Information processing apparatus, information processing method, and program

Abstract

To provide a rational drilling procedure suitable for a multi-boom excavator.SOLUTION: A temporary setting unit temporarily sets drilling points within a movable range of each of at least two or more booms of an excavator as allocation points from a plurality of drilling points arranged on a face, a drilling time calculation unit calculates a drilling time for each boom based on a movement time between each two allocation points and a work time for each allocation point, and a resetting unit resets the allocation points so that a difference in the drilling time between the plurality of booms and a total movement time passing through all the allocation points allocated to each boom are reduced.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] Tunnel excavation work involves the processes of drilling and blasting. These processes are sometimes carried out using an excavator (see Patent Document 1). The excavator has a boom and a platform, and the platform performs tasks such as adjusting the position of the boom and loading explosives into the drilled hole. The boom is also called the excavation arm. The excavator performs the drilling work according to a blasting pattern. The blasting pattern corresponds to position control information including the position of the drilling start point when drilling a hole in the face.

[0003] Furthermore, as tunnels become larger in cross section and longer in distance, shorter construction periods are expected. However, there is a tendency for serious labor shortages to cause more work delays. Against this background, attempts are being made to apply AI (Artificial Intelligence) technology to streamline construction work. For example, a method has been proposed that uses genetic algorithms to find the route that will take the least amount of time for multiple drilling positions at the tunnel face. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-183647 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the proposed method is based on the assumption that a single-boom excavator with one boom is used. Therefore, it cannot be immediately applied to a multi-boom excavator with multiple booms. Furthermore, in a genetic algorithm, the path searched depends heavily on the settings of parameters and initial values. Therefore, adjusting the parameters and initial values ​​tends to be a tedious task.

[0006] The present application has been made in view of the above circumstances, and one of its objects is to provide a rational drilling procedure suitable for a multi-boom excavator. [Means for solving the problem]

[0007] (1) One aspect of the present application is an information processing device that includes a provisional setting unit that provisionally sets, from a plurality of drilling points arranged on a working face, drilling points within the movable range of each of at least two or more booms of an excavator as assigned points; a drilling time calculation unit that calculates the drilling time for each boom based on the travel time between each two assigned points and the work time for each assigned point; and a resetting unit that resets the assigned points so as to reduce the difference in drilling time between the plurality of booms and the total travel time through all assigned points assigned to each boom.

[0008] (2) One aspect of the present application is an information processing method in an information processing device, which executes the following steps: provisionally setting, from a plurality of drilling points arranged on a face, drilling points within the movable range of each of at least two or more booms of an excavator as assigned points; calculating the drilling time for each boom based on the travel time between each two assigned points and the work time for each assigned point; and resetting the assigned points so as to reduce the difference in drilling time between the plurality of booms and the total travel time through all assigned points assigned to each boom. [Effects of the Invention]

[0009] According to the embodiment of the present application, it is possible to provide a rational drilling procedure suitable for a multi-boom excavator. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic block diagram illustrating an example of a functional configuration of an information processing device according to an embodiment of the present invention. [Figure 2] 1 is a side view illustrating an excavator according to an embodiment of the present invention. [Figure 3] 10 is a flowchart illustrating an example of a drilling point allocation process according to the present embodiment. [Figure 4] FIG. 10 is a diagram illustrating an example of the positional relationship between the movable range of each boom and the working face. [Figure 5] A diagram illustrating the positional relationship between the face, movable range, and drilling point. [Figure 6] FIG. 10 is a diagram illustrating an example of selection of allocation points to be excluded from allocation points of a boom to be reset. [Figure 7] FIG. 10 is a diagram illustrating an example of a correspondence relationship between allocation points and each boom. [Figure 8] 10 is a flowchart illustrating an example of a hole drilling sequence determination process according to this embodiment. [Figure 9] 10 is a flowchart illustrating an example of a processing procedure for provisionally generating a drill plan. [Figure 10] 10 is a flowchart illustrating a route search procedure according to the present embodiment. [Figure 11] 10 is a flowchart illustrating a procedure for applying a constraint according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] This embodiment will be described below with reference to the drawings. An information processing device 10 according to this embodiment provisionally sets, as assigned points, drilling points within the movable range of each of the excavator's booms from among multiple drilling points arranged on the tunnel face. In this embodiment, a multi-boom excavator having multiple booms is used. The information processing device 10 calculates the work time for each boom based on the travel time between each two assigned points that make up a route covering all the assigned points assigned to each boom and the drilling time for each assigned point.

[0012] The information processing device 10 prioritizes long-duration booms, which are booms with longer drilling times, and prioritizes and excludes from the allocation points of a long-duration boom those allocation points that are shared with other booms and are farther from the center of the long-duration boom's range of motion or the center of gravity of the long-duration boom's allocation points. Thus, a route is determined that covers all the allocation points so that the drilling time and number of allocation points are equal among the booms and the travel distance for each boom is minimized. By operating the excavator according to the determined route, the efficiency of excavation work is improved.

[0013] Next, an example of the functional configuration of the information processing device 10 according to this embodiment will be described. Fig. 1 is a schematic block diagram showing an example of the functional configuration of the information processing device 10 according to this embodiment. The information processing device 10 includes a control unit 12, a communication unit 14, an input unit 16, and a display unit 18. The information processing device 10 may be configured as a general-purpose information terminal device such as a personal computer, a tablet terminal device, or a mobile phone, or may be configured to include dedicated hardware. The information processing device 10 may be configured as a controller for controlling the operation of an excavator 20 (FIG. 2). The controller may be mounted on the excavator 20, or may be configured separately from the excavator 20.

[0014] The control unit 12 performs processing and control for realizing various functions of the information processing device 10. The control unit 12 includes an operation design unit 122 and an operation control unit . The work design unit 122 executes processing for designing tunnel excavation work procedures. The work design unit 122 executes, for example, a drilling point allocation process and a drilling sequence determination process. The drilling point allocation process is a process for assigning multiple drilling points located on the tunnel face to two or more booms provided on the excavator 20. The face corresponds to the excavation surface. The drilling sequence determination process is a process for determining the drilling points assigned to each boom as assigned points, and the order in which drilling work is to be performed at the assigned points as the drilling sequence. The work design unit 122 generates information indicating the order for each assigned point assigned to each boom as a drill plan, and outputs the generated drill plan to the operation control unit 124.

[0015] The work design unit 122 includes a provisional setting unit 122a, a resetting unit 122b, and a drilling time calculation unit 122c. The provisional setting unit 122a acquires drilling point data indicating the distribution of multiple drilling points on the tunnel face in advance. The provisional setting unit 122a may acquire the drilling point data from another device, or may generate the drilling point data by analyzing geological data indicating the geology of the tunnel face.

[0016] The temporary setting unit 122a sets the range of movement for each boom provided in the excavator. The range of movement for each boom is the range in which the tip of the boom can be moved by boom operation on a plane including the working face. The range of movement is determined by the range of the working face and the structure of the excavator, i.e., the position, orientation, size, and shape of each boom.

[0017] FIG. 4 is a diagram illustrating the positional relationship between the movable ranges BM01-BM03 of each boom and the working face WF. In the example of FIG. 4, it is assumed that the excavator 20 has three booms. The movable ranges BM01-BM03 are set so as to include most of the working face WF as a whole. The movable range BM01 covers an area roughly similar to the working face WF, and is located lower on the drawing than the movable ranges BM02 and BM03. The movable range BM02 occupies an area biased to the upper left of the working face WF on the drawing. The movable range BM03 occupies an area biased to the upper right of the working face WF on the drawing.

[0018] The provisional setting unit 122a provisionally sets drilling points included in the movable range of each boom as assigned points for that boom. Typically, the movable ranges of the booms partially overlap. Therefore, some assigned points may be shared among multiple booms. Figure 5 shows the face WF, the movable range, and the distribution of drilling points for each boom. In the example of Figure 5, almost all of the drilling points distributed within the face WF are included in the movable range BM01. These drilling points correspond to the assigned points of the boom for the movable range BM01. Of the drilling points distributed within the face WF, all except the three drilling points arranged in the rightmost column within the face WF are determined as assigned points of the boom for the movable range BM02, and all except the three drilling points arranged in the leftmost column within the face WF are determined as assigned points of the boom for the movable range BM03.

[0019] The resetting unit 122b resets the allocation points for each boom so that the difference in drilling time between the booms and the total movement time of each boom are both reduced. Here, the resetting unit 122b selects a reset target boom for resetting allocation points, giving priority to a boom with a longer drilling time calculated by the drilling time calculating unit 122c. For the selected boom to be reset, the resetting unit 122b prioritizes and discards, from the assignment points of the boom to be reset, assignment points that are shared with other booms and that are farther from the center of the movable range of the boom to be reset or the center of gravity of the assignment points of the boom to be reset. The resetting unit 122b saves the assignment points that remain without being excluded for the boom to be reset.

[0020] In FIG. 6, when a boom associated with the movable range BM01 is selected as the boom to be reset, the allocation point of the boom to be reset that is farthest from the center of gravity O is indicated by an X mark. The resetting unit 122b repeats the process of excluding allocation points for the boom to be reset until there are no allocation points shared among a plurality of booms. Figure 7 is a diagram illustrating a state in which there are no assigned points shared among multiple booms and each assigned point corresponds to one boom. In the example of Figure 7, the assigned points of the boom related to movable range BM01 are distributed in an area extending from the bottom to the center of the face WF. The assigned points of the boom related to movable range BM02 are distributed in an area biased to the upper left of the center of the face WF. The assigned points of the boom related to movable range BM03 are distributed in an area biased to the upper right of the center of the face WF.

[0021] Returning to Figure 1, the drilling time calculation unit 122c calculates the drilling time as the work time for each assigned point for each boom. The drilling time may vary depending on the order of multiple assigned points assigned to each boom. The order of assigned points corresponds to a route that passes through each assigned point once. The drilling time is the sum of the total travel time from one assigned point to the next assigned point and the total work time for each assigned point. The travel time between assigned points may be approximated as being proportional to the distance between the assigned points at a constant travel speed. The work time for each assigned point includes the time required for explosives and blasting. The work time for each assigned point may be considered constant for all drilling points. The boom travel speed is preset in the drilling time calculation unit 122c, and the total travel time is calculated as the product of the path length and travel speed of a route that passes through each assigned point once. The drilling time calculation unit 122c can also be preset with the work time for each drilling point, and calculate the total work time as the product of the number of assigned points and the work time. The drilling time calculation unit 122c calculates the sum of the total travel time and the total work time as the drilling time.

[0022] As described above, the provisional setting unit 122a solves a known combinatorial optimization problem for the assigned points provisionally set for each boom to search for an order that will result in the shortest drilling time. During the order search process, the drilling time calculation unit 122c calculates the drilling time based on the order of the assigned points temporarily set for each boom. The drilling time calculation unit 122c notifies the provisional setting unit 122a of the calculated drilling time. The resetting unit 122b also solves a known combinatorial optimization problem to search for an order that will shorten the drilling time for the boom determined to be the boom to be reset. This process of searching for an order that will shorten the drilling time corresponds to the drilling order determination process described above. In the process of searching for the order, the drilling time calculation unit 122c calculates the drilling time based on the order of the assigned points that was temporarily set for each boom. The drilling time calculation unit 122c notifies the resetting unit 122b of the calculated drilling time. The drilling time calculation unit 122c associates the searched order of the assigned points of the boom to be reset with the drilling time based on that order and notifies the resetting unit 122b of the association.

[0023] The drilling sequence determination process can also be considered as a traveling salesman problem (TSP). In the drilling sequence determination process, the drilling time calculation unit 122c may use an exact solution algorithm such as dynamic programming or branch and bound, or may use a local search method such as 2-opt, 3-opt, or genetic algorithm. As the dynamic programming, for example, bit dynamic programming (bitDP) is used. The local search method is a type of approximate solution algorithm.

[0024] The operation control unit 124 causes the excavator 20 to perform drilling work in accordance with the drill plan input from the work design unit 122. Here, the operation control unit 124 transmits the drill plan to the excavator 20 using the communication unit 14. The excavator 20 identifies the allocation points for each boom and the order of the allocation points shown in the drill plan received from the operation control unit 124 of the information processing device 10. The excavator 20 performs drilling work for the allocation points identified for the corresponding boom in accordance with that order. Each time the execution status of the drilling work for the drill plan is changed, the drilling machine 20 may notify the information processing device 10 of execution status information indicating the changed execution status. The execution status information includes, for example, information indicating whether each of the allocation points for each boom is in execution, execution completed, execution suspended, or not yet executed.

[0025] The operation control unit 124 identifies the progress of the drilling work based on the execution status information notified from the excavator 20. For example, the operation control unit 124 determines whether each of the assignment points for each boom is in an execution status of in progress, execution completed, execution suspended, or not yet executed. The operation control unit 124 may notify the work design unit 122 of the assignment points whose execution status is suspended or not yet executed. The work design unit 122 may re-create the drill plan by applying the above-mentioned method to the assignment points whose execution status is suspended or not yet executed. The work design unit 122 outputs the re-created drill plan to the operation control unit 124 as an updated drill plan. The updated drill plan can be considered as the progress status of the drilling work based on the drill plan (sometimes referred to as "drill plan progress" in this application).

[0026] The operation control unit 124 outputs the updated drill plan input from the operation design unit 122 to the excavator 20. The excavator 20 discards the drill plan up to that point and adopts the updated drill plan notified newly from the operation control unit 124. The excavator 20 performs the drilling operation in accordance with the order of allocation points for each boom shown in the updated drill plan. In this way, the drill plan is updated online according to the progress of the drilling operation.

[0027] The communication unit 14 inputs and outputs various data to and from other devices via a wired or wireless connection. The communication unit 14 is connected to, for example, a drilling rig 20 (FIG. 2) via a wired or wireless connection, and outputs a drill plan input from the operation design unit 122 of the control unit 12 to the drilling rig 20. The communication unit 14 includes, for example, a communication interface. The communication unit 14 may be connected to other devices via a network. The input unit 16 receives a user operation and generates an operation signal in accordance with the received operation. The input unit 16 outputs the generated operation signal to the control unit 12. The input unit 16 may have a general-purpose input device such as a mouse or a touch sensor, or may have a dedicated input device such as a button, a lever, or a dial.

[0028] The display unit 18 displays a display screen indicated by display data input from the control unit 12. The display unit 18 may have any type of display monitor, such as a liquid crystal display (LCD) or an organic light emitting diode (OLED) display. One or both of the input unit 16 and the display unit 18 may be configured as an integrated part of the information processing device 10, or may be configured separately from the information processing device 10. The touch sensor that constitutes the input unit 16 and the display that constitutes the display unit 18 may be configured separately, or may be configured as an integrated touch panel.

[0029] Next, an example of an excavator according to this embodiment will be described. FIG. 2 is a side view illustrating an excavator 20 according to this embodiment. The excavator 20 includes a platform and multiple booms 24. In the example of FIG. 2, the number of booms 24 is two. The excavator 20 is, for example, a jumbo drill. The booms 24 are also called arms. The platform 22 includes a controller that controls the operation of the excavator 20 and a drive mechanism that adjusts the orientation of each boom 24. The boom 24 includes an arm and a tip. The base end of the arm is supported by the platform 22, and a tip is attached to the tip of the arm. The arm can be extended, retracted, and bent under the control of the platform 22. The tip includes a drilling tool for drilling a charge hole for loading explosives at the drilling point under the control of the platform 22, and a gripping tool for inserting a cartridge loaded with explosives into the charge hole under the control of the platform 22.

[0030] Next, an example of the drilling point allocation process according to this embodiment will be described. Fig. 3 is a flowchart illustrating the drilling point allocation process according to this embodiment. (Step S102) The provisional setting unit 122a of the work design unit 122 sets the range of movement for each boom provided on the excavator. (Step S104) The provisional setting unit 122a provisionally sets, for each boom, drilling points included in the movable range as assigned points to be assigned to the boom.

[0031] (Step S106) The resetting unit 122b determines whether or not there are allocation points shared among a plurality of booms. If it is determined that there are allocation points (YES in step S106), the process proceeds to step S108. If it is determined that there are no allocation points (NO in step S106), the process in FIG. 3 ends. (Step S108) The resetting unit 122b performs a drilling sequence determination process for each boom with respect to the assigned points that are assigned at that time.

[0032] The resetting unit 122b selects, as the resetting target boom, the boom for which the drilling time calculated for each boom is the longest, from among the booms related to the shared allocation points. (Step S110) The resetting unit 122b excludes from the assigned points of the selected resetting target boom, among the assigned points shared between the selected resetting target boom and other booms, the assigned point that is farthest from the center of gravity of the assigned points assigned to the resetting target boom or the center of the movable range of the resetting target boom, and then returns to the processing of step S106.

[0033] Next, a specific example of the hole-drilling sequence determination process according to this embodiment will be described. Fig. 8 is a flowchart showing an example of the hole-drilling sequence determination process according to this embodiment. The example in Fig. 8 is based on the premise that after drilling points (assigned points) are assigned to each boom, the drilling work and the hole-drilling sequence determination process are executed in parallel. (Step S202) The provisional setting unit 122a of the work design unit 122 refers to pre-set drilling point data and identifies the distribution of drilling points to be placed on the face. The work design unit 122 calculates the distance between drilling points for each pair of two adjacent drilling points. More specifically, for each drilling point, the work design unit 122 identifies the other drilling point that is closest to it as the nearest drilling point, and calculates the distance to the nearest drilling point as the distance between drilling points.

[0034] (Step S204) The temporary setting unit 122a identifies the progress status of the drilling work at that time as the drill plan progress based on the execution status information notified from the drilling machine 20 for the allocation points for each boom indicated in the latest drill plan at that time. Note that the initial value of the drill plan progress is that the execution status of all allocation points for each boom is not yet executed. (Step S206) The provisional setting unit 122a provisionally generates a drill plan for each boom. An example of the processing procedure for provisionally generating a drill plan will be described later.

[0035] (Step S208) The resetting unit 122b sets the route indicated by the provisionally generated drill plan as an initial value and searches for a route that passes through each of the unexecuted allocation points once and that has a shorter total excavation time for each boom. An example of the processing procedure for searching for a shorter route will be described later. (Step S210) The resetting unit 122b determines whether the constraint conditions are satisfied for each boom path found up to that point. The constraint conditions include, for example, that the multiple booms do not come into contact with each other. This corresponds to the existence of a period in which the multiple booms are located in the same position or are not separated by more than a predetermined distance. For boom paths that satisfy the constraint conditions, the resetting unit 122b proceeds to the processing of step S212 without applying any new constraint conditions. For boom paths that do not satisfy the constraint conditions, the resetting unit 122b adjusts the path so that the constraint conditions are satisfied (application of constraint conditions). An example of the processing procedure for applying constraint conditions will be described later.

[0036] (Step S212) The resetting unit 122b identifies the drill plan indicating the path for each boom at that time as the updated drill plan, and outputs the identified drill plan to the operation control unit 124. (Step S214) The operation control unit 124 outputs to the excavator 20 drill plans with a higher priority, the longer the sequence. This sequence corresponds to the permutation of unexecuted assignment points for each boom, and represents a path passing through the unexecuted assignment points. Therefore, the excavator 20 is notified of the drill plans in the order from the drill plan with the longest sequence to the drill plan with the shortest sequence, and performs drilling work on the assigned points in accordance with the notified drill plans.

[0037] (Step S216) The operation control unit 124 determines whether to terminate drilling or whether to forcibly terminate. For example, the operation control unit 124 determines to terminate drilling when there are no unexecuted assignment points for any of the booms, and determines not to terminate drilling when there are unexecuted assignment points for at least one of the booms. For example, the operation control unit 124 determines to forcibly terminate when an operation signal indicating a forced termination is input from the input unit 16, or a notification signal indicating a forced termination is input from the excavator 20. The operation control unit 124 determines not to forcibly terminate when an operation signal or notification signal indicating a forced termination is not input. When it is determined that drilling has been completed or forced to be terminated (YES in step S216), the processing in Fig. 9 is terminated. When it is not determined that drilling has been completed or forced to be terminated (NO in step S216), the processing returns to step S204.

[0038] Next, an example of a processing procedure for provisionally generating a drill plan according to this embodiment will be described below. Fig. 9 is a flowchart showing an example of a processing procedure for provisionally generating a drill plan according to this embodiment. (Step S232) The temporary setting unit 122a identifies the position of each boom by referring to the execution status information acquired from the drilling machine 20 using the operation control unit 124. The temporary setting unit 122a may check whether the identified boom position is consistent with the drill plan progress by comparing it with the execution status of each assigned point of the boom indicated in the drill plan progress at that time. (Step S234) The temporary setting unit 122a identifies, for each boom, allocation points whose execution status is unexecuted, with reference to the drill plan progress, and randomly sets the order of the allocation points identified for each boom. When setting the order of the allocation points, the temporary setting unit 122a uses, for example, a known pseudo-random number sequence.

[0039] Next, an example of a processing procedure for searching for a route with a shorter drilling time according to this embodiment will be described. Fig. 10 is a flowchart illustrating a route search procedure according to this embodiment. The processing procedure illustrated in Fig. 10 uses the 2-opt method. The process of FIG. 10 is executed for each boom. The process of FIG. 10 begins with a loop L252. Loop L252 includes the process of step S254. In loop L252, the resetter 122b repeats the process of step S254 until the drilling time calculated in this step converges. The process then proceeds to step S258. Here, the resetter 122b monitors the drilling time for each boom and determines whether the drilling time has converged. The resetter 122b, for example, counts the number of repetitions of step S254 during which the drilling time remains constant, and can determine that the drilling time has converged when the counted number of repetitions reaches a predetermined first number (for example, 5 to 20 times).

[0040] (Step S254) The resetting unit 122b randomly selects two sides from the route for the boom to be processed at that time using a known pseudo-random number sequence. The resetting unit 122b reconnects the two selected sides to provisionally set a new route. When reconnecting the two sides, the resetting unit 122b changes the connection destination of one end of the first side, which is one of the two selected sides, from the other end of the first side to the other end of the second side, and changes the connection destination of one end of the second side, which is the other of the two sides, from the other end of the second side to the other end of the first side. The resetting unit 122b calculates the drilling time for the route provisionally set by the reconnection. If the drilling time for the original route before the reconnection is shorter, the resetting unit 122b adopts and saves the provisionally set route. If the drilling time according to the temporarily set route after the reconnection is equal to or longer than the drilling time according to the original route, the resetting unit 122b rejects the temporarily set route and saves the original route.

[0041] (Step S258) The resetting unit 122b determines whether the boom having the path with the longest drilling time has been continuously repeated a predetermined second number of times (for example, 5 to 20 times) or more. If it is determined that it has been repeated (step S258 YES), the process proceeds to step S260. If it is determined that it has not been repeated (step S258 NO), the process proceeds to step S262. (Step S260) The resetting unit 122b adopts the drill plan indicating the route for each boom at that time, and ends the processing of FIG.

[0042] (Step S262) The resetting unit 122b gives priority to the boom that has the longest drilling time at that time and deforms part of its path. For example, the resetting unit 122b deforms part of the path of the boom that has the longest drilling time. The process of deforming part of the path is also called kicking. The amount of path deformation in this step may be greater than the amount of deformation in step S254 (two sides in the 2-opt method). Deforming part of the path temporarily increases the drilling time, but it allows the path to escape from a state in which it does not converge stably.

[0043] The resetter 122b performs, for example, a double bridge neighborhood operation to transform the path. In the double bridge neighborhood operation, the resetter 122b randomly selects any four edges that make up the path using a known pseudo-random number sequence. The resetter 122b reconnects the selected four edges. For example, the resetter 122b changes the connection destination of one end of the first edge of the selected four edges to the other end of the second edge, and changes the connection destination of one end of the second edge to the other end of the third edge. The resetter 122b changes the connection destination of one end of the third edge to the other end of the fourth edge, and changes the connection destination of one end of the fourth edge to the other end of the first edge. The resetter 122b saves the path obtained by the reconnection. After that, the process returns to loop L252.

[0044] 10, the 2-opt method is applied, but other algorithms may be applied. The other algorithms may be approximate solution algorithms other than the 2-opt method, or exact solution algorithms. For example, when applying the 3-opt method, in step S254, the resetting unit 122b may randomly select three sides from the route for the boom to be processed at that time using pseudo-random numbers, and temporarily set a new route by reconnecting the selected three sides. In step S264, a local solution escape technique other than the double-bridge neighborhood operation may be applied. For example, the resetting unit 122b may select any two, three, or five or more edges that constitute the path and reconnect the selected edges.

[0045] The 3-opt method achieves higher accuracy than the 2-opt method but has a slower processing speed. Therefore, when considering the application of double-bridge neighborhood operations and repeated processing, the 2-opt method may achieve higher overall accuracy. While genetic algorithms are expected to achieve higher accuracy than the 2-opt method, the accuracy and processing speed vary depending on the parameters. Therefore, the process of adjusting parameters in advance to achieve both a certain level of accuracy and processing speed tends to be tedious. Even after adjustment, there is no guarantee that the accuracy will be significantly better than that of the 2-opt method. Exact solution algorithms such as bitDP and branch-and-bound methods can calculate exact solutions, but they require more computational effort than approximate solution algorithms. Especially when using excavators with three or more booms (20) and when the number of drilling points placed on the face exceeds 40, these algorithms are difficult to apply due to the processing time constraints of standard PCs.

[0046] Next, an example of a processing procedure for applying constraints will be described below: Fig. 11 is a flowchart illustrating an example of a procedure for applying constraints according to this embodiment. The process in FIG. 11 includes a loop L272. In the loop L272, a drill plan is simulated simultaneously for multiple booms provided on the excavator 20. In the drill plan simulation, the resetting unit 122b identifies the position of the boom at each time, assuming that each boom will perform drilling work for each assigned point in the order specified by the drill plan. The start time of the drilling work is the same for all booms. The positions of the booms at the start of the drilling work are set so that they do not touch each other.

[0047] In the processing of Figure 11, when two or more booms moving on a path that passes through an assigned point are expected to come into contact with each other, the resetting unit 122b adjusts the path of one of the two or more booms so that it does not come into contact with the other booms. The loop L272 includes steps S274, S276, and S278. In the loop L272, the processes of steps S274, S276, and S278 are repeated until it is no longer determined in step S274 that multiple booms will come into contact.

[0048] (Step S274) The resetter 122b tracks the position of each boom at each time and determines whether multiple booms will come into contact. If the distance between at least any two booms is less than a predetermined contact determination threshold, the resetter 122b determines that the booms will come into contact; otherwise, it determines that the booms will not come into contact. The contact determination threshold is determined according to the shape and size of the booms. If it is determined that the booms will come into contact (YES in step S274), the process proceeds to step S276. If it is determined that the booms will not come into contact (NO in step S274), the process skips steps S276 and S278.

[0049] (Step S276) The resetting unit 122b searches for a new undrilled assignment point where one of the two booms does not come into contact with the other boom, and adjusts the route so that it passes through the searched assignment point. The resetting unit 122b determines which of the two booms is to be used for route adjustment based on the operating status of each boom. For example, if it is determined that one boom will come into contact when the other boom is moving or loading charges, the resetting unit 122b determines that the other boom is to be used for route adjustment. Therefore, the work performed by one boom is prioritized. If it is determined that the two booms will come into contact when both booms are moving, the resetting unit 122b randomly determines one of the two booms as the target for route adjustment using a known pseudo-random number sequence. In this case, the two booms are treated equally.

[0050] (Step S278) For one of the booms whose path has been adjusted, the resetting unit 122b prioritizes drilling at the assignment points newly searched for during the path adjustment process. That is, the resetting unit 122b places the searched assignment points first in the order, and places the undrilled assignment points that were next in the order before the adjustment after the newly searched assignment points. The resetting unit 122b saves the order of each assignment point after the adjustment, and discards the order before the adjustment.

[0051] As described above, the information processing device 10 according to this embodiment includes a provisional setting unit 122a, a drilling time calculation unit 122c, and a resetting unit 122b. The provisional setting unit 122a provisionally sets, from among a plurality of drilling points arranged on the working face, drilling points within the movable ranges of at least two or more booms of the excavator 20 as assigned points. The drilling time calculation unit 122c calculates the drilling time for each boom based on the travel time between each two assigned points and the work time for each assigned point. The resetting unit 122b resets the assigned points so as to reduce the difference in drilling time between the two or more booms and the total travel time for passing through all assigned points for each boom. With this configuration, the allocation points distributed on the face are allocated to each boom so that the drilling time is equalized between two or more booms and the overall movement time of each boom is reduced, thereby providing a rational drilling procedure for achieving efficient drilling work as a whole using two or more booms.

[0052] The resetting unit 122b may select a reset target boom, which is a boom for resetting allocation points, with priority given to booms with longer drilling times, and may also prioritize and exclude from the allocation points of the reset target boom those allocation points that are shared with other booms that are farther from the center of the movable range of the reset target boom or the center of gravity of the allocation points of the reset target boom. With this configuration, peripheral allocation points are preferentially excluded from the allocation points assigned to the reset target boom that requires a long drilling time. Therefore, by shortening the drilling time for the reset target boom, the difference in time between the booms is reduced and the total travel distance for the reset target boom can be shortened.

[0053] The resetting unit 122b may determine a path consisting of sides between each two assigned points so that the drilling time for each boom is shorter. With this configuration, the order between the assigned points can be determined using a route that passes through the assigned points for each boom, and the travel distance and therefore travel time for each boom along the route can be calculated in a unified manner, thereby determining the order of the assigned points that will result in a route with the shortest drilling time.

[0054] The resetting unit 122b may provisionally set a second route by reconnecting multiple edges that form part of the route (e.g., 2-opt method, 3-opt method), and may adopt the second route if the drilling time for the second route is shorter than the drilling time for the original route before the reconnection. According to this configuration, by reconnecting parts of the route, routes with shorter drilling times are sequentially searched for.

[0055] When the boom with the longest drilling time is not repeated a predetermined number of times or more, the resetting unit 122b may give priority to a boom with a longer drilling time and deform the path (for example, perform a double bridge vicinity operation). With this configuration, the route is deformed to prioritize the boom with the longest drilling time, which is in an unstable situation where the ranking of drilling times with other booms is not maintained. Using the deformed route as a new starting point, a route with a shorter drilling time is searched for. This allows the unstable situation to be overcome and the search for a more stable route to be resumed. This also provides an opportunity to correct any bias in the allocation points that were previously distributed or that was discovered during the route search process.

[0056] When two or more booms moving on a path passing through an assigned point are expected to come into contact with each other, the resetting unit 122b may adjust the path of any one of the two or more booms so that it does not come into contact with the other booms. With this configuration, a drilling procedure is explored that allows for safe drilling operations without contact with other booms.

[0057] Although the embodiments of the present application have been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs within the scope of the gist of the present invention. For example, the information processing device 10 according to the present embodiment may be configured to include dedicated hardware or a computer system. The computer system includes hardware such as a processor and a storage medium, and software including various programs. The processor may read a predetermined program stored in advance in a storage medium and execute the read program to realize the functions of each unit in cooperation with the storage medium and other hardware. In other words, the term "unit" used in this application refers to a unit that processes at least one function or operation. "Program execution" refers to the execution of processing instructed by instructions written in a program. The processor includes, for example, a processor such as a CPU (Central Processing Unit). The processor may also include a different type of arithmetic circuit from a CPU, such as a GPU (Graphics Processing Unit). [Explanation of symbols]

[0058] 10...information processing device, 12...control unit, 14...communication unit, 16...input unit, 18...display unit, 20...excavator, 22...platform, 24...boom, 122...work design unit, 122a...temporary setting unit, 122b...resetting unit, 122c...drilling time calculation unit, 124...operation control unit

Claims

1. a provisional setting unit that provisionally sets drilling points within the movable ranges of at least two or more booms of the excavator as assigned points from a plurality of drilling points arranged on the working face; a drilling time calculation unit that calculates a drilling time for each boom based on the travel time between each two assigned points and the work time for each assigned point; a resetting unit that resets the assigned points so that a difference in drilling time between the plurality of booms and a total travel time passing through all the assigned points assigned to each boom are reduced; An information processing device comprising:

2. The resetting unit selects a reset target boom, which is a boom for which the allocation points are to be reset, with priority being given to a boom with a longer drilling time, and prioritizes excluding from the allocation points of the reset target boom, among the allocation points shared with other booms, allocation points that are farther from the center of the movable range of the reset target boom or the center of gravity of the allocation points of the reset target boom. The information processing device according to claim 1 .

3. The resetting unit For each boom, a path consisting of edges between each two assigned points is determined so that the drilling time is shortened. The information processing device according to claim 1 .

4. The resetting unit temporarily setting a second path by reconnecting a plurality of edges that form a part of the path; If the drilling time for the second route is shorter than the drilling time for the original route before the reconnection, The second route is adopted. The information processing device according to claim 3 .

5. The resetting unit If the boom with the longest drilling time is not repeated more than the specified number of times, The longer the drilling time, the higher the priority for the boom to change the path. The information processing device according to claim 4 .

6. The resetting unit When two or more booms moving on a path passing through the assigned point are expected to come into contact with each other, the path of any one of the two or more booms is adjusted so that it does not come into contact with the other booms. The information processing device according to claim 1 .

7. A program for causing a computer to function as the information processing device according to claim 1.

8. An information processing method in an information processing device, a step of provisionally setting drilling points within the movable ranges of at least two or more booms of the excavator as assigned points from a plurality of drilling points arranged on the face of the excavator; calculating a drilling time for each boom based on the travel time between each two assigned points and the work time for each assigned point; and a step of resetting the assigned points so as to reduce the difference in drilling time between the plurality of booms and the total travel time through all the assigned points assigned to each boom. Information processing methods.

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