Mining vehicle control system, mining vehicle control method, and mining vehicle control program

Abstract

In open-pit mines and underground mine tunnels, this system accurately tracks the position of mining vehicles such as heavy machinery and support vehicles, as well as their relative positions, enabling safe control of mining vehicles. [Solution] The system comprises a plurality of first devices 1 installed in or around a mine pit P or tunnel T, capable of acquiring their own position information, and a plurality of second devices 2 installed on multiple mining vehicles brought into the mining site. The system includes distance calculation means for calculating the distance between each of the plurality of first devices 1 and the second device 2 based on the bidirectional transmission and reception times of information or signals between each of the plurality of first devices 1 and the second device 2, and position identification means for identifying the position of the second device 2 based on the distance between each of the plurality of first devices 1 and the second device 2 calculated by the distance calculation means, and the position information of each of the first devices 1.

Description

Technical Field

[0004] , , , , , , ,

[0001] The present invention relates to a mine vehicle control system, a mine vehicle control method, and a mine vehicle control program for safely controlling mine vehicles such as heavy machinery and support vehicles used in mine operations.

Background Art

[0002] Heavy machinery used in a mine excavation site is moved by self-driving it into the work location, or after loading it onto a trailer for transportation and then unloading it at the site for self-driving, or when used in rugged terrain or deep pits, a method of moving it using a crane is adopted. Also, support vehicles that assist and support the work frequently travel to the work location. Therefore, it is required to safely control mine vehicles such as heavy machinery and support vehicles in a limited area. Since the roads in a mine are temporary roads that are frequently relocated according to the mining position, the operation of heavy machinery and support vehicles in pits and tunnels is mainly carried out by humans. That is, conventionally, an operator has moved the mine vehicle while visually measuring the safety distance from the slope or other mine vehicles. In order to efficiently and safely perform work by coordinating many mine vehicles concentrated at the excavation site, it is desirable to grasp the accurate position information of each mine vehicle in real time and appropriately perform operation management and layout adjustment. Therefore, conventionally, a method of automatically driving heavy machinery and support vehicles using GPS has been proposed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] (注:原文中 处“A0000014”疑似有误,按照原样保留了。)However, in mountainous areas such as mines, even open-pit mining on the surface is prone to the "multipath" phenomenon where GPS signals are reflected. This reflection delays the arrival time of GPS signals, resulting in a decrease in positioning accuracy. Therefore, when using GPS signals for control, it is necessary to consider positioning errors, which often necessitates the construction of temporary roads with safety margins and the operation of mining vehicles, leading to inefficient work. Furthermore, if the mined material is located deep below the surface, underground mining is carried out by digging tunnels. However, in such tunnels, it is difficult to receive GPS signals, and the control of heavy machinery and support vehicles that rely on GPS becomes less effective, leading to many safety problems. This invention has been made in view of the above circumstances, and its main objective is to provide a mining vehicle control system, a mining vehicle control method, and a mining vehicle control program that can accurately grasp the position of mining vehicles such as heavy machinery and support vehicles, as well as the positional relationships between vehicles, and safely control mining vehicles, even in open-pit mines and underground mine tunnels. [Means for solving the problem]

[0005] To achieve the above objectives, the mining vehicle control system according to the present invention is A mining vehicle control system that controls a mining vehicle using a plurality of first devices installed in or around a mining site (open-cut or underground mine) or in a mine pit or tunnel, which are capable of acquiring their own positional information, and a plurality of mining vehicles installed in a plurality of mining vehicles brought into the mining site, Distance calculation means for calculating the distance between each of the multiple first devices and the second device based on the bidirectional transmission and reception times of information or signals between each of the multiple first devices and the second device, A position identification means that identifies the position of the second device based on the distance between each of the first and second devices calculated by the distance calculation means, and the position information of each of the first devices. It is characterized by having [this feature].

[0006] Here, the first device from which its own location information can be obtained includes not only cases where the location information of the first device has been obtained and identified in advance, but also cases where it has been obtained and identified retrospectively by some means. Furthermore, the identified location information of the first device may be stored in a readable format in its own memory, or it may be stored in a database on another storage device. The position information of the first device is three-dimensional position information, and may be determined using either a geocentric Cartesian coordinate system or a geodetic coordinate system. Furthermore, the installation method of the first device is not particularly limited. It may be installed on the surface of fixed objects such as piles, poles, and lighting equipment placed on the walls of mine pits and tunnels, or around the mining site, or it may be embedded in the walls or fixed objects.

[0007] Installing the second device on a mining vehicle includes not only fixing it to the surface of the mining vehicle, but also embedding it in the mining vehicle, housing it in a compartment provided on the mining vehicle, or fixing it to equipment that moves integrally with the mining vehicle. Furthermore, the second device may be substituted for a control device mounted on a mining vehicle by installing the application of this system on that control device.

[0008] Here, it is desirable to intentionally make the height positions on which the first device is installed different, and by managing the height position of the first device, it becomes possible to more accurately determine the three-dimensional position information of the second device.

[0009] Therefore, the distance calculation means calculates the distance between each of the multiple first devices and the second device installed on the mining vehicle, and the position identification means makes it possible to identify the position of the second device, i.e., the position of each mining vehicle, based on the distance between each of the multiple first devices and the second device, and the position information of the first devices.

[0010] Furthermore, in order to accurately determine the location and relative positions of multiple mining vehicles, it is necessary to synchronize the time on the first device and the time on the second device to obtain accurate positional information at the same time. Therefore, a time difference calculation means calculates the time difference between the clock of the first device and the clock of the second device based on the bidirectional transmission and reception times of information or signals between each of the multiple first devices and the second device, It is preferable to further include a device time synchronization means that synchronizes the time of the second device with the time of the first device, which is synchronized to a reference time, based on the time difference calculated by this time difference calculation means. This makes it possible to collect precise location information for multiple mining vehicles and control their movements with high accuracy.

[0011] Here, the distance calculation means is: The difference between the time on the first device's clock when it transmits information or a signal and the time on the second device's clock when it receives the information or signal transmitted from the first device, The difference between the time on the second device's clock when it transmits information or a signal and the time on the first device's clock when it receives the information or signal transmitted from the second device, Based on this, the propagation time of the information or signal between the first device and the second device may be calculated, and the distance between the first device and the second device may be calculated based on this propagation time. In this configuration, the distance between the first and second devices can be accurately calculated even if time synchronization is not maintained between the first and second devices, by calculating the distance between the first and second devices based on the transmission and reception times of information or signals in both directions between the first and second devices.

[0012] Furthermore, the device time synchronization means is The difference between the time on the first device's clock when it transmits information or a signal and the time on the second device's clock when it receives the information or signal transmitted from the first device, The difference between the time on the second device's clock when it transmits information or a signal and the time on the first device's clock when it receives the information or signal transmitted from the second device, Based on this, the time difference between the clock of the first device 1 and the clock of the second device 2 is calculated, and based on this time difference, the time of the clock of the second device is synchronized with the time of the clock of the first device. By using such a synchronization method, even when time synchronization using GPS or the Internet cannot be performed, it is possible to synchronize the clock of the second device with the clock of the first device. As a result, it becomes possible to accurately capture the positions of a plurality of mining vehicles in real time.

Advantages of the Invention

[0013] As described above, according to the mining vehicle control system, mining vehicle control method, and mining vehicle control program according to the present invention, based on the transmission and reception times of information or signals in both directions between each of a plurality of first devices and a second device, the distance between each of the plurality of first devices and the second device is calculated. From the calculated distances between each of the plurality of first devices and the second device, and the position information of each first device, the positions of the mining vehicles on which the second device is installed are specified. Therefore, it becomes possible to accurately grasp the positions of a plurality of mining vehicles and control them safely.

Brief Description of the Drawings

[0014] [Figure 1] It is a diagram showing an installation example of the first device and the second device of the mining vehicle control system according to the present invention. (a) shows an example when a mining vehicle is carried into a mine pit for work, and (b) shows an example when a mining vehicle is carried into a mine tunnel for work. [Figure 2] It is a diagram showing a configuration example of the hollow inspection system according to the present invention. [Figure 3] It is a block diagram showing a configuration example of the first device. [Figure 4] It is a block diagram showing a configuration example of the second device. [Figure 5] It is a block diagram showing the configuration of the server device. [Figure 6] It is a flowchart showing the distance calculation process. [Figure 7]It is a flowchart showing position-specific processing. [Figure 8] It is a flowchart showing an example of an operation control action for maintaining a safe separation distance between multiple mining vehicles.

Embodiments for Carrying Out the Invention

[0015] Hereinafter, embodiments according to the present invention will be described while referring to the accompanying drawings.

[0016] In FIG. 1, an example of a mining vehicle M (a heavy machine or a support vehicle used for work such as mining and transporting mined materials or performing auxiliary work, which is carried into a mine pit or a mining area of a tunnel) to be controlled by a mining vehicle control system S according to the present invention is shown. Among these, FIG. 1(a) shows an example of a mining vehicle for performing a series of operations of carrying mining vehicles such as heavy machines and support vehicles into a mine pit P, aggregating them, and mining and carrying out mined materials such as coal. FIG. 1(b) shows an example of a mining vehicle for performing a series of operations of forming a tunnel T in a mine, aggregating mining vehicles at a mining area through this tunnel, and mining and carrying out mined materials.

[0017] Heavy machines include shovel cars, bulldozers, drill rigs, wheel loaders, graders, dump trucks, etc. Support vehicles are vehicles for assisting operations other than heavy machines, that is, vehicles responsible for transporting workers and safety management, and include pickup trucks, light trucks, minibuses, four-wheel drives (SUVs), ambulances, fire trucks, railway freight cars, automated guided vehicles, etc.

[0018] As shown in FIG. 2, the mining vehicle control system S includes a first device 1 installed on a fixed object in a mine pit, a mining area of a tunnel, or its vicinity, a second device 2 installed on a mining vehicle (heavy machine or support vehicle; for example, a shovel car, bulldozer, drill rig, wheel loader, grader, dump truck, etc.), and a server device 3.

[0019] The first device 1 may be fixed to the wall surface of a pit or tunnel, or to the surface of a fixed object fixed to the pit or tunnel, by appropriate means such as screws, adhesive, or brackets, or it may be installed by being housed (embedded) inside the wall surface or fixed object. These first devices 1 have their own three-dimensional position information acquired by some means.

[0020] The three-dimensional position information of the first device 1 may be acquired in advance and stored in a readable format inside the first device, or it may be acquired retrospectively by some means after the system has been started. Furthermore, the three-dimensional position information of the first device 1 may be compiled into a database and stored in the storage unit (storage unit 33, described later) of the server device 3. Here, the three-dimensional position information may be represented, for example, by latitude, longitude, and ellipsoidal height in the WGS8 coordinate system, or by a unique three-dimensional coordinate system set up for each area indoors.

[0021] The first device 1 and the second device 2 can communicate directly with each other. Furthermore, the first device 1 can be connected to the server device 3 via the communication network 4, and the second device 2 can also be connected to the server device 3 via the communication network 4. Each of the first device 1 and the second device 2 has an internal clock, which can be synchronized to a reference time using a method described later.

[0022] Furthermore, the first device 1 can also function as the first device 1 for multiple second devices 2, and when multiple second devices 2 exist, each of these second devices 2 may be configured to function as the first device for multiple other second devices. In other words, if the precise location of a second device can be determined, the distance between that second device and other second devices can be calculated and used to determine the location of the other second devices. In this embodiment, we will describe a case where only the first device is used to locate the second device.

[0023] (Regarding the first device) As shown in Figure 3, the first device 1 comprises a control unit 11, an RF chip 12, and an oscillator 13, each connected by a bus. It also includes a RAM 14 and a storage unit 15, each connected to the control unit 11 by a bus.

[0024] The control unit 11 consists of a CPU and ROM, and executes programs stored in ROM to control the first device 1. The RF chip 12 is equipped with at least a clock 16, but may also be equipped with a phase detector. The RF chip 12 also has the function of processing the transmission and reception of wireless signals, and the data received by the RF chip 12 is subject to calculation processing by the control unit 11. The RAM 14 is the work area of ​​the control unit 11, and the storage unit 15 is a storage area for saving programs, data, etc.

[0025] The oscillator 13 oscillates at a predetermined frequency and outputs a signal to provide the operating timing for each part of the device. A crystal oscillator or an atomic oscillator can be used as the oscillator 13. The clock 16 keeps time using the output signal of the oscillator 13 as the source oscillation and outputs the time. The time kept by the clock 16 is controlled by the control unit 11 to be transmitted to the second device 2 via the RF chip 12. If a phase detector is also provided, it detects the phase of the carrier wave that constitutes the information received from the second device 2, and also detects the phase of the signal transmitted by the oscillator 13 of the first device 1.

[0026] The RF chip 12 is capable of sending and receiving data with other computer devices. Data received by the RF chip 12 is stored in the RAM 14 or storage unit 15 and is subject to calculation processing by the control unit 11. When the 3D position information of the first device 1 is received via the RF chip 12, it is stored in the RAM 14 or storage unit 15 and controlled by the control unit 11 to be transmitted to the second device 2 via the RF chip 12.

[0027] In this mining vehicle control system S, the installation location of the first device 1 is not particularly limited, but since it is used to identify the current location of mining vehicles gathered in mining pits and tunnels, it is preferable to install it in a location that is visible from as many mining vehicles as possible. For example, in a mining pit, it is preferable to install it on the pit wall, on fixed objects such as stakes or lighting fixed to the ground surface of the pit, on steel towers, utility poles, or buildings around the pit. In a mining tunnel, it is preferable to install it around the entrance and exit of the tunnel, on the tunnel wall, or on lighting or stakes installed inside the tunnel. The location should be appropriately selected according to the infrastructure conditions of the place where the mining vehicle control system S is used.

[0028] To obtain three-dimensional positional information of mining vehicles, the first device 1 does not need to be installed on the same plane; rather, it is preferable that adjacent first devices 1 be installed at different heights. For example, even when the first device 1 is attached to a nearby fixed object, it is preferable to make the mounting height of the first device different for each fixed object. Furthermore, it is desirable that the first device 1 be installed comprehensively around the inspection area and its surroundings.

[0029] Furthermore, the location information of the installation site of the first device 1 may be stored in its own storage unit 15, associated with identification information that can identify the first device 1, or stored in the storage unit 33 of the server device 3, or it may be made available via the communication network 4 from another management server that manages location information.

[0030] (Regarding the second device) Next, the second device 2 will be described. This second device 2 is to be installed on mining vehicles M such as heavy machinery and support vehicles, and may be attached directly to the mining vehicle or embedded inside the main body of the mining vehicle. If the mining vehicle is provided with a storage compartment, it may be housed in that compartment. Furthermore, it may be fixed to cameras, sensors, GPS modules, communication equipment, material transport devices, etc. that move together with the mining vehicle (attached to the mining vehicle). Alternatively, the application of this system may be installed on a controller mounted on the mining vehicle and this controller may be used as a substitute.

[0031] As shown in Figure 4, the second device 2 comprises a control unit 21, an RF chip 22, and an oscillator 23, each connected by a bus. It also includes a RAM 24 and a storage unit 25, each connected to the control unit 21 by a bus.

[0032] The RF chip 22 includes at least a clock 26, but may also include a phase detector if necessary.

[0033] The control unit 21 is configured with a CPU and ROM, and executes programs stored in the storage unit 25 to control the second device 2. The RAM 24 is the work area of ​​the control unit 21, and the storage unit 25 is a storage area for saving programs and data. The control unit 21 performs calculation processing based on programs and data read from the RAM 24 and the storage unit 25, as well as data input from an input unit (not shown).

[0034] The RF chip 22 is capable of sending and receiving data with other computer devices. The data received by the RF chip 22 is loaded into the RAM 24 and subjected to calculation processing by the control unit 21.

[0035] The oscillator 23 oscillates at a predetermined frequency and outputs a signal to provide the operating timing for each part of the device. A crystal oscillator or an atomic oscillator can be used as the oscillator 23. The clock 26 keeps time using the output signal of the oscillator 23 as the source oscillation and outputs the time. The time kept by the clock is controlled by the control unit 21 to be transmitted to the first device 1 via the RF chip 22. If a phase detector is also present, it detects the phase of the carrier wave that constitutes the information received from the first device 1, and also detects the phase of the signal oscillated by the oscillator 23 of the second device 2.

[0036] (Regarding server equipment) Next, the server device 3 of the present invention will be described. The server device 3 can acquire location information from the second device 2.

[0037] The acquired location information is stored in server device 3 as location information for the mining vehicle (second device 2). The location information of the mining vehicle (second device 2) is transmitted from second device 2 to server device 3, for example, by associating identification information that can identify second device 2 with the time the location information was determined. Server device 3 may also enable communication between first device 1 and second device 2 via smart meters installed in houses, electrical equipment, etc., located around the mining site.

[0038] Figure 5 is a block diagram showing the configuration of a server device 3 according to an embodiment of the present invention. The server device 3 comprises at least a control unit 31, a RAM 32, a storage unit 33, and a communication interface 34, each connected by an internal bus. It also includes a database 35 for storing information received from the first device 1 and the second device 2. The location information of the first device 1 may also be stored in this database 35 after being compiled into the database.

[0039] The control unit 31 consists of a CPU, ROM, etc., and executes programs stored in the storage unit 33 to control the server device 3. The control unit 31 also has an internal timer for measuring time. The RAM 32 is the work area of ​​the control unit 31. The storage unit 33 is a storage area for saving programs and data. The control unit 31 reads programs and data from the storage unit 33 and RAM 32, and, based on information received from the first device 1 or the second device 2, executes various control processes in the control unit according to the program.

[0040] (Distance calculation process) Using the above configuration, the process for calculating the distance between the first device 1 and the second device 2 will now be described.

[0041] This distance calculation process calculates the distance between each of the first devices 1 and the second device 2, based on the propagation time Tp of the information or signal between each of the first devices 1 and the second device 2, provided that the first devices 1 and the second device 2 are within a distance range that allows them to mutually send and receive information or signals.

[0042] The distance calculation process is performed at predetermined time intervals (for example, every minute) or whenever predetermined conditions are met, and the process is carried out in steps S1 to S16 as shown in Figure 6. For convenience, here we will explain the case of calculating the distance between one first device 1 and one second device 2.

[0043] First, information or a signal is transmitted from the first device 1 to the second device 2 (step S1). The information or signal transmitted from the first device 1 to the second device 2 is not particularly limited.

[0044] In the first device 1, the time (T11) when information or a signal is transmitted in step S1 is recorded (step S2), and this recorded time is stored in the memory or storage unit 15 within the control unit 11 (step S3).

[0045] Subsequently, the second device 2 receives the information or signal from the first device 1 (step S4). The second device 2 records the time (T21) when the information or signal was received in step S4 (step S5). The recorded time (including the measured phase, if one is measured) is then stored in the memory or storage unit 25 of the control unit 21 (step S6).

[0046] Next, the second device 2 transmits information or a signal to the first device 1 (step S7). The information or signal transmitted from the second device 2 to the first device 1 is not particularly limited. The second device 2 records the time (T22) when the information or signal was transmitted in step S7 (step S8). Then, the recorded time is stored in the memory or storage unit 25 of the control unit 21 (step S9).

[0047] The first device 1 receives the information or signal transmitted in step S7 (step S10). The first device 1 records the time (T12) when it received the information or signal in step S10 (step S11). The recorded time (including the measured phase if the phase is measured) is then stored in the memory or storage unit 15 of the control unit 11 (step S12).

[0048] Subsequently, the first device 1 transmits to the second device 2 via its RF chip 12 the information stored in step S3 regarding the time (T11) when the signal was transmitted in step S1, and the information stored in step S12 regarding the time (T12) when the signal was received in step S10 (step S13). At this time, the position information of the first device 1 is also transmitted to the second device 2.

[0049] Then, in step S1, the second device 2 receives information regarding the time (T11) when the first device 1 transmitted information or a signal, and information regarding the time (T12) when the first device received information or a signal in step S10 (step S14).

[0050] Next, the distance between the first device 1 and the second device 2 is calculated using the second device 2 (step S15). This distance is calculated in the following manner.

[0051] Information regarding the time of the first device's clock (T11) is transmitted to the second device 2 via radio waves. The difference between this time and the time of the second device 2's clock (T21) when the second device 2 receives this information is recorded as ΔTa on the second device 2 side. In other words, if we define the time of the first device's clock when it transmits information or a signal from the first device 1 to the second device 2 as T11, and the time of the second device's clock when it receives the information or signal transmitted from the first device 1 and sets time as T21, and the difference between them as ΔTa, then this ΔTa (the difference in transmission and reception times when information or a signal is transmitted from the first device 1 to the second device 2) is the difference between the time of the first device 1's clock and the second device 2's clock (time difference: T20-T10) plus the propagation time (propagation delay) Tp, resulting in the relationship shown in Equation 1. This time difference (T20-T10) would be zero if the clocks of the first device 1 and the second device 2 were synchronized, but here we assume that a time difference (T20-T10) exists (they are not synchronized). [Formula 1] ΔTa=T21-T11=(T20-T10)+Tp

[0052] To determine this propagation time Tp, the second device 2 also sends information about the time of this clock (T22) to the first device 1, and the difference between this time and the time of the first device 1's clock (T12) when the first device 1 receives it is recorded as ΔTb on the first device side. That is, if we define the time of the second device's clock when the second device 2 transmits information or a signal to the first device 1 as T22, and the time of the first device 1's clock when it receives the information or signal transmitted from the second device 2 as T12, and the difference between them as ΔTb, then this ΔTb (the difference in transmission and reception times when the second device 2 transmits information or a signal to the first device 1) is the difference between the time of the first device 1's clock and the second device 2's clock (time difference: T10-T20) plus the propagation time (propagation delay) Tp, resulting in the relationship shown in Equation 2. Here, the time difference (T10-T20) would be zero if the clocks of the first device 1 and the second device 2 were synchronized, but here we assume that a time difference (T10-T20) exists (they are not synchronized). [Formula 2] ΔTb=T12−T22=(T10−T20)+Tp

[0053] The time differences between the two clocks, (T20-T10) and (T10-T20), are added when transmitting from the first device to the second device, and the same amount of time difference is subtracted when transmitting from the second device to the first device. Therefore, to find the propagation time Tp, we add equations 1 and 2, which cancels out the terms for the time differences (T20-T10) and (T10-T20), resulting in the relationship in equation 3. [Formula 3] Tp=(ΔTa+ΔTb) / 2 =((T21-T11)+(T12-T22)) / 2

[0054] Therefore, the propagation time Tp can be calculated based only on the time read by the clock of the first device 1 and the time read by the clock of the second device 2.

[0055] Incidentally, the time difference (T10-T20) between the clock of the first device 1 and the clock of the second device 2 is given by the relationship in Equation 4, obtained by [Equation 1] - [Equation 2]. [Formula 4] (T10-T20)=(ΔTa−ΔTb) / 2

[0056] Subsequently, the distance between the first device 1 and the second device 2 is calculated by multiplying the propagation time calculated using Equation 3 by the propagation speed of the information or signal (e.g., high speed) (step S15).

[0057] Then, the distance between the first device 1 and the second device 2 calculated in step S15 is stored in the memory or storage unit 25 of the control unit 21 and transmitted to the server device 3 (step S16). By executing step S16, the distance calculation process is completed.

[0058] Therefore, since equation (3) for calculating the propagation time Tp does not include a term for the time difference (time difference: T20-T10) between the clocks of the first device 1 and the second device 2, the propagation time for information or signals to propagate between the first device 1 and the second device 2 can be calculated regardless of whether there is a time difference between the clocks of the first device 1 and the second device 2 (independent of the time difference (time difference: T10-T20) between the clocks of the first device 1 and the second device 2).

[0059] [Location identification process] Next, we will explain the process of determining the location of the person to whom the second device 2 is attached. This location determination process determines the location of the second device 2 based on the distances between each of the multiple first devices 1 and the second device 2, which were calculated in the distance calculation process. Since the second device 2 is installed on a mining vehicle, this can be said to be a process of determining the location of the mining vehicle.

[0060] This positioning process should preferably be performed immediately after the distance calculation process is completed. Furthermore, in order to determine the position of the second device 2, it is assumed that the distance calculation device has calculated the distance to each of the multiple first devices 1 for each of the second devices 2.

[0061] In other words, when obtaining three-dimensional positional information of a mining vehicle (to obtain x, y, and z coordinates), the position of the second device 2 can be determined by using a well-known multi-point surveying calculation method, based on the distance between one second device 2 and at least four first devices 1, and the positional information of each of the four first devices 1 used to calculate this distance. Therefore, since this system can determine the three-dimensional position of the second device 2 if four or more distance data points are available between the first device 1 and the second device 2, it is advisable to appropriately distribute the first devices 1 so that the second device 2 (mining vehicle M) can send and receive information or signals with at least four first devices 1 even when the second device 2 moves. In particular, in locations where positional accuracy is required, it is necessary to pre-adjust the number and three-dimensional position of the first device 1 to achieve the required accuracy.

[0062] Figure 7 shows a flowchart of the location identification process according to an embodiment of the present invention. This location identification process can be performed on either the first device 1, the second device 2, or the server device 3. When the location identification process is performed on the first device 1 or the server device 3, the distance between each of the multiple first devices 1 and the second device 2, as well as the location information of the first device 1, can be associated with the identification information of the second device 2, transmitted to the first device 1 or the server device 3, and used. Here, an example of performing the location identification process on the server device will be described.

[0063] First, the position determination process requires that distance information for at least four different first devices 1 and second devices 2 be obtained at the same time or close together. Here, "close together" means that the time at which the distances between the four first devices 1 and second devices 2 used to determine the position of second device 2 are calculated is within a range that does not hinder the capture of the movement of the second device. If the distances are not calculated at the same time or close together (for example, if the time at which the propagation time of information or signals between each of the multiple first devices 1 and second device 2 is measured is the same time or close together), it becomes difficult to accurately determine the position of second device 2 (mining vehicle) assuming that it is moving.

[0064] Therefore, first, it is determined whether four or more data points of the distance between the first device 1 and the second device 2 have been acquired within a predetermined time range (step S21).

[0065] If four or more distance data points between the first device 1 and the second device 2 are not acquired within a predetermined time range, accurate three-dimensional positional information cannot be obtained using this positioning method. Therefore, the system waits until four or more distance data points are obtained within the predetermined time range. In contrast, if four or more distance data points between the first device 1 and the second device 2 can be acquired within a predetermined time range, three-dimensional position information can be obtained with high accuracy using this position determination method that utilizes wireless bidirectional time comparison. Then, the current position of the second device 2 is determined using the multi-point surveying calculation method described above (step S22), and display processing is performed such as displaying the current position of the mining vehicle (second device 2) on a display screen (not shown) of the server device 3 (step 23). At the same time, it is preferable to store the position information of the second device 2 along with the time it was calculated in the storage unit 33 of the server device 3 for use in subsequent processing.

[0066] Therefore, if there are four or more first devices 1 capable of transmitting and receiving signals from the second device 2 installed on the mining vehicle within a predetermined time range, the three-dimensional position of the second device 2 is determined by a position determination process based on the distance between each first device 1 and the second device 2 calculated by the distance calculation process, and the position information of each first device 1 used in this distance calculation. As the mining vehicle M moves, the four first devices 1 from which distance calculation is possible are switched sequentially, making it possible to continuously capture the position of the second device 2. Thus, if there are four or more of the first devices 1 capable of calculating distance, it becomes possible to determine the three-dimensional position of the second device 2. By adjusting the mounting surface and mounting height of the first devices and scattering them appropriately, it becomes possible to capture the position of the displaced second device (mining vehicle M) in real time.

[0067] By performing the above processing on all flying mining vehicles M (mining vehicles equipped with the second device 2), accurate three-dimensional positional information of the mining vehicles gathered at the mining site can be obtained. By controlling the operation of each mining vehicle M based on this positional information, it becomes possible to accurately determine the position of each mining vehicle without error, even when mining vehicles are gathered in a narrow mining site.

[0068] Conventional distance measurement systems calculate propagation time based on the difference between the transmission time of a transmitter (corresponding to the first device) and the reception time of a receiver (corresponding to the second device), and then calculate distance based on this time. However, in this method, unless the transmitter and receiver are time-synchronized, if there is a time difference between the two devices, the calculated propagation time will differ from the actual propagation time. In other words, if the receiver is different, the calculated propagation time may differ. In contrast, this system calculates the propagation time based on the transmission and reception times in both directions between the first device 1 and the second device 2, and then calculates the distance between the first device 1 and the second device 2. Therefore, even if there is a time difference between the first device 1 and the second device 2, there is no inconvenience in that the calculated propagation time will differ.

[0069] Furthermore, if the second device 2 installed on the mining vehicles is not time-synchronized, the position information of each mining vehicle M recorded on the server at a certain time will become inaccurate (a discrepancy will occur between the position known on the server at a certain time and the actual position at that time). When attempting to coordinate mining operations using multiple mining vehicles M, the data recorded with the same timestamp will differ from the actual positions of the mining vehicles, making coordinated work impossible. For this reason, in order to collect accurate position information, it is necessary to time-synchronize all first devices 1 and second devices 2 together with the server device 3.

[0070] Therefore, by synchronizing the time of the second device 2 with the time of the first device based on the time difference in equation (4), and synchronizing multiple first devices together with the server device 3 at a predetermined timing, it becomes possible to synchronize the time of all second devices 2 with the first device 1 and the server device 3. This makes it possible to accurately collect the simultaneous positions of all mining vehicles M in the mining site, thereby enabling accurate coordinated work.

[0071] (Examples of using this system) To move a mining vehicle to its destination within the mine using the mining vehicle control system S described above, automatic control as shown in Figure 8 is possible. This automatic control may be performed by the server device 3 or by other control devices. First, the position of each mining vehicle (second device 2) is calculated using the method described above, and the position of each mining vehicle is determined (step S31). Subsequently, the vehicle refers to a mine information database 40, which stores information such as the mine's topography (shape of pits, width of passages, shape and width of tunnels and temporary roads, etc.), 3D location information of minerals, the extent of the deposit, and the type of minerals, to set a destination in the mine (for example, the mining site or the exit of a tunnel) (step S32), and then sets a safe route from the vehicle's current position to the set destination (step S33). The mine information database should also include information on each mining vehicle present at the mining site (type of mining vehicle, size, current position, operating range, and safe separation distance of movable parts, etc.). Therefore, the safe route set in step S33 is set not only based on the positions of other mining vehicles, passage widths, and impassable areas, but also taking into account the operating range and movement of movable parts of each mining vehicle.

[0072] Then, the system automatically drives its own vehicle (mining vehicle) toward the set destination, but in order to avoid collisions between mining vehicles, it determines whether a safe distance is maintained between its own vehicle and other mining vehicles (step S34). If it is determined that a safe distance cannot be maintained between the vehicle and other mining vehicles, the system will automatically control the movement of at least one of the vehicles, including the vehicle itself, so that a safe distance can be maintained between the vehicle and other nearby mining vehicles (a command to stop, change direction, reverse, etc., of at least one of the vehicles, including the vehicle itself, will be sent to the automated driving system installed in the vehicle in question) (Step S35). In response to this, if it is determined that a safe distance has been secured between the vehicle and other mining vehicles, or if a safe distance has been secured after the movement has been controlled in step S35, the vehicle is automatically controlled to move towards the set destination according to the safe route set in step S33 (step S36). In this case, if a location where mineral resources exist is set as the destination, the vehicle will be automatically positioned in a location where efficient resource extraction is possible in relation to other mining vehicles (a location suitable for mining) after reaching the location where the mineral resources exist (step S37).

[0073] Therefore, with the above system, the precise location information of each mining vehicle in the mine can be captured in real time, and each mining vehicle can be moved to its destination via a safe route while maintaining a safe distance from other mining vehicles, thus ensuring safe operation control of the mining vehicles. Furthermore, if the destination is a mining-ready location, the vehicle will be accurately moved to that location and then automatically positioned in a location suitable for mining, enabling efficient mining operations.

[0074] Furthermore, the mining vehicle control system S described above can also be provided in the form of a program (mining vehicle control program) for executing each step of the mining vehicle control method described above. [Explanation of symbols]

[0075] 1 1st device 2 Second device 3 Server equipment S Mining Vehicle Control System M Mining Vehicles

Claims

1. A mining vehicle control system that controls a mining vehicle using a plurality of first devices installed in or around the mining area of ​​a mine pit or tunnel, and capable of acquiring its own position information, and a plurality of mining vehicles installed on the mining vehicle being transported to the mining area, Distance calculation means for calculating the distance between each of the multiple first devices and the second device based on the bidirectional transmission and reception times of information or signals between each of the multiple first devices and the second device, A position determination means that determines the position of the second device based on the distance between each of the first and second devices calculated by the distance calculation means, and the position information of each of the first devices, A mining vehicle control system characterized by having the following features.

2. A time difference calculation means calculates the time difference between the clock of the first device and the clock of the second device based on the bidirectional transmission and reception times of information or signals between each of the multiple first devices and the second device, Based on the aforementioned time difference, the device time synchronization means synchronizes the time of the second device with the time of the first device which is synchronized with the reference time, The mining vehicle control system according to claim 1, further comprising the features described above.

3. The distance calculation means is The difference between the time on the first device's clock when it transmits information or a signal and the time on the second device's clock when it receives the information or signal transmitted from the first device, The difference between the time on the second device's clock when it transmits information or a signal and the time on the first device's clock when it receives the information or signal transmitted from the second device, The mining vehicle control system according to claim 1, characterized in that it calculates the propagation time of the information or signal between the first device and the second device based on this propagation time, and calculates the distance between the first device and the second device based on this propagation time.

4. The aforementioned device time synchronization means is The difference between the time on the first device's clock when it transmits information or a signal and the time on the second device's clock when it receives the information or signal transmitted from the first device, The difference between the time on the second device's clock when it transmits information or a signal and the time on the first device's clock when it receives the information or signal transmitted from the second device, The mining vehicle control system according to claim 2, characterized in that, based on this, the time difference between the clock of the first device 1 and the clock of the second device 2 is calculated, and the time of the clock of the second device is synchronized with the time of the clock of the first device based on this time difference.

5. A mining vehicle control method that controls a mining vehicle using a plurality of first devices installed in or around a mining pit or tunnel, which are capable of acquiring their own positional information, and a plurality of mining vehicles that are brought into the mining area, A distance calculation step that calculates the distance between each of the multiple first devices and the second device based on the bidirectional transmission and reception times of information or signals between each of the multiple first devices and the second device, A position determination step in which the position of the second device is determined based on the distance between each of the first and second devices calculated in the distance calculation step, and the position information of each of the first devices, A method for controlling mining vehicles, characterized by having the following features.

6. A time difference calculation step that calculates the time difference between the clock of the first device and the clock of the second device based on the bidirectional transmission and reception times of information or signals between each of the multiple first devices and the second device, A device time synchronization step is performed to synchronize the time of the second device with the time of the first device which is synchronized to a reference time, based on the aforementioned time difference. The mining vehicle control method according to claim 5, further comprising:

7. A mining vehicle control program for causing a computer to perform each step of the mining vehicle control method according to claim 5 or 6.

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