WO2016080555A1 - 鉱山機械の制御システム、鉱山機械、鉱山機械の管理システム、及び鉱山機械の管理方法 - Google Patents
鉱山機械の制御システム、鉱山機械、鉱山機械の管理システム、及び鉱山機械の管理方法 Download PDFInfo
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- WO2016080555A1 WO2016080555A1 PCT/JP2015/083502 JP2015083502W WO2016080555A1 WO 2016080555 A1 WO2016080555 A1 WO 2016080555A1 JP 2015083502 W JP2015083502 W JP 2015083502W WO 2016080555 A1 WO2016080555 A1 WO 2016080555A1
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- Prior art keywords
- command value
- mining machine
- accelerator command
- accelerator
- dump truck
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
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- E—FIXED CONSTRUCTIONS
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- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/26—Methods of surface mining; Layouts therefor
- E21C41/31—Methods of surface mining; Layouts therefor for oil-bearing deposits
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
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Definitions
- the present invention relates to a mining machine control system, a mining machine, a mining machine management system, and a mining machine management method.
- the mining machine may be controlled to travel through the mine according to the set target traveling speed. Based on the travel route information including the road surface resistance of the travel route, the transition of the vehicle speed is predicted, and any one of the acceleration travel, the deceleration travel, and the coasting travel is performed so that the vehicle speed after a predetermined time has passed is within a predetermined range.
- Patent Document 1 discloses a technique for determining whether to perform.
- Mining machinery may travel in a mine called an oil sand mine.
- Oil sand is sandstone containing mineral oil with high viscosity.
- the road surface On the road surface of oil sand, the road surface is in a sponge-like state, and the mining machine gradually sinks due to its weight, so the road surface resistance when the vehicle is running is very large, and the road surface is also undulating. Therefore, even if the target travel speed is set for the mining machine, it may be difficult to travel according to the target travel speed when the mining machine travels on the road surface of the oil sand.
- the actual traveling speed of the mining machine is significantly lower than the target traveling speed due to high road resistance, or the mining machine is stuck (stopped) on the oil sand road due to road surface undulations. There is a possibility. Once the mining machine is stuck on the road surface of the oil sand, it takes a long time to get out of the state and return to the normal traveling state, which may reduce the productivity of the mine.
- aspects of the present invention include a mining machine control system, a mining machine, a mining machine management system, and an error between the actual running speed and the target running speed of the mining machine, and a reduction in mining productivity. It aims at providing the management method of a mining machine.
- a control system for a mining machine that controls a driving device that drives a traveling apparatus for a mining machine, and an accelerator command value calculation for calculating an accelerator command value for accelerating the mining machine.
- An accelerator command based on the first driving force component of the driving device for setting the mining machine to the target traveling speed and the second driving force component of the driving device for canceling the resistance component of the driving of the mining machine
- a correction value calculation unit that calculates a correction value for the value
- an addition processing unit that calculates a corrected accelerator command value by adding the accelerator command value and the correction value
- an accelerator command that outputs the corrected accelerator command value to the drive device
- a control system for a mining machine comprising a value output unit.
- a mining machine including the mining machine control system of the first aspect is provided.
- a mining machine management system including a management device that outputs traveling condition data including a target traveling speed and a target traveling route to the mining machine of the second aspect.
- the traveling condition data including the target traveling speed and the target traveling route in the mine to the mining machine having the traveling device that is operated by the driving force of the driving device, Calculating an accelerator command value for acceleration, calculating a first driving force component of a driving device for setting the mining machine to a target traveling speed, and driving for canceling a resistance component of traveling of the mining machine
- Calculating a second driving force component of the device calculating a correction value for the accelerator command value based on the first driving force component and the second driving force component, and calculating the accelerator command value and the correction value.
- a method for managing a mining machine includes calculating a corrected accelerator command value by performing an addition process and outputting the corrected accelerator command value to a drive device.
- a control system for a mining machine, a mining machine, and a management system for a mining machine that can suppress an error between the actual traveling speed and the target traveling speed of the mining machine and suppress a decrease in mine productivity.
- a method for managing a mining machine that can suppress an error between the actual traveling speed and the target traveling speed of the mining machine and suppress a decrease in mine productivity.
- FIG. 1 is a diagram schematically illustrating an example of a mining machine management system according to the present embodiment.
- FIG. 2 is a schematic diagram for explaining a target travel route of the dump truck 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 diagram schematically illustrating an example of the dump truck according to the present embodiment.
- FIG. 5 is a block diagram illustrating an example of a dump truck control system according to the present embodiment.
- FIG. 6 is a diagram for explaining the traveling control for the dump truck.
- FIG. 7 is a diagram for explaining the traveling control for the dump truck.
- FIG. 8 is a diagram illustrating an example of an accelerator command value output from the accelerator command value output unit according to the present embodiment.
- FIG. 9 is a flowchart showing an example of the operation of the dump truck control system according to the present embodiment.
- FIG. 10 is a diagram for explaining the operation of the dump truck according to the comparative example.
- FIG. 11 is a diagram for explaining the operation of the dump truck according to the present embodiment.
- FIG. 1 is a diagram illustrating an example of a management system 1 for a mining machine 4 according to the present embodiment.
- the management system 1 manages the mining machine 4.
- the management of the mining machine 4 is at least one of operation management of the mining machine 4, evaluation of the productivity of the mining machine 4, evaluation of operation technology of the operator of the mining machine 4, maintenance of the mining machine 4, and abnormality diagnosis of the mining machine 4. Including one.
- Mining machine 4 is a general term for machines used for various operations in a mine.
- the mining machine 4 includes at least one of a boring machine, an excavating machine, a loading machine, a transporting machine, a crusher, and a vehicle operated by a driver.
- the excavating machine is a mining machine for excavating a mine.
- the loading machine is a mining machine for loading a load on a transporting machine.
- the loading machine includes at least one of a hydraulic excavator, an electric excavator, and a wheel loader.
- a transport machine is a mining machine for transporting a load.
- the crusher is a mining machine that crushes the soil discharged from the transporting machine.
- the mining machine 4 is movable in the mine.
- the mining machine 4 includes a dump truck 2 that is a transport machine capable of traveling in the mine and another mining machine 3 different from the dump truck 2.
- a dump truck 2 that is a transport machine capable of traveling in the mine and another mining machine 3 different from the dump truck 2.
- the dump truck 2 is mainly managed by the management system 1 will be described.
- the dump truck 2 travels at least a part of the mine work area PA and the conveyance path HL leading to the work place PA.
- the dump truck 2 travels according to a target travel route set in the transport path HL and the work place PA.
- Work site PA includes at least one of loading site LPA and earth discharging site DPA.
- the loading site LPA is an area where a loading operation for loading a load onto the dump truck 2 is performed.
- the earth removal site DPA is an area where a discharging operation for discharging the load from the dump truck 2 is performed.
- a crusher CR is provided in at least a part of the earth removal site DPA.
- the dump truck 2 is an unmanned dump truck that autonomously travels in a mine based on a command signal from the management device 10.
- the autonomous traveling of the dump truck 2 refers to traveling based on a command signal from the management device 10 without depending on the operation of the driver.
- the technical contents of the present embodiment may be applied to a manned dump truck that travels by an operator's operation.
- the management system 1 includes a management device 10 disposed in a control facility 7 installed in a mine, and a communication system 9.
- the communication system 9 includes a plurality of repeaters 6 that relay data or command signals.
- the communication system 9 wirelessly communicates data or command signals between the management device 10 and the mining machine 4.
- the communication system 9 wirelessly communicates data or command signals among the plurality of mining machines 4.
- GNSS Global Navigation Satellite System
- GPS Global Positioning System
- the GNSS has a plurality of positioning satellites 5.
- the GNSS detects a position defined by latitude, longitude, and altitude coordinate data.
- the position detected by GNSS is an absolute position defined in the global coordinate system.
- the position of the dump truck 2 and the position of the other mining machine 3 in the mine are detected by the GNSS.
- the position detected by the GNSS is appropriately referred to as a GPS position.
- the GPS position is an absolute position and includes latitude, longitude, and altitude coordinate data.
- the absolute position includes the estimated position of the dump truck 2 estimated with high accuracy.
- the management device 10 transmits data or a command signal to the mining machine 4 and receives data from the mining machine 4.
- the management device 10 includes a computer 11, a display device 16, an input device 17, and a wireless communication device 18.
- the computer 11 includes a processing device 12, a storage device 13, and an input / output unit 15.
- the display device 16, the input device 17, and the wireless communication device 18 are connected to the computer 11 via the input / output unit 15.
- the processing device 12 performs arithmetic processing for managing the mining machine 4.
- the storage device 13 is connected to the processing device 12 and stores data for managing the mining machine 4.
- the input device 17 is a device for inputting data for managing the mining machine 4 to the processing device 12.
- the processing device 12 performs arithmetic processing using data stored in the storage device 13, data input from the input device 17, and data acquired via the communication system 9.
- the display device 16 displays the arithmetic processing result of the processing device 12 and the like.
- the wireless communication device 18 is disposed in the control facility 7, has an antenna 18A, and is connected to the processing device 12 via the input / output unit 15.
- the communication system 9 includes a wireless communication device 18.
- the wireless communication device 18 can receive data transmitted from the mining machine 4, and the received data is output to the processing device 12 and stored in the storage device 13.
- the wireless communication device 18 can transmit data to the mining machine 4.
- FIG. 2 is a schematic diagram showing the dump truck 2 traveling on the transport path HL.
- the processing device 12 of the management device 10 functions as a travel condition data generation unit that generates travel condition data including the target travel speed Vr and the target travel route RP of the dump truck 2 traveling in the mine.
- the target travel route RP is defined by the course data CS.
- the course data CS is an aggregate of a plurality of points PI each having an absolute position (coordinate).
- a trajectory passing through a plurality of points PI is the target travel route RP.
- the processing device 12 sets the target travel speed Vr of the dump truck 2 for each of the plurality of points PI.
- the management device 10 outputs to the dump truck 2 travel condition data including the target travel route RP composed of a plurality of points PI and the target travel speed Vr at each point PI via the communication system 9.
- the dump truck 2 travels in the mine according to the travel condition data transmitted from the management device 10.
- 3 and 4 are diagrams schematically illustrating an example of the dump truck 2 according to the present embodiment.
- the dump truck 2 includes a traveling device 21 capable of traveling in a mine, a vehicle main body 22 supported by the traveling device 21, a vessel 23 supported by the vehicle main body 22, a drive device 24 that drives the traveling device 21, and a control. Device 25.
- the traveling device 21 includes a wheel 26, an axle 27 that rotatably supports the wheel 26, a brake device 28 that brakes the traveling device 21, and a steering device 29 that can adjust the traveling direction.
- the traveling device 21 is operated by the driving force generated by the driving device 24.
- the driving device 24 generates a driving force for accelerating the dump truck 2.
- the drive device 24 drives the traveling device 21 by an electric drive method.
- the drive device 24 includes an internal combustion engine such as a diesel engine, a generator that operates by power of the internal combustion engine, and an electric motor that operates by electric power generated by the generator.
- the driving force generated by the electric motor is transmitted to the wheels 26 of the traveling device 21. Thereby, the traveling device 21 is driven.
- the dump truck 2 is self-propelled by the driving force of the driving device 24 provided in the vehicle main body 22.
- the traveling speed of the dump truck 2 is adjusted by adjusting the output of the driving device 24.
- the driving device 24 may drive the traveling device 21 by a mechanical driving method. For example, power generated in the internal combustion engine may be transmitted to the wheels 26 of the traveling device 21 via a power transmission device.
- the steering device 29 can adjust the traveling direction of the traveling device 21.
- the traveling direction of the dump truck 2 including the traveling device 21 includes the direction of the front portion of the vehicle main body 22.
- the steering device 29 adjusts the traveling direction of the dump truck 2 by changing the direction of the wheels 26.
- the brake device 28 generates a braking force for decelerating or stopping the dump truck 2.
- the control device 25 outputs an accelerator command signal for operating the drive device 24, a brake command signal for operating the brake device 28, and a steering command signal for operating the steering device 29.
- the driving device 24 generates a driving force for accelerating the dump truck 2 based on the accelerator command signal output from the control device 25.
- the brake device 28 generates a braking force for decelerating the dump truck 2 based on the brake command signal output from the control device 25.
- the steering device 28 generates a force for changing the direction of the wheels 26 in order to make the dump truck 2 go straight or turn based on the steering command signal output from the control device 25.
- an accelerator command signal is output from the control device 25 and the state in which the driving device 24 generates driving force and the dump truck 2 accelerates is appropriately referred to as an acceleration state, and driving generated by the driving device 24.
- a state in which the dump truck 2 travels at a constant speed by force is appropriately referred to as a constant speed state.
- a state in which a brake command signal is output from the control device 25 and the brake device 28 generates a braking force and the dump truck 2 decelerates is appropriately referred to as a deceleration state.
- the output of both the accelerator signal and the brake command signal from the control device 25 is stopped, and the dumping is performed in a state where the driving device 24 does not generate driving force and the braking device 28 does not generate braking force.
- the state in which the truck 2 travels is appropriately referred to as a coasting state.
- the dump truck 2 also detects a traveling speed detector 31 that detects the traveling speed Vs of the dump truck 2, an acceleration detector 32 that detects the acceleration As of the dump truck 2, and an inclination angle ⁇ of the dump truck 2 with respect to the horizontal plane. And a load amount detector 34 for detecting the load amount of the load loaded on the vessel 23.
- the dump truck 2 includes a position detector 35 that detects the position of the dump truck 2 and a wireless communication device 36.
- the traveling speed detector 31 detects the traveling speed Vs of the dump truck 2.
- the traveling speed detector 31 includes a rotational speed sensor that detects the rotational speed of the wheel 26. Since the rotational speed of the wheels 26 and the traveling speed Vs of the dump truck 2 are correlated, the rotational speed value detected by the rotational speed sensor is converted into the traveling speed value of the dump truck 2.
- the traveling speed detector 31 may detect the rotational speed of the axle 26.
- the acceleration detector 32 detects the acceleration As of the dump truck 2.
- the acceleration As of the dump truck 2 includes a positive acceleration and a negative acceleration (deceleration).
- calculation processing is performed based on a rotation speed value that is a detection value of a rotation speed sensor that detects the rotation speed of the wheel 26, thereby converting the acceleration value of the dump truck 2.
- the acceleration detector 32 derives the acceleration As of the dump truck 2 based on the difference in the traveling speed Vs at a predetermined time. For example, the acceleration As is derived from the difference in travel speed Vs between 0.5 [sec].
- the traveling speed detector 31 and the acceleration detector 32 may be separate detectors.
- the inclination angle detector 33 detects the inclination angle ⁇ of the dump truck 2 with respect to the horizontal plane.
- the inclination angle ⁇ of the dump truck 2 includes the inclination angle of the ground contact surface of the wheel 26 (tire).
- the inclination angle detector 33 includes an inertial measurement unit (IMU).
- the inclination angle detector 33 detects the inclination angle ⁇ of the dump truck 2 and detects how much the dump truck 2 is traveling uphill or downhill.
- the load amount detector 34 detects the load amount of the load loaded on the vessel 23.
- the weight of the dump truck 2 in an empty state where no load is loaded on the vessel 23 is known data.
- the load amount detector 34 detects the load amount of the load loaded on the vessel 23, and based on the detected value of the load amount and the weight of the dump truck 2 in an empty state, which is known data, the total amount of the dump truck 2 is detected.
- the weight M is detected.
- the position detector 35 includes a GPS receiver, and detects the GPS position (coordinates) of the dump truck 2.
- the position detector 35 has a GPS antenna 35A.
- the antenna 35 ⁇ / b> A receives radio waves from the GPS satellite 5.
- the position detector 35 converts the signal based on the radio wave received from the GPS satellite 5 received by the antenna 35A into an electric signal, and calculates the position of the antenna 35A.
- the GPS position of the dump truck 2 is detected by calculating the GPS position of the antenna 35A.
- the communication system 9 includes a wireless communication device 36 provided in the dump truck 2.
- the wireless communication device 36 has an antenna 36A.
- the wireless communication device 36 can wirelessly communicate with the management device 10.
- the management device 10 transmits a command signal including travel condition data of the dump truck 2 to the control device 25 via the communication system 9. Based on the traveling condition data supplied from the management device 10, the control device 25 determines that the dump truck 2 is traveling condition data (including the target traveling route RP including a plurality of points PI and the target traveling speed Vr at each point PI). At least one of the drive device 24, the brake device 28, and the steering device 29 of the dump truck 2 is controlled so as to travel.
- FIG. 5 is a control block diagram of the control system 20 according to the present embodiment.
- the control system 20 is mounted on the dump truck 2.
- the control system 20 includes a wireless communication device 36, a traveling speed detector 31, an acceleration detector 32, an inclination angle detector 33, a load amount detector 34, and a position detector 35.
- the control device 25, the drive device 24, the brake device 28, and the steering device 29 are provided.
- the control device 25 includes an input / output unit 41, an accelerator command value calculation unit 47 including an accelerator change amount calculation unit 42 and an integrator 43, a correction value calculation unit 44, an addition processing unit 45, and a storage unit 46. Prepare.
- the control device 25 includes a brake command value calculation unit for operating the brake device 28 and a steering command value calculation unit for operating the steering device 29, but the description thereof is omitted in the present embodiment, and the drive device 24. The explanation will be focused on the accelerator command value for operating the engine.
- the input / output unit 41 includes command data including travel condition data from the management device 10 output from the wireless communication device 36, travel speed data indicating the travel speed Vs of the dump truck 2 output from the travel speed detector 31, and acceleration.
- the acceleration data indicating the acceleration As of the dump truck 2 output from the detector 32, the inclination angle data indicating the inclination angle ⁇ of the dump truck 2 output from the inclination angle detector 33, and the dump data output from the load detector 34.
- the load amount data indicating the load amount M of the truck 2 and the position data indicating the position of the dump truck 2 output from the position detector 35 are acquired.
- the input / output unit 41 outputs an accelerator command signal to the drive device 24, outputs a brake command signal to the brake device 28, and outputs a steering command signal to the steering device 29.
- the accelerator change amount calculation unit 42 calculates an accelerator change amount So for accelerating and decelerating the dump truck 2.
- the accelerator change amount calculation unit 42 is an accelerator amount to be changed with respect to the current accelerator command value based on at least the traveling speed data and acceleration data of the dump truck 2 so that the dump truck 2 travels at the target traveling speed Vr.
- the accelerator change amount So is calculated. For example, when calculating the accelerator change amount So, map data of two variables of a speed deviation between the actual traveling speed Vs and the target traveling speed Vr of the dump truck 2 at the current time and an acceleration of the dump truck 2 at the current time are calculated in advance.
- the accelerator change amount So may be determined based on this map data.
- the accelerator change amount calculation unit 42 may calculate the accelerator change amount So using the inclination angle data in addition to the traveling speed data and acceleration data of the dump truck 2.
- the accelerator change amount calculation unit 42 calculates the accelerator change amount So at a determined period T.
- the integrator 43 integrates the accelerator change amount So calculated by the accelerator change amount calculation unit 42, and outputs the integrated value as an accelerator command value Si.
- the integration process by the integrator 43 is the same as that of a general integrator. By passing the integrator 43, the fluctuation of the accelerator command value becomes gentle.
- the integrator 43 adds the accelerator change amount So acquired from the accelerator change amount calculation unit 42 at the current time to the accelerator command value Si integrated by the integrator 43 at a time point T past the current time.
- the accelerator command value Si subjected to the integration process is output. That is, the accelerator command value calculator 47 outputs the accelerator command value Si using the accelerator change amount So calculated by the accelerator change amount calculator 42 and the integrator 43.
- the correction value calculation unit 44 cancels the first driving force component of the driving device 24 for setting the dump truck 2 to the target traveling speed Vr, and the second driving of the driving device 24 for canceling the resistance component of traveling of the dump truck 2. Based on the force component, a correction value Cv for the accelerator command value Si is calculated.
- the first driving force component refers to the driving force of the driving device 24 required at the present time in order to set the dump truck 2 to the target traveling speed Vr at a future time (for example, a time one second after the current time).
- the first driving force component is calculated based on the speed deviation component Dv between the actual traveling speed Vs of the dump truck 2 at the current time and the target traveling speed Vr of the dump truck 2 at the future time and the total weight M of the dump truck 2.
- the The correction value calculation unit 44 obtains the actual traveling speed Vs of the dump truck 2 at the current time acquired from the detection result of the traveling speed detector 31 and the target traveling speed Vr of the dump truck 2 at the future time point transmitted from the management device 10. Based on the total weight M of the dump truck 2, the first driving force component can be calculated.
- the second driving force component refers to the driving force of the driving device 24 necessary for canceling the negative driving force component acting on the dump truck 2 at the present time.
- Examples of the negative driving force component include the deceleration of the dump truck 2 at the present time (considered only during deceleration), the deceleration caused by the gradient, and the weight of the dump truck 2. If the current dump truck 2 is decelerating, a negative driving force component is generated when the dump truck 2 travels uphill. Further, when a load is loaded on the vessel 23 and the total weight M of the dump truck 2 becomes large, a negative driving force component due to the deceleration caused by the deceleration or gradient of the dump truck 2 at the present time also becomes large.
- the correction value calculation unit 44 determines the deceleration As of the dump truck 2 at the current time derived from the detection result of the acceleration detector 32, the inclination angle ⁇ of the dump truck 2 at the current time derived from the detection result of the inclination angle detector 33,
- the second driving force component can be calculated based on the current total weight M of the dump truck 2 derived from the detection result of the load amount detector 34.
- the correction value calculation unit 44 is an acceleration component composed of a speed deviation component Dv derived from the detection result of the traveling speed detector 31 and a deceleration As of the dump truck 2 at the present time derived from the detection result of the acceleration detector 32. Derived from Da, the inclination component Ds including the inclination angle ⁇ of the dump truck 2 at the present time, which is derived from the inclination angle ⁇ which is the detection result of the inclination angle detector 33, and the detection result of the load amount detector 34. Based on the total weight M of the dump truck 2 at the present time, the driving force Freq of the driving device 24 necessary at the present time is calculated in order to set the dump truck 2 to the target travel speed Vr.
- the correction value calculation unit 44 has the following (1 ) To calculate the driving force Freq of the driving device 24 required at the present time in order to bring the dump truck 2 to the target travel speed Vr.
- the correction value calculation unit 44 calculates the first driving force component derived from the speed deviation component Dv and the total weight M of the dump truck 2, the second driving force derived from the acceleration component Da, the inclination component Ds, and the total weight M. Based on the component, a correction value Cv for the accelerator command value is calculated.
- the driving device 24 includes an electric motor.
- the maximum driving force Fmax of the electric motor corresponding to the number of rotations per unit time of the electric motor is known data and is stored in the storage unit 46.
- table data indicating the relationship between the rotational speed and the maximum driving force Fmax is stored in the storage unit 46.
- the correction value Cv is a ratio [%] of the driving force Freq to the maximum driving force Fmax. Note that if the correction value Cv is too large, the dump truck 2 is accelerated rapidly. Therefore, in the present embodiment, an upper limit value of the correction value Cv is determined, and for example, the correction value Cv is set to 45 [maximum driving force Fmax]. %] Or less.
- the addition processing unit 45 adds the accelerator command value Si calculated by the accelerator command value calculating unit 47 and the correction value Cv calculated by the correction value calculating unit 44 to calculate a corrected accelerator command value Sc.
- the input / output unit 41 outputs the corrected accelerator command value Sc calculated by the addition processing unit 45 to the driving device 24.
- the input / output unit 41 functions as an accelerator command value output unit that outputs the corrected accelerator command value Sc to the drive device 24.
- the driving device 24 generates driving force according to the corrected accelerator command value Sc output from the accelerator command value output unit 21.
- FIG. 6 is a schematic diagram for explaining the traveling control for the dump truck 2.
- the horizontal axis is time
- the vertical axis is the traveling speed of the dump truck 2.
- the traveling condition data including the target traveling speed Vr is transmitted from the management device 10 to the dump truck 2.
- the control device 25 of the dump truck 2 controls the drive device 24 of the dump truck 2 so that the dump truck 2 travels according to the target travel speed Vr.
- the control device 25 for example, the speed deviation between the actual traveling speed Vs and the target traveling speed Vr, which is the detection result of the traveling speed detector 31, and the current dump truck which is the detection result of the acceleration detector 32.
- the accelerator change amount So is determined based on the map data composed of the two accelerations As, and an accelerator command value is finally output, so that the acceleration state can be achieved.
- the acceleration state defines a state in which the accelerator command value for driving the drive device 24 is a positive value (a value greater than zero). For example, the accelerator command value changes to a value smaller than the current value.
- the acceleration state also includes a state in which the vehicle is decelerated by slowing down the accelerator.
- the control device 25 may set the accelerator command value to zero, that is, the coasting state.
- the accelerator command value calculation unit 47 uses the integrator 43, the accelerator command value does not suddenly become zero but gradually decreases and finally becomes zero.
- the condition for switching to the coasting state is set so that even if the actual traveling speed Vs slightly exceeds the target traveling speed Vr, it does not immediately switch to the coasting state. For example, the actual traveling speed Vs increases the target traveling speed Vr.
- the control device 25 basically travels in an acceleration state, and controls the drive device 24 to travel the dump truck 2 so as not to deviate significantly from the target travel speed Vr while occasionally switching to the coasting state.
- FIG. 6 shows the transition of the traveling speed when the dump truck 2 travels on a normal road surface, that is, a road surface in which the road surface state is dry, hard, and relatively uneven.
- the traveling speed Vs of the dump truck 2 gradually increases.
- the accelerator command value is gradually decreased from the time when the travel speed Vs slightly exceeds the target travel speed Vr, and at the time ta when the travel speed Vs exceeds the target travel speed Vr by a predetermined amount or more, the control device 25 sets the accelerator command value to zero. To do.
- the traveling state of the dump truck 2 is a coasting state.
- the traveling speed Vs of the dump truck 2 gradually decreases due to the traveling resistance component acting on the dump truck 2 including road surface resistance.
- the control device 25 again sets the accelerator command value to a positive value.
- the dump truck 2 is switched to the acceleration state again, and the traveling speed Vs increases and approaches the target traveling speed Vr.
- the addition processing unit 45 is provided in the control device 25.
- the addition processing unit 45 calculates the corrected accelerator command value Sc by adding the accelerator command value Si and the correction value Cv output from the accelerator command value calculating unit 47 as described above.
- the corrected accelerator command value Sc is output to the driving device 24.
- FIG. 8 is a diagram illustrating an example of the accelerator command value Sc output from the accelerator command value output unit 41 according to the present embodiment.
- the horizontal axis represents time
- the vertical axis represents the accelerator command value.
- the accelerator command value output unit 41 outputs the corrected accelerator command value Sc to the drive device 24.
- the accelerator command value output unit 41 when the accelerator command value having a positive value is output after the accelerator command value becomes zero, the accelerator command value output unit 41, as shown by the solid line in FIG. A corrected accelerator command value Sc in which the value Si is shifted to a positive value by the correction value Cv (upward) is output.
- the actual target speed Vs greatly decreases with respect to the target traveling speed Vr. Is suppressed.
- a line indicated by a broken line indicates an example in which the accelerator command value Si output from the accelerator command value calculation unit 47 is output from the accelerator command value output unit 41 without being added to the correction value Cv. Since the accelerator change amount So is integrated by the integrator 43 in the accelerator command value calculation unit 47, when the accelerator command value is output to a positive value after the accelerator command value once becomes zero, a broken line is used. As shown, the accelerator command value Si gradually increases. For this reason, on a road surface having a large road surface resistance such as oil sand, the acceleration of the dump truck 2 may not be in time, and the actual target speed Vs may be significantly reduced with respect to the target travel speed Vr.
- the dump truck 2 since the correction value Cv is added to the accelerator command value Si integrated by the integrator 43, the dump truck 2 can be targeted even when traveling on a road surface having a high road resistance such as oil sand. A large driving force for setting the traveling speed Vr can be suddenly output at the time point tb. Therefore, it is possible to suppress the actual target speed Vs from significantly decreasing with respect to the target travel speed Vr.
- Whether or not the correction value Cv is added to the accelerator command value Si at the time tb is determined based on whether or not the accelerator command value Si is zero at a time point past the time tb by one cycle T.
- the correction value Cv is added to the accelerator command value Si.
- FIG. 9 is a flowchart illustrating an example of the operation of the management system 1 according to the present embodiment.
- the management device 10 generates travel condition data including the target travel speed Vr and the target travel route RP in the mine, and transmits them to the dump truck 2 via the communication system 9.
- the dump truck 2 acquires travel condition data (step SP1).
- the traveling speed detector 31, the acceleration detector 32, and the inclination angle detector 33 mounted on the dump truck 2 receive the traveling speed data, acceleration data, and inclination angle data of the dump truck 2. To detect.
- the control device 20 of the dump truck 2 acquires travel speed data, acceleration data, and inclination angle data (step SP2).
- the accelerator command value calculation unit 47 calculates the accelerator command value Si based on the acquired traveling speed data, acceleration data, and tilt angle data (step SP3).
- the accelerator change amount calculation unit 42 calculates an accelerator change amount So based on the acquired travel speed data, acceleration data, and inclination angle data, and the calculated accelerator change amount So is an integrator.
- the integration processing is performed and the accelerator command value Si is output.
- the addition processing unit 45 determines whether or not to add the correction value Cv to the accelerator command value Si output from the accelerator command value calculation unit 47. That is, the addition processing unit 45 determines whether or not to increase the accelerator command value Si (step SP4).
- the addition processing unit 45 It is determined whether or not the accelerator command value Si is zero at the time point, and if it is determined that the accelerator command value Si is zero at the time point one cycle before, it is determined that the correction value Cv is added to the accelerator command value Si. When it is determined that the accelerator command value Si is a positive value at the time point one cycle before, it is determined that the correction value Cv is not added to the accelerator command value Si.
- the dump truck 2 in a stopped state starts, even if it is determined that the accelerator command value Si is zero at the time one cycle before, the accelerator command value Si and the correction value
- the addition process with Cv is not performed.
- the accelerator command value Si at the time point tb is smaller than the accelerator command value at the time point one cycle before, the addition process of the accelerator command value Si and the correction value Cv is not performed.
- indicated from the management apparatus 10 to stop at a certain stop point of a mine and the dump truck 2 exists in the position (for example, position within radius 10 [m] centering on a stop point) of the stop point. In some cases, even if it is determined that the accelerator command value Si is zero at the time point one cycle before, the addition process of the accelerator command value Si and the correction value Cv is not performed.
- step SP4 If it is determined in step SP4 that the correction value Cv is added to the accelerator command value Si, that is, if it is determined that the accelerator command value Si calculated at the time ta is zero (step SP4: Yes), the correction value The calculating unit 44 is configured to cancel the first driving force component of the driving device 24 for setting the dump truck 2 to the target traveling speed Vr and the resistance component of the driving of the dump truck 2. Is calculated (that is, the driving force Freq is calculated), and the correction value Cv for the accelerator command value Si is calculated based on the first driving force component and the second driving force component.
- the addition processor 45 adds the accelerator command value Si integrated by the integrator 43 and the correction value Cv calculated by the correction value calculator 44 to calculate a corrected accelerator command value Sc (step SP5). .
- the accelerator command value output unit 41 outputs the corrected accelerator command value Sc generated by adding the accelerator command value Si and the correction value Cv to the drive device 24 (step SP6).
- step SP4 When it is determined in step SP4 that the correction value Cv is not added to the accelerator command value Si, that is, when it is determined that the accelerator command value Si calculated at the previous time is not zero (step SP4: No).
- the addition processor 45 does not add the accelerator command value Si integrated by the integrator 43 and the correction value Cv calculated by the correction value calculator 44.
- the accelerator command value output unit 41 outputs the accelerator command value Si, which is not corrected by the correction value Cv and is integrated by the integrator 43, to the driving device 24 (step SP6).
- the correction value Cv for the accelerator command value is calculated based on the driving force Freq for setting the dump truck 2 to the target travel speed Vr, and the accelerator command value calculation unit 47 Since the calculated accelerator command value and the correction value Cv calculated by the correction value calculation unit 44 are added, the corrected accelerator command value raised to the bottom is calculated and output to the driving device 24. Even when traveling on a road surface having a large road surface resistance such as sand, the traveling speed Vs of the dump truck 2 is suppressed from excessively decreasing. The dump truck 2 can travel while suppressing an error from the target travel speed Vr, and can prevent the dump truck 2 from being stacked on a road surface such as oil sand, so that the productivity of the mine is reduced. It is suppressed.
- the addition processing unit 45 determines that the accelerator command value Si calculated at the time point one cycle before is zero, that is, determines that the traveling state of the dump truck 2 is the coasting state. In this case, when the accelerator command value is changed from zero to a positive value at the time tb after the time one cycle before, that is, when the running state of the dump truck 2 is changed from the coasting state to the acceleration state, the time tb
- the corrected accelerator command value Sc is calculated by adding the accelerator command value Si calculated in step S5 and the correction value Cv. Thereby, when the coasting state is changed to the acceleration state, the traveling speed of the dump truck 2 is suppressed from excessively decreasing.
- FIG. 10 shows the relationship between the accelerator command value Si and the traveling speed Vs of the dump truck 2 when the correction value Cv is not added.
- FIG. 11 shows the relationship between the accelerator command value Sc and the traveling speed Vs of the dump truck 2 when the correction value Cv is added.
- the accelerator command value Si after the time point tb gradually increases, so that the dump truck 2 travels on a road surface having a large road surface resistance such as oil sand.
- the traveling speed Vs of the dump truck 2 is significantly lower than the target traveling speed Vr, and a phenomenon occurs in which the traveling speed Vs is lower than the allowable range speed Vsh determined for the target traveling speed Vr.
- FIG. 10 shows the relationship between the accelerator command value Si and the traveling speed Vs of the dump truck 2 when the correction value Cv is not added.
- FIG. 11 shows the relationship between the accelerator command value Sc and the traveling speed Vs of the dump truck 2 when the correction value Cv is added.
- the addition of the correction value Cv at the time tb causes the accelerator command value Sc after the time tb to increase abruptly. Even when the vehicle travels, the traveling speed Vs of the dump truck 2 is suppressed from being significantly lower than the target traveling speed Vr, and is prevented from falling below the allowable range speed Vsh defined for the target traveling speed Vr.
- the accelerator command value Si at the time point one cycle before when the accelerator command value Si at the time point one cycle before is zero, the addition process of the accelerator command value Si and the correction value Cv is performed at the time point tb, and the corrected accelerator command value Sc is output.
- the accelerator command value Si at a point before one cycle is a positive value
- the accelerator command value Si is output without performing the addition process of the accelerator command value Si and the correction value Cv.
- the unnecessary output of the corrected accelerator command value Sc is suppressed.
- the dump truck 2 can travel at the target travel speed Vr in a state where deterioration of fuel consumption is suppressed.
- the speed deviation component Dv is derived based on the detection result of the traveling speed detector 31, the acceleration component Da is derived based on the detection result of the acceleration detector 32, and the inclination angle detector 33
- the inclination component Ds is derived based on the detection result
- the total weight M of the dump truck 2 is derived based on the detection result of the load detector 34.
- the correction value Cv is a first driving force component derived from at least one of the speed deviation component Dv and the total weight M, and a second value derived from at least one of the acceleration component Da, the inclination component Ds, and the total weight M. It is calculated based on the driving force component. Accordingly, an appropriate correction value Cv for the accelerator command value Si when changing from the coasting state to the acceleration state is calculated.
- the accelerator command value Si and the correction value Cv are added at the time tb when the accelerator command value Si calculated at the time one cycle before is zero. Even if the accelerator command value Si calculated at the time before the cycle is not zero, the accelerator command value Si and the correction value Cv may be added at time tb. Even if the accelerator command value Si calculated at a time before one cycle is a positive value, the value of the accelerator command value Si is sufficiently small below a predetermined threshold value, and the dump truck 2 at the time tb When the traveling state of the vehicle can be regarded as the coasting state, the addition processing unit 45 adds the accelerator command value Si calculated at the time tb after the time point one cycle before and the correction value Cv to perform the corrected accelerator command value.
- the calculated corrected accelerator command value Sc is output from the accelerator command value output unit 41 to the drive device 21, whereby the dump truck 2 can travel according to the target travel speed Vr. Further, when the accelerator command value Si calculated at the time one cycle before is larger than the threshold value, the corrected accelerator command value Sc is output unnecessarily because the accelerator command value Si and the correction value Cv are not added. Is suppressed.
- the dump truck 2 is an unmanned dump truck.
- the dump truck 2 may be a manned dump truck that travels according to a driver's operation.
- an operation unit such as an accelerator pedal for operating the driving force of the driving device 24 is provided, and the operation unit is operated by the driver.
- manned dump trucks run on road surfaces with high road surface resistance such as oil sand, when the amount of operation of the operating unit by the driver when changing from coasting state to acceleration state is small (when the amount of depression of the accelerator pedal is small) ), The traveling speed Vs of the dump truck 2 is significantly reduced, and a stack may be generated.
- control system 20 intervenes in the operation of the operation unit and outputs the corrected accelerator command value Sc to the drive device 24. That is, the control system 20 can also perform so-called assist control that assists the operation of the driver. Thereby, it is suppressed that the traveling speed Vs of a manned dump truck falls significantly.
- the control system 20 is applied to the dump truck 2 traveling on the oil sand road surface.
- the road surface of the mine where the dump truck 2 travels does not have to be an oil sand road surface.
- the control can be applied even to a road surface that is muddy with rain, groundwater, or running water.
- the control system 20 and the management system 1 according to the above-described embodiment can be applied to the dump truck 2 that travels on the road surface of a mine having a high road surface resistance.
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Abstract
Description
図1は、本実施形態に係る鉱山機械4の管理システム1の一例を示す図である。管理システム1は、鉱山機械4の管理を行う。鉱山機械4の管理は、鉱山機械4の運行管理、鉱山機械4の生産性の評価、鉱山機械4のオペレータの操作技術の評価、鉱山機械4の保全、及び鉱山機械4の異常診断の少なくとも一つを含む。
次に、管理装置10について説明する。管理装置10は、鉱山機械4にデータ又は指令信号を送信し、鉱山機械4からデータを受信する。図1に示すように、管理装置10は、コンピュータ11と、表示装置16と、入力装置17と、無線通信装置18とを備える。
次に、ダンプトラック2について説明する。図3及び図4は、本実施形態に係るダンプトラック2の一例を模式的に示す図である。
次に、本実施形態に係るダンプトラック2の制御システム20について説明する。図5は、本実施形態に係る制御システム20の制御ブロック図である。制御システム20は、ダンプトラック2に搭載される。
次に、本実施形態に係るダンプトラック2の走行制御の一例について説明する。図6は、ダンプトラック2についての走行制御を説明するための模式図である。図6において、横軸は時間であり、縦軸はダンプトラック2の走行速度である。
次に、本実施形態に係るダンプトラック2の管理方法について説明する。図9は、本実施形態に係る管理システム1の動作の一例を示すフローチャートである。
以上説明したように、本実施形態によれば、ダンプトラック2を目標走行速度Vrにするための駆動力Freqに基づいてアクセル指令値についての補正値Cvを算出し、アクセル指令値演算部47で算出されたアクセル指令値と補正値演算部44で算出された補正値Cvとを加算処理して、底上げされた補正アクセル指令値を算出して、駆動装置24に出力するようにしたので、オイルサンドのような路面抵抗が大きい路面を走行するときにおいても、ダンプトラック2の走行速度Vsが過度に低下することが抑制される。ダンプトラック2は目標走行速度Vrとの誤差を抑制しつつ走行することができると共に、オイルサンドのような路面においてダンプトラック2がスタックしてしまうことを防止できるので、鉱山の生産性の低下が抑制される。
Claims (10)
- 鉱山機械の走行装置を駆動する駆動装置を制御する前記鉱山機械の制御システムであって、
前記鉱山機械を加速させるためのアクセル指令値を算出するアクセル指令値演算部と、
前記鉱山機械を目標走行速度にするための前記駆動装置の第1駆動力成分と、前記鉱山機械の走行の抵抗成分を相殺するための前記駆動装置の第2駆動力成分とに基づいて、前記アクセル指令値についての補正値を算出する補正値演算部と、
前記アクセル指令値と前記補正値とを加算処理して補正アクセル指令値を算出する加算処理部と、
前記補正アクセル指令値を前記駆動装置に出力するアクセル指令値出力部と、
を備える鉱山機械の制御システム。 - 前記アクセル指令値演算部は、所定の周期で前記アクセル指令値を算出し、
前記加算処理部は、第2時点の一周期前である第1時点で算出された前記アクセル指令値が閾値以下のとき、前記第1時点の後の第2時点で算出された前記アクセル指令値と前記補正値とを加算処理して前記補正アクセル指令値を算出する、
請求項1に記載の鉱山機械の制御システム。 - 前記アクセル指令値が閾値以下とは、前記アクセル指令値がゼロの状態である、
請求項2に記載の鉱山機械の制御システム。 - 前記アクセル指令値演算部は、アクセル変化量を演算し、演算された前記アクセル変化量を積分処理する積分器を備え、
前記第1時点で算出された前記アクセル指令値が前記閾値以下のとき、前記積分器で積分処理された前記アクセル指令値と前記補正値とが加算処理されて前記アクセル指令値出力部から前記補正アクセル指令値が出力され、
前記第1時点で算出された前記アクセル指令値が前記閾値よりも大きいとき、前記積分器で積分処理された前記アクセル指令値が前記補正値と加算処理されずに前記アクセル指令値出力部から出力される、
請求項2に記載の鉱山機械の制御システム。 - 前記鉱山機械の走行速度を検出する走行速度検出器と、
前記鉱山機械の加速度を検出する加速度検出器と、を備え、
前記補正値算出部は、前記走行速度検出器の検出結果に基づいて前記第1駆動力成分を算出し、前記加速度検出器の検出結果に基づいて前記第2駆動力成分を算出する、
請求項1から請求項4のいずれか一項に記載の鉱山機械の制御システム。 - 水平面に対する前記鉱山機械の傾斜角度を検出する傾斜角度検出器を備え、
前記補正値演算部は、前記傾斜角度検出器の検出結果に基づいて前記第2駆動力成分を算出する、
請求項1から請求項5のいずれか一項に記載の鉱山機械の制御システム。 - 前記鉱山機械は、ベッセルを有する運搬機械を含み、
前記ベッセルに積載される積荷の積載量を検出する積載量検出器を備え、
前記補正値演算部は、前記積載量検出器の検出結果に基づいて前記第2駆動力成分を算出する、
請求項1から請求項6のいずれか一項に記載の鉱山機械の制御システム。 - 請求項1から請求項7のいずれか一項に記載の鉱山機械の制御システムを備える鉱山機械。
- 請求項8に記載の鉱山機械に前記目標走行速度及び目標走行経路を含む走行条件データを出力する管理装置を備える鉱山機械の管理システム。
- 駆動装置の駆動力により作動する走行装置を有する鉱山機械に、前記鉱山における目標走行速度及び目標走行経路を含む走行条件データを送信することと、
前記鉱山機械を加速させるためのアクセル指令値を算出することと、
前記鉱山機械を前記目標走行速度にするための前記駆動装置の第1駆動力成分を算出することと、
前記鉱山機械の走行の抵抗成分を相殺するための前記駆動装置の第2駆動力成分を算出することと、
前記第1駆動力成分と前記第2駆動力成分とに基づいて、前記アクセル指令値についての補正値を算出することと、
前記アクセル指令値と前記補正値とを加算処理して補正アクセル指令値を算出することと、
前記補正アクセル指令値を前記駆動装置に出力することと、
を含む鉱山機械の管理方法。
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