WO2016039489A1 - 鉱山の管理システム及び鉱山の管理方法 - Google Patents
鉱山の管理システム及び鉱山の管理方法 Download PDFInfo
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- WO2016039489A1 WO2016039489A1 PCT/JP2015/080845 JP2015080845W WO2016039489A1 WO 2016039489 A1 WO2016039489 A1 WO 2016039489A1 JP 2015080845 W JP2015080845 W JP 2015080845W WO 2016039489 A1 WO2016039489 A1 WO 2016039489A1
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- manned vehicle
- abnormality monitoring
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- moving body
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- 238000007726 management method Methods 0.000 title claims description 85
- 230000005856 abnormality Effects 0.000 claims abstract description 155
- 238000012544 monitoring process Methods 0.000 claims abstract description 138
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
Definitions
- both unmanned vehicles and manned vehicles may operate in a mine. Workers also operate in the mine.
- An object of an aspect of the present invention is to provide a mine management system and a mine management method capable of ensuring the safety of manned vehicles or workers while suppressing a decrease in mine productivity.
- a mine management system in which an unmanned vehicle is operated in an operation area of a mine, from the operation area based on position data of a moving body different from the unmanned vehicle.
- An exit determining unit that determines whether or not the moving body has exited
- an abnormality monitoring unit that ends the abnormality monitoring of the moving body based on an operation of an input device provided in the moving body, and a position of the moving body
- An entry prohibition area for prohibiting entry of the unmanned vehicle so as to include an entry prohibition area setting unit that expands the entry prohibition area when an abnormality is detected by the abnormality monitoring, and the movement from the operation area
- a mine management system is provided that includes an alarm device control unit that activates an alarm device provided in the moving body when it is determined that the body has left and the input device has not been operated.
- a mine management method by a computer system in which an unmanned vehicle is operated in an operation area of a mine, wherein position data of a moving body different from the unmanned vehicle is acquired. , Setting an entry prohibition area for prohibiting entry of the unmanned vehicle so as to include the position of the moving body, and determining whether the moving body has left the operating area based on the position data. Obtaining a command signal generated based on an operation of an input device provided in the moving body, ending monitoring of the moving body based on the command signal, and monitoring the abnormality.
- a mine management system and a mine management method capable of ensuring the safety of manned vehicles or workers while suppressing a decrease in mine productivity.
- FIG. 1 is a diagram schematically illustrating an example of a mine according to the present embodiment.
- FIG. 2 is a diagram schematically illustrating an example of a manned vehicle according to the present embodiment.
- FIG. 3 is a diagram schematically illustrating an example of a manned vehicle according to the present embodiment.
- FIG. 4 is a functional block diagram illustrating an example of a manned vehicle according to the present embodiment.
- FIG. 5 is a functional block diagram illustrating an example of a management apparatus according to the present embodiment.
- FIG. 6 is a diagram schematically illustrating an example of the unmanned vehicle according to the present embodiment.
- FIG. 7 is a diagram schematically illustrating an example of the unmanned vehicle according to the present embodiment.
- FIG. 1 is a diagram schematically illustrating an example of a mine according to the present embodiment.
- FIG. 2 is a diagram schematically illustrating an example of a manned vehicle according to the present embodiment.
- FIG. 3 is a diagram schematically illustrating an example of a manned
- FIG. 8 is a functional block diagram illustrating an example of an unmanned vehicle according to the present embodiment.
- FIG. 9 is a diagram schematically illustrating an example of the entry prohibition area according to the present embodiment.
- FIG. 10 is a flowchart illustrating an example of a mine management method according to the present embodiment.
- FIG. 11 is a diagram schematically illustrating an example of a mine management method according to the present embodiment.
- FIG. 12 is a diagram schematically illustrating an example of a mine management method according to the present embodiment.
- FIG. 13 is a diagram schematically illustrating an example of a mine management method according to the present embodiment.
- FIG. 14 is a diagram schematically illustrating an example of an alarm device according to the present embodiment.
- FIG. 15 is a diagram schematically illustrating an example of a mine management method according to the present embodiment.
- FIG. 16 is a diagram schematically illustrating an example of a mine management method according to the present embodiment.
- FIG. 17 is a functional block diagram illustrating an example of a manned vehicle according to the present embodiment.
- FIG. 1 is a diagram schematically illustrating an example of a mining site of a mine managed by the mine management system 1 according to the present embodiment.
- the management system 1 manages the mine.
- the unmanned vehicle 2, the manned vehicle 40, and the worker operate in the mine.
- the management of the mine includes management of the unmanned vehicle 2, management of the manned vehicle 40, and management of the worker.
- the management system 1 includes a management device 10 that is disposed in a mine control facility 8 and includes a computer system.
- the management device 10, the unmanned vehicle 2, and the manned vehicle 40 can wirelessly communicate via the communication system 9.
- the unmanned vehicle 2 operates based on a command signal from the management device 10.
- An operator (driver) does not board the unmanned vehicle 2.
- An operator (driver) gets on the manned vehicle 40.
- the unmanned vehicle 2 may be operated by a driver who has boarded the unmanned vehicle 2. For example, when the unmanned vehicle 2 is put in the parking lot, when the unmanned vehicle 2 is taken out from the parking lot, and when the unmanned vehicle 2 is refueled, the driver gets on the unmanned vehicle 2 and the unmanned vehicle 2 May be operated.
- the unmanned vehicle 2 is used for mine work.
- the unmanned vehicle 2 is a dump truck 2 which is a kind of transport vehicle.
- the dump truck 2 can travel in the mine and transports the load in the mine.
- the dump truck 2 includes a vehicle 3 and a vessel 4 provided on the vehicle 3.
- the dump truck 2 carries the load loaded on the vessel 4.
- the load includes earth or sand or rock generated by mining crushed stone.
- a loading field LPA, a dumping site DPA, and a traveling path HL that leads to at least one of the loading site LPA and the dumping site DPA are provided.
- the mine traveling path HL is often an unpaved road.
- the dump truck 2 can travel on the loading site LPA, the earth discharging site DPA, and the traveling path HL.
- the load is loaded into the vessel 4 at the loading site LPA.
- the load is loaded onto the vessel 4 by the loading machine LM.
- a hydraulic excavator or a wheel loader is used as the loading machine LM.
- the dump truck 2 on which the load is loaded travels on the traveling path HL from the loading site LPA to the earth discharging site DPA.
- the load is discharged from the vessel 4 at the earth discharging site DPA.
- the dump truck 2 from which the load has been discharged travels on the travel path HL from the earth discharging site DPA to the loading site LPA. Note that the dump truck 2 may travel from the dumping site DPA to a predetermined parking lot.
- the manned vehicle 40 can travel in the mine.
- the manned vehicle 40 is a moving body different from the dump truck 2.
- the manned vehicle 40 can travel on the loading site LPA, the earth discharging site DPA, and the traveling path HL.
- the worker moves on the manned vehicle 40 and moves through the mine. Workers will monitor and maintain the mine.
- the position of the dump truck 2 and the position of the manned vehicle 40 are detected by an omnidirectional positioning system (Global Positioning System: GPS).
- GPS Global Positioning System
- the GPS has a GPS satellite ST.
- the position detected by the GPS is an absolute position defined in the GPS coordinate system.
- a position detected by the GPS is appropriately referred to as a GPS position.
- the GPS position includes latitude, longitude, and altitude coordinate data.
- FIG.2 and FIG.3 is a figure which shows typically an example of the manned vehicle 40 which concerns on this embodiment.
- FIG. 4 is a functional block diagram illustrating an example of the manned vehicle 40 according to the present embodiment.
- the manned vehicle 40 includes a traveling device 41 capable of traveling in a mine, a vehicle body 50 supported by the traveling device 41, a power generating device 43 that generates power, and a manned vehicle control device 60.
- the traveling device 41 includes a wheel 42, an axle that rotatably supports the wheel 42, a brake device 44 that can stop traveling, and a steering device 45 that can adjust the traveling direction.
- the traveling device 41 is driven by the power generated by the power generation device 43.
- the power generation device 43 includes an internal combustion engine such as a diesel engine.
- the power generated by the power generation device 43 is transmitted to the wheels 42 of the traveling device 41. Thereby, the traveling device 41 is driven.
- the traveling speed of the manned vehicle 40 is adjusted by adjusting the output of the power generation device 43.
- the brake device 44 can stop the traveling of the traveling device 41.
- the traveling speed of the manned vehicle 40 is adjusted.
- the steering device 45 can adjust the traveling direction of the traveling device 41.
- the traveling direction of the manned vehicle 40 including the traveling device 41 includes the direction of the front portion of the vehicle body 50.
- the steering device 45 adjusts the traveling direction of the manned vehicle 40 by changing the direction of the front wheels.
- the manned vehicle 40 has a cab in which the worker WM is boarded.
- the manned vehicle 40 is provided in the driver's cab and is provided in the driver's cab, an accelerator operating unit 43A for operating the power generation device 43, a brake operating unit 44A provided in the driver's cab and operating the brake device 44, and a driver's cab.
- the accelerator operation unit 43A includes an accelerator pedal.
- the brake operation unit 44A includes a brake pedal.
- the steering operation unit 45A includes a steering wheel.
- the accelerator operation unit 43A, the brake operation unit 44A, and the steering operation unit 45A are operated by the worker WM.
- the worker WM adjusts the traveling speed of the manned vehicle 40 by operating one or both of the accelerator operation unit 43A and the brake operation unit 44A.
- the worker WM adjusts the traveling direction of the manned vehicle 40 by operating the steering operation unit 45A.
- the manned vehicle 40 has an alarm device 48 disposed in the cab and an input device 49 disposed in the cab.
- the alarm device 48 includes at least one of a display device 48A and an audio output device 48B.
- the display device 48A includes a flat panel display such as a liquid crystal display.
- the display device 48A can display alarm data.
- the audio output device 48B can generate at least one of an alarm sound and an alarm light.
- the input device 49 includes input devices such as a keyboard, a touch panel, and a mouse.
- the input device 49 When the input device 49 is operated by the worker WM of the manned vehicle 40, the input device 49 generates a command signal.
- the command signal generated by the input device 49 is input to the manned vehicle control device 60.
- the input device 49 may include a voice recognition device, and the command signal may be generated by the voice of the worker WM.
- the input device 49 and the display device 48A may be used together.
- the manned vehicle 40 includes a speed sensor 46 that detects the traveling speed of the manned vehicle 40, a position sensor 51 that detects the position of the manned vehicle 40, and a wireless communication device 52.
- the speed sensor 46 is provided in the manned vehicle 40.
- the speed sensor 46 detects the traveling speed of the traveling device 41 of the manned vehicle 40.
- the speed sensor 46 includes a rotation speed sensor that detects the rotation speed of the wheel 42.
- the rotational speed of the wheel 42 and the traveling speed of the manned vehicle 40 are correlated.
- a rotational speed value that is a detection value of the rotational speed sensor is converted into a traveling speed value of the manned vehicle 40.
- the travel distance of the manned vehicle 40 is derived by integrating the traveling speed of the manned vehicle 40.
- the position sensor 51 is provided in the manned vehicle 40.
- the position sensor 51 includes a GPS receiver and detects the GPS position of the manned vehicle 40.
- the position sensor 51 has a GPS antenna 51A.
- the antenna 51A receives radio waves from the GPS satellite ST.
- the position sensor 51 converts a signal based on the radio wave received from the GPS satellite ST received by the antenna 51A into an electric signal, and calculates the position of the antenna 51A.
- the GPS position of the manned vehicle 40 is detected by calculating the GPS position of the antenna 51A.
- the communication system 9 includes a wireless communication device 52 provided in the manned vehicle 40.
- the wireless communication device 52 has an antenna 52A.
- the wireless communication device 52 can wirelessly communicate with the management device 10 and the dump truck 2.
- the manned vehicle control device 60 is provided in the manned vehicle 40.
- the manned vehicle control device 60 controls the manned vehicle 40.
- the manned vehicle control device 60 includes a computer system.
- the manned vehicle control device 60 includes a processor such as a CPU (Central Processing Unit) and a memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory).
- the detection signal of the speed sensor 46 is output to the manned vehicle control device 60.
- a detection signal of the position sensor 51 is output to the manned vehicle control device 60.
- the command signal generated by the input device 49 is output to the manned vehicle control device 60.
- the detection signal of the speed sensor 46, the detection signal of the position sensor 51, and the command signal generated by the input device 49 are supplied to the management device 10 via the communication system 9.
- a command signal from the management device 10 is supplied to the manned vehicle control device 60 via the communication system 9.
- FIG. 5 is a block diagram illustrating an example of the management apparatus 10 according to the present embodiment.
- the management device 10 includes a computer system 11, a display device 16, an input device 17, and a wireless communication device 18.
- the computer system 11 includes a processing device 12, a storage device 13, and an input / output unit 15.
- the display device 16, the input device 17, and the wireless communication device 18 are connected to the computer system 11 via the input / output unit 15.
- the communication system 9 includes a wireless communication device 18 provided in the control facility 8.
- the wireless communication device 18 is connected to the processing device 12 via the input / output unit 15.
- the wireless communication device 18 has an antenna 18A.
- the wireless communication device 18 can wirelessly communicate with the dump truck 2 and the manned vehicle 40.
- the processing device 12 includes a processor such as a CPU (Central Processing Unit).
- the processing device 12 includes a data processing unit 12A, a first unmanned vehicle travel data generation unit 12B, an entry prohibition region setting unit 12C, a manned vehicle position data acquisition unit 63, a manned vehicle speed data acquisition unit 64, and a command signal. It has a determination unit 65, an exit determination unit 66, an abnormality monitoring unit 67, an abnormality determination unit 68, and an alarm device control unit 70.
- a processor such as a CPU (Central Processing Unit).
- the processing device 12 includes a data processing unit 12A, a first unmanned vehicle travel data generation unit 12B, an entry prohibition region setting unit 12C, a manned vehicle position data acquisition unit 63, a manned vehicle speed data acquisition unit 64, and a command signal. It has a determination unit 65, an exit determination unit 66, an abnormality monitoring unit 67, an abnormality determination unit 68, and an alarm device control unit 70.
- the command signal determination unit 65 determines whether a command signal is generated based on an operation of the input device 49 provided in the manned vehicle 40. When the input device 49 is input by the worker WM, the input device 49 generates a command signal. The command signal generated by the input device 49 is transmitted to the management device 10 via the communication system 9. The command signal determination unit 65 determines that the input device 49 has been operated when the command signal of the input device 49 is acquired from the manned vehicle 40 via the communication system 9. The command signal determination unit 65 determines that the input device 49 is not operated when the command signal of the input device 49 is not acquired from the manned vehicle 40 via the communication system 9.
- the abnormality determination unit 68 determines whether or not an abnormality has occurred due to the abnormality monitoring function of the manned vehicle 40.
- the abnormality determination unit 68 performs at least one of communication state determination for determining whether or not the communication state of the communication system 9 is normal and position accuracy determination for determining whether or not the position detection accuracy of the position sensor 51 is normal.
- the entry prohibition area setting unit 12C is based on the manned vehicle current state data at the first time point. Forty possible regions can be inferred.
- the entry prohibition area setting unit 12C expands the entry prohibition area based on the estimated area where the manned vehicle 40 can exist.
- the entry prohibition area setting unit 12C expands the entry prohibition area by the existence possible area. In this embodiment, the possible area of the manned vehicle 40 expands with time.
- the storage device 13 stores various data related to the dump truck 2 and the manned vehicle 40.
- the storage device 13 is connected to the processing device 12.
- the storage device 13 includes a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory), and a storage such as a hard disk drive.
- the storage device 13 includes a database 13B in which data is registered.
- the first unmanned vehicle travel data generation unit 12 ⁇ / b> B generates first unmanned vehicle travel data using a computer program stored in the storage device 13.
- the storage device 13 stores operating area data indicating an operating area in which the dump truck 2 operates.
- the storage device 13 stores safety area data indicating a safety area where the dump truck 2 does not operate.
- the safe area data may not be present.
- the display device 16 includes a flat panel display such as a liquid crystal display.
- the input device 17 includes an input device such as a keyboard, a touch panel, and a mouse. When the input device 17 is operated by the administrator of the control facility 8, the input device 17 generates a command signal. The command signal generated by the input device 17 is input to the processing device 12.
- FIG.6 and FIG.7 is a figure which shows typically an example of the dump truck 2 which concerns on this embodiment.
- FIG. 8 is a functional block diagram illustrating an example of the dump truck 2 according to the present embodiment.
- the dump truck 2 includes a vehicle 3, a vessel 4 provided in the vehicle 3, a non-contact sensor 24 that detects an object in a non-contact manner, a storage device 25 including a database 25B, and a gyro sensor that detects an angular velocity of the dump truck 2. 26, a speed sensor 27 that detects the traveling speed of the dump truck 2, a position sensor 28 that detects the position of the dump truck 2, a wireless communication device 29, and an unmanned vehicle control device 30.
- the vehicle 3 includes a traveling device 5 capable of traveling in a mine, a vehicle body 6 supported by the traveling device 5, and a power generation device 7 that generates power.
- the vessel 4 is supported by the vehicle body 6.
- the traveling device 5 includes a wheel 20, an axle 21 that rotatably supports the wheel 20, a brake device 22 that can stop traveling, and a steering device 23 that can adjust the traveling direction.
- the traveling device 5 is driven by the power generated by the power generation device 7.
- the power generation device 7 drives the traveling device 5 by an electric drive system.
- the power generation device 7 includes an internal combustion engine such as a diesel engine, a generator that operates with the power of the internal combustion engine, and an electric motor that operates with electric power generated by the generator.
- the power generated by the electric motor is transmitted to the wheels 20 of the traveling device 5.
- the traveling apparatus 5 is driven.
- the dump truck 2 is self-propelled by the power of the power generation device 7 provided in the vehicle 3.
- the traveling speed of the dump truck 2 is adjusted by adjusting the output of the power generation device 7.
- the power generation device 7 may drive the traveling device 5 by a mechanical drive system. For example, power generated in the internal combustion engine may be transmitted to the wheels 20 of the traveling device 5 through a power transmission device.
- the steering device 23 can adjust the traveling direction of the traveling device 5.
- the traveling direction of the dump truck 2 including the traveling device 5 includes the direction of the front portion 6F of the vehicle body 6.
- the steering device 23 adjusts the traveling direction of the dump truck 2 by changing the direction of the wheels 20.
- the non-contact sensor 24 is provided at the front part of the vehicle body 6.
- the non-contact sensor 24 detects an object around the vehicle body 6 in a non-contact manner.
- the non-contact sensor 24 includes a laser scanner.
- the non-contact sensor 24 detects an object in a non-contact manner using laser light that is detection light.
- the non-contact sensor 24 can detect the presence / absence of an object, a relative position with the object, and a relative speed with the object.
- the relative position with respect to the object includes a relative distance to the object and a direction in which the object exists with respect to the non-contact sensor 24.
- the non-contact sensor 24 may include a radar device such as a millimeter wave radar device.
- the radar apparatus can detect an object in a non-contact manner using radio waves.
- the gyro sensor 26 detects the angular velocity of the dump truck 2. By integrating the angular velocity of the dump truck 2, the direction of the dump truck 2 is derived.
- the speed sensor 27 detects the traveling speed of the dump truck 2.
- the speed sensor 27 includes a rotation speed sensor that detects the rotation speed of the wheel 20.
- the rotational speed of the wheel 20 and the traveling speed of the dump truck 2 are correlated.
- a rotation speed value detected by the rotation speed sensor is converted into a traveling speed value of the dump truck 2.
- the speed sensor 27 may detect the rotational speed of the axle 21.
- the position sensor 28 is disposed on the vehicle 3.
- the position sensor 28 includes a GPS receiver and detects the GPS position of the dump truck 2.
- the position sensor 28 has a GPS antenna 28A.
- the antenna 28A receives radio waves from the GPS satellite ST.
- the position sensor 28 converts a signal based on the radio wave from the GPS satellite ST received by the antenna 28A into an electric signal, and calculates the position of the antenna 28A. By calculating the GPS position of the antenna 28A, the GPS position of the dump truck 2 is detected.
- the communication system 9 includes a wireless communication device 29 provided in the vehicle 3.
- the wireless communication device 29 has an antenna 29A.
- the wireless communication device 29 can wirelessly communicate with the management device 10 and the manned vehicle 40.
- the unmanned vehicle control device 30 is provided in the dump truck 2.
- the unmanned vehicle control device 30 controls the dump truck 2.
- the unmanned vehicle control device 30 includes a computer system.
- the unmanned vehicle control device 30 includes a processor such as a CPU (Central Processing Unit) and a memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory).
- the management device 10 supplies a command signal including the first unmanned vehicle travel data of the dump truck 2 to the unmanned vehicle control device 30 via the communication system 9.
- the unmanned vehicle control device 30 controls the traveling device 5 of the dump truck 2 based on the first unmanned vehicle traveling data supplied from the first unmanned vehicle traveling data generation unit 12B of the management device 10.
- the control of the traveling device 5 includes at least one control of the steering, the accelerator, and the brake of the traveling device 5.
- the first unmanned vehicle travel data generated by the first unmanned vehicle travel data generation unit 12B of the management device 10 indicates the target travel route of the dump truck 2 and the limited travel speed of the dump truck 2.
- the management device 10 determines the limit travel speed (maximum allowable speed) of the dump truck 2 for each of a plurality of positions (regions) on the travel path HL based on the mine environmental conditions including the mine geographical conditions and the weather conditions. .
- the management device 10 transmits first unmanned vehicle travel data indicating the target travel route and the limit travel speed of the dump truck 2 to the dump truck 2.
- the unmanned vehicle control device 30 includes a second unmanned vehicle travel data generation unit 30A that generates second unmanned vehicle travel data.
- the second unmanned vehicle travel data generation unit 30A of the unmanned vehicle control device 30 includes second unmanned vehicle travel data including target travel speed data of the dump truck 2 based on the first unmanned vehicle travel data supplied from the management device 10. Is generated.
- the unmanned vehicle control device 30 controls the traveling device 5 based on the first unmanned vehicle travel data supplied from the management device 10 and the second unmanned vehicle travel data generated by the second unmanned vehicle travel data generation unit 30A. To do.
- the unmanned vehicle control device 30 determines the traveling speed of the traveling device 5 within the range of the limited traveling speed determined by the management device 10 and controls the traveling device 5.
- the dump truck 2 can determine the traveling speed by the second unmanned vehicle traveling data generation unit 30A with the limited traveling speed determined by the management device 10 as an upper limit value, and can freely accelerate and decelerate. it can.
- the dump truck 2 travels based on dead reckoning navigation.
- the dump truck 2 is loaded based on the first unmanned vehicle travel data generated by the first unmanned vehicle travel data generation unit 12B and the second unmanned vehicle travel data generated by the second unmanned vehicle travel data generation unit 30A. It travels on the site LPA, the earth removal site DPA, and the conveyance path HL.
- the unmanned vehicle control device 30 estimates the current position of the dump truck 2 using dead reckoning navigation, the target travel route supplied from the first unmanned vehicle travel data generation unit 12B, and the second unmanned vehicle travel data generation unit 30A.
- the dump truck 2 is caused to travel based on the target travel speed data generated in step (1).
- Dead reckoning refers to navigation in which the current position of the dump truck 2 is inferred based on the azimuth and the moving distance from the starting point with known longitude and latitude.
- the direction of the dump truck 2 is detected by using a gyro sensor 26 arranged on the dump truck 2.
- the moving distance of the dump truck 2 is detected using a speed sensor 27 arranged on the dump truck 2.
- the detection signal of the gyro sensor 26 and the detection signal of the speed sensor 27 are output to the unmanned vehicle control device 30 of the dump truck 2.
- the unmanned vehicle control device 30 can determine the direction of the dump truck 2 from a known starting point based on the detection signal from the gyro sensor 26.
- the unmanned vehicle control device 30 can determine the moving distance of the dump truck 2 from a known starting point based on the detection signal from the speed sensor 27.
- the unmanned vehicle control device 30 travels according to the target travel route of the first unmanned vehicle travel data and the target travel speed data of the second unmanned vehicle data based on the detection signal from the gyro sensor 26 and the detection signal from the speed sensor 27. In this way, the traveling of the traveling device 5 of the dump truck 2 is controlled.
- the estimated position of the dump truck 2 obtained by dead reckoning is corrected using GPS.
- an error occurs between the estimated position and the actual position of the estimated dump truck 2 due to accumulation of detection errors of one or both of the gyro sensor 26 and the speed sensor 27. May occur.
- the dump truck 2 may travel out of the target travel route of the first unmanned vehicle travel data.
- the unmanned vehicle control device 30 corrects the estimated position of the dump truck 2 estimated by dead reckoning using the GPS position data indicating the GPS position of the dump truck 2 detected by the position sensor 28. Then, the dump truck 2 is caused to travel.
- the unmanned vehicle control device 30 controls the dump truck 2 so that the dump truck 2 travels according to the target travel route based on the detection signal from the gyro sensor 26, the detection signal from the speed sensor 27, and the GPS position data. A correction amount for correcting the position is calculated, and the traveling of the traveling device 5 of the dump truck 2 is controlled based on the calculated correction amount.
- FIG. 9 is a diagram schematically illustrating an example of the entry prohibition region BP according to the present embodiment. As shown in FIG. 9, in this embodiment, the entry prohibition area BP is set to be circular.
- entry prohibition area BP does not have to be circular, but may be rectangular, for example.
- FIG. 10 is a flowchart showing an example of the operation of the mine management system 1 according to the present embodiment.
- 11, 12, and 13 are diagrams schematically illustrating an example of a mine management method according to the present embodiment.
- FIGS. 11 and 12 show a state before the manned vehicle 40 leaves the operation area SA of the dump truck 2.
- FIG. 13 shows a state after the manned vehicle 40 has left the operation area SA of the dump truck 2.
- FIG. 14 is a diagram illustrating an example of an alarm by the alarm device 48 according to the present embodiment.
- the unmanned vehicle travel data of the dump truck 2 is generated by the first unmanned vehicle travel data generation unit 12B of the management device 10.
- the first unmanned vehicle travel data generated by the first unmanned vehicle travel data generation unit 12 ⁇ / b> B is transmitted to the unmanned vehicle control device 30 of the dump truck 2 via the communication system 9.
- the unmanned vehicle control device 30 controls the traveling device 5 of the dump truck 2 based on the first unmanned vehicle traveling data.
- the dump truck 2 travels in the mine operating area SA based on the first unmanned vehicle travel data.
- the entry prohibition area setting unit 12C activates and enables the expansion function of the entry prohibition area BP.
- the entry prohibited region setting unit 12C As shown in FIG. 11, when it is determined that an abnormality has not occurred by the abnormality monitoring function of the abnormality monitoring unit 67 in the state where the enlargement function of the entry prohibition region BP is valid, the entry prohibited region setting unit 12C The forbidden area BP is not enlarged and is maintained at a normal size. That is, while the communication between the manned vehicle 40 and the management device 10 is established, the function for expanding the entry prohibition area BP is enabled, but no abnormality has occurred due to the abnormality monitoring function by the abnormality monitoring unit 67. When it is determined that the entry prohibited area setting unit 12C does not expand the entry prohibited area BP.
- the abnormality determination unit 68 determines that an abnormality has occurred by the abnormality monitoring function of the manned vehicle 40, as shown in FIG.
- the size of the prohibited area BP is increased with time. That is, when it is determined that an abnormality has occurred by the abnormality monitoring function of the abnormality monitoring unit 67, the entry prohibited area setting unit 12C expands the entry prohibited area BP from the normal size with time.
- the abnormality monitoring function includes at least one of a communication state monitoring function and a position accuracy monitoring function.
- the abnormality detected by the abnormality monitoring function means that it is difficult to set the entry prohibition area BP based on the manned vehicle position data, such as communication interruption by the communication system 9 and a decrease in position detection accuracy of the manned vehicle 40 by the position sensor 51. Including when the situation occurs. The safety of the manned vehicle 40 is ensured by expanding the entry prohibition area BP.
- the entry prohibition area setting unit 12 ⁇ / b> C is normal for the manned vehicle 40 existing in the operation area SA.
- the entry prohibition area BP is set according to the size of time.
- the exit determination unit 66 is manned from the operation area SA based on the manned vehicle position data acquired by the manned vehicle position data acquisition unit 63 and at least one of the operation area data and the safety area data stored in the storage device 13. It is determined whether or not the vehicle 40 has left (step SP2).
- step SP2 If it is determined in step SP2 that the manned vehicle 40 has not left the operating area SA (step SP2: No), the process returns to step SP1.
- step SP2 When it is determined in step SP2 that the manned vehicle 40 has left the operating area SA (step SP2: Yes), the command signal determination unit 65 issues a command based on the operation of the input device 49 provided in the manned vehicle 40. It is determined whether or not a signal has been generated (step SP3). That is, the command signal determination unit 65 determines whether or not the input device 49 has been operated by the worker WM.
- step SP3 when it is determined that a command signal has been generated, that is, the input device 49 has been operated (step SP3: Yes), the abnormality monitoring is canceled (step SP10), and the abnormality monitoring ends.
- the command signal generated by the input device 49 includes a request signal for requesting cancellation of abnormality monitoring by the abnormality monitoring unit 67.
- the worker WM of the manned vehicle 40 operates the input device 49 to request the management device 10 to cancel the abnormality monitoring when the manned vehicle 40 leaves the operation area SA.
- the manned vehicle 40 is registered in the storage device 13 as a management target manned vehicle.
- the abnormality monitoring unit 67 performs management including abnormality monitoring only for the manned vehicle 40 registered in the storage device 13.
- the abnormality monitoring unit 67 cancels abnormality monitoring for the manned vehicle 40 provided with the input device 49.
- step SP3 when it is determined that the command signal is not generated, that is, the input device 49 is not operated (step SP3: No), the alarm device control unit 70 is an alarm provided in the manned vehicle 40. A control signal for starting the device 48 is output. As a result, the alarm device 48 is activated (step SP4).
- the alarm device control unit 70 A control signal is transmitted to the manned vehicle 40 via the communication system 9 to activate the alarm device 48 provided in the manned vehicle 40.
- the display device 48A of the alarm device 48 displays image data indicating the operation area SA, image data indicating the entry prohibition area BP, and image data indicating the manned vehicle 40. Further, the display device 48A displays alarm data for prompting the worker WM to operate the input device 49. In the example shown in FIG. 14, character data “Please input” is displayed on the display device 48A as the alarm data. The alarm device 48 may output the voice data “please input” as the alarm data using the voice output device 48B.
- Activating the alarm device 48 enables the worker WM of the manned vehicle 40 to notice that he has neglected to operate the input device 49.
- the abnormality monitoring unit 67 cancels the abnormality monitoring of the manned vehicle 40 (step SP5).
- the command signal determination part 65 determines again whether the command signal was produced
- step SP6 when it is determined that the command signal is generated, that is, the input device 49 is operated (step SP6: Yes), the alarm by the alarm device 48 is released (step SP7).
- the response signal transmitted from the management device 10 to the manned vehicle 40 indicating that the abnormality monitoring has been canceled is converted into, for example, image data and displayed on the display device 48A, or converted into audio data and output to the audio output device 48B. Or output from.
- the worker WM confirms that the abnormality monitoring for the manned vehicle 40 driven by the worker WM has been released, and then leaves the operation area SA. be able to.
- step SP6 when it is determined that the command signal has not been generated, that is, the input device 49 has not been operated (step SP6: No), the abnormality monitoring unit 67 has left the manned vehicle 40 from the operating area SA. (Step SP9).
- step SP9 If it is determined in step SP9 that the manned vehicle 40 has not left the operating area SA (step SP9: No), the process proceeds to step SP7.
- the manned vehicle 40 exits from the operating area SA to the safety area SB, the expansion function of the entry prohibition area BP is canceled, and the abnormality monitoring by the abnormality monitoring unit 67 is canceled.
- the entry prohibition area BP is set for the manned vehicle 40 existing at the normal size.
- the entry prohibition area setting unit 12C cancels the expansion function of the entry prohibition area BP.
- the entry prohibition area setting unit 12C cancels the enlargement function of the entry prohibition area BP when the manned vehicle 40 exists in the safety area SB.
- the input device 49 when the manned vehicle 40 existing in the safety area SB leaves the operation area SA, the input device 49 is operated by the worker WM of the manned vehicle 40, and the manned vehicle 40 is It is declared to leave the operating area SA.
- the command signal generated based on the operation of the input device 49 includes a request signal for requesting termination of abnormality monitoring by the abnormality monitoring unit 67.
- a command signal generated based on the operation of the input device 49 is transmitted to the abnormality monitoring unit 67 via the communication system 9.
- the abnormality monitoring unit 67 releases the abnormality monitoring function based on the command signal from the input device 49 and ends the abnormality monitoring of the manned vehicle 40.
- the entry prohibition area BP will be enlarged when the abnormality monitoring unit 67 detects an abnormality.
- the possibility that the dump truck 2 and the manned vehicle 40 interfere with each other is sufficiently low.
- the entry prohibition area BP is timed when the abnormality monitoring of the abnormality monitoring unit 67 is abnormal.
- the manned vehicle 40 exists in the safety area SB, there is a possibility that a part of the entry prohibition area BP may enter the operation area SA.
- the entry prohibition area BP when it is determined by the abnormality monitoring function that no abnormality has occurred, the entry prohibition area BP is set with a normal size, and it is determined that an abnormality has occurred. In, the entry prohibition area BP is enlarged with the passage of time.
- the management device It is difficult for the ten entry prohibition area setting units 12C to acquire manned vehicle position data. Even if manned vehicle position data is acquired, the manned vehicle position data is likely to be inaccurate.
- the entry prohibition area BP is set based on inaccurate manned vehicle position data, the actual position of the manned vehicle 40 may be shifted from the set entry prohibition area BP, or the manned vehicle 40 may be located outside the entry prohibition area BP.
- FIG. 1 when an abnormality occurs in the abnormality monitoring function by the abnormality monitoring unit 67 in a state where the manned vehicle 40 exists in the operation area SA and the expansion function of the entry prohibition area BP is activated, FIG. As illustrated, the entry prohibition area setting unit 12C expands the entry prohibition area BP with the passage of time. As a result, the actual position of the manned vehicle 40 and the set entry prohibition area BP are prevented from shifting, and a portion of the manned vehicle 40 protruding outside the entry prohibition area BP is suppressed. Therefore, even when the manned vehicle 40 exists in the operation area SA, the entry prohibition area BP set with the second size prevents the dump truck 2 and the manned vehicle 40 from interfering with each other, and the manned vehicle 40 is safe. Is secured.
- the manned vehicle position data and manned vehicle speed data at the first time point when the abnormality monitoring function is normal are used without using the manned vehicle position data at the second time point when the abnormality monitoring function is abnormal.
- the dump truck 2 to be driven needs to decelerate, change the travel route, or stop by the entry prohibition area BP. In this case, the transportation work of the dump truck 2 is hindered, and the productivity of the mine is reduced.
- the entry prohibition area BP expands with the passage of time. In an extreme case, the entire mine is covered with the entry prohibition area BP, and all the dump trucks 2 are stopped from traveling. It will be greatly damaged.
- the entry prohibition area BP in a state where the manned vehicle 40 exists in the safety area SB, the abnormality monitoring is canceled, and the entry prohibition area BP is set with the minimum necessary first size, so that the entry prohibition area It is suppressed that BP is set to operation area SA. Therefore, the productivity drop of the dump truck 2 is suppressed, and the safety of the manned vehicle 40 is ensured.
- the entry prohibition area setting unit 12C enters the entry when it is determined that the portable apparatus 80 has left the entry prohibition area BP and moved to the entry prohibition area BP based on the position data of the portable apparatus 80.
- the expansion function of the prohibited area BPc is canceled.
- the alarm device controller 70 activates the alarm device of the portable device 80.
- An activation signal is transmitted to the portable device 80.
- the alarm device of the portable device 80 is activated, and the operator WM can be prompted to operate the input device of the portable device 80.
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Abstract
Description
図1は、本実施形態に係る鉱山の管理システム1によって管理される鉱山の採掘現場の一例を模式的に示す図である。管理システム1は鉱山を管理する。鉱山において無人車両2、有人車両40、及び作業者が稼働する。鉱山の管理は、無人車両2の管理、有人車両40の管理、及び作業者の管理を含む。
次に、有人車両40について説明する。図2及び図3は、本実施形態に係る有人車両40の一例を模式的に示す図である。図4は、本実施形態に係る有人車両40の一例を示す機能ブロック図である。
次に、管理システム1の管理装置10について説明する。図5は、本実施形態に係る管理装置10の一例を示すブロック図である。図5に示すように、管理装置10は、コンピュータシステム11と、表示装置16と、入力装置17と、無線通信装置18とを備える。
次に、ダンプトラック2について説明する。図6及び図7は、本実施形態に係るダンプトラック2の一例を模式的に示す図である。図8は、本実施形態に係るダンプトラック2の一例を示す機能ブロック図である。
次に、進入禁止領域設定部12Cによって設定される進入禁止領域BPについて説明する。図9は、本実施形態に係る進入禁止領域BPの一例を模式的に示す図である。図9に示すように、本実施形態において、進入禁止領域BPは円形に設定される。
次に、本実施形態に係る鉱山の管理方法の一例について説明する。図10は、本実施形態に係る鉱山の管理システム1の動作の一例を示すフローチャートである。図11、図12、及び図13は、本実施形態に係る鉱山の管理方法の一例を模式的に示す図である。図11及び図12は、有人車両40がダンプトラック2の稼働エリアSAから退出する前の状態を示す。図13は、有人車両40がダンプトラック2の稼働エリアSAから退出した後の状態を示す。図14は、本実施形態に係る警報装置48による警報の一例を示す図である。
以上説明したように、本実施形態によれば、安全エリアSBに存在する有人車両40が稼働エリアSAから退出するとき、有人車両40の作業者WMにより入力装置49が操作され、有人車両40が稼働エリアSAから退出することが宣言される。入力装置49の操作に基づいて生成される指令信号は、異常監視部67による異常監視の終了を要求する要求信号を含む。入力装置49が操作されることによって、入力装置49の操作に基づいて生成された指令信号は、通信システム9を介して、異常監視部67に送信される。異常監視部67は、入力装置49からの指令信号に基づいて、異常監視機能を解除し、有人車両40の異常監視を終了する。これにより、有人車両40が稼働エリアSAに存在するときには有人車両40の安全が確保され、有人車両40が安全エリアSBに存在するときには異常監視機能が過度に機能することが抑制され鉱山の生産性の低下が抑制される。
なお、上述の実施形態においては、ダンプトラック2とは別の移動体が有人車両40であることとした。ダンプトラック2とは別の移動体が作業者WMに保持される携帯機器でもよい。図15及び図16は、ダンプトラック2とは別の移動体である携帯機器80の一例を示す模式図である。携帯機器80は、作業者WMに保持された状態で、鉱山を移動する。
2 ダンプトラック(無人車両)
3 車両
4 ベッセル
5 走行装置
6 車体
7 動力発生装置
8 管制施設
9 通信システム
10 管理装置
11 コンピュータシステム
12 処理装置
12A データ処理部
12B 第1無人車両走行データ生成部
12C 進入禁止領域設定部
13 記憶装置
13B データベース
15 入出力部
16 表示装置
17 入力装置
18 無線通信装置
20 車輪
21 車軸
22 ブレーキ装置
23 操舵装置
24 非接触センサ
25 記憶装置
25B データベース
26 ジャイロセンサ
27 速度センサ
28 位置センサ
28A アンテナ
29 無線通信装置
29A アンテナ
30 無人車両制御装置
30A 第2無人車両走行データ生成部
40 有人車両
41 走行装置
42 車輪
43 動力発生装置
43A アクセル操作部
44 ブレーキ装置
44A ブレーキ操作部
45 操舵装置
45A ステアリンス操作部
46 速度センサ
48 警報装置
48A 表示装置
48B 音声出力装置
49 入力装置
50 車体
51 位置センサ
51A アンテナ
52 無線通信装置
52A アンテナ
60 有人車両制御装置
63 有人車両位置データ取得部
64 有人車両速度データ取得部
65 指令信号判定部
66 退出判定部
67 異常監視部
68 異常判定部
70 警報装置制御部
80 携帯機器
AP 走行許可領域
BP 進入禁止領域
DPA 排土場
HL 走行路
LM 積込機械
LPA 積込場
SA 稼働エリア
SB 安全エリア
ST GPS衛星
WM 作業者
Claims (6)
- 鉱山の稼働エリアにおいて無人車両が稼働する前記鉱山の管理システムであって、
前記無人車両とは別の移動体の位置データに基づいて前記稼働エリアから前記移動体が退出したか否かを判定する退出判定部と、
前記移動体に設けられている入力装置の操作に基づいて前記移動体の異常監視を終了する異常監視部と、
前記移動体の位置を含むように前記無人車両の進入を禁止する進入禁止領域を設定し、前記異常監視により異常が検出された場合に前記進入禁止領域を拡大する進入禁止領域設定部と、
前記稼働エリアから前記移動体が退出し前記入力装置が未操作であると判定されたとき、前記移動体に設けられている警報装置を起動する警報装置制御部と、
を備える鉱山の管理システム。 - 前記進入禁止領域設定部は、前記異常監視により異常が検出された場合に前記移動体の存在可能領域を推測して前記進入禁止領域を拡大する、
請求項1に記載の鉱山の管理システム。 - 前記異常監視部は、前記稼働エリアから前記移動体が退出したと判定されたとき、前記異常監視を終了する、
請求項1又は請求項2に記載の鉱山の管理システム。 - 前記進入禁止領域設定部は、前記安全エリアに存在するときに前記進入禁止領域の拡大機能を解除する、
請求項1から請求項3のいずれか一項に記載の鉱山の管理システム。 - 前記異常監視部は前記異常監視が終了したことを前記移動体に通知する、
請求項1から請求項4のいずれか一項に記載の鉱山の管理システム。 - 鉱山の稼働エリアにおいて無人車両が稼働するコンピュータシステムによる前記鉱山の管理方法であって、
前記無人車両とは別の移動体の位置データを取得することと、
前記移動体の位置を含むように前記無人車両の進入を禁止する進入禁止領域を設定することと、
前記位置データに基づいて前記稼働エリアから前記移動体が退出したか否かを判定することと、
前記移動体に設けられている入力装置の操作に基づいて生成された指令信号を取得することと、
前記指令信号に基づいて前記移動体の異常監視を終了することと、
前記異常監視により異常が検出された場合に前記進入禁止領域を拡大することと、
前記稼働エリアから前記移動体が退出し前記入力装置が未操作であると判定されたとき、前記移動体に設けられている警報装置を起動する制御信号を出力することと、
を含む鉱山の管理方法。
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JP2015561447A JP5989927B2 (ja) | 2015-10-30 | 2015-10-30 | 鉱山の管理システム及び鉱山の管理方法 |
AU2015310161A AU2015310161B1 (en) | 2015-10-30 | 2015-10-30 | Mine management system and mine managing method |
US14/917,372 US9595196B1 (en) | 2015-10-30 | 2015-10-30 | Mine management system and mine managing method |
CA2922128A CA2922128C (en) | 2015-10-30 | 2015-10-30 | Mine management system and mine managing method |
PCT/JP2015/080845 WO2016039489A1 (ja) | 2015-10-30 | 2015-10-30 | 鉱山の管理システム及び鉱山の管理方法 |
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CN106941781A (zh) | 2017-07-11 |
AU2015310161B1 (en) | 2017-04-20 |
CA2922128C (en) | 2017-09-05 |
JPWO2016039489A1 (ja) | 2017-04-27 |
US9595196B1 (en) | 2017-03-14 |
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CA2922128A1 (en) | 2017-04-30 |
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