WO2015076420A1 - 鉱山機械の管理システム、鉱山機械の管理方法、及びダンプトラック - Google Patents
鉱山機械の管理システム、鉱山機械の管理方法、及びダンプトラック Download PDFInfo
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- WO2015076420A1 WO2015076420A1 PCT/JP2014/081476 JP2014081476W WO2015076420A1 WO 2015076420 A1 WO2015076420 A1 WO 2015076420A1 JP 2014081476 W JP2014081476 W JP 2014081476W WO 2015076420 A1 WO2015076420 A1 WO 2015076420A1
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Classifications
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- G—PHYSICS
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C19/00—Tyre parts or constructions not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
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Definitions
- the present invention relates to a mining machine management system, a mining machine management method, and a dump truck.
- Patent Document 1 At the mining site of a mine, a mining machine having a tire as disclosed in Patent Document 1 operates.
- the mining machine tire When the mining machine is operated by the driver, if the improper operation is performed, the mining machine tire may be damaged. If a tire is damaged and the useful life of the tire is shortened, the productivity of the mine is reduced and the production cost is increased.
- An object of an aspect of the present invention is to provide a mining machine management system, a mining machine management method, and a dump truck that can suppress the shortening of the service life of a tire.
- Determination unit to perform, damage operation data indicating the execution of the damage operation, driver identification data indicating the driver who performed the damage operation, and position data indicating the position of the mining machine where the damage operation was performed A data acquisition unit that acquires one or both, and a data output unit that outputs correspondence data including the damage operation data associated with one or both of the driver identification data and the position data.
- a machine management system is provided.
- a position detection device for detecting the position of the mining machine may be provided, and the data acquisition unit may acquire the position data from the position detection device.
- the damaging operation is a rapid deceleration operation that decelerates the mining machine at a first speed or more per unit time, and a changeover that changes the direction of the tire of the mining machine at a second speed or less. It may include at least one of an operation and an aggressive cornering operation that causes the mining machine to travel a curve having a radius of curvature that is greater than or equal to the third speed and less than or equal to a predetermined value.
- WHEREIN The speed detection apparatus which detects the traveling speed and deceleration of the said mining machine is provided, The said determination part was based on the detection signal of the said speed detection apparatus, The said damage operation was implemented. It may be determined whether or not.
- a load detection device that detects a load acting on the tire
- the damage operation includes a rapid deceleration operation that decelerates the mining machine at a first speed or more per unit time
- the determination unit may determine whether or not the rapid deceleration operation is performed based on deceleration data indicating the deceleration of the mining machine and load data indicating a load acting on the tire.
- the 1st estimation part which estimates the amount of damage given to the said tire by the said rapid deceleration operation was provided, the deceleration of the said mining machine was set to A, and the load which acts on the said tire was set to LD.
- the first estimating unit estimates the amount of damage based on a result of the calculation (LD ⁇ A), and sudden deceleration operation data indicating the execution of the sudden deceleration operation is estimated by the first estimating unit.
- the damage amount may be included.
- the vehicle includes a steering force detection device that detects a steering force that changes the direction of the tire, and the damage operation includes a turn-off operation that changes the direction of the tire at a second speed or less,
- the determination unit may determine whether the set-up operation has been performed based on travel speed data indicating the travel speed of the mining machine and steering force data indicating the steering force.
- the second estimation unit includes a second estimation unit that estimates the amount of damage given to the tire by the set-up operation, and when the load acting on the tire is LD, the second estimation unit is Based on the LD, the damage amount is estimated, and the set-off operation data indicating the execution of the set-up operation may include the damage amount estimated by the second estimating unit.
- the load detection apparatus which detects the load which acts on the said tire is provided,
- the said damage operation is the attack which makes the said mining machine drive
- the determination unit includes the aggressive speed based on travel speed data indicating the travel speed of the mining machine, load data indicating a load acting on the tire, and a curvature radius of the curve. It may be determined whether a cornering operation has been performed.
- a third estimation unit for estimating the amount of damage given to the tire by the aggressive cornering operation is provided, the traveling speed of the mining machine is V, the load acting on the tire is LD, When the curvature radius of the curve is R, the third estimation unit estimates the amount of damage based on the result of calculation (LD ⁇ V 2 ) / R, and indicates an attack indicating the execution of the aggressive cornering operation.
- the automatic cornering operation data may include the damage amount estimated by the third estimation unit.
- the mining machine includes a dump truck having a vehicle main body and a vessel supported by the vehicle main body, and the load acting on the tire is based on a load loaded on the vessel. May change.
- the data acquisition unit acquires mining machine identification data indicating the mining machine on which the damage operation is performed, and the correspondence data is associated with the mining machine identification data.
- the damage operation data may be included.
- the data acquisition unit acquires time point data indicating a time point when the damage operation is performed, and the correspondence data includes the damage operation data associated with the time point data. But you can.
- WHEREIN The travel route calculating part which produces
- the said data acquisition part is provided.
- the damage operation data when the mining machine exists on the reference travel route may be acquired.
- the data output unit may include a report creation unit that creates a report of the corresponding data.
- a management method for a mining machine in which a tire is mounted and travels through a mine by a driver's operation, and it is determined whether or not a damage operation that damages the tire is performed.
- the determination unit determines whether or not a damage operation for damaging the tire is performed, which is a dump truck that is mounted on a tire and travels through a mine by a driver's operation. And damage operation data indicating the execution of the damage operation, one or both of driver identification data indicating the driver who performed the damage operation and position data indicating a position where the damage operation has been performed.
- a dump truck is provided that includes a data acquisition unit that outputs data corresponding to the damage operation data associated with one or both of the driver identification data and the position data.
- a mining machine management system a mining machine management method, and a dump truck that can suppress the shortening of the service life of the tire.
- FIG. 1 is a diagram schematically illustrating an example of a mine in which a mining machine according to the present embodiment operates.
- FIG. 2 is a functional block diagram illustrating an example of a management device of the management system according to the present embodiment.
- FIG. 3 is a diagram schematically illustrating an example of the dump truck according to the present embodiment.
- FIG. 4 is a functional block diagram illustrating an example of a dump truck control system according to the present embodiment.
- FIG. 5 is a diagram illustrating an example of a travel route of the dump truck according to the present embodiment.
- FIG. 6 is a diagram illustrating an example of a reference travel route according to the present embodiment.
- FIG. 7 is a diagram illustrating an example of a reference travel route according to the present embodiment.
- FIG. 8 is a diagram illustrating an example of the travel distance of the dump truck obtained using the reference travel route according to the present embodiment.
- FIG. 9 is a flowchart illustrating an example of a management method according to the present embodiment.
- FIG. 10 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 11 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 12 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 13 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 14 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 15 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 10 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 11 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 12
- FIG. 16 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 17 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 18 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 19 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 20 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 21 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 22 is a diagram illustrating an output example of the output device according to the present embodiment.
- FIG. 1 is a diagram schematically illustrating an example of a mine in which a mining machine according to the present embodiment operates.
- Mine machine is used for mine work.
- the mining machine includes at least one of a transport vehicle, an excavating machine, and a loading machine.
- the dump truck 20 is a kind of transport vehicle, and transports loads in a mine.
- the load includes earth or sand or rock generated by mining crushed stone.
- the mining machine is not limited to the dump truck 20.
- the mining machine may be at least one of a hydraulic excavator, an electric excavator, and a wheel loader that function as an excavating machine or a loading machine.
- the dump truck 20 has a cab.
- the dump truck 20 is operated by a driver (operator) boarding the cab. That is, in the present embodiment, the dump truck 20 is a so-called manned dump truck.
- the dump truck 20 travels in the mine by the driver's operation.
- the dump truck 20 discharges the cargo by the operation of the driver.
- the dump truck 20 may be an unmanned dump truck whose operation is managed by the management system 1.
- the dump truck 20 has wheels 23 including tires 23T.
- the dump truck 20 leads to a loading site LPA where loading work is performed, a dumping site DPA where loading work is performed, a travel route Rg leading to the loading site LPA, and a dumping site DPA. Travel at least part of the travel route Rr.
- the dump truck 20 is loaded with a loading machine 4 such as a hydraulic excavator.
- the dump truck 20 discharges the load.
- the dump truck 20 travels at least one of the travel route Rg and the travel route Rr, and moves between the loading site LPA and the earth discharging site DPA.
- the management system 1 performs at least one of management of mining machine operation, evaluation of mining machine productivity, evaluation of operation technology of a mining machine operator, preventive maintenance of mining machine, and abnormality diagnosis of mining machine. .
- the management system 1 mainly manages the dump truck 20 will be described.
- the management system 1 generates a mine reference travel route based on the actual travel route traveled by the dump truck 20. In the present embodiment, the management system 1 manages a damage operation that damages the tire 23T of the dump truck 20.
- the management system 1 has a management device 10 including a computer system.
- the management apparatus 10 is installed in a mine management facility.
- the management device 10 acquires operation data indicating the operation state of the dump truck 20 from the dump truck 20.
- the management device 10 acquires operation data from the dump truck 20 by wireless communication.
- the management device 10 collects operation data of the dump truck 20.
- the operation data of the dump truck 20 includes at least one of position data indicating the position of the dump truck 20, traveling data indicating the traveling state of the dump truck 20, and abnormal data indicating abnormality of the dump truck 20.
- the position data of the dump truck 20 includes the latitude, longitude, and altitude coordinates of the dump truck 20.
- the position data of the dump truck 20 includes three-dimensional position data.
- the travel data of the dump truck 20 includes travel speed of the dump truck 20, travel acceleration (amount of increase in travel speed per unit time), travel deceleration (amount of decrease in travel speed per unit time), travel time, and Includes at least one mileage.
- the management device 10 is connected to the management-side wireless communication device 18.
- the management-side wireless communication device 18 has an antenna 18A.
- the dump truck 20 has an in-vehicle wireless communication device 27.
- the in-vehicle wireless communication device 27 has an antenna 28A.
- Data is communicated between the management device 10 and the dump truck 20 by the management-side wireless communication device 18 and the in-vehicle wireless communication device 27.
- the management device 10 collects operation data of the dump truck 20 working in the mine via the management-side wireless communication device 18 and the in-vehicle wireless communication device 27.
- the dump truck 20 communicates data with the management device 10 via the management-side wireless communication device 18 and the in-vehicle wireless communication device 27.
- the dump truck 20 has an antenna 28 ⁇ / b> B that receives radio waves from the GPS satellite 5.
- the GPS satellite 5 constitutes a global navigation satellite system.
- the GPS satellite 5 is a satellite for GNSS (Global Navigation Satellite Systems).
- the antenna 28B is a GNSS antenna.
- the dump truck 20 measures its own position based on the radio wave received by the antenna 28B.
- the satellite from which the dump truck 20 measures its position is not limited to the GNSS satellite, and other positioning satellites may be used.
- a satellite for RTK-GNSS Real Time Kinematic-Global Navigation Satellite Systems
- the output of the radio wave transmitted from the antenna 28A by the dump truck 20 does not have a communicable range that can cover the entire mine. Further, the radio wave transmitted from the antenna 28A cannot be transmitted far beyond an obstacle such as a high mountain due to the wavelength relationship.
- a wireless communication device capable of outputting a high-output radio wave is used, such a communication failure can be eliminated, the communicable range is expanded, and a place where communication is impossible can be eliminated.
- the mine is vast, it is necessary to cope with the situation where it is necessary to reduce the cost of repeaters and communication devices and it is not possible to secure a communication infrastructure that is maintained depending on the area where the mine is located.
- the management system 1 uses a wireless system that can form a data communication network within a limited range, such as a wireless LAN (Local Area Network).
- a wireless LAN Local Area Network
- wireless LAN Local Area Network
- the wireless system is not limited to a wireless LAN.
- a communication infrastructure such as a mobile phone network may be used as the wireless system.
- the reach of the radio wave transmitted from the antenna 28A by the dump truck 20 is limited. Therefore, when the distance between the dump truck 20 and the management apparatus 10 is long or an obstacle such as a mountain M exists between them, the management-side wireless communication apparatus 18 transmits the radio wave transmitted from the dump truck 20. It becomes difficult to receive. For this reason, the management system 1 has a repeater 3 that relays radio waves transmitted from the antenna 28 ⁇ / b> A of the dump truck 20 and transmits them to the management-side wireless communication device 18. By installing the repeater 3 at a plurality of predetermined locations in the mine, the management apparatus 10 can collect operating data from the dump truck 20 operating at a position away from itself using wireless communication. .
- an intermediate repeater 6 is provided between the repeater 3 and the management-side wireless communication device 18 for relaying both.
- the intermediate repeater 6 only relays between the repeater 3 and the management-side wireless communication device 18, and does not relay the radio wave transmitted from the antenna 28A by the dump truck 20.
- the intermediate repeater 6 does not relay radio waves from other than the corresponding repeater 3.
- only one intermediate repeater 6 relays radio waves from the repeater 3 of the gas station 2.
- the intermediate repeater 6 is expressed as having a one-to-one relationship with one repeater 3 in FIG. 1, the intermediate repeater 6 is not limited to a one-to-one relationship. The radio waves transmitted from the corresponding plurality of repeaters 3 can be relayed.
- a predetermined area around the place where the repeater 3 is arranged that is, an area indicated by a circle in FIG. A range, that is, a communicable range 7.
- the dump truck 20 existing in the communicable range 7 can wirelessly communicate with the management-side wireless communication device 18 via the repeater 3 or the like.
- the first wireless communication device described above is the in-vehicle wireless communication device 27 shown in FIG. Next, the management apparatus 10 will be described in more detail.
- FIG. 2 is a functional block diagram illustrating an example of the management apparatus 10 of the management system 1 according to the present embodiment.
- the management device 10 includes a computer system. As illustrated in FIG. 2, the management device 10 includes a management processing device 12, a management storage device 13, and an input / output unit (I / O) 15. In addition, the management device 10 includes an output device 16, an input device 17, and a management-side wireless communication device 18. The management processing device 12 is connected to the output device 16, the input device 17, and the management wireless communication device 18 via the input / output unit 15.
- the management processing device 12 includes a CPU (Central Processing Unit).
- the management-side storage device 13 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive.
- the input / output unit 15 is used as an interface between the management-side processing device 12, the output device 16, the input device 17, and the management-side wireless communication device 18.
- the management-side processing device 12 includes a travel route calculation unit 12a, an estimation unit 12b, a timer 12c, a determination unit 12d, a data acquisition unit 12e, and a data output unit 12f.
- the travel route calculation unit 12a generates a reference travel route for the mine based on the actual travel route position data acquired from each of the plurality of dump trucks 20 in the mine.
- the actual travel route is a travel route on which the dump truck 20 actually travels.
- the travel route calculation unit 12a regenerates the reference travel route by using the newly acquired position data of the actual travel route.
- the estimation unit 12b includes a radius of curvature of a curve of a reference travel route on which the dump truck 20 travels, a travel speed of the dump truck 20 on the reference travel route, a deceleration (negative acceleration) of the dump truck 20 that travels,
- the damage amount DM given to the tire 23T is estimated based on at least one of the loads acting on the mounted tire 23T.
- Timer 12c measures time (time) and time.
- the determination unit 12d has a radius of curvature of a curve of a reference travel route on which the dump truck 20 travels, a travel speed of the dump truck 20 on the reference travel route, a deceleration (negative acceleration) of the traveling dump truck 20, and an attachment to the dump truck 20. Based on at least one of the applied load acting on the tire 23T and the steering force that changes the direction of the tire 23T, it is determined whether or not a damage operation that damages the tire 23T has been performed.
- the data acquisition unit 12e includes damage operation data indicating the execution of the damage operation that damages the tire, driver identification data indicating the driver who performed the damage operation, and the position of the dump truck 20 on which the damage operation is performed on the reference travel route At least one of data, dump truck identification data indicating the dump truck 20 on which the damage operation has been performed, and time point data indicating the time point at which the damage operation has been performed is acquired.
- the data output unit 12f outputs correspondence data including damage operation data associated with the driver identification data.
- the data output unit 12f outputs correspondence data including damage operation data associated with the position data.
- the correspondence data output from the data output unit 12f may include damage operation data associated with the dump truck identification data.
- the correspondence data output from the data output unit 12f may include damage operation data associated with the time point data.
- the data output unit 12 f outputs the corresponding data to the output device 16.
- the data output unit 12f functions as a report creation unit that creates a report of corresponding data. Further, the data output unit 12f can create a report of the damage amount DM of the tire 23T of the dump truck 20 estimated by the estimation unit 12b. The data output unit 12 f outputs the created report to the output device 16.
- the management storage device 13 stores a computer program for executing the processing of the management processing device 12.
- the computer program stored in the management-side storage device 13 is a computer program for generating a reference travel route from the position data of the actual travel route of the dump truck 20, and an operation for collecting operation data of the dump truck 20. Includes computer programs for data collection.
- the management-side storage device 13 stores an LP / DP database 14RD, a reference travel route database 14CS, and an operation information database 14I.
- the LP / DP database 14RD holds position data of the loading site LPA and the dumping site DPA of the dump truck 20.
- the reference travel route database 14CS holds the reference travel route data generated by the travel route calculation unit 12a.
- the operation information database 14 ⁇ / b> I holds operation data collected from the dump truck 20.
- the output device 16 visualizes data output from the data output unit 12f.
- the output device 16 outputs (visualizes) the corresponding data output from the data output unit 12f.
- the output device 16 outputs (visualizes) the report output from the data output unit 12f.
- the output device 16 includes a display device 16A and a printing device 16B.
- the display device 16A includes a flat panel display such as a liquid crystal display, and displays corresponding data or reports.
- the printing device 16B includes a printer device such as an ink jet printer, and prints corresponding data or reports.
- the display device 16A displays the correspondence data and visualizes the correspondence data.
- the display device 16A displays a report and visualizes the report.
- the printing device 16B prints the correspondence data and visualizes the correspondence data.
- the printing device 16B prints the report and visualizes the corresponding data.
- the output device 16 may output (audible) the data output from the data output unit 12f by voice.
- the input device 17 includes input devices such as a keyboard, a touch panel, and a mouse, for example.
- the management-side wireless communication device 18 has an antenna 18A.
- the management-side wireless communication device 18 performs wireless communication with the in-vehicle wireless communication device 27 of the dump truck 20.
- FIG. 3 is a diagram schematically illustrating an example of the dump truck 20 according to the present embodiment.
- the dump truck 20 includes a vehicle body 21, a vessel 22 supported by the vehicle body 21, wheels 23 including tires 23T and wheels 23H, a suspension cylinder 24, a rotation sensor 25, and a pressure sensor (suspension pressure sensor) 26.
- an in-vehicle wireless communication device 27 to which an antenna 28A for wireless communication is connected, a position detection device 29 to which an antenna 28B for GNSS is connected, and an in-vehicle data collection device 30.
- the position detection device 29 includes a GNSS receiver.
- the dump truck 20 is a rigid dump truck.
- the dump truck 20 may be an articulated dump truck having a vehicle body that is divided into a front part and a rear part, and a free joint that connects the front part and the rear part of the vehicle body.
- the dump truck 20 has an engine (internal combustion engine) 34G such as a diesel engine.
- the engine 34G drives the drive shaft 34DS via the torque converter 34TC and the transmission 34TM.
- the wheels 23 are driven by the drive shaft 34DS.
- the dump truck 20 is a so-called mechanical drive system.
- the driving method of the dump truck 20 may not be a mechanical driving method.
- the drive system of the dump truck 20 may be a so-called electric drive system.
- the vessel 22 functions as a cargo bed. A load is loaded on the vessel 22.
- the vessel 22 is disposed on the upper portion of the vehicle body 21 so as to be tiltable.
- the loading machine 4 loads a load on the vessel 22.
- the wheel 23 includes a tire 23T and a wheel 23H on which the tire 23T is supported.
- the wheel 23 is rotatably mounted on the vehicle main body 21.
- the suspension cylinder 24 is disposed between the wheel 23 and the vehicle main body 21. Hydraulic oil is sealed inside the suspension cylinder 24. The suspension cylinder 24 expands and contracts according to the weight of the load. A load corresponding to the mass of the vehicle main body 21 and the vessel 22 (including the load) acts on the wheel 23 via the suspension cylinder 24.
- the rotation sensor 25 detects the rotational speed of the drive shaft 34DS that drives the wheels 23, and detects the traveling speed (vehicle speed) of the dump truck 20.
- the pressure sensor 26 detects a load acting on the suspension cylinder 24.
- the pressure sensor 26 is provided in the suspension cylinder 24 of the dump truck 20.
- the pressure sensor 26 detects the pressure of the hydraulic oil in the suspension cylinder 24 and detects the weight of the load (loading amount).
- the pressure sensor 26 detects a load acting on the tire 23T (wheel 23) mounted on the dump truck 20.
- the GNSS antenna 28B receives radio waves output from a plurality of GPS satellites 5 constituting a GNSS (Global Navigation Satellite Systems).
- the antenna 28B outputs the received radio wave to the position detection device 29.
- the position detection device 29 converts the radio wave received by the antenna 28B into an electric signal and calculates its own position.
- the position detection device 29 is disposed on the dump truck 20.
- the position of the dump truck 20 is calculated by the position detection device 29 calculating its own position.
- the position detection device 29 acquires the position data of the dump truck 20.
- the position data of the dump truck 20 includes latitude, longitude, and altitude coordinates.
- the position data of the dump truck 20 is three-dimensional position data of the dump truck 20.
- the position detection device 29 acquires the position data of the dump truck 20 every predetermined time.
- the actual travel route data of the dump truck 20 includes a plurality of position data of the dump truck 20 acquired every predetermined time.
- the position data of the dump truck 20 may not be acquired by the position detection device 29. For example, based on data acquired from at least one of a speed sensor that detects the traveling speed of the dump truck 20, an acceleration sensor that detects the acceleration of the dump truck 20, and an attitude detection sensor that detects the attitude of the dump truck 20. The position data of the dump truck 20 may be obtained.
- the in-vehicle wireless communication device 27 performs wireless communication with the management-side wireless communication device 18 of the management device 10.
- FIG. 4 is a functional block diagram showing an example of the control system 19 for the dump truck 20 according to the present embodiment.
- the control system 19 includes an in-vehicle data collection device 30 that collects operation data of the dump truck 20 and an in-vehicle storage device 31.
- the in-vehicle data collection device 30 is mounted on the dump truck 20.
- the in-vehicle data collection device 30 includes a computer system.
- the in-vehicle data collection device 30 includes, for example, a CPU (Central Processing Unit).
- the in-vehicle storage device 31 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive.
- the control system 19 includes a state acquisition device 50 that acquires operation data of the dump truck 20.
- the in-vehicle data collection device 30 is connected to the state acquisition device 50.
- the in-vehicle data collection device 30 collects operation data from the state acquisition device 50.
- the in-vehicle data collection device 30 is connected to the in-vehicle storage device 31.
- the in-vehicle data collection device 30 is connected to the in-vehicle wireless communication device 27.
- the operation data of the dump truck 20 collected by the in-vehicle data collection device 30 is stored in the in-vehicle storage device 31.
- the operation data of the dump truck 20 collected by the in-vehicle data collection device 30 is transmitted to the management device 10 via the in-vehicle wireless communication device 27.
- the state acquisition device 50 includes a plurality of devices that acquire operation data of the dump truck 20.
- the state acquisition device 50 detects a load acting on the tire 23T, a position detection device 29 that detects the position of the dump truck 20, a speed detection device 39 that detects the traveling speed, acceleration, and deceleration of the dump truck 20.
- the state acquisition device 50 includes an engine control device 32A, a travel control device 32B, a hydraulic control device 32C, and a steering device 32D.
- the in-vehicle data collection device 30 acquires various operation data of the dump truck 20 from such a state acquisition device 50, and collects these acquired data as operation data.
- the position detecting device 29 includes a GNSS antenna 28B, and detects the position of the dump truck 20 based on the radio wave received by the antenna 28B.
- the position data of the dump truck 20 detected by the position detection device 29 is output to the management device 10 via the in-vehicle wireless communication device 27 and the management-side wireless communication device 18. Further, the position data of the dump truck 20 is stored in the in-vehicle storage device 31.
- the speed detection device 39 includes the rotation sensor 25 and detects the traveling speed (vehicle speed), acceleration (positive acceleration), and deceleration (negative acceleration) of the dump truck 20.
- the acceleration of the dump truck 20 includes an increase in travel speed per unit time.
- the deceleration of the dump truck 20 includes a decrease in travel speed per unit time.
- the traveling speed data of the dump truck 20 detected by the speed detector 39, the acceleration data of the dump truck 20, and the deceleration data of the dump truck 20 are managed via the in-vehicle wireless communication device 27 and the management-side wireless communication device 18. It is output to the device 10.
- the traveling speed data, acceleration data, and deceleration data of the dump truck 20 are stored in the in-vehicle storage device 31.
- the load detection device 41 includes the pressure sensor 26 and detects a load acting on the tire 23T.
- the load data acting on the tire 23T of the dump truck 20 detected by the load detection device 41 is output to the management device 10 via the in-vehicle wireless communication device 27 and the management-side wireless communication device 18. Load data acting on the tire 23T is stored in the in-vehicle storage device 31.
- the load detection device 41 acquires the weight data of the load loaded on the vessel 22 by acquiring the pressure acting on the hydraulic oil of the suspension cylinder 24 detected by the pressure sensor 26.
- the suspension cylinder 24 is disposed on each of the plurality of wheels 23.
- the pressure sensor 26 is disposed in each of the plurality of suspension cylinders 24.
- the load detection device 41 acquires the weight data (loading amount data) of the load based on the detection signal of the pressure sensor 26 disposed in each of the plurality of suspension cylinders 24.
- the load detection device 41 can detect the presence or absence of a load on the vessel 22 of the dump truck 20 based on a change in pressure acting on the hydraulic oil of the suspension cylinder 24 detected by the pressure sensor 26. Further, the load detection device 41 determines whether the load is discharged from the vessel 22 before being discharged, after being discharged, or after being discharged based on the change in pressure acting on the hydraulic fluid of the suspension cylinder 24 detected by the pressure sensor 26. Can be detected.
- the load acting on the tire 23T changes based on the load loaded on the vessel 22.
- the load detection device 41 can detect a load acting on the tire 23T that changes according to the weight of the load of the vessel 22.
- the load detection device 41 can detect the presence or absence of a load on the vessel 22.
- the load detection device 41 can detect a load that acts on the tire 23T when there is a load on the vessel 22 and a load that acts on the tire 23T when there is no load on the vessel 22.
- the load detection device 41 loads the load at the loading field LPA. Can be judged.
- the load detection device 41 causes the dumping field DPA to It can be determined that the soil has been excavated (or has been excavated).
- the soil discharge or loading determination is performed. The accuracy of determining the loading state of the load on the vessel 22 can be improved. Note that the earth removal operation may be determined based only on the operation state of the dump lever 33C.
- the in-vehicle data collection device 30 acquires the pressure acting on the hydraulic oil of the suspension cylinder 24 detected by the pressure sensor 26, thereby grasping the load acting on each tire 23 ⁇ / b> T (wheel 23) from above the suspension cylinder 24. be able to.
- the load applied to each wheel 23 by the structure described above can be obtained.
- the load acting on each wheel 23 is the sum of the load applied to each wheel 23 by the structure described above and the load acting on each wheel 23 from above the suspension cylinder 24.
- the in-vehicle data collection device 30 obtains loads acting on the respective wheels 23 and stores them in the in-vehicle storage device 31 as operation data.
- the driver ID acquisition device 38 acquires driver identification data for specifying the driver of the dump truck 20.
- the dump truck 20 may be driven alternately by a plurality of drivers.
- the driver identification data is acquired from, for example, an individual driver's ID key (electronic key storing driver identification data) or an individual driver ID card (card storing driver identification data). Can do.
- the driver ID acquisition device 38 is a magnetic reading device or a wireless communication device.
- a fingerprint authentication device may be provided as the driver ID acquisition device 38, and the driver identification data may be acquired by performing fingerprint authentication between the driver's fingerprint stored in advance and the individual driver's fingerprint.
- each driver inputs his or her driver identification data (driver identification data such as a personal identification number) using an input device, and acquires the driver identification data also by collating with previously stored ID data.
- the driver ID acquisition device 38 is an ID key or ID card reading device, a fingerprint authentication device, an ID data input device, or the like, and may be provided near the driver's seat in the driver's cabin of the dump truck 20. The driver may be provided at any location on the vehicle main body 21 that is approached when accessing the driver's cab.
- the driver identification data of the driver boarding each dump truck 20 may be transmitted from the management device 10 to the dump truck 20 by wireless communication.
- the in-vehicle wireless communication device 27 also serves as the driver ID acquisition device 38.
- the driver identification data acquired by the driver ID acquisition device 38 can identify which driver is driving the dump truck 20.
- the driver identification data acquired by the driver ID acquisition device 38 is output to the management device 10 via the in-vehicle wireless communication device 27 and the management-side wireless communication device 18.
- the driver identification data acquired by the driver ID acquisition device 38 is stored in the in-vehicle storage device 31.
- the dump truck ID acquisition device 40 acquires dump truck identification data for specifying the dump truck 20.
- a plurality of dump trucks 20 operate.
- Dump truck identification data is given to each of the plurality of dump trucks 20.
- the dump truck identification data acquired by the dump truck ID acquisition device 40 is output to the management device 10 via the in-vehicle wireless communication device 27 and the management-side wireless communication device 18.
- the dump truck identification data acquired by the dump truck ID acquisition device 40 is stored in the in-vehicle storage device 31.
- Steering device 32D steers the steered wheel (in this embodiment, the front wheel 23) of the dump truck 20.
- the steering device 32D includes a hydraulic cylinder that generates a steering force for changing the direction of the wheel 23 (tire 23T).
- the steering force detection device 33D detects a steering force that changes the direction of the steering wheel (tire 23T).
- the steering force detection device 33D detects the hydraulic oil pressure of the hydraulic cylinder of the steering device 32D as the steering force.
- the steering force data detected by the steering force detection device 33D is output to the management device 10 via the in-vehicle wireless communication device 27 and the management-side wireless communication device 18. Further, the steering force data detected by the steering force detection device 33D is stored in the in-vehicle storage device 31.
- the in-vehicle data collection device 30 can acquire data indicating the fuel injection amount by acquiring the control amount of the fuel injection device (FI) 34F from the engine control device 32A. Data relating to fuel consumption can be obtained from the data indicating the fuel injection amount. Moreover, the vehicle-mounted data collection device 30 can acquire data indicating the operation amount of the accelerator 33A via the engine control device 32A. The operation state of the driver of the dump truck 20 can be grasped from data indicating the amount of operation of the accelerator 33A by the driver of the dump truck 20. Further, the in-vehicle data collection device 30 can acquire various data such as the rotational speed of the engine 34G, the coolant temperature, and the lubricating oil pressure from the engine control device 32A.
- the rotational speed data of the engine 34G is acquired from the rotational speed detected by a rotational sensor or the like attached to the output shaft of the engine 34G, and various data such as the coolant temperature and the lubricating oil pressure are also not shown in the temperature sensor or pressure. Acquired by the sensor.
- the vehicle-mounted data collection device 30 can obtain various data of the traveling device 37 from the traveling control device 32B.
- the traveling device 37 uses the torque converter 34TC and the transmission 34TM driven by the engine 34G shown in FIG. 3 and the driving force from the transmission 34TM in FIG. It includes a drive shaft 34DS that transmits to the wheel 23 shown.
- the various data of the traveling device 37 are, for example, the speed stage switching state of the transmission 34TM, the output shaft rotational speed, the rotational speed of the drive shaft 34DS, and the like. Further, the in-vehicle data collection device 30 can grasp the operation state of the driver of the dump truck 20 by acquiring the operation position or the operation amount of the shift lever 33B via the traveling control device 32B. The shift lever 33B is used when the driver instructs the traveling control device 32B to advance, reverse or change the traveling speed stage of the dump truck 20.
- the in-vehicle data collection device 30 can acquire the open / close state of the hydraulic oil control valve 35 from the hydraulic control device 32C.
- the hydraulic oil control valve 35 supplies hydraulic oil discharged from an oil pump 34P driven by the operation of the engine 34G to a hoist cylinder (hydraulic cylinder) 36 that tilts the vessel 22, or a hoist cylinder.
- the hydraulic oil is discharged from 36.
- the in-vehicle data collection device 30 can grasp the tilting state of the vessel 22 based on the open / closed state of the hydraulic oil control valve 35.
- the vessel 22 tilts when the driver operates the dump lever 33C.
- the vehicle-mounted data collection device 30 can also grasp the tilt state of the vessel 22 by acquiring the operation amount or the operation position of the dump lever 33C via the hydraulic control device 32C.
- the in-vehicle storage device 31 is configured by, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, a hard disk drive, or the like, or a combination thereof.
- the in-vehicle storage device 31 stores a computer program in which an instruction for the in-vehicle data collection device 30 to collect operation data and various setting values for operating the management system 1 are stored.
- the in-vehicle data collection device 30 reads the computer program, acquires operation data from each state acquisition device at a predetermined timing, and temporarily stores it in the in-vehicle storage device 31. At this time, the in-vehicle data collection device 30 may perform statistical processing for obtaining an average value, a mode value, a standard deviation, or the like for the data of the same item.
- the operation data includes the position data indicating the position of the dump truck 20, the traveling speed data indicating the traveling speed of the dump truck 20, the acceleration data indicating the acceleration of the dump truck 20, and the Deceleration data indicating deceleration, load data indicating load acting on the tire 23T, driver identification data indicating the driver of the dump truck 20, dump truck identification data indicating the dump truck 20, and steering for changing the direction of the tire 23T Includes steering force data indicating force.
- a timer 42 is connected to the in-vehicle data collection device 30, and the operation data includes time point data (time data) measured by the timer 42.
- the operation data includes earth removal data, loading data, fuel consumption data, operation history data, and event data.
- the event data includes abnormal driving data, vehicle error data, and specific driving operation data.
- These operation data are also output to the management device 10 and stored in the in-vehicle storage device 31.
- these operation data are illustrations, and operation data is not limited to these.
- Position data indicating the position of the dump truck 20, travel speed data indicating the travel speed of the dump truck 20, acceleration data indicating the acceleration of the dump truck 20, deceleration data indicating the deceleration of the dump truck 20, and a load acting on the tire 23T The operation data including the load data indicating the driver, the driver identification data indicating the driver of the dump truck 20, the dump truck identification data indicating the dump truck 20, and the steering force data indicating the steering force for changing the direction of the tire 23T are Is output to the management device 10 in association with the passage of time) and stored in the in-vehicle storage device 31.
- the operation data collected by the in-vehicle data collection device 31 is stored in the in-vehicle storage device 31 in association with the time point.
- the in-vehicle data collection device 30 receives a request signal from the management device 10 via the in-vehicle wireless communication device 27. By receiving the request signal, the in-vehicle data collection device 30 transmits the operation data stored in the in-vehicle storage device 31 to the management device 10 via the in-vehicle wireless communication device 27.
- FIG. 5 is a diagram illustrating an example of a travel route of the dump truck according to the present embodiment.
- the dump truck 20 travels toward the loading site LPA after unloading at the earth discharging site DPA shown in FIG.
- the dump truck 20 arriving at the loading site LPA is loaded into the vessel 22 by a loading mining machine such as a hydraulic excavator.
- the dump truck 20 loaded with the load travels toward the earth discharging site DPA.
- the dump truck 20 that has arrived at the dump site DPA unloads at the dump site DPA.
- a predetermined place where the dump truck 20 departs toward the loading site LPA is referred to as a first position
- the loading site LPA is referred to as a second position
- a position where the load at the dumping site DPA is lowered is referred to as a third position.
- the first position may be a predetermined position in the earth discharging field DPA, or may be a predetermined position different from the earth discharging field DPA.
- the dump truck 20 is loaded as a second position where the dump truck 20 receives a load at the loading site LPA from the travel start position SPr as the first position.
- a path that moves to the insertion position LPr is referred to as an outbound path CSr1.
- a route in which the dump truck 20 moves from the loading position LPr as the second position to the discharging position DPr as the third position at which the load is unloaded at the discharging site DPA is referred to as a return path CSr2.
- the outbound path CSr1 starts from the travel start position SPr and ends at the loading position LPr.
- the return path CSr2 has a loading position LPr as a starting point and a soil discharging position DPr as an end point.
- the position detection device 29 mounted on the dump truck 20 is configured so that the dump truck 20 starts from the travel start position SPr, reaches the loading position LPr, and then reaches the soil discharge position DPr.
- the position data PI is obtained.
- the position data PI is the position data of the dump truck 20 obtained by GNSS.
- the position detection device 29 acquires the current position data of the dump truck 20 every predetermined time (for example, 1 second), for example, and stores it in the in-vehicle storage device 31.
- a group of a plurality of position data PI obtained by the position detection device 29 (hereinafter referred to as a position data group as appropriate) is included in the actual travel route CSr of the dump truck 20. For this reason, the actual travel route CSr can be expressed by a plurality of position data PI.
- FIG. 6 is a diagram illustrating the reference travel route CSB.
- tire damage The damage that the tire 23T receives by traveling (hereinafter referred to as tire damage as appropriate) correlates with the traveling speed of the dump truck 20, the load acting on the tire 23T, and the curvature radius of the curve of the actual traveling path CSr traveled by the dump truck 20. Is expensive. For this reason, in order for the estimation part 12b of the management apparatus 10 shown by FIG. 2 to estimate a tire damage, the data of the driving route which the dump truck 20 drive
- Some mines construct a travel route on which the dump truck 20 travels along the travel route data based on the plan. However, some mines do not have planned track data. Moreover, the traveling route of the dump truck 20 may be changed according to the progress of the mining of the ore. For this reason, in the mine, even if the position data PI of the dump truck 20 is obtained, the shape of the travel route may not be obtained.
- the travel route calculation unit 12a of the management device 10 illustrated in FIG. 2 acquires the position data PI of the dump truck 20 obtained from the GNSS from the dump truck 20. And the driving
- the travel route calculation unit 12a includes a plurality of position data PI1 (X1, Y1, Z1), PI2 (X2, Y2, Z2),... PIn (Xn, Yn, Zn), an approximate curve indicated by a solid line is obtained by the least square method.
- the position data PI is three-dimensional position data.
- the obtained reference travel route CSB is stored in the reference travel route database 14CS of the management-side storage device 13 of the management device 10 shown in FIG.
- the reference travel route CSB is a set of coordinates of latitude, longitude, and altitude.
- a reference travel path CSB having a different shape or curvature radius is generated from the obtained position data PI.
- the shape or the curvature may be different even in the same corner.
- the management device 10 acquires the position data PI acquired from the GNSS by the dump truck 20 from the dump truck 20, the data amount of the position data PI that can be acquired by the management device 10 is limited due to the limit of the communication amount by the communication line. Is done.
- the management device 10 does not receive the transfer of all the position data PI of the dump truck 20 detected by the position detection device 29 of the dump truck 20 using GNSS, but obtains a part of the reference travel route CSB. Generate.
- the position detection device 29 of the dump truck 20 acquires the position data PI from the GNSS with a period of 0.1 second, while the management apparatus 10 acquires the position data PI from the dump truck with a period of 10 seconds, for example.
- the travel route calculation unit 12a since the data amount of the position data PI acquired by the management apparatus 10 decreases, the travel route calculation unit 12a generates the reference travel route CSB from the small position data PI, which may cause a decrease in accuracy. is there.
- the travel route calculation unit 12a of the management device 10 acquires the position data PI at a plurality of timings from the plurality of dump trucks 20 operating in the mine, and obtains the reference travel route CSB from the obtained plurality of position data PI. Ask. As a result, the travel route calculation unit 12a can obtain a reference travel route CSB by approximating a large amount of position data PI, so that a decrease in accuracy of the reference travel route CSB can be suppressed.
- the travel route calculation unit 12a When the travel route calculation unit 12a generates the reference travel route CSB, PIa, PIb, and PIc, which are position data whose deviation from the reference travel route CSB is larger than a predetermined threshold (for example, 3 m), are approximated by the least square method. Excluded in the calculation. In this way, the travel route calculation unit 12a can improve the accuracy of the generated reference travel route CSB.
- a predetermined threshold for example, 3 m
- the travel route calculation unit 12a collects coarse GNSS position data PI from the plurality of dump trucks 20, and creates the shape of the reference travel route CSB from the vague shape of the travel route. At this time, the travel route calculation unit 12a generates a more reliable reference travel route CSB by removing position data PIa, PIb, and PIc having large deviations as data when the reception state of GNSS is bad, for example. To do.
- the travel route calculation unit 12a collects position data PI when these travel from a plurality of dump trucks 20 and performs a reference travel route CSB, thereby determining a travel route on which the dump truck 20 travels in a mine as a reference travel route CSB. Can be specified.
- the travel route calculation unit 12a newly acquires position data PI of a new travel route from the same dump truck 20 or from different dump trucks 20, the travel route calculation unit 12a reproduces the reference travel route CSB using the newly acquired position data PI. To do. For this reason, even when the travel route of the dump truck 20 changes due to a change in the position of the loading site LPA or the dumping site DPA shown in FIG. 5 or the presence of an obstacle in the travel route of the dump truck 20.
- the reference travel route CSB corresponding to the new position data PI can be generated. For this reason, it is preferable that the management system 1 is used in a mine where the travel route of the dump truck 20 often changes.
- the determination unit 12d determines whether or not the driver has performed a damage operation that damages the tire 23T mounted on the dump truck 20.
- the damage acquisition data indicating the execution of the damage operation and the driver identification data indicating the driver who has performed the damage operation are acquired by the data acquisition unit 12e.
- Correspondence data including damage operation data associated with the driver identification data is output from the data output unit 12f.
- damage operation data indicating the execution of the damage operation and position data indicating the position of the dump truck 20 on which the damage operation has been performed are acquired by the data acquisition unit 12e.
- Correspondence data including damage operation data associated with the position data is output from the data output unit 12f.
- the damage operation is a damage operation that is performed when the dump truck 20 exists on the reference travel route.
- the data acquisition unit 12e acquires damage operation data when the dump truck 20 exists on the reference travel route.
- the data output unit 12f outputs correspondence data when the dump truck 20 exists on the reference travel route.
- the damage operation is a rapid deceleration operation that decelerates the dump truck 20 at a speed (first speed) or higher per unit time, and the direction of the tire 23T of the dump truck 20 at a speed (second speed) or lower. It includes at least one of a change-over operation for changing, and an aggressive cornering operation for causing the dump truck 20 to travel a curve of the reference travel path CSB having a radius of curvature equal to or higher than a certain speed (third speed) and equal to or less than a predetermined value.
- the damage operation has a high correlation with the traveling speed of the dump truck 20.
- the determination unit 12d can determine whether or not the damage operation has been performed based on the detection signal of the speed detection device 39.
- the damage amount DM given to the tire 23T is estimated by the estimation unit 12b based on the operation data.
- the damage amount DM includes the wear amount of the tire 23T. Based on the estimated damage amount DM, it is determined whether or not a damage operation for damaging the tire 23T has been performed.
- the rapid deceleration operation is an operation for decelerating the dump truck 20 at a speed higher than a certain speed (first speed) per unit time.
- the rapid deceleration operation is an operation for decelerating the dump truck 20 at a certain deceleration or more.
- the sudden deceleration operation is, for example, an operation for decelerating 10 km / h or more per second.
- the estimation unit 12b performs a rapid deceleration operation on the tire 23T based on the deceleration data indicating the deceleration of the dump truck 20 (the amount of decrease in travel speed per unit time) and the load data indicating the load acting on the tire 23T. Estimate the amount of damage DM1 to be given to.
- the estimation unit 12b performs the calculation of equation (1) to estimate the damage amount DM1 due to the rapid deceleration operation.
- the determination unit 12d determines whether or not a rapid deceleration operation has been performed based on the damage amount DM1 estimated by the estimation unit 12b. When the determination unit 12d determines that the damage amount DM1 is greater than or equal to a predetermined first threshold value, the determination unit 12d determines that the rapid deceleration operation has been performed. When the determination unit 12d determines that the damage amount DM1 does not exceed the predetermined first threshold, the determination unit 12d determines that the rapid deceleration operation is not performed.
- the determination unit 12d determines whether or not the rapid deceleration operation has been performed based on the deceleration data indicating the deceleration A of the dump truck 20 and the load data indicating the load LD acting on the tire 23T. To do.
- the estimation unit 12b performs the rapid deceleration operation based on the deceleration data indicating the deceleration A of the dump truck 20 and the load data indicating the load LD acting on the tire 23T. Estimate the damage amount DM1 caused by.
- the second mode of damage operation is an operation of changing the direction of the tire 23T at a certain speed (second speed) or less.
- the cut-off operation is, for example, an operation of changing the direction of the tire 23T when the traveling speed of the dump truck 20 is 1 km / h or less.
- the cut-off operation includes an operation of changing the direction of the tire 23T in a state where the dump truck 20 is stopped (a traveling speed is 0 km / h).
- the estimation unit 12b estimates a damage amount DM2 to be given to the tire 23T by the set-up operation based on load data indicating a load acting on the tire 23T.
- the estimation unit 12b performs the calculation of equation (2) to estimate the damage amount DM2 due to the set-up operation.
- the steering force when the steering operation is performed when the traveling speed of the dump truck 20 is low is larger than the steering force when the steering operation is performed when the traveling speed of the dump truck 20 is high. That is, the cut-off operation requires a larger steering force than the steering when the dump truck 20 is traveling.
- the steering force detected by the steering force detection device 33D exceeds a predetermined threshold, it is determined that the set-up operation has been performed. For example, when the pressure of the hydraulic oil in the hydraulic cylinder of the steering device 32D exceeds 5000 kPa, it is determined that the set-up operation has been performed.
- the determination unit 12d determines whether the set-up operation has been performed based on the traveling speed data indicating the traveling speed of the dump truck 20 and the steering force data indicating the steering force. judge.
- the estimation unit 12b estimates the damage amount DM2 caused by the set-up operation based on the load data indicating the load LD acting on the tire 23T.
- the aggressive cornering operation is an operation of causing the dump truck 20 to travel a curve of the reference travel route CSB having a radius of curvature that is greater than or equal to a certain speed (third speed) and less than a predetermined value.
- the aggressive cornering operation is, for example, an operation of running a curve having a curvature radius of 100 m or less at a speed of 50 km or more.
- the estimator 12b determines the amount of damage given to the tire 23T by the aggressive cornering operation based on the traveling speed data indicating the traveling speed of the dump truck 20, the load data indicating the load acting on the tire 23T, and the curvature radius of the curve. Infer DM3.
- the estimation unit 12b performs the calculation of Expression (3) to estimate the damage amount DM3 due to the aggressive cornering operation.
- the determination unit 12d determines whether or not the aggressive cornering operation is performed based on the damage amount DM3 estimated by the estimation unit 12b.
- the determination unit 12d determines that the aggressive cornering operation has been performed when it is determined that the damage amount DM3 is equal to or greater than a predetermined third threshold value.
- the determination unit 12d determines that the aggressive cornering operation is not performed.
- the determination unit 12d performs an aggressive cornering operation based on the traveling speed data indicating the traveling speed V of the dump truck 20, the load data indicating the load LD acting on the tire 23T, and the curvature radius R of the curve. It is determined whether or not has been implemented.
- the estimation unit 12b includes the traveling speed data indicating the traveling speed V of the dump truck 20, the load data indicating the load LD acting on the tire 23T, the curvature radius R of the curve, Based on the above, the damage amount DM3 caused by the aggressive cornering operation is estimated.
- FIG. 7 is a diagram showing an example of a method for estimating the damage amount DM3 of the tire 23T resulting from the aggressive cornering operation. As shown in FIG. 7, a curve CN (CN1, CN2) is provided on the reference travel route CSB.
- the reference travel route CSB also includes direction data.
- the estimation unit 12b more specifically determines the reference travel route CSB in estimating the damage amount DM3 of the tire 23T due to the aggressive cornering operation. Reads out the coordinates of each position data Pca, Pcb, Pcc, Pcd, Pce included in the reference travel route CSB from the reference travel route database 14CS.
- position data Pc When the position data Pca, Pcb, Pcc, Pcd, and Pce of the reference travel route CSB are not distinguished, they are referred to as position data Pc.
- the data of the reference travel route CSB stored in the reference travel route database 14CS includes the position data Pc described above and the curvature radii R1, R2 of the curves CN1, CN2 of the reference travel route CSB.
- the estimation unit 12b is a target for estimating the damage DM3, and the position data PI, speed data, and speed data of the dump truck 20 that has traveled on the reference travel route CSB, and The load LD of the tire 23T is read from the operation database 14I.
- the speed data of the dump truck 20 is an actual travel speed when the dump truck 20 travels on the reference travel path CSB.
- the estimation unit 12b specifies the position of the reference travel route CSB traveled by the dump truck 20 from the position data PI of the dump truck 20 and the position data Pc of the reference travel route CSB. From the position of the reference travel route CSB traveled by the dump truck 20, it is characterized whether the dump truck 20 travels along the curves CN1 and CN2 of the reference travel route CSB or travels along a straight line portion.
- the estimation unit 12b acts on the curvature radius R1 of the curve CN1 of the reference travel route CSB, the travel speed V of the dump truck 20 when traveling on the curve CN1, and the tire 23T.
- the damage amount DM3 is obtained by giving the load LD to be given to the equation (3).
- the damage amount DM3 is obtained for each tire 23T included in the dump truck 20.
- the damage amount DM3 becomes zero. Since the radius of curvature R of the curve CN of the reference travel route CSB is infinite, the damage amount DM3 is 0 in the straight line portion.
- the estimation unit 12b obtains the damage DM3 of the dump truck 20 that has traveled on the reference travel route CSB, for example, over the entire reference travel route CSB, and adds it for each tire 23T. The value obtained in this way is referred to as the cumulative damage amount. Since the accumulated damage amount indicates the damage accumulated in the tire 23T, the wear amount of the tire 23T is estimated.
- the accumulated damage amount obtained by the estimation unit 12b is aggregated for each dump truck 20 or aggregated for each driver of the dump truck 20.
- the cumulative damage amount is tabulated for each driver identification data assigned to each driver.
- the driver identification data is acquired by the driver ID acquisition device 38 shown in FIG. 4 and transmitted to the management device 10 shown in FIG. 2 via the in-vehicle wireless communication device 27.
- the cumulative damage amount is totaled for each dump truck 20.
- the dump truck identification data is acquired by the dump truck ID acquisition device 40 shown in FIG. 4 and transmitted to the management device 10 shown in FIG.
- the accumulated damage amount caused by the dump truck 20 can be distinguished. For example, the dump truck 20 having a large accumulated damage amount can be improved.
- the estimation unit 12b may estimate the damage amount DM3 over the entire path when the dump truck 20 starts from the travel start position SPr shown in FIG. 5 and moves to the loading position LPr to load the load.
- the damage amount DM3 may be estimated over the entire route when 20 moves from the loading position LPr to the soil removal position DPr where the load is lowered. Further, the estimation unit 12b causes damage to the entire route when the dump truck 20 starts from the travel start position SPr shown in FIG. 5 and moves to the soil removal position DPr where the load is unloaded via the loading position LPr.
- the amount DM3 may be estimated.
- FIG. 8 is a diagram illustrating an example in which the travel distance of the dump truck 20 is obtained using the reference travel route CSB.
- the estimation unit 12b determines the position data Pc1, Pc2,... Pcn (n) of the dump truck 20 on the reference travel path CSB from the position data PI1, PI2, PI3 of the dump truck 20 and the travel speed V of the dump truck 20. Is an integer of 1 or more.
- position data Pc1, Pc2,... Pcn are not distinguished, they are appropriately referred to as position data Pc.
- the position data PI1, PI2, and PI3 are acquired by the in-vehicle data collection device 30 of the dump truck 20 at a cycle of t1 seconds, and the traveling speed V is acquired at a cycle of t2 seconds smaller than t1 seconds.
- the position data PI1, PI2, PI3 and the traveling speed V are transmitted from the dump truck 20 to the management device 10 and stored in the operation information database 14I of the management side storage device 13 of the management device 10.
- the position data PI1, PI2, and PI3 of the dump truck 20 are obtained by GNSS.
- the estimation unit 12b reads the position data PI1, PI2, and PI3 from the operation information database 14I.
- the estimation unit 12b selects position data Pc1, Pc6, and Pcn on the reference travel route CSB that is closest to the position data PI1, PI2, and PI3 of the dump truck 20.
- the continuous position data PI1, PI2, and PI3 of the dump truck 20 are obtained continuously every t1 seconds. It can be assumed that the dump truck 20 is traveling on the reference traveling route CSB while the position data PI1, PI2, and PI3 are obtained. For this reason, the estimation part 12b can obtain
- the estimation unit 12b can obtain the position data Pc2, Pc3, Pc4, and Pc5 of the dump truck 20 on the reference travel route CSB using the moving distance L.
- the position coordinates of the dump truck on the reference travel path CSB are the coordinates of the position advanced by the movement distance L along the reference travel path CSB from the position data Pc1 of the reference travel path CSB corresponding to the position data PI1 of the dump truck 20. Pc2.
- the coordinates of the position advanced from Pc2 by the moving distance L along the reference travel route CSB are the dump truck position data Pc3 on the reference travel route CSB.
- the operation data of the dump truck 20 acquired by the management device 10 may be lost for some reason. For example, when comparing the frequency distribution of the traveling speed V among the plurality of dump trucks 20 in one cycle from when the dump truck 20 loads the cargo to when it is lowered, the dump truck with normal data missing from the operation data. Comparison with 20 is difficult. It is assumed that the dump truck 20 was traveling on the reference traveling path CSB even when the management apparatus 10 cannot normally acquire the position data PI of the dump truck 20 and the traveling speed V of the dump truck 20 obtained by GNSS. Thus, the position data PI of the dump truck 20 can be estimated.
- the dump truck 20 travels at a constant speed along the reference travel route CSB between the position data PI immediately before the travel speed V is missing and the position data PI immediately after the recovery.
- the management-side processing device 12 of the management device 10 uses the position data Pc of the reference travel route CSB closest to the position data PI immediately before the travel speed V is missing as a reference and the assumed dump time. The moving distance is obtained from the traveling speed of the track 20.
- the management-side processing device 12 sets the position separated from the reference position data Pc along the reference travel route CSB by the above-described movement distance as one of the missing dump truck 20 position data. By sequentially repeating this process, the position data PI of the dump truck 20 while the traveling speed V is missing is obtained.
- the dump truck 20 performs the reference running between the position data PI immediately before the position data PI is lost and the position data PI immediately after the recovery. Assume that the vehicle travels at a constant speed along the route CSB or travels at an average travel speed of one cycle. Under this assumption, the management-side processing device 12 of the management device 10 uses the position data Pc of the reference travel route CSB closest to the position data PI immediately before the position data PI is missing as a reference and the assumed dump truck. The travel distance is determined from the 20 travel speeds.
- the management-side processing device 12 sets the position separated from the reference position data Pc along the reference travel route CSB by the above-described movement distance as one of the missing dump truck 20 position data. By sequentially repeating this process, the position data PI of the dump truck 20 while the position data PI is missing is obtained.
- the management device 10 uses the reference travel route CSB, so that the position of the portion where the position data PI does not exist even when the position data PI of the dump truck 20 is small and the position data PI is missing. Data PI can be obtained.
- FIG. 9 is a flowchart illustrating an example of a management method according to the present embodiment.
- the sudden deceleration operation, the cut-off operation, and the aggressive cornering operation are collectively referred to as a damage operation as appropriate.
- the damage amount DM1 resulting from the sudden deceleration operation, the damage amount DM2 resulting from the cut-off operation, and the damage amount DM3 resulting from the aggressive cornering operation are appropriately collectively referred to as a damage amount DM.
- the data acquisition unit 12d of the management processor 12 acquires the operation data of the dump truck 20 (step SP1).
- the estimation unit 12b estimates the damage amount DM of the tire 23T based on at least a part of the acquired operation data (step SP2).
- the determination unit 12d determines whether or not a damage operation has been performed (step SP3). As described above, in the present embodiment, when it is determined that the damage amount DM1 estimated by the estimation unit 12b is greater than or equal to a predetermined first threshold value, a sudden deceleration operation is performed among the damage operations. Determined. When the traveling speed of the dump truck 20 is equal to or lower than the second speed and the steering force exceeds a predetermined threshold value, it is determined that the set-up operation has been performed among the damage operations. When it is determined that the damage amount DM3 estimated by the estimation unit 12b is greater than or equal to a predetermined third threshold value, it is determined that the aggressive cornering operation has been performed among the damage operations.
- step SP3 When it is determined that the damaging operation has been performed (step SP3: Yes), the data acquisition unit 12e acquires damaging operation data indicating the execution of the damaging operation and driver identification data indicating the driver who has performed the damaging operation. (Step SP4).
- step SP3 No If it is determined that the damage operation has not been performed (step SP3: No), the process returns to step SP1.
- Damage operation data includes data on presence / absence of damage operation.
- the damage operation data includes frequency data indicating the number of times that the damage operation has been performed.
- the rapid deceleration operation data when the damage operation data is rapid deceleration operation data indicating that the rapid deceleration operation is performed, the rapid deceleration operation data includes frequency data indicating the number of times that the rapid deceleration operation is performed.
- the rapid deceleration operation data further includes a damage amount DM1 estimated by the estimation unit 12b.
- the set-up operation data includes frequency data indicating the number of times the set-up operation has been executed.
- the cut-off operation data further includes a damage amount DM2 estimated by the estimation unit 12b.
- the aggressive cornering operation data includes frequency data indicating the number of times that the aggressive cornering operation has been performed.
- the aggressive cornering operation data further includes a damage amount DM3 estimated by the estimation unit 12b.
- the data output unit 12f After the damage operation data and the driver identification data are acquired by the data acquisition unit 12e, the data output unit 12f outputs correspondence data including the damage operation data associated with the driver identification data (step SP5). That is, the data output unit 12f outputs the driver identification data indicating the driver who performed the damage operation in association with the damage operation data (number of times data).
- the data output unit 12 f outputs the corresponding data to the output device 16.
- the output device 16 includes one or both of a display device 16A and a printing device 16B.
- the display device 16A displays the corresponding data output from the data output unit 12f.
- the printing device 16B prints the corresponding data output from the data output unit 12f.
- the data acquisition unit 12e acquires the damage operation data and the driver identification data
- the data output unit 12f outputs the correspondence data in which the driver identification data and the damage operation data are associated with each other. explained.
- the data acquisition unit 12e can acquire the damage operation data indicating the execution of the damage operation and the position data indicating the position of the dump truck 20 on which the damage operation is performed.
- the data acquisition unit 12e can acquire position data from the position detection device 29.
- the data output unit 12f can output correspondence data including damage operation data associated with the position data.
- the output device 16 outputs (visualizes) correspondence data in which position data and damage operation data are associated with each other.
- the data acquisition unit 12e acquires damage operation data indicating the execution of the damage operation, driver identification data indicating the driver who performed the damage operation, and position data indicating the position of the dump truck 20 where the damage operation has been performed. Also good.
- the data output unit 12f may output correspondence data in which damage operation data, driver identification data, and position data are associated with each other.
- the data acquisition unit 12e may acquire damage operation data, one or both of driver identification data and position data, and dump truck identification data indicating the dump truck 20 on which the damage operation has been performed.
- the data output unit 12f may output correspondence data in which damage operation data, one or both of driver identification data and position data, and dump truck identification data are associated with each other.
- the data acquisition unit 12e may acquire the damage operation data, one or both of the driver identification data and the position data, and time data indicating the time when the damage operation is performed.
- the data output unit 12f may output correspondence data in which damage operation data, one or both of driver identification data and position data, and time point data are associated with each other.
- the damage operation data may be a cumulative damage amount obtained by obtaining the damage amount DM over the entire reference travel route CSB and adding it for each tire 23T.
- the cumulative damage amount may be the cumulative damage amount of the damage amount DM1, the cumulative damage amount of the damage amount DM2, or the cumulative damage amount of the damage amount DM3. Since the accumulated damage amount indicates the damage accumulated in the tire 23T, the wear amount of the tire 23T is estimated.
- the damage amount DM includes the wear amount of the tire 23T.
- the accumulated damage amount may be totaled for each driver of the dump truck 20 or may be totaled for each dump truck 20.
- the cumulative damage amount is tabulated for each driver identification data assigned to each driver.
- the driver identification data is acquired by the driver ID acquisition device 38 and transmitted to the management device 10 via the in-vehicle wireless communication device 27.
- the cumulative damage amount is totaled for each dump truck 20.
- the dump truck identification data is acquired by the dump truck ID acquisition device 40 and transmitted to the management device 10 via the in-vehicle wireless communication device 27.
- the accumulated damage amount caused by the dump truck 20 can be distinguished. For example, the dump truck 20 having a large accumulated damage amount can be improved.
- the estimation unit 12b may estimate the damage amount DM over the entire path when the dump truck 20 starts from the travel start position SPr shown in FIG. 5 and moves to the loading position LPr to load the load.
- the damage amount DM may be estimated over the entire route when 20 moves from the loading position LPr to the soil removal position DPr where the load is lowered. Further, the estimation unit 12b causes damage to the entire route when the dump truck 20 starts from the travel start position SPr shown in FIG. 5 and moves to the soil removal position DPr where the load is unloaded via the loading position LPr.
- the quantity DM may be estimated.
- the output device 16 outputs the correspondence data output from the data output unit 12f as a report.
- the output device 16 displays or prints the report of the corresponding data created by the data output unit 12f and visualizes it.
- FIGS. 10 to 23 may be printed matter printed by the printing device 16B.
- FIG. 10 shows the position where the rapid deceleration operation is performed on the reference travel route and the number of times the rapid deceleration operation is performed at that position.
- the number of implementations is, for example, the number of implementations for one month.
- FIG. 11 shows the relationship between the plurality of generated reference travel routes and the frequency at which the rapid deceleration operation is performed on each reference travel route.
- a plurality of loading sites LPA and earth discharging sites DPA are provided.
- a plurality of reference travel routes that connect the plurality of loading sites LPA and the earth discharging site DPA are also generated.
- the example shown in FIG. 11 shows the relationship between a plurality of reference travel routes (course 1 to course 15) and the frequency indicating the average value of the number of times the rapid deceleration operation is performed when traveling on the course for one cycle.
- the horizontal axis indicates a plurality of courses, and the vertical axis indicates the frequency.
- FIG. 12 shows the relationship between the driver identification data of the dump truck 20 and the frequency with which the driver performed a sudden deceleration operation on the reference travel route.
- the horizontal axis indicates a plurality of drivers, and the vertical axis indicates the frequency.
- the output device 16 can output correspondence data including sudden deceleration operation data (number of times data) of damage operation data associated with driver identification data. Also, as shown in FIG. 12, an average value of frequencies may be calculated and the average value may be output.
- FIG. 13 shows the relationship between the dump truck identification data and the amount of damage DM1 given to the tire 23T of the dump truck 20 by the rapid deceleration operation.
- the horizontal axis represents a plurality of dump trucks 20, and the vertical axis represents the cumulative value of the damage amount DM1 caused by a plurality of rapid deceleration operations.
- the output device 16 can output correspondence data including sudden deceleration operation data (damage amount DM1) of damage operation data associated with dump truck identification data. Further, the output device 16 may output the amount of damage for each course by replacing the horizontal axis with the course instead of the dump truck identification data. As a result, it is possible to know in which course damage is likely to occur.
- FIG. 14 shows the relationship between the dump truck identification data and the number of cycles of the dump truck 20.
- the cycle one cycle means that the dump truck 20 starts from a predetermined location toward the loading site LPA, and after loading is loaded at the loading site LPA, arrives at the dump site DPA. A series of operations until the cargo is unloaded.
- the number of cycles is a value indicating how many times a single cycle has been performed. As the number of cycles increases, the travel distance of the dump truck 20 tends to increase, indicating that the operation amount of the dump truck 20 is large. In this way, the relationship between the dump truck identification data and the operation amount of the dump truck 20 may be output. Further, the output device 16 may output the relationship of the travel distance for each dump truck identification data instead of the number of cycles in consideration that the distance is different for each course.
- 15 to 18 show examples of output of the cut-off operation data.
- FIG. 15 shows the position where the cut-off operation is performed on the reference travel route and the number of times the cut-out operation is performed at that position.
- the number of implementations is, for example, the number of implementations for one month.
- FIG. 16 shows the relationship between the plurality of generated reference travel routes and the frequency at which the set-up operation is performed on each reference travel route.
- the example shown in FIG. 16 shows a relationship between a plurality of reference travel routes (course 1 to course 15) and a frequency indicating an average value of the number of times that the cut-out operation is performed when the course is traveled for one cycle.
- the horizontal axis indicates a plurality of courses, and the vertical axis indicates the frequency.
- FIG. 17 shows the relationship between the driver identification data of the dump truck 20 and the frequency at which the driver performs the cut-off operation on the reference travel route.
- the horizontal axis indicates a plurality of drivers, and the vertical axis indicates the frequency.
- the output device 16 can output correspondence data including the cut-out operation data (number-of-times data) of the damage operation data associated with the driver identification data. Further, as shown in FIG. 17, an average value of frequencies may be calculated and the average value may be output.
- FIG. 18 shows the relationship between the dump truck identification data and the amount of damage DM2 given to the tire 23T of the dump truck 20 by the set-up operation.
- the horizontal axis represents a plurality of dump trucks 20, and the vertical axis represents the cumulative value of the damage amount DM2 caused by a plurality of set-up operations.
- the output device 16 can output correspondence data including the cut-out operation data (damage amount DM2) of the damage operation data associated with the dump truck identification data.
- FIG. 18 can be represented by combining the graph of FIG. 18 and the graph of FIG. 14 to represent the relationship between the operation amount, the damage amount DM2, and the dump truck identification data. If the travel distance is adopted in FIG. 14, the relationship between the travel distance, the damage amount DM2, and the dump truck 20 can be expressed.
- 19 to 22 show examples of output of aggressive cornering operation data.
- FIG. 19 shows the position (curve) where the aggressive cornering operation is performed in the reference travel route, and the curvature radius of the curve.
- FIG. 20 shows the relationship between a plurality of generated reference travel routes and the frequency at which an aggressive cornering operation is performed on each reference travel route.
- the example shown in FIG. 20 shows the relationship between a plurality of reference travel routes (course 1 to course 15) and the frequency indicating the average value of the number of times that an aggressive cornering operation is performed when the course travels for one cycle.
- the horizontal axis indicates a plurality of courses, and the vertical axis indicates the frequency.
- FIG. 21 shows the relationship between the driver identification data of the dump truck 20 and the frequency at which an aggressive cornering operation is performed on the reference travel route by the driver.
- the horizontal axis indicates a plurality of drivers, and the vertical axis indicates the frequency.
- the output device 16 can output correspondence data including aggressive cornering operation data (frequency data) of damage operation data associated with driver identification data. Further, as shown in FIG. 21, an average value of frequencies may be calculated and the average value may be output.
- FIG. 22 shows the relationship between the dump truck identification data and the amount of damage DM3 given to the tire 23T of the dump truck 20 by the aggressive cornering operation.
- the horizontal axis represents a plurality of dump trucks 20, and the vertical axis represents the cumulative value of the damage amount DM3 caused by a plurality of aggressive cornering operations.
- the output device 16 can output correspondence data including aggressive cornering operation data (damage amount DM3) of damage operation data associated with dump truck identification data.
- the relationship between the operation amount, the damage amount DM3, and the dump truck identification data can be expressed by evaluating the combination of the graph of FIG. 22 and the graph of FIG. If the travel distance is adopted in FIG. 14, the relationship between the travel distance, the damage amount DM3, and the dump truck 20 can be expressed.
- FIG. 13 shows an example in which the relationship between the dump truck identification data and the damage amount DM1 is output
- the relationship between the driver identification data and the damage amount DM1 may be output.
- evaluation may be performed in combination with a graph of the number of cycles for each driver (corresponding to FIG. 14).
- the driver identification data that has performed the damage operation and the damage operation data are output in association with each other.
- the position data of the dump truck 20 on which the damage operation is performed and the damage operation data are output in association with each other, for example, a position on the reference travel route where the damage operation is frequently performed is specified. be able to. Thereby, for example, measures for reducing the implementation of the damage operation such as improvement of the travel route can be taken. Thereby, shortening of the useful life of the tire 23T is suppressed, and a decrease in mine productivity and an increase in production cost are suppressed.
- the position data can be appropriately acquired by the position detection device 29 of the dump truck 20.
- the damage operation a rapid deceleration operation, a cut-off operation, and an aggressive cornering operation are evaluated. Thereby, the damage given to the tire 23T can be evaluated appropriately.
- the damage operation has a high correlation with the traveling speed of the dump truck 20. Therefore, the determination unit 12d can appropriately determine whether or not the damaging operation has been performed based on the detection signal of the speed detection device 39.
- the damage amount DM1 resulting from the rapid deceleration operation is evaluated based on the equation (1). Thereby, the relationship between the damage amount DM1 and at least one of the driver identification data and the position data is appropriately grasped.
- the damage amount DM2 resulting from the set-up operation is evaluated based on the equation (2). Thereby, the relationship between the damage amount DM2 and at least one of the driver identification data and the position data is appropriately grasped.
- the damage amount DM3 resulting from the aggressive cornering operation is evaluated based on the equation (3). Thereby, the relationship between the damage amount DM3 and at least one of the driver identification data and the position data is appropriately grasped.
- the correspondence data includes the damage operation data associated with the dump truck identification data, so that whether or not the damage operation is caused by, for example, a change (deterioration) in performance of the dump truck 20 is determined.
- time data indicating the time when the damage operation is performed is acquired, and the damage operation data is output in association with the time data, so that the damage operation is caused by the operation time zone of the dump truck 20 or not. Can be determined. For example, when the damage operation is frequently performed at night, it is possible to take measures for reducing the execution of the damage operation such as improvement of labor conditions.
- the reference travel route CSB may be determined based on course data set in advance.
- the reference travel route CSB may be determined based on mine construction data set in advance such as mine design data (including CAD data).
- the mine construction data includes a plurality of design position data.
- the management device 10 set in the management facility of the mine executes data processing regarding damage to the tire 23T. Even if data necessary for data processing relating to damage to the tire 23T, including at least one of damage operation data, driver identification data, and position data, is transmitted to a computer system (server) away from the mine via the Internet. Good.
- the computer system may execute data processing relating to damage to the tire 23T.
- the mine and the computer system may be provided in the same country. The mine may be provided in a first country and the computer system may be provided in a second country (foreign country).
- the management system 1 including the management device 10 executes data processing regarding damage to the tire 23T.
- the data processing related to the damage to the tire 23T executed by the management system 1 described in the above embodiment may be executed by a processing device including a computer system mounted on the dump truck 20. That is, the processing device mounted on the dump truck 20 performs a determination unit that determines whether or not a damage operation that damages the tire 23T is performed, damage operation data that indicates the execution of the damage operation, and the damage operation.
- driver identification data indicating the driver and position data indicating the position of the dump truck 20 on which the damage operation has been performed a data acquisition unit for acquiring, and one or both of the driver identification data and the position data
- a data output unit that outputs correspondence data including the associated damage operation data may output (display) the corresponding data on a display device (monitor) arranged in the cab.
- the data output unit of the dump truck 20 may output (transmit) the corresponding data to the management device 10 via the in-vehicle wireless communication device 27.
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Abstract
Description
図1は、本実施形態に係る鉱山機械が稼動する鉱山の一例を模式的に示す図である。
次に、本実施形態に係る管理システム1の概要について説明する。管理システム1は、鉱山機械の運行の管理、鉱山機械の生産性の評価、鉱山機械の運転者の操作技術の評価、鉱山機械の予防保全、及び鉱山機械の異常診断の少なくとも一つを実施する。本実施形態においては、管理システム1が、主にダンプトラック20を管理する例について説明する。
次に、管理装置10について、より詳細に説明する。
次に、本実施形態に係る管理装置10の一例について説明する。図2は、本実施形態に係る管理システム1の管理装置10の一例を示す機能ブロック図である。
次に、本実施形態に係るダンプトラック20の一例について説明する。図3は、本実施形態に係るダンプトラック20の一例を模式的に示す図である。ダンプトラック20は、車両本体21と、車両本体21に支持されるベッセル22と、タイヤ23T及びホイール23Hを含む車輪23と、サスペンションシリンダ24と、回転センサ25と、圧力センサ(サスペンション圧力センサ)26と、無線通信用のアンテナ28Aが接続された車載無線通信装置27と、GNSS用のアンテナ28Bが接続された位置検出装置29と、車載データ収集装置30と、を備えている。本実施形態において、位置検出装置29は、GNSS用の受信機を含む。
次に、本実施形態に係るダンプトラック20の制御システム19の一例について説明する。図4は、本実施形態に係るダンプトラック20の制御システム19の一例を示す機能ブロック図である。
次に、本実施形態に係るダンプトラック20の走行経路について説明する。図5は、本実施形態に係るダンプトラックの走行経路の一例を示す図である。ダンプトラック20は、図5に示す排土場DPAで積荷を下ろした後、積込場LPAに向かって走行する。積込場LPAに到着したダンプトラック20は、油圧ショベル等の積込用の鉱山機械によって積荷がベッセル22に積み込まれる。積荷が積み込まれたダンプトラック20は、排土場DPAに向かって走行する。排土場DPAに到着したダンプトラック20は、排土場DPAで積荷を下ろす。このように、ダンプトラック20が所定の場所から積込場LPAに向かって出発し、積込場LPAで積荷を積み込まれた後、排土場DPAに到着して積荷を下ろすまでの一連の作業を、ダンプトラック20の運搬作業の1サイクルとする。ダンプトラック20が積込場LPAに向かって出発する所定の場所を第1位置といい、積込場LPAを第2位置、排土場DPAの積荷が下ろされる位置を第3位置という。本実施形態において、第1位置は、排土場DPA内の所定の位置であってもよいし、排土場DPAとは異なる所定の位置であってもよい。
図6は、基準走行経路CSBを示す図である。ダンプトラック20は、走行すると車輪23、より具体的にはタイヤ23Tが摩耗する。走行によりタイヤ23Tが受けるダメージ(以下、適宜タイヤダメージと称する)は、ダンプトラック20の走行速度、タイヤ23Tに作用する荷重、及びダンプトラック20が走行した実走行経路CSrのカーブの曲率半径と相関が高い。このため、図2に示される管理装置10の推測部12bがタイヤダメージを推定するためには、ダンプトラック20が走行した走行経路のデータが必要になる。
次に、本実施形態に係るダメージ操作の判定方法及びタイヤ23Tのダメージの評価方法の一例について説明する。本実施形態においては、ダンプトラック20に装着されているタイヤ23Tにダメージを与えるダメージ操作が運転者により実施されたか否かが判定部12dにより判定される。
ダメージ操作のうち、急減速操作が実施されたか否かを判定するときの判定方法について説明する。急減速操作は、単位時間当たりにある速度(第1速度)以上でダンプトラック20を減速させる操作である。換言すれば、急減速操作は、ある減速度以上でダンプトラック20を減速させる操作である。急減速操作は、例えば、1秒間に時速10km以上減速させる操作である。推測部12bは、ダンプトラック20の減速度(単位時間当たりの走行速度の低下量)を示す減速度データと、タイヤ23Tに作用する荷重を示す荷重データとに基づいて、急減速操作によってタイヤ23Tに与えられるダメージ量DM1を推測する。
ダメージ操作のうち、すえ切り操作が実施されたか否かを判定するときの判定方法について説明する。すえ切り操作は、ある速度(第2速度)以下でタイヤ23Tの向きを変える操作である。すえ切り操作は、例えば、ダンプトラック20の走行速度が時速1km以下でタイヤ23Tの向きを変える操作である。すえ切り操作は、ダンプトラック20が停止した状態(走行速度が時速0kmの状態)でタイヤ23Tの向きを変える操作を含む。推測部12bは、タイヤ23Tに作用する荷重を示す荷重データに基づいて、すえ切り操作によってタイヤ23Tに与えられるダメージ量DM2を推測する。
ダメージ操作のうち、積極コーナリング操作が実施されたか否かを判定するときの判定方法について説明する。積極コーナリング操作は、ある速度(第3速度)以上で所定値以下の曲率半径の基準走行経路CSBのカーブをダンプトラック20に走行させる操作である。積極コーナリング操作は、例えば、曲率半径100m以下のカーブを時速50km以上で走行させる操作である。推測部12bは、ダンプトラック20の走行速度を示す走行速度データと、タイヤ23Tに作用する荷重を示す荷重データと、カーブの曲率半径とに基づいて、積極コーナリング操作によってタイヤ23Tに与えられるダメージ量DM3を推測する。
次に、本実施形態に係るダンプトラック20の管理方法の一例について説明する。図9は、本実施形態に係る管理方法の一例を示すフローチャートである。以下の説明では、急減速操作、すえ切り操作、及び攻撃的コーナリング操作を適宜、ダメージ操作、と総称する。また、以下の説明においては、急減速操作に起因するダメージ量DM1、すえ切り操作に起因するダメージ量DM2、及び攻撃的コーナリング操作に起因するダメージ量DM3を適宜、ダメージ量DM、と総称する。
次に、本実施形態に係る出力装置16の出力例について、図10から図23を参照して説明する。本実施形態において、出力装置16は、データ出力部12fから出力された対応データを、レポートとして出力する。出力装置16は、データ出力部12fで作成された対応データのレポートを表示または印刷して可視化する。
以上説明したように、本実施形態によれば、ダメージ操作を実施した運転者識別データとダメージ操作データとを対応付けて出力するようにしたので、例えば、ダメージ操作を実施する頻度が高い運転者に対して運転指導をすることができる。これにより、ダメージ操作の実施が低減され、タイヤ23Tの耐用期間の短縮が抑制される。したがって、鉱山の生産性の低下及び生産コストの増大が抑制される。
2 給油所
3 中継器
4 積込機械
5 GPS衛星
6 中間中継器
7 通信可能範囲
10 管理装置
12 管理側処理装置
12a 走行経路演算部
12b 推測部
12c タイマー
12d 判定部
12e データ取得部
12f データ出力部
13 管理側記憶装置
15 入出力部
16 出力装置
16A 表示装置
16B 印刷装置
17 入力装置
18 管理側無線通信装置
18A アンテナ
19 制御システム
20 ダンプトラック
21 車両本体
22 ベッセル
23 車輪
23M ホイール
23T タイヤ
24 サスペンションシリンダ
25 回転センサ
26 サスペンション圧力センサ
27 車載無線通信装置
28A アンテナ
28B GNSS用アンテナ
29 位置情報検出装置
30 車載情報収集装置
31 車載記憶装置
32A エンジン制御装置
32B 走行制御装置
32C 油圧制御装置
32D 操舵装置
33A アクセル
33B シフトレバー
33C ダンプレバー
33D 操舵力検出装置
34F 燃料噴射装置
34G エンジン
34TC トルクコンバータ
34TM トランスミッション
34DS ドライブシャフト
34P オイルポンプ
35 作動油コントロールバルブ
36 ホイストシリンダ
37 走行装置
38 運転者ID取得装置
39 速度検出装置
40 ダンプトラックID取得装置
41 荷重検出装置
42 タイマー
50 状態取得装置
CN1 カーブ
CN2 カーブ
CSB 基準走行経路
CSr 実走行経路
CSr1 往路
CSr2 復路
CT1 位置
CT2 位置
DPA 排土場
DPr 排土位置
LPA 積込場
LPr 積込位置
M 山
PI 位置データ
R1 曲率半径
R2 曲率半径
Rg 走行経路
Rr 走行経路
SPr 走行開始位置
Claims (17)
- タイヤが装着され、運転者の操作により鉱山を走行する鉱山機械の管理システムであって、
前記タイヤにダメージを与えるダメージ操作が実施されたか否かを判定する判定部と、
前記ダメージ操作の実施を示すダメージ操作データと、前記ダメージ操作を実施した前記運転者を示す運転者識別データ及び前記ダメージ操作が実施された前記鉱山機械の位置を示す位置データの一方又は両方と、を取得するデータ取得部と、
前記運転者識別データ及び前記位置データの一方又は両方に対応付けられた前記ダメージ操作データを含む対応データを出力するデータ出力部と、
を備える鉱山機械の管理システム。 - 前記鉱山機械の位置を検出する位置検出装置を備え、
前記データ取得部は、前記位置検出装置から前記位置データを取得する請求項1に記載の鉱山機械の管理システム。 - 前記ダメージ操作は、単位時間当たりに第1速度以上で前記鉱山機械を減速させる急減速操作、第2速度以下で前記鉱山機械の前記タイヤの向きを変えるすえ切り操作、及び第3速度以上で所定値以下の曲率半径のカーブを前記鉱山機械に走行させる攻撃的コーナリング操作の少なくとも一つを含む請求項1又は請求項2に記載の鉱山機械の管理システム。
- 前記鉱山機械の走行速度及び減速度を検出する速度検出装置を備え、
前記判定部は、前記速度検出装置の検出信号に基づいて、前記ダメージ操作が実施されたか否かを判定する請求項1から請求項3のいずれか一項に記載の鉱山機械の管理システム。 - 前記タイヤに作用する荷重を検出する荷重検出装置を備え、
前記ダメージ操作は、単位時間当たりに第1速度以上で前記鉱山機械を減速させる急減速操作を含み、
前記判定部は、前記鉱山機械の前記減速度を示す減速度データと、前記タイヤに作用する荷重を示す荷重データとに基づいて、前記急減速操作が実施されたか否かを判定する請求項4に記載の鉱山機械の管理システム。 - 前記急減速操作によって前記タイヤに与えられるダメージ量を推測する第1推測部を備え、
前記鉱山機械の減速度をA、前記タイヤに作用する荷重をLDとしたとき、
前記第1推測部は、演算(LD×A)の結果に基づいて、前記ダメージ量を推測し、
前記急減速操作の実施を示す急減速操作データは、前記第1推測部によって推測された前記ダメージ量を含む請求項5に記載の鉱山機械の管理システム。 - 前記タイヤの向きを変える操舵力を検出する操舵力検出装置を備え、
前記ダメージ操作は、第2速度以下で前記タイヤの向きを変えるすえ切り操作を含み、
前記判定部は、前記鉱山機械の前記走行速度を示す走行速度データと、前記操舵力を示す操舵力データとに基づいて、前記すえ切り操作が実施されたか否かを判定する請求項4から請求項6のいずれか一項に記載の鉱山機械の管理システム。 - 前記すえ切り操作によって前記タイヤに与えられるダメージ量を推測する第2推測部を備え、
前記タイヤに作用する荷重をLDとしたとき、
前記第2推測部は、前記LDに基づいて、前記ダメージ量を推測し、
前記すえ切り操作の実施を示すすえ切り操作データは、前記第2推測部によって推測された前記ダメージ量を含む請求項7に記載の鉱山機械の管理システム。 - 前記タイヤに作用する荷重を検出する荷重検出装置を備え、
前記ダメージ操作は、第3速度以上で所定値以下の曲率半径のカーブを前記鉱山機械に走行させる攻撃的コーナリング操作を含み、
前記判定部は、前記鉱山機械の前記走行速度を示す走行速度データと、前記タイヤに作用する荷重を示す荷重データと、前記カーブの曲率半径とに基づいて、前記攻撃的コーナリング操作が実施されたか否かを判定する請求項4から請求項8のいずれか一項に記載の鉱山機械の管理システム。 - 前記攻撃的コーナリング操作によって前記タイヤに与えられるダメージ量を推測する第3推測部を備え、
前記鉱山機械の走行速度をV、前記タイヤに作用する荷重をLD、前記カーブの曲率半径をRとしたとき、
前記第3推測部は、演算(LD×V2)/Rの結果に基づいて、前記ダメージ量を推測し、
前記攻撃的コーナリング操作の実施を示す攻撃的コーナリング操作データは、前記第3推測部によって推測された前記ダメージ量を含む請求項9に記載の鉱山機械の管理システム。 - 前記鉱山機械は、車両本体と前記車両本体に支持されるベッセルとを有するダンプトラックを含み、
前記タイヤに作用する荷重は、前記ベッセルに積載される積荷に基づいて変化する請求項5から請求項10のいずれか一項に記載の鉱山機械の管理システム。 - 前記データ取得部は、前記ダメージ操作が実施された前記鉱山機械を示す鉱山機械識別データを取得し、
前記対応データは、前記鉱山機械識別データに対応付けられた前記ダメージ操作データを含む請求項1から請求項11のいずれか一項に記載の鉱山機械の管理システム。 - 前記データ取得部は、前記ダメージ操作が実施された時点を示す時点データを取得し、
前記対応データは、前記時点データに対応付けられた前記ダメージ操作データを含む請求項1から請求項12のいずれか一項に記載の鉱山機械の管理システム。 - 前記鉱山において複数の前記鉱山機械が走行した実走行経路の位置データに基づいて前記鉱山の基準走行経路を生成する走行経路演算部を備え、
前記データ取得部は、前記鉱山機械が前記基準走行経路に存在するときの前記ダメージ操作データを取得する請求項1から請求項13のいずれか一項に記載の鉱山機械の管理システム。 - 前記データ出力部は、前記対応データのレポートを作成するレポート作成部を含む請求項1から請求項14のいずれか一項に記載の鉱山機械の管理システム。
- タイヤが装着され、運転者の操作により鉱山を走行する鉱山機械の管理方法であって、
前記タイヤにダメージを与えるダメージ操作が実施されたか否かを判定することと、
前記ダメージ操作の実施を示すダメージ操作データと、前記ダメージ操作を実施した前記運転者を示す運転者識別データ及び前記ダメージ操作が実施された前記鉱山機械の位置を示す位置データの一方又は両方と、を取得することと、
前記運転者識別データ及び前記位置データの一方又は両方に対応付けられた前記ダメージ操作データを含む対応データを出力することと、
を含む鉱山機械の管理方法。 - タイヤが装着され、運転者の操作により鉱山を走行するダンプトラックであって、
前記タイヤにダメージを与えるダメージ操作が実施されたか否かを判定する判定部と、
前記ダメージ操作の実施を示すダメージ操作データと、前記ダメージ操作を実施した前記運転者を示す運転者識別データ及び前記ダメージ操作が実施された位置を示す位置データの一方又は両方と、を取得するデータ取得部と、
前記運転者識別データ及び前記位置データの一方又は両方に対応付けられた前記ダメージ操作データを含む対応データを出力するデータ出力部と、
を備えるダンプトラック。
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JP6041979B2 (ja) | 2016-12-14 |
US20160155277A1 (en) | 2016-06-02 |
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CA2892901C (en) | 2019-04-30 |
AU2014354005A1 (en) | 2016-06-16 |
US9704304B2 (en) | 2017-07-11 |
CN105992713A (zh) | 2016-10-05 |
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CN105992713B (zh) | 2018-09-28 |
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