JPH07101336A - Automatic travel control device of motive power unit for heading - Google Patents

Abstract

PURPOSE:To realize complete unmanned operation of motive power units and travel control of plural motive power units by carrying out automatic travel control on the motive power units in a heading according to an operation program preset or indicated from an aboveground control device in an automatic travel control device to control automatically travel of the motive power units for the heading. CONSTITUTION:An automatic travel control device is composed of an on-vehicle device 20, a track side device 30 and an aboveground control device 40. The on-vehicle device 20 has an inductive radio device and a receiver and the like to carry out bidirectional communication between them and the aboveground control device 40. The track side device 30 has induction lines 31 and 32 and a transmitter 33 to indicate an increase and a decrease in speed or stopping to motive power units by being detected by the receiver. The aboveground control device 40 controls bidirectional communication between the on-vehicle device 20 and an aboveground control panel 41 and travel of motive power units 1 by detecting output of the transmitter 33 by the receiver, and displays present positions and travel information of the motive power units 1 on a display device 43.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling control device for a mine power vehicle, and more particularly, it has an on-vehicle device, a track side device and a ground control device for automatically controlling the running of the mine power vehicle. The present invention relates to an automatic travel control device.

[0002]

[Prior Art] In excavation work such as tunnel construction,
In order to transport materials such as pipes and segments and personnel between the vertical shaft and the face, a rail is laid on the roadway from the vertical shaft to the face via the side shaft, and a motor vehicle is run on the rail by radio control. A traveling control device for a mine power vehicle is conventionally known (Japanese Patent Publication No. 5-34189).

That is, in this conventional drive control device for a mine power vehicle, a transmitting antenna for guiding the power vehicle, a receiving antenna, and an antenna for remotely controlling the power vehicle, a magnetic proximity switch for detecting the position of the power vehicle, It has an on-vehicle device consisting of a control box for controlling a motor vehicle by receiving signals from those antennas and switches, and a track side device consisting of a guide wire and a remote control transmitter for an operator to control the motor vehicle. And, this travel control device, in the shaft remote control area adjacent to the shaft of the side shaft and in the face remote control area adjacent to the face of the side shaft, respectively, remotely controls the motor vehicle by wireless control of the remote control transmitter, In the guidance wireless area in the middle of the side shaft, control is performed by a travel permission signal transmitted from the guidance wire.

According to the conventional traveling control apparatus for a mine power vehicle of this construction, in the shaft remote control area and the face remote control area, the operator controls the power vehicle by using the remote control transmitter, and the guided radio is used. In the area, it is expected to realize unmanned driver of the power vehicle in the intermediate section by controlling the power vehicle by the signal from the guide wire and the operator's start instruction.

[0005]

SUMMARY OF THE INVENTION However, in the above-described conventional traveling control device for a mine power vehicle, the start, speed control and stop of the power vehicle are remotely controlled within the shaft remote control area and the face remote control area. Operators are needed to control the tunnel, not fully unmanned operation.

Further, although the above-described conventional traveling control device for a mine power vehicle can perform unmanned operation in the guided wireless area, the guided radio wave only commands the powered vehicle to be in a runnable state. It does not give a control command, but simply
It is merely a configuration in which traveling is controlled by detecting a magnetic plate provided at an appropriate position on the rail. Therefore, the above-mentioned conventional device is an uncontrolled unmanned operation in which the current traveling position of the motor vehicle cannot be grasped. As a result, an accident such as a derailment of a motor vehicle or a truck connected to it can only be understood because the motor vehicle does not arrive even if the passing time is exceeded, and there is a problem that it takes time to deal with the accident. is there. .

Further, in the above-mentioned conventional apparatus, since it is not possible to grasp the current traveling position of the motor vehicle, it is difficult to simultaneously drive a plurality of motor vehicles from the viewpoint of ensuring safety.

The present invention has been made in view of the above points, and a gallery that solves the above problems by automatically controlling the motor vehicle in the gallery according to an operation program preset or instructed from the ground control device. An object of the present invention is to provide an automatic traveling control device for a motor vehicle.

[0009]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides an on-vehicle device and a track side of a power vehicle that travels on a rail laid in a tunnel running from a wellhead to a face through a shaft. An automatic traveling control device for a mine power vehicle that is controlled by a device and a ground control device, wherein the track-side device is:
A guide wire installed in the tunnel, position information for indicating the existence position of the guide wire installed at a predetermined position of the tunnel, and for instructing the motor vehicle in the operation state in the area to enter next. The in-vehicle device has a transmitter that transmits bidirectional communication with the ground control device, a guide wireless device that performs two-way communication with the ground control device, a receiver, and information from the guide wireless device and the receiver. A control device for processing and controlling the traveling of the motor vehicle, wherein the ground control device is electrically connected to the guide wire and performs a two-way communication with a guide wireless device of the vehicle-mounted device. A wireless device, at least a display device for displaying the traveling state of the motor vehicle, and a ground control panel for controlling the display device based on the output of the induction wireless device and outputting a signal for controlling the operation of the motor vehicle. Have and ground control panel Of a two-way communication, by the color information received transmitter by the receiver, as well as running control the motor vehicle, in which a structure for displaying the current position and travel information of the motor vehicle on a display device.

[0010]

In the present invention, the motor vehicle detects by the receiver,
Based on instruction information from a transmitter provided at a predetermined position in the mine, it controls the operating state such as acceleration, deceleration, stop, etc., and both between the induction wireless device of the in-vehicle device and the ground control device. By the directional communication, speed control based on the traveling control command from the ground control device can be performed, and information indicating the current position from the power vehicle can be transmitted to the ground control device. It can be operated remotely, and the current position of the motor vehicle can be grasped by displaying it on a display device.

According to the present invention, the in-vehicle device is equipped with a wireless telephone, and the wireless telephone is configured to perform two-way communication with the ground control device via the guide wireless device and the guide line. Therefore, telephone contact can be made between the worker who arrives at the motor vehicle and the ground control device.

Further, according to the present invention, the on-vehicle device further has an optical transmission device, and the track-side device further has an optical transmission device installed at a position where the power vehicle is stopped in the gallery. It is possible to send and receive, and at the same time, the detection output of the optical transmission device can be transmitted to the ground control device to confirm the stop of the motor vehicle. Information can be sent and received where the motor vehicle needs to be stopped and the confirmation of the stop can be monitored.

[0013]

EXAMPLES Next, examples of the present invention will be described.

FIG. 1 shows a system configuration diagram of an embodiment of the present invention. In the figure, a tunnel 10 to which this embodiment is applied.
Is composed of a vertical shaft 11, which is an example of a wellhead, a horizontal shaft 12, and a face 13. In addition, the orbital device 3 is provided in the tunnel 10.
0 is provided. Further, a ground control device 40 is installed near the ground exit of the shaft 11. A rail is laid between the shaft 11 and the face 13.
In FIG. 1, the rails are not shown for convenience of illustration.

In this embodiment, as shown in FIG. 6, the line is constituted by a single line having signal fields 62, 63 and 64 for passing each other. On this line, four electric vehicles 1 having bogies connected, that is, four trains of trains, run between the shaft 12 and the face 13. Therefore, the route of this embodiment is divided into four sections A to D with the signal fields 62, 63 and 64 as boundaries. And in each section,
Ground control device 4 so that only one train can operate
Operation is managed by 0.

In each signal field, automatic points are installed. At each point, the entering train always enters the track on the left side in the traveling direction.

As shown in FIG. 2, the power vehicle 1 travels on a rail 34 laid in the mine shaft 10 with the trucks 2 and 3 connected to each other. The number of carts is not limited to two, and may be increased or decreased as needed. Further, the number of vehicles connected to each power vehicle may be different. The carts 2 and 3 are equipped with the segments 4 and 5 for constructing the shaft 12 in this embodiment. The motor vehicle 1 includes a motor 102, a drive control device 101 for driving the motor 102, and a braking device 103 (all of which are shown in FIG. 10).
In addition, the vehicle-mounted device 20 and the battery 24 that serves as a power source for these devices are mounted.

The battery 24 is a power source of the power vehicle 1 and operates the drive mechanism of the power vehicle 1 and the on-vehicle device 20. In addition, in this embodiment and the following embodiments, the motor vehicle 1
Is driven by a DC motor drive system using the battery 24 as an energy source, but the present invention is not limited to this. For example, a method of collecting current from an overhead line or a third rail may be used. Further, a power engine such as a diesel engine may be used. The battery 24 may be charged by dynamic braking.

As shown in FIGS. 5 and 10, the in-vehicle device 20 includes an inductive wireless device 21, an antenna 21a thereof, a receiver 22, a control device 23, an infrared sensor 25 for forward monitoring,
An in-vehicle device 20 including a wireless telephone 26, a distance meter 28, a speedometer 29, etc. is mounted. The in-vehicle device 20 performs two-way communication with the ground control device 40 using inductive wireless communication as described later, receives a control command such as a speed command from the ground control device 40, and receives the position and speed of the vehicle. Is reported to the ground control device 40. Either one of the rangefinder 28 and the speedometer 29 is mounted,
The mounting of the other can be omitted. In that case, the other data may be calculated based on the output of the mounted instrument.

The guidance wireless device 21 is for performing two-way communication via a guidance line arranged along the track, and normally, information on the vehicle position and speed is transmitted via the control device 23. The operation status instruction information is received from the ground control device 40 while being sent to the ground control device 40. In this induction wireless device, different frequencies are assigned to the respective motor vehicles. Therefore, mutual interference with other motor vehicles 1 does not occur.
Further, each locomotive 1 is given an identifier (address) when viewed from the ground control device 40. At the time of communication, the communication partner can be identified by this identifier.

The receiver 22 receives the radio wave oscillated from the orbit-side transmitter 33 and sends the operation state instruction information sent from the transmitter 33 to the controller 23. Also, the transmitter 33
The position information sent from the vehicle is received, and this position information is sent to the control device 23 as data used to correct the current position measurement value of the own vehicle.

The forward monitoring infrared sensor 25 is used for the motor vehicle 1.
The presence or absence of an obstacle in front of is monitored, and when an obstacle is detected, a detection signal is sent to the control device 23. Although not shown in the drawing, the infrared sensors 25 are also provided on the bogies 2 and 3, and when the bogie is at the head, that is, when the motor vehicle 1 is located at the tail and travels in propulsion operation, it is headed. The infrared sensor of the truck is used to monitor obstacles ahead.

Although the infrared sensor 25 is used as the fault monitoring sensor in the present embodiment and the subsequent embodiments, the present invention is not limited to this. An ultrasonic sensor, a short range radar, etc. can also be used. Also, a plurality of types of sensors can be used together. In addition, a configuration in which a surveillance TV camera is mounted may be adopted. It should be noted that this television camera is not limited to constant monitoring, and may be operated when a failure is detected by another sensor.

The radio telephone 26 is also connected to the guide radio device 21.
A device that can communicate with the ground control device 40 via
For example, it is used by a worker who arrives at the motor vehicle 1 as a countermeasure for an accident at the time of an emergency stop.

The control device 23 is composed of a computer system. For example, as shown in FIG. 10, a central processing unit (CPU) 231, a memory 232, an interface 2
It has a configuration including 33 and the like. In the memory 232,
Information set in advance and data that is input or generated at any time are stored. As the former information, the CPU 23
1 program, a code table for decoding the information sent from the transmitter 33 and the ground control device 40, a control rule table, control parameters, and the like. The latter information includes data such as measured values from the range finder 28 and speedometer 29, information sent from the transmitter 33 and the ground control device 40, decoding results thereof, calculation results in the CPU 231 and the like.

The control device 23 takes in information from the distance meter 28 and the speedometer 29 to obtain the current position of the vehicle (for example, the distance from the starting point) and the current speed, and temporarily stores this in the memory. Hold. Then, these pieces of information are sent to the guide wireless device 21 at a predetermined timing. Also,
The control device 23 takes in the information received by the receiver 22 and / or the guide wireless device 21, and decodes the content. Then, a command for changing the operation state of the motor vehicle 1 is sent to the motor drive control device 101 and / or the braking device 103 according to the decoding result and the current position and speed of the vehicle. Further, of the information received by the receiver 22, the positional information is used to correct the positional information fetched from the rangefinder 28. Further, the control device 23 takes in the detection information from the infrared sensor 25 on the front side in the traveling direction, determines whether there is a fault, and when it determines that there is a fault,
The motor drive control device 101 and the braking device 103 are instructed to perform an emergency stop, and the fact that an emergency stop has been made by obstacle detection is sent to the ground control device 40 via the guidance wireless device 21. In addition, in the case of other abnormal situations,
Works the same.

The orbital device 30 includes guide lines 31 and 32 used for guide radio, and a transmitter 33 for individually transmitting position information and operation state command information.

The transmitter 33 is a data transmitting means for transmitting the position information and the operation state command information as a preset code signal. The transmitter 33 is composed of, for example, a read / write antenna, a transmitter / receiver, a memory, a battery, and a water-resistant container (not shown) that houses these. The memory stores, for example, a position where the transmitter is installed (for example, a distance from the starting point), an operation state command that indicates an operation state in an area where the transmitter should enter next, and the like. The operation state command is a command for instructing the operation state in the area where each train of the cutting blade row and the wellhead row enters next according to its position, and for example, speedup, deceleration, stop, etc. A speed command for instructing the speed of is included. In addition, before the point, a stop instruction for mis-exchange with another motor vehicle is included.

FIG. 6 schematically shows the installation position of the oscillator and the content of the speed command to be output by the oscillator placed at that position. That is, the double circle mark is for speeding up, and the triangle mark is for
The deceleration command and the square mark command the stop, respectively. Actually, a specific speed value is transmitted. Therefore, the motor vehicle 1 can also travel by relying only on the operation state command from the transmitter 33.

However, since the operation state command from the transmitters 33 is a uniform command among the transmitters 33, the optimum speed according to the actual route condition, load condition, etc. Will not be commanded. Therefore, in the present embodiment, a more detailed operation state command, particularly a speed command, is given by the guidance wireless. The motor vehicle 1 decodes the command from the transmitter 33 and the command from the ground control device 40 via the induction radio in the code table and travels at the determined speed in accordance with the rule defined in the control rule table. It is supposed to do.

In a special case, the ground control device 40
It is also possible to make it possible to operate only according to the instructions from.

The transmitter 33 is, for example, 245
Information is transmitted using 0 MHz microwave. Information can also be received using the same microwave. As a result, the information stored in the internal memory can be rewritten. The service area of the transmitter 33 is, for example, about 2 m.

The guide wires 31 and 32 are, as shown in FIGS. 1 and 3, a line coupler M1 installed near the connection between the shaft 11 and the shaft 12, and a line terminator R installed on the face 13.
Has been installed between. The guide wire 31 is connected via the intermediate coupler M installed at every predetermined distance (for example, 550 m). In addition, the guide wire 32 is connected to the line coupler M1.
And the line terminator R are directly connected. Further, the line coupler M1 is connected to the ground control device 40 via a coaxial cable 51.

As shown in the side view of FIG. 4, the guide wire 32 of the guide wires 31 and 32 is positioned between the rails 34 directly below the guide radio antenna 21a arranged on the bottom surface of the motor vehicle 1. It is installed above the floor of the mine shaft 10. On the other hand, the guide wire 31 is installed on the side surface of the gallery 10.
The guide wire 32 is not limited to the raceway surface, and may be stretched on the upper side of the tunnel. In this case, the antenna 21a
Is located on the upper side of the motor vehicle.

As shown in FIGS. 1 and 5, the ground control device 40 comprises a guide radio device 41, a ground control panel 42, a display device 43 and the like. In FIG. 5, a guide wireless device 41 in the ground control device 40 performs bidirectional guide wireless communication with the guide wireless device 21 in the motor vehicle 1 via the guide lines 31 and 32. The ground control panel 42 processes speed information and position information of the motor vehicle 1 obtained by induction wireless communication, and also performs processing for displaying the speed information and position information on the display device 43 on a monitor.
Further, the ground control panel 40 sends an operating state command for each of the motor vehicles via an induction wireless communication based on a predetermined program and / or a command from an operator.

The ground control device 40 is electrically connected to a shaft operation panel 52 provided under the shaft 11 and an underground operation panel 53 provided near the face 13. The vertical shaft operation panel 52 finishes the vertical shaft work, and the motor vehicle 1 and the trucks 2, 3
After entering the inside of the mine, by pushing the start switch, it is possible to input an instruction to start the motor vehicle 1 in the direction of the face 13. Further, the mine operation panel 53 can input an instruction to start the motor vehicle 1 in the direction of the vertical shaft 11 by pressing the start switch after the face work is completed. In addition, in each of the shaft 11 and the face 13, when it is possible to notify the ground control device 40 that the work is completed and the train can be transmitted, the shaft operation panel 52 and the underground operation panel 53 are not necessarily provided. You don't have to. However, it is preferable to provide it for an emergency because an emergency stop or the like is performed. As the communication means other than the operation panels 52 and 53, for example, a underground telephone, a wireless telephone 26 provided in a motor vehicle, or the like can be used.

The ground control panel 42, as shown in FIG.
Composed of computer systems. That is, it is provided with a central processing unit (CPU) 421, a memory 422, and an interface 423. A display device 43, a touch sensor panel 45 arranged on its display surface, and a keyboard 44 are connected to the ground control panel 42. These are used for input and output of data and instructions. Further, an external storage device 47 that stores programs and various data is connected. Furthermore, the guide wireless device 41, the vertical shaft operation panel 52, and the underground operation panel 53 are connected. A wireless telephone 46 is connected to the guided wireless device 41. The display device 43 is, for example, a CRT display device. On the display surface (tube surface), the touch sensor panel 4
5 is installed. The operator can input an instruction or the like by touching the touch sensor panel 45 on the tube surface of the display device 43.

Next, the operation of the first embodiment of the present invention will be described. The line in the horizontal shaft 12 between the vertical shaft 11 and the face 13 includes a main line 61 and three retreat lines 62a to 64a as shown in FIG. 6 (A). When the motor vehicle 1 and the like travel in the direction of the face 13, as shown in FIG.
When the motor vehicle 1 or the like travels in the direction of the vertical shaft 11, the transmitter 33 gives an operational state instruction as schematically shown in FIG. In each transmitter 33, information indicating a position where the transmitter 33 is installed and information indicating an operation state (including a state in both vertical shaft and cutting blade directions) in front of the installed position are previously stored. Remember.
These pieces of information are coded and stored. This code is stored as a code table in the memory 232 of the control device, as described above. And each transmitter 33
Are arranged in predetermined places.

Specifically, as shown schematically in FIGS. 6 (B) and 6 (C), the transmitter 33 includes the positions of the shaft 11 and the face 13 and the entrances and the middles of the signal fields 62-64. And the exit, the intermediate position between the shaft 11 and the signal field 62, and the face 1
3 and a signal field 64 at an intermediate position. From each of the transmitters 33, a speed instruction is transmitted as the operation state instruction information as described above, as schematically shown in FIG. Therefore, a deceleration instruction is given to the motor vehicle 1 at the entrance of the signal fields 62 to 64, and the escape line 6
A speed-up instruction is given at exits 2 to 64, and the evacuation line 62 to
At the intermediate position of 64, the stop instruction is given regardless of the traveling direction.

First, when the running of the stopped motor vehicle 1 is started, a start command indicating the start direction is issued from the ground control device 40 from the ground control panel 42 shown in FIG. It is transmitted to the car 1 by induction radio. This transmission command includes a traveling direction and traveling speed command.

Here, when there are a plurality of power vehicles 1 to be controlled, the ground control device 40 uses the above-mentioned induction radio wave at a carrier frequency predetermined for each power vehicle.
In addition, the address assigned to the motor vehicle is added and transmitted. The address does not necessarily have to be attached. However, when the address is transmitted, the train can be easily identified in the processing up to the transmission and the processing after the reception.

On the other hand, each locomotive 1 receives the operation state command transmitted from the transmitter 33 when approaching the nearest transmitter 33, and the control device 23 refers to the respective code tables. , Decipher its contents. Further, the control device 23 takes in information from the speedometer 29 and sends a command to the motor drive control device 101 and / or the braking device 103 based on the speed and the decoded operation state command. The operation status changes accordingly. Since the operation state command from each transmitter 33 includes information about the destinations of the power vehicle in two directions, each power vehicle 1 adopts the information about the corresponding direction based on the traveling direction of the own vehicle. . This determination can be made, for example, based on the position information of the transmitter captured last time and the position information of the transmitter this time. Alternatively, the determination may be made based on the destination information provided.

Further, at this time, the position information obtained from the distance meter 28 is corrected based on the position information from the transmitter 33. The operation state command and the corrected information on the position and speed are respectively stored in the memory 232 in the control device 23. And the current position and speed information is regularly
Alternatively, in response to a request from the ground control device, it is transmitted to the ground control device 40 via the guide wireless device 21 at each unique frequency.

Further, each motor vehicle 1 receives the operation state command from the ground control device 40 at the guide wireless device 21 via the guide wireless antenna 21a. In the motor vehicle 1 that has received this command, the control device 23 decodes the transmission command. Further, the control device 23 stores the operation state command in the current area, which is received from the transmitter 33, in the memory 23.
The operation state is determined by reading the data from No. 2 and referring to the control rule table in the memory 232 based on both.
For example, when the operation state command from the ground control device is a command for a certain speed, if the operation state command from the transmitter 33 immediately before commands a higher speed, Follow the instructions of. If the relationship is reversed, the vehicle travels at the maximum limit of the command from the transmitter 33. Further, if any one of them issues a stop command, it must stop. Further, if the command from the ground control device is started in the stopped state, it is started.

In this way, each motor vehicle 1 has a transmitter 3
The truck 2 and 3 travel in the direction instructed by the instruction from the vehicle 3. After that, the power vehicle 1 receives a command from the transmitter 33 by the receiver 22 every time when the power vehicle 1 passes over the position above the transmitter 33 installed in the gallery 10, and according to the command, the power vehicle 1 receives the command from the control device 23. The drive wheel drive mechanism of No. 1 is controlled to accelerate, decelerate or stop. Further, if there is a command from the ground control device 40, the command is received, and the traveling control according to the rule table is performed.

Therefore, as shown in FIGS. 6B and 6C, the first signal field 62 is at the section A from the vertical shaft to the face, and at the section D from the vertical shaft to the shaft. 64
The speed is increased to the vicinity of the entrance of the signal field, decelerated at the entrance of each signal field, and stopped at the signal fields 62 and 64. Here, in the case of going to the face, the main line 61 is entered at the signal field 62. On the other hand, in the case of going to the vertical shaft, it enters the siding 64a at the signal field 64. Here, the trains pass each other in the opposite directions.

When the vehicle is in a stopped state at each signal field and receives a start instruction from the ground control device 40, the vehicle starts at the instructed speed, and the transmitter 33 at the exit of each signal field commands the acceleration. To be done. Then head to the next traffic light. In this way, each motor vehicle 1 is connected to the ground control device 4
The vehicle is controlled to travel to a target position by remote control based on 0 and a traveling instruction command of the transmitter 33.

The range finder is composed of a rotation detector for detecting the rotation of the wheels of the motor vehicle and a counter for counting the rotation. The tachometer outputs a pulse, for example, every time the wheel rotates a certain number of times, and the counter counts it. This counter is reset each time the control device fetches data. Therefore, the counter always records the number of rotations of the wheel since the last time. Here, when the wheel rotates, it travels a known predetermined distance (for example, about 4.5 m in two rotations). Therefore, if one pulse is output every two rotations of the driving wheel, for example, two pulses of the wheel are output every one pulse. The distance for the rotation is measured. The control device 23 takes in this count value and calculates the distance moved after the time point when it was last taken in. Then, this distance is added to the position information stored in the memory 232 (subtraction in the opposite direction),
The current position information is obtained, stored in the memory 232, and the current position information is updated. In addition, the control device 23
Reset the rangefinder. In the present embodiment, the position information is represented by the starting point, that is, the distance accumulated from the vertical shaft position.

The position information is corrected based on the position information from the transmitter 33, as described above. Therefore, the range finder 28 has an error due to a cause such as a wheel idling, but the measured value is corrected in a timely manner. On the other hand, the range finder loses the measured value up to that point due to the reset process. Is also resolved. As a result, the accumulation of errors can be prevented and the position of the train (motor vehicle) can be accurately obtained.

The ground control panel 42 graphically displays the current traveling position and traveling direction of each train 1 together with their values on the display device 43 based on the traveling direction and the position information sent from the control device 23.

FIG. 7 shows an example of this graphic display. In the figure, on the screen 70 of the display device 43, a figure 71 showing the position of the shaft, a figure 72 showing the main line,
Figures 73 to 75 showing the evacuation line, Figure 7 showing the position of the face
6 displays the same diagram as the layout of the route in the mine shown in FIG. 6 (A), and the bright point indicating the position of the motor vehicle 1 is 77.
Displayed as shown at -80. This bright spot 77-80
Is displayed so that the correspondence with the motor vehicle can be identified. For example, the correspondence relationship can be identified by displaying the color in a predetermined color according to the corresponding motor vehicle 1 or by additionally displaying the number. In addition, since the ground control device 40 is sequentially displayed in accordance with the traveling position, the ground control device 40 can always grasp the current traveling positions of the four motor vehicles 1.

When an abnormality occurs in any of the motor vehicles, for example, when the infrared sensor 25 detects an obstacle, the bright spots displaying the motor vehicle are highlighted.
For example, highlighting is performed by blinking, brightness inversion, area increase, or the like. As a result, the operator can be notified of the occurrence of the abnormality. Of course, the present invention is not limited to this, and an alarm, a message or the like may be output.

Further, in this embodiment, since the touch panel switch 45 is provided, when the operator touches a pipe surface position on which any motor vehicle is displayed with a finger or the like, it is detected and the position is detected. Information about the motor vehicle at is displayed in the margin of the display. This display may be a display using a window. If the motor vehicle is equipped with a television camera, the camera and the lighting may be activated by further instructing to display the surrounding state on the display.

Further, in this embodiment, as shown in FIG. 2, the in-vehicle device 20 has a wireless telephone 26. Thus, for example, when the motor vehicle 1 is stopped due to an accident such as a breakdown or derailment, a worker who arrives at the motor vehicle 1 uses the wireless telephone 26 to access the guide wireless device 21 and the guide lines 31 and 32. Since two-way communication with the ground control device 40 is possible, a quick countermeasure against accidents can be taken.

Next, a second embodiment of the present invention will be described. FIG. 8 is a block diagram of the second embodiment of the present invention, and FIG. 9 is a travel pattern explanatory diagram of the second embodiment of the present invention. In addition,
In the drawings, the same components as those in FIGS. 5 and 6 are designated by the same reference numerals, and their description will be omitted.

In the second embodiment, the vehicle-mounted device 20 has an optical transmission device 27 as shown in FIG.
The optical transmission device 35 is also included.

As shown in FIG. 9, the optical transmission device 35 is installed at a stop position such as the shaft 11, the face 13, and the exits of the signal fields 62 to 64. Further, the optical transmission device 35 generates a detection signal when detecting the light from the optical transmission device 27, and as shown in FIG.
Is output to the ground control panel 42, and the signal from the ground control panel is converted into an optical signal and sent to the optical transmission device 27.

The optical transmission device 35 can send one or both of the information transmitted by the transmitter 33 and the information transmitted by the guide radio to the optical transmission device 27. The difference from the transmitter 33 is that the optical transmission device 35 can change the information at any time, so that the speed information and the like can be easily changed according to the operation status. The difference from the guided radio is that the transmission position is limited. However, for this reason, there is an advantage that the position of the motor vehicle where information is exchanged can be reliably captured.

Therefore, according to the present embodiment, when the motor vehicle 1 is stopped at the position where it should be stopped, the optical transmitter 35 detects the light from the optical transmitter 27 of the vehicle-mounted device 20 of the motor vehicle 1. The ground control panel 42 can confirm that the power vehicle 1 has stopped at the position where it should stop by being supplied with the light detection signal from the optical transmission device 35.

The optical transmission device 35 may be installed in place of the transmitter 33, in place of the transmitter 33.

In each of the above embodiments, the position information is transmitted from the transmitter 33, but the transmitter transmits its own identification signal, and the position information is stored in the memory of the control device 23 of the motor vehicle 1. The position information may be stored in the H.232 corresponding to the transmitter.

In the present embodiment, an example of a single-track route has been taken as an example, but the present invention is not limited to this.
For example, it can be applied to a double-track line. Of course, it can also be applied to a single-line, point-less route.

In each of the above embodiments, an example in which one train has one motor vehicle has been described, but the present invention is not limited to this. For example, if two locomotives are used in a series,
This also includes the case of having a plurality of motor vehicles in one formation, such as the case of using the push-pull method. In this case, any one of the power vehicles may be used as the main machine, and the other power vehicles may be drive-controlled in accordance with this.

[0064]

As described above, according to the present invention,
By performing traveling control based on the traveling control command from the ground control device and transmitting information indicating the current position from the power vehicle to the ground control device, the ground control device can remotely control the power vehicle. . Further, since the current position of the power vehicle can be grasped by displaying the current position on the display device or the like, the power vehicle can be completely unmanned, and a plurality of power vehicles can be travel-controlled.

Further, according to the present invention, since the worker who arrives at the motor vehicle can make a telephone contact with the ground control device by the radio telephone mounted on the vehicle-mounted device, it is possible to take a quick countermeasure against the accident.

Further, in the present invention, the presence or absence of the stop of the power vehicle at the place where the power vehicle needs to be stopped is monitored by the optical transmission device of the vehicle-mounted device and the optical transmission device installed at the position where the power vehicle is stopped in the tunnel. Since it is possible to do so, it is possible to operate the motor vehicle more safely.

[Brief description of drawings]

FIG. 1 is a system configuration diagram of an embodiment of the present invention.

FIG. 2 is a side view showing details of a main part of FIG.

FIG. 3 is a connection diagram illustrating a connection of the guide wire in FIG.

FIG. 4 is a side view illustrating a positional relationship between a motor vehicle and a guide wire.

FIG. 5 is a schematic block diagram of a first embodiment of the present invention.

FIG. 6 is an explanatory diagram illustrating a traveling pattern of the first embodiment of the present invention.

FIG. 7 is an explanatory diagram illustrating a screen example of a display device.

FIG. 8 is a schematic block diagram of a second embodiment of the present invention.

FIG. 9 is an explanatory diagram illustrating a traveling pattern of a second embodiment of the present invention.

FIG. 10 is a block diagram showing a configuration of a control system in a motor vehicle used in each embodiment of the present invention.

FIG. 11 is a block diagram showing a configuration of a ground control device used in each embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Motor vehicle 2, 3 ... Bogie 10 ... Roadway 11 ... Vertical shaft 12 ... Horizontal shaft 13 ... Face 20 ... On-vehicle device 21, 41 ... Wireless guidance device 22 ... Receiver 23 ... Control device 24 ... Battery 25 ... Infrared sensor 26 ... Radio telephone 27 ... Optical transmission device 30 ... Orbital device 31, 32 ... Guidance line 33 ... Oscillator 34 ... Rail 35 ... Optical transmission device 40 ... Ground control device 42 ... Ground control panel 43 ... Display device

Claims (4)

[Claims] 1. A rail (3) laid in a tunnel (10) extending from a wellhead (11) to a face (13) through a shaft (12).
4) An automatic travel control device for a mine power vehicle, which controls travel of a power vehicle (1) traveling on an on-vehicle device (20), a track-side device (30), and a ground control device (40), The orbital device (30) is installed at a predetermined position of the guide wire (31, 32) installed in the gallery (10) and the gallery (10), and indicates the existence position of itself. And a transmitter (33) for transmitting position information and a command for instructing the motor vehicle (1) to operate in the next approaching area, wherein the vehicle-mounted device (20) is the ground control device. A guided wireless device (21) for performing bidirectional communication with the device (40), a receiver (22) for receiving information transmitted from the transmitter (33), and the guided wireless device (21). ) And the information from the receiver (22) to control the driving of the motor vehicle. And a control unit (23), the ground train control unit (40), said guide wire (31,3
At least the running state of the motor vehicle (1) and the induction wireless device (41) electrically connected to the in-vehicle device (20) and performing two-way communication with the induction wireless device (21) of the in-vehicle device (20) are displayed. And a ground control panel (42) for controlling the display device based on the output of the guide wireless device (41) and outputting a signal for controlling the operation of the motor vehicle (1). Then, the two-way communication with the ground control panel (41) and the receiver (22)
Based on the information received from the transmitter (33) by the vehicle, the traveling control of the motor vehicle (1) is performed and the display device (4)
An automatic traveling control device for a mine power vehicle, which displays the current position and travel information of the power vehicle (1) in 3). 2. The in-vehicle device (20) is a wireless telephone (2
6) is mounted, and the two-way communication with the ground control device (40) is performed by the wireless telephone (26) via the guide wireless device (21) and the guide lines (31, 32). The automatic traveling control device for the power vehicle for a mine according to claim 1. 3. The on-vehicle device (20) is an optical transmission device (2).
7), and the orbital device (30) further includes an optical transmission device (35) installed at a position where the power vehicle is stopped in the tunnel (10), and the optical transmission device (35) and the optical transmission device (35). The automatic traveling control device for a mine power vehicle according to claim 1, wherein position information and an operation state command are transmitted to and from the device (27). 4. A plurality of the power vehicles (1) are present, the on-vehicle device (20) is mounted on each power vehicle (1), and the ground control device (40) is a plurality of the power vehicles (1). Each motor vehicle (1) with all or part of 1) running at the same time
4. The automatic traveling control device for a mine power vehicle according to claim 1, 2 or 3, wherein the traveling of the vehicle is controlled.