WO2015151734A1 - Système de gestion de mine - Google Patents

Système de gestion de mine Download PDF

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Publication number
WO2015151734A1
WO2015151734A1 PCT/JP2015/056872 JP2015056872W WO2015151734A1 WO 2015151734 A1 WO2015151734 A1 WO 2015151734A1 JP 2015056872 W JP2015056872 W JP 2015056872W WO 2015151734 A1 WO2015151734 A1 WO 2015151734A1
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WIPO (PCT)
Prior art keywords
ore
machine
loading
mine
transporting
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PCT/JP2015/056872
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English (en)
Japanese (ja)
Inventor
祐一 児玉
泰人 藤田
紳一 寺田
川合　一成
正明 植竹
Original Assignee
株式会社小松製作所
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Publication of WO2015151734A1 publication Critical patent/WO2015151734A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C41/00—Methods of underground or surface mining; Layouts therefor
    • E21C41/16—Methods of underground mining; Layouts therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining

Definitions

  • the present invention relates to a mine management system used for underground mining.
  • 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.
  • the durability of the transporting machine may be reduced. The same applies to underground mining.
  • This invention aims at suppressing the fall of the durability of the conveyance machine which conveys an ore in underground mining.
  • the present invention provides a mining place installed inside or below the ore body, a soil removal place installed inside or below the ore body, and a plurality of first tunnels installed inside or below the ore body.
  • a second mine shaft connecting the mining site and the first mine shaft, and a third mine shaft connected to the plurality of first mine shafts, and a peripheral circuit is formed by the third mine shaft and the first mine shaft.
  • the machine and the loading machine that excavates the ore at the mining site and loads the excavated ore into the transporting machine and the loading machine is determined to move to a different mining site, the machine operates in the peripheral circuit.
  • the sum of the first distances that move from the loaded position to the earthing location and the sum of the second distances that move from the earthing location to the position where the ore is loaded are obtained, and the sum of the first distances and the A management system for a mine, including a management device that reverses the traveling direction of the transporting machine when the difference from the total sum of the second distances is equal to or greater than a predetermined value.
  • the management device transmits a command to reverse the traveling direction to the plurality of transport machines after the loading machine arrives at the different mining site.
  • the plurality of transport machines execute a process determined according to the current state after receiving the instruction to reverse the travel direction, and after all the transport machines execute the process, It is preferable to reverse the direction and start running.
  • the plurality of transport machines start traveling by reversing each traveling direction after receiving a command to reverse the traveling direction.
  • the mine is provided with a plurality of the earthing sites.
  • the plurality of first mine shafts extend in one direction and are arranged side by side, and the loading machine is one for each of the first mine shafts, and a plurality of the first mine shafts, It is preferable that the second mine shaft and the third mine shaft are installed so as to be point-symmetric with respect to a central portion when viewed from above.
  • One of the loading machines installed so as to be point-symmetric moves from a mining place on one end side of the first tunnel toward a mining place on the other end side, and the other product It is preferable that the embedded machine moves from the mining site on the other end side of the first mine tunnel toward the mining site on the one end side.
  • a pair of the soil removal places are provided on both end sides of the plurality of first tunnels, and the loading machines are disposed on the first tunnels on both sides with respect to a straight line connecting the pair of soil removal places.
  • the moving directions of the loading machines are opposite on one side and the other side based on the straight line.
  • the present invention includes a mining place installed inside or below the ore body, a plurality of earthing places installed inside or below the ore body, and a plurality of first places installed inside or below the ore body.
  • a first mine shaft, a second mine shaft that connects the mining site and the first mine shaft, and a third mine shaft that is connected to the plurality of first mine shafts, and a circumferential circuit between the third mine shaft and the first mine shaft When ore is mined from the ore body in a mine where the ore is formed, it travels in one direction on the peripheral circuit, and the ore mined at the mining site is loaded and transported to the earthing site before being discharged.
  • the total sum of the first distances that move from the position where the ore was loaded to the earthing location and the position where the ore is loaded from the earthing location for all the transporting machines operating in the peripheral circuit The sum of the second distances to be moved to and if the difference between the sum of the first distances and the sum of the second distances is equal to or greater than a predetermined value, the loading machine
  • a management device that transmits a command for reversing the traveling direction to the plurality of transporting machines after the time of arrival at the place, and the plurality of transporting machines received the command for reversing the traveling direction. Thereafter, the mine management system starts traveling by reversing each traveling direction.
  • the present invention can suppress a decrease in durability of a transporting machine that transports ore during underground mining.
  • FIG. 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 showing an example of a mine and a mining 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 diagram illustrating a posture when the loading machine according to the present embodiment travels.
  • FIG. 17 is an example of a block diagram illustrating a control device included in the loading machine according to the present embodiment.
  • FIG. 18 is a diagram illustrating an example of the capacitor handling device EX included in the mining system according to the present embodiment.
  • FIG. 19 is a diagram illustrating a direction in which the transport machine advances drift in the mine in the mining system according to the present embodiment.
  • FIG. 20 is a diagram for explaining a process of reversing the traveling direction of the transport machine in the mine management system according to the present embodiment.
  • FIG. 21 is a conceptual diagram showing a peripheral circuit.
  • FIG. 22 is a flowchart illustrating a process of reversing the traveling direction of the transport machine in the mine management system according to the present embodiment.
  • the mine productivity can be based on the quotient of both as shown in the equation (1).
  • $ / t is an index representing productivity
  • t is a mining amount
  • h time
  • $ is cost.
  • 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
  • the load machine 30 is a type of work machine that loads a load on the transport machine 10.
  • 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.
  • the ore MR When the ore MR is mined from inside or below D of the ore body MG, the collapse propagates to the upper part. For this reason, when the block caving method is used, the ore MR of the ore body MG can be mined efficiently.
  • a plurality of draw points DP are usually provided.
  • the management device 3 is arranged on the ground.
  • the management device 3 is installed in a management facility on the ground. 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.
  • 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.
  • 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.
  • the mine shaft R installed below the ore body MG includes a first mine shaft DR and a second mine shaft CR.
  • the mine shaft R is installed, for example, inside the ore body MG or below the ore body MG.
  • 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.
  • the mine shaft R includes a third mine shaft TR.
  • a plurality (two in this example) of third tunnels TR are connected to a plurality of first tunnels DR.
  • 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
  • the third mine tunnel TR is appropriately referred to as an outer circumferential path TR.
  • 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.
  • all the drifts DR are connected to the two outer peripheral paths TR.
  • 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.
  • 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.
  • the underground mine MI is provided with a soil removal place (or pass) OP from which ore MR as a load transported by the transporting machine 10 is discharged.
  • a soil removal place (or pass) OP from which ore MR as a load transported by the transporting machine 10 is discharged.
  • 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.
  • a storage battery handling device EX for replacing a storage battery mounted on the transporting machine 10 is installed.
  • the road surface of the mine shaft R on which the transporting machine 10 travels and the XY plane are substantially parallel.
  • 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 traveling distance, the traveling speed, the remaining amount of the battery, the presence / absence of abnormality, the location of the abnormality, the loading 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.
  • the loading machine 30 travels with a traveling motor, and drives the stirrer with the motor to excavate the ore MR.
  • 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.
  • the loading machine 30 may perform at least one of traveling and excavation with electric power supplied from the outside.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the loading machine 30 shall operate
  • 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.
  • a natural ground RM of the ore MR is formed at the draw point DP.
  • 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.
  • a power supply cable 5 for supplying power to the loading machine 30 is provided.
  • the loading machine 30 includes a vehicle body 30 ⁇ / b> B, 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 includes a boom 32a as a first member attached to the vehicle body 30B, 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 30 ⁇ / b> B 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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, 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.
  • the wheels 12A and 12B are respectively steered wheels.
  • 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.
  • both the wheel 12A and the wheel 12B can function as steering wheels
  • the transport machine 10 advances so that the wheel 12A is the front wheel and the wheel 12B is the rear wheel
  • only the wheel 12A (front wheel) is steered.
  • the wheel 12B (rear wheel) may not be steered, only the wheel 12B (rear wheel) may be steered and the wheel 12A (front wheel) may not be steered, the wheel 12A (front wheel) and the wheel 12B (rear wheel) ) May be steered.
  • the wheel 12A and the wheel 12B may be steered in the same phase direction, or the wheel 12A and the wheel 12B may be steered in the opposite phase direction.
  • the vehicle By steering the wheels 12A and 12B in the same phase direction, for example, the vehicle can stably travel during high-speed turning.
  • the turning radius can be reduced by steering the wheel 12A and the wheel 12B in the opposite phase direction.
  • the transport machine 10 advances so that the wheel 12B is the front wheel and the wheel 12A is the rear 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.
  • 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
  • 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.
  • 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 or infrared cameras that capture infrared light.
  • 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.
  • radar devices are used as the non-contact sensors 17A and 17B.
  • 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.
  • 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 11.
  • 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.
  • 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 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 of the vehicle body 10B.
  • the table 11T moves along the supports 11R and 11R. That is, the table 11T can move in the width direction of the vehicle body 10B of the transporting machine 10.
  • a hydraulic cylinder (slide cylinder) 11Ca is attached between the table 11T and the vehicle body 10B as an actuator for moving the table 11T in the width direction of the vehicle body 10B.
  • the hydraulic cylinder 11Ca expands and contracts, the table 11T moves to both sides in the width direction 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 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 of the vehicle body 10 ⁇ / b> B to disperse the ore MR over the entire vessel 11, and the ore MR. Can be suppressed.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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 W.
  • 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.
  • 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.
  • 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.
  • 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.
  • the transporting machine 10 travels using the traveling electric motors 13A and 13B, but is not limited thereto.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the processing device 71 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. 13 shows a state where 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 traveling device 34, a penetrating member 35, a rotating body 36, and a rock guard 37 are attached to the vehicle body 30 ⁇ / b> B of the loading machine 30.
  • the side on which the penetrating member 35 is attached is the front side of the loading machine 30, and the side opposite to the side on which the penetrating member 35 is attached 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.
  • 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
  • the discharge side 31E is the opposite side to the loading side 31F. As shown in FIG.
  • 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 30B.
  • 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 about the axis of the loading side 31F of the feeder 31 in front of the vehicle body 30B.
  • the feeder 31 can change the angle ⁇ with respect to the ground G.
  • the angle ⁇ 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.
  • 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 33B that is provided on the outer periphery of the rotating member 33D and that excavates in contact with the ore MR.
  • the contact member 33B is a plurality of plate-like members that protrude outward in the radial direction from the rotating member 33D and that are provided at predetermined intervals along the circumferential direction of the rotating member 33D.
  • a plane parallel to the plate surface of the contact member 33B is not orthogonal to the axis Zr.
  • a plane parallel to the plate surface of the contact member 33B is parallel to the axis Zr.
  • the contact member 33B may be bent so that the tip, that is, the end opposite to the rotating member 33D side, bites into the natural ground RM to be excavated.
  • the contact member 33B moves away from the feeder 31 when positioned at the upper U, and approaches the feeder 31 when positioned at the lower D.
  • the plurality of contact members 33B excavate the ore MR from the natural ground RM and send it to the feeder 31. Since the plurality of contact members 33B 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 30B and an arm 32b connected to the boom 32a.
  • the boom 32a is attached to the vehicle body 30B of the loading machine 30 via the shaft 38A, and swings with respect to the vehicle body 30B about the shaft 38A.
  • the arm 32b is connected to, for example, the end of the boom 32a opposite to the vehicle body 30B via the shaft 38B, 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.
  • 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 30B
  • 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 30B
  • 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.
  • 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 30B, 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.
  • 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.
  • the rotating roller 33 moves when the boom 32a swings with respect to the vehicle body 30B 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 30B by moving the rotation roller 33.
  • 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.
  • 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.
  • 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 30B is attached.
  • the traveling device 34 includes a pair of crawler belts 34C provided on both sides in the width direction of the vehicle body 30B, a pair of drive wheels 34D provided on both sides in the width direction of the vehicle body 30B, and a pair of wheels provided on both sides in the width direction of the vehicle body 30B.
  • 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.
  • 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 attached to the vehicle body 30B.
  • the penetration member 35 is disposed on the loading side 31F of the feeder 31 of the vehicle body 30B.
  • the penetrating member 35 is a member having a cone shape, and in the present embodiment, has a quadrangular pyramid shape.
  • the shape of the penetrating member 35 is not limited to a quadrangular pyramid shape, and may be a triangular pyramid shape, for example.
  • the penetrating member 35 is attached to the vehicle body 30B so that the top of the cone is in front of the vehicle body 30B. 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.
  • the penetrating member 35 penetrates the natural mountain RM from the top of the cone and breaks the natural mountain RM.
  • the traveling device 34 causes the feeder 31 and the vehicle body 30B to which the penetrating member 35 is attached to travel forward, and the feeder 31 is moved to the natural ground RM while operating the feeder 31. Intrude.
  • the upper conveyor belt moves from the loading side 31F toward the discharging side 31E.
  • 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 30B, 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.
  • 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 30B 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. By doing 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 30B downward D, so that the crawler belt 34C of the traveling device 34 touches the ground G. It is more strongly pressed against.
  • 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.
  • a rock guard 37 is provided between the rotating body 36 and the crawler belt 34 ⁇ / b> C of the traveling device 34.
  • the rock guard 37 is attached to the vehicle body 30B.
  • 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.
  • the vehicle body 30B includes a fixing device 30F that extends toward the outer side in the width direction of the vehicle body 30B and is pressed against the wall surface CRW of the crosscut CR connected to the draw point DP.
  • a fixing device 30F is provided on each side of the vehicle body 30B in the width direction so as to face each other, but the number and installation locations of the fixing devices 30F are not limited thereto.
  • the fixing device 30F may be provided above the vehicle body 30B.
  • 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 30B of the loading machine 30 in the crosscut CR via these members. 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.
  • the hydraulic cylinder 30FC 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 30FC.
  • the fixing device 30F When the fixing device 30F is provided on both sides or above the width direction of the vehicle body 30B, the fixing by the fixing device 30F is released when the loading machine 30 penetrates.
  • the hydraulic cylinder 30FC is contracted, and the pressing member 30FP does not press the wall surface CRW.
  • the fixing device 30F operates to fix the loading machine 30 in the cross cut CR.
  • the traveling device 34 moves the loading machine 30 after the fixing by the fixing device 30F is released. Move.
  • a fixing device 30F is provided behind the vehicle body 30B, that is, on the discharge side 31E of the feeder 31, and is fixed between the reaction force receiver TG protruding from the ground G in the crosscut CR and the vehicle body 30B. 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.
  • 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.
  • the support 81 has two leg portions 81 ⁇ / b> R attached at one end to both sides in the width direction of the vehicle body 30 ⁇ / b> B, specifically, both sides in the width direction of the feeder 31, and the 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.
  • 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 30B, 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 30B, 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.
  • 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.
  • a stereo camera is used as the information collection device 40.
  • 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.
  • 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.
  • 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.
  • the loading machine 30 includes an information collecting device 41 on the discharge side 31E of the vehicle body 30B, that is, on the rear side. More specifically, the part where the information collecting device 41 collects information is attached facing the discharge side 31E of the vehicle body 30B, 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.
  • a stereo camera is used as the information collection device 41.
  • 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 W 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.
  • 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.
  • 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.
  • 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. 16 is a view showing a posture when the loading machine 30 according to the present embodiment travels.
  • the angle ⁇ 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
  • the support mechanism 32 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). 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 30B moves to a position closer to the center of gravity. To do. As a result, the loading machine 30 can travel stably.
  • FIG. 17 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 70 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.
  • the non-contact sensor 42, the reading device 43, and the range sensor 44 are attached to the outside of the vehicle body 30B 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.
  • 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.
  • 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 non-contact sensor 42 outputs the acquired 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.
  • 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.
  • the processing device 76 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 the hydraulic cylinder 30FC. 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.
  • the electric motor 48L drives one crawler belt 34C shown in FIG. 14, and the electric motor 48R drives the other crawler belt 34C.
  • the electric motor 48L drives one crawler belt 34C shown in FIG. 14, and the electric motor 48R drives the other crawler belt 34C.
  • the loading machine 30 travels by the electric motors 48L and 48R included in the travel device 34, but is not limited thereto.
  • the loading machine 30 may travel by a hydraulic motor that is driven by hydraulic oil discharged from the hydraulic pump 85.
  • 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 range finder, a laser scanner, and a three-dimensional scanner, 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.
  • 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.
  • 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.
  • 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.
  • the processing device 76 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.
  • 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.
  • 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.
  • 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.
  • the operation of the vessel 11 of the transporting machine 10 may be controlled by remote control.
  • 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.
  • 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.
  • the loading machine 30 can also be operated.
  • the transporting machine 10 that has acquired information on the state 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.
  • the loading machine 30 is electric, but the internal combustion engine may be a power source.
  • the battery handling device EX installed in the space SP shown in FIG. 2 will be described.
  • FIG. 18 is a diagram illustrating an example of the capacitor handling device EX included in the mine management system 1 according to the present embodiment.
  • the capacitor handling device EX is installed in the space SP.
  • a maintenance space MS for maintaining the transporting machine 10 and the loading machine 30 is provided in the space SP.
  • the storage battery handling device EX includes a storage battery holding device 90, a pair of guides 91a and 91b installed on both sides thereof, and replacement carts 92a and 92b guided by the guides 91a and 91b.
  • the capacitor storage device 90 holds a plurality of replacement capacitors 14.
  • the battery holder 90 has a function as a charger that charges the discharged battery 14.
  • the guide 91a is provided on one side of the battery holding device 90, and the guide 91b is provided on the other side of the battery holding device 90.
  • the guide 91a is two rails that extend from the battery holder 90 toward the entrance / exit SPG of the space SP.
  • the guide 91b is the same as the guide 91a.
  • the carriage 92a is attached to the guide 91a and moves along the guide 91a, and the carriage 92b is attached to the guide 91b and moves along the guide 91b.
  • the transport machine 10 that has entered the space SP in order to replace the storage battery 14 stops between the guide 91a and the guide 91b. At this time, the transporting machine 10 stops with one capacitor 14 facing the guide 91a and the other capacitor 14 facing the guide 91b.
  • the carriage 92 a and the carriage 92 b receive the charged battery 14 from the battery holder 90 and move toward the transport machine 10.
  • the discharged storage battery 14 mounted on the transporting machine 10 is moved from the transporting machine 10 to the upper part thereof.
  • the carriage 92a and the carriage 92b move to a position where the charged storage battery 14 loaded on each of the carriages 92a and 92b faces the transporting machine 10.
  • the carriage 92 a and the carriage 92 b load the charged battery 14 into the transporting machine 10.
  • the carriage 92 a and the carriage 92 b return to the position of the storage battery holding device 90 and move the storage battery 14 collected from the transport machine 10 to the storage battery holding device 90.
  • the capacitor holding device 90 charges the capacitor. In this way, the battery 14 of the transport machine 10 is replaced.
  • the storage battery 14 included in the transporting machine 10 may not be detachable.
  • the battery storage device EX may charge the battery 14 included in the transport machine 10.
  • the loading machine 30 since the transporting machine 10 travels by the capacitor 14, the discharged capacitor 14 is replaced with the charged capacitor 14 using the capacitor handling device EX in the space SP.
  • the loading machine 30 is supplied with electric power from the power supply cable 5 shown in FIG. 3 and the like, and the rotating roller 33, the feeder 31 and the like operate. Since the loading machine 30 moves in the mine, for example, it travels to move to a different draw point DP. In this case, the loading machine 30 is disconnected from the feeding cable 5. For this reason, the loading machine 30 includes a capacitor for driving the electric motors 48L and 48R for traveling shown in FIG.
  • This accumulator is charged by the electric power supplied from the power supply cable 5 when the loading machine 30 is excavating and transporting the ore MR at the draw point DP.
  • the storage battery 30 is replaced with, for example, the maintenance space MS in the space SP.
  • FIG. 19 is a diagram illustrating a direction in which the transporting machine 10 travels the drift DR of the mine MI in the mine management system 1 according to the present embodiment.
  • a plurality of drifts DR a plurality of outer peripheral paths TR, a plurality of draw points DP, or a plurality of OR paths OP provided in the underground mine MI
  • a code DR a code TR, a code DP, or a code OP
  • the symbols a and b are not attached.
  • a peripheral circuit CD is formed by the drift DR and the outer peripheral path TR.
  • a plurality of drifts DR and a plurality of outer peripheral paths TR are connected to form one peripheral circuit CD.
  • a peripheral circuit CDa is formed by two drifts DRb and DRd and two outer peripheral paths TRa and TRb.
  • a peripheral circuit CDb is formed by the two drifts DRc and DRe and the two outer peripheral paths TRa and TRb.
  • one peripheral circuit CD is formed by the two drifts DR and the two outer peripheral paths TR.
  • one peripheral circuit CD is formed by two drift DRs and two outer peripheral paths TR.
  • the two drift DRs included in one peripheral circuit CD have mutually travelable directions. Is different.
  • At least one loading machine 30 is arranged in one drift DR. This is because even if two or more loading machines 30 are arranged in the same drift, waste occurs.
  • the circumferential circuit CD on which the transport machine 10 travels is formed to include at least one of the ore pass OPa and the ore pass OPb. It is preferable.
  • the peripheral circuit CD on which the transporting machine 10 traveling toward the storage battery handling apparatus EX installed in the space SP travels is provided with an ore path OPa and an ore path OPb. It does not have to be included.
  • the management device 3 can arbitrarily generate a peripheral circuit CD for each transport machine 10.
  • the management device 3 may generate the circuit CD according to the state of the transport machine 10. As an example, when the capacity of the battery 14 included in the transporting machine 10 falls below a predetermined threshold value and the transporting machine 10 does not load the ore MR on the vessel 11, the management apparatus 3 includes the power handling apparatus EX. Thus, the shortest circuit CD from the current position to the space SP can be generated as a replacement of the battery 14.
  • the transporting machine 10 traveling on the drift DR travels on the circuit CD in the same direction.
  • the vehicle travels clockwise around the circuit CD.
  • the transporting machine 10 is loaded with the ore MR from the loading machine 30 at the draw point DP.
  • the transporting machine 10 discharges the loaded ore MR with the ore pass OPa or the ore pass OPb.
  • the transporting machine 10 traveling on the circumferential circuit CDa receives the loading of the ore MR from the loading machine 30 at the draw point DPb connected to the drift DRb.
  • the transporting machine 10 travels along the drift DRb and the outer circumferential path TRa, and discharges the ore MR to the ore pass OPa provided adjacent to the outer circumferential path TRa.
  • the transporting machine 10 that has discharged the ore MR travels on the drift DRd and receives the loading of the ore MR from the loading machine 30 at the draw point DPd connected to the drift DRd.
  • the transporting machine 10 travels along the drift DRd and the outer circumferential path TRb, and discharges the ore MR to the ore pass OPb provided adjacent to the outer circumferential path TRb.
  • the transporting machine 10 traveling on the peripheral circuit CDb receives the loading of the ore MR from the loading machine 30 at the draw point DPc connected to the drift DRc. Thereafter, the transporting machine 10 travels along the drift DRc and the outer circumferential path TRa, and discharges the ore MR to the ore pass OPa provided adjacent to the outer circumferential path TRa.
  • the transporting machine 10 that has discharged the ore MR travels on the drift DRe and receives the loading of the ore MR from the loading machine 30 at the draw point DPe connected to the drift DRe. Thereafter, the transporting machine 10 travels along the drift DRe and the outer circumferential path TRb, and discharges the ore MR to the ore pass OPb provided adjacent to the outer circumferential path TRb.
  • the passing of the transporting machine 10 can be minimized as compared with the case of reciprocating between the draw point DP and the ore pass OP.
  • the circuit CD includes both the OR path OPa and the OR path OPb, the loading and discharging of the ore MR can be performed twice while the transporting machine 10 makes one circuit of the circuit CD.
  • the conveyance amount of the ore MR can be increased.
  • the mine management system 1 can improve the cycle time and improve the productivity of the mine M.
  • the passing of the transport machine 10 can be suppressed.
  • each drift DR the direction in which the transporting machine 10 or the like travels is determined in one direction (one-way) for each drift DR. That is, each drift DR can travel only in one direction.
  • the traveling direction of the drift DRb included in the circuit CDa is a direction from the ore path OPb toward the ore path OPa. In this case, the transport machine 10 cannot travel on the drift DRb so as to go from the ore pass OPa to the ore pass OPb.
  • the management device 3 prevents the transporting machine 10 from passing another transporting machine or the loading machine 30 in each drift DR. Is generated.
  • the peripheral circuit CD that reversely travels the drift DR in which the traveling direction is determined as one direction as a result of being included in the already generated peripheral circuit CD. Cannot be generated.
  • the management device 3 generates a new peripheral circuit CD using the drift DR included in the already generated peripheral circuit CD, the traveling direction of the new peripheral circuit CD is the already generated peripheral circuit CD. So as to coincide with the traveling direction of the drift DR included in. By doing in this way, the passing of the transport machine 10 in the peripheral circuit CD is reduced or avoided.
  • drift DRs are connected to the outer track TRa provided with the ore pass OPa, and six drift DRs are also connected to the outer route TRb provided with the ore pass OPb. ing. In the direction in which the outer circumferential path TRa extends, the same number (three in this embodiment) of drift DRs are connected to the outer circumferential path TRa in any direction with respect to the ore path OPa. Similarly, in the direction in which the outer peripheral path TRb extends, the same number (three in this embodiment) of drift DRs are connected to the outer peripheral path TRb in any direction with respect to the OR path OPb.
  • the peripheral circuit CD that includes both the ore pass OPa and the ore pass OPb has the following nine patterns.
  • Pattern 1 Drift DRa, outer periphery TRa, drift DRf, outer periphery TRb
  • Pattern 2 Drift DRa, outer periphery TRa, drift DRe, outer periphery TRb
  • Pattern 3 Drift DRa, outer periphery TRa, drift DRd, outer periphery TRb
  • Pattern 4 Drift DRb, outer periphery TRa, drift DRf, outer periphery TRb
  • Pattern 5 Drift DRb, outer periphery TRa, drift DRe, outer periphery TRb
  • Pattern 6 Drift DRb, outer periphery TRa, drift DRd, outer periphery TRb
  • Pattern 7 Drift DRc, outer periphery TRa, drift DRf, outer
  • the transporting machine 10 travels in one direction (for example, clockwise) through the peripheral circuit CD so that the passing of the transporting machine 10 can be minimized and the transporting machine 10
  • the ore MR can be loaded and discharged twice during one round of the circuit CD.
  • the position and the number of OR paths OP provided in the respective outer circumferential paths TR are not limited.
  • the same number of drift DRs in the extending direction of the outer circumferential path TR with respect to the ore path OP. are preferably connected because the number of patterns of the peripheral circuit CD can be increased.
  • 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. Next, processing for reversing the traveling direction of the transport machine 10 in the mine management system 1 will be described.
  • FIG. 20 is a diagram for explaining a process of reversing the traveling direction of the transport machine 10 in the mine management system 1 according to the present embodiment.
  • FIG. 21 is a conceptual diagram showing a peripheral circuit.
  • the first distance of the transporting machine 10 operating in the underground MI when at least one of the loading machines 30 operating in the underground MI moves from the current draw point DP to another draw point DP, the first distance of the transporting machine 10 operating in the underground MI.
  • the traveling direction of the transporting machine 10 is reversed.
  • the first distance is a distance traveled by the transporting machine 10 operating in the mine MI with the ore MR loaded thereon.
  • the second distance is a distance traveled in a state where the transporting machine 10 operating in the mine MI does not load the ore MR, that is, in an empty state.
  • the first distance is appropriately referred to as a loading distance
  • the second distance is appropriately referred to as an empty distance.
  • the transporting machine 10 is excavated at the draw point DP, loads the loaded ore MR, transports it to the ore pass OP, and discharges it.
  • the transporting machine 10 that has discharged the ore MR with the ore pass OP moves again to the draw point DP through the outer circumference TR and the drift DR, and receives the loading of the ore MR here. Therefore, the loading distance corresponds to the distance that the transporting machine 10 moves from the draw point DP to the ore pass OP, and the empty load distance corresponds to the distance that the transporting machine 10 moves from the ore pass OP to the draw point DP.
  • the loading distance is a distance from the draw point DP to the ore pass OP along the drift DR and the outer circumference TR, and the empty distance is a distance from the ore pass OP to the draw point DP.
  • the traveling device, the suspension device, and the vessel 11 of the transporting machine 10 are supported in order to support a larger load than when traveling without loading the load.
  • the load received by the supporting mechanism or the like increases. As a result, the durability of these devices and mechanisms may be reduced.
  • the transporting machine 10 operating in the underground mine MI travels in one direction on a circumferential circuit formed by the drift DR and the outer circumferential path TR. That is, the peripheral circuit is one-way, but the one-way direction can be changed.
  • the traveling direction of the transporting machine 10 operating in the underground mine MI is reversed. Then, before the inversion, the distance from the draw point DP to the OR path OP was longer than the distance from the OR path OP to the draw point DP, but after the inversion, the former becomes shorter than the latter.
  • the loading distance of the transporting machine 10 operating in the underground mine MI can be made shorter than the unloading distance. Therefore, the durability of the traveling device, the suspension device, the mechanism for supporting the vessel 11, etc. The decline in sex is suppressed. Moreover, since the distance which the conveyance machine 10 drive
  • the process for reversing the traveling direction of the transporting machine 10 will be described in more detail.
  • the underground mine MI includes a plurality (six in this example) of drifts DRa, DRb, DRc, DRd, DRe, and DRf, and a plurality (two in this example) of outer circumferential paths TRa and TRb. And have.
  • the peripheral circuit CDI illustrated in FIG. 21 is formed by the two drifts DRc and DRd and the two outer peripheral paths TRa and TRb.
  • the peripheral circuit CDI is appropriately referred to as a first peripheral circuit CDI.
  • the peripheral circuit CDE shown in FIG. 21 is formed by the two drifts DRb and DRe and the two outer peripheral paths TRa and TRb.
  • the peripheral circuit CDE is appropriately referred to as a second peripheral circuit CDE.
  • a second peripheral circuit CDE In this embodiment, for the sake of convenience, an example in which the mine M has two of the first peripheral circuit CDI and the second peripheral circuit CDE will be described. However, the number of peripheral circuits CD that the mine M has is not limited to two. Absent.
  • the pattern of the peripheral circuit CD may be, for example, the peripheral circuits CDa and CDb shown in FIG.
  • the transporting machine 10 travels in one direction on the first circuit CDI and the second circuit CDE.
  • the vehicle travels counterclockwise around a central portion (hereinafter, appropriately referred to as a pit central portion) CP when the drift DR, the cross cut CR, and the outer circumferential path TR are viewed from above.
  • a pit central portion a central portion (hereinafter, appropriately referred to as a pit central portion) CP when the drift DR, the cross cut CR, and the outer circumferential path TR are viewed from above.
  • the pit center portion CP is the center of gravity of the portion surrounded by the outermost drifts DRa and DRf and the outer periphery TRs and TRb connecting them.
  • the centroid is the centroid.
  • an ore pass OP is provided in the mine MI of the mine M.
  • a plurality (two) of ore passes OPa and OPb are provided in the underground mine MI, but the number thereof is not limited and may be one.
  • the transporting machine 10D that has reached the positions of the ore passes OPa and OPb discharges the loaded ore MR.
  • the first peripheral circuit CDI and the second peripheral circuit CDE each have a common OR path OP on the way.
  • the OR path OPa is provided in the outer circumferential path TRa that connects the drift DRc and the drift DRd of the first circuit CDI
  • the OR path OPb is another outer circuit that connects the drift DRc and the drift DRd of the first circuit CDI.
  • TRb The outer peripheral paths TRa and TRb connect the drift DRb and the drift DRe included in the second peripheral circuit CDE.
  • the OR paths OPa and OPb are arranged between the drift DRc and the drift DRd of the first circuit CDI and between the drift DRb and the drift DRe of the second circuit CDE. With such an arrangement, the transporting machine 10 traveling on the first circuit CDI or the second circuit CDE can always reach the ore path OP. Even when the traveling direction of the transporting machine 10 is reversed, the transporting machine 10 traveling on the first circuit CDI or the second circuit CDE can always reach the ore path OP.
  • the outermost drifts DRa and DRf do not form the peripheral circuit CD, but a peripheral circuit CD including these may be formed.
  • the peripheral circuit CD is formed so as to include the OR path OP in the middle, and the OR path OP is provided between the two drifts DR as described above.
  • one loading machine 30 is disposed in one drift DR.
  • a loading machine 30b is disposed in the drift DRb
  • a loading machine 30c is disposed in the drift DRc
  • a loading machine 30d is disposed in the drift DRd
  • a loading machine 30e is disposed in the drift DRe.
  • the loading machine 30b is disposed in the cross cut CRb connected to the drift DRb.
  • the loading machine 30c is disposed in a cross cut CRc connected to the drift DRc.
  • the loading machine 30d is disposed in a cross cut CRd connected to the drift DRd.
  • the loading machine 30e is disposed in a crosscut CRe connected to the drift DRe.
  • the transporting machine 10 loads the ore MR from the loading machine 30b in the drift DRb, from the loading machine 30c in the drift DRc, from the loading machine 30d in the drift DRd, and from the loading machine 30e in the drift DRe.
  • the transporting machine 10 travels the first circuit CDI and the second circuit CDE in one direction in either the first traveling direction RD1 or the second traveling direction RD2 shown in FIG.
  • the first traveling direction RD1 is a direction that travels counterclockwise in the pit center portion CP when the first circumferential circuit CDI and the second circumferential circuit CDE are viewed from above.
  • the second traveling direction RD2 is a direction in which the underground center portion CP travels clockwise when the first circumferential circuit CDI and the second circumferential circuit CDE are viewed from above.
  • FIG. 22 is a flowchart illustrating a process of reversing the traveling direction of the transport machine 10 in the mine management system 1 according to the present embodiment.
  • the management device 3 illustrated in FIG. 20 determines whether or not the loading machine 30 has moved.
  • the loading machine 30 is dispatched to one of a plurality of draw points DP provided in the underground mine MI, for example, by a dispatching process described below.
  • the management device 3 executes a dispatch process for the loading machine 30.
  • the mine M shown in FIG. 1 where the ore MR is mined by the block caving method has a plurality of draw points DP in the mine MI.
  • the ore MR is mined from the plurality of draw points DP in a well-balanced manner.
  • the production plan of the mine M is planned so that the ore MR is mined in a well-balanced manner from the plurality of draw points DP of the mine M so that the ore MR is not mined from a specific draw point DP.
  • the management device 3 moves the loading machine 30 to a plurality of draw points DP according to the production plan of the mine M, and mine the ore MR.
  • ore clogging may occur at the draw point DP, or a large block of ore MR that cannot be excavated or conveyed by the loading machine 30 may appear at the draw point DP.
  • the management apparatus 3 moves the loading machine 30 to the draw point DP where the ore clogging or the large block of the ore MR does not appear. For this reason, the management device 3 executes a vehicle allocation process for the loading machine 30.
  • This dispatching process includes a first dispatching process and a second dispatching process.
  • the draw point DP where the loading machine 30 is arranged is determined based on the difference between the production plan of the mine M and the actual production amount (mining amount).
  • the management device 3 determines the draw point DP at which the loading machine 30 is disposed by executing either the first vehicle allocation process or the second vehicle allocation process.
  • the management device 3 determines the priority of the draw point DP where the loading machine 30 is arranged, and the draw point DP in which the actual production amount of the draw point DP is determined by the production plan of the mine M.
  • the draw point DP is smaller in order, and the difference between the production amount of the production plan of the mine M and the actual production amount is relatively large.
  • the management apparatus 3 determines the draw point DP where the loading machine 30 is arrange
  • the management device 3 determines the draw point DP where the loading machine 30 is arranged from the draw point DP connected to the same drift DR, and determines the production amount at the determined draw point DP, Adjustment is made based on the difference between the production amount determined by the production plan of the mine M, that is, the target production amount, and the actual production amount, that is, the actual production amount.
  • the management device 3 sets the other draw point DP adjacent to the predetermined draw point DP, and the loading machine 30 is arranged next. Determined as the draw point DP. According to the second dispatching process, the moving amount of the loading machine 30 can be reduced.
  • a plurality of loading machines 30 are operating in the underground mine MI.
  • the management device 3 determines in step S101 the loading machine 30. It is determined that there is movement.
  • the loading machine 30 is moved by the first dispatching process or the second dispatching process (step S101, Yes)
  • the management device 3 advances the process to step S102.
  • step S101, No the management device 3 ends the process.
  • step S102 the management device 3 obtains the sum ⁇ Le of the unloading distance Le and the sum ⁇ Lf of the loading distance Lf for all the transporting machines 10 operating in the mine MI.
  • the unloading distance Le and the loading distance Lf are obtained from, for example, the position of the draw point DP, the position of the ore pass OP, and the traveling direction of the transport machine 10.
  • the unloading distance Le and the loading distance Lf for one transporting machine 10 are values when the transporting machine 10 makes one round of the circumferential circuit CD.
  • the second circuit CDE shown in FIG. 21, specifically the outer periphery TRb, the drift DRe, and the outer periphery TRa. And through the drift DRb.
  • the second circuit CDE there are two draw points DP where the loading machine 30 is arranged, specifically, a draw point DPb where the loading machine 30b is arranged and a draw point DPe where the loading machine 30e is arranged.
  • the former is provided in the drift DRb, and the latter is provided in the drift DRe.
  • the transporting machine 10S and the transporting machine 10F of the drift DRb and the drift DRc travel to the ore pass OPb through the drift DRb and the outer peripheral path TRb after the ore MR is loaded at the draw point DPb.
  • the transport machine 10S and the transport machine 10F discharge the ore MR with the ore pass OPb, and then reach the next draw point DPe through the outer circumference TRb and the drift DRe in an empty state.
  • the transporting machine 10S and the transporting machine 10F reach the ore pass OPa through the drift DRe and the outer circumferential path TRa.
  • the loading distance Lf of the transport machine 10S and the transport machine 10F is the distance from the draw point DPb to the ore path OPb through the drift DRb and the outer path TRb, and the ore path OPa from the draw point DPe to the ore path OPa. It is the sum with the distance to reach.
  • the unloading distance Le of the transport machine 10S and the transport machine 10F is the distance from the ore pass OPb to the draw point DPe through the outer periphery TRb and the drift DRe, and the ore pass OPa through the outer periphery TRa and the drift DRb. This is the sum of the distance to the draw point DPb.
  • the empty distance Le is longer than the loading distance Lf.
  • step S103 the management device 3 calculates the total ⁇ Lf of the loading distance Lf. And a sum ⁇ Le of the unloading distance Le is obtained, and the difference ⁇ L is compared with a predetermined specified value ⁇ Lc. As a result of the comparison, when the difference ⁇ L is greater than or equal to the predetermined specified value ⁇ Lc (step S103, Yes), the management device 3 advances the process to step S104. When the difference ⁇ L is less than the predetermined specified value ⁇ Lc (No at Step S103), the management device 3 ends the process.
  • the specified value ⁇ Lc includes zero. In this case, if the sum ⁇ Lf of the loading distance Lf is equal to or greater than the sum ⁇ Le of the unloading distance Le, the process proceeds to step S104. If the sum ⁇ Lf of the loading distance Lf is less than the sum ⁇ Le of the unloading distance Le, Ends.
  • the specified value ⁇ Lc may be set to 0, but in this case, when the loading distance Lf becomes larger than the unloading distance Le, the traveling direction of the transporting machine 10 is immediately reversed, and immediately after that, the loading distance Lf is unloaded. It may be larger than the distance Le. In this case, since the traveling direction is reversed again, if the specified value ⁇ Lc is set to 0, a phenomenon such as hunting in which the reversal of the traveling direction is repeated in a short cycle may occur. In order to avoid this, by providing the specified value ⁇ Lc, it is possible to avoid the phenomenon that the reversal of the traveling direction is repeated in a short cycle.
  • step S104 the management device 3 determines whether or not the movement of the loading machine 30 is completed.
  • the management device 3 waits until the movement of the loading machine 30 is completed at Step S105.
  • the management device 3 instructs the reverse of the traveling direction of the transporting machine 10 to all the transporting machines 10 operating in the underground mine MI at Step S106. As a reverse command. That is, after the time when the loading machine 30 arrives at a different draw point DP, the management device 3 transmits a reversal command to the plurality of transporting machines 10 operating in the underground mine MI.
  • the inversion command is transmitted from the wireless communication device 4 to the transport machine 10 via the antenna 4A.
  • the transmitted inversion command is input to the processing device 71 via the antenna 15 and the communication device 25 of the transport machine 10 shown in FIG.
  • the reversal command is also transmitted to the loading machine 30 operating in the underground mine MI.
  • the inversion command transmitted from the wireless communication device 4 to the loading machine 30 via the antenna 4A is input to the processing device 76 via the antenna 53 and the communication device 52 of the loading machine 30 shown in FIG. May be.
  • step S107 the management device 3 determines whether all the transporting machines 10 are in a standby state. For example, at the timing when the reversal command is transmitted from the management device 3, there is a transporting machine 10 that has been loaded with ore MR from the loading machine 30, or there is a transporting machine 10 that is discharging the ore MR with ore pass OP. Or exist. Even if such a transporting machine 10 receives the reversal command, it cannot immediately travel with the traveling direction reversed. Further, when the traveling direction is reversed, the transport machine 10 needs to reset the destination.
  • the management device 3 sets the traveling direction of each transporting machine 10 to the reversal command after all the transporting machines 10 operating in the underground mine MI are ready to travel by reversing the traveling direction. Invert the vehicle before it is transmitted.
  • the transporting machine 10 that has received the reversal command executes processing determined according to the current state after receiving the reversal command. This process will be described.
  • the transporting machine 10 heading for the target loading machine 30 has no other transporting machine 10 at the position of the target loading machine 30 to which the transporting machine 10 is headed, or the other transporting machine 10 heading for the target loading machine 30 If not, the vehicle travels to the position of the target loading machine 30 and waits. If it does in this way, the conveyance machine 10 can start from loading of the ore MR, when a running direction is reversed.
  • the transport machine 10E traveling on the drifts DRc and DRd has another transport machine 10 or the transport machine 10 toward the target load machines 30c and 30d at the position of the target load machines 30c and 30d. do not do.
  • the transporting machine 10E that travels in the drifts DRc and DRd stops at the position of the loading machines 30c and 30d and waits until a command to start reverse traveling is issued from the management device 3.
  • the transporting machine 10 transmits a signal indicating that it is in the standby state to the management device 3 (the same applies hereinafter).
  • the loading machine 30 (Processing of the loading machine 30 after the transport machine 10 receives the reverse command) After the transporting machine 10 receives the reversal command, the loading machine 30 that loads the ore MR onto the transporting machine 10 continues until the work is completed. The loading machine 30 that has not loaded the ore MR into the transporting machine 10 stands by in a state as it is. When the transporting machine 10 arrives, the ore MR is loaded on the transporting machine 10.
  • step S107 when all the transporting machines 10 are not in the standby state (No in step S107), in step S108, the management device 3 waits until the transporting machine 10 enters the standby state.
  • the case where all the transporting machines 10 are not in the standby state is a state where at least one of the above-described processing 1 to processing 4 has not been completed.
  • the case where all the transporting machines 10 enter the standby state is a state where all the executions of the processing 1 to the processing 4 described above are completed.
  • step S109 the management device 3 transmits a command to start the reverse traveling to the transporting machine 10 on standby.
  • the traveling direction of the transport machine 10 is reversed, the destination of the transport machine 10 is also different.
  • the management device 3 generates a new destination for each transport machine 10 according to the current position of the transport machine 10, the travel direction after reversal, and the loaded state of the load, and commands to start reversal travel. At the same time, it is transmitted to each transporting machine 10.
  • step S110 the transporting machine 10 that has received the instruction to start the reverse traveling and the new destination reverses the traveling direction before receiving the reverse instruction and starts traveling toward the new destination.
  • all the transport machines 10 operating in the underground mine MI start the traveling by reversing the traveling directions after all of the processing 1 to the processing 4 determined according to the current state are executed.
  • All the transporting machines 10 operating in the underground mine MI reverse the traveling direction before receiving the reversal command, so that the loading distance Lf before the reversal becomes the empty load distance Le after the reversal.
  • the load distance Lf of all the transporting machines 10 is shorter than the empty load distance Le, so that a decrease in durability is suppressed.
  • all the transporting machines 10 operating in the underground mine MI have their respective traveling directions regardless of whether or not the processing 1 to the processing 4 determined according to the current state is performed after receiving the reverse command. You may start traveling with the reverse. In this way, it is not necessary to wait until all of the processing 1 to the processing 4 are executed, so that the operation stoppage period of the transporting machine 10 can be shortened to prevent the productivity of the mine M from being lowered.
  • the management device 3 transmits a new destination together with the reversal command after reversing the traveling direction. By doing in this way, the materials handling machine 10 can move toward a new destination immediately after receiving the reverse command.
  • the transporting machine 10 When the traveling direction of the transporting machine 10 is reversed immediately after receiving the reversal command, the transporting machine 10 that is loading the ore MR and discharging the ore MR at the time of receiving the reversal command finishes the respective work. Then start reverse running. By doing in this way, it can avoid that the materials handling machine 10 starts moving during loading operation or discharge operation.
  • the plurality of drifts DR extend in one direction and are arranged side by side, and each of the pair of outer circumferential paths TRa and TRb connecting the plurality of drifts DR at both ends has an OR path OPa. , OPb are provided.
  • the same peripheral circuit CD is provided with two OR paths OPa and OPb.
  • the plurality of loading machines 30 that operate in such a mine MI and are installed in the same peripheral circuit CD are installed in a region that is point-symmetric with respect to the mine center portion CP.
  • a pair of OR paths OPa and OPb are connected, a straight line LL parallel to the drift DR and passing through the pit center portion CP, and intersecting the straight line LL.
  • a straight line LR parallel to the path TR.
  • the first quadrant ER1 and the third quadrant ER3 are areas that are point-symmetric.
  • the second quadrant ER2 and the fourth quadrant ER4 are areas that are point-symmetric. is there.
  • a loading machine 30b and a loading machine 30e are installed in a cross cut CRb of the drift DRb and a cross cut CRe of the drift DRe that is point-symmetric with this part.
  • the loading machine 30b and the loading machine 30e are installed in the second circuit CDE shown in FIG.
  • a loading machine 30c and a loading machine 30d are respectively installed in the cross cut CRc of the drift DRc and the cross cut CRd of the drift DRd that is point-symmetric with this portion.
  • the loading machine 30c and the loading machine 30d are installed in the first circuit CDI shown in FIG.
  • the distance between the loading machine 30b and the ore pass OPb is the same.
  • the distance between the loading machine 30b and the ore path OPa is the same as the distance between the loading machine 30e and the ore path OPb.
  • these loading machines 30b and 30e load the ore MR, and all the transporting machines 10 traveling on the second circuit CDE have the same loading distance Lf and the same unloading distance Le. Become.
  • the transporting machine 10 that travels on the circumferential circuit CD that is installed in a region in which the plurality of loading machines 30 are point-symmetric with respect to the pit center portion CP has substantially the same loading distance Lf and an empty loading distance Le. Are almost the same.
  • the loads on all the transporting machines 10 traveling on the above-described peripheral circuit CD are substantially equal.
  • the load on the transporting machine 10 can be more effectively reduced by reversing the traveling direction of the loading machine 10.
  • the direction in which one loading machine 30 moves to a different draw point DP, and the other The direction in which the loading machine 30 moves to a different draw point DP is preferably the opposite of that.
  • one loading machine 30b installed in the second circumferential circuit CDE moves from the other outer circumferential path TRb toward one outer circumferential path TRa to a different draw point DP. That is, one loading machine 30b moves from the draw point DP provided on the other end side of the drift DR toward the draw point DP provided on the one end side.
  • the other loading machine 30e installed at the position of the second circumferential circuit CDE that is point-symmetric with the loading machine 30b with respect to the pit center portion CP is changed from one outer circumferential path TRa to the other outer circumferential path TRb. Move to a different draw point DP. That is, the other loading machine 30e moves from the draw point DP on one end side of the drift DR toward the draw point DP on the other end side. By doing in this way, the loading machine 30b and the loading machine 30e installed in the area
  • the distance between the two loading machines 30 is fixed so that the direction in which one loading machine 30 moves to a different draw point DP is opposite to the direction in which the other loading machine 30 moves to a different draw point DP. To be kept. For this reason, all the transporting machines 10 traveling on the circumferential circuit CD in which these loading machines 30 are installed have almost the same loading distance Lf and empty loading distance Le when the draw point DP of the loading machine 30 moves. It changes as well.
  • the drift DRe on the left side of the pit center portion CP with respect to the direction from one outer circumferential path TRa to the other outer circumferential path TRb is one-way traveling from the other outer circumferential path TRb to one outer circumferential path TRa.
  • the drift DRb on the right side is a one-way road from one outer circumferential path TRa to the other outer circumferential path TRb.
  • the loading machine 30e sequentially moves toward the cross cut CR on the other outer circumferential path TRb, and the loading machine 30b moves toward the cross cut CR on the one outer circumferential path TRa. Move sequentially. Then, the load distance Lf is gradually increased, and the empty load distance Le is gradually decreased. The difference ⁇ L between the two gradually increases.
  • ⁇ L becomes equal to or greater than the specified value ⁇ Lc
  • the traveling direction of the transport machine 10 is reversed.
  • the initial positions of the loading machines 30b and 30e are set on the front side in the traveling direction after the reversal.
  • the difference ⁇ L between the loading distance Lf and the unloading distance Le of the transporting machine 10 traveling on the drifts DRb and DRe provided on both sides of the center portion CP of the mine due to the movement of the excavating machine accompanying the progress of the mining of the ore MR is the same. It becomes small by the tendency.
  • the load distance Lf increases even after the load distance Lf and the empty load distance Le are reversed, the travel direction of the transporting machine 10 is reversed when the difference ⁇ L becomes equal to or greater than the specified value ⁇ Lc. In this way, the management device 3 suppresses the load distance Lf.
  • the mine management system 1 arranges the loading machines 30e and 30b at target positions with respect to the center portion CP of the mine, and moves the former from one draw point DPa side to the other draw point DPb side. The latter is moved from the other draw point DPb side toward the one draw point DPa side.
  • the loading machines 30b and 30e are disposed in the drift DR on both sides with respect to the straight line LL connecting the pair of OR paths OPa and OPb provided on both end sides of the plurality of drifts DR, and the straight line LL is used as a reference.
  • the moving directions of the loading machines 30b and 30e are opposite on the one side and the other side.
  • the straight line LL is parallel to the drift DR.
  • the timing or frequency of moving the loading machines 30b, 30e, for example, to the adjacent draw point DP is adjusted by adjusting the state of dispatch of the transporting machine 10 and the speed of the feeders or rotating rollers of the loading machines 30b, 30e. Some adjustment is possible.
  • the management device 3 executes the above-described adjustment to align the timings of moving the loading machines 30b and 30e to the adjacent draw point DP, and loads the loading machine at a target position with respect to the underground center portion CP.
  • the loading machines 30b and 30e in which 30e and 30b are arranged are moved so that a pair of weights hung on both sides of the pulley move.
  • the loading machine 30 may perform excavation using a bucket having a cutting edge, or may perform loading.

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Abstract

Selon l'invention, un système d'extraction de mine comprend : des machines de transport qui se déplacent dans une direction sur une route orbitale à l'intérieur ou au-dessous d'un gisement de minerai, et qui sont chargées avec du minerai extrait d'un site d'extraction, transportent le minerai vers un site de déversement situé dans le gisement de minerai, puis déversent le minerai ; une machine de chargement qui creuse le minerai sur le site d'extraction, transporte le minerai récupéré, et charge le minerai sur les machines de transport ; et un dispositif de gestion qui, s'il a été décidé que la machine de chargement se déplacera vers un site d'extraction différents, trouve, pour toutes les machines de transport fonctionnant sur la route orbitale, la somme de premières distances, se déplaçant entre la position à laquelle le minerai a été chargé et le site de décharge, tout en étant chargé de minerai, et la somme de secondes distances entre le site de déversement et l'emplacement auquel le minerai doit être chargé, et qui, si la somme des premières distances est supérieure à la somme des secondes distances, amène la direction de déplacement des machines de transport à être inversée.
PCT/JP2015/056872 2014-03-31 2015-03-09 Système de gestion de mine WO2015151734A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021044914A1 (fr) * 2019-09-05 2021-03-11 株式会社小松製作所 Système de mesure et procédé de mesure

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JP2005061984A (ja) * 2003-08-12 2005-03-10 Hitachi Constr Mach Co Ltd 建設機械の荷重計測装置
JP2005139000A (ja) * 2003-10-14 2005-06-02 Toyota Industries Corp 産業車両の稼働状況を管理するシステムおよび方法
US20070027612A1 (en) * 2005-07-26 2007-02-01 Barfoot Timothy D Traffic management system for a passageway environment
US20070170771A1 (en) * 2006-01-25 2007-07-26 Peabody Energy Corporation Underground Mine and Method of Mining

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Publication number Priority date Publication date Assignee Title
JP2005061984A (ja) * 2003-08-12 2005-03-10 Hitachi Constr Mach Co Ltd 建設機械の荷重計測装置
JP2005139000A (ja) * 2003-10-14 2005-06-02 Toyota Industries Corp 産業車両の稼働状況を管理するシステムおよび方法
US20070027612A1 (en) * 2005-07-26 2007-02-01 Barfoot Timothy D Traffic management system for a passageway environment
US20070170771A1 (en) * 2006-01-25 2007-07-26 Peabody Energy Corporation Underground Mine and Method of Mining

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021044914A1 (fr) * 2019-09-05 2021-03-11 株式会社小松製作所 Système de mesure et procédé de mesure
JP2021038607A (ja) * 2019-09-05 2021-03-11 株式会社小松製作所 計測システム及び計測方法
JP7357489B2 (ja) 2019-09-05 2023-10-06 株式会社小松製作所 計測システム及び計測方法

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