Mining machine management system and management method

A mining machine management system includes a detection unit mounted on a mining machine that travels in a mine in which a plurality of landmarks is installed, and which detects a position of the landmark with respect to the mining machine in a non-contact manner, and a traveling control unit which corrects a current position of the mining machine based on a position of the landmark, the position having been obtained in advance, and the position of the landmark obtained by the detection unit and causes the mining machine to travel by dead reckoning navigation, and which does not use at least the position of the landmark detected by the detection unit in causing the mining machine to travel by the dead reckoning navigation, when a vehicle traveling in the mine exists around the position of the landmark detected by the detection unit.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is related to co-pending application: “MINING MACHINE MANAGEMENT SYSTEM, MINING MACHINE, AND MANAGEMENT METHOD” filed even date herewith in the names of Masanori TOJIMA and Mitsuhiro RYUMAN as a national phase entry of PCT/JP2013/085264 filed Dec. 27, 2013 and “MANAGEMENT SYSTEM AND MANAGING METHOD OF MINING MACHINE” filed on Jun. 21, 2016, U.S. Ser. No. 15/106,902, in the names of Masanori TOJIMA and Mitsuhiro RYUMAN as a national phase entry of PCT/JP2013/085258 filed Dec. 27, 2013, which application is assigned to the assignee of the present application and is incorporated by reference herein.

FIELD

The present invention relates to a mining machine management system and a management method.

BACKGROUND

In mines, causing unmanned vehicles to automatically travel in a traveling path set in advance has been proposed (for example, Patent Literature 1).

CITATION LIST

Patent Literature

SUMMARY

Technical Problem

Patent Literature 1 describes, in causing an unmanned vehicle to automatically travel, use of navigation to reckon a position and an azimuth of the vehicle by obtaining a traveling distance of the vehicle using a speed sensor or a moving distance sensor, and estimating the azimuth using a gyro or a geomagnetic sensor. In a case of causing a mining machine to travel with such navigation, an error of the position of the mining machine to be reckoned becomes larger as the traveling distance becomes larger. Therefore, in the case of causing a mining machine to travel with the navigation, correction of the error of the reckoned position using a reference of position called landmark installed in GPS or a mine is considered.

In a case where the GPS becomes unable to be used, the mining machine is caused to travel while the position obtained by the navigation is corrected using the position of the landmark. In this case, a vehicle, another mining machine, or the like operated in the mine may stop near the landmark installed in the mine. Then, there is a possibility that the mining machine recognizes the vehicle or the like stopped near the landmark as the landmark. In this case, the mining machine corrects the position obtained by the navigation, using the position of the vehicle or the like different from the original landmark. As a result, in a case of an unmanned mining machine, there is a possibility that the unmanned mining machine deviates from a traveling path in the mine. The same applies to a case of guiding a manned mining machine using a navigation device, for example.

An objective of the present invention is to provide a mining machine management system and a management method that can decrease a possibility that a mining machine deviates from a traveling path in a mine.

Solution to Problem

According to the present invention, a mining machine management system comprises: a detection unit mounted on a mining machine configured to travel in an unmanned manner in a mine in which a plurality of landmarks is installed, the detection unit being configured to detect a position of the landmark with respect to the mining machine in a non-contact manner; and a traveling control unit configured to correct a current position of the mining machine based on a position of the landmark, the position of the landmark having been obtained in advance, and the position of the landmark obtained by the detection unit to cause the mining machine to travel by dead reckoning navigation, and configured, when an object different from the landmark exists around the position of the landmark detected by the detection unit, not to use at least the position of the landmark detected by the detection unit when the traveling control unit causes the mining machine to travel by the dead reckoning navigation.

According to the present invention, a mining machine management system comprises: a detection unit mounted on a mining machine configured to travel in an unmanned manner in a mine in which a plurality of landmarks is installed, the detection unit being configured to detect a position of an object with respect to the mining machine in a non-contact manner; and a traveling control unit configured to determine, when a distance between the position of the object detected by the detection unit and a position of the landmark, the position of the landmark having been obtained in advance, is within a predetermined value, the position of the object to be the position of the landmark, and configured to correct a current position of the mining machine based on the position of the landmark obtained in advance and the position of the landmark obtained by the detection unit to cause the mining machine to travel by dead reckoning navigation, wherein the traveling control unit makes the predetermined value small, when an object different from the landmark exists around the position of the landmark detected by the detection unit.

It is preferable that in a case where the traveling control unit has made the predetermined value small, the traveling control unit does not determine the object detected by the detection unit to be the landmark, when the distance between the position of the object detected by the detection unit and the position of the landmark obtained in advance is larger than the predetermined value that has been made small.

It is preferable that the mining machine management system, comprises: an own position detection device mounted on the mining machine, the own position detection device being configured to obtain an own position of the mining machine, wherein the traveling control unit is configured to cause the mining machine to travel based on the own position detected by the own position detection device, and is configured to cause the mining machine to travel by the dead reckoning navigation when the own position detection device becomes unable to detect the own position.

It is preferable that the detection unit includes a radar device configured to detect an object existing around the mining machine to monitor surroundings of the mining machine.

According to the present invention, a mining machine management system comprises: a detection unit mounted on a mining machine configured to travel in an unmanned manner in a mine in which a plurality of landmarks is installed, the detection unit including a radar device configured to detect an object existing around the mining machine to monitor surroundings of the mining machine, the detection unit being configured to detect a position of the landmark with respect to the mining machine in a non-contact manner; a storage unit configured to store a position of an object different from the landmark; an own position detection device mounted on the mining machine, the own position detection device being configured to obtain an own position of the mining machine; and a traveling control unit mounted on the mining machine, the traveling control unit being configured to cause the mining machine to travel based on the own position detected by the own position detection device, and configured, when the own position detection device becomes unable to detect the own position, to correct a current position of the mining machine based on a position of the landmark, the position of the landmark having been obtained in advance, and the position of the landmark obtained by the detection unit, to cause the mining machine to travel by dead reckoning navigation, wherein the traveling control unit is configured to acquire the position of the object different from the landmark from the storage unit, and is configured, when the position of the object different from the landmark exists in a predetermined range around the position of the landmark detected by the detection unit, not to use at least the position of the landmark detected by the detection unit when the traveling control unit causes the mining machine to travel by the dead reckoning navigation.

According to the present invention, a mining machine management system comprises: a detection unit mounted on a mining machine configured to travel in an unmanned manner in a mine in which a plurality of landmarks is installed, the detection unit being configured to detect a position of an object with respect to the mining machine in a non-contact manner; a storage unit configured to store a position of an object different from the landmark; and a traveling control unit configured to determine, when a distance between the position of the object detected by the detection unit and a position of the landmark, the position of the landmark having been obtained in advance, is within a predetermined value, the position of the object to be the position of the landmark, and configured to correct a current position of the mining machine based on the position of the landmark obtained in advance and the position of the landmark obtained by the detection unit, to cause the mining machine to travel by dead reckoning navigation, wherein the traveling control unit is configured to acquire the position of the object different from the landmark from the storage unit, and make the predetermined value small, when the position of the object different from the landmark exists in a predetermined range around the position of the landmark detected by the detection unit.

According to the present invention, a mining machine management method, in managing a mining machine configured to travel in an unmanned manner in a mine in which a plurality of landmarks is installed and travel based on a detected own position, the method comprises: detecting a position of the landmark; and when an object different from the landmark exists around the detected position of the landmark, not using at least the detected position of the landmark in causing the mining machine to travel by dead reckoning navigation.

According to the present invention, a mining machine management method, in managing a mining machine configured to travel in a mine in which a plurality of landmarks is installed and travel based on a detected own position, the method comprises: detecting a position of an object with respect to the mining machine, and determining, when a distance between the detected position of the object and a position of the landmark, the position of the landmark having been obtained in advance, is within a predetermined value, the position of the object to be the position of the landmark; and making the predetermined value small when an object different from the landmark exists around the obtained position of the landmark.

The present invention can decrease a possibility of deviation of a mining machine from a traveling path in a mine.

DESCRIPTION OF EMBODIMENTS

Forms (embodiments) for implementing the present invention will be described in detail with reference to the drawings.

<Outline of Mining Machine Management System>

FIG. 1is a diagram illustrating an example of a mining machine management system1according to the present embodiment.FIG. 1schematically illustrates the mining machine management system (hereinafter, appropriately, referred to as management system)1and a site to which the management system1is applied. The management system1includes a management device10arranged in a control facility7, and manages mining machines. Management of mining machines includes at least one of traffic control of the mining machines, evaluation of productivity of the mining machines, evaluation of operation techniques of operators of the mining machines, maintenance of the mining machines, and diagnosis of abnormality of the mining machines.

The mining machine is a collective term of machinery used for various types of work in mines. The mining machines are, for example, a loading machine, a carrying machine, and the like. The loading machine is a machine that loads a load such as gravels or rocks onto the carrying machine. The loading machine includes at least one of an excavator, an electric excavator, and a wheel loader. The carrying machine is machine that travels in mines and carries the loads loaded by the loading machine. The carrying machine includes a dump truck2.

In the present embodiment, the management system1manages at least the carrying machine. Hereinafter, an example in which the management system1manages the dump truck2will be described. However, an object managed by the management system1is not limited to the dump truck2. The dump truck2travels in at least a part of a loading place LPA of a mine, a dumping place DPA, and a conveying path HL as a traveling path passing to at least one of the loading place LPA and the dumping place DPA. As described above, the dump truck2is a moving body movable in the mine.

In the present embodiment, the dump truck2is a so-called unmanned dump truck that is operated by a command from the management device10. Therefore, no worker (operator) boards the dump truck2. Note that the dump truck2is not limited to the unmanned dump truck, and may be a manned dump truck boarded and driven by the worker. In the present embodiment, the dump truck2travels according to a traveling path determined in advance. In the present embodiment, the dump truck2controls own steering, accelerator, and brake along the set traveling path based on an own position during operation and position information included in the traveling path.

The dump truck2is loaded by a loading machine4in a loading position LP in the loading place LPA. The loading place LPA is a region where loading work of a load is performed in the mine. The loading position LP is a position (loading point) where the dump truck2is actually loaded in the loading place LPA spread to a predetermined range.

The dump truck2is unloaded in the dumping place DPA. To be specific, the dump truck2raises a loaded vessel, and discharges the load from the vessel into the dumping place DPA. The dumping place DPA is a region where the dump truck2discharges the load in the mine. A dumping position DP is a place where the dump truck2actually discharges the load in the dumping place DPA spread to a predetermined range.

In the present embodiment, the management system1illustrated inFIG. 1includes at least the dump truck2. In the present embodiment, the management system1can be realized by the dump truck2, and the management device10arranged in the control facility7, and which manages the dump truck2.

In the mine, a vehicle3as a moving body movable in the mine travels, in addition to the dump truck2. The vehicle3travels in the mine to perform various types of work related to the mine including management and maintenance of the mining machines used in the mine. In the present embodiment, the vehicle3travels in at least a part of the loading place LPA, the dumping place DPA, and the conveying path HL. The vehicle3is driven by the worker (operator) who boards thereon. As described above, the vehicle3is a so-called manned vehicle. The worker boarding on the vehicle3moves to an arbitrary position in the mine together by the vehicle3. In the present embodiment, the vehicle3is a pickup truck or an automobile, for example.

The management device10is installed in the control facility (central control room)7of the mine. In the present embodiment, the management device10is not moved. However, the management device10may be moved.

A plurality of landmarks8is installed in the mine. The landmarks8are respectively arranged in the loading place LPA, the dumping place DPA, and the conveying path HL. Since the landmarks8are stationary objects, the landmarks8are not moved from the installed positions (places) in principle.

The dump truck2travels while successively updating an own position using azimuth angle measurement by a gyro and a speed (hereinafter, appropriately referred to as vehicle speed) at which the dump truck2travels. A method like this is referred to as dead reckoning navigation or autonomous navigation. The dead reckoning navigation accumulates errors. Therefore, in the dead reckoning navigation, for example, the own position is corrected using the position of the dump truck that is measured using a global positioning system (GPS). In a case where the GPS cannot be used, the dump truck2acquires the position of the landmark8and corrects the own position. Note that the own position may be corrected by the management device10.

A communication system9transmits information between the management device10and the dump truck2and between the management device10and the vehicle3. Therefore, the management device10and the dump truck2, and the management device10and the vehicle3can perform communication through the communication system9. In the present embodiment, the communication system may transmit information between the vehicle3and the dump truck2. In this case, the dump truck2and the vehicle3can perform communication through the communication system9. In the present embodiment, the communication system9is, but not limited to, a wireless communication system. In the present embodiment, the communication system9includes a repeater6that relays a signal (radio wave) between the management device10and the dump truck2, and between the management device10and the vehicle3.

In the present embodiment, the position of the dump truck2, the position of the vehicle3, and the position of the landmark8are obtained using the GPS. The GPS includes a GPS satellite5. The GPS detects a position in a coordinate system (GPS coordinate system) that defines latitude, longitude, and altitude. Therefore, the position detected by the GPS includes coordinate values of the latitude, longitude, and altitude. The position detected by the GPS is an absolute position defined in the GPS coordinate system. In the description below, the position measured by the GPS is appropriately referred to as GPS position.

FIG. 2is a block diagram illustrating an example of the management device10according to the present embodiment. As illustrated inFIG. 2, the management device10includes a computer system11, a display device16, an input device17, and a wireless communication device18. The computer system11includes a processing device12as a processing unit, a storage device13as a storage unit, and an input/output unit15. The display device16, the input device17, and the wireless communication device18are connected with the computer system11through an input/output unit15. The input/output unit15is used to input/output information to/from at least one of the processing device12, the display device16, the input device17, and the wireless communication device18.

The processing device12includes a central processing unit (CPU), for example. The processing device12executes various types of processing related to management of the dump truck2. The processing device12includes a data processing unit12A and a traveling path generation unit12B. In the present embodiment, the data processing unit12A processes information related to the position of the dump truck2, information related to the position of the vehicle3, and information related to the position of the landmark8, which are acquired through the communication system9. The traveling path generation unit12B generates a traveling path on which the dump truck2travels. The dump truck2travels along the travel path generated by the traveling path generation unit12B in at least a part of the loading place LPA, the dumping place DPA, and the conveying path HL. The traveling path generated by the traveling path generation unit12B is a position information group that includes a plurality of coordinate values of the latitude, longitude, and altitude as position information.

The storage device13is a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a hard disk drive, or combinations thereof. The storage device13stores various types of information related to management of the dump truck2. The storage device13includes a database13B in which information is registered. Further, the storage device13stores a computer program for causing the processing device12to execute various types of processing. The processing device12reads the computer program stored in the storage device13, and processes the information related to the positions and generates the traveling path.

The display device16displays the information related to the position of the dump truck2, the information related to the position of the vehicle3, the information related to the position of the landmark8, and the like. The display device16includes, for example, a flat panel display such as a liquid crystal display.

The input device17includes at least one of a keyboard, a touch panel, an operation switch, and a mouse. The input device17functions as an operation unit that can input an operation signal to the processing device12. An administrator of the control facility7can operate the input device17to input a command, information, and the like to the processing device12.

The communication system9includes the wireless communication device18. The wireless communication device18is arranged in the control facility7. The wireless communication device18is connected with the processing device12through the input/output unit15. The wireless communication device18includes an antenna18A. The wireless communication device18can receive information transmitted from at least one of the dump truck2and the vehicle3. The wireless communication device18outputs the received information to the processing device12. The information received by the wireless communication device18is stored (registered) in the storage device13. The wireless communication device18transmits the information to at least one of the dump truck2and the vehicle3.

FIG. 3is a diagram illustrating the dump truck2according to the present embodiment.FIG. 4is a block diagram illustrating a control system of the dump truck2according to the present embodiment. As illustrated inFIGS. 3 and 4, the dump truck2includes a vehicle main body21, a vessel22, wheels23, a non-contact sensor24as a detection unit that detects the position of the landmark8in a non-contact manner, a processing device20as a processing unit, a storage device25as a storage unit, a gyro sensor26, a speed sensor27, a wireless communication device28to which an antenna28A is connected, and a position detection device29as an own position detection device to which an antenna29A is connected.

An internal combustion engine, a generator, and a motor are mounted on the vehicle main body21, for example. In the present embodiment, the internal combustion engine is a diesel engine, for example. The generator is driven by the internal combustion engine and generates power. The motor drives the wheels23, to be specific, rear wheels, by the power generated by the generator, and allows the dump truck2to travel. The wheels23include tires and wheels. A driving system of the dump truck2is not limited to such a system. For example, the driving system of the dump truck2may be a drive system in which the power of the internal combustion engine is transmitted to the wheels23through a transmission including a torque converter.

A vessel22is a load-carrying platform that is loaded. The vessel22is arranged on the vehicle main body21. The vessel22is loaded by the loading machine4. The vessel22can take a horizontal first posture and a second posture rising from a rear end side of the dump truck2as a point of support. The first posture is a state where the vessel22is loaded, and the second posture is a posture at which the vessel22is unloaded.

A plurality of the non-contact sensors24is arranged around the vehicle main body21. The non-contact sensor24includes a radar device that detects an object existing around the dump truck2, for example. The radar device included in the non-contact sensor24is a device that detects the object using a millimeter wave radar in a non-contact manner. In the present embodiment, the non-contact sensor24can obtain the distance and the azimuth to the detected object, and a relative position between the detected object and the own device from the obtained distance and azimuth.

The non-contact sensor24may output a signal according to reflection intensity of a radio wave reflected by the object and a direction of the reflected radio wave. In this case, the processing device20that has acquired the signal from the non-contact sensor24obtains the distance and the azimuth to the object detected by the non-contact sensor24, and obtains the relative position between the detected object and the non-contact sensor24from the obtained distance and azimuth, based on the reflection intensity and the direction of the radio wave corresponding to the acquired signal. That is, the non-contact sensor24and the processing device20function as a detection unit.

The non-contact sensor24includes an emission unit that can emit the radio wave, and a reception unit that can receive the radio wave. In the present embodiment, the position of the landmark8installed in the mine is detected in a non-contact manner using the non-contact sensor24used for monitoring surroundings of the dump truck2. In doing so, it is not necessary to separately provide sensors for detecting the position of the landmark8. Therefore, manufacturing cost of the dump truck2can be decreased.

When detecting the landmark8and its position, the non-contact sensor24emits the radio wave, and irradiates the landmark8with the radio wave. At least a part of the radio wave with which the landmark8is irradiated is reflected at the landmark8. The non-contact sensor24receives the radio wave reflected at the landmark8. In doing so, the non-contact sensor24can detect the landmark8for the non-contact sensor24, and can detect the direction, the distance, and the position of the detected landmark8.

The non-contact sensor24is attached to the vehicle main body21of the dump truck2. Therefore, the relative position of the landmark8with respect to the dump truck2, which has been detected by the non-contact sensor24, corresponds to the position (relative position, hereinafter, appropriately referred to as relative position) of the landmark8to the dump truck2.

The non-contact sensor24is connected to the processing device20. The non-contact sensor24converts a detection result of detection of the landmark8, a vehicle existing around the dump truck2, or another object into an electrical signal, and outputs the signal to the processing device20. This detection result includes the direction, the distance, and the position of the landmark8. The processing device20obtains the relative position between the dump truck2and the landmark8based on the detection result of the non-contact sensor24. That is, the non-contact sensor24detects the relative position of the landmark8with respect to the own sensor, so that the relative position between the dump truck2and the landmark8is detected.

The non-contact sensors24are arranged on a front surface, a rear surface, and both side surfaces of the vehicle main body of the dump truck2. In the embodiment described below, the non-contact sensor24detects a front object (for example, the landmark8) at the time of traveling nearly straight, and thus description will be exemplarily given using the front non-contact sensor24. In a case of traveling rearward, the dump truck2can detect an object by the rear non-contact sensor24. An object existing in front of a curve can be detected by the side non-contact sensor24. Each of the non-contact sensors24obtains at least one of the distance and the azimuth of the object. The processing device20detects the relative position between the dump truck2and the object considering the detection result of each of the non-contact sensors24, and an attached position and an attaching direction of each of the non-contact sensors24in the vehicle main body.

The gyro sensor26detects the azimuth (for example, an azimuth change amount) of the dump truck2. The gyro sensor26is connected with the processing device20, converts the detection result into the electrical signal, and outputs the signal to the processing device20. The processing device20obtains the azimuth (azimuth change amount) of the dump truck2based on the detection result of the gyro sensor26.

The speed sensor27detects a vehicle speed of the dump truck2. In the present embodiment, the speed sensor27detects a rotation speed of the wheels23to detect the vehicle speed of the dump truck2. The speed sensor27is connected with the processing device20, converts a detection result into an electrical signal, and outputs the signal to the processing device20. The processing device20can obtain a moving speed of the dump truck2based on the detection result of the speed sensor27and time information from a timer built in the processing device20.

<Control System of Dump Truck>

The processing device20included in a processing system2S of the dump truck2illustrated inFIG. 4includes a central processing unit (CPU). The processing device20executes various types of processing related to management, control, and the like of the dump truck2. In the present embodiment, the processing device20can execute processing equivalent to that of the processing device12arranged in the control facility7. The processing device20includes a traveling control unit20A.

The traveling control unit20A causes the dump truck2to travel along the traveling path set in advance based on the own position of the dump truck2detected by the position detection device29as an own position detection device. At this time, the traveling control unit20A controls a traveling state of the dump truck2by controlling at least one of the steering, the accelerator, and the brake of the dump truck2. Further, the traveling control unit20A causes the dump truck2to travel with dead reckoning navigation when the position detection device29becomes unable to detect the own position of the dump truck2.

The storage device25included in the processing system2S is connected with the processing device20. With such a structure, the processing device20and the storage device25can mutually exchange information. The storage device25is a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a hard disk drive, or combinations thereof. The storage device25stores various types of information related to management of the dump truck2. The information stored in the storage device25includes a database25B in which information used for control of the dump truck2is registered, a computer program for causing the processing device20to execute various types of processing, and the like. In the present embodiment, the storage device25can store information equivalent to that of the storage device13arranged in the control facility7.

The wireless communication device28included in the processing system2S is an on-vehicle communication device mounted on the dump truck2and performs wireless communication. The wireless communication device28includes the antenna28A. The wireless communication device28is connected with the processing device20. The wireless communication device28receives information including a command signal transmitted from at least one of the management device10and the vehicle3. The information received by the wireless communication device28is output to the processing device20, and stored in the storage device25through the processing device20. The processing device20, to be specific, the traveling control unit20A can control traveling of the dump truck2according to the command signal received by the wireless communication device28. Further, the wireless communication device28can transmit information output by the processing device20to at least one of the management device10and the vehicle3. That is, the processing device20can transmit/receive the information to/from at least one of the management device10and the vehicle3through the wireless communication device28.

The position detection device29included in the processing system2S is mounted on the dump truck2. The position detection device29is connected with the processing device20. The position detection device29includes a GPS receiver and the GPS antenna29A. The antenna29A is arranged outside the dump truck2, and in a position where the antenna29A can easily receive the radio wave from the GPS satellite5illustrated inFIG. 1.

The position detection device29obtains the own position of the dump truck2using the GPS. The own position obtained by the position detection device29is the position of the dump truck2obtained by the GPS, that is, a GPS position and also an absolute position. The own position detected by the position detection device29is specifically a GPS position of the antenna29A attached to the dump truck2. In the present embodiment, the GPS position of the antenna29A is used as the own position of the dump truck2. The processing device20illustrated inFIG. 4can obtain positions of respective units of the dump truck2, and the position of the landmark8with respect to the dump truck2, which has been detected by the non-contact sensor24, using the own position as a reference.

The antenna29A receives the radio wave from the GPS satellite5. The antenna29A outputs a signal based on the received radio wave to the position detection device29. The position detection device29obtains the GPS position of the antenna29A based on the signal output from the antenna29A. When the GPS position of the antenna29A is obtained, the GPS position of the dump truck2, that is, the own position of the dump truck2is obtained.

FIG. 5is a diagram schematically illustrating an appearance of the vehicle3according to the present embodiment.FIG. 6is a block diagram of a control system of the vehicle3according to the present embodiment. As illustrated inFIGS. 5 and 6, the vehicle3includes a vehicle main body37, wheels38, a processing device30, a storage device39, a wireless communication device32to which an antenna32A is connected, a position detection device33to which an antenna33A is connected, a display device36, and an input device31.

An internal combustion engine as an engine is mounted on the vehicle main body37. The wheels38are rotated by power transmitted from the engine of the vehicle main body37, and allow the vehicle3to travel. In the present embodiment, a worker WM boarding the vehicle3operates the vehicle3.

The processing device30included in a control system3S of the vehicle3includes a central processing unit (CPU). The storage device39, the wireless communication device32, a position detection device34, the display device36, and the input device31are connected to the processing device30, and the processing device30executes various types of processing. In the present embodiment, the processing device30can execute processing equivalent to that of the processing device12arranged in the control facility7and the processing device20arranged in the dump truck2.

The storage device39included in the control system3S of the vehicle3is mounted on the vehicle3. The storage device39is a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a hard disk drive, or combinations thereof. The storage device39stores a database39B in which information is registered, and a computer program for causing the processing device30to execute various types of processing. Note that the storage device39may store information equivalent to that of the storage device13arranged in the control facility7and the storage device25arranged in the dump truck2.

The display device36included in the control system3S of the vehicle3can display the information related to the position of the vehicle3and the information related to the position of the landmark8. The display device36is, for example, but not limited to, a flat panel display such as a liquid crystal display.

The input device31included in the control system3S of the vehicle3includes at least one of a keyboard, a touch panel, and an operation switch. The input device31inputs an operation signal to the processing device30. For example, the worker (operator) WM of the vehicle3operates the input device31to input information to the processing device30or input a command.

The wireless communication device32included in the control system3S of the vehicle3is mounted on the vehicle3. The wireless communication device32is connected with the processing device30. Further, the wireless communication device32includes the antenna32A. The wireless communication device32receives information including a command signal transmitted from at least one of the management device10and the dump truck2. The information received by the wireless communication device32is output to the processing device30, and stored in the storage device39through the processing device30. Further, the wireless communication device32can transmit information from the processing device30to at least one of the management device10and the dump truck2.

The position detection device33included in the control system3S of the vehicle3is mounted on the vehicle3. The position detection device33is connected with the processing device30. The position detection device33includes a GPS receiver and the GPS antenna33A. The antenna33A is arranged outside the vehicle3, and a position where the antenna33A can easily receive the radio wave from the GPS satellite5illustrated inFIG. 1.

The position detection device33obtains the position (hereinafter, appropriately referred to as vehicle position) of the vehicle3. The vehicle position obtained by the position detection device33is the position of the vehicle3obtained by the GPS, that is, a GPS position and also an absolute position. The vehicle position obtained by the position detection device33is specifically a GPS position of the antenna33A attached to the vehicle3. In the present embodiment, the GPS position of the antenna33A is used as the vehicle position. The processing device30illustrated inFIG. 6can obtain positions of the respective units of the vehicle3using the vehicle position as a reference.

The antenna33A receives the radio wave from the GPS satellite5. The antenna33A outputs a signal based on the received radio wave to the position detection device33. The position detection device33obtains the GPS position of the antenna33A based on the signal output from the antenna33A. When the GPS position of the antenna33A is obtained, the GPS position of the vehicle3, that is, the vehicle position can be obtained.

In the present embodiment, a GPS antenna34A is mounted on the vehicle3. The antenna34A receives the radio wave from the GPS satellite5illustrated inFIG. 1. The antenna34A is releasably mounted on the vehicle3. The antenna34A released from the vehicle3can be moved outside the vehicle3and to a position separated from the vehicle3. The worker WM holds the antenna34A, and can move the antenna34A to the position outside the vehicle3and in the position separated from the vehicle3. As described above, the antenna34A can receive the radio wave from the GPS satellite5in a state of being arranged outside the vehicle3.

The position detection device34included in the control system3S of the vehicle3is mounted on the vehicle3. The position detection device34is connected with the processing device30. The position detection device34includes a GPS receiver and the GPS antenna34A. The position detection device34and the antenna34A are connected through a cable35. The position detection device34detects the position (GPS position) of the antenna34A.

In a case where the antenna34A is carried by the worker WM, the position of the antenna34A is detected, so that the position (GPS position) of the worker WM is detected. In a case where the antenna34A is installed near an object, the position of the antenna34A is detected, so that the position (GPS position) of the object is detected.

The antenna34A outputs the signal based on the radio wave, which has been received from the GPS satellite5, to the position detection device34through the cable35. The position detection device34detects the position of the antenna34A based on the signal acquired from the antenna34A. The position detection device34converts the signal based on the radio wave from the GPS satellite5and received by the antenna34A, into an electrical signal, and obtains the position of the antenna34A. When the GPS position of the antenna34A is obtained, the GPS position of the object arranged near the antenna34A is obtained. This object includes the worker.

<Method of Using Landmark>

FIG. 7is a diagram illustrating an example of a state where the landmark8is detected by the non-contact sensor24of the dump truck2. The landmarks8are structures respectively arranged in the loading place LPA, the dumping place DPA, and the conveying path HL. On the conveying path HL, the landmark8is arranged outside the conveying path HL, for example, on a shoulder of the conveying path HL. A plurality of the landmarks8is arranged with a space along the conveying path HL. In the present embodiment, the landmarks8are arranged in every 100 m, for example. However, the interval of adjacent landmarks8is not limited to 100 m.

The landmark8includes a reflecting portion (reflecting surface)8R that can reflect the radio wave emitted from the non-contact sensor24. Reflectance (reflection intensity) of the reflecting portion8R of the landmark8with respect to the radio wave is higher than reflectance (reflection intensity) of an object around the landmark8, for example, a rock in the mine, or the like. Therefore, the non-contact sensor24illustrated inFIG. 4can detect the landmark8separately from the peripheral object.

As illustrated inFIG. 7, the radio wave is emitted from the emission unit of the non-contact sensor24arranged on the dump truck2, with which the landmark8is irradiated. At least a part of the radio wave with which the landmark8is irradiated is reflected at the reflecting portion8R of the landmark8. The non-contact sensor24receives the radio wave from the landmark8reflected at the reflecting portion8R with the reception unit. The non-contact sensor24receives the radio wave from the landmark8to detect the landmark8itself, or detect the relative position between the non-contact sensor24and the landmark8, that is, the relative position of the landmark8with respect to the dump truck2.

In the present embodiment, the radio wave from the non-contact sensor24propagates to be spread from the emission unit of the non-contact sensor24. The landmark8exists in a space (propagation space) where the radio wave emitted from the non-contact sensor24propagates, so that the non-contact sensor24can detect the landmark8itself and its position. Further, the radio wave emitted from the non-contact sensor24attenuates with its progress. Therefore, the radio wave emitted from the non-contact sensor24is decreased in intensity with its progress. The landmark8exists in the propagation space in which the radio wave emitted from the non-contact sensor24propagates in a state of maintaining intensity of a predetermined value or more, so that the non-contact sensor24can detect the landmark8itself and its position. Hereinafter, the propagation space of the radio wave in which the non-contact sensor24can detect the landmark8itself and its position based on the radio wave emitted by the non-contact sensor24itself is appropriately referred to as detection region (detection space)300of the non-contact sensor24. The dimension of the detection region300existing in a traveling direction side of the dump truck2in the traveling direction side is, for example, but not limited to, 50 m.

The non-contact sensor24may be an optical sensor that detects the landmark8using a laser light as detection light, for example. In this case, the non-contact sensor24includes an emission unit that can emit the detection light, and a reception unit that can receive at least a part of the detection light emitted from the emission unit and reflected at the landmark8, for example. The landmark8is arranged in a space (irradiation space) irradiated with the detection light emitted from the non-contact sensor24, so that the non-contact sensor24can detect the landmark8. In a case where the non-contact sensor24detects the landmark8using the detection light, the detection region300of the non-contact sensor24includes the irradiation space of the detection light where the landmark8can be detected based on the detection light emitted from the non-contact sensor24.

In the present embodiment, the position of the landmark8is detected also using the GPS. The position of the landmark8detected using the GPS is a GPS position and also an absolute position. In the present embodiment, the position of the landmark8detected using the GPS and obtained in advance, that is, the GPS position is stored in the storage device13of the management device10illustrated inFIG. 2. The GPS position of the landmark8stored in the storage device13is the above-described registration position. The GPS position of the landmark8stored in the storage device13is appropriately referred to as registration position.

Information related to the relative position between the dump truck2and the landmark8, which has been detected using the non-contact sensor24, is transmitted to the management device10, to be specific, the processing device12, through the communication system9. The processing device12can obtain the absolute position (GPS position) of the dump truck2based on the information related to the relative position between the dump truck2and the landmark8, which has been detected using the non-contact sensor24, and the information related to the absolute position (GPS position) of the landmark8registered (stored) in the storage device13.

The position of the landmark8detected using the GPS, that is, the GPS position may be stored in the storage device25of the dump truck2. In this case, the processing device20of the dump truck2can obtain the absolute position (GPS position) of the dump truck2based on the information related to the relative position between the dump truck2and the landmark8, which has been detected using the non-contact sensor24, and the information related to the absolute position (GPS position) of the landmark8stored in the storage device25. Further, as for the GPS position of the landmark8, a part or whole of the information stored in the storage device13of the management device10may be transmitted to and stored in the storage device25of the dump truck2through the wireless communication devices18and28. The GPS position of the landmark8stored in the storage device25of the dump truck2is the above-described registration position. The GPS position of the landmark8stored in the storage device25of the dump truck2is appropriately referred to as registration position.

If the storage device25of the dump truck2stores a part of the GPS position of the landmark8, which is stored in the storage device13of the management device10, it is not necessary to store the GPS positions of the landmarks8in the entire mine. Therefore, the capacity of the storage device25can be made small. In this case, the management device10favorably transmits and stores the GPS positions of the landmarks8existing in a predetermined range in a periphery of the position of the dump truck2at a present point of time to the storage device25of the dump truck2. In doing so, the management system1can cover the GPS positions of the landmarks8in the entire mine while suppressing an increase in the capacity of the storage device25of the dump truck2.

<Method of Traveling of Dump Truck>

Next, an example of a method of traveling of the dump truck2according to the present embodiment will be described. In the description below, an example in which the management device10illustrated inFIG. 2, to be specific, the processing device12manages traveling of the dump truck2will be described. The processing device12transmits a traveling command signal to the processing device20of the dump truck2illustrated inFIG. 4, to be specific, the traveling control unit20A, through the communication system9, to be specific, the wireless communication device18and the wireless communication device28. The traveling command signal includes information of a command value of a traveling speed of the dump truck2and the traveling path generated by the traveling path generation unit12B.

The traveling control unit20A of the dump truck2controls the dump truck2to control traveling of the dump truck2based on the traveling command signal of the processing device12transmitted through the communication system9. In this case, the traveling control unit20A operates at least one of steering, an accelerator, and a brake of the dump truck2.

An example in which the dump truck2travels based on the dead reckoning navigation will be described. In the present embodiment, the dump truck2travels in at least a part of the loading place LPA, the dumping place DPA, and the conveying path HL according to the traveling path generated by the traveling path generation unit12B of the management device10. The traveling control unit20A of the processing device20of the dump truck2causes the dump truck2to travel along the traveling path generated by the traveling path generation unit12B and set in advance while reckoning the current position of the dump truck2using the dead reckoning navigation.

The dead reckoning navigation refers to navigation to reckon a current own position of an object, that is, the dump truck2in the present embodiment, based on the azimuth from a starting point where the longitude and the latitude are known (azimuth change amount), and the moving distance for traveling. As described above, the azimuth of the dump truck2is obtained using the gyro sensor26mounted on the dump truck2. The moving distance of the dump truck2is obtained using the speed sensor27mounted on the dump truck2.

The traveling control unit20A of the dump truck2that has acquired the detection signal of the gyro sensor26and the detection result of the speed sensor27obtains the azimuth and the azimuth change amount of the dump truck2from the known starting point based on the detection result of the gyro sensor26. Further, the traveling control unit20A obtains the moving distance of the dump truck2from the known starting point based on the detection result of the speed sensor27. The traveling control unit20A obtains a control amount related to the traveling of the dump truck2to cause the dump truck2to travel along the set traveling path based on the detection result of the gyro sensor26and the detection result of the speed sensor27. The traveling control unit20A then causes the dump truck2to travel along the traveling path by controlling at least one of the steering, the acceleration, and the brake of the dump truck2based on the obtained control amount.

In the present embodiment, the traveling control unit20A of the dump truck causes the dump truck2to travel by the dead reckoning navigation. However, the method is not limited thereto, and for example, the management device10illustrated inFIG. 2may cause the dump truck2to travel by the dead reckoning navigation. In this case, the processing device12of the management device10acquires the detection signal of the gyro sensor26and the detection result of the speed sensor27through the communication system9. The processing device12then obtains the control amount related to the traveling of the dump truck2to cause the dump truck2to travel along the set traveling path based on the detection result of the gyro sensor26and the detection result of the speed sensor27. Next, the processing device12transmits the control amount obtained through the communication system9to the processing device20of the dump truck2. The traveling control unit20A of the processing device20causes the dump truck2to travel along the traveling path by controlling at least one operation of the steering, the accelerator, and the brake of the dump truck2based on the control amount acquired from the processing device12of the management device10.

Next, an example in which the dump truck2travels while the own position of the dump truck2obtained by the dead reckoning navigation (hereinafter, the own position is appropriately referred to as reckoned position) is corrected using the GPS will be described. If the traveling distance of the dump truck2becomes long, there is a possibility of causing an error between the reckoned position of the dump truck2and the actual own position of the dump truck2due to accumulation of detection errors of one or both of the gyro sensor26and the speed sensor27. As a result, there is a possibility that the dump truck2deviates from the traveling path generated by the traveling path generation unit12B of the processing device12.

In the present embodiment, when the dump truck2travels by the dead reckoning navigation, the traveling control unit20A causes the dump truck2to travel while correcting the reckoned position of the dump truck2using the information related to the GPS position of the dump truck2, which has been detected by the position detection device29. The traveling control unit20A corrects the reckoned position of the dump truck2based on the detection result of the gyro sensor26, the detection result of the speed sensor27, and the information related to the GPS position of the dump truck2, which has been detected by the position detection device29. The traveling control unit20A calculates the control amount related to the traveling of the dump truck2to cause the dump truck2to travel along the traveling path using the corrected reckoned position. The traveling control unit20A then controls the traveling of the dump truck2based on the obtained control amount to cause the dump truck2traveling using the dead reckoning navigation to travel along the traveling path.

Next, an example in which the dump truck2travels by the dead reckoning navigation while the reckoned position obtained by the dead reckoning navigation is corrected using the landmark8. There is a possibility that a state in which detection accuracy (measuring accuracy) by the GPS is decreased and a state in which measurement by the GPS becomes disabled are caused in the mine. For example, in a case where the antenna29A cannot sufficiently receive the radio wave from the GPS satellite5due to an influence of an obstacle, or in a case where the number of GPS satellites5from which the antenna29A can receive the radio waves is small, in the mine, there is the possibility that a state in which detection accuracy by the GPS is decreased and a state in which measurement by the GPS becomes disabled are caused.

In the present embodiment, when correction of the reckoned position obtained by the dead reckoning navigation using the GPS is difficult, the traveling control unit20A of the dump truck2corrects the reckoned position using the landmark8. That is, when not correcting the reckoned position using the GPS, the traveling control unit20A corrects the reckoned position of the dump truck2obtained by the dead reckoning navigation using the relative position between the landmark8and the dump truck2, which has been detected using the non-contact sensor24, and the registration position corresponding to the landmark8detected using the non-contact sensor24.

FIG. 8is a flowchart illustrating an example of a method of traveling of the dump truck2including correction of the reckoned position using the landmark8and the non-contact sensor24. In the mine, a plurality of the landmarks8is installed in the loading place LPA, the dumping place DPA, and the conveying path HL, before the operation of the dump truck2. Each of the positions (that are the GPS positions and also the absolute positions) of the plurality of landmarks8is detected using the GPS. The information related to the positions of the landmarks8detected using the GPS are stored in the storage device13of the management device10to become the registration positions (step S1). In the present embodiment, a part or whole of the information related to the positions of the landmarks8is transmitted to and stored in the storage device25included in the processing system2S of the dump truck2through the communication system9.

The traveling control unit20A of the dump truck2causes the dump truck2to travel based on the dead reckoning navigation (step S2). During the traveling of the dump truck2, the traveling control unit20A causes the non-contact sensor24to emit the radio wave. The detection result of the non-contact sensor24is output to the traveling control unit20A. The traveling control unit20A determines whether the landmark8has been detected based on the detection result of the non-contact sensor24(step S3).

In step S3, when it has been determined that the landmark8has not been detected (No in step S3), the traveling of the dump truck2based on the dead reckoning navigation is continued (step S2). In step S3, when it has been determined that the landmark8has been detected (Yes in step S3), the traveling control unit20A compares the position of the landmark8, which is stored in the storage device25, that is, the registration position, and the position (measured position) of the landmark8, which has been detected by the non-contact sensor24(step S4). The traveling control unit20A obtains the measured position of the landmark8based on the information related to the relative position between the dump truck2and the landmark8, which has been detected by the non-contact sensor24, and the reckoned position of the dump truck2at the point of time when the non-contact sensor24detects the landmark8.

In this case, the traveling control unit20A extracts, from the storage device25, the information corresponding to the landmark8detected by the non-contact sensor24, of the information related to the positions of the plurality of landmarks8, which is stored in the storage device25. That is, the position of the landmark8closest to the reckoned position in the traveling direction side of the dump truck2at timing when the non-contact sensor24has detected the landmark8is extracted, from the registration positions (GPS positions) of the plurality of landmarks8, which are stored in the storage device25. In step S4, the registration position of the landmark8, which has been extracted as described above, is compared with the measured position of the landmark8, which has been detected by the non-contact sensor24.

In the present embodiment, the registration position of the landmark8and the measured position are compared in step S4. However, the embodiment is not limited thereto. For example, the reckoned position of the dump truck2and the position of the dump truck2obtained from the registration position of the landmark8may be compared in step S4. In this case, the position of the dump truck2based on the registration position of the landmark8is obtained from the information related to the relative position between the dump truck2and the landmark8, which has been detected by the non-contact sensor24, and the registration position of the landmark8.

The traveling control unit20A corrects the reckoned position of the dump truck2based on a result of the comparison in step S4(step S5). For example, the traveling control unit20A obtains a correction amount of the reckoned position based on a difference between the registration position of the landmark8, which is stored in the storage device25, and the measured position of the landmark8, which has been detected by the non-contact sensor24. That is, the traveling control unit20A obtains the control amount related to the traveling of the dump truck2including the above-described correction amount used to correct the reckoned position of the dump truck2based on the detection result of the gyro sensor26, the detection result of the speed sensor27, the information related to the relative position between the dump truck2and the landmark8, which has been detected using the non-contact sensor24, and the information related to the position of the landmark8, which is stored in the storage device25. The traveling control unit20A controls the traveling of the dump truck2to cause the dump truck2to travel along the traveling path generate by the traveling path generation unit12B of the processing device12illustrated inFIG. 2, based on the obtained correction amount and the command including the control amount.

In the present embodiment, an example in which the processing device20of the dump truck2corrects the reckoned position using the GPS or the landmark8has been described. However, the embodiment is not limited to the example, and the management device10illustrated inFIG. 2may correct the reckoned position using the GPS or the landmark8.

<Example of Position Detection Processing and Position Registration Processing of Landmark>

Next, an example of position detection processing and position registration processing (processing of step S1ofFIG. 8) of the landmark8will be described. The position detection processing of the landmark8is processing of detecting the position (GPS position) of the landmark8. To be specific, the position registration processing of the landmark8is processing of storing and registering the detected position of the landmark8and the information related to the position to the storage device13(database13B). Note that the position of the landmark8may be stored and registered to the storage device25(database25B) of the dump truck2.

FIG. 9is a diagram illustrating an example of the position detection processing and the position registration processing of the landmark8according to the present embodiment. The position of the landmark8installed in the mine is detected using the GPS. As illustrated inFIG. 9, the position of the landmark8is detected using the GPS antenna34A.

The position of the vehicle3on which the worker WM boards is detected, and the vehicle3is moved near the landmark8to be registered. In this case, the vehicle3is moved near the landmark8to be registered in a state of mounting the antenna34A on the own vehicle.

When the vehicle3arrives near the landmark8, the worker WM holds the antenna34A and moves the antenna34A outside the vehicle3. Therefore, although the antenna34A is taken outside the vehicle3, the position detection device34is mounted on the vehicle3. Next, as illustrated inFIG. 9, the worker WM installs the antenna34A near the landmark8installed in the mine. The antenna34A receives the radio wave from the GPS satellite5in a state of being arranged outside the vehicle3.

The signal based on the radio wave from the GPS satellite5received by the antenna34A is output to the position detection device34through the cable35. The position detection device34detects the position (GPS position) of the antenna34A based on the signal from the antenna34A. As illustrated inFIG. 9, the antenna34A outputs the signal based on the radio wave from the GPS satellite5to the position detection device34in a state of being installed near the landmark8. Therefore, the position detection device34obtains the GPS position of the antenna34A, so that the GPS position of the landmark8is detected.

The processing device30of the vehicle3transmits the information based on the signal from the antenna34A to the wireless communication device18of the management device10using the wireless communication device32mounted on the vehicle3. In the present embodiment, the information based on the signal from the antenna34A includes the information related to the position of the antenna34A, the information related to the position of the landmark8, and the like, which have been detected by the position detection device34based on the signal from the antenna34A. Hereinafter, the aforementioned information is referred to as landmark position information. The wireless communication device18of the management device10receives the landmark position information received from the wireless communication device32of the vehicle3. The processing device12of the management device10acquires the information related to the landmark position information transmitted from the vehicle3through the wireless communication device18, and registers the information to the storage device13(database13B).

FIG. 10is a diagram illustrating an example in which the vehicle3is stopped in a predetermined range around the landmark8installed along the conveying path HL. InFIG. 10, IDs of the respective landmarks8are100,101,102, and103, to identify the plurality of landmarks8installed along the conveying path HL.

In the mine, a manned vehicle3and another mining machine such as a motor grader travel, in addition to the dump truck2. The non-contact sensor24mounted on the dump truck2detects existence of the landmark8with a reflected wave of the radio wave or light. Especially, intensity of the reflected wave (reflection intensity) of the vehicle3and the another mining machine is often close to that of the landmark8, and it is difficult that the non-contact sensor24distinguishes the landmark8from the vehicle3and the another mining machine according to a difference in the reflection intensity. Therefore, as illustrated inFIG. 10, for example, in a case where the vehicle3or the another mining machine is stopped in a predetermined range around the landmark8, there is a possibility that the non-contact sensor24wrongly detects the vehicle3or the another mining machine existing in the detection region300, as the landmark8. The same applies to a device other than the vehicle3or the another mining machine, a natural object, or the like. That is, in a case where an object different from the landmark8exists near the landmark8, there is a possibility that wrong detection of the landmark8as described above occurs.

In the example illustrated inFIG. 10, the vehicle3is stopped in the predetermined range around the landmark8with the ID102. However, the position of the landmark8and the positions of the vehicle3and the like stopped in the predetermined range around the landmark8are different. Therefore, if the non-contact sensor24wrongly detects the vehicle3in the detection region300, as the landmark8, the position different from the original position of the landmark8is treated as the position of the landmark8. As a result, in a case where the dump truck2travels in the conveying path HL while correcting a reckoning error using the position of the landmark8, using the dead reckoning navigation, there is a possibility that the reckoned position after correction deviates from the original position if the position of the vehicle3is used as the position of the landmark8. As a result, there is a possibility that the dump truck2deviates from the traveling path and the conveying path HL determined in advance. The dump truck2deviating from the conveying path HL requires a time to return to the conveying path HL, and as a result, productivity of the mine may be decreased.

In the present embodiment, the vehicle3and the like transmit the own positions measured using the GPS to the management device10through the communication system9. The vehicle3and the like may directly transmit the own positions to the dump truck2. The management device10stores the positions of the vehicle3and the like to the storage device13. Therefore, the management device10can grasp the positions (GPS positions and also absolute positions) of the vehicle3and the mining machine other than the dump truck2operated in the mine. The traveling control unit20A of the dump truck2acquires the positions of the vehicle3and the like from the management device10, to be specific, from the storage device13of the management device10, in a case of causing the dump truck2to travel while correcting the reckoning error using the position of the landmark8. The traveling control unit20A then compares the position of the landmark8detected by the non-contact sensor24and the positions of the vehicle3and the like. As a result, when the vehicle3and the like exist in the predetermined range around the landmark8detected by the non-contact sensor24, the traveling control unit20A does not use at least the position of the landmark8in a case of causing the dump truck2to travel using the dead reckoning navigation. To be specific, the traveling control unit20A does not execute correction of the reckoned position using at least the landmark8. In doing so, the traveling control unit20A can suppress a decrease in the productivity of the mine because the possibility that the dump truck2deviates from the traveling path and the conveying path HL determined in advance is decreased, in a case where the dump truck2that travels using the dead reckoning navigation corrects the reckoned position using the position of the landmark8.

<Processing of Mining Machine Management Method>

FIG. 11is a flowchart illustrating a procedure of the mining machine management method according to the present embodiment. The mining machine management method according to the present embodiment is mainly executed by the management device10illustrated inFIG. 2and the processing system2S of the dump truck2illustrated inFIG. 4. However, the method may be executed by one of the management device10and the processing system2S of the dump truck2. In step S101, the traveling control unit20A of the processing device20included in the processing system2S of the dump truck2acquires the information of the non-contact sensor24, to be specific, the detection result of the non-contact sensor24. When having detected at least one object in the detection region300, the non-contact sensor24outputs the information related to the distance from the own sensor to the detected object, the azimuth to the own sensor, and the like to the processing device20as a detection result.

In step S102, when the non-contact sensor24has detected the position of the landmark8(Yes in step S102), the traveling control unit20A of the processing device20moves the processing on to step S103. When the non-contact sensor24has not detected the position of the landmark8(No in step S102), the traveling control unit20A returns to step S101again, and executes the processing. Here, detection of the landmark8will be described.

FIGS. 12 and 13are diagrams illustrating an example of a technique of detecting the landmark8.FIG. 14is a flowchart illustrating a procedure of an example of processing of detecting the landmark8. In the present embodiment, in a case where the non-contact sensor24detects the landmark8, the landmark8and another object are distinguished using the reflection intensity of the object detected by the non-contact sensor24, the movement of the object detected by the non-contact sensor24, and the difference between the registered position of the landmark8and the position of the object obtained by the non-contact sensor24.

As illustrated inFIG. 12, assume that the landmark8, a rock RK, a sign SI, and the vehicle3exist in the traveling direction side of the dump truck2that travels in the conveying path HL. These objects are in the detection region300of the non-contact sensor24. The vehicle3is moved in the direction illustrated by the arrow F. The arrow F indicates the traveling direction of the vehicle3. In step S201, when the non-contact sensor24has detected these objects, the position of the landmark8is Pl, the position of the rock RK is Prk, the position of the sign SI is Psi, and the position of the vehicle3is Pv, as illustrated inFIG. 13. The registered position of the landmark8obtained in advance and stored in the storage device13of the management device10illustrate inFIG. 2or in the storage device25of the dump truck2illustrated inFIG. 4is Pr (hereinafter, the position of the landmark8is appropriately referred to as registration landmark position Pr). As illustrated inFIG. 13, when the non-contact sensor24detects these objects, information indicating that an object having different reflection intensity and a moving object exist in the detection region300can be obtained. The traveling control unit20A identifies the landmark8by executing the processing of step S202and subsequent steps from the aforementioned information. In the description below, the objects detected by the non-contact sensor24are appropriately referred to as detected objects.

The traveling control unit20A obtains the positions of these detected objects from the distances and azimuths before executing the processing of step S202and the subsequent steps. The positions of the detected objects are relative positions to the non-contact sensor24. Therefore, the traveling control unit20A obtains the absolute positions of the detected objects using the position (absolute position) of the dump truck2at the time when the non-contact sensor24has detected the objects. Hereinafter, all of the position P1corresponding to the landmark8, the position Prk corresponding to the rock RK, the position Psi corresponding to the sign SI, and the position Pv corresponding to the vehicle3are absolute positions.

In step S202, the traveling control unit20A acquires the registration landmark position Pr from the storage device25of the dump truck2illustrated inFIG. 4, and compares the registration landmark position Pr with the absolute positions of the detected objects. The registration landmark position Pr is a GPS position and also an absolute position. After the comparison of step S202, the traveling control unit20A moves the processing onto step S203. In step S203, when the distances between the absolute positions of the detected objects and the registration landmark position Pr are within a predetermined value r (Yes in step S203), the traveling control unit20A executes processing of step S204for the detected objects. The predetermined value r is used to identify the landmark8. In the example illustrated inFIG. 13, the distances between the registration landmark position Pr, and the position P1, the position Prk, and the position Pv are within the predetermined value r. Therefore, the traveling control unit20A executes the processing of step S204for these objects.

In step S204, the traveling control unit20A compares reflection intensity RF of the detected objects such as the position Pl, the position Prk, and the position Pv with a threshold RFc of the reflection intensity determined in advance. The threshold RFc of the reflection intensity is used to exclude an object having low reflection intensity such as the rock and the like when identifying the landmark8from the detected objects. The magnitude of the threshold RFc of the reflection intensity is determined to achieve the objective. After the comparison of step S204, the traveling control unit20A moves the processing onto step S205.

In step S205, when there is the detected object having the reflection intensity RF that is the threshold RFc of the reflection intensity or more (RF≥RFc) (Yes in step S205), the traveling control unit20A executes processing of step S206for such a detected object. In the example illustrated inFIG. 13, the reflection intensity RF of the detected objects corresponding to the position P1and the position Pv is the threshold RFc of the reflection intensity or more, and the reflection intensity RF of the detected object corresponding to the position Prk is smaller than the threshold RFc of the reflection intensity. Therefore, the traveling control unit20A executes processing of step S206for the detected objects corresponding to the position P1and the position Pv.

In the step S206, the traveling control unit20A obtains movement of the detected objects corresponding to the position P1and the position Pv. For example, the traveling control unit20A determines that the detected objects corresponding to the aforementioned positions are being moved when change of the position P1and the position Pv acquired at different times is a predetermined value or more, and determines that the detected objects corresponding to the aforementioned positions remain still when the change is smaller than the predetermined value. Since the landmark8is a stationary structure, a moving detected object is not the landmark8. After comparison of step S206, the traveling control unit20A moves the processing onto step S207.

In step S207, when a detected object remains still (Yes in step S207), the traveling control unit20A determines that the detected object is the landmark8in step S208. In the example illustrated inFIG. 13, the detected object corresponding to the position P1remains still, and the detected object corresponding to the position Pv is moved toward the traveling direction F. Therefore, the detected object corresponding to the position P1is the landmark8. The position P1is the absolute position of the landmark8.

When the distance between the registration landmark position Pr and the absolute position of the detected object is larger than the predetermined value r (No in step S203), when there is a detected object having the reflection intensity RF that is smaller than the threshold RFc of the reflection intensity (RF<RFc) (No in step S205), and when the detected object is being moved (No in step S207), the traveling control unit20A determines that such detected objects are not the landmark8in step S209. The traveling control unit20A executes such processing and identifies the landmark8from the objects detected by the non-contact sensor24, so that the landmark8is detected by the non-contact sensor24.

As described above, when the vehicle3or the like is stopped near the landmark8, there is a possibility that the vehicle3or the like is wrongly detected as the landmark8. That is, the position of the landmark8detected by the non-contact sensor24in step S102or the detected object determined by the traveling control unit20A as the landmark8in step S208may be an object other than the landmark8, which has been wrongly detected. In the description below, the “detected landmark8” is a concept including a candidate of the landmark8.

In step S102described above, when the non-contact sensor24has detected the landmark8(Yes in step S102), the traveling control unit20A determines whether the vehicle3or the like exists in a predetermined range (first range) around the detected landmark8. In this case, the traveling control unit20A acquires the position of the vehicle3or the like operated in the mine from the storage device13of the management device10through the communication system9. If all of the positions of the vehicle3and the like operated in the mine are acquired, an information amount may become massive. Therefore, the traveling control unit20A may acquire only the positions of the vehicle3and the like existing in a second range larger than the first range, based on the position of the detected landmark8. In doing so, the information amount can be decreased. Therefore, the traveling control unit20A can decrease a load to be provided to the communication system9and an objective amount to be compared with the position of the detected landmark8. While the first range is a range of several meters to several ten meters in radius around the landmark8, for example, the second range is a range of several hundred meters in radius around the landmark8, for example.

In the description above, the traveling control unit20A has acquired the position of the vehicle3or the like operated in the mine from the storage device13of the management device10. However, the dump truck2may directly acquire the position of the vehicle3or the like operated in the mine from the vehicle3or the like, and store the acquired position to the storage device25of the dump truck2. In this case, the position of the vehicle3or the like operated in the mine may be transferred from a recording medium such as a semiconductor memory, a computer, or the like to the storage device25, or may be transferred from the storage device13of the management device10to the storage device25of the dump truck2through the communication system9in advance. In the present embodiment, an example in which the position of the vehicle3is acquired based on the landmark9has been described. However, the position of the vehicle3may be acquired based on the current own position of the dump truck2.

In step S103, the traveling control unit20A compares the position of the landmark8detected by the non-contact sensor24, and the position of the vehicle3or the like operate in the mine. In step S103, whether the vehicle3or the like exists in a predetermined range around the landmark8detected by the non-contact sensor24is determined as follows, for example. The position of the landmark8detected by the non-contact sensor24is Pl, and the position of the vehicle3or the like is Pv. A difference ΔP between the position of the landmark8and the position of the vehicle3can be obtained by √{(Xml−Xv)2+(Yml−Yv)2+(Zml−Zv)2}, for example, where the coordinates of the position P1of the detected landmark8are (Xml, Yml, Zml), the coordinates of the position Pt of the vehicle3or the like are (Xv, Yv, Zv). The traveling control unit20A compares the difference ΔP with a predetermined threshold ΔPc, and when the difference ΔP is the predetermined threshold ΔPc or less, the traveling control unit20A determines that the vehicle3or the like exists in the predetermined range around the landmark8detected by the non-contact sensor24.

When the traveling control unit20A has determined that the vehicle3or the like exists in the predetermined range around the landmark8detected by the non-contact sensor24(Yes in step S103), the traveling control unit20A moves the processing onto step S104. In step S104, when causing the dump truck2to travel using the dead reckoning navigation, the traveling control unit20A does not use at least the position of the landmark8having the vehicle3exist in the predetermined range therearound. When having determined that the vehicle3or the like does not exist in the predetermined range around the landmark8detected by the non-contact sensor24(No in step S103), the traveling control unit20A uses the position of the landmark8, which has been the comparison object in step S103, when causing the dump truck2to travel using the dead reckoning navigation.

FIG. 15is a flowchart illustrating a procedure of a mining machine management method according to a modification of the present embodiment.FIG. 16is a diagram illustrating a mining machine management method according to the modification of the present embodiment. InFIG. 16, a position Pr is the above-described registration landmark position, a position P1is a position of a detected object (a landmark8in this example), and a position Pv is a position of a vehicle3. The present modification is similar to the above-described embodiment. However, the present modification is different from the above-described embodiment in that a predetermined value r is made small, the predetermined value r being to be used to determine that the detected object is the landmark8in a case where the vehicle3or the like exists in a predetermined range around the landmark8detected by a non-contact sensor24.

Steps S301to S303of the modification are similar to steps S101to S103of the above-described embodiment, and thus description is omitted. When having determined that the vehicle3or the like exists in the predetermined range around the landmark8detected by the non-contact sensor24(Yes in step S303), a traveling control unit20A moves processing onto step S304. In step S304, the traveling control unit20A makes the predetermined value r small, which is to be used to determine that the detected object detected by the non-contact sensor24is the landmark8. For example, as illustrated inFIG. 16, when the vehicle3or the like does not exist in the predetermined range around the detected landmark8, the predetermined value r is used. However, when the vehicle3or the like exists, a predetermine value rs is used (r>rs).

In a case where the predetermined value r is used, the distance between the registration landmark position Pr and the position Pv of the vehicle3becomes within the predetermined value r. As a result, the vehicle3existing in the predetermined range around the detected landmark8is also determined as the landmark8. The present modification uses the predetermined value rs that is smaller than the predetermined value r, as the predetermined value, when the vehicle3or the like exists in the predetermined range around the detected landmark8(Yes in step S303), and thus the distance between the registration landmark position Pr and the position Pv of the vehicle3becomes larger than the predetermined value rs. Therefore, the vehicle3existing in the predetermined range around the detected landmark8is also determined not to be the landmark8. That is, in this case, the traveling control unit20A does not consider the vehicle3existing in the predetermined range around the detected landmark8, as the landmark8. In this case, the distance between the registration landmark position Pr and the position P1of the detected object is within the predetermined value rs. Therefore, the detected object is determined as the landmark8.

In step S304, when the predetermined value r is changed to the predetermined value rs, in step S305, the traveling control unit20A executes processing of identifying the detected object as the landmark8using the predetermined value rs in a case of causing the dump truck2to travel using at least the dead reckoning navigation. When the vehicle3or the like does not exist in the predetermined range around the detected landmark8(No in step S303), the traveling control unit20A executes processing (step S305) of identifying the detected object as the landmark8using the predetermined value rs without changing the predetermined value r.

The present modification makes the predetermined value r small, which is to be used to determine the detected object as the landmark8, when the vehicle3or the like exists in the predetermined range around the landmark8. Therefore, the traveling control unit20A can decrease a possibility to determine the vehicle3or the like existing in the predetermined range around the detected landmark8, as the landmark8. As a result, in a case of correcting the reckoning error in the position of the landmark8during traveling of the dump truck2by the dead reckoning navigation, the traveling control unit20A can decrease a possibility that a reckoned position after correction deviates from the original position. Therefore, in the dump truck2, a possibility to deviate from a traveling path and a conveying path HL determined in advance is decreased, and a decrease in the productivity of the mine is suppressed. Further, the present modification has an advantage to suppress a decrease in the number of landmarks to be used, in a case where the traveling control unit20A corrects the reckoned position using the landmark8.

In the present embodiment and the modification, an example has been described, in which the vehicle3exists in the predetermined range around the landmark8with an ID102, in a case where a dump truck2a, of a plurality of dump trucks2that travel in the conveying path HL, detects the landmark8with an ID102. In this case, the dump truck2aand a following dump truck2bmay separately determine existence of the vehicle3, and may determine whether using the position of the landmark8with the ID102. Further, a processing system2S of the dump truck2amay transmit a detection result in the dump truck2ato a processing system2S of the another dump truck2bthrough a communication system9, and the processing system2S of the another dump truck2bmay use the determination result. In a case where the processing system2S of the another dump truck2buses the determination result in the dump truck2a, the processing system2S of the dump truck2atransmits the determination result to a management system1once, and the management system1may transmit the determination result to the processing system2S of the another dump truck2b. The following dump truck2bcan promptly use the determination result. In a case where the determination result has been transmitted to another dump truck (not illustrated) ahead of the dump truck2a, the another dump truck can use the determination result when returning to the same location again.

Since the vehicle3is a moving body, its position is changed from moment to moment. Therefore, in the mine, it is more favorable to determine existence of the vehicle3for each dump truck2, and to determine whether using the position of the landmark8detected by the non-contact sensor24. In this case, the processing system2S of the dump truck2acquires the position of the vehicle3every time detecting the position of a different landmark8, and can determine whether using the position of the landmark8detected by the non-contact sensor24. In doing so, the processing system2S of the dump truck2can use the position of the vehicle3at the time of detection of the landmark8. Therefore, accuracy of determination as to whether the vehicle3exists in the predetermined range around the landmark8can be improved.

As described above, the present embodiment and the modification have been described. However, the present embodiment is not limited by the above-described content. Further, the above-described configuration elements of the embodiment include those easily conceived by a person skilled in the art, those substantially the same, and those within the scope of equivalents. Further, the above-described configuration elements can be appropriately combined. Further, various omissions, replacements, and changes of the configuration elements can be made without departing from the gist of the present embodiment.

For example, in the present embodiment and the modification, the processing system2S of the dump truck2has acquired the positions of the vehicle3and the like from the management device10through the communication system9. However, the processing system2S of the dump truck2may directly acquire the positions from the vehicle3and the like through the communication system9.

REFERENCE SIGNS LIST

2S PROCESSING SYSTEM

3S CONTROL SYSTEM

12A DATA PROCESSING UNIT

12B TRAVELING PATH GENERATION UNIT

18WIRELESS COMMUNICATION DEVICE

20A TRAVELING CONTROL UNIT

21VEHICLE MAIN BODY

28WIRELESS COMMUNICATION DEVICE

29POSITION DETECTION DEVICE