Mining Map Update via Excavator Operational Status
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Solution Overview
Problem
Conventional unmanned-vehicle guidance devices fail to accurately update travelable map information due to reliance solely on the moving position of work machines, neglecting operational status, which can lead to inaccuracies in boundary extraction and travel path generation, potentially causing interference and reducing safety in mining operations.
Innovation Solution
A map generation device that incorporates both the moving position and operational status of work machines to dynamically update travelable map information, ensuring accurate boundary extraction and preventing interference by adjusting the operational range of work machines within the map data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If map data is updated frequently based on work machine position information, then the travelable map information becomes more current, but the accuracy of boundary extraction deteriorates when operational status is not considered
Solution Approach 1:
The patent applies local quality by differentiating the treatment of position information based on operational status. When the work machine is stationary and performing work, the position information is used to update boundary information with higher precision. When the machine is moving, position information updates the travel trajectory. This localized differentiation ensures that boundary extraction accuracy is maintained at critical locations while still providing frequent updates overall.
Solution Approach 2:
The system changes the parameter of information weighting based on operational status. By detecting whether the work machine is in a working state or moving state, the system dynamically adjusts how position information is processed - using it for boundary refinement during stationary work phases and for trajectory tracking during movement phases. This parameter-based adaptation resolves the contradiction between update frequency and accuracy.
2Device complexity
If only moving position information is used to update map data, then the system complexity is reduced, but the accuracy of travelable area identification deteriorates
Solution Approach 1:
The patent makes the map generation device universal by enabling it to perform multiple functions: tracking travel trajectories during movement and refining boundary information during stationary work operations. By integrating operational status detection with position information processing, the single device can adaptively switch between different update modes, maintaining high accuracy without requiring separate systems for each function.
Solution Approach 2:
The system uses the work machine's own operational status information to automatically determine how to process its position data. The map generation device self-adjusts its processing mode based on whether the machine is working or moving, eliminating the need for external intervention or complex manual configuration. This self-service approach maintains accuracy while keeping the system relatively simple.
3Area of stationary object
If boundary information is extracted from all position data, then the coverage of map updates is increased, but unnecessary updates occur when the work machine is moving
Solution Approach 1:
The patent segments the position information processing into two distinct pathways based on operational status: one for boundary information extraction when stationary, and another for travel trajectory recording when moving. This segmentation prevents the system from attempting to extract boundaries during movement phases, eliminating unnecessary processing while ensuring comprehensive coverage during actual work operations. Each segment handles only the appropriate type of information for its context.
Solution Approach 2:
The system implements periodic assessment of operational status to determine the appropriate update mode. By continuously monitoring whether the work machine is in a working or moving state, the system periodically switches between boundary extraction and trajectory tracking modes. This periodic action ensures that boundary updates occur only during relevant phases, reducing wasted processing time while maintaining comprehensive map coverage.
Data Source
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AI summary
The present invention includes: a map information storage unit 18 storing map data 18A representing a travelable area for a dump truck 7; a work machine information accumulation unit 19 accumulating position data 6A and operational data 6B of a hydraulic excavator 6; an operational range arithmetic processing unit 21 calculating an operational range of the hydraulic excavator 7 on the basis of the position data 6A and the operational data 6B accumulated in the work machine information accumulation unit 19; and a map information update unit 22 verifying the operational range of the hydraulic excavator 6 calculated by the operational range arithmetic processing unit 21 against the map data 18A stored in the map information storage unit 18 in order to correct the boundary 18a of the loading site 1 in the map data 18A and then update the map data 18A.