MINING MACHINE, MANAGEMENT SYSTEM OF MINING MACHINE, AND MANAGEMENT METHOD OF MINING MACHINE

• US 20160185346A1
• Filed: 12/26/2014
• Published: 06/30/2016
• Est. Priority Date: 12/26/2014
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Awamori, Katsuki, Tanuki, Tomikazu
• Granted Patent: US 10,800,406 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A mining machine includes a traveling device traveling a traveling path in a mine, a vehicle body supported by the traveling device, a non-contact sensor in a front section of the vehicle body which contactlessly detects an object in a detection area, and is arranged such that the traveling path in front of the vehicle body and an area beside the traveling path are included in the detection area, an obstacle detector detecting an obstacle in the traveling path in front of the vehicle body based on an output signal of the non-contact sensor, a distance detector a distance to a wall beside the traveling path based on an output signal of the non-contact sensor, and a traveling controller controlling the traveling device based on a detection result of at least one of the obstacle detection unit and the distance detection unit.

Claims

1. A mining machine comprising:

a traveling device that can travel a traveling path in a mine;

a vehicle body that is supported by the traveling device;

a non-contact sensor which is provided in a front section of the vehicle body and is able to contactlessly detect an object in a detection area, the non-contact sensor being arranged such that the traveling path in front of the vehicle body and an area beside the traveling path when the traveling device travels are included in the detection area;

an obstacle detection unit that detects an obstacle in the traveling path in front of the vehicle body based on an output signal of the non-contact sensor;

a distance detection unit that detects a distance to a wall beside the traveling path based on an output signal of the non-contact sensor; and

a traveling control unit that controls the traveling device based on a detection result of at least one of the obstacle detection unit and the distance detection unit.

2. The mining machine according to claim 1, wherein

the traveling device includes a brake device that can stop traveling and a steering gear that can adjust a traveling direction,

the obstacle detection unit causes the traveling control unit to output a control signal to stop the traveling of the traveling device so that the vehicle body does not collide with the obstacle based on the output signal of the non-contact sensor, and

the distance detection unit causes the traveling control unit to output a control signal to adjust the traveling direction of the traveling device so that the vehicle body does not come into contact with the wall based on the output signal of the non-contact sensor.

3. The mining machine according to claim 1, wherein

the non-contact sensor includes a first non-contact sensor and a second non-contact sensor provided adjacent to the first non-contact sensor.

4. The mining machine according to claim 1, further comprising:

a detection area setting unit that sets a forward area in front of the vehicle body and a lateral area lateral to the forward area in the detection area,

wherein the obstacle detection unit determines whether or not there is the obstacle in the forward area based on the output signal of the non-contact sensor, and

the distance detection unit determines whether or not there is the wall in the lateral area based on the output signal of the non-contact sensor.

5. The mining machine according to claim 4, wherein

the distance to the wall detected by the distance detection unit includes a distance to a detection point closest to the vehicle body among a plurality of detection points of an object in the lateral area in a direction orthogonal to the traveling direction of the traveling device.

6. A management system of a mining machine including a traveling device that can travel a traveling path in a mine and a vehicle body that is supported by the traveling device, the management system of the mining machine comprising:

a non-contact sensor which is provided in a front section of the vehicle body and is able to contactlessly detect an object in a detection area, the non-contact sensor being arranged such that the traveling path in front of the vehicle body and an area beside the traveling path when the traveling device travels are included in the detection area;

an obstacle detection unit that detects an obstacle in the traveling path in front of the vehicle body based on an output signal of the non-contact sensor;

a distance detection unit that detects a distance between a wall beside the traveling path and the vehicle body based on an output signal of the non-contact sensor; and

a traveling control unit that controls the traveling device based on a detection result of at least one of the obstacle detection unit and the distance detection unit.

7. The management system of the mining machine according to claim 6, wherein

the traveling device includes a brake device that can stop traveling and a steering gear that can adjust a traveling direction,

the obstacle detection unit causes the traveling control unit to output a control signal to stop the traveling of the traveling device so that the vehicle body does not collide with the obstacle based on the output signal of the non-contact sensor, and

the distance detection unit causes the traveling control unit to output a control signal to adjust the traveling direction of the traveling device so that the vehicle body does not come into contact with the wall based on the output signal of the non-contact sensor.

8. The management system of the mining machine according to claim 6, further comprising:

a detection area setting unit that sets a forward area in front of the vehicle body and a lateral area lateral to the forward area in the detection area,

wherein the obstacle detection unit determines whether or not there is the obstacle in the forward area based on the output signal of the non-contact sensor, and

the distance detection unit determines whether or not there is the wall in the lateral area based on the output signal of the non-contact sensor.

9. The management system of the mining machine according to claim 8, further comprising:

a traveling condition data generation unit that generates traveling condition data indicating a traveling condition of the traveling device,

wherein the detection area setting unit changes a shape of the forward area based on the traveling condition data generated by the traveling condition data generation unit.

10. A management method of a mining machine including a traveling device that can travel a traveling path in a mine and a vehicle body that is supported by the traveling device, the management method of the mining machine comprising:

causing the vehicle body to travel by the traveling device while arranging a non-contact sensor which is provided in a front section of the vehicle body and is able to contactlessly detect an object such that the traveling path in front of the vehicle body and an area beside the traveling path are included in a detection area of the non-contact sensor;

detecting an obstacle in the traveling path in front of the vehicle body based on an output signal of the non-contact sensor;

detecting a distance between a wall beside the traveling path and the vehicle body based on an output signal of the non-contact sensor; and

controlling the traveling device based on at least one of a detection result of the obstacle and a detection result of the distance.