Operation analysis method, operation analysis device, and operation analysis program

Patent metadata

Field	Value
Publication number	US-11941562-B2
Application number	US-202017440013-A
Country	US
Kind code	B2
Filing date	Feb 6, 2020
Priority date	Mar 29, 2019
Publication date	Mar 26, 2024
Grant date	Mar 26, 2024

Abstract

Based on operation trajectory data an operation analysis device identifies all open points indicating positions at which the crusher is opened during the operation period and all close points indicating positions at which a crusher is closed during an operation period, calculates, as a shortest distance, a distance between each open point of the all open points and a close point nearest to the each open point, and identifies, as a sorting destination open point, an open point at which the shortest distance exceeds a first threshold value, identifies data until the crusher grasping the dismantling part moves to the sorting destination and returns to the dismantling target again from among the operation trajectory data as movement data of the crusher having moved in the dismantling operation, and identifies data in which the movement data has been removed from the operation trajectory data as grasping operation data.

First claim

The invention claimed is:

1. An operation analysis method in an operation analysis device that analyzes a dismantling operation of repeating an action of grasping a dismantling part from a dismantling target by a crusher attached to an attachment tip of a dismantling machine and an action of moving the grasped dismantling part to a sorting destination, the operation analysis method comprising:
a first step of acquiring operation trajectory data in which position information and open/close information of the crusher during an operation period of the dismantling operation are recorded in time series;
a second step of identifying, based on the operation trajectory data, all open points indicating positions at which the crusher is opened during the operation period and all close points indicating positions at which the crusher is closed during the operation period;
a third step of calculating, as a shortest distance, a distance between each open point of the all open points and a close point nearest to the each open point, and identifying, as a sorting destination open point, an open point at which the shortest distance exceeds a first threshold value;
a fourth step of identifying, based on the position information, data until the crusher grasping the dismantling part moves to the sorting destination and returns to the dismantling target again from among the operation trajectory data as movement data of the crusher having moved in the dismantling operation; and
a fifth step of identifying data in which the movement data has been removed from the operation trajectory data as grasping operation data indicating an action until the crusher grasps the dismantling part in the dismantling operation.

2. The operation analysis method according to claim 1 , wherein
the position information represents a position of the crusher by values of an X coordinate and a Y coordinate in a plane coordinate system, and
the fourth step includes
a step of calculating centers of gravity of the all close points and removing, as an abnormal point, a close point having a distance from the center of gravity equal to or greater than a predetermined value,
a step of deciding a minimum value X min and a maximum value X max of X coordinates, and also deciding a minimum value Y min and a maximum value Y max of Y coordinates from each of X coordinates and each of Y coordinates of a plurality of close points from which the abnormal point is removed, and
a step of identifying, as movement data, data in which values X and Y of an X coordinate and a Y coordinate of the operation trajectory data do not satisfy the minimum value X min <X<the maximum value X max and the minimum value Y min <Y<the maximum value Y max , and identifying, as movement data, data in which the values X and Y satisfy the minimum value X min <X<the maximum value X max and the minimum value Y min <Y<the maximum value Y max and a movement mean of speed is equal to or greater than a second threshold value.

3. The operation analysis method according to claim 1 , further comprising:
a sixth step of identifying a dismantling portion in the dismantling target based on the grasping operation data,
wherein the position information represents a position of the crusher by values of an X coordinate and a Y coordinate in a plane coordinate system, and
the sixth step includes
a step of calculating centers of gravity of a plurality of pieces of position information of the grasping operation data for each operation cycle as a dismantling place in a predetermined operation cycle,
a step of generating a plurality of clusters by clustering X coordinates and Y coordinates of a plurality of dismantling places calculated for each of the operation cycles, and
a step of identifying a dismantling portion by integrating the plurality of clusters based on a time series transition of the plurality of clusters.

4. The operation analysis method according to claim 1 , wherein
the open/close information includes an output value from a stroke sensor provided in a cylinder for opening/closing the crusher, and
the second step includes
a step of identifying, as all close time point data, all data at a time point when the output value exceeds a third threshold value, of the operation trajectory data, and identifying,
as all open time point data, all data at a time point when the output value falls below the third threshold value, and
a step of identifying the all close points from individual pieces of position information of the all close time point data, and identifying the all open points from individual pieces of position information of the all open time point data.

5. The operation analysis method according to claim 1 , further comprising a seventh step of identifying a plurality of sorting destinations by clustering a plurality of sorting destination open points identified in the third step.

6. An operation analysis device that analyzes a dismantling operation of repeating an action of grasping a dismantling part from a dismantling target by a crusher attached to an attachment tip of a dismantling machine and an action of moving the grasped dismantling part to a sorting destination, the operation analysis device comprising:
a storage unit that stores operation trajectory data in which position information and open/close information of the crusher during an operation period of the dismantling operation are recorded in time series; and
a control unit that analyzes the dismantling operation based on the operation trajectory data,
wherein the control unit
identifies, based on the operation trajectory data, all open points indicating positions at which the crusher is opened during the operation period and all close points indicating positions at which the crusher is closed during the operation period,
calculates, as a shortest distance, a distance between each open point of the all open points and a close point nearest to the each open point, and identifies, as a sorting destination open point, an open point at which the shortest distance exceeds a first threshold value,
identifies, based on the position information, data until the crusher grasping the dismantling part moves to the sorting destination and returns to the dismantling target again from among the operation trajectory data as movement data of the crusher having moved in the dismantling operation, and
identifies data in which the movement data has been removed from the operation trajectory data as grasping operation data indicating an action until the crusher grasps the dismantling part in the dismantling operation.

7. A non-transitory computer readable recording medium storing an operation analysis program for analyzing a dismantling operation of repeating an action of grasping a dismantling part from a dismantling target by a crusher attached to an attachment tip of a dismantling machine and an action of moving the grasped dismantling part to a sorting destination, the operation analysis program causing
a computer to execute:
a first step of acquiring operation trajectory data in which position information and open/close information of the crusher during an operation period of the dismantling operation are recorded in time series;
a second step of identifying, based on the operation trajectory data, all open points indicating positions at which the crusher is opened during the operation period and all close points indicating positions at which the crusher is closed during the operation period;
a third step of calculating, as a shortest distance, a distance between each open point of the all open points and a close point nearest to the each open point, and identifying, as a sorting destination open point, an open point at which the shortest distance exceeds a first threshold value;
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Assignees

• Kobelco Constr Mach Co Ltd
• Univ Hiroshima

Inventors

• Takahashi Katsuhiko
• Morikawa Katsumi
• Nakamura Shoya

Classifications

• G06Q10/0633 Primary

  Workflow analysis · CPC title

• B25J9/1669 Primary

  characterised by special application, e.g. multi-arm co-operation, assembly, grasping · CPC title

• G06Q10/06

  Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling · CPC title

• G06Q50/08

  Construction · CPC title

• G05B2219/2616

  Earth moving, work machine · CPC title