JPH05119834A - Mine underground monitoring system - Google Patents

Abstract

PURPOSE:To secure safety of an underground working person, and to execute operation management of a truck by detecting the underground working person, and a position and a speed of an unmanned carrying truck by an optical discriminating sensor, and informing them to an underground monitoring computer through a local microcomputer and an optical fiber. CONSTITUTION:An optical discriminating sensor 3 detects an underground working person 20 and a position and a speed of an unmanned carrying truck 8, and a local microcomputer 2 processes information from this sensor 3, and transits it to an underground monitoring computer 6 through an optical fiber cable 7. In the case an operating speed of the truck 8 is high, the underground monitoring computer 6 decelerates it by sending a decelerating command, and when the truck 8 is approaching the underground working person 20, its fact is informed in a voice through a radio modem 24. Also, in the case the truck 8 further approaches, the underground monitoring computer 6 stops this truck 8 by a detection of an infrared-ray radiation temperature detecting camera 9, an ultrasonic sensor 10 and a contact detecting sensor 11 on the truck 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underground mine monitoring system for monitoring and controlling an unmanned transporting vehicle for transporting materials traveling inside a mine and ensuring the safety of persons entering the mine.

[0002]

2. Description of the Related Art Conventionally, a driver checks the safety of pedestrians, obstacles, etc. in a manned carrier truck, but in the case of an unmanned carrier truck, pedestrians and work are performed on the traveling path of the carrier truck while driving. It is common to ensure safety by keeping personnel out.

[0003]

[Problems to be Solved by the Invention] In the underground work, since the digger (pedestrian) and the material carrier walk or travel in the same tunnel, the safety of the digger is especially important when using the unmanned carrier. It is necessary to secure it. It is an object of the present invention to provide an underground monitoring system that secures the safety of people entering a mine in a mine that uses an unmanned transportation vehicle and also manages the operation of the unmanned transportation vehicle.

[0004]

A local microcomputer equipped with a wireless modem having a voice recognition response function, an optical identification sensor, etc. is installed at a predetermined interval in a pit, and these local microcomputers are connected via an optical fiber. Connect to the mine monitoring computer in the central control room. A wireless modem that responds to an underground wireless modem to an unmanned carrier,
It is equipped with an infrared radiation temperature detection camera, contact detection sensor, etc. to check the person entering the mine.

The digger carries a wireless modem that responds to the underground wireless modem.

[0006]

The optical identification sensor in the mine detects the positions of the digger and the unmanned carrier that walk or travel in the mine, and communicates with the mine monitoring computer via the local microcomputer and the optical fiber.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described with reference to FIGS. In the figure, 1 is a tunnel, 2 is a tunnel, for example 50 m
Local microcomputers installed at intervals, 3 is an optical identification sensor connected to the microcomputer 2,
Reference numeral 4 is a wireless modem connected to the microcomputer 2 and having a voice identification response function, 5 is an induction wire (antenna) of the wireless modem, 6 is a downhole monitoring computer installed in the central control room, and 7 is each local microcomputer 2 An optical fiber cable connecting the underground mine monitoring computer 6, 8 is an unmanned carrier truck traveling in the mine, 9, 10, 11
Are infrared radiation temperature detection cameras, ultrasonic sensors, contact detection sensors, and 1 mounted on the unmanned carrier truck 8, respectively.
2, 13 and 14 are local microcomputers mounted on the automated guided vehicle 8, a rotary encoder, a wireless modem, 15 is a drive device for the automated guided vehicle 8, 20 is a digger,
Reference numeral 24 is a wireless modem attached to the helmet of the digger 20.

The ultrasonic sensor 10 mounted on the automatic guided vehicle 8 detects an obstacle, and the infrared radiation temperature detection camera 9 transmits a video signal to the underground monitoring computer 6, which causes the infrared monitoring computer 6 to detect the obstacle. Image processing is performed, the position of the center of gravity is obtained from the temperature distribution, and the position of the human body is identified. The light discrimination sensor 3 continuously irradiates light and discriminates between a human being and a truck by the reflected wave. In addition, two sensors are arranged at a fixed distance to prevent malfunction. A reflector is installed on the dolly 8 so that the dolly members can identify each other.

Next, the operation of this system will be described. The worker puts the material on the automatic guided vehicle 8 and displays the material name and the stop position (ring No.) on the local microcomputer 12.
When inputting, the vehicle 8 is driven by the drive device 4 toward the destination. The unmanned transport vehicle 8 uses a wireless modem 14 on the vehicle 8 to indicate the driving speed and distance detected by the rotary encoder 13, the driving conditions such as the forward visibility status detected by the infrared radiation temperature detection camera 9, the ultrasonic sensor 10, and the like. Mine 1
It is transmitted to the downhole monitoring computer 6 via the induction wire 5, the wireless modem 4, and the optical fiber cable 7 inside.

The digger 20 has a name or ID No. The current position and the like are transmitted to the downhole monitoring computer 6 via the wireless modem 24, the induction wire 5, the wireless modem 4, and the optical fiber cable 7. Information from the optical identification sensor 3 in the tunnel 1 is also processed by the local microcomputer 2 and transmitted to the underground monitoring computer 6 via the optical fiber cable 7.

Therefore, the underground mine monitoring computer 6 grasps the current position and operating speed of each unmanned carrier vehicle 8 and the current position of each digger 20 and sends a deceleration command when the operating speed of the truck 8 is high. To slow down. Further, when the unmanned transport vehicle 8 is approaching the digger 20, the voice is contacted to the digger via the wireless modem 24 by saying "Please evacuate the cart after a few minutes." The automatic guided vehicle 8 is instructed to decelerate, and the automatic guided vehicle 8 receives the instruction and decelerates. Unmanned carrier 8 slows down and enters digger 2
When it further approaches 0, the infrared radiation temperature detection camera 9 mounted on the truck 8 catches the digger 20 and transmits a video signal, and the pit monitoring computer 6 performs image processing,
If there is a risk of contact in search of the center of gravity, make an emergency stop. At this time, even when the ultrasonic sensor 10 installed on the unmanned transport vehicle 8 detects the same, the operation similarly stops. When the automated guided vehicle 8 is stopped, a worker nearby is notified by voice from the underground monitoring computer 6 of the abnormality of the automated guided vehicle 8 through the wireless modems 4 and 24, and is rushed to the site.

As described above, not only the operation management for the unmanned carrier vehicle 8 but also the image processing technology and the network are used.
It is possible to determine where the digging person 20 is in advance and inform the digging person 20 of the approaching state of the automated guided vehicle 8 by voice to ensure safety. In this embodiment, an example in which the detection data from the various sensors attached to the unmanned transport vehicle 8 is transmitted via the induction wire (antenna) 5 is described. However, from the wireless modem 14 of the unmanned transport vehicle 8. If the wireless modem 4 is arranged within a distance range in which the wireless modem 4 can directly receive the outgoing signal, the induction wire 5 need not be used.

[0013]

The downhole monitoring system according to the present invention comprises a local microcomputer provided with a wireless modem and an optical identification sensor at predetermined intervals in the downhole, and an optical fiber cable connecting each local microcomputer to the downhole monitoring computer. An unmanned person equipped with a wireless modem carried by each digger and responding to the underground wireless modem, an infrared radiation temperature detection camera, an ultrasonic sensor, a contact detection sensor, a local micro computer, and a wireless modem responding to the underground wireless modem. The following effects can be obtained by being composed of the carrier truck. (1) It is possible to secure the safety of the person entering the mine who walks and travels in the mine and the automated guided vehicle. (2) It is possible to manage the operation of the automated guided vehicle.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of the present invention.

FIG. 2 is a perspective sectional view of an unmanned transport vehicle and a wireless modem portion of FIG.

[Explanation of symbols]

 1 tunnel 2 local microcomputer 3 optical identification sensor 4 wireless modem 6 underground monitoring computer 7 optical fiber cable 8 unmanned carrier vehicle 9 infrared radiation temperature detection camera 10 ultrasonic sensor 11 contact detection sensor 12 local microcomputer 14 wireless modem 20 digger 24 Wireless modem

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuo Makita 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (72) Inventor Kazuhiro Funazu 4-6-15 Sendagaya, Shibuya-ku, Tokyo Company Fujita

Claims (1)

[Claims] 1. A local microcomputer provided with a wireless modem and an optical identification sensor at a predetermined interval in a mine, an optical fiber cable connecting each local microcomputer to a mine monitoring computer, and each digger carried by said person. A wireless model that responds with a downhole wireless modem,
An underground surveillance system comprising an infrared radiation temperature detection camera, an ultrasonic sensor, a contact detection sensor, a local microcomputer, and an unmanned carrier truck provided with the underground radio modem and a wireless modem responsive to the underground radio modem.