JP2015194924A - Map editing system for work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a map editing system for a work machine that can keep a value, which is input in connection with map data for autonomous running of the work machine when creating the map data, within an appropriate range from a perspective of work efficiency.SOLUTION: A map editing system comprises: a map DB 130 that stores machine attribute information being a data group regarding specifications of a mine dump truck 200, stores road attribute information being a data group for defining both a running route of the mine dump truck and a road to which the running route is set, and stores running attribute information being a data group to be used when the mine dump truck runs along the running route; an input part 120 that inputs data relating to the running attribute information into the map DB 130; and a calculation part 135 that calculates an appropriate range from a perspective of work efficiency of the mine dump truck, with respect to a value of data which is included in the running attribute information and is input through the input part, on the basis of at least one data included in the machine attribute information and road attribute information in the map DB 130.

Description

  The present invention relates to a map editing system for a work machine including an autonomous traveling dump.

  In mining operations in mines, technology is required for unmanned machines to perform mining operations for the purpose of improving safety and reducing costs. At the mining site, it is necessary to dig earth and sand with an excavator such as a hydraulic excavator and transport the earth and sand and minerals out of the mining site with a transporter. The work of transporting earth and sand outside the mining site may be performed by a large transport vehicle such as a dump truck (mine dump). Since the amount of earth and sand transported per unit time by the transport vehicle is directly related to the progress of mining, the transport vehicle during transport work is required to travel as fast as possible.

  As background art of this technical field, there is one described in US Patent Application Publication No. 2008-0208393 (Patent Document 1). This document is based on a procedure for determining vehicle control along at least one segment included in the route and at least one control feature related to the vehicle control with respect to control of the transport vehicle along the determined route. A method for determining at least one vehicle control parameter including a procedure for determining before performing vehicle control along the route is described. When the gear change (shift) of the transport vehicle is controlled based on information (for example, vehicle speed, throttle valve opening) output from various sensors mounted on the transport vehicle, the sensor information can be obtained in a short time. When it changes frequently (for example, when driving on uneven terrain), unnecessary gear changes may occur, resulting in reduced operating efficiency, increased fuel consumption, increased transport cycle, etc. If vehicle control is performed in accordance with the parameter after determining the vehicle control parameter as described in the above document, complicated gear changes can be avoided even if the sensor information frequently changes in a short time.

US Patent Application Publication No. 2008-0208393

  In the autonomous traveling system for a mine dump which is one of the application targets of the present invention, vehicle position information calculated by a positioning device including a GPS receiver mounted on the mine dump, map data of a mine prepared in advance, By controlling the mine dump based on the above, the autonomous traveling of the mine dump is realized. The map data used in this type of autonomous driving system includes information for defining the route (travel route) for the mine dump to travel on the road in the mine (for example, travel route and road shape information) Information related to the route and used for autonomous traveling control of the mine dump (for example, speed limit information of the mine dump) is included. The autonomous traveling system realizes autonomous traveling in which the mine dump follows the traveling route based on the information, the position information of the mine dumped by the positioning device, and the traveling route (target trajectory).

  By the way, as the mining operation progresses, the position of the mining place moves, so the travel route along which the mine dump travels and the position and shape of the road also change. As a result, it is necessary to change / update map data as the mining site moves. In the information included in the map data, there is information that can be automatically collected halfway from the travel locus by running a vehicle equipped with a positioning device such as the travel route and the linear shape of the road when changing it, For example, there are some items that require input by an operator, such as information used for autonomous traveling control of a mine dump (for example, a speed limit for a mine dump).

  For example, if the speed limit information of the mine dump is input by the operator as the latter information, the input value is not within an appropriate range from the viewpoint of the actual travel route shape and vehicle specifications, and there is room for improvement from the viewpoint of transportation efficiency. It may be a certain thing or inappropriate for vehicle operation. More specifically, if it is assumed that the value input by the operator as the speed limit for a certain section of a certain travel route is close to the value used as the speed limit for a linear travel route, the actual travel route When is a curved shape rather than a straight shape, the speed is exceeded and the possibility that the vehicle deviates from the travel route becomes high, and the work efficiency may be significantly reduced. This type of problem is not limited to the above-described mine dump, but also occurs in other work machines such as a wheel loader that autonomously travel. Moreover, the technique of the said literature determines the vehicle control parameter used for the vehicle control along a route automatically, and does not presuppose the information input by an operator like this invention.

  An object of the present invention is to provide a map editing system for a work machine capable of keeping a value input in association with the map data when creating the map data for autonomous running of the work machine within an appropriate range from the viewpoint of work efficiency. Is to provide.

  In order to achieve the above object, according to the present invention, in a map editing system used to create a map used for traveling of a work machine, machine attribute information which is a data group related to specifications of the work machine, travel of the work machine Road attribute information, which is a data group for defining a route and a road on which the travel route is set, and travel attribute information, which is a data group used when the work machine travels on the travel route, are stored. A map storage unit; an input device for inputting data relating to the travel attribute information to the map storage unit; and a value of data that can be input via the input device among the travel attribute information. An arithmetic unit that calculates an appropriate range from the viewpoint of work efficiency based on at least one data included in the machine attribute information and the road attribute information With.

  According to the present invention, the value input to the operator in relation to the map data at the time of creating the map data can be within an appropriate range, so that it is possible to prevent the work efficiency from being lowered due to the update of the map data.

1 is a system configuration diagram according to an embodiment of the present invention. Schematic of the mine dump used in the operation management system concerning an embodiment of the invention. The conceptual diagram of the control center utilized in the operation management system which concerns on embodiment of this invention. The map edit processing flow of the mine dump 200 which concerns on embodiment of this invention. The block diagram of the route shape management table 500. FIG. The block diagram of the gradient management table 700. FIG. The block diagram of the curvature management table 800. FIG. The block diagram of the road surface resistance management table 900. FIG. The block diagram of the speed management table 600. FIG. The block diagram of the dump specification management table 1500. FIG. The figure which shows an example of the screen which receives the change request | requirement of the driving | running | working attribute value via the center side input part. The block diagram of the attribute reference | standard management table 1100. FIG. An example of a notification screen provided to the operator 310 in step 415 of FIG. An example of a notification screen provided to the operator 310 in step 420 of FIG. The other map editing process flow for the mine dump 200 concerning embodiment of this invention.

  First, before describing the embodiment of the present invention, main features included in the map editing system according to the embodiment of the present invention will be described.

  (1) The work machine map editing system according to the present embodiment, which will be described later, defines machine attribute information that is a data group related to specifications of the work machine, a travel route of the work machine, and a road on which the travel route is set. A map storage unit that stores road attribute information, which is a data group for driving, and travel attribute information, which is a data group used when the work machine travels on the travel route, and the travel to the map storage unit An input device for inputting data relating to attribute information, and an appropriate range from the viewpoint of work efficiency of the work machine with respect to a value of data that can be input through the input device of the traveling attribute information, A calculation unit that calculates based on at least one data included in the machine attribute information and the road attribute information.

  In this way, an appropriate range from the viewpoint of work efficiency of the work machine regarding the value of data that can be input via the input device among the travel attribute information by the calculation unit is determined as the machine attribute information and the road. When calculation is performed based on at least one data included in the attribute information, whether or not the input value is included in the appropriate range when the driving attribute information in which the appropriate range is calculated is input via the input device. Therefore, for example, if the input of only the values included in the appropriate range is permitted, the work efficiency of the work machine can be improved.

  The clarification of the appropriate range of the input value is not limited to the case where the input value is manually input by the operator, but the input value candidate target is also specified in a specific range when the input value is automatically input by the computer. Therefore, regardless of whether the input subject is a person or a computer, the map editing work can be optimized and the required time can be shortened.

  (2) In the above (1), preferably, it is determined whether or not the data input through the input device in the travel attribute information is included in the appropriate range calculated by the calculation unit. A determination unit and an output device that outputs a determination result by the determination unit are further provided.

  Thus, when inputting the data related to the travel attribute information to the map storage unit, it is determined whether or not the input data is included in the appropriate range, and when the determination result is output to the output device, An operator who has input the data related to the travel attribute information into the map storage unit can immediately be notified whether the input data is inappropriate. As a result, it is avoided that inappropriate data is input as the travel attribute information, and the work vehicle is properly controlled. As a result, the work machine may deviate from the travel route or useless speed. Since it is possible to prevent the fuel consumption from increasing due to the control, it is possible to prevent a decrease in work efficiency associated with the update of the map data.

  (3) In the above (2), preferably, the output device is a display device, and the display device includes data relating to the travel attribute information input to the map storage unit in the appropriate range. If the determination unit determines that there is no such data, the data is highlighted.

  According to the map editing system configured as described above, data related to the travel attribute information not included in the appropriate range can be easily determined from other data, and therefore, inappropriate data as the travel attribute information. Can be further reduced.

  (4) In any one of the above (1) to (3), the shape of the travel route in the road attribute information is preferably defined by connecting a plurality of links, and the machine attribute information and the road attribute information The travel attribute information is preferably given for each link.

  If the shape of the travel route is defined by a link in this way, the travel route and each of the above information can be easily associated. In addition, the link here is a minimum unit for defining the shape of the travel route of the work machine, and is defined by a virtual member that connects any two points. By connecting each other, the shape of the travel route is linearly defined. For example, when a total of two lanes (travel routes) of the forward lane and the return lane are set on the road, each lane becomes a travel route. If necessary, the shape of the road related to the travel route may be defined by a link instead of the travel route.

  (5) In any one of the above (1) to (4), preferably, the machine attribute information includes a maximum total weight and a body weight of the work machine.

  If comprised in this way, in the determination whether the said input data performed in the said determination part will be contained in the said appropriate range, the presence or absence of the load of the said working machine, and a weight can be considered. Usually, from the viewpoint of work efficiency, the work machine is loaded with a load up to a maximum load weight or a state close thereto, so that the total weight in a state where there is a load can be estimated from the maximum total weight. On the other hand, the total weight without load can be estimated from the weight of the aircraft. When determining whether the input data is appropriate by the determination unit, if it is necessary to determine whether or not there is a load when the work machine is traveling, a load sensor is mounted on the work machine, and the output from the sensor is used. Based on this, the presence or absence of the load can be determined. Also, like a mine dump, an unloading site (loading site) and an unloading site (unloading site) have been decided, and when the work machine reciprocates repeatedly between the two locations, the unloading site is unloaded from the unloading site. The movement to is a state with loading, and the movement from the unloading place to the unloading place becomes a state without loading, and the presence or absence of loading can be determined relatively easily.

  As the machine attribute information, in addition to the maximum total weight and body weight of the work machine, the type, model, suspension characteristics, etc. of the work machine may be added. Of these, the type and type of work machine can be used as a primary key when machine attribute information is stored in a database when there are a plurality of types of work machines. In addition, since the suspension characteristics contribute to the running stability of the work machine, the suspension characteristics can be used together with the curvature of the road on which the running route is set and the like to determine whether the input data is appropriate or not. The suspension characteristic can be quantified by, for example, a spring constant related to the suspension or a damping force of the damper.

  (6) In any one of (1) to (5), the travel attribute information includes at least one of an upper limit speed, a lower limit speed, an upper limit acceleration and a lower limit deceleration, and a selected gear of the work machine. It shall be.

  The travel attribute information is mainly referred to when the work machine is autonomously traveled along the travel route. However, the travel attribute information may be used as information that the operator refers to when traveling on a manned work machine on which the operator is boarded. Is available. The speed of the work machine that travels on the travel route to which the travel attribute information is assigned is controlled within a range surrounded by an upper limit speed and an acceleration / deceleration speed. Similarly, the work machine is accelerated within the range of the upper limit acceleration or less and decelerated within the range of the lower limit deceleration or more. Further, when the work machine includes a transmission in the travel device, the gear specified by the travel attribute information is selected. These values are appropriately determined so as to optimize transportation efficiency, fuel consumption, component life, and the like.

  (7) In any one of the above (1) to (6), from the viewpoint of promoting the optimization of the numerical value by narrowing the numerical value range determined by the determination unit as the appropriate range, the road attribute information includes: Preferably, at least one of the road gradient, curvature, and road resistance is included.

  Regarding the slope, not only the road longitudinal slope but also the road crossing slope may be included. Furthermore, as the road attribute information, various types of information defining characteristics of the road and the travel route such as the moisture content of the road and the presence or absence of pavement may be stored.

  Next, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, when the operator 310 of the control center 300 (see FIG. 3) changes / inputs travel attribute information such as a speed limit included in the map data, is the input value appropriate from the viewpoint of work efficiency? This is an example in which a warning message is displayed on the operator 310 via the monitor 125 if it is determined inappropriate.

  In the following, a map editing system for a mine dump used in a mine will be described, but this embodiment can carry a transport vehicle other than a mine dump, for example, a general dump truck, a large truck, and a luggage. It can also be applied to other self-propelled machines that can. It is also applicable to mobile machines that perform certain tasks related to mining, construction, agriculture, transportation and other industries. For example, the present invention can be applied to commercial machines such as trucks, cranes, civil engineering machines, mining vehicles, material handling equipment, agricultural equipment, excavators, dozers, and loaders. Furthermore, the present invention is applicable to motor graders and any type of machine that operates in a work environment such as a construction site, a mine, and a power plant.

  A system configuration diagram according to an embodiment of the present invention is shown in FIG. The dump truck operation management system shown in this figure includes a control center system 100 installed in the control center 300 and an in-vehicle terminal system 150 mounted on each of a plurality of mine dumps 200 (see FIG. 2) in the mine site. It is configured. The control center system 100 and the in-vehicle terminal system 150 are connected by a wireless communication network 190 to exchange information. In-vehicle terminal system 150 is mounted in each of a plurality of mine dumps 200 in the mine, and thus there are actually a plurality of in-vehicle terminal systems 150, but only one is shown in FIG.

  The control center system 100 is a control device configured by a computer, and a dump position management unit 105 that manages the position of a mine dump transmitted from each in-vehicle terminal system 150, and data related to the specifications of each mine dump in the mine site. Group (machine attribute information), a mine dump travel route, a data group (road attribute information) for defining a road in the mine site where the travel route is set, and a mine dump traveling along the travel route A center side map database (for example, a magnetic storage device or a semiconductor storage device) 130 that stores and manages map data including a data group (running attribute information) that is used by the operator, and an operator 310 updates the map data in the map DB 130. Center-side input unit 1 used for performing data input operations on the map DB 130 0 (the center side input 120 is an input device such as a mouse and a keyboard, for example, and the input target by the input device is not limited to the travel attribute information, and any information can be input), and the center side input unit An input data determination unit 140 that determines whether data (input data) input to the control-side map DB 130 by the operator 310 via 120 is included in an appropriate range from the viewpoint of work efficiency of the mine dump 200; The attribute reference database 110 in which the reference value (attribute value) of the determination by the unit 140 is managed, the attribute reference value calculation unit 135 for calculating the reference value stored in the attribute reference DB 110, and information display to the operator Center-side display unit (for example, a display device such as a liquid crystal monitor) 125, and each in-vehicle terminal system 150 and communication such as a wireless LAN Center communication unit that performs communication via the (e.g., wireless communication device) includes a 145, and a center side control unit 115 that performs overall processing control of the control center system 100.

  The in-vehicle terminal system 150 is a control device configured by a computer, and includes a position positioning unit (positioning device) 155 that measures the position of the mine dump using a GPS receiver, an acceleration sensor, a gyroscope, a speed sensor, and the like, and a control center. An in-vehicle map database (for example, a magnetic storage device or a semiconductor storage device) 170 that stores map data (center-side map data) provided from the center-side map DB 130 of the system 100 as in-vehicle map data, and communication such as a wireless LAN Map data in the vehicle-mounted map DB 170 with vehicle-side communication unit (for example, wireless communication device) 165 that communicates with the control center system 100 via the network and center-side map data transmitted through the vehicle-side communication unit 165 An in-vehicle map update unit 175 that updates (in-vehicle map data) and an operator (mine dump) In-vehicle side input unit (for example, a touch panel, a keyboard, etc.) 180 on which an input operation is performed by a 00 operator or a service person, an in-vehicle side display unit (for example, a liquid crystal monitor) 185 for displaying information to an operator, and an in-vehicle terminal An in-vehicle side control unit 160 that performs overall processing control of the system 150 and a vehicle travel control unit 2080 that performs vehicle control such as steering, acceleration, deceleration, and stop of a mine dump along a predetermined travel route are provided. Yes. The vehicle traveling control unit 2080 is autonomous based on the instruction given from the control center system 100, the own vehicle position measured by the own vehicle position positioning unit 155, and the in-vehicle map data managed by the in-vehicle map DB 170. Autonomous traveling control is performed to steer the vehicle and accelerate / decelerate the vehicle.

  Next, a mine dump used in the operation management system according to the present embodiment will be described with reference to FIG. The mine dump 200 shown in FIG. 2 includes a GPS antenna 210 that receives navigation signals from a plurality of GPS satellites (navigation satellites) and outputs the navigation signals to the vehicle positioning unit 155, and an electric power output from the control center 300 or the like. A wireless LAN antenna 220 that receives a signal and outputs it to the in-vehicle communication unit 165 is mounted, and an in-vehicle terminal system 150 is mounted in the cockpit 230.

  Next, the control center 300 in the present embodiment will be described with reference to FIG. A control center system 100 is installed in the control center 300, and an operator 310 operates the control center system 100. Information is presented to the operator 310 using the screen 320 of the control center system 100. The operator 310 uses the control center system 100 to edit the map data stored in the center-side map DB 130, or issue an update command for updating the vehicle-mounted map data with the edited center-side map data. To do.

  Next, a map editing process flow for the mine dump 200 according to the present embodiment will be described with reference to FIG. In step 400 in FIG. 4, the control center system 100 performs an initial setting process for accepting a process start request from the operator 310 and confirming the activation state of the control center system 100. The processing start request from the operator 310 is made via the center side input unit 120. If there is a processing start request, the process proceeds to step 405.

  In step 405, a map data change request such as correction, addition, or deletion of data (travel attribute value) related to the travel attribute information in the map data of the center side map DB 130 is accepted via the center side input unit 120.

  Here, before describing the details of the processing performed in step 405, the map data managed by the map DB 130 will be described with reference to FIG. 5, FIG. 6, FIG. 7, FIG. As described above, the map data of the map DB 130 includes road attribute information, travel attribute information, and machine attribute information.

  As the road attribute information, the shape of the travel route (route shape) set on the road in the mine, the gradient of the road related to the travel route, the curvature, the road surface resistance, and the like are stored. In addition to this, storage of all information defining the characteristics of the road and the travel route, such as the moisture content of the road and the presence or absence of pavement, is allowed.

  FIG. 5 shows a route shape management table 500 for managing the route shape in the road attribute information. In the present embodiment, the minimum unit of the shape of the travel route is configured by a link (road link) connecting a plurality of points and the plurality of lines, and the travel route is formed by connecting the plurality of links in a linear shape. Defines the shape.

  The road shape management table 500 manages the road link ID 510 assigned to each road link and the road shape 520 related to the road link ID 510. Here, the road link is a minimum section of the road divided by intersections on the road or sections having the same attribute assigned to the road link such as a speed limit of the road. In this embodiment, the travel route shape is linearly defined by connecting points of a plurality of links. Further, the coordinate system for expressing the road shape 520 may be latitude and longitude, or may be a unique coordinate system set in the mine. FIG. 5 shows an example using a coordinate system that expresses latitude and longitude coordinates uniquely set in the mine as integers. Further, in FIG. 5, road links having one link ID are defined by four points, and the road link is formed by three links, but the points constituting the road link according to one link ID The number may be other values as long as it is 2 or more.

  FIG. 6 shows a gradient management table 700 that manages the gradient of the road related to the travel route in the road attribute information. In the gradient management table 700, the gradient information 720 is assigned to each road link ID 710, thereby managing the gradient information of the road related to the travel route. In the present embodiment, only the vertical gradient is managed as the road gradient, but it may be managed including the cross gradient.

  FIG. 7 shows a curvature management table 800 for managing the curvature of the road related to the travel route in the road attribute information. In this curvature management table 800, curvature information on a road related to a travel route is managed by providing curvature information 820 for each road link ID 810.

  FIG. 8 shows a road surface resistance management table 900 for managing the road surface resistance of the road related to the travel route in the road attribute information. In the road surface resistance management table 900, road surface resistance information 920 is assigned to each road link ID 910 to manage road surface resistance of the road related to the travel route. The road surface resistance information 920 may use the μ value of the road surface, or may be expressed by the degree of slipperiness (DRY, WET) or the like. FIG. 8 shows an example expressed using the road surface resistance μ value.

  As traveling attribute information in the map DB 130, an upper limit speed, a lower limit speed, an upper limit acceleration, a lower limit deceleration, and the like of the mine dump 200 are stored. In addition to this, storage of all information referred to for the traveling of the mine dumper along the traveling route is permitted regardless of the presence or absence of the operator boarding the mine dumper. May be stored as travel attribute information in the transmission.

  FIG. 9 shows a speed management table 600 for managing the traveling speed of the mine dump in the traveling attribute information. In the speed management table 600, the upper limit speed information (maximum speed information) 610 and the lower limit speed information (minimum speed information) 620 are assigned to each road link ID 610, thereby managing the traveling speed to be protected when the mine dump 200 is traveling. ing. The mine dump 200 travels on the road link to which the speed information is given at a speed in a range from the lower limit speed information 620 to the upper limit speed information 630.

  In the autonomous traveling dump system as in the present embodiment, one team is formed by a plurality of mining dump trucks that travel along a common traveling route. Therefore, as the number of dumps included in the team increases, Although the average speed tends to decrease to avoid collision, it is preferable to set the average speed of the mine dump of the same team to a certain speed Vmin or higher in order not to reduce the transport capacity of the entire system. .

  In general, the transport capacity M [ton / h] of a certain team is the average speed V [km / h] of the mine dumps included in the team, the number N of mine dumps included in the team, and each of the levels included in the team. If the traveling distance T [km], k of the mine dump is a proportional constant, it can be expressed by the following equation.

M = k (V × N × 1 / T)
And in order to make a certain team's conveyance capacity [ton / h] more than (alpha), when k '= 1 / k, the average speed V of each mine dump of the said team needs to be more than the following Vmin. There is.

V ≧ k ′ × α × (T / N) = Vmin
In the present embodiment, Vmin obtained by the above formula based on α, T, and N is set as the minimum speed (lower limit speed) of the mine dump. Thereby, the desired conveyance capability (alpha) can be ensured by hold | maintaining the traveling speed of each mine dump included in the same team to Vmin or more.

  As machine attribute information in the map DB 130, vehicle weight (airframe weight), maximum total weight, suspension characteristics, and the like are stored for each model of the mine dump 200. The maximum total weight is calculated by adding the maximum load capacity to the vehicle weight. In addition to this, storage of all information for defining the attributes of the mine dump, such as the specifications of the engine and electric motor as the prime mover, the specifications of the tires, the specifications of the brake, etc. is allowed. In addition, when managing machine attribute information related to a work machine other than a mine dumper such as a wheel loader, in addition to such information, the type of the work machine (for example, a mine dumper, a wheel loader, etc.) or similar information (for example, , Type ID) is also stored.

  FIG. 10 shows a dump specification management table 1500 for managing the specifications of each mine dump that may travel in the mine among the machine attribute information. In the dump specification management table 1500, the maximum total weight, vehicle weight, and suspension characteristics are managed for each mine dump model 1510.

  As described above, the center-side map DB 130 manages at least the route shape management table 500, the gradient management table 700, the curvature management table 800, the road surface resistance management table 900, and the speed management table 600 regarding map data. Then, the value of the travel attribute value (for example, the upper limit speed) is changed in response to a request for changing the data (travel attribute value) related to the travel attribute information in Step 405.

  FIG. 11 shows an example screen 1000 that accepts a change request for a travel attribute value via the center side input unit 120. As shown in this figure, the screen 1000 includes a travel route display unit 1050 and an attribute information display 1060 unit.

  The operator 310 moves the mouse pointer 1035 in the travel route display unit 1050 via the mouse (center side input unit) 120 and clicks the desired road link, thereby specifying the road link for which the travel attribute value is desired to be changed. To do. When the road link is designated in this way, the road link ID given to the road link is displayed in the road link ID display box 1005, the curvature information is displayed in the curvature display box 1010, the gradient information is displayed in the gradient display box 1015, and the lower limit speed information is displayed. Upper limit speed information is displayed in lower limit speed display box 1020 and upper limit speed information box 1025, respectively. In response to the attribute value change request to the map DB 130, the operator 310 changes the attribute values of the display boxes 1010, 1015, 1020, and 1025 using an input device (center side input unit 120) such as a keyboard, and finally presses the correction button 1030. This is done by pressing the mouse pointer 1035.

  Returning to FIG. 4, in step 410, the control center system 100 uses the input data determination unit 140 to change the attribute value (input data) requested for the road link ID in step 405 from the viewpoint of the working efficiency of the mine dump 200. In view of the above, a process for determining whether or not the image is included in an appropriate range is performed. In the present embodiment, this determination process is performed with reference to the attribute reference DB 110 provided in the control center system 100.

  FIG. 12 shows an attribute criterion management table 1100 managed by the attribute criterion DB 110. In the attribute reference management table 1100, the dump type 1105, the load capacity 1110, the gradient 1115, the curvature 1120, the road surface resistance 1125, the lower limit speed 1130, and the upper limit speed 1135 are managed in association with each other. Therefore, based on the type and load capacity of the mine dump (empty or maximum load capacity), the curvature of the road and the road surface resistance, it is possible to define the determination reference values for the upper limit speed and the lower limit speed of the mine dump. .

  In the control center system 100 according to the present embodiment, an appropriate range from the viewpoint of the work efficiency of the mine dumper with respect to the upper limit speed and the lower limit speed of the mine dumper, the machine attribute information such as the dump type 1105 and the load amount 1110, the gradient 1115, Based on the curvature 1120 and road attribute information such as road surface resistance 1125, the attribute reference value calculation unit 135 calculates in advance, and the result is managed in the form of an attribute reference management table 1100. An upper limit value for determining whether or not the upper limit speed is within an appropriate range is calculated, and a lower limit value is calculated for the lower limit speed. Here, values used for the determination such as the upper limit value of the upper limit speed and the lower limit value of the lower limit speed calculated by the attribute reference value calculation unit 135 may be referred to as attribute reference values. In this way, by managing the relationship between the attribute reference value, the machine attribute information, and the road attribute information in a table format, the attribute reference value calculation unit 135 calculates the appropriate range of the upper limit speed and the lower limit speed each time. Can be omitted, and the time required from the input of the upper limit speed or the lower limit speed to the acquisition of the determination result of the input value is shortened and the calculation processing load is reduced.

  In the attribute reference management table 1100 shown in FIG. 12, even when the dump type 1105, the gradient 1115, the curvature 1120, and the road surface resistance 1125 are the same, the determination reference values for the upper limit speed 1135 and the lower limit speed 1130 are different when the loading amount 1110 is different. It shows different things. In general, the upper limit speed 1135 is set to a relatively slow value when the load amount 1110 is large, and is set to a relatively fast value when the load amount 1110 is small.

  In the determination processing in step 410, when the attribute value related to the change request from the operator 310 in step 405 is within the range with respect to the attribute value managed in the attribute reference management table 1100, the attribute value change in step 420 is completed. Proceed to display. Specifically, when the dump type: T1, the load amount: full load, the gradient and curvature of the selected road link: none, and the road surface resistance of the road link: 1.0, the upper limit speed to be given to the road link ( When a value of 40 [km / h] or less (for example, 35 [km / h]) is input as the driving attribute value) in step 405, the storage of the input value in the map DB 130 is permitted and the process proceeds to step 420. move on.

  On the other hand, when the attribute value related to the change request in step 405 is out of the range with respect to the attribute value managed in the attribute reference management table 1100 in the determination processing in step 410, the attribute value abnormality display in step 415 is displayed. move on. Specifically, when the dump type, loading capacity, road link slope, curvature, and road resistance are the same as described above, the upper limit speed to be given to the road link exceeds 40 [km / h] (for example, 45 [ km / h]) is input, storage of the input value in the map DB 130 is prohibited and the process proceeds to step 415.

  FIG. 13 shows an example of a notification screen 1200 for notifying the operator 310 in step 415 that the attribute value cannot be changed in step 405. The attribute value non-changeable notification screen 1200 is a screen displayed on the center side display unit (monitor) 125. “The input attribute value is outside the allowable range of the reference value. The map cannot be changed. ] And a confirmation button 1220 that is pressed after the operator 310 confirms the message. Through the message in the dialog box 1210, the operator 310 is notified that the attribute value input by the operator 310 in step 405 is out of the allowable range and cannot be reflected in the map DB 130. When the confirmation button 1220 is pressed via the mouse 120 by the operator 310 confirming the message, the control center system 100 returns to step 405 and requests the operator 310 to re-enter the attribute value.

  If the attribute value input on the screen 1000 in FIG. 11 cannot be adopted, characters and / or numbers indicating the attribute value are replaced with other attribute values together with the screen in FIG. 13 in step 415 or in place of the screen. A method of highlighting by displaying in a different color or bold (refer to the number in the upper limit speed display box 1025 in FIG. 11) may be adopted. If the attribute value cannot be adopted, the attribute value is used in order to make the operator 310 know how much the attribute value is different from the reference value and to select the value to be re-input in step 405. The relationship between the reference value and the attribute value, such as the reference value with respect to or the deviation between the attribute value and the reference value, may be displayed on the screen of the center side display unit 125 together with the dialog box 1210.

  FIG. 14 shows an example of a notification screen 1400 for notifying the operator 310 in step 420 that the change of the attribute value in step 405 is permitted. The notification screen 1400 is a screen displayed on the center side display unit (monitor) 125, and “The map has been updated with the input attribute value. ”And a confirmation button 1420 that is pressed after the operator 310 confirms the message. If the confirmation button 1420 is pressed via the mouse 120 by the operator 310 that confirmed the message, the control center system 100 proceeds to step 425.

  In step 425, the attribute value change operation based on the change request from the operator 310 is performed on the map DB 130, and the center-side map data is updated. Finally, in step 430, the control center system 100 distributes the map data of the center side map DB 130 in which the attribute value is updated to each mine dump 200 in the mine. And the vehicle-mounted map update part 175 of the vehicle-mounted terminal system 150 mounted in each mine dump 200 updates the map data of vehicle-mounted map DB170 with the distributed center side map data.

  As described above, in the present embodiment, in the autonomous traveling system of the mine dump 200, the reference value stored in the attribute reference DB 110 is referred to and whether the change request of the operator 310 for the attribute value in the map DB 130 is within an allowable range. If it is out of the allowable range, the operator 310 is notified that the change of the attribute value is impossible, and prompts for re-input. Further, when the change request is within the allowable range, the map DB 130 is updated. By doing so, while ensuring freedom of attribute value input by the operator 310, mistakes in assigning or changing attribute values by the operator 310 when creating map data are prevented, and the attribute values are further improved from the viewpoint of improving work efficiency. Since it falls within an appropriate range, it is possible to ensure the reliability of the map data and to prevent a reduction in work efficiency associated with the update of the map data.

  Next, another map editing process flow for the mine dump 200 according to the present embodiment will be described with reference to FIG. Each step of the flow shown in this figure is the same as that of FIG. 4 except for step 440, and the description of the same steps as those of FIG. 4 is omitted.

  In the example of FIG. 4, step 410 is executed using the attribute reference management table 1100 acquired in advance using the calculation result by the attribute reference value calculation unit 135, but in the example of FIG. 15, the attribute reference management table 1100 is used. Instead, the appropriate range of the upper limit speed and the lower limit speed of the mine dump is calculated in step 440 each time. Specifically, the upper limit value or the lower limit value that is the reference value of the upper limit speed or acceleration / deceleration appropriate range of the mine dump dump that is input as the travel attribute information in Step 405 is the machine attribute information such as the dump type 1105 and the load capacity 1110. In step 440, a process of calculating based on the road attribute information such as the gradient 1115, the curvature 1120, and the road surface resistance 1125 is performed.

  If the map editing process flow is configured in this way, the time required to obtain the input value determination result tends to be longer than in the previous example, but the reliability of the map data is ensured as in the previous example. In addition, it is possible to prevent a decrease in work efficiency associated with the update of the map data.

  In each of the above examples, the format in which the determination result of the determination unit 140 in step 410 is displayed as a message on the screen on the monitor 125 (see FIG. 13) is adopted, but the determination result by the determination unit 140 is in another format. The determination result may be notified to the operator 310 by the output. Other formats include, for example, those that display figures and symbols on the screen of the display device instead of characters, those that use a device that outputs a warning sound or warning sound, or devices that turn on warning lights There are things to do.

  Further, in each of the above examples, the propriety of the driving attribute value given to any road link by the operator 310 is determined based on the relationship between the specific vehicle attribute information and the road attribute information stored in the attribute reference DB 110. Based on at least one data included in the vehicle attribute information and road attribute information stored in the map DB 130, a range of values preferable as a driving attribute value is calculated from the viewpoint of work efficiency, and the driving attribute input to the operator 310 is calculated. The suitability of the driving attribute value may be determined by comparing the value with the calculation range. The appropriate range may be calculated every time input by the operator 310 as shown in the example of FIG. 15, or may be calculated in advance in the table format of FIG. 13 as in the example of FIG. In the latter case, a value that does not exist in the table may be input by the operator 310. In this case, the value may be estimated by interpolation or extrapolation based on data in the existing table. .

  In the above description, the case where the operator 310 inputs the upper limit speed as the travel attribute value has been described. However, the present invention can be similarly applied to the case where another travel attribute value including the lower limit speed is input. Further, even when the operator 310 inputs not only the driving attribute information but also the attribute value related to the road attribute information or the machine attribute information, the present invention can be applied as a means for determining the suitability of the input value. For example, assuming that it is required to design a road in a mine where a certain type of mine dump can travel on a certain road link at a certain upper speed limit (travel attribute information) According to this, since the appropriate range of the road attribute information of the road link can be defined from the machine attribute information and the travel attribute information of the mine dump, it is easy to make a road design guideline for the road link.

  In the above description, the map data is manually input by the operator 310. However, the present invention can also be applied to a case where map data is automatically input. That is, for example, the machine attribute information and the road attribute information are prepared in advance in the map DB 130, and the present invention is also used as an algorithm for inferring a driving attribute value that optimizes work efficiency based on the machine attribute information and the road attribute information. The invention is applicable.

  In addition, this invention is not limited to said embodiment, The various modifications within the range which does not deviate from the summary are included. For example, the present invention is not limited to the one having all the configurations described in the above embodiment, and includes a configuration in which a part of the configuration is deleted.

  In addition, each configuration related to the above-described system, functions and execution processing of each configuration, etc. are realized by hardware (for example, logic for executing each function is designed by an integrated circuit). Also good. The configuration related to the system may be a program (software) that realizes each function related to the configuration of the system by being read and executed by an arithmetic processing device (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.

  DESCRIPTION OF SYMBOLS 100 ... Control center system, 105 ... Dump position management part, 115 ... Center side control part, 120 ... Center side input part, 125 ... Center side display part, 130 ... Center side map DB, 135 ... Attribute reference value calculation part, 140 ... input data determination unit, 145 ... center side communication unit, 150 ... in-vehicle terminal system, 155 ... position positioning unit, 160 ... in-vehicle side control unit, 165 ... in-vehicle side communication unit, 170 ... in-vehicle map DB, 175 ... in-vehicle map update , 180: vehicle-side input unit, 185 ... vehicle-side display unit, 185 ... vehicle-side display unit, 2080 ... vehicle travel control unit, 200 ... mine dump, 210 ... GPS antenna, 220 ... wireless LAN antenna, 230 ... mine dump Cockpit, 300 ... control center, 310 ... operator in the control center, 320 ... control center system screen, 500 ... road shape pipe Table: 600 ... Speed management table, 610 ... Road link ID, 620 ... Lower limit speed information, 630 ... Upper limit speed information, 700 ... Gradient management table, 800 ... Curvature management table, 900 ... Road surface resistance management table, 1000 ... Attribute value Change work screen, 1100 ... attribute reference management table, 1105 ... dump type information, 1110 ... loading amount information, 1115 ... gradient information, 1120 ... curvature information, 1125 ... road surface resistance information, 1130 ... lower limit speed information, 1135 ... upper limit speed Information, 1200 ... Notification screen that attribute value cannot be changed

Claims (8)

In a map editing system used to create a map used for running a work machine,
Machine attribute information that is a data group related to specifications of the work machine, road attribute information that is a data group for defining a travel route of the work machine and a road on which the travel route is set, and the travel route A map storage unit that stores travel attribute information that is a data group used when the vehicle travels;
An input device for inputting data relating to the travel attribute information to the map storage unit;
An appropriate range from the viewpoint of work efficiency of the work machine regarding a value of data that can be input via the input device among the travel attribute information is included in at least one of the machine attribute information and the road attribute information. A map editing system for a working machine, comprising: an arithmetic unit that calculates based on data. The work machine map editing system according to claim 1,
A determination unit that determines whether data input through the input device among the travel attribute information is included in the appropriate range calculated by the calculation unit;
A map editing system for a work machine, further comprising: an output device that outputs a determination result by the determination unit. The map editing system for a work machine according to claim 2,
The output device is a display device;
The display device highlights the data when the determination unit determines that the data related to the travel attribute information input to the map storage unit is not included in the appropriate range. Map editing system for work machines. The map editing system for a work machine according to claim 3,
In the road attribute information, the travel route is defined by connecting a plurality of links, and the machine attribute information, the road attribute information, and the travel attribute information are assigned to each link. Map editing system for work machines. The map editing system for a work machine according to claim 4,
A map editing system for a work machine, wherein the machine attribute information includes a maximum total weight and a body weight of the work machine. The map editing system for a work machine according to claim 4,
The map editing system for a work machine, wherein the travel attribute information includes at least one of an upper limit speed, a lower limit speed, an upper limit acceleration, and a lower limit deceleration of the work machine. The map editing system for a work machine according to claim 4,
The road attribute information includes at least one of a gradient, a curvature, and a road surface resistance of the road on which the travel route is set. The work machine map editing system according to claim 1,
The work machine is a plurality of work machines that run in a row on a common travel route,
A map editing system for a work machine, wherein the travel attribute information includes a lower limit speed common to the plurality of work machines.

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