JP2014190134A - Method for creating cutting surface - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for creating a cutting surface in which improvement of work efficiency can be facilitated.SOLUTION: The present invention is configured to detect road surface irregularity location information that indicates locations where repair is required on a travel road surface on which a dump truck 2 travels, detect road surface irregularity depth information that indicates a depth of the locations where repair is required, calculate target depth data that indicates a cutting surface formed by cutting a travel road surface on which the dump truck 2 travels on the basis of the detected road surface irregularity location information and road surface irregularity depth information, and cut a travel road surface by a grader 4 on the basis of the calculated target depth data.

Description

  The present invention relates to a method for creating a cutting surface when repairing a road surface on which a vehicle such as a dump truck travels.

  Conventionally, in the mine site, for example, from the viewpoint of maintaining the transport efficiency of a transport vehicle such as a dump truck, the road surface on which the dump truck travels is periodically repaired. Specifically, road surface repairs are carried out regularly by repairing vehicles to find repair points, for example, there are many sites where repair work such as graders is carried out, but in general, the mining site is wide, so traveling It is not easy to find where on the road to repair.

  And the prior art regarding this kind of road surface repair is disclosed by patent document 1, for example. In this patent document 1, a road surface condition is sensed by a millimeter wave sensor mounted on a dump truck to detect a place where repair is necessary. And when the place which needs repair is detected, the repair map data which showed the place which needs repair in the map data of a mine is produced, and it transmits to a repair vehicle. Thereafter, according to the repair map data, the repair vehicle is driven to a place where repair is necessary, and repair work is performed with the repair vehicle.

  As repair vehicles for repairing the road surface, there are vehicles such as bulldozers and graders, for example. In recent years, for example, Non-Patent Document 1 discloses a conventional technique related to automatic control of these repair vehicles. This Non-Patent Document 1 is equipped with a GPS, various sensors, a control device, and an electromagnetic proportional valve, and for example, a bulldozer with an operator support function that automatically controls a blade according to a target value in repair information transmitted from an office or the like And graders are described. Further, repair height data that is a work target value of the repair vehicle is created at an office or the like, and the repair height data is transmitted to a computer or the like mounted on the repair vehicle, and work is performed on these repair vehicles.

JP 2010-242345 A

“” Trimble Construction System General Catalog [online], Nikon Trimble Co., Ltd. [Search February 7, 2013], Internet <URL: http://www.nikon-trimble.co.jp/products/pdf/ sougou / sougou_construction_ict.pdf>

  However, in the conventional technique disclosed in Patent Document 1 described above, a place where repair is necessary can be detected, but the situation (depth, etc.) of the place where repair is necessary cannot be grasped. In the prior art disclosed in Non-Patent Document 1, although the repair work can be performed by automatically controlling the blade of the repair work based on the repair information transmitted from the office or the like, the repair information itself is stored in the office or the like. Since it is necessary to obtain the location and situation that need to be repaired by other methods, it is not easy to reduce work efficiency.

  The present invention has been made from the above-described prior art, and an object of the present invention is to provide a method of creating a cutting surface that can easily reduce work efficiency.

  In order to achieve this object, the present invention detects position information indicating a position that requires repair on the road surface on which the vehicle travels, and detects height information indicating the height of the position that requires repair, Based on the detected position information and height information, cutting surface information indicating a cutting surface formed by cutting the road surface is calculated, and the road surface is cut by the repair vehicle based on the calculated cutting surface information. It is characterized by that.

  According to the present invention configured as described above, the position information indicating the position where the repair is necessary on the road surface on which the vehicle travels and the height information indicating the height of the position where the repair is necessary are detected, thereby repairing the road surface. The situation can be detected along with the required position. And based on these position information and height information, by calculating the cutting surface information indicating the cutting surface formed by cutting the road surface, the cutting surface of this cutting surface information, along with the position that requires repair, The height of the position can be included. Therefore, based on this cutting surface information, by cutting the road surface with a repair vehicle, it is possible to cut the position that requires repair on the road surface on which the vehicle travels, based on the height of the position, for example, Since it is not necessary to go to a position where repair is necessary and check its height, the work efficiency of repairing the road surface can be easily reduced.

  In the present invention, the cutting surface information is calculated according to a maximum cutting height that can be cut by the repair vehicle.

  The present invention configured as described above is a case where a cutting surface is created using a repair vehicle having a different maximum cutting height by calculating cutting surface information according to the maximum cutting height that can be cut by the repair vehicle. Even if it exists, it becomes possible to calculate the cutting surface information corresponding to the repair vehicle to be used.

  Further, in the present invention, in the above invention, when the height information is higher than a maximum cutting height that can be cut by the repair vehicle, the height of the cutting surface is the maximum cutting height, and the height information is When it is lower than the maximum cutting height that can be cut by the repair vehicle, the height of the cutting surface is set to a height based on the height information.

  In the present invention configured as described above, when the height information is higher than the maximum cutting height that can be cut by the repair vehicle, the height of the cutting surface is set as the maximum cutting height. On the other hand, when the height information is lower than the maximum cutting height that can be cut by the repair vehicle, the height of the cutting surface is set to the height based on the height information to correspond to the maximum cutting height of the repair vehicle to be used. A cutting surface can be created.

  Further, the present invention is characterized in that, in the above-mentioned invention, the cutting surface information is formed at an inclination angle at which the vehicle can travel.

  The present invention configured as described above makes it possible to create a cutting surface corresponding to the traveling ability of the vehicle traveling on the road surface to be repaired by using the cutting surface information of an inclination angle that can be traveled by the vehicle.

  The present invention detects position information indicating a position that requires repair on a road surface on which the vehicle travels, and detects height information indicating the height of the position that requires repair, and detects the detected position information and height. Based on the information, cutting surface information indicating a cutting surface formed by cutting the road surface is calculated, and the road surface is cut by the repair vehicle based on the calculated cutting surface information. With this configuration, the present invention detects the position information indicating the position where repair is required and the height information indicating the height of the position where repair is necessary, thereby detecting the situation along with the position where the repair is necessary on the road surface. It can be detected. Further, by calculating the cutting surface information based on the position information and the height information, the cutting surface information of the cutting surface information can include the height of the position together with the position that requires repair. Therefore, by cutting the road surface with a repair vehicle based on this cutting surface information, it is possible to cut the position in the road surface that requires repair based on the height that the position needs to be repaired. Since there is no need to go to a position where repair is necessary and check its height, the work efficiency of repairing the road surface can be easily reduced. Problems, configurations, and effects other than those described above will be made clear from the following description of embodiments.

It is a system configuration figure for enforcing the creation method of the cutting surface concerning one embodiment of the present invention. It is a whole block diagram of the dump truck used in order to implement the said creation method of the cutting surface. It is a block diagram which shows the control system of the said dump truck. It is a block diagram which shows the control system of the management station used in order to implement the said cutting surface creation method. It is a block diagram which shows the control system of the grader used in order to implement the said preparation method of the cutting surface. It is a flowchart which shows the operation | movement in the said dump truck. It is a figure which shows an example of the road surface state detected by the millimeter wave sensor of the said dump truck. It is a flowchart which shows the operation | movement in the said management station. It is a figure which shows the condition which produces the cutting surface with the said grader. It is a flowchart which shows the operation | movement in the said grader. It is a flowchart which shows the operation | movement in the said management station.

  Hereinafter, an embodiment of a method for creating a cutting surface according to the present invention will be described with reference to the drawings. FIG. 1 is a system configuration diagram for carrying out a cutting surface creation method according to an embodiment of the present invention.

  The cutting surface creation method according to the present invention is implemented by a road surface repair system 1 shown in FIG. The road surface repair system 1 detects the road surface state of the traveling road surface, determines whether or not there is a portion requiring repair on the traveling road surface, and detects the height (depth) of the portion requiring repair. This is an operation management system for a mine, for example, for repairing a place where this repair is determined to be necessary. Specifically, the road surface repair system 1 includes a dump truck 2 that is a vehicle, a management station 3 that manages operations of the dump truck 2, and a road surface on which the dump truck 1 travels based on a command from the management station 3. And a grader 4 which is a repair vehicle for performing the repair work.

<Dump truck>
FIG. 2 is an overall configuration diagram of a dump truck used for carrying out the cutting surface creation method. FIG. 3 is a block diagram illustrating a dump truck control system. The dump truck 2 is loaded with a hydraulic excavator or the like at a work point, travels to a discharge point, and loads and unloads the load. Specifically, as shown in FIGS. 2 and 3, the dump truck 2 transmits information to and from the control device 2 a that controls the overall processing such as traveling of the dump truck 2 and raising and lowering of the loading platform. A communication device 2b, a GPS device 2c as a position detecting unit for detecting position information such as the traveling position of the dump truck 2, and a millimeter wave sensor 2d as a road surface monitoring unit for monitoring the traveling road surface of the dump truck 2. ing.

  Further, as shown in FIG. 3, the dump truck 2 includes a parking brake 2e that is a braking device for braking the traveling of the dump truck 2, a shift lever 2f for changing the traveling direction of the dump truck 2, and the like. An accelerator pedal 2g for stepping on the dump truck 2 to travel is provided. Further, the dump truck 2 is prestored with a RAM 2h as a storage unit for storing various data in a readable manner, and a threshold value Z that is a time interval for transmitting information stored in the RAM 2h to the management station 3, for example. A ROM 2i serving as a storage unit; and a display 2j for displaying the position information of the dump truck 2 calculated by the GPS device 2c and various information transmitted from the management station 3.

  The control device 2a includes, for example, a central processing unit CPU 2k and a timer (not shown) that measures time, and based on signals transmitted from the millimeter wave sensor 2d and the GPS device 2c, It is a repair necessity determination unit that determines whether or not road surface repair is necessary and identifies the position and situation where road surface repair is necessary. That is, the control device 2a detects the state of the traveling road surface on which the dump truck 2 travels based on the detection signal from the millimeter wave sensor 2d, and the repair required position on the traveling road surface and the size of the unevenness at the repair required position. Detect height and height (depth). Therefore, the control device 2a is a repair calculation unit for calculating the height (depth) of the unevenness at each repair required position. Furthermore, when detecting the repair required position, the control device 2a creates road surface uneven position information using the traveling position of the dump truck 2 at that time as position information indicating the repair required position, and the height of each of these repair required positions. Road surface unevenness depth information is created as height information indicating (depth), and the created information is stored in the RAM 2h.

  The control device 2a detects the traveling position of the dump truck 2 based on the GPS signal transmitted from the GPS device 2c and stores it in the RAM 2h. That is, the control device 2a detects the route (traveling locus) on which the dump truck 2 travels based on the traveling position data stored in the RAM 2h every predetermined time, and stores it in the RAM 2h as traveling locus information. Further, the control device 2a transmits the road surface unevenness position information, the road surface unevenness depth information, and the travel locus information stored in the RAM 2h to the management station 3 through the communication device 2b at a predetermined timing. And the process by this control apparatus 2a is performed by the arithmetic processing by CPU2k based on the predetermined program previously memorize | stored in ROM2i.

  Next, the communication device 2 b transmits and receives information between the dump truck 2 and the management station 3. The GPS device 2c is a position detection unit for detecting the position of the dump truck 2, and calculates position information of the dump truck 2 based on a GPS signal received from a GPS satellite (not shown). The calculated position information is stored in the RAM 2h by the control device 2a.

  The millimeter wave sensor 2d is a road surface state detection unit that detects a road surface state of a traveling road surface on which the dump truck 2 travels while the dump truck 2 travels. The millimeter wave sensor 2d is provided on the front side of the dump truck 2, and is configured to be able to grasp the entire road surface state in the width direction of the traveling road surface of the dump truck 2. In addition, the millimeter wave sensor 2d includes a radiation unit that radiates a transmission wave radially, and a light receiving unit (not shown) that receives a reflected wave of the transmission wave emitted from the radiation unit.

  The millimeter wave sensor 2d radiates a transmission wave from the radiating portion toward the traveling road surface ahead of the dump truck 2, and receives the reflected wave from the traveling road surface of the transmission wave at the light receiving portion. That is, when the traveling road surface in front of the dump truck 2 is flat and flat with no irregularities, the millimeter wave sensor 2d receives reflected waves from the road surface at regular intervals with respect to the transmitted wave. On the other hand, if there are irregularities or obstacles on the road surface in front of the dump truck 2, the return of reflected waves will be faster than that on flat ground if convex protrusions or obstacles. If there is, the return of reflected waves will be slower than on flat ground. Therefore, the road surface state of the traveling road surface ahead of the dump truck 2 is detected by the millimeter wave sensor 2d. Based on the return time of the reflected wave, the distance from the installation position of the millimeter wave sensor 2d to the traveling road surface is measured and transmitted to the control device 2a.

<Management Bureau>
FIG. 4 is a block diagram showing a control system of the management station used for carrying out the cutting surface creation method. Specifically, as shown in FIG. 4, the management station 3 includes a control device 3a, a communication device 3b as a transmission unit, a display 3c, and the like. The control device 3a includes, for example, a CPU 3d as a central processing unit, a RAM 3e as a storage unit for storing various data in a readable manner, a ROM 3f in which a predetermined program is stored in a readable manner, and the processing in the management station 3 Control the whole. Further, the control device 3a receives road surface unevenness position information, road surface unevenness depth information and travel locus information transmitted from the communication device 2b of the dump truck 2 via the communication device 3b. The received information is stored in the RAM 3e. The RAM 3e stores various information related to the model, specifications, performance, etc. of the grader 4 that performs repair work such as ID information.

  That is, the control device 3a is a mine or quarry site indicating the repair-required position on the traveling road based on the road surface unevenness position information, road surface unevenness depth information, and travel locus information received from the communication device 2b of the dump truck 2. And target depth data as cutting surface information indicating a repair depth (target depth), for example, a target value that needs to be repaired at each repair required position.

  Here, the target depth data is information regarding a cutting surface formed when each repair-required position on the traveling road surface of the dump truck 2 is cut by the grader 4. That is, the target depth data is calculated according to the maximum cutting height that can be cut by the grader 4. Further, the control device 3a transmits repair map data to the grader 4 through the communication device 3b as an instruction to perform repair work at the repair required position. The processing by the control device 3a is executed by arithmetic processing by the CPU 3d based on a predetermined program stored in advance in the ROM 3f. Further, the repair map data and the target depth data are transmitted to the grader 4 via the communication device 3b.

<Grada>
FIG. 5 is a block diagram showing a grader control system used for carrying out the method of creating a cutting surface. The grader 4 is a road surface repair unit that repairs a road surface at each repair required position on the transmitted repair database. Specifically, as shown in FIG. 5, the grader 4 includes a control device 4 b that controls the overall processing such as traveling of the grader 4 and raising and lowering of the blade 4 a that is the earth discharging plate, the traveling position of the grader 4, and the like. A GPS device 4c as a position detecting unit for detecting the position information of the blade 4a and a blade actuator 4d for moving the blade 4a up and down. Further, the grader 4 detects the inclination of the vehicle body of the grader 4 in the front-rear direction and the lateral direction, for example, a pendulum sensor, a vehicle body inclination sensor such as MEMS, 4e, a link portion (not shown) of the blade 4a, and the like And a blade angle sensor 4f for detecting the inclination angle of the blade 4a. Specifically, the grader 4 is a so-called motor grader that drives a blade 4a installed between front and rear axles by a blade actuator 4d to level a road surface such as a traveling surface.

  Further, the grader 4 includes a communication device 4g for transmitting information to the outside, a RAM 4h as a storage unit for storing various data in a readable manner, and a storage in which a predetermined program is stored in a readable manner. ROM 4i as a unit, and a display 4j configured by, for example, a liquid crystal display for displaying the position information of the grader 4 calculated by the GPS device 4c and various information transmitted from the management station 3 I have.

  The control device 4b includes, for example, a CPU 4k that is a central processing unit, and controls the entire processing of the grader 4. Specifically, the control device 4b receives the repair map data and the target depth data transmitted from the management station 3 via the communication device 4g, and displays the received repair map data, target depth data, and the like. It is displayed on the device 4j. The grader 4 travels to the repair required position indicated by the repair map data while checking the position of the grader 4 itself detected by the GPS device 4c, and the blade actuator 4d is appropriately controlled at the repair required position. Then, the blade 4a is driven while being appropriately driven, and the repair work at the repair required position is automatically performed.

  At this time, the control device 4b detects the position information of the grader 4 detected by the GPS device 4c, the inclination angle information of the grader 4 detected by the vehicle body inclination sensor 4e, and the blade detected by the blade angle sensor 4f. Based on the inclination angle of 4a, the height position of the tip portion on the lower end side of the blade 4a is measured as a three-dimensional position. Then, a control command value for driving the blade actuator 4d is calculated so that the height of the tip of the blade 4a becomes the target depth on the target depth data.

<Repair system>
Next, the operation of the repair system according to the one embodiment will be described. FIG. 6 is a flowchart showing the operation in the dump truck. The process shown in FIG. 6 is executed by the control device 2a of the dump truck 2.

  First, it is determined whether or not the ignition switch (not shown) of the dump truck 2 is turned on or the driving of the engine (not shown) is started (started) (S1). When it is determined in S1 that the engine has started (in the case of Yes), the control device 2a starts detecting the position of the dump truck 2 based on the GPS signal input from the GPS device 2c. (S2).

  After this S2, it is determined whether or not the dump truck 2 has started running (S3). In S3, for example, when the parking brake 2e is unlocked, the shift lever 2f is shifted from the neutral (N) position, or the operation amount of the accelerator pedal 2g is more than a predetermined amount, a dump is performed by the control device 2a. It is determined that the track 2 has started running. When it is determined in S3 that the dump truck 2 has started running (in the case of Yes), a timer built in the control device 2a is turned on and time measurement is started (S4).

  Thereafter, the time information measured in S4 is stored in the RAM 2h of the control device 2a together with the position information of the dump truck 2 detected in S2 (S5). At this time, in S5, the traveling position of the dump truck 2 is continuously measured and stored in the RAM 2h, so that the dump truck 2 travels through which route between the work point and the discharge point. Traveling track information indicating whether or not

  Next, the time [s] measured in S4 is compared with the threshold value Z [s] (S6). Here, the threshold value Z is a time interval for transmitting the information stored in the RAM 2h to the management station 3, and an appropriate value is set in advance and stored in the ROM 2i. Specifically, when the threshold value Z is set to several seconds, the travel locus information is transmitted to the management station 3 at the set intervals of several seconds. Further, when the threshold value Z is set to a value corresponding to, for example, the traveling time between the work point and the discharge point by the dump truck 2, the dump truck 2 sets 1 between the work point and the discharge point. Each time traveling is completed, traveling locus information is transmitted to the management station 3.

  When it is determined in S6 that the time measured in S4 is smaller than the threshold Z (in the case of Yes), detection of the traveling road surface by the millimeter wave sensor 2d is started (S10). Further, based on the detection of the traveling road surface by the millimeter wave sensor 3d in S10, the unevenness state of the traveling road surface is determined by the control device 2a (S11). In S11, the distance from the installation position of the millimeter wave sensor 2d to a flat road surface (reference road surface) without unevenness is set as a reference value X [m], and the road surface measured by the reference value X and the millimeter wave sensor 2d is used as the reference value X. The difference with the distance measurement value Y [m], which is the distance up to is compared.

  In S11, when it is determined that the distance measurement value Y is greater than or equal to the predetermined value α [m], which is greater than the reference value X, a depression (hole) having a depth α [m] or more exists on the road surface. To be judged. On the other hand, when it is determined that the distance measurement value Y is less than the reference value X by the predetermined value α, it is determined that there is a protrusion (obstacle) having a height α [m] or more on the road surface. Here, the predetermined value α is a value for determining whether the unevenness on the road surface is large enough to be repaired, and an appropriate value is set in advance and stored in the ROM 2i. .

  Furthermore, if it is determined in S11 that the distance measurement value Y is greater than or equal to (X + α) or less than or equal to (X−α), it is determined that the road surface has unevenness that requires repair (S12). On the other hand, if it is determined in S11 that the distance measurement value Y is between (X−α) and (X + α), it is determined that the unevenness does not require repair, and the process proceeds to S5. The detection of the road surface condition of the traveling road is repeated.

  Furthermore, when it is determined in S12 that there is an unevenness of a size that requires repair, the time when it is determined that there is an unevenness that requires repair, and the dump truck 2 detected by the GPS device 2c. The travel position is stored in the RAM 2h (S13). Here, the concave / convex position and time recording in S13 will be described with reference to FIG. FIG. 7 is a diagram illustrating an example of a road surface state detected by a millimeter wave sensor of a dump truck. Specifically, FIG. 7 shows a time-series change in the distance to the road surface detected by the millimeter wave sensor 2d. That is, in FIG. 7, the distance from the millimeter wave sensor 2d to the reference road surface is the reference value X = 0, and the difference between the reference value X and the distance measurement value Y, that is, the change in the distance from the reference road surface to the measurement point is shown. Show.

  As shown in FIG. 7, when there is no unevenness on the road surface, the distance from the reference road surface shows substantially 0, but the distance from the reference road surface to the measurement point varies at the position where the unevenness exists. Here, for example, when the distance from the reference road surface to the measurement point at time t1 becomes a predetermined value α, for example, α = 12 cm or more, this position is stored in the RAM 2h as a repair required position. Thereafter, a range from the position at the time t1 to a position where the distance from the reference road surface to the measurement point at the time t2 is less than the predetermined value α is stored as road surface uneven position information that is a repair required position. If the absolute value of the distance from the reference road surface to the measurement point at time t3 is equal to or greater than the predetermined value α, the absolute value of the distance from the reference road surface to the measurement point at time t4 is calculated from the position at time t3. A range up to a position smaller than the predetermined value α is stored as road surface unevenness position information that is a repair-needed position.

  In particular, in addition to the road surface uneven position information from time t1 to time t2, the distance from the reference road surface to the measurement point from time t1 to time t2, that is, the height, is detected. From this detected time t1 The height information up to time t2 is stored in the RAM 2h as road surface unevenness depth information, which is road surface unevenness height information corresponding to the repair required position from time t1 to time t2. Similarly, the distance from the reference road surface to the measurement point from the time t3 to the time t4, that is, the depth is detected, and the depth information from the detected time t3 to the time t4 is detected from the time t3 to the time t4. It is stored in the RAM 2h as road surface unevenness depth information corresponding to the repair required positions up to t4.

  Next, it is determined whether or not the dump truck 2 has stopped traveling (S14). In S14, for example, it is determined that the traveling of the dump truck 2 has stopped when the shift lever 2f is shifted to the N position or when the parking brake 2e is operated. If it is determined in S14 that the traveling of the dump truck 2 is not stopped (in the case of No), the process returns to S5, and the processes after S5 are continued.

  On the other hand, when it is determined in S14 that the traveling of the dump truck 2 has stopped (in the case of Yes), it is determined whether or not the driving of the engine of the dump truck 2 has been stopped (S15). If it is determined in S15 that the driving of the engine of the dump truck 2 is not stopped (in the case of No), the process returns to S3, and the processes after S3 are continued. On the other hand, if it is determined in S15 that the driving of the engine of the dump truck 2 is stopped (in the case of Yes), the road surface unevenness position information, the road surface unevenness depth information, and the traveling locus detected in S13 above. Information is read from the RAM 2h and transmitted to the management station 3 via the communication device 2b (S16), while the timer of the control device 2a is reset (S17). As a result, when it is determined that the traveling road surface of the dump truck 2 has unevenness that requires repair, the engine of the dump truck 2 is stopped and the road surface unevenness position indicating the position and size of the unevenness that requires repairing. Information, road surface unevenness depth information and travel locus information are transmitted to the management station 3.

  On the other hand, if it is determined in S6 that the time measured in S4 is equal to or greater than the threshold value Z (in the case of No), the road surface unevenness position information, road surface unevenness depth information, and travel locus information stored in the RAM 2h are stored. The data is transmitted to the management station 3 via the communication device 2b (S7), the timer of the control device 2a is reset (S8), and the time measurement by this timer is started again (S9). Thereafter, the process proceeds to S10, and the detection of the traveling road surface by the millimeter wave sensor 2d after S10 is started. As a result, when the dump truck 2 is continuously working, the road surface unevenness position information, road surface unevenness depth information, and travel locus information are respectively stored in the management station 3 for each predetermined value corresponding to the threshold value Z. Periodically sent to.

  Next, the control flow of the management station 3 that receives information from the dump truck 2 will be described with reference to FIG. FIG. 8 is a flowchart showing the operation in the management station. FIG. 9 is a diagram illustrating a situation in which a cutting surface is created by a grader.

  First, each of road surface unevenness position information, road surface unevenness depth information, and travel locus information transmitted from the communication device 2b of the dump truck 2 is received by the control device 3a via the communication device 3b, and these acquired road surface unevennesses are obtained. Each of position information, road surface unevenness depth information, and travel locus information is stored in the RAM 3e (S21). Thereafter, information on each repair required position in the road surface unevenness position information acquired in S21 is added to the work site of the dump truck 2 previously stored in the RAM 3e or the like, for example, the map data of the mine, and the repair map data Is created (S22).

  Here, the repair map data includes a grader 4 in addition to information on each repair required position on a work site where the dump truck 2 travels stored in the RAM 3e or the like, for example, mine map data (map data). Course data indicating the course to be run is superimposed. This course data is created based on the travel locus information acquired from the dump truck 2. It should be noted that by creating the course data from the travel locus information, it is possible to grasp what route the dump truck 2 travels to the current work point.

  Next, in correspondence with each repair required position in the created repair map data, based on the road surface unevenness depth information acquired in S21, at the position where the depression of each of these repair required positions is formed, The repair depth (target depth) relating to how deep the road surface should be cut by the grader 4 is calculated, and target depth data is created (S23). Here, based on the road surface unevenness depth information acquired in S21, the unevenness depth of the predetermined repair required position is based on the ID information of the grader 4 repairing the repair required position, etc. It is determined whether it is deeper than the maximum cutting height (depth) that is the maximum value that can be cut by the grader 4 according to various performances such as running performance and cutting performance (S24).

  And as shown in FIG. 9, when it is judged in this S24 that the uneven | corrugated depth of a predetermined repair required position is deeper (higher) than the maximum cutting depth of the grader 4 which repairs this repair required position ( In the case of Yes), the repair depth at the repair required position is determined as the maximum cutting depth of the grader 4 (S25). On the other hand, when it is determined in S24 that the uneven depth at the predetermined repair required position is shallower (lower) than the maximum cutting depth of the grader 4 that repairs the repair required position (in the case of No). The repair depth at the repair required position is determined as the uneven depth based on the road surface uneven depth information acquired in S21 (S26).

  Further, after the repair depths at the respective repair required positions are determined in S25 and S26, the cutting surface for cutting the traveling road surface by the grader 4 is determined in accordance with these repair depths. The cutting surface has an inclination angle around the maximum depth at each repair-required position (front and rear) and an inclination angle that allows the dump truck 2 to travel, for example, about 2 ° to 3 °. Is set as follows.

  Thereafter, the target depth data created in S23 to S26 is transmitted to the grader 4 through the communication device 3b together with the repair map data created in S23 (S27), and the processing in the management station 3 is performed. End.

  Next, the flow of performing road surface repair work automatically by the grader 4 will be described with reference to FIG. FIG. 10 is a flowchart showing the operation in the grader. The process shown in FIG. 10 is executed by the control device 4b of the grader 4.

  First, it is determined whether or not driving of the engine (not shown) of the grader 4 is started (started) (S41). When it is determined in S41 that the engine has been started (in the case of Yes), the control device 4b starts detecting the position of the grader 4 based on the GPS signal input from the GPS device 4c ( S42).

  After S42, the repair map data and the target depth data transmitted from the management station 3 are received (S43). Thereafter, it is determined whether the grader 4 has started running (S44). Here, the grader 4 can automatically run based on the course data in the repair map data received from the management station 3. If it is determined in S4 that the grader 4 has started running (in the case of Yes), whether or not the grader 4 has approached any repair-needed position in the repair map data by the control device 4b. Is determined (S45). In S45, an affirmative determination (in the case of Yes) is made when the grader 4 approaches several meters, for example, 5 meters before the repair required position.

  Next, when an affirmative determination is made in S45, the position information of the grader 4 detected by the GPS device 4c, the inclination angle information of the grader 4 detected by the vehicle body inclination sensor 4e, and the blade angle sensor 4f Based on the detected inclination angle of the blade 4a, the current height position of the tip portion on the lower end side of the blade 4a is measured as a three-dimensional position. Then, the blade height movement amount from the height position of the tip of the blade 4a to the target depth at the repair required position in the repair map data is calculated (S46).

  Thereafter, based on the amount of movement of the blade height calculated in S46, the height position of the tip of the blade 4a is set to the target depth at the repair required position in the target depth data. A force, that is, a control command value for driving the blade actuator 4d is calculated (S47). Then, the control command value calculated in S47 is output from the control device 4b, the blade actuator 4d is driven based on this control command value, the blade 4a is actuated as appropriate, and repair work for the approaching required repair position is automatically performed. (S48). Here, when the repair work is started at the repair required position, information indicating that the repair work is being performed (data on road surface repair) is transmitted from the control device 4b to the management station 3 via the communication device 4g. Is done.

  Next, it is determined whether or not the grader 4 has passed the repair required position (S49). In S49, when the repair-necessary position passes several meters, for example, 5 meters, it is determined that the repair-necessary position has been passed. If it is determined in S49 that the repair required position has been passed (in the case of Yes), the control device 4b stops driving the blade actuator 4d, and the repair work at the repair required position is completed and completed. (S50).

  Thereafter, it is determined whether or not repairs have been completed for all the repair-necessary positions on the received repair map data (S51). If it is determined in S51 that the repair of all the repair-needed positions has not been completed (in the case of No), the process returns to S45, and the processes from S45 to S50 are repeated to obtain another repair-required position. The running and repair work up to is continued. On the other hand, if it is determined in S51 that all the repair-needed positions have been repaired (in the case of Yes), it is confirmed that the repair work for all the repair-needed positions has been completed from the control device 4b. Information shown, that is, work completion information (road surface repair completion data) is transmitted to the management station 3 via the communication device 4g (S52).

  Further, after this S52, the control device 4b causes the grader 4 to travel to a predetermined position in accordance with the course data in the repair map data, and then stops the engine drive of this grader 4 (S53), The road surface repair work by the grader 4 is completed.

  Next, a flow of processing performed by the management station 3 after the road surface repair work by the grader 4 is completed will be described with reference to FIG. FIG. 11 is a flowchart showing the operation in the management station.

  First, work completion information transmitted from the communication device 4g of the grader 4b is received by the control device 3a via the communication device 3b, and the received work completion information is stored in the RAM 3e (S31). Thereafter, based on the work completion information received in S31, a process of deleting the repair-required position from the repair map data is performed based on the work completion information received, and the repair map data is updated (S32). At this time, the time when the repair work at the repair required position deleted from the repair map data may be added to the repair map data.

<Effect>
In general, if there is unevenness on the road surface between the work site and the release point of the dump truck 2, the dump truck 2 will be affected by vibrations and running resistance during driving. There is a problem such as dropping a part of. For this reason, in the mine, the quarrying site, etc. where the dump truck 2 is used, generally, the road surface repair work is regularly performed.

  Therefore, according to one embodiment of the present invention, the repair required position on the traveling road surface of the dump truck 2 is detected by the millimeter wave sensor 2d attached to the dump truck 2, and road surface uneven position information regarding these repair required positions is detected. Is created by the control device 2a of the dump truck 2, and road surface unevenness depth information relating to the repair depth at each repair-needed position is created by the control device 2a. That is, road surface unevenness position information that is position information indicating a repair required position that requires repair on the traveling road surface of the dump truck 2, and road surface unevenness depth information that is height information indicating the repair height at the repair required position; Can be detected, and the situation can be detected together with the repair-needed position in the road surface of the dump truck 2.

  Therefore, in addition to the traveling track information of the dump truck 2 detected by the GPS device 2c, the road surface unevenness position information and the road surface unevenness depth information created by the control device 2a of the dump truck 2 are sent to the management station 3. As a result, the control device 3a of the management station 3 can create repair map data in which information on each repair required position is added to the map data at the work site, and repair work for each repair required position in the repair map data. It is possible to calculate the performance of the grader 4 for performing the repair, that is, the repair depth at each repair required position corresponding to the maximum cutting ability. Therefore, the target depth data regarding the cutting surface information indicating the cutting surface of the road surface corresponding to the performance of the grader 4 can be calculated based on these repair depths. In other words, the cutting surface information in the target depth data can include height information corresponding to the repair required position and information corresponding to the performance of the grader 4.

  Further, by sending the target depth data together with the repair map data to the control device 4b of the grader 4, the grader 4 is automatically controlled according to the repair map data and the target depth data. It is possible to automatically perform repair work at a position where repair is necessary. That is, by using the target depth data relating to the target depth at each repair-needed position created by the control device 3a of the management station 3, the traveling road surface of the dump truck 2 can be repaired efficiently. Therefore, since it is possible to cut the repair required position on the traveling road surface of the dump truck 2 based on the repair height of the repair required position, for example, it is necessary to go to the repair required position and check the height. Therefore, the work efficiency when repairing the traveling road surface of the dump truck 2 can be easily reduced.

  In particular, when the repair map data is created based on the traveling track information, the road surface unevenness position information, and the road surface unevenness depth information of the dump truck 2, the grader 4 that performs repair work for each repair required position in the repair map data. In accordance with the ID information or the like, the repair depth at each repair-required position corresponding to the maximum cutting ability of the grader 4 is calculated and used as target depth data. As a result, target depth data corresponding to the grader 4 to be used is calculated even when the road surface is cut using different graders 4 at a work site where a plurality of graders 4 having different maximum cutting heights are owned. can do.

  Furthermore, when calculating the repair depth at the position where the dent is formed among the repair required positions based on the road surface unevenness depth information, the uneven depth at the predetermined repair required position repairs this repair required position. When it is determined that the depth is greater than the maximum cutting depth of the grader 4 to be repaired, the repair depth at the repair required position is set as the maximum cutting depth of the grader 4. On the other hand, if it is determined that the depth of the unevenness at the predetermined repair required position is shallower than the maximum cutting depth of the grader 4 that repairs the repair required position, the repair depth at the repair required position is set to the road surface. The unevenness depth is based on the unevenness depth information. As a result, it is possible to create a cutting surface corresponding to the performance of the grader 4 used for repair work, that is, the maximum cutting ability.

  Further, after determining the repair depth of each repair required position based on the road surface unevenness depth information, when determining the cutting surface when cutting the traveling road surface with the grader 4 corresponding to these repair depths, The inclination angle around the maximum depth at each of these repair-required positions is set to an inclination angle that allows the dump truck 2 to travel. As a result, it becomes possible to create a cutting surface corresponding to the traveling ability of the dump truck 2 that travels on the traveling road surface after repair.

<Others>
In addition, this invention is not limited to embodiment mentioned above, Various deformation | transformation aspects are included. For example, the above-described embodiments have been described in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the configurations described.

  Furthermore, in the above-described embodiment, the dump truck 2 is taken as an example of a vehicle that travels on a work site, and the grader 4 is taken as an example of a repair vehicle that repairs a traveling road surface. However, the present invention is not limited to this, For example, various vehicles such as a wheel loader and a truck may be used as the vehicle traveling on the site, and various repair vehicles such as a bulldozer and a hydraulic excavator may be used as the repair vehicle.

  Further, based on the travel locus information, road surface unevenness position information and road surface unevenness depth information transmitted from the dump truck 2, the control device 3a of the management station 3 along with the repair map data, and the target for the cutting surface at each repair required position. It was set as the structure which creates depth data. However, since the maximum cutting performance differs depending on the specifications of the grader 4, the control device for the grader 4 in which information such as road surface unevenness depth information and the like, and data such as its own maximum excavation capacity are previously stored in the ROM 4i etc. together with the repair map data 4 and the target depth data corresponding to the specifications of the grader 4 can be created by the control device 4b of the grader 4. In addition to the repair map data, target depth data related to the repair depth at each repair required position is created. However, the target depth data can be included in the repair map data.

  Further, the grader 4 is automatically run on the basis of the repair map data and the target depth data transmitted from the management station 3 to repair each necessary repair position. However, the operator operates the grader 4 based on the repair map data and the target depth data to perform traveling and repair work, or the operator manually travels to the repair required position, and at each repair required position. It can be configured to automatically perform the repair work.

  In addition, corresponding to each repair required position in the repair map data, based on the road surface unevenness depth information, the repair depth of only the position where the depression is formed among the repair required positions is calculated, and the target depth data is obtained. Created. However, the positions where protrusions (obstacles) are formed out of these repair-needed positions are moved by cutting with the grader 4 along the reference road surface, or by pushing outside the running road surface in the case of obstacles. Therefore, it is not necessary to create target depth data. Therefore, for repair required positions that are not on the target depth data, a repair vehicle such as a grader 4 or a bulldozer is run based on the repair map data, and the protrusions at these repair required positions are cut or moved.

1 Road surface repair system 2 Dump truck (vehicle)
2a Control device 2b Communication device 2c GPS device 2d Millimeter wave sensor 2e Parking brake 2f Shift lever 2g Accelerator pedal 2h RAM
2i ROM
2j display 2k CPU
3 Control Station 3a Control Device 3b Communication Device 3c Display 3d CPU
3e RAM
3f ROM
4 Graders (repair vehicle)
4a Blade (cutting surface)
4b Control device 4c GPS device 4d Blade actuator 4e Car body tilt sensor 4f Blade angle sensor 4g Communication device 4h RAM
4i ROM
4j display 4k CPU

Claims (4)

In addition to detecting position information indicating the position that requires repair on the road surface on which the vehicle travels, detecting height information indicating the height of the position that requires repair,
Based on the detected position information and height information, calculate cutting surface information indicating a cutting surface formed by cutting the road surface,
Based on the calculated cutting surface information, the road surface is cut by a repair vehicle. In the creation method of the cutting surface according to claim 1,
The cutting surface information is calculated according to a maximum cutting height that can be cut by the repair vehicle. In the creation method of the cutting surface according to claim 2,
When the height information is higher than the maximum cutting height that can be cut by the repair vehicle, the height of the cutting surface is the maximum cutting height,
When the height information is lower than the maximum cutting height that can be cut by the repair vehicle, the height of the cutting surface is set to a height based on the height information. In the preparation method of the cutting surface in any one of Claims 1 thru | or 3,
The cutting surface information is formed at an inclination angle at which the vehicle can travel.