground RM can be excavated stably. A hydraulic cylinder may be provided between the fixing device 30F and the vehicle body 30B, and after fixing the fixing device 30F to the wall surface CRW of the crosscut CR, the vehicle body may be penetrated using the driving force of the hydraulic cylinder.

When the fixing device 30F is provided on both sides or above the width direction of the vehicle body 30BD, the fixing by the fixing device 30F is released when the loading machine 30 penetrates. In the present embodiment, the hydraulic cylinder 30FC is contracted, and the pressing member 30FP does not press the wall surface CRW. During excavation of the loading machine 30, the fixing device 30F operates to fix the loading machine 30 in the cross cut CR. During excavation, when the loading machine 30 further penetrates the natural ground RM or moves away from the natural ground RM, the traveling device 34 moves the loading machine 30 after the fixing by the fixing device 30F is released. Move.

As shown in FIG. 13, a fixing device 30F is provided behind the vehicle body 30BD, that is, on the discharge side 31E of the feeder 31, and fixed between the reaction force receiver TG protruding from the ground G in the crosscut CR and the vehicle body 30BD. You may receive the reaction force mentioned above through the apparatus 30F. At the time of excavation, the reaction force in the front-rear direction of the loading machine 30 is large, but by using such a structure, the reaction force at the time of excavation can be more effectively received. Moreover, the loading machine 30 can also adjust the position of the loading machine 30 at the time of excavation by extending the fixing device 30F. Note that the loading machine 30 may not include the fixing device 30F.

In the present embodiment, the loading machine 30 includes the ore MR between a portion where the ore MR is loaded on the feeder 31 (loading side 31F) and a portion where the ore MR is discharged from the feeder 31 (discharge side 31E). A switching mechanism 80 for switching between discharging and stopping discharging is provided. The switching mechanism 80 includes a support body 81, a lid 82, and a hydraulic cylinder 83 as an actuator that opens and closes the lid 82. As shown in FIG. 15, the support body 81 has two leg portions 81 </ b> R that are attached to both sides in the width direction of the vehicle body 30 </ b> BD, specifically, both sides in the width direction of the feeder 31, and two leg portions 81 </ b> R. It is a gate-shaped member including a connecting portion 81C that connects them at the other end. The ore MR passes through a portion surrounded by the two leg portions 81R and the connecting portion 81C.

The lid 82 is a plate-like member, and is provided at a portion surrounded by the two leg portions 81R and the connecting portion 81C. The lid 82 rotates around a predetermined axis Zg existing on the connecting portion 81C side of the support 81. A hydraulic cylinder 83 is provided between the lid 82 and the connecting portion 81 </ b> C of the support body 81. As the hydraulic cylinder 83 expands and contracts, the lid 82 opens and closes a portion surrounded by the two leg portions 81R and the connecting portion 81C. When the lid 82 is opened, the ore MR passes through a portion surrounded by the two leg portions 81R and the connecting portion 81C. When the lid 82 is closed, the ore MR does not pass through the portion surrounded by the two leg portions 81R and the connecting portion 81C. By doing in this way, the loading machine 30 can adjust the discharge | emission amount of the ore MR from the feeder 31. FIG.

In this embodiment, the loading machine 30 includes an information collection device 40. The information collecting device 40 is attached to the loading side 31F of the vehicle body 30BD, that is, the front side. More specifically, the part where the information collecting device 40 collects information is attached to the loading side 31F of the vehicle body 30BD, that is, facing forward. The information collection device 40 is a device that acquires and outputs three-dimensional spatial data. The information collection device 40 acquires ore information as information relating to the state of the ore MR of the natural ground RM. The ore information is three-dimensional spatial data of the natural ground RM. In the present embodiment, the ore information may include information on the loading side 31 </ b> F of the vehicle body 30 </ b> BD, that is, forward information, in addition to information on the state of the ore MR of the natural ground RM. That is, in the present embodiment, the ore information is information indicating the loading side 31F of the vehicle body 30BD, that is, the front state.

The information collection device 40 is, for example, a camera, a stereo camera, a laser scanner, a three-dimensional distance sensor, or the like. The part where the information collecting device 40 collects information is a lens in the case of a camera or a stereo camera, and a light receiving part in the case of a laser scanner and a three-dimensional distance sensor. In the present embodiment, a stereo camera is used as the information collection device 40. In the present embodiment, the loading machine 30 has three information collection devices 40 attached to the beam 32J of the support mechanism 32. That is, the plurality of information collection devices 40 are installed at a plurality of locations in the width direction of the vehicle body 30B. By doing in this way, even when the imaging target of one information collection device 40 is hidden in the arm 32b, the loading machine 30 can obtain the ore information of the imaging target by the other information collection device 40.

In the present embodiment, the control device included in the loading machine 30 controls the operation of the loading machine 30 using the ore information collected by the information collecting device 40. For example, the control device described above controls at least one of the feeder 31, the rotating roller 33, the support mechanism 32, and the traveling device 34 based on the ore information acquired by the information collecting device 40. By doing in this way, since the loading machine 30 can operate | move flexibly according to the state of the natural ground RM and the ore MR, the production efficiency of the mine M improves, for example.

In this embodiment, the loading machine 30 includes an information collecting device 41 on the discharge side 31E of the vehicle body 30BD, that is, on the rear side. More specifically, the part where the information collection device 41 collects information is attached facing the discharge side 31E of the vehicle body 30BD, that is, the rear side. The information collection device 41 is a device that acquires and outputs three-dimensional spatial data, like the information collection device 40 described above. The information collection device 41 acquires load information as information regarding the state of the ore MR loaded on the vessel 11 of the transporting machine 10 illustrated in FIGS. 4 and 5. The cargo information is three-dimensional spatial data of the ore MR.

The information collection device 41 is, for example, a camera, a stereo camera, a laser scanner, a three-dimensional distance sensor, or the like, similar to the information collection device 40 described above. The part where the information collecting device 41 collects information is a lens in the case of a camera or a stereo camera, and a light receiving part in the case of a laser scanner and a three-dimensional distance sensor. In the present embodiment, a stereo camera is used as the information collection device 41. In the present embodiment, the loading machine 30 has two information collection devices 41 attached to both sides of the feeder 31 in the width direction. That is, the plurality of information collection devices 41 are installed at a plurality of locations in the width direction of the vehicle body 30B. By doing in this way, the loading machine 30 can obtain the ore information of the imaging target by the other information collecting device 41 even when the imaging target of one information collecting device 41 is hidden in the shadow of the mine shaft.

In the present embodiment, the control device provided in the loading machine 30 controls at least one of the loading machine 30 and the transporting machine 10 using the load information collected by the information collecting device 41. For example, the control device described above controls the operation of the rotating roller 33, the feeder 31, the switching mechanism 80, or the like based on the load information acquired by the information collecting device 41, or the position or vessel of the vessel 11 provided in the transport machine 10. 11 movements are controlled. By doing in this way, the loading machine 30 changes the conveyance amount of the ore MR or adjusts the position of the vessel 11 according to the state of the ore MR loaded on the vessel 11 of the transporting machine 10. Therefore, for example, the production efficiency of the mine M is improved.

FIG. 19 is a view showing a posture when the loading machine 30 according to the present embodiment travels. When the loading machine 30 travels, the angle α of the feeder 31 with respect to the ground G is smaller than when the loading machine 30 excavates and conveys the ore MR (see FIG. 13). That is, the straight line LC connecting the rotation center axes of the pair of rollers provided in the feeder 31 is closer to the ground G. If it does in this way, since the loading side 31F of the feeder 31 arrange | positioned ahead of the loading machine 30, ie, the advancing direction side, leaves | separates from the ground G, the feeder 31 and the ground G interfere when the loading machine 30 travels. The possibility is reduced. In the present embodiment, the penetrating member 35 also moves in conjunction with the feeder 31. That is, when the loading machine 30 travels, when the loading side 31F of the feeder 31 is separated from the ground G, the penetration member 35 is also separated from the ground. As a result, the possibility that the penetration member 35 and the ground G interfere with each other when the loading machine 30 is traveling is reduced.

As shown in FIG. 19, when the loading machine 30 travels, the support mechanism 32 is folded. Then, the rotating roller 33 moves to a position closer to the feeder 31 as compared with the case where the loading machine 30 excavates and conveys the ore MR (see FIG. 13). In the example shown in FIG. 19, for example, the position of the rotating roller 33 indicated by a solid line is a position during traveling, and the position of the rotating roller 33 indicated by a two-dot chain line is a position during excavation of the loading machine 30, for example. Thus, in the present embodiment, when the traveling device 34 of the loading machine 30 travels the vehicle body 30BD including the feeder 31 and the like, the rotating roller 33 is provided on the discharge side 31E of the feeder 31 from the time of excavation of the ore MR. Be placed. That is, the rotating roller 33 is arranged closer to the vehicle body 30BD when the loading machine 30 is moved. For this reason, in the loading machine 30, the rotation roller 33 that exists at a position away from the center of gravity in the front-rear direction of the vehicle body 30 BD moves to a position closer to the center of gravity. To do. As a result, the loading machine 30 can travel stably. The position of the rotating roller 33 during traveling and the position during excavation are not limited to this example.

FIG. 20 is an example of a block diagram illustrating a control device 75 provided in the loading machine 30 according to the present embodiment. The control device 75 included in the loading machine 30 controls the feeder 31, the support mechanism 32, the rotating roller 33, the traveling device 34, the rotating body 36, and the switching mechanism 80. The control device 75 includes a processing device 76 and a storage device 77. The processing device 76 includes a front imaging device 40C corresponding to the information collecting device 40, a rear imaging device 41C corresponding to the information collecting device 41, a non-contact sensor 42, a reading device 43, a range sensor 44, a gyro sensor 45, a speed sensor. 46, an acceleration sensor 47, a drive control device 48, a communication device 52, a storage device 77, and the like are connected. The non-contact sensor 42, the reader 43, and the range sensor 44 are attached to the outside of the vehicle body 30BD of the loading machine 30.

The front imaging device 40C and the rear imaging device 41C include an image sensor such as a CCD or a CMOS, and can acquire an optical image of an object and detect the outer shape of the object. In the present embodiment, the front imaging device 40C and the rear imaging device 41C include a stereo camera and can acquire three-dimensional outline data of an object. The front imaging device 40C and the rear imaging device 41C output the captured result to the processing device 76. The processing device 76 acquires the detection result of the front imaging device 40C, and obtains the ore information described above based on the detection result. Further, the processing device 76 acquires the detection result of the rear imaging device 41C, and obtains the load information described above based on the detection result. In the present embodiment, the outer shape of the ore MR of the natural ground RM and the outer shape of the ore MR loaded on the vessel 11 may be detected using at least one of a laser scanner and a three-dimensional distance sensor.

The non-contact sensor 42 detects an object existing around the loading machine 30. The non-contact sensor 42 is connected to the processing device 76 and outputs a detection result to the processing device 76. The reading device 43 detects identification information (unique information) of marks provided on the drift DR or the cross cut CR. A plurality of marks are arranged along the drift DR or the crosscut CR. The reading device 43 is connected to the processing device 76 and outputs a detection result to the processing device 76. The mark may be an identifier (code) such as a barcode and a two-dimensional code, or may be an identifier (tag) such as an IC tag or RFID.

In the present embodiment, the information regarding the position (absolute position) where the mark is arranged in the drift DR or the crosscut CR is known information measured in advance. Information regarding the absolute position of the mark is stored in the storage device 77. Based on the mark detection result (mark identification information) detected by the reading device 43 provided in the loading machine 30 and the storage information of the storage device 77, the processing device 76 uses the drift DR or the crosscut CR. The absolute position of the loading machine 30 can be determined.

The range sensor 44 acquires and outputs the physical shape data of the space. The gyro sensor 45 detects the direction (direction change amount) of the loading machine 30 and outputs the detection result to the processing device 76. The speed sensor 46 detects the traveling speed of the loading machine 30 and outputs the detection result to the processing device 76. The acceleration sensor 47 detects the acceleration of the loading machine 30 and outputs the detection result to the processing device 76. The drive control device 48 is, for example, a microcomputer. The drive control device 48 is based on a command from the processing device 76, and includes an electric motor 33M that drives the rotating roller 33 shown in FIG. The operation of the electric motor 50 that swings the arm 32b, the electric motor 51F that drives the feeder 31, the electric motor 51R that rotates the rotating body 36, and the electric motor 86 that drives the hydraulic pump 85 is controlled. The hydraulic pump 85 is a device that supplies hydraulic oil to the hydraulic cylinder 83 provided in the switching mechanism 80, the hydraulic cylinder 87 as an actuator that changes the posture of the feeder 31, and the hydraulic cylinder 30FC of the fixing device 30F. The boom 32a and the arm 32b may be swung by a hydraulic cylinder. In this case, hydraulic oil is supplied from the hydraulic pump 85 to the boom cylinder that swings the boom 32a and the arm cylinder that swings the arm 32b. Electric motor 48L drives one crawler belt 34C shown in FIG. 13, and electric motor 48R drives the other crawler belt 34C.

In the present embodiment, the loading machine 30 travels by the electric motors 48L and 48R included in the travel device 34, but is not limited thereto. For example, the loading machine 30 may travel by a hydraulic motor that is driven by hydraulic oil discharged from the hydraulic pump 85. Further, the boom 32 a and the arm 32 b of the support mechanism 32, the rotating roller 33 and the rotating body 36, and the feeder 31 may also be driven by a hydraulic cylinder or a hydraulic motor that is driven by hydraulic oil discharged from the hydraulic pump 85.

The range sensor 44 includes a scanning lightwave distance meter that can output physical shape data of a space. The range sensor 44 includes, for example, at least one of a laser scanner and a three-dimensional distance sensor, and can acquire and output three-dimensional spatial data. The range sensor 44 detects at least one of the wall surfaces of the transport machine 10, the drift DR, and the crosscut CR. In the present embodiment, the range sensor 44 can acquire at least one of the shape data of the transporting machine 10, the shape data of the wall surface of the drift DR or the crosscut CR, and the shape data of the load of the vessel 11 included in the transporting machine 10. is there. In addition, the range sensor 44 can detect at least one of a relative position (relative distance and direction) with the transporting machine 10 and a relative position with the wall surface of the drift DR or the crosscut CR. The range sensor 44 outputs the detected information to the processing device 76.

In this embodiment, information regarding the wall surfaces of the drift DR and the crosscut CR is obtained in advance and stored in the storage device 77. That is, the information regarding the wall surface of the drift DR is known information measured in advance. The information regarding the wall surface of the drift DR includes information regarding each shape of the plurality of portions of the wall surface and information regarding the absolute position of each of the wall surface portions. The storage device 77 stores the relationship between the shapes of the plurality of wall portions and the absolute positions of the wall portions having the shapes. The processing device 76 uses the drift DR wall surface detection result (wall surface shape data) detected by the range sensor 44 provided in the loading machine 30 and the storage information of the storage device 77 to determine whether the drift DR The absolute position and orientation of the loading machine 30 can be determined.

Based on the current position (absolute position) of the loading machine 30 derived using at least one of the reading device 43 and the range sensor 44, the processing device 76 follows a determined route (target route) of the underground mine MI. The loading machine 30 that travels in the drift DR or the cross-cut CR is controlled so that the loading machine 30 travels. At this time, the processing device 76 controls the loading machine 30 so as to be arranged at the designated draw point DP.

The processing device 76 is a microcomputer including a CPU, for example. The processing device 76 controls the electric motors 48L and 48R included in the traveling device 34 via the drive control device 48 based on the detection results of the front imaging device 40C, the rear imaging device 41C, the non-contact sensor 42, the reading device 43, and the like. . Then, the processing device 76 causes the loading machine 30 to travel at a predetermined traveling speed and acceleration according to the above-described target route.

The storage device 77 includes at least one of a RAM, a ROM, a flash memory, and a hard disk drive, and is connected to the processing device 76. The storage device 77 stores a computer program and various information necessary for the processing device 76 to autonomously run the loading machine 30. The communication device 52 is connected to the processing device 76 and performs data communication with at least one of the communication device mounted on the transporting machine 10 and the management device 3.

In the present embodiment, the loading machine 30 is an unmanned vehicle and can autonomously travel. The communication device 52 can receive information (including a command signal) transmitted from at least one of the management device 3 and the transporting machine 10 via the antenna 53. Further, the communication device 52 manages information detected by the front imaging device 40C, the rear imaging device 41C, the non-contact sensor 42, the reading device 43, the range sensor 44, the gyro sensor 45, the speed sensor 46, the acceleration sensor 47, and the like. 3 and at least one of the transporting machines 10 can be transmitted via the antenna 53. The loading machine 30 is not limited to an unmanned vehicle capable of autonomous traveling. For example, the management device 3 acquires an image captured by the front imaging device 40C and displays it on the display device 8 shown in FIG. 6, and the operator excavates and loads the loading machine 30 while visually checking the displayed image. And traveling may be controlled by remote control. Further, the management device 3 acquires an image captured by the rear imaging device 41C and displays it on the display device 8 shown in FIG. 6, and the operator excavates and loads the loading machine 30 while visually checking the displayed image. In addition, the operation of the vessel 11 of the transporting machine 10 may be controlled by remote control.

For example, the management device 3 that has acquired information detected by the speed sensor 46, the acceleration sensor 47, and the like accumulates this information as operation information of the loading machine 30, for example, in the storage device 3M. When the management device 3 acquires information captured by the front imaging device 40C or the rear imaging device 41C, the operator visually recognizes an image around the loading machine 30 captured by the front imaging device 40C or the rear imaging device 41C. However, the loading machine 30 can also be operated. Further, the transporting machine 10 that has acquired the information on the mass of the ore MR of the vessel 11 detected by the rear imaging device 41C controls the loading amount of the ore MR on the vessel 11 or the position of the vessel 11 based on this information. You can also. In the present embodiment, the loading machine 30 is electric, but the internal combustion engine may be a power source. Next, a control example of the loading machine 30 will be described.

<Example of control of loading machine 30>
In the present embodiment, the management device 3 shown in FIG. 6 determines the draw point DP where the loading machine 30 is disposed, and the loading machine 30 moves to the draw point DP determined by the management device 3 and moves the ore. Drill the MR. The control device 75 shown in FIG. 20 receives a command from the management device 3 via the antenna 53 and the communication device 52, and moves to the designated draw point DP. In addition, the control device 75 transmits information regarding the production amount (mining amount) at the draw point DP, the current position, the state of the loading machine 30, and the like to the management device 3 as operation information of the loading machine 30. First, the loading machine 30 enters the draw point DP determined by the management device 3, excavates the ore MR, loads the ore MR into the transporting machine 10, and then relates to a series of operations toward another draw point DP. The control will be described.

(Entry to draw point DP and movement to another draw point DP)
FIG. 21 to FIG. 28 are diagrams for explaining a series of operations toward the other draw point DP after the loading machine 30 enters the draw point DP and excavates the ore. The control apparatus 75 with which the loading machine 30 is provided acquires the information of the draw point DP which performs excavation and loading of the ore MR from the management apparatus 3 shown in FIG. As shown in FIG. 21, the loading machine 30 travels the drift DR in the direction indicated by the arrow FC and moves to the target draw point DP. At this time, the control device 75 sets the posture of the loading machine 30 to the posture during traveling shown in FIG. During traveling of the loading machine 30, the control device 75 stops the feeder 31, the rotating roller 33, and the rotating body 36.

When the loading machine 30 arrives at the position of the target draw point DP, as shown in FIG. 22, the loading machine 30 changes direction at the intersection of the cross-cut CR where the target draw point DP exists and the drift DR currently running. At this time, the control device 75 controls the rotation speed of the traveling device 34, more specifically, the electric motors 48L and 48R shown in FIG. Also at this time, the feeder 31, the rotating roller 33, and the rotating body 36 are stopped.

Next, the loading machine 30 prepares to penetrate the ground RM of the draw point DP at the intersection. The control device 75 changes the posture of the loading machine 30 from the posture during traveling to the posture during penetration and excavation. The posture at the time of penetration and excavation is a posture in which the loading side 31F of the feeder 31 and the penetration member 35 are brought close to the ground G. Further, as shown in FIG. 23, the control device 75 activates the connection device for the power cable 7 to connect the power cable 7 to the power feeding connector 6 provided at the draw point DP. This is because the loading machine 30 travels with the electric power supplied from the power storage device mounted on the loading machine 30 while traveling, but is driven by the electric power supplied from the outside during penetration and excavation.

When the preparation for penetration is completed, the loading machine 30 enters the crosscut CR as shown in FIG. 24 and travels toward the natural ground RM of the ore MR existing behind the crosscut CR. 35 and the loading side 31F of the feeder 31 are penetrated. At this time, the control device 75 stops the rotating roller 33 and causes the loading machine 30 to travel toward the natural ground RM while driving the feeder 31 and the rotating body 36. The feeder 31 is driven in the same direction as the conveying direction of the ore MR with the upper conveying belt, and the rotating body 36 rotates so that the side of the blade 36B facing the natural mountain RM faces upward. The conveyance speed at the time of penetration of the feeder 31 is lower than at the time of excavation.

When the ore MR is placed on the feeder 31 at the time of penetration, the ore MR is transported to the discharge side 31F, and the clogging of the feeder 31 is suppressed. Further, when the rotating body 36 rotates in the above-described direction, the frictional force between the crawler belt 34C of the traveling device 34 and the ground G increases. As a result, the loading machine 30 can reliably penetrate the penetration member 35 and the loading side 31F of the feeder 31 into the natural ground RM. In addition, the rotating body 36 may disturb the ore MR of the natural ground RM, thereby facilitating the collapse of the ore MR, and may facilitate the penetration of the penetration member 35 and the loading side 31F of the feeder 31 into the natural ground RM. it can.

When the loading member 31 and the loading side 31F of the feeder 31 penetrate into the natural ground RM, the control device 75 extends the fixing device 30F toward the wall surface CRW of the crosscut CR, and puts the loading machine 30 into the crosscut CR. Fix it. Then, as shown in FIG. 25, when the transporting machine 10 arrives at the draw point DP, the loading machine 30 rotates the rotating roller 33 to excavate the ore MR from the natural ground RM and send it to the feeder 31. The feeder 31 transports the fed ore MR to the discharge side 31E, and loads the ore MR on the vessel 11 of the transporting machine 10 waiting on the discharge side 31E. The rotating direction of the rotating roller 33 during excavation rotates so that the side of the contact member 33S facing the natural ground RM faces downward. The control device 75 operates the support mechanism 32 and continues excavation while changing the position where the rotating roller 33 excavates the natural ground RM. At this time, the control device 75 advances the loading machine 30 toward the natural ground RM side or in a direction away from the natural ground RM according to the state of the ore MR such as the flow of the ore MR and the size of the ore. It may be moved. A hydraulic cylinder may be provided between the fixing device 30F and the vehicle body 30B, and after fixing the fixing device 30F to the wall surface CRW of the crosscut CR, the vehicle body 30B may be penetrated into the natural ground RM using the driving force of the hydraulic cylinder. .

When the excavation at the current draw point DP is completed and the loading machine 30 moves to another draw point DP, as shown in FIG. 26, the loading machine 30 moves toward the intersection between the cross cut CR and the drift DR with an arrow FB. Retreat in the direction shown. In this case, the control device 75 stops the rotating roller 33 and drives the feeder 31 in the direction opposite to the conveyance direction. By doing in this way, it becomes easy to remove the feeder 31 from the natural ground RM. The rotating body 36 may be stopped, but the rotating body 36 may rotate in the direction opposite to that at the time of penetration. By doing so, the feeder 31 and the penetrating member 35 are more easily removed from the natural ground RM.

As shown in FIG. 27, when the loading machine 30 arrives at the intersection of the crosscut CR and the drift DR, the control device 75 activates the connecting device of the power cable 7 and supplies power to the draw point DP. The power cable 7 is removed from the connector 6 for use. Next, the control device 75 changes the posture of the loading machine 30 from the posture during penetration and excavation to the posture during traveling. The posture during traveling is a posture in which the loading side 31F of the feeder 31 and the penetrating member 35 are further away from the ground G than during penetrating and excavating.

Thereafter, as shown in FIG. 28, the control device 75 controls the traveling device 34 to turn the loading machine 30 in the direction indicated by the arrow FT, so that the drift DR extends along the front-rear axis of the loading machine 30. And parallel. In this state, the control device 75 controls the traveling device 34 to cause the loading machine 30 to travel in the direction indicated by the arrow FC in the drift DR and to move to the next draw point DP. The control device 75 causes the loading machine 30 to travel based on the information regarding the position of the next draw point DP acquired from the management device 3. By such a series of operations, the loading machine 30 can move between the draw points DP and excavate the ore MR. Next, control during excavation of the loading machine 30 will be described.

(Control during excavation)
FIG. 29 is a diagram for explaining control during excavation of the loading machine 30. At the time of excavation of the loading machine 30, the control device 75, based on the ore information acquired by the information collecting device 40, in this embodiment, the front imaging device 40C, the feeder 31, the rotating roller 33, the support mechanism 32, and the traveling device 34. Control at least one of When the loading machine 30 excavates, the front imaging device 40C images the situation where the rotary roller 33 excavates the ore MR of the natural ground RM. The image captured by the front imaging device 40C is ore information.

At the time of excavation of the loading machine 30, the control device 75 performs image processing on an image captured by the front imaging device 40C, for example, and extracts the ore MR. And the control apparatus 75 calculates | requires the shape of the natural ground RM, the dimension of the ore MR, the moving speed of the ore MR, the moving direction of the ore MR, etc. from the extracted ore MR. Then, for example, the control device 75 extracts a portion where the ore MR is not excavated from the shape of the natural ground RM or a change in the shape, and drives the support mechanism 32 to press the rotating roller 33 against the portion and excavate. To do. Further, when the control device 75 determines from the change in the movement of the extracted ore MR that the clogging of the ore MR called “arching” (ore clogging) has occurred above the draw point DP, the control device 75 drives the support mechanism 32. Then, the rotating roller 33 is pressed against the portion to eliminate the clogging of the ore.

(Control example 1)
When the ore information is information that the flow of ore MR moving from the natural ground RM toward the loading side 31F of the feeder 31 (hereinafter referred to as ore flow as appropriate) is relatively small, the ore MR sent to the feeder 31 Means less. Therefore, in such a case, the control device 75 controls to excavate more ore MR from the natural ground RM. Therefore, the control device 75 executes at least one of operating the support mechanism 32 so as to press the rotating roller 33 against the natural mountain RM and increasing the rotation speed of the rotating roller 33.

In this case, the control device 75 acquires a plurality of images by causing the front imaging device 40C to capture the natural ground RM at a plurality of timings at different times. And the control apparatus 75 calculates | requires an ore flow by calculating | requiring the motion of the ore MR which goes to the loading side 31F from the natural ground RM from the acquired some image. The control device 75 transmits information on the obtained ore flow to the management device 3 as ore information. The management device 3 stores the acquired ore information in the storage device 3M, and uses this ore information for mine management.

(Control example 2)
When the ore information is information that the ore flow from the natural ground RM toward the feeder 31 is relatively large, it means that there is a large amount of ore MR sent to the feeder 31. In this case, if the ore MR that exceeds the transport capability of the feeder 31 is fed into the feeder 31, there is a possibility that the feeder 31 overflows. For this reason, the control device 75 executes at least one of operating the support mechanism 32 so as to keep the rotating roller 33 away from the natural ground RM and decreasing the rotation speed of the rotating roller 33. By doing in this way, since the quantity of the ore MR sent to the feeder 31 decreases, possibility that overflow will generate | occur | produce in the feeder 31 can be reduced.

The control device 75 may push the rotating roller 33 against the natural ground RM depending on the magnitude of the ore flow, or may approach or separate from the natural ground RM according to the load of the rotating roller 33. The control device 75 may be kept away from the natural ground RM in order to protect the rotating roller when the load on the rotating roller 33 increases and the rotation speed decreases or the torque becomes excessive.

(Control example 3)
When the ore information is information that ore clogging has occurred at the draw point DP, the ore MR cannot be mined from the draw point DP. In this case, the control device 75 operates the support mechanism 32 so as to press the rotating roller 33 against the place where the ore clogging has occurred. By doing in this way, the loading machine 30 can eliminate ore clogging and can continue ore mining. If the ore clogging cannot be resolved even when the loading machine 30 presses the rotary roller 33 to the location where the ore clogging occurs and excavates that portion, the control device 75 informs the management device 3 that information. Send. The management device 3 that has acquired this information moves the loading machine 30 that has transmitted this information to a draw point DP that is different from the draw point DP where the ore clogging could not be resolved.

(Control example 4)
When the ore information is information that the ore flow from the natural ground RM to the feeder 31 is relatively small, if the feeder 31 is driven as in the case where the ore flow is relatively large, power is consumed wastefully. Will do. For this reason, the control apparatus 75 reduces the conveyance speed of the feeder 31. FIG. In this way, power consumption can be suppressed. When the ore information is information that the ore flow from the natural ground RM toward the feeder 31 is relatively large, if the feeder 31 is driven as in the case where the ore flow is relatively small, the feeder 31 overflows. May occur. For this reason, the control device 75 increases the conveyance speed of the feeder 31. By doing in this way, possibility that overflow will occur in feeder 31 can be reduced.

(Control example 5)
When the ore information is information that there is an ore MR exceeding the size that the feeder 31 can transport in the natural ground RM, the feeder 31 may be clogged with the ore MR. At such a draw point DP, the loading machine 30 can no longer excavate the ore MR. For this reason, the control apparatus 75 controls the traveling apparatus 34 so that the loading machine 30 moves in the direction away from the natural ground RM. By doing in this way, the management apparatus 3 makes the cross cut CR vacated by the movement of the loading machine 30 face the machine for crushing the ore MR, for example, or crush the ore MR, 30 can be moved to another draw point DP. The control device 75 transmits information to the management device 3 that there is an ore MR in the natural ground RM that exceeds the dimensions that the feeder 31 can transport.

(Control example 6)
When the ore information is information that the ore MR of the natural mountain RM has a size that the feeder 31 can convey, the control device 75 controls the support mechanism 32 so as to press the rotating roller 33 against the ore MR that can be conveyed. To do. By doing in this way, loading machine 30 excavates natural ground RM with rotation roller 33, sends excavated ore MR to feeder 31, and continues mining of ore MR at draw point DP. The control device 75 transmits information regarding the size of the obtained ore MR to the management device 3 as ore information. The management device 3 stores the acquired ore information in the storage device 3M, and uses this ore information for management of the mine M.

When the ore information is information that the ore MR of the natural ground RM has a size that can be conveyed by the feeder 31, the control device 75 stops the rotating roller 33 and feeds the ore MR that can be conveyed by the rotating roller 33 to the feeder. The support mechanism 32 may be controlled to move to 31. Specifically, the control device 75 swings at least one of the boom 32 a and the arm 32 b of the support mechanism 32 shown in FIG. 29, scrapes the ore MR toward the feeder 31 with the rotating roller 33, and sends it to the feeder 31. The control device 75 may select either one of the rotation of the rotation roller 33 or the operation of the support mechanism 32 according to the state of the natural ground RM, and send the ore MR to the feeder 31. Next, an example of control when the loading machine 30 travels on the tunnel R, particularly the drift DR will be described.

(Control when traveling in drift DR)
When the loading machine 30 is traveling in the drift DR, when the front imaging device 40C acquires information that there is an obstacle such as a rock on the traveling direction side of the loading machine 30, the control device 75 The support mechanism 32 is controlled so that the rotating roller 33 is brought into contact with the obstacle and moved. The control device 75 transmits information regarding the obstacle to the management device 3. The management device 3 stores the acquired information in the storage device 3M, and uses this ore information for mine management. In contact with the obstacle, the control device 75 swings at least one of the boom 32 a and the arm 32 b of the support mechanism 32 shown in FIG. 29, and removes the obstacle from the path of the loading machine 30 with the rotating roller 33. In this case, the control device 75 may or may not rotate the rotating roller 33.

Further, the control device 75 may scrape an obstacle toward the feeder 31 and load it on the feeder 31 to carry it. When an obstacle is loaded on the feeder 31, the control device 75 changes the posture of the feeder 31 to the posture at the time of excavation. The obstacle loaded on the feeder 31 is loaded on the transporting machine 10 when the loading machine 30 next excavates the ore MR, for example. In this manner, the loading machine 30 can create a space that passes through the drift DR by using the scraping device 30DM having the support mechanism 32 and the rotating roller 33 to eliminate obstacles existing in the course.

The control device 75 may control the operation of the switching mechanism 80 shown in FIGS. 13 to 15, for example. For example, when the control device 75 obtains ore information that the size of the ore MR of the natural ground RM can be conveyed by the feeder 31, the control device 75 opens the lid 82 of the switching mechanism 80 and passes the ore MR from between the supports 81. Let Moreover, the control apparatus 75 closes the lid | cover 82 of the switching mechanism 80, when the ore information that the dimension of the ore MR of the natural ground RM cannot be conveyed with the feeder 31 is obtained. By doing in this way, loading machine 30 can avoid that ore MR is discharged from feeder 31 when feeder 31 cannot convey ore MR. The control device 75 may control the switching mechanism 80 in conjunction with the operation of the feeder 31. For example, the control device 75 opens the lid 82 of the switching mechanism 80 when the feeder 31 is operating in the direction in which the ore MR is transported, and in the direction opposite to the direction in which the feeder 31 transports the ore MR. When it is operating or stopped, the lid 82 of the switching mechanism 80 is closed. By doing in this way, loading machine 30 can discharge ore MR from feeder 31 reliably, and when ore MR is not discharged from feeder 31, ore MR is surely prevented from being discharged. it can. The switching mechanism 80 may have the lid 82 closed except when the feeder 31 transports the ore MR.

In the present embodiment, the control device 75 of the loading machine 30 performs the above-described control based on the image captured by the front imaging device 40C. In this case, since three-dimensional spatial data such as natural ground RM is required, a device capable of acquiring three-dimensional spatial data such as a stereo camera or a three-dimensional scanner is used as the front imaging device 40C. In the present embodiment, the management device 3 acquires the image captured by the front imaging device 40C as ore information, and the operator performs the above-described control by remote operation while visually recognizing the above-described image displayed on the display device 8. May be executed. In this case, since three-dimensional spatial data such as natural ground RM is unnecessary, the front imaging device 40C may be a device that cannot acquire three-dimensional spatial data, such as a normal camera. Next, control when the ore MR is loaded on the transporting machine 10 will be described.

<Control when loading ore MR>
30 to 32 are diagrams for explaining control when the ore MR is loaded on the transporting machine 10. In the present embodiment, when the loading machine 30 loads the ore MR as a load on the vessel 11 of the transporting machine 10, the loading machine 30 or the transporting machine 10 determines the vehicle body 10B of the transporting machine 10 based on the load information. The position of the vessel 11 with respect to the width direction W is changed. In this embodiment, when the ore MR is loaded on the transporting machine 10, the transporting machine 10 moves to the rear of the loading machine 30, that is, the side where the feeder 31 discharges the ore MR, as shown in FIGS. To do. Then, as shown in FIG. 30, the transporting machine 10 moves the vessel 11 to a position D below the position where the ore MR is discharged from the feeder 31, and receives the loading of the ore MR. By doing in this way, since the distance of the discharge position of feeder 31 and vessel 11 becomes near, vessel 11 can receive ore MR discharged from feeder 31 more certainly. For this reason, since the amount of the ore MR spilling from the vessel 11 can be reduced, the possibility that the ore MR discharged from the feeder 31 is scattered in the drift DR can be reduced. As a result, since the frequency of the work for removing the ore MR present in the drift DR is reduced, the time not contributing to the production is reduced, and the decrease in the productivity of the mine M is suppressed. In particular, when the loading machine 30 and the transporting machine 10 are automatically operated, it may be difficult to maintain the same positional relationship for each loading of the ore MR. The ore MR can be reliably loaded on the vessel 11 by changing the position of the vessel 11.

When the ore MR is loaded in this state, the ore MR may be biased to one side in the width direction W of the vessel 11 as shown in FIG. When such load information is obtained, the loading machine 30 or the transporting machine 10 further moves the vessel 11 to the outer side in the width direction W of the transporting machine 10 and to the loading machine 30 side as shown in FIG. Move (direction indicated by arrow Y1 in FIG. 31). Then, the ore MR from the feeder 31 is loaded on the center side in the width direction W of the vessel 11. For this reason, since the ore MR loaded on the vessel 11 is restrained from being biased, the ore MR is loaded on the vessel 11 in a well-balanced manner. Further, if the amount of ore MR loaded on the vessel 11 is used as the load information, the loading machine 30 loads the ore MR when the load is about to be loaded exceeding the amount that can be transported by the transporting machine 10. It can also be stopped. By doing in this way, the overloading of the conveyance machine 10 is suppressed.

Moreover, when the bias of the ore MR is not eliminated even if the vessel 11 is moved, or when the vessel 11 cannot be moved further toward the loading machine 30, the loading machine 30, the transporting machine 10 or the management is performed. As shown in FIG. 32, the apparatus 3 reciprocates the vessel 11 in the width direction W of the transport machine 10 (directions indicated by arrows Y1 and Y2 in FIG. 32). If it does in this way, the peak of the ore MR loaded on the vessel 11 will collapse, and the deviation of the ore MR in the vessel 11 will be suppressed. As a result, since the balance of the load in the width direction W of the vessel 11 is suppressed, the transport machine 10 can travel stably. Next, an example in which the transport machine 10 controls the position of its own vessel 11 will be described.

(Example of control by the transport machine 10)
As shown in FIGS. 7 and 12, the transporting machine 10 includes imaging devices 16 </ b> A and 16 </ b> B as information collection devices that acquire cargo information. The imaging devices 16A and 16B can acquire the three-dimensional outline data of the object, and the three-dimensional outline data of the object acquired by the imaging devices 16A and 16C is the load information. The imaging devices 16A and 16B are provided at a position higher than the opening of the vessel 11 as shown in FIG. In this way, since the imaging devices 16A and 16B can image the vessel 11 from above, an image of the state of the ore MR loaded on the vessel 11 can be easily obtained. The image captured by the rear imaging device 41 </ b> C includes the three-dimensional outline data of the ore MR loaded on the vessel 11. From this image, the control device 70 of the transport machine 10 can obtain the shape, size, and packing shape of the ore MR loaded on the vessel 11.

The control device 70 shown in FIG. 12 performs image processing on images picked up by the image pickup devices 16A and 16B, and extracts the vessel 11 and the ore MR loaded thereon. And the control apparatus 70 calculates | requires the dimension of a ore MR, a package form, etc. as cargo information from the ore MR extracted from the image imaged by imaging device 16A, 16B. Then, the control device 70 determines, for example, that the ore MR is loaded in one direction in the vessel 11 from the packing form of the ore MR, or obtains the amount of load from the shape and number of the ore MR. To do. The method for obtaining the amount of cargo is as described above. Based on the obtained load information, the control device 70 changes the position of the vessel 11 in the width direction W of the transport machine 10 as described above.

The control device 70 can change the position of the vessel 11 by using at least one of the load form and the load amount obtained from the images picked up by the image pickup devices 16A and 16B as load information. For example, as described above, the control device 70 determines the load deviation in the vessel 11 from the load form of the load, determines the load deviation from the load amount deviation on the vessel 11, or determines the load deviation from the load amount. The loading end of the ore MR can be determined, and the vessel 11 can be moved to the center of the transporting machine 10 based on the result to set the traveling posture. By providing a plurality of mass sensors 18 shown in FIG. 12 in the width direction W of the transporting machine 10, it is possible to obtain a distribution of the amount of loads loaded on the vessel 11. Since the load bias on the vessel 11 can be obtained from the load distribution thus obtained, the load amount distribution obtained from the detection value of the mass sensor 18 may be used as the load information.

The control device 70 may control at least one of the feeder 31, the rotating roller 33, and the switching device 80 of the loading machine 30 based on the load information. In this case, the control device 70 transmits a command for controlling the operation of the loading machine 30 via the communication device 25 and the antenna 15 illustrated in FIG. The control device 75 of the loading machine 30 illustrated in FIG. 17 receives a command from the control device 70 of the transporting machine 10 via the antenna 53 and the communication device 52, and at least one of the feeder 31, the rotating roller 33, and the switching device 80. Control one.

For example, when the control device 70 of the transporting machine 10 obtains loading information that the amount of ore MR loaded on the vessel 11 has reached a specified loading amount, a command or feeder for stopping the feeder 31 of the loading machine 30 A command to close the lid 82 of the switching device 80 shown in FIGS. 13 to 15 is transmitted to the control device 75 of the loading machine 30 in a state in which 31 is operated or stopped. The control device 75 of the loading machine 30 that has received this command controls at least one of the feeder 31 and the switching device 80 in accordance with this command. By doing in this way, the control apparatus 70 of the materials handling machine 10 can reduce possibility that the ore MR will be overloaded. In this case, the control device 70 of the transporting machine 10 issues a command to stop the feeder 31 of the loading machine 30 and stop the rotating roller 33 or a command to stop only the rotating roller 33 while operating the feeder 31. You may transmit to 30 control apparatuses 75. As described above, the control device 70 of the transport machine 10 does not load the ore MR from the loading machine 30 to the vessel when the amount of the ore MR loaded on the vessel 11 reaches the specified load amount of the transport machine 10. By doing so, overloading of the transport machine 10 can be suppressed.

6 displays the image of the vessel 11 captured by the rear imaging device 41C of the loading machine 30 or the image of the vessel 11 captured by the imaging devices 16A and 16B of the transporting machine 10 on the display device 8. The management device 3 illustrated in FIG. The operator changes the position of the vessel 11 of the transporting machine 10 while visually checking the image of the vessel 11 displayed on the display device 8, or controls the loading state of the ore MR by the loading machine 30. May be. In this way, the mine management system 1 can control the transporting machine 10 and the loading machine 30 also by remote operation of the operator.

As described above, in the present embodiment and its modifications, the mine management system 1 separates the functions of the loading machine 30 and the transporting machine 10. For this reason, since the loading machine 30 can specialize in excavation and conveyance, and the conveyance machine 10 can specialize in conveyance of the ore MR, each capability can be exhibited to the maximum. As a result, the mine management system 1 can improve the productivity of the mine M.

Since the mine management system 1 allows the loading machine 30 and the transporting machine 10 to move, it can easily cope with a change in the situation of the excavation site. For example, when an ore clogging occurs at the draw point ST or a large block of ore MR that cannot be transported by the feeder 31 of the loading machine 30 appears at the draw point ST, the loading machine 30 moves to another draw point ST. Thus, the mining of the ore MR can be continued. For this reason, since the mine management system 1 can minimize the time during which the ore MR cannot be mined, the productivity of the mine M can be improved.

In the present embodiment, when loading the ore MR from the loading machine 30 to the transporting machine 10, the position of the vessel 11 of the transporting machine 10 is changed, so that the vessel 11 can receive the ore MR more reliably. . For this reason, when the transporting machine 10 receives the loading of the ore MR from the loading machine 30, the amount of the ore MR that spills from the vessel 11 can be reduced. Moreover, since the bias of the ore MR loaded on the vessel 11 is suppressed, the possibility of the ore MR spilling from the vessel into the drift DR can be reduced even while the transporting machine 10 is traveling. For this reason, in this embodiment, the possibility that the ore MR is scattered in the drift DR can be reduced, and the frequency of work for removing the ore MR present in the drift DR can be reduced. As a result, the present embodiment can reduce the time that does not contribute to production, so that the decrease in productivity of the mine M is suppressed.

In this embodiment, the load of the control apparatus 75 with which the loading machine 30 is provided can be reduced by the conveyance machine 10 changing the position of the own vessel 11. Moreover, it becomes possible for the conveyance machine 10 to change the position of the vessel 11 of itself, and it becomes possible to reduce the load of the management system 3 and a communication system, and also the control apparatus 75 becomes possible [control with high response].

The above-described constituent elements include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in the so-called equivalent range. Furthermore, the above-described components can be appropriately combined. Furthermore, various omissions, substitutions, or changes of components can be made without departing from the scope of the present embodiment.

DESCRIPTION OF SYMBOLS 1 Mine management system 3 Management apparatus 10 Transport machine 11 Vessel 30, 30A, 30B, 30D Loading machine 30BD Car body 30DM, 32DMA, 32DMB, 32DMD Scraper 31 Feeder 32b, 32bA, 32bB, 32bD Arm 32d First arm 32e First 2-arm 32SC Swing circle 32a, 32aA, 32aB, 32aD Boom 32, 32A, 32B, 32D Support mechanism 32J, 32JA, 32, JB, 32JD Beam 32c Connecting member 33, 33A, 33B, 33Bs Rotating roller 33D Rotating member 34 Traveling device 35, 35a, 35b Penetration member 36 Rotating body 40, 41 Information collecting device 40C Front imaging device 41C Rear imaging device 52 Communication device 53 Antenna 70, 75 Control device 71, 76 Processing device 72, 77 Storage device 8 Switching mechanism

Claims (4)

1. A loading platform for loading the ore mined from the ore ground formed in the mining site installed inside the ore body;
   A vehicle body that travels with the loading platform,
   A position changing mechanism for changing the position of the loading platform with respect to the vehicle body;
   An information collecting device that is provided on the vehicle body and acquires load information relating to a state of the ore loaded on the loading platform;
   A control device that changes the position of the loading platform based on the cargo information acquired by the information collection device;
   Including, conveying machines.
2. The transporting machine according to claim 1, wherein the information collecting device is an imaging device that images the cargo bed.
3. The transporting machine according to claim 2, wherein the cargo information is at least one of a packing form of the ore and an amount of the ore obtained from an image captured by the imaging device.
4. A loading platform for loading the ore mined from the ore ground formed in the mining site installed inside the ore body;
   A vehicle body that travels with the loading platform,
   A position changing mechanism for changing the position of the loading platform with respect to the vehicle body;
   An imaging device for imaging the cargo bed;
   A control device that changes the position of the loading platform based on at least one of the loading form of the ore obtained from the image captured by the imaging device and the amount of the ore obtained from the image;
   Including, conveying machines.

Images