WO2016056677A1 - 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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- WO2016056677A1 WO2016056677A1 PCT/JP2015/080846 JP2015080846W WO2016056677A1 WO 2016056677 A1 WO2016056677 A1 WO 2016056677A1 JP 2015080846 W JP2015080846 W JP 2015080846W WO 2016056677 A1 WO2016056677 A1 WO 2016056677A1
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- manned vehicle
- area
- abnormality monitoring
- mine
- abnormality
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- 238000007726 management method Methods 0.000 title claims abstract description 99
- 230000005856 abnormality Effects 0.000 claims abstract description 136
- 238000012544 monitoring process Methods 0.000 claims abstract description 118
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2054—Fleet management
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
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- 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
- G05D1/02—Control of position or course in two dimensions
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/08—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using communication transmission lines
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
-
- 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
Definitions
- the present invention relates to a mine management system and a mine management method.
- 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, and the operation area is set based on position data of a moving body different from the unmanned vehicle.
- Abnormality monitoring including an entry determination unit that determines whether or not the moving body enters and an abnormality in at least one of a communication state and a position detection state of the moving body based on an operation of an input device provided in the moving body
- an entry prohibition area for prohibiting entry of the unmanned vehicle so as to include the position of the moving body, and the entry prohibition area is expanded when an abnormality is detected by the abnormality monitoring section.
- An entry prohibition area setting unit that activates a function, and a warning that activates an alarm device provided in the moving body when it is determined that the moving body has entered the operating area and the input device has not been operated.
- Mine management system comprising a device controller, is provided.
- 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. Determining whether the moving body enters the operating area based on the position data, and acquiring a command signal generated based on an operation of an input device provided in the moving body And starting abnormality monitoring including at least one abnormality of a communication state and a position detection state of the mobile body based on the command signal, and prohibiting the unmanned vehicle from entering so as to include the position of the mobile body Setting an entry prohibition area, activating an enlargement function of the entry prohibition area when an abnormality is detected by the abnormality monitoring unit, and moving the moving body into the operation area.
- management of mines including, and outputting a control signal to trigger an alarm device provided in the movable body is provided.
- 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 entry 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 entry determination unit 66, an abnormality monitoring unit 67, an abnormality determination unit 68, and an alarm device control unit 70.
- the data processing unit 12A processes the position data of the dump truck 2, for example.
- the position data of the dump truck 2 is supplied from the dump truck 2 via the communication system 9.
- the first unmanned vehicle travel data generation unit 12B generates first unmanned vehicle travel data including the target travel route of the dump truck 2 in the mine.
- the dump truck 2 travels based on the first unmanned vehicle travel data generated by the first unmanned vehicle travel data generation unit 12B in the loading field LPA, the earth removal site DPA, and the travel path HL.
- the entry prohibition area setting unit 12C sets an entry prohibition area where entry of the dump truck 2 is prohibited in the mine.
- the entry prohibition area setting unit 12C sets the entry prohibition area so as to include the position of the manned vehicle 40.
- the manned vehicle position data acquisition unit 63 acquires manned vehicle position data indicating the position (GPS position) of the manned vehicle 40.
- the manned vehicle position data is acquired by a position sensor 51 provided in the manned vehicle 40.
- the manned vehicle position data acquisition unit 63 acquires manned vehicle position data from the manned vehicle 40 via the communication system 9.
- the manned vehicle position data acquisition unit 63 functions as a moving body position data acquisition unit that acquires position data of the manned vehicle 40 that is a moving body different from the dump truck 2.
- the moving body position data indicating the position of the moving body includes manned vehicle position data.
- the manned vehicle speed data acquisition unit 64 acquires manned vehicle speed data indicating the traveling speed of the traveling device 41 of the manned vehicle 40.
- the manned vehicle speed data is acquired by a speed sensor 46 provided in the manned vehicle 40.
- the manned vehicle speed data is obtained from the manned vehicle 40 via the communication system 9.
- the manned vehicle speed data acquisition unit 64 functions as a moving body speed data acquisition unit that acquires speed data of the manned vehicle 40 that is a moving body different from the dump truck 2.
- the moving body speed data indicating the traveling speed of the moving body includes manned vehicle speed data.
- 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 entry determination unit 66 determines whether or not the manned vehicle 40 enters the operation area where the dump truck 2 operates in the mine, based on the manned vehicle position data.
- the operation area data indicating the operation area of the dump truck 2 is known data set in advance and is stored in the storage device 13. Based on the manned vehicle position data acquired by the manned vehicle position data acquisition unit 63 and the operation area data stored in the storage device 13, the entry determination unit 66 enters the operation area of the dump truck 2. It is determined whether or not to do.
- the abnormality monitoring unit 67 starts monitoring the abnormality of the manned vehicle 40 based on the operation of the input device 49 provided in the manned vehicle 40.
- the abnormality monitoring of the manned vehicle 40 includes at least one of monitoring the communication state between the management device 10 and the manned vehicle 40 by the communication system 9 and monitoring the position accuracy of the manned vehicle 40.
- the communication state monitoring includes monitoring whether the communication state between the management device 10 and the manned vehicle 40 by the communication system 9 is normal or abnormal.
- Position accuracy monitoring includes monitoring whether the position detection state of the manned vehicle 40 by the position sensor 51 including a GPS receiver is normal or abnormal.
- the abnormality monitoring unit 57 activates an abnormality monitoring function including at least one of a communication state monitoring function and a position accuracy monitoring function.
- the abnormality monitoring function includes enabling an entry prohibition area expansion function, which will be described later, at the time of abnormality.
- the abnormality monitoring unit 67 activates the abnormality monitoring function when it is determined that the manned vehicle 40 enters the operation area of the dump truck 2 even if the input device 49 is not operated.
- 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 activates and activates the entry prohibition area enlargement function when it is determined that an abnormality has occurred by the abnormality monitoring function of the abnormality determination unit 68.
- the entry prohibition area setting unit 12C estimates an area where the manned vehicle 40 can exist when the abnormality monitoring function is abnormal. Based on the manned vehicle current state data at the first time point when the position accuracy of the manned vehicle 40 detected by the position sensor 51 is normal, the entry prohibition area setting unit 12C is set at the second time point after the first time point. A possible region that is a region where 40 may exist is estimated.
- the manned vehicle current state data at the first time point includes manned vehicle position data indicating the GPS position of the manned vehicle 40 at the first time point and manned vehicle speed data indicating the traveling speed of the manned vehicle 40 at the first time point.
- the manned vehicle current state data at the first time point may include steering data indicating the steering angle of the traveling device 41 at the first time point.
- 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 alarm device control unit 70 outputs a control signal for controlling the alarm device 48 provided in the manned vehicle 40.
- the alarm device control unit 70 outputs a control signal to the manned vehicle 40 via the communication system 9.
- the alarm device control unit 70 determines that the manned vehicle 40 enters the operation area of the dump truck 2 by the entry determination unit 66 and determines that the input device 49 is not operated by the command signal determination unit 65.
- 40 outputs a control signal for activating the alarm device 48 provided at 40.
- 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.
- the estimated position obtained by dead reckoning is corrected using GPS, but may be corrected by other methods.
- the landmark in which the installation position is registered may be detected by the non-contact sensor 24 mounted on the dump truck 2, and the estimated position may be corrected based on the detection result of the non-contact sensor 24.
- the landmarks are a plurality of structures arranged along the traveling road HL.
- the landmark installation position absolute position
- a roadside map of the road HL may be measured in advance, and the estimated position may be corrected based on a collation result between the roadside map and the shape of the road HL detected by the non-contact sensor 24.
- 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.
- Manned vehicle position data indicating the position of the manned vehicle 40 is transmitted from the manned vehicle 40 to the management device 10 via the communication system 9.
- the entry prohibition area setting unit 12C of the management device 10 sets the entry prohibition area BP that prohibits the entry of the dump truck 2 so as to include the position of the manned vehicle 40.
- the entry prohibition area setting unit 12C sets the entry prohibition area BP so that the manned vehicle 40 is protected.
- the first unmanned vehicle travel data generation unit 12B sets the travelable area AP of the dump truck 2 so as not to overlap the entry prohibition area BP.
- the two dump trucks 2 traveling on the forward path and the return path are stopped on the travel path HL so as not to enter the entry prohibition area BP. Thereby, the collision with the dump truck 2 and the manned vehicle 40 is avoided.
- 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.
- FIG. 11 shows a state before the manned vehicle 40 enters the operation area SA of the dump truck 2.
- 12 and 13 show a state after the manned vehicle 40 has entered 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 operating area SA is an area where the dump truck 2 operates in the mine, and includes a traveling area where the dump truck 2 travels.
- the operation area SA includes at least a part of the loading site LPA, the earth discharging site DPA, and the traveling path HL in which the transport operation of the dump truck 2 is performed.
- the safety area SB is an area where the dump truck 2 does not operate in the mine, and includes a non-travel area where the dump truck 2 does not travel.
- the safety area SB is an area outside the operation area SA, and in the present embodiment, is an area outside the loading area LPA, the earth discharging area DPA, and the traveling path HL.
- the dump truck 2 travels only in the operation area SA, and the manned vehicle 40 can travel in each of the operation area SA and the safety area SB.
- the manned vehicle 40 can enter or leave the operation area SA through the access path.
- the access road is a road provided in the safety area SB, and the dump truck 2 does not travel on the access road.
- the operating area data indicating the operating area SA and the safety area data indicating the safety area SB are preset known data and are stored in the storage device 13.
- Each of the operating area SA and the safety area SB is an area defined in the GPS coordinate system, and includes coordinate data of latitude, longitude, and altitude.
- the operating area data and the safe area data are updated in real time.
- the operating area SA and the safety area SB each include latitude and longitude coordinate data and may not include altitude coordinate data.
- the operating area SA and the safety area SB may not be defined in the GPS coordinate system, but may be a grid coordinate system with an arbitrary point as the origin.
- the entry prohibition area setting unit 12C sets the entry prohibition area BP both when the manned vehicle 40 exists in the operation area SA and when it exists in the safety area SB. It can be set.
- 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.
- step SP1 When the manned vehicle control device 60 of the manned vehicle 40 is activated, communication between the manned vehicle 40 and the management device 10 of the management system 1 by the communication system 9 is established (step SP1).
- the entry prohibition area setting unit 12C determines the position of the manned vehicle 40 based on the manned vehicle position data.
- An entry prohibition area BP that prohibits the entry of the dump truck 2 is set so as to be included (step SP2).
- the manned vehicle position data acquisition unit 63 of the management device 10 acquires manned vehicle position data indicating the position of the manned vehicle 40 from the manned vehicle 40 via the communication system 9 (step SP3).
- the entry prohibition area BP is set so as to include the position of the manned vehicle 40.
- the entry prohibition area BP is set to the initial size (normal size).
- the manned vehicle 40 travels in the mine safety area SB by the driving operation of the worker WM.
- the command signal determination part 65 determines whether the command signal was produced
- the command signal generated by the input device 49 includes a request signal for requesting the start of abnormality monitoring by the abnormality monitoring unit 67.
- the abnormality monitoring start request includes a management request or participation request for the manned vehicle 40 by the management device 10.
- the worker WM of the manned vehicle 40 operates the input device 49 to request the management device 10 to start management including abnormality monitoring when the manned vehicle 40 enters the operation area SA.
- the abnormality monitoring unit 67 receives a command signal from the input device 49, the abnormality monitoring unit 67 registers the manned vehicle 40 provided with the input device 49 as a management target manned vehicle in the storage device 13.
- the abnormality monitoring unit 67 performs management including abnormality monitoring only for the manned vehicle 40 registered in the storage device 13.
- step SP4 when it is determined that the command signal is generated, that is, the input device 49 is operated (step SP4: Yes), the abnormality monitoring unit 67 adds the command signal generated by the input device 49 to the command signal. Based on this, the abnormality monitoring of the manned vehicle 40 is started (step SP5).
- the abnormality monitoring function includes enabling the expansion function of the entry prohibition region BP, and the abnormality monitoring unit 67 enables the expansion function of the entry prohibition region BP at the time of abnormality.
- the abnormality monitoring unit 67 determines whether the position detection state and the communication state of the manned vehicle 40 are normal (step SP6).
- the abnormality monitoring function includes at least one of a communication state monitoring function and a position accuracy monitoring function.
- Abnormality of the abnormality monitoring function means that it is difficult to set the entry prohibition region 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. Includes the time of occurrence. The safety of the manned vehicle 40 is ensured by expanding the entry prohibition area BP.
- step SP6 when it is determined that the position detection state and the communication state of the manned vehicle 40 are normal (step SP6: Yes), the entry prohibition area BP is not enlarged and the size thereof is maintained.
- step SP6 When it is determined in step SP6 that the position detection state and communication state of the manned vehicle 40 are not normal (step SP6: No), the entry prohibition area setting unit 12C expands the entry prohibition area BP when abnormality monitoring is abnormal.
- Step SP7 The entry prohibition area setting unit 12C, when the abnormality monitoring function by the abnormality monitoring unit 67 is abnormal, is based on the manned vehicle current state data at the first time when the abnormality monitoring function is normal. A possible existence area that is a possibility that the manned vehicle 40 may exist at the time is estimated.
- the entry prohibition area setting unit 12C expands the entry prohibition area BP with the passage of time based on the estimated existence possible area.
- the entry prohibited region setting unit 12C As shown in FIG. 2, the entry prohibition area BP is enlarged.
- step SP4 when it is determined that the command signal is not generated, that is, the input device 49 is not operated (step SP4: No), the abnormality monitoring unit 67 causes the manned vehicle 40 to enter the operating area SA. It is determined whether or not (step SP8).
- the entry determination unit 66 is manned in 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 operation area data and safety area data stored in the storage device 13. It can be determined whether the vehicle 40 is approaching.
- step SP8 If it is determined in step SP8 that the manned vehicle 40 has not entered the operating area SA, the process returns to step SP3.
- step SP8 when it is determined that the manned vehicle 40 has entered the operating area SA, the alarm device control unit 70 outputs a control signal for starting the alarm device 48 provided in the manned vehicle 40. As a result, the alarm device 48 is activated (step SP9).
- 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 starts monitoring the abnormality of the manned vehicle 40 (step SP10).
- the command signal determination part 65 determines whether the command signal was produced
- step SP11 when it is determined that the command signal is generated, that is, the input device 49 is operated (step SP11: Yes), the alarm of the alarm device 48 is released (step SP12).
- step SP11 when it is determined that the command signal is not generated, that is, the input device 49 is not operated (step SP11: No), it is determined whether or not the manned vehicle 40 has entered the operating area SA. (Step SP13).
- step SP13 If it is determined in step SP13 that the manned vehicle 40 has entered the operating area SA (step S13: Yes), the process returns to step SP11.
- step SP13 When it is determined in step SP13 that the manned vehicle 40 has not entered the operating area SA (step S13: No), the abnormality monitoring is canceled (step SP14).
- the abnormality monitoring unit 67 when abnormality monitoring is started, notifies the manned vehicle 40 via the communication system 9 that abnormality monitoring has started.
- the abnormality monitoring unit 67 transmits a response signal indicating that abnormality monitoring has been started to the manned vehicle 40 via the communication system 9.
- the notification indicating that the abnormality monitoring has started means a notification indicating that the manned vehicle 40 is registered in the storage device 13 of the management device 10 as a management target manned vehicle.
- the response signal transmitted from the management device 10 to the manned vehicle 40 indicating that the abnormality monitoring has been started and registered as the manned vehicle to be managed is converted into image data and displayed on the display device 48A, for example. It is converted into audio data and output from the audio output device 48B.
- the worker WM confirms that the manned vehicle 40 driven by the worker WM is registered in the management device 10 and is monitored for abnormality. You can enter SA.
- the input device 49 is operated by the worker WM of the manned vehicle 40, and the manned vehicle 40 is Declared to enter the operating area SA.
- the command signal generated based on the operation of the input device 49 includes a request signal for requesting the abnormality monitoring unit 67 to start abnormality monitoring.
- 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 activates the abnormality monitoring function based on the command signal from the input device 49 and starts monitoring the abnormality of the manned vehicle 40. Thereby, the safety of the manned vehicle 40 is ensured.
- the alarm device 48 provided in the manned vehicle 40 is activated. Even if the worker WM neglects to operate the input device 49 when the manned vehicle 40 enters the operation area SA, the warning device 48 is activated to alert the worker WM. The operation of the alarm device 48 can prompt the worker WM to operate the input device 49. Since the abnormality monitoring is started by operating the input device 49, the safety of the manned vehicle 40 is ensured.
- the entry prohibition area BP when it is determined that no abnormality has occurred by the abnormality monitoring function, the entry prohibition area BP is set with the size of the initial state, and it is determined that an abnormality has occurred by the abnormality monitoring function.
- the entry prohibition area BP is enlarged as time passes.
- the entry prohibition region setting unit 12C can reliably set the entry prohibition region BP for protecting the manned vehicle 40 based on the manned vehicle position data. it can.
- the entry prohibition area BP set in the normal size. And the safety of the manned vehicle 40 is ensured.
- the entry prohibition area BP is set to a normal size, so that the productivity of the dump truck 2 is prevented from being lowered.
- the entry prohibition area BP is unnecessarily large, the dump truck 2 approaching the entry prohibition area BP decelerates, changes the travel route, or stops even though the possibility of interference with the manned vehicle 40 is low. It is necessary to do. In a state in which the abnormality monitoring function is functioning normally, the entry prohibition area BP is set with the minimum necessary size, so that the productivity of the dump truck 2 is suppressed and the safety of the manned vehicle 40 is reduced. Can be secured.
- 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 entry prohibition area setting unit 12C is based on the manned vehicle current state data at the first time point when the abnormality monitoring function is normal when the abnormality monitoring function by the abnormality monitoring unit 67 is abnormal. A possible existence area that is a possibility that the manned vehicle 40 may exist at a second time point after the first time point is estimated. Accordingly, the entry prohibition area setting unit 12C 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 or a decrease in position detection accuracy of the manned vehicle 40 by the position sensor 51.
- 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 abnormality monitoring unit 67 when it is determined that the manned vehicle 40 enters the operating area SA based on the manned vehicle position data in a state where the input device 49 is not operated by the worker WM of the manned vehicle 40, the abnormality monitoring unit 67 does not receive the command signal of the input device 49, but starts monitoring the abnormality of the manned vehicle 40. Thereby, even if the worker WM neglects the operation of the input device 49 even though the alarm device 48 is activated, the abnormality monitoring is started when the manned vehicle 40 enters the operation area SA. The safety of the manned vehicle 40 is ensured.
- abnormality monitoring is automatically started when the manned vehicle 40 enters the operating area SA even if the input device 49 is not operated.
- the safety of the manned vehicle 40 can be sufficiently ensured.
- the worker WM may cause the manned vehicle 40 to enter the operation area SA without paying attention to the success or failure of the abnormality monitoring.
- the worker WM can pay attention to the success or failure of the start of abnormality monitoring.
- abnormality monitoring is surely started. Further, since the worker WM pays attention to the success or failure of the start of abnormality monitoring, after operating the input device 49, when the response signal indicating that abnormality monitoring has started is not notified from the abnormality monitoring unit 67, Alternatively, when an error signal indicating that the start of abnormality monitoring has failed is notified, it is possible to restrain the manned vehicle 40 from entering the operation area SA. Therefore, the safety of the manned vehicle 40 is sufficiently ensured.
- the entry prohibition area setting unit 12C sets the entry prohibition area BP when the manned vehicle 40 exists in each of the operation area SA and the safety area SB. Thereby, the safety of the manned vehicle 40 is ensured. Further, in the present embodiment, when the manned vehicle 40 is present in the operation area SA, the enlargement function of the entry prohibition area BP is activated, and the entry prohibition area BP is enlarged when the abnormality monitoring function is abnormal. On the other hand, when the manned vehicle 40 exists in the safety area SB, the enlargement function of the entry prohibition area BP is canceled, and the entry prohibition area BP is not enlarged both when the abnormality monitoring function is normal and when it is abnormal.
- the entry prohibition area BP is expanded when the abnormality monitoring function is abnormal.
- the manned vehicle 40 exists in the safety area SB, a part of the entry prohibited area BP may enter the operation area SA. Even if the manned vehicle 40 exists in the safety area SB and the safety of the manned vehicle 40 is ensured, if a part of the enlarged entry prohibition area BP enters the operation area SA, the vehicle travels in the operation area SA.
- 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 prohibited area BP is set to the minimum necessary size, thereby preventing the entry prohibited area BP from being set as the 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 abnormality monitoring unit 67 starts the abnormality monitoring
- the abnormality monitoring is started, and the manned vehicle 40 is registered in the storage device 13 as a management target of the management device 10.
- a response signal indicating this is sent to the manned vehicle 40.
- the worker WM causes the manned vehicle 40 to enter the operation area SA. be able to.
- the worker WM causes the manned vehicle 40 to enter the operation area SA. I can refrain from that. Thereby, the safety of the manned vehicle 40 can be ensured.
- the entry prohibition area BP is set to the normal size in the initial state in which communication of the communication system 9 is established, and is expanded with time when the abnormality monitoring function is abnormal.
- the size of the initial state of the entry prohibition region BP may be changed by operating the input device 49 of the manned vehicle 40 or may be changed by operating the input device 17 of the management device 10.
- the worker WM or the manager can select the size of the initial state of the entry prohibited area BP according to the mine situation.
- the moving body different from the dump truck 2 is the manned vehicle 40. It may be a portable device in which a moving body different from the dump truck 2 is held by the worker WM.
- 15 and 16 are schematic views illustrating an example of the portable device 80 that is a moving body different from the dump truck 2. The portable device 80 moves in the mine while being held by the worker WM.
- the portable device 80 includes a position sensor including a GPS receiver, an input device, a wireless communication device capable of wireless communication with the management device 10, an alarm device including at least one of a display device and an audio output device, and a portable device control device. And have.
- the position sensor of the portable device 80 has the same function as the position sensor 51 of the manned vehicle 40.
- the input device of the portable device 80 has the same function as the input device 49 of the manned vehicle 40.
- the wireless communication device of the portable device 80 has a function equivalent to that of the wireless communication device 52 of the manned vehicle 40.
- the alarm device of the portable device 80 has the same function as the alarm device 48 of the manned vehicle 40.
- the mobile device control device of the mobile device 80 has the same function as the manned vehicle control device 60 of the manned vehicle 40.
- the portable device 80 held by the worker WM is activated, and the management device 10 of the portable device 80
- the entry prohibition area BPc is set so as to include the position of the mobile device 80.
- the entry prohibition region BPc set for the portable device 80 is set to the third size.
- the entry prohibition area setting unit 12C activates the enlargement function of the entry prohibition area BPc when it is determined that the portable apparatus 80 has moved to an area outside the entry prohibition area BP based on the position data of the portable apparatus 80. To do.
- the entry prohibition region setting unit 12C sets the entry prohibition region BPc to the normal size as shown in FIG. Expand from. Thereby, the safety of the worker WM holding the portable device 80 is ensured.
- the alarm device control unit 70 activates the alarm device of the mobile device 80.
- An activation signal for transmitting is transmitted to the portable device 80.
- the alarm device of the mobile device 80 is activated, and the operator WM can be prompted to operate the input device of the mobile device 80.
- the management device 10 is provided with functions such as the determination unit 65, the entry determination unit 66, the abnormality monitoring unit 67, the abnormality determination unit 68, the alarm device control unit 70, and the storage device 13. As shown in FIG. 17, these functional units may be provided in the manned vehicle 40 (manned vehicle control device 60) or may be provided in the portable device 80 (portable device control device). That is, in the above-described embodiment, the management system 1 may be provided in the control facility 8 or may be provided in a moving body including at least one of the manned vehicle 40 and the portable device 80.
- the position data of the moving body is acquired by a position sensor including a GPS receiver.
- a position sensor including a GPS receiver.
- the access path is connected to the travel path HL
- a beacon terminal is provided on the access path
- the position of the mobile object when communication between the beacon terminal and the mobile object is established is May be acquired as the position data.
- the time when it is determined that the moving body enters the operating area SA is based on the moving body position data acquired by the moving body position data acquisition unit. It may be the time when it is determined that the mobile object has entered the operating area SA, the time when the elapsed time after entering the operating area SA has passed the threshold, or the moving object approaching the operating area SA and the operating area SA in the safety area SB It may be the time when the distance becomes less than the threshold.
- the worker WM may operate the input device 49 and send report data indicating the status report of the travel path HL to the management device 10 as part of monitoring and maintenance of the mine.
- the input device 49 is not operated, transmission of report data may be prohibited.
- the worker WM can be made to reliably operate the input device 49.
- Management system Dump truck (unmanned vehicle) 3 Vehicle 4 Vessel 5 Traveling Device 6 Car Body 7 Power Generation Device 8 Control Facility 9 Communication System 10 Management Device 11 Computer System 12 Processing Device 12A Data Processing Unit 12B First Unmanned Vehicle Traveling Data Generation Unit 12C Entry Prohibition Area Setting Unit 13 Storage Device 13B Database 15 Input / output unit 16 Display device 17 Input device 18 Wireless communication device 20 Wheel 21 Axle 22 Brake device 23 Steering device 24 Non-contact sensor 25 Storage device 25B Database 26 Gyro sensor 27 Speed sensor 28 Position sensor 28A Antenna 29 Wireless communication device 29A Antenna 30 Unmanned vehicle control device 30A Second unmanned vehicle travel data generation unit 40 Manned vehicle 41 travel device 42 Wheel 43 Power generation device 43A Accelerator operation unit 44 Brake device 44A Brake operation unit 45 Steering device 45A Steer Rinse operation unit 46 Speed sensor 48 Alarm device 48A Display device 48B Audio output device 49 Input device 50 Car body 51 Position sensor 51A Antenna 52 Wireless communication device 52A Antenna 60 Manned vehicle control device
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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は、有人車両40がダンプトラック2の稼働エリアSAに進入する前の状態を示す。図12及び図13は、有人車両40がダンプトラック2の稼働エリアSAに進入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に進入するとき、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に進入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による異常監視の開始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、異常監視機能を起動し、有人車両40の異常監視を開始する。これにより、有人車両40の安全が確保される。
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 進入判定部
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 (5)
- 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に前記移動体が進入するか否かを判定する進入判定部と、
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通信状態及び位置検出状態の少なくとも一方の異常を含む異常監視を開始する異常監視部と、
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、前記異常監視部により異常が検出されたときに前記進入禁止領域の拡大機能を起動する進入禁止領域設定部と、
前記稼働エリアに前記移動体が進入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、前記異常監視部により異常が検出されたとき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、前記稼働エリアに前記移動体が進入すると判定されたとき、前記異常監視を開始する、
請求項1又は請求項2に記載の鉱山の管理システム。 - 前記異常監視部は前記異常監視が開始されたことを前記移動体に通知する、
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。 - 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、
前記位置データに基づいて前記稼働エリアに前記移動体が進入する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通信状態及び位置検出状態の少なくとも一方の異常を含む異常監視を開始することと、
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、
前記異常監視部により異常が検出されたときに前記進入禁止領域の拡大機能を起動することと、
前記稼働エリアに前記移動体が進入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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WO2021053989A1 (ja) * | 2019-09-18 | 2021-03-25 | 村田機械株式会社 | 走行車システム |
JP7380694B2 (ja) | 2019-09-18 | 2023-11-15 | 村田機械株式会社 | 走行車システム |
US11958689B2 (en) | 2019-09-18 | 2024-04-16 | Murata Machinery, Ltd. | Vehicle system |
JP7064036B1 (ja) | 2021-03-26 | 2022-05-09 | 日立建機株式会社 | 車両管理システム |
WO2022201989A1 (ja) * | 2021-03-26 | 2022-09-29 | 日立建機株式会社 | 車両管理システム |
JP2022150375A (ja) * | 2021-03-26 | 2022-10-07 | 日立建機株式会社 | 車両管理システム |
AU2022244599B2 (en) * | 2021-03-26 | 2023-10-05 | Hitachi Construction Machinery Co., Ltd. | Vehicle management system |
Also Published As
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US9593463B1 (en) | 2017-03-14 |
JP6030778B2 (ja) | 2016-11-24 |
JPWO2016056677A1 (ja) | 2017-04-27 |
US20170145663A1 (en) | 2017-05-25 |
CA2926299C (en) | 2019-04-30 |
CN106341982A (zh) | 2017-01-18 |
AU2015319797A1 (en) | 2017-05-18 |
US9828748B2 (en) | 2017-11-28 |
CA2926299A1 (en) | 2017-04-30 |
AU2015319797C1 (en) | 2018-08-16 |
AU2015319797B2 (en) | 2018-03-01 |
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