JP2014214566A5

JP2014214566A5 - Excavator processing apparatus and work content determination method

Info

Publication number: JP2014214566A5
Application number: JP2013094879A
Authority: JP
Filing date: 2013-04-30
Publication date: 2015-10-29
Anticipated expiration: 2033-04-30

Description

本発明は、何らかの作業を行っているショベルから取得された運転変数に基づいて、ショベルの作業内容を判定するショベルの処理装置及び作業内容判定方法に関する。
The present invention is based on the operating variables obtained from shovel doing some work, to processing apparatus and work content determination method of the shovel determining the work of the excavator.

種々の運転変数の平均値等を特徴量として、この特徴量により作業内容を判別する方法では、運転変数の平均値が類似した傾向を示す複数の作業内容が存在する場合に、作業内容を正確に判定することが困難である。本発明の目的は、作業内容を、より正確に判定することが可能なショベルの処理装置、及び作業内容判定方法を提供することである。
With the method that uses the average value of various driving variables as a feature value and discriminates the work content based on this feature value, when there are multiple work contents that show similar tendencies in the average value of the driving variables, It is difficult to make a judgment. An object of the present invention is to provide a shovel processing apparatus and a work content determination method capable of more accurately determining work content .

本発明の一観点によると、
ショベルの稼働状態に依存する複数の運転変数を、ある期間に亘って測定して得られた運転変数の時間変化が入力される入力装置と接続され、前記ショベルによる作業内容を判定するショベルの処理装置であって、
前記処理装置は、
前記入力装置から入力された前記運転変数の時間変化を、時間軸上で複数の区間に区分し、前記区間ごとに、複数の前記運転変数の特徴量を決定し、
前記特徴量の時系列からなる検証データに基づいて、前記ショベルの作業内容を判定するショベルの処理装置が提供される。
According to one aspect of the invention,
Processing of a shovel that is connected to an input device to which a time change of an operating variable obtained by measuring a plurality of operating variables depending on an operating state of the excavator is input over a certain period, and determines work contents by the shovel A device,
The processor is
The time change of the operation variable input from the input device is divided into a plurality of sections on the time axis, and a feature amount of the plurality of operation variables is determined for each section,
A shovel processing device is provided that determines the work contents of the shovel based on the verification data including the time series of the feature values.

本発明の他の観点によると、
ショベルの稼働状態に依存する複数の運転変数を、前記ショベルに搭載されるセンサによりある期間に亘って測定することにより、前記運転変数の時間変化を求め、
求められた前記運転変数の時間変化を、時間軸上で複数の区間に区分し、
前記区間ごとに、複数の前記運転変数の特徴量を決定し、
前記特徴量の時系列からなる検証データに基づいて、前記ショベルの作業内容を判定する作業内容判定方法が提供される。 According to another aspect of the invention,
By measuring a plurality of operating variables depending on the operating state of the excavator over a period of time by a sensor mounted on the excavator, a time change of the operating variable is obtained,
Dividing the obtained time variation of the operating variable into a plurality of sections on the time axis,
For each of the sections, determine a feature amount of the plurality of operating variables,
A work content determination method for determining the work content of the excavator based on the verification data comprising the time series of the feature values is provided.

Claims

Processing of a shovel that is connected to an input device to which a time change of an operating variable obtained by measuring a plurality of operating variables depending on an operating state of the excavator is input over a certain period, and determines work contents by the shovel. A device,
The processor is
The time change of the operation variable input from the input device is divided into a plurality of sections on the time axis, and a feature amount of the plurality of operation variables is determined for each section,
An excavator processing device that determines work contents of the excavator based on verification data including a time series of the feature amount.

Further, for each work content, the storage device stores a state transition model including a state transition path that defines a state transition in which each operation of the excavator is associated with one state.
The processor is
The shovel processing device according to claim 1, wherein the work content corresponding to the verification data is determined based on the verification data and the state transition model.

The state transition model includes a transition probability between states, and an appearance probability of an event in which the feature value takes a certain value for each state,
The processor is
Based on the time change of the driving variable, the work content of the excavator is known, the transition probability and the appearance probability of the state transition model,
The shovel processing device according to claim 2, wherein the storage device stores the calculated values of the transition probability and the appearance probability of the state transition model.

The processing device, for each work content,
(A) By dividing the time change of the operation variable, whose work content of the excavator is known, into a plurality of sections on the time axis, and determining the feature quantities of the plurality of operation variables for each section, Generate multiple reference data with known work,
(B) setting a provisional value as the transition probability and the appearance probability of the state transition model;
(C) generating a plurality of state sequences by applying each state of the state transition model to each of a plurality of feature amounts constituting the reference data;
(D) For each state series, using the provisional value as the transition probability and the appearance probability of the state transition model, calculate the generation probability of the state series;
(E) resetting the provisional values set as the transition probability and the appearance probability of the state transition model based on the calculated generation probability of the state series;
(F) The excavator according to claim 3, wherein the transition probability and the appearance probability of the state transition model are calculated by repeating the steps (d) and (e) until the generation probability of the state series converges . Processing equipment.

By measuring a plurality of operating variables depending on the operating state of the excavator over a certain period by a sensor mounted on the excavator, a time change of the operating variable is obtained,
Dividing the obtained time variation of the operating variable into a plurality of sections on the time axis,
For each of the sections, determine a feature amount of the plurality of operating variables,
A work content determination method for determining the work content of the excavator based on verification data including a time series of the feature values.

For each work content of the shovel, the state transition path which defines the state transitions that associates each of the operation of the excavator in one state, transition probabilities between states, and each state of the events that take a certain value feature quantity The work content determination method according to claim 5 , wherein the work content of the excavator is determined by applying the verification data to a state transition model including an appearance probability.