Management system and managing method of mining machine

• US 9,836,061 B2
• Filed: 12/27/2013
• Issued: 12/05/2017
• Est. Priority Date: 12/27/2013
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Tojima, Masanori, Ryuman, Mitsuhiro
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/106,902
• Publication Number:
  US 20160349753A1
• Time in Patent Office: 1,439 Days
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

A managing method of a mining machine includes: detecting a position of a landmark; and extending a first distance when a position of the landmark obtained in advance is present within a range of a second distance in a travel direction of the mining machine from a position, as a reference, where the mining machine reaches when the mining machine travels the first distance after the mining machine starts traveling by the dead reckoning navigation, when the mining machine travels in an unmanned state in a mine in which a plurality of the landmarks is located, the mining machine travels based on a detected self position and uses the dead reckoning navigation while correcting a current position of the mining machine based on a position of the landmark obtained in advance and a detected position of the landmark when the self position cannot be detected.

Claims

1. A management system of a mining machine comprising:

a detecting unit mounted on the mining machine which travels in an unmanned state in a mine in which a plurality of landmarks is located, the detecting unit detecting a position of a landmark relative to the mining machine in a contactless manner;

a travel control unit which corrects a current position of the mining machine based on a position of the landmark obtained in advance and the position of the landmark obtained by the detecting unit and allows the mining machine to travel by dead reckoning navigation;

a travel limiting unit which stops the mining machine when the mining machine travels a first distance after starting traveling by the dead reckoning navigation; and

a travel limitation relaxing unit which extends the first distance when the position of the landmark obtained in advance is present within a range of a second distance in a travel direction of the mining machine from a position, as a reference, where the mining machine reaches when the mining machine travels the first distance after the mining machine starts traveling by the dead reckoning navigation.

2. The management system of the mining machine according to claim 1, comprising:

a self position detection device mounted on the mining machine which obtains a self position of the mining machine, wherein

the travel control unit allows the mining machine to travel by using at least the self position detected by the self position detection device and allows the mining machine to travel by the dead reckoning navigation when the self position detection device becomes unable to detect the self position.

3. The management system of the mining machine according to claim 2, wherein

the travel limiting unit makes a position where the self position detection device becomes unable to detect the self position the position where the mining machine starts traveling by the dead reckoning navigation.

4. The management system of the mining machine according to claim 2, wherein the travel control unit decreases a speed of the mining machine as compared with the speed before the dead reckoning navigation is used when the mining machine is allowed to travel by using the dead reckoning navigation.

5. The management system of the mining machine according to claim 4, wherein the travel control unit increases a decreasing amount of the speed of the mining machine according to travel time or a travel distance of the mining machine when the mining machine is allowed to travel by using the dead reckoning navigation.

6. The management system of the mining machine according to claim 4, wherein the travel control unit increases the speed of the mining machine when the detecting unit detects the position of the landmark when allowing the mining machine to travel by using the dead reckoning navigation.

7. The management system of the mining machine according to claim 1, wherein the travel limitation relaxing unit changes an amount by which the first distance is extended according to an error of the position of the mining machine occurring by the dead reckoning navigation.

8. The management system of the mining machine according to claim 1, wherein the travel limitation relaxing unit sets an amount by which the first distance is extended according to a configuration of a conveyance path along which the mining machine travels.

9. The management system of the mining machine according to claim 1, wherein the travel limitation relaxing unit changes an amount by which the first distance is extended according to a current position of the mining machine on a conveyance path along which the mining machine travels.

10. A management system of a mining machine comprising:

a detecting unit mounted on the mining machine which travels in an unmanned state in a mine in which a plurality of landmarks is located, the detecting unit detecting a position of a landmark relative to the mining machine in a contactless manner;

a self position detection device mounted on the mining machine which obtains a self position of the mining machine;

a travel control unit mounted on the mining machine which allows the mining machine to travel by using at least the self position detected by the self position detection device, and corrects a current position of the mining machine based on a position of the landmark obtained in advance and the position of the landmark obtained by the detecting unit when the self position detection device becomes unable to detect the self position to allow the mining machine to travel by dead reckoning navigation;

a travel limiting unit mounted on the mining machine which stops the mining machine when the mining machine travels a first distance after starting traveling by the dead reckoning navigation; and

a travel limitation relaxing unit mounted on the mining machine which extends the first distance when the position of the landmark obtained in advance is present within a range of a second distance in a travel direction of the mining machine from a position, as a reference, where the mining machine reaches when the mining machine travels the first distance after the mining machine starts traveling by the dead reckoning navigation.

11. A managing method of a mining machine comprising:

detecting a position of a landmark; and

extending a first distance when a position of the landmark obtained in advance is present within a range of a second distance in a travel direction of the mining machine from a position, as a reference, where the mining machine reaches when the mining machine travels the first distance after the mining machine starts traveling by the dead reckoning navigation,

when the mining machine travels in an unmanned state in a mine in which a plurality of the landmarks is located, the mining machine travels based on a detected self position and uses the dead reckoning navigation while correcting a current position of the mining machine based on a position of the landmark obtained in advance and a detected position of the landmark when the self position cannot be detected.