WO2016046979A1

WO2016046979A1 - Self-propelled mining machine

Info

Publication number: WO2016046979A1
Application number: PCT/JP2014/075704
Authority: WO
Inventors: 石本　英史; 真二郎齋藤; 航田中
Original assignee: 日立建機株式会社
Priority date: 2014-09-26
Filing date: 2014-09-26
Publication date: 2016-03-31

Abstract

A dump truck (1) is fitted with an operation means (21) in an operating compartment (2) that enables manual operation by being operated by an operator, and is further provided with a control device (30) enabling automatic operation for autonomous operation. A switch means (40) to be operated from the ground is fitted to an outer surface of a machine body portion (1a) so as to enable the selection of an autonomous operation mode enabling autonomous drive by the autonomous controller (30). Upon selection by the switch means (40) of the autonomous operation mode, a transition mode that delays the start of operation by at least a predetermined time is activated, and control is exerted so as to cause a transition to the autonomous operation mode via the transition mode.

Description

Self-propelled mining machine

The present invention relates to a self-propelled mining machine such as a dump truck.

The mining machines include excavating work machines such as hydraulic shovels for excavating ore, and transport machines such as dump trucks for transporting ore and earth and sand excavated by the excavating work machines, and these include transport means. It is a self-propelled mining machine that performs the required work while moving the place as appropriate. A dump truck as an example of a self-propelled mining machine is provided with a vessel that constitutes a loading platform in the vehicle body, receives a load such as ore and soil at the excavation site, and transports it to the ore accumulation site or the discharge site. And transport the load to a predetermined position. Then, after the dump truck discharges the load, it returns to the digging site again to start the loading operation, and this operation is repeated.

Although it is common for the operator to board the dump truck and carry out the above-mentioned operation, it follows a route set in advance based on images and position information obtained from various sensors including a laser scanner, camera, GPS and the like. An autonomous dump truck that can travel to a desired position, that is, an unmanned dump truck has also been developed and put into practical use. For example, in Patent Document 1, a controller that controls a vehicle is provided with a selection switch, and by operating the selection switch, a manual operation mode in which the operator operates the vehicle and an automatic driving that performs autonomous traveling by remote control The mode can be switched.

U.S. Patent No. 5,646,843

By the way, in the patent document 1 mentioned above, the controller which switches an operation mode is installed in the management side of a position away from a dump truck, a control center etc. normally, and the manual operation mode is adopted. Regardless of the automatic operation mode, it is necessary to operate a controller provided at a position apart from the dump truck. Here, while an autonomous vehicle traveling on a general public road carries an automated operation while a passenger is on board, in the case of an autonomous vehicle operating in a mine, an operator leaves the vehicle and travels unmannedly It is a premise to do.

Although a controller can be provided on the vehicle side, in the case of a large vehicle such as a mining dump truck, if a controller is provided in the driver's cab, the driver's cab located at a high place for its operation This is inconvenient when switching to the automatic operation mode since the operator must switch to the automatic operation mode and then the operator leaves the cab and descends to the ground, and the control center erroneously travels before leaving the vehicle. There is also a risk of issuing a command. Further, even if the controller is provided at a position on the management side away from the dump truck, in order to switch the operation mode, it is necessary to finally confirm after the evacuation of the operator is confirmed. That is, the switching of the operation mode must be performed after confirming the retraction of the operator who was on the vehicle.

The present invention has been made in view of the above points, and improves the operability of the operation of switching the operation mode in a self-propelled mining machine capable of switching between the manual operation mode and the automatic operation mode, It is an object of the present invention to easily and safely switch operating modes.

In order to achieve this object, according to the present invention, an operating room is provided in a machine main body equipped with traveling means, and an operating means is provided in the operating room for enabling manual operation by the operator. In a self-propelled mining machine provided with a control device capable of autonomous operation that operates autonomously, switch means operated from the ground is provided on the outer surface of the machine main body, and the switch means is an autonomous operation by the control device To select an autonomous operation mode that enables the control unit to be in a transition mode for delaying the start of operation for at least a predetermined period of time when the autonomous operation mode is selected by the switch means. It is characterized in that control is made to shift to an autonomous operation mode.

As self-propelled mining machines, there are digging machines, dump trucks and other machines consisting of hydraulic shovels etc. However, the mine is under a special environment, and the types of machines to be operated are usually limited. In addition, there is no chance for anyone other than the workers who work in the mine to enter. From the above point of view, even if the switch means that can be operated from the ground is provided, there is very little possibility that the switch means is operated by mistake. The switch means is effective only at the start of operation of the automatic operation mode. When performing the transition to the manual operation, the transition can be made by operating the operating means provided in the driver's cabin without operating the switch means. Not only when operating this operating means, but also a switch for manual operation may be provided, this switch is installed in the driver's cab. In addition, although a driver's seat is provided in the driver's cab, it is possible to set a manual operation mode when it is detected that the driver is seated on the seat.

The operation of the switch means causes the self-propelled mining machine to operate autonomously, but when the autonomous operation is started immediately at the time of operation of the switch means, the operator leaves the cab and descends to the ground and leaves the vehicle There is a risk that the control center mistakenly issues a travel command before. Therefore, when the automatic operation mode is selected, the autonomous operation is not started immediately, but is set to enter the transition mode once. This provides an allowance for a person who operates the switch means to retract to a safe position. Further, in this transition mode, not only the autonomous operation can be delayed, but also checks such as inspection of each part constituting the self-propelled mining machine and confirmation of surrounding conditions can be performed.

It is possible to switch the operation mode between the manual operation mode and the automatic operation mode, improve the operability of the operation for switching the operation mode, easily switch the operation mode, and ensure the safety of the operation. It can be improved.

The objects, configurations, and operational effects of the invention other than those described above are further clarified by the preferred embodiments of the present invention shown with reference to the drawings. Needless to say, the present invention should not be construed as being limited to the embodiments shown below.

It is a side view of a dump truck as an example of a mining work machine. It is an explanatory view showing typically the composition of the mining site where a dump truck operates. It is a block diagram showing composition of a control device of dump truck. It is structure explanatory drawing of the switch panel with which the outer surface of a dump truck is mounted | worn.

Hereinafter, embodiments of the present invention will be described based on the drawings. Here, a dump truck is shown as a self-propelled mining machine in the present embodiment. A dump truck is for transporting ore and earth and sand excavated at a mine. FIG. 1 shows the entire configuration of the dump truck 1, and FIG. 2 schematically shows the condition of a mining site as an example of the operation field of the dump truck 1. As shown in FIG.

The dump truck 1 is composed of a vehicle main body 1a constituting its main body and a loading platform constituting a working means, that is, a vessel 1b. A driver's cab 2 is installed in the vehicle body 1a, and has front wheels 3 and rear wheels 4 provided on the left and right as traveling means. And in this embodiment, dump truck 1 shall be constituted as an electric dump truck run-driven by an electric motor. However, it may be an engine driven type dump truck.

In FIG. 2, reference numeral 10 denotes a mining site, and a hydraulic shovel 11 is operated as another mining machine in order to perform mining operations in the mining site 10. A traveling path 12 extends from the mining site 10, and although not shown, the traveling path 12 is branched by an ore channel 13 directed to an ore accumulation site and a sediment channel 14 directed to a discharge site. It is formed.

The dump truck 1 is carried into the mining site 10, and earth and sand, ore and the like are loaded from the hydraulic shovel 11 onto the vessel 1 b, and travels along the travel path 12. When ore is loaded, it is transferred from the ore channel 13 to the ore accumulation site. Moreover, when earth and sand are loaded on the vessel 1b, it travels toward the sediment transport route 14. Regardless of which route is taken, the load is discharged from the vessel 1b at the ore storage site or the discharge site.

As described above, a plurality of dump trucks 1 are operating in the field in which the dump truck 1 operates, and these dump trucks 1 are operated and managed individually for each dump truck 1 by the operation management device. Become. The operation management apparatus is provided in a management center 15 provided at a predetermined position, and bidirectional transmission of information is possible between the dump truck 1 and the management center 15 by wireless communication. For this purpose, an antenna 16 is provided at a predetermined position on the traveling path 12 and the management center 15. Furthermore, each dump truck 1 can acquire position information from the communication satellite (GPS) 17.

In the driver's cab 2 of the dump truck 1, operating means such as an accelerator pedal, a brake pedal, a steering wheel, a shift lever, etc. are provided, and by operating these operating means by manual operation, traveling can be driven. Further, as will be described later, an autonomous controller 30 is provided (see FIG. 3), and when the autonomous controller 30 is operated, the dump truck 1 is configured to be able to travel automatically and autonomously without a person. Then, when the operator operates the operation means to move the dump truck 1 in the manual operation mode and the state in which the autonomous controller 30 is driven is in the automatic operation mode, the operation mode can be selected. It has become.

The selection of the operation mode will be described based on FIG. In the figure, reference numeral 20 denotes a standard controller, and reference numeral 30 denotes an autonomous controller, and the two

controllers

20 and 30 constitute a control device of the dump truck 1. The dump truck 1 is provided with the various operation means 21a, 21b, 21c, 21d,... (In a generic name, referred to as operation means 21). In the standard controller 20, an output according to the operation amount of the operation means 21 in which the manual operation is performed is input to the command calculation unit 22, and these command values are output to each drive unit via the output unit 23. 24 is input to drive the traveling motor, perform steering, switch between forward and reverse travel, and the brake is actuated.

The autonomous controller 30 is for running the dump truck 1 unmanned. Here, in a vehicle capable of autonomous traveling, a three-dimensional scanner such as a laser scanner, a camera, and various sensors including a GPS are provided in the vehicle, and the self position is not determined based on these sensors and images. Therefore, the autonomous controller 30 is configured to be able to travel autonomously along a route set in advance.

Therefore, when the vehicle is controlled by the standard controller 20, the dump truck 1 is in the manual operation state, and when the vehicle is controlled by the autonomous controller 30, the dump truck 1 is in the automatic operation state. In order to operate the dump truck 1 in the manual operation state, the operation mode changes when the operator gets into the cab 2 and operates the operation means 21 or when the operator sits on the driver's seat .

On the other hand, in order to select the automatic operation mode, switch means 40 is provided as shown in FIG. 4 for mode selection. The mode selection switch means 40 is composed of a pair of

switches

40a and 40b, and the

switches

40a and 40b are mounted on the front side of the vehicle main body 1a at a height position where the operator can easily operate them easily. The switch panel 41 is provided. In addition to the

switches

40 a and 40 b for mode selection, the main power switch 42 of the dump truck 1 is attached to the switch panel 41. Reference numeral 43 denotes a display lamp for displaying that the power is on, 44 denotes a display lamp for displaying the auto operation mode, and 45 denotes a display lamp for displaying that the transition mode is set. It is desirable that the main power switch be provided also inside the cab 2. Here, the switches and display lamps constituting the switch panel 41 may be exposed to the outside, but may be configured to be openable and closable by a cover piece having a transparent portion.

The switch 40a is for transition to the automatic operation state, and the switch 40b is operated at the end of the automatic operation state. However, when the switch 40a is pressed, the dump truck 1 does not immediately start operation autonomously, and a delay time is set before the operation start. That is, when the automatic operation state is selected, the transition mode is entered first, and the dump truck 1 does not travel at this stage. Here, the transition mode is a mode set to ensure safety around the dump truck 1, and at least to allow time for an operator who operates the switch 40a to retreat to a safe position. It is set. Therefore, it is desirable to set the delay to about 10 seconds to 30 seconds.

For this purpose, a transition command unit 31 is provided between the autonomous controller 30 and the switch means 40, and at least a delay time for transition from the transition mode to the automatic operation mode is set in the transition command unit 31. ing. In addition, for example, it is possible to execute the check item of each part regarding the vehicle such as the remaining amount of the battery of the vehicle and to acquire the data necessary for the operation from the operation management device of the management center 15.

The dump truck 1 configured as described above is transported along the travel path 12 when ore and earth and sand excavated by the hydraulic shovel 11 are thrown into the vessel 1 b in the rock crushing site 10. The operator gets on the dump truck 1 in the operation room 2 and operates by operating the operation means 21.

On the other hand, it is not necessary to get into the cab 2 when performing an operation by autonomy. By operating the switch 40 a provided outside the dump truck 1, an automatic operation mode is established, and an autonomous operation is possible. However, even when the auto operation mode is selected, the dump truck 1 does not immediately travel autonomously, but is once transited to the transition mode, and the delay time for transition from the transition mode set by the transition command unit 31 to the auto operation mode Only the dump truck 1 will not move. The reason why the transition mode is set in this way is to ensure safety, and because the person who operates the switch is located around the dump truck 1, it can be retracted to a safe position. . The entry into the transition mode is indicated by the display lamp 44 provided on the switch panel 41.

In short, when the switch 40a is operated and the automatic operation mode is selected, the control mechanism is delayed by a predetermined time based on a program set in advance, and safety is secured in the surroundings before setting in the program. It will operate according to the procedure. Then, various operation conditions can be set by the transition command unit 31, and when the automatic operation mode is actually selected, the procedure determined by the transition command unit 31 is followed. That is, the time during which the operation of the dump truck 1 is prohibited after mode selection, the operation sequence for starting the operation, and the like are set in the transition command unit 31, and this operation procedure can be set arbitrarily.

Even if the dump truck 1 enters the transition mode by operating the switch 40a, the transition mode is released by operating the other switch 40b. In addition, after the switch 40a is operated, the transition mode is released when a signal for starting the traveling of the dump truck 1 is not input even if a predetermined time has elapsed.

On the other hand, the operation of the switch panel 41 is unnecessary in order for the operator to get in the cab 2 and shift to the manual operation mode. That is, in the automatic operation mode and the manual operation mode, the manual operation mode is prioritized, and while the manual operation is being performed, there is no transition to the operation mode even if the switch 40a is operated by mistake.

Thus, in order to set the manual operation mode, the switching operation is not necessary, and either the operator operates any operation means 21 in the cab 2 or the load sensor is provided on the driver's seat, When it is detected that the seat is seated, the manual operation mode is entered.

As described above, when the automatic operation mode is entered, the dump truck 1 is not immediately activated, but the transition mode is entered, so that the operation is delayed for a predetermined time. In the operation mode, even if the switch panel 41 is installed outside the dump truck 1, even if the switch 40a etc. is operated by mistake, the stability of the operation is not lost, and safety is ensured. Be done. The switch panel 41 can be easily operated by the operator as much as possible, and even if the dump truck 1 moves for any reason, the mounting position of the switch panel 41 is as follows: It is desirable that the side surface portion of the dump truck 1 be on the front side, and the position be not covered by the vessel 1 b and the

wheels

3 and 4. As described above, the switch panel 41 is preferably provided on the front side surface of the vehicle main body 1a of the dump truck 1 in terms of operability and safety for a person who performs switch operation. However, the position at which the switch panel 41 is provided is not particularly limited as long as it is a side surface portion or any other portion on either the left or right side from the overall configuration of the dump truck 1. Further, switch panels 41 can be provided on both left and right sides for the convenience of the operator.

Reference Signs List 1 dump truck 1a vehicle body 1b vessel 2 cab 20 standard controller 21 operation means 21a, 21b, 21c, 21d ... operation means 22 command calculation unit 24 drive unit 30 autonomous controller 31 transition command unit 40 switch means 40a, 40b switch 41 Switch panel

Claims

Operating unit (21) which is provided with a cab (2) in the machine body (1a) on which the traveling means (3, 4) is mounted, and is operated by the operator in the cab (2) A self-propelled mining machine provided with a control device (30) provided with a control
A switch means (40) operated from the ground is provided on the outer surface of the machine body (1a);
The switch means (40) is for selecting an autonomous operation mode enabling autonomous operation by the control device (30),
When the autonomous operation mode is selected by the switch means (40), the control device (30) becomes a transition mode for delaying the operation start at least for a predetermined time, and controls to shift to the autonomous operation mode through this transition mode. A self-propelled mining machine characterized by having a configuration.
The switch means (40) is disposed on the front side surface of the machine main body (1a), and when the autonomous operation mode is selected, the transition mode is started, and from the transition mode to the automatic operation mode. 2. A self-propelled mining machine according to claim 1, further comprising a mode display means (44, 45) for displaying the transition of.
The self-propelled mining machine according to claim 1, wherein in the transition mode, a transition command unit (31) including an operation sequence during autonomous operation by the control device is set in the control device (30). .
The self-propelled mining machine according to claim 2, characterized in that the switch means (40) is arranged on the left and right side face portions on the front side of the machine body (1a).