MINING MACHINE MANAGEMENT SYSTEM AND MINING MACHINE MANAGEMENT METHOD

• US 20150066352A1
• Filed: 08/30/2013
• Published: 03/05/2015
• Est. Priority Date: 08/30/2013
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Hori, Koutarou, Sugihara, Motohide
• Granted Patent: US 9,568,322 B2
• Time in Patent Office: Days
• US Class Current: 701/408
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E21C 41/00 Methods of underground or surface mining E21C45/00 takes precedence; Layouts therefor for peat E21C49/00
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

A mining machine management system includes: a position information detection unit which is mounted in a mining machine loading a load in a mine and transporting the load and detects position information related to a position of the mining machine; and a region specification unit which corrects a representative position of a discharging station at which the load is removed, based on position information of a position at which the load is removed from the mining machine within a predetermined range centered around the representative position, from among the position information detected by the position information detection unit.

Claims

1. A mining machine management system comprising:

a position information detection unit which is mounted in a mining machine loading a load in a mine and transporting the load, and detects position information related to a position of the mining machine;

a storage unit which stores route information of a first route as a registered route, the first route being a route taken by the mining machine departing a predetermined first position, passing a second position as a loading position at which the load is loaded, and moving to a third position as a discharging position at which the load is removed; and

a region specification unit which determines whether or not a position information group obtained from a plurality of pieces of the position information detected by the position information detection unit while the mining machine is in operation corresponds with the loading position or the discharging position included in the route information of the first route and, when the position information group is determined to correspond with the loading or discharging position, corrects the loading position or the discharging position stored in the storage unit based on the position information of the position information group determined to correspond with the loading or discharging position.

2. The mining machine management system according to claim 1, wherein when the region specification unit corrects the discharging position, the region specification unit corrects the discharging position on the registered route based on the position information of a position at which the load is removed from the mining machine within a first predetermined range around the discharging position on the registered route, from among the position information group.

3. The mining machine management system according to claim 2, wherein the correction is made by determining a middle point between the position at which the load is removed and the discharging position on the registered route to be a corrected discharging position on the registered route.

4. The mining machine management system according to claim 1, wherein the loading position is corrected by the region specification unit by determining position information of a position, at which the load is loaded onto the mining machine within a second predetermined range around the loading position on the registered route from among the position information group, to be a corrected loading position on the registered route.

5. The mining machine management system according to claim 2, further comprising a route information generation unit which generates route information of a route travelled by the mining machine, the route information including a plurality of nodes present at every predetermined distance of the route and a link connecting the nodes adjacent to each other, wherein

the route information generation unit generates the node in a region excluding an interior of a passing position exclusion region of a predetermined size that is set around the discharging position on the registered route and greater than the first predetermined range on a discharging side set around the discharging position on the registered route.

6. The mining machine management system according to claim 4, further comprising a route information generation unit which generates route information of a route travelled by the mining machine, the route information including a plurality of nodes present at every predetermined distance of the route and a link connecting the nodes adjacent to each other, wherein

the route information generation unit generates the node in a region excluding an interior of a passing position exclusion region of a predetermined size that is greater than the second predetermined range on a loading side around the loading position on the registered route and is set around the loading position on the register route.

7. The mining machine management system according to claim 4, wherein the route information generation unit determines that the loading station stays a same for a predetermined period of time when a position of the loading station is within a predetermined range for the predetermined period of time.

8. A mining machine management method comprising:

detecting position information related to a position of a mining machine loading a load in a mine and transporting the load;

determining route information of a first route as a registered route, the first route being a route taken by the mining machine departing a predetermined first position, passing a second position as a loading position at which the load is loaded, and moving to a third position as a discharging position at which the load is removed;

determining whether or not a position information group obtained from a plurality of pieces of the position information detected while the mining machine is in operation corresponds with the loading position or the discharging position included in the route information of the first route; and

correcting the loading position or the discharging position based on position information of the position information group that is determined to correspond with the loading or discharging position, when the position information group is determined to correspond with the loading or discharging position.

9. The mining machine management method according to claim 8, wherein when correcting the discharging position, the discharging position on the registered route is corrected based on position information of a position at which the load is removed from the mining machine within a first predetermined range around the discharging position on the registered route, from among the position information group.

10. The mining machine management method according to claim 9, wherein the correction is made by determining a middle point between the position at which the load is removed and the discharging position on the registered route to be a corrected discharging position on the registered route.

11. The mining machine management method according to claim 8, wherein the loading position is corrected by determining position information of a position, at which the load is loaded onto the mining machine within a second predetermined range around the loading position on the registered route from among the position information group, to be a corrected loading position on the registered route.

12. The mining machine management method according to claim 9, wherein, after the correction is made, a node is generated in a region excluding an interior of a passing position exclusion region of a predetermined size that is set around the discharging position on the registered route and greater than the first predetermined range on a discharging side set around the discharging position on the registered route, the node being present at every predetermined distance of a route travelled by the mining machine.

13. The mining machine management method according to claim 11, wherein, after the correction is made, a node is generated in a region excluding an interior of a passing position exclusion region of a predetermined size that is greater than the second predetermined range on a loading side around the loading position on the registered route and is set around the loading position on the registered route, the node being present at every predetermined distance of a route travelled by the mining machine.

14. The mining machine management method according to claim 11, wherein, in detecting the loading position on the registered route, the loading station is determined to be a same for a predetermined period of time when a position of the loading station is within a predetermined range for the predetermined period of time.