Mining machine management system and mining machine management method

• US 9,341,480 B2
• Filed: 08/30/2013
• Issued: 05/17/2016
• Est. Priority Date: 08/30/2013
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Sugihara, Motohide, Hori, Koutarou
• Primary Examiner(s): Chen, Shelley
• Application Number:
  US14/353,909
• Publication Number:
  US 20150233716A1
• Time in Patent Office: 991 Days
• Field of Search: 701/408
• US Class Current: 1/1
• CPC Class Codes: B60P 1/00 Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading vehicles for carrying harvested crops with means for self-loading or self-unloading A01D90/00; peculiar to refuse collecting-vehicles B65F; loading or unloading vehicles by means not incorporated therein B65G
• CPC Class Codes: E21C 47/00 Machines for obtaining or the removal of materials in open-pit mines obtaining peat E21C49/00
• CPC Class Codes: E21F 17/00 Methods or devices for use in mines or tunnels, not covered elsewhere mine lighting F21, H05B
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G06Q 10/047 Optimisation of routes or paths, e.g. travelling salesman problem
• CPC Class Codes: G06Q 10/06 Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
• CPC Class Codes: G06Q 50/02 Agriculture; Fishing; Forestry; Mining

Abstract

A mining machine management system includes: a route information generation unit generating route information based on position information obtained when a mining machine in operation travels along a route departing from a predetermined first position, passing a second position where a load is loaded, and moving to a third position where the load is removed, the route information including nodes of the route and a link connecting the nodes; and a route analysis unit determining a section having the links within the route information to be a specific section where a slope difference between the links falls within a value, an orientation difference between the links falls within a value, and there is no intersection between the links.

Claims

1. A mining machine management system comprising:

a position information detection unit which is mounted in a mining machine operating in a mine and detects position information related to a position of the mining machine;

an information collection device which is mounted in the mining machine and collects operation information of the mining machine;

a route information generation unit which generates route information based on a plurality of pieces of the position information obtained by the position information detection unit when the mining machine in operation travels along a route departing from a predetermined first position, passing a second position at which a load is loaded, and moving to a third position at which the load is removed, 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; and

a route analysis unit which determines a section having a plurality of the links adjacent to each other within the route information to be a specific section in which a slope difference between the links adjacent to each other falls within a predetermined value, an orientation difference between the links adjacent to each other falls within a predetermined value, and there is no intersection between the links;

wherein the route analysis unit calculates at least one of the number of travels of the mining machine, the travel time, and the operation information for each said specific section; and

a route determination unit which determines that the actual travel route corresponds with a registered route when a specific section position, which is a passing position located at both ends of the specific section, corresponds to position information on the actual travel route of the mining machine.

2. The mining machine management system according to claim 1, wherein the route analysis unit extracts the intersection based on the number of the links connected to the node.

3. The mining machine management system according to claim 2, wherein the route analysis unit generates a new piece of the route information by extracting the intersection based on the number of the links connected to the node from a plurality of pieces of the route information.

4. The mining machine management system according to claim 2, wherein the route analysis unit extracts one of the nodes, to which three or more of the links are connected, as the intersection.

5. A mining machine management system comprising:

a position information detection unit which is mounted in a mining machine operating in a mine and detects position information related to a position of the mining machine;

an information collection device which is mounted in the mining machine and collects operation information of the mining machine;

a route information generation unit which generates route information based on a plurality of pieces of the position information obtained by the position information detection unit when the mining machine in operation travels along a route departing from a predetermined first position, passing a second position at which a load is loaded, and moving to a third position at which the load is removed, 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; and

a route analysis unit which determines a section having a plurality of the links adjacent to each other within the route information to be a specific section in which a slope difference between the links adjacent to each other falls within a predetermined value, an orientation difference between the links adjacent to each other falls within a predetermined value, and two or less of the links are connected to a middle node;

wherein the route analysis unit calculates at least one of the number of travels of the mining machine, the travel time, and the operation information for each said specific section; and

a route determination unit which determines that the actual travel route corresponds with a registered route when a specific section position, which is a passing position located at both ends of the specific section, corresponds to position information on the actual travel route of the mining machine.

6. A mining machine management method comprising:

detecting position information related to a position of a mining machine operating in a mine;

collecting operation information of the mining machine;

generating route information based on a plurality of pieces of the position information obtained when the mining machine in operation travels along a route departing from a predetermined first position, passing a second position at which a load is loaded, and moving to a third position at which the load is removed, 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; and

determining a section having a plurality of the links adjacent to each other within the route information to be a specific section in which a slope difference between the links adjacent to each other falls within a predetermined value, an orientation difference between the links adjacent to each other falls within a predetermined value, and there is no intersection between the links;

calculating at least one of the number of travels of the mining machine, the travel time, and the operation information for each said specific section; and

determining that the actual travel route corresponds with a registered route when a specific section position, which is a passing position located at both ends of the specific section, corresponds to position information on the actual travel route of the mining machine.

7. The mining machine management method according to claim 6, wherein the generating includes extracting the intersection based on the number of the links connected to the node.

8. The mining machine management method according to claim 7, wherein the generating includes generating a new piece of the route information by extracting the intersection based on the number of the links connected to the node from a plurality of pieces of the route information.

9. The mining machine management method according to claim 7, wherein the generating includes extracting one of the nodes, to which three or more of the links are connected, as the intersection.