JP2018018256A - Control server, vehicle travel control system, and vehicle travel control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique capable of efficiently utilizing a soil dropping area, while securing a turn-back point of a dump track.SOLUTION: A control server includes: a soil dropping area setting part for setting an extension soil dropping area in an area outside a rectangular final soil dropping area where the length of one side is equal to or longer than the sum of vehicular length and minimum turning radius of a dump truck, in an area facing an entrance in a soil dropping area; a soil dropping positional direction setting part for setting a target soil dropping position and an extension soil dropping direction in a direction orthogonal to a boundary side positioned at a boundary between the final soil dropping area and the extension soil dropping area in the extension soil dropping area when the remaining area for setting the target soil dropping position is available in the extension soil dropping area and setting the target soil dropping position in the final soil dropping area when no remaining area is available, and setting the final soil dropping direction in a direction parallel to the boundary side; and a travel route generation part for generating a forward travel route arriving at the target soil dropping position from the entrance of the soil dropping area via a turn-back point and a return travel route heading for an exit of the soil dropping area through a section parallel to the extension soil dropping direction from the target soil dropping area.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a control server, a vehicle travel control system, and a vehicle travel control method, and more particularly to a technique for performing travel control of a dump truck so that a dumping ground can be used efficiently.

  There is a dumping ground in the mine where dump trucks dump. There are several methods for releasing earth, but in particular, in an earthing method called paddock dumping, the dump truck releases earth and sand loads on a flat ground surface. Regarding this earthing technique, Patent Document 1 states that “position data of a plurality of target points inside the target area is generated based on the position data of the target area (boundary position data) input to the area data input means. The position data of the plurality of target points thus generated is sequentially given, so that the vehicle is sequentially guided to the plurality of target points within the target area (summary excerpt). ” The soil removal direction is a direction that serves as a reference for the reverse direction when the vehicle moves backward and performs the soil removal work.The reference soil removal direction takes into account the shape of the soil removal region and the length of the soil removal region. The reference soil removal direction may be obtained by calculation from the boundary line of the soil removal region and the position data of the entrance point and the exit point. "

US Pat. No. 6,650,2016

  In Patent Document 1, the position at which the dump truck turns back in the traveling direction is not taken into consideration when determining the reference soil removal direction. Therefore, in order to prevent the cutback position from interfering with other earthing positions, there is a concern that it cannot be set near the earthing position and the retreat distance may become longer toward the earthing point. Furthermore, in the process of performing paddock dumping, as the earthing direction is set parallel to the longitudinal direction of the earthing area, the earthing cannot be performed as it approaches the vicinity of the entrance / exit of the earthing area. There is a problem that arises.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a technique that can efficiently use a dumping ground while securing a turning point of a dump truck.

In order to solve the above-described problems, one aspect of the present invention is a wireless communication connection with a dump truck that performs earthing work in a mine ground, and the dump truck is located at a target earthing position where the current earthing work is performed. A map information storage unit for storing map information including a position of a boundary of the earthmoving field, a position of the entrance of the earthing ground, and a position of the exit of the earthing ground, Based on the vehicle information storage unit for storing vehicle information including the vehicle length of the dump truck and the minimum turning radius, and the map information and the vehicle information, the length of one side of the area facing the entrance in the earthing ground is A rectangular final earthing area having a length equal to or greater than the sum of the vehicle length of the dump truck and the minimum turning radius is set, and an extended earthing is performed in an area that is in the earthing area and outside the final earthing area. Set the area When there is a remaining area for setting the target earthing position in the extended earthing area, the target earthing position is set in the extended earthing area, and the final earthing area An extended earthing direction in which earthing work is performed while advancing from the target earthing position in a direction orthogonal to a boundary edge located at the boundary with the extended earthing area among the sides, and the extended earthing area If there is no remaining area for setting the target earthing position, the target earthing position is set in the final earthing area, and the target earthing position is set in a direction parallel to the boundary side. An earthing position direction setting unit for setting the final earthing direction for performing earthing work while moving forward,
When the target earthing position is set in the extended earthing area, the advancing direction of the dump truck is cut back from the entrance of the earthing area toward the target earthing position. Generate a return route traveling route that goes to the exit of the earthing ground via a section parallel to the extended earthing direction from the target earthing position and an outward traveling route that reaches the target earthing location via a turning point, When the target earthing position is set in the final earthing area, the turning point is set in the final earthing area from the entrance of the earthing ground, and the target releasing point is set via the turning point. Based on the vehicle information and the map information, a forward traveling route that reaches the soil position and a return traveling route from the target earthing position to the exit of the earthing ground through a section parallel to the final earthing direction A travel route generator to Path information indicating the serial forward travel path and the return travel path, characterized in that it comprises a communication control unit that transmits to the dump truck.

  ADVANTAGE OF THE INVENTION According to this invention, the technique which can utilize a dumping ground efficiently can be provided, ensuring the turning point of a dump truck. Note that problems, configurations, and effects other than those described above will be clarified in the following embodiments.

The figure which shows schematic structure of a vehicle travel control system Figure showing the appearance of the dump truck Block diagram showing the hardware configuration of the dump truck Block diagram showing the hardware configuration of the control server Block diagram showing functional configuration of vehicle travel control system The figure which shows an example of vehicle information Flow chart showing the flow of the vehicle running control method in the earth ground Illustration showing the boundaries of the earth Figure showing map information on the border of the earth Figure showing an example of the distribution of earthing positions in the earthing ground The figure which shows the setting example of the extended earthing area and the last earthing area Diagram showing the extended earthing direction Figure showing the final earthing direction Flow chart showing the flow of travel route generation processing The figure which shows the decision processing of the turning point The figure which shows the traveling route generated in the extended earthing area The figure which shows the run route generated for the target earthing position near the final earthing area among the extended earthing areas The figure which shows the running route generated in the last earthing area The figure which shows the example which sets up plural extended earthing areas The flowchart which shows the flow of the setting process of the earthing position which concerns on 3rd embodiment. Diagram showing the case where the distance from the earthing limit line to the final earthing area (boundary edge) is greater than or equal to the distance threshold The figure which shows the case where the distance from the earthing limit line to the final earthing area (boundary edge) is less than the distance threshold

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Hereinafter, in all the drawings for explaining the embodiments of the present invention, the same reference numerals are given to those having the same function, and the repeated explanation thereof may be omitted.

<First embodiment>
The first embodiment is an example in which the traveling route is generated by appropriately switching the earthing direction according to the progress of paddock damping. In paddock damping, a plurality of earthing positions (work points) are set for the earthing ground, and a traveling route is generated for each earthing position. A vehicle travel control system 1 according to the first embodiment will be described below with reference to the drawings. FIG. 1 is a diagram illustrating a schematic configuration of a vehicle travel control system 1. As shown in FIG. 1, the vehicle travel control system 1 performs operations of the loading machine 10 for excavating minerals and topsoil and loading the dump trucks 20-1 and 20-2 and the dump trucks 20-1 and 20-2. The loading server 10 and the dump trucks 20-1 and 20-2 are connected to the control server 31 via the wireless communication line 40. As an example of the loading machine 10, an excavator or a wheel loader may be used. Hereinafter, the dump trucks 20-1 and 20-2 will be described as dump trucks that autonomously travel according to the control information from the control server 31, but the number of dump trucks is not limited to two. Further, the dump trucks 20-1 and 20-2 may use the same vehicle type, that is, a vehicle having the same vehicle body size and the same maximum load capacity, or different vehicle types. In the following description, when it is not necessary to distinguish the dump trucks 20-1 and 20-2, they may be described as the dump truck 20.

  The mine connects the loading place 61 where the loading machine 10 performs excavation work and loading work, the earthing place 62 where the dump truck 20 unloads, the loading place 61 and the earthing place 62, and the dump truck A conveyance path 60 on which 20 travels is arranged. In the present embodiment, an earthing method called paddock dumping is adopted in the earthing ground 62.

  Next, the configuration of the dump truck and the control server will be described with reference to FIGS. FIG. 2 is a view showing the appearance of the dump truck 20. FIG. 3 is a block diagram illustrating a hardware configuration of the dump truck 20. FIG. 4 is a block diagram showing a hardware configuration of the control server 31. As shown in FIG. FIG. 5 is a block diagram showing a functional configuration of the vehicle travel control system. FIG. 6 is a diagram illustrating an example of vehicle information.

  As shown in FIG. 2, the dump truck 20 has a body (loading platform) 202 that carries a load on a vehicle body 201. The body 202 is in the position of the solid line during the loading operation and traveling, and the hoist cylinder 203 extends during the earthing operation to wake up to the state indicated by the two-dot chain line. Thereby, the earth and sand loaded in the body 202 are released.

  Furthermore, the body 201 of the dump truck 20 is provided with a plurality of suspensions for supporting the body 201 on the front and rear axles, and the load of the body 201 including earth and sand mounted on the body 202 and the body 202 is applied to each suspension. It takes. Each suspension is provided with a cylinder pressure sensor (hereinafter abbreviated as “pressure sensor”) in order to measure the cylinder pressure of the suspension. In FIG. 2, for the convenience of explanation, the left front suspension 204a and the pressure sensor 206a, and the left rear suspension 204b and the pressure sensor 206b are shown. ing. Since each suspension is provided with a pressure sensor, the dump truck 20 includes a total of four pressure sensors.

  As shown in FIG. 3, in addition to the configuration of FIG. 2, the dump truck 20 includes a body seating switch 205 that detects the seating state of the body 202, a tilt angle sensor 207 that measures the front and rear tilt angles of the vehicle body 201, and wheel rotation. A vehicle body speed detector 208 that detects the vehicle body speed based on the number, a position calculation device 209 that calculates the position of the vehicle, such as GPS (Global Positioning System) and IMU (Internal Measurement Unit), and a body 202 undulation instruction signal are input. Hoist operation lever (or hoist operation switch) 210, load measuring device 220 that measures the load of the body 202 based on the total output value of the four pressure sensors, vehicle control device 230 that controls the body of the dump truck 20, and wireless Vehicle side communication device connected to communication line 40 Equipped with a 240.

  The vehicle control device 230 includes a CPU 231 that performs calculations, a ROM 232 that stores various processes (programs), a RAM 233 that stores load data that is a result of variable values and load measurement, an HDD 234 as a storage device, sensor inputs, An input interface 235 (described as input I / F in FIG. 3) for performing communication, an output interface (described as output I / F in FIG. 2) 236 for outputting a calculation result of the CPU 231 to the vehicle side communication device 240, and each of these And a bus 237 for connecting components. The hardware configuration of the vehicle control device 230 is not limited to the above, and may be configured by one integrated circuit.

  As shown in FIG. 4, the control server 31 is configured by connecting an input device 321, a display device 322, and a server-side communication device 323 to a server-side control device 310. The server-side control device 310 may include a CPU 301, a ROM 302, a RAM 303, an HDD 304, an input I / F 305, an output I / F 306, and a bus 307, or may be configured by an integrated circuit.

  With reference to FIG. 5, the functional configuration of the vehicle travel control system of the first embodiment will be described. As shown in FIG. 5, the server-side control device 310 of the control server 31 includes a server-side map information storage unit 311, a travel route generation unit 312, a travel permission section setting unit 313, a vehicle information storage unit 314, and a release position / direction setting. Unit 315, earth release area setting unit 316, server-side communication control unit 317, and operation management information storage unit 318.

  The vehicle control device 230 mounted on the dump truck 20 includes a route acquisition unit 101, a vehicle position acquisition unit 102, a vehicle position link acquisition unit 103, a travel permission section request unit 104, a vehicle body state recognition unit 105, and vehicle side map information. A storage unit 106, a travel control unit 107, and a vehicle side communication control unit 108 are provided.

  The server-side map information storage unit 311 and the vehicle-side map information storage unit 106 are configured using a storage device that stores fixedly such as an HDD, and position information of each point (hereinafter referred to as “node”) on the travel route; The map information defined by the link connecting each node is stored. Further, the map information may include boundary information of the earthmoving field 62, position information of the entrance and exit of the earthing ground 62, and position information of nodes indicating each point in the earthing ground 62. In the map information, the position of each node may be defined by three-dimensional real coordinates.

  The travel route generation unit 312 includes an outbound travel route connecting the target earthing position of the current earthing work set by the earthing position direction setting unit 315 in the earthing ground 62 and the entrance of the earthing ground, and the target earthing A return route travel route connecting the position and the exit of the earthmoving field 62 is generated with reference to the map information in the server-side map information storage unit 311 and the vehicle information in the vehicle information storage unit 314. The travel route generation unit 312 also generates a travel route on the transport path 60 that connects the loading place 61 and the earth release place 62.

  The travel permission section setting unit 313 includes each dump in the travel routes generated by the travel route generation unit 312 (including both the forward travel route and the return travel route in the earthing ground 62 and the travel route on the transport route 60). A partial section that grants travel permission only to the truck is set as a travel permission section. The travel permission section setting unit 313 sets the front boundary point after the current position of the vehicle just before traveling in front of the target vehicle for which the travel permission section is set. In addition, the current position of the following vehicle of the target vehicle is used as a reference, and the distance from the point where the margin distance set for safety is added to the possible stoppage distance required for the subsequent vehicle to stop from the current position of the target vehicle. Set the back boundary point. Then, a partial section on the travel route from the front boundary point to the rear boundary point is set as a travel permission section in which only the target vehicle is permitted to travel. The travel permission section setting unit 313 stores the vehicle ID that uniquely indicates the target vehicle and the travel permission section set for the target vehicle in the operation management information storage unit 318. The operation management information storage unit 318 may further store own vehicle position information received from the target vehicle.

  In addition, the travel permission section setting unit 313 releases the section after the target vehicle has passed among the set travel permission sections, and sets the section as a release section in which travel permission can be given to other dump trucks.

  The vehicle information storage unit 314 acquires and stores vehicle information such as the vehicle length, the vehicle width, and the minimum turning radius of each dump truck 20. The vehicle information may be received from each dump truck every time, or as shown in FIG. 6, vehicle IDs (vehicle 1, vehicle 2,... n), vehicle information in which the vehicle length L, the vehicle width W, the minimum turning radius r, and the maximum load capacity Wg of each vehicle are associated with each other is stored in advance, and the vehicle ID is obtained from the dump truck approaching the release field 62. It may be configured to receive and refer to vehicle information.

  Details of the earthing position direction setting unit 315 and the earthing region setting unit 316 will be described later.

  The server-side communication control unit 317 and the vehicle-side communication control unit 108 perform transmission / reception control of wireless communication information via the server-side communication device 323 and the vehicle-side communication device 240.

  The route acquisition unit 101 of the dump truck 20 acquires route information indicating the route generated by the travel route generation unit 312. This route information may include the entire route and the set travel permission section, or travel permission section information (including a front boundary point and a rear boundary point) indicating a travel permission section made up of partial sections of the route is acquired as the route information. May be. The route information and the travel permitted section information are defined by nodes and links.

  The own vehicle position acquisition unit 102 acquires the own vehicle position information from the position calculation device 209, and the own vehicle position link acquisition unit 103 refers to the map information, the route information, and the travel permitted section information (route information). The link where the vehicle is currently located is determined, and the link information is output to the travel control unit 107. The travel control unit 107 refers to the vehicle position information, link information, and map information, generates drive control information for autonomous traveling according to the travel permitted section information, and generates a vehicle drive device (acceleration / deceleration device, steering device, and (Including the control device).

  The vehicle body state recognition unit 105 acquires the load measured by the load measuring device 220, the vehicle body speed detected by the vehicle body speed detector 208, and the vehicle ID as necessary, and transmits the vehicle ID to the control server 31. In addition, vehicle information such as the vehicle length, vehicle width, minimum turning radius, and maximum load capacity of the host vehicle is stored in advance, and when approaching the earthing ground 62, the vehicle information is transmitted to the control server 31 as necessary. Also good.

  Next, with reference to FIG. 7, the vehicle travel control process in the earthmoving field according to the first embodiment will be described. FIG. 7 is a flowchart showing a process flow of the vehicle travel control method in the earth ground.

  First, the earth release area setting unit 316 reads map information including boundary information of the earth release field 62 from the server-side map information storage unit 311 (S01).

  FIG. 8 is a diagram showing a boundary line 810 of the earthmoving field 62. FIG. 9 is a diagram showing map information on the boundary line of the earthmoving field 62. As shown in FIG. 8, the boundary line 810 is defined by a point sequence of nodes on the boundary line 810. Therefore, the server-side map information storage unit 311 assigns the three-dimensional real coordinates (X coordinate, Y coordinate, and Z coordinate) of each node to the node ID (8061,..., 806n) that uniquely indicates each node. The associated map information (see FIG. 9) is stored in advance.

  Next, the earthing area setting unit 316 reads vehicle information including the vehicle length and the minimum turning radius of the dump truck 20 having the largest vehicle size among the dump trucks entering and exiting the earthing ground 62 from the vehicle information storage unit 314 (S02). ). At this time, the vehicle width may be read as necessary. In the vehicle information of FIG. 6, the dump trucks with the vehicle IDs of the vehicle 1 and the vehicle n are the dump trucks of the same vehicle type. Among the dump trucks in which the vehicle 1 and the vehicle n enter and exit the earthing ground 62, In the case of a dump truck, the earth release area setting unit 316 reads the vehicle length L1, the vehicle width W1, the minimum turning radius r1, and the maximum loading capacity w1. For example, the dumping area setting unit 316 searches for the maximum values of the vehicle lengths L1 and L2 from the vehicle information shown in FIG. And the vehicle width, the minimum turning radius, and the maximum load capacity of the vehicle corresponding to the maximum vehicle size may be read. The search key for the maximum vehicle case is not limited to the above, and other values such as the maximum load capacity may be used. Further, the model number may be associated with the vehicle ID, and the maximum vehicle case may be searched using the model number as a key. The search process for the maximum vehicle case is not limited to the above.

  The earthing position direction setting unit 315 sets the earthing position so that the dump truck 20 can uniformly and densely earthen from the boundary line information of the earthing field 62 acquired in step 01 and the vehicle information acquired in step 02. (S03). FIG. 10 is a diagram showing an example of distribution of the earthing position in the earthing ground. As shown in FIG. 10, the distribution of each earthing position determines the size (height and spread) of the earthing material based on the maximum load capacity of the dump truck that performs earthing work at the earthing site 62. The distribution of the earthmoving positions may be determined so that the piles of earthmoving earth are at a uniform height. At that time, when dump trucks with different vehicle grades perform the earthing work at the earthing ground 62, the earthing position direction setting unit 315 operates the operation management information (the current position information of the dump truck and the dump truck) in the operation management information storage unit 318. The order of dump trucks entering the earthing ground 62 is determined with reference to the traveling direction). And based on the maximum loading capacity of the dump truck to enter, you may set the earthing position by increasing / decreasing the distance between adjacent earthing positions.

  For example, when performing earthing work in the order of vehicle 1, vehicle 2, and vehicle 3 in FIG. 6, the distance (d1) between the target earthing position 805-1 of the vehicle 1 and the target earthing position 805-2 of the vehicle 2 Instead, the target earthing position may be set by bringing the target earthing position 805-2 of the vehicle 2 and the distance (d2) between the target earthing positions 805-3 of the vehicle 3 closer to each other.

  In addition, when it is expected that the amount of earthing material released at one earthing amount will be almost constant, the earthing position direction setting unit 315 may set the earthing position at equal intervals. Good.

FIG. 11 is a diagram showing an example of setting the extended earthing area and the final earthing area. The earth release area setting unit 316 sets the final earth release area 820 in an area facing the entry point 801 of the earth release place in the earth release place 62 as shown in FIG. 11 (S04). The earth release area setting unit 316 has a rectangular area in which an edge (referred to as a reference edge) 822 facing the entrance of the earth release field has a length indicated by the following formula (1) in an area facing the entrance of the earth release place 62. A final earthing area 820 is set.
Length of reference side of final earthing area a = L1 + r1 + m (1)
L1: Maximum vehicle length r1: Maximum turning radius m: Margin

  The margin m may be increased or decreased according to the vehicle information of the maximum vehicle case. By setting the length a of the reference side 822 to (1) above, it is possible to generate a travel route in which the dump truck 20 having the maximum vehicle size can turn in the final earthing area 820.

  Next, the earthing area setting unit 316 determines whether all earthing positions are included in the final earthing area 820 (S05). When all the earthing positions are included (S05 / Yes), the process proceeds to Step 12.

  On the other hand, when it is determined that not all the earthing positions are included in the final earthing area 820 (S05 / No), the earthing area setting unit 316 releases the earthing area corresponding to the earthing position outside the final earthing area. The area of the ground 62 is set as the extended earthing area 850 (S06).

  The earthing position direction setting unit 315 searches for the target earthing position of the current earthing work (S07). The search conditions for the target earthing position can be arbitrarily set. For example, as shown in FIG. 11, the earthing position direction setting unit 315 is located farthest from the entrance point 801 of the earthing ground 62 within the extended earthing area 850. The first target earthing position 805 may be set as the earth position.

  Here, when the entrance point 801 is not a single point but is defined as an entrance region 801x having a width and a depth with respect to the entry direction to the earthing ground 62, the farthest point in the extended earthing region 850 is searched. As an entrance search reference point used for processing, an arbitrary point in the entrance region 801x may be appropriately selected and used. For example, when the entrance area 801x is defined in a rectangular shape or a strip shape, the apex 801a located on the extended earthing area 850 side on the side facing the final earthing area 820 may be used as the search reference point. The center point of the entrance area 801x may be used as the search reference point.

  The earthing direction will be described with reference to FIGS. FIG. 12 is a diagram showing an extended earthing direction. FIG. 13 is a diagram showing a final earthing direction. Here, the earthing direction refers to a moving direction when the dump truck performs earthing work at the target earthing position and performs earthing while moving forward after starting earthing. Then, the earthing position direction setting unit 315 sets the earthing direction of the target earthing position 805 in the extended earthing area 850 (hereinafter referred to as “extended earthing direction”) to the side of the rectangular final earthing area 820. Among them, a direction perpendicular to a side (hereinafter referred to as “boundary side”) 824 adjacent to the extended earthing area 850 is set to a direction toward the final earthing area 820 (see an arrow 855 in FIG. 12) (S08).

  In the following description, the earthing direction at the earthing position set in the final earthing area is referred to as the final earthing direction. The final earthing direction is a direction orthogonal to the reference side (that is, a direction parallel to the boundary side), and is a direction toward the exit point 802 of the earthing field (see arrow 825 in FIG. 13). In FIG. 13, the target earthing position indicated by a black circle indicates an earthing position that has already been earthed.

  The earthing position direction setting unit 315 outputs information indicating the target earthing position and the earthing direction to the travel route generation unit 312. The travel route generation unit 312 releases the travel route from the entrance area 801x of the earth release site 62 to the earth release position via the turn-off point in the extended earth release area 850 or the final earth release area 820, and the earth release position. A return traveling route to the exit area 802x of the ground 62 is generated, and route information indicating the traveling route is transmitted to the dump truck (S09). The travel route generation unit 312 generates a return route travel route having a section parallel to the extended earthing direction 855 from the earthing position 805 to the point where the vehicle 202 is seated along the extended earthing direction 855.

  The dump truck 20 receives the route information and travels autonomously according to the route information. Then, it turns back at the turning point and reaches the target earthing position 805 while retreating. The dump truck 20 receives the earthing instruction signal from the control server 31 and raises the body 202 to perform earthing work. Then, the vehicle departs from the earthing position 805 along the return path travel route, and is released while traveling along the return path travel route, and exits from the exit point 802 (S10).

  The earthing position direction setting unit 315 is an area of an unearthed area (remaining area) of the extended earthing area 850 and an earthing position assumed as an area where the earthing material spreads when newly earthing is performed. The area is compared (S11). If the remaining area is equal to or greater than the earthing position area (S11 / Yes), the process returns to step 07 to set the next earthing position in the extended earthing area 850. At that time, if the dump truck is large, the next target earthing position is set at a position away from the previous earthing position.

  When the remaining area is less than the earthing position area (S11 / No), or when all target earthing positions are included in the final earthing area 820 in step 05 (S05 / Yes), the earthing position direction setting is performed. The unit 315 searches for a target earthing position within the final earthing area 820 (S12). In this process, as in step 07, a point farthest from the entrance area 801x may be set as the first target earthing position in the final earthing area 820.

  The earthing position direction setting unit 315 sets the final earthing direction 825 (S13). Then, as in step 08, the travel route generation unit 312 generates a forward travel route that passes through the turning point provided in the final release area and a return travel route along the final release direction, and provides route information indicating them. The data is transmitted to the dump truck 20 (S14).

  Then, the dump truck 20 reaches the target earthing position along the forward traveling route and releases the ground, and exits from the exit point 802 of the earthing site 62 along the backward traveling route (S15). This process is repeated until the remaining area in the final earthing area is less than the earthing position area (S16 / Yes). When the remaining area in the final earthing area becomes less than the earthing position area (S16 / No), this process is terminated.

  Next, with reference to FIG. 14 to FIG. 18, the details of the travel route generation processing in the earthing ground 62 will be described. FIG. 14 is a flowchart showing the flow of the travel route generation process. FIG. 15 is a diagram illustrating a determination process of a turning point. FIG. 16 is a diagram showing a travel route generated in the extended earthing area. FIG. 17 is a diagram illustrating a travel route generated for a target earthing position close to the final earthing area in the extended earthing area. FIG. 18 is a diagram showing a travel route generated in the final earthing area.

  The travel route generation unit 312 calculates a candidate for a turning point that is a candidate for a turning point, given the position of the entry point 801 and the earthing position 805 of the earthing ground 62 and the earthing direction (S21). In the example of FIG. 15, the travel route generation unit 312 passes through the target earthing position 805 initially set in the extended earthing area 850, and is the first candidate for the return point on the virtual line 1501 along the extended earthing direction 855. Set 804-1.

  Next, the travel route generation unit 312 determines whether or not the candidate for turning point 804-1 exists inside the boundary line 810 (S22). When the candidate for turning point 804-1 does not exist inside the boundary line 810 (S22 / No), the candidate for the next turning point is calculated.

  When the turning point candidate 804-1 is inside the boundary line 810 (S22 / Yes), the forward traveling route 870 from the entrance point 801 is only a straight line, a straight line, or an arc with respect to the turning point candidate 804-1. And it temporarily produces | generates with the curve containing a buffer curve (S23).

  When the minimum curvature in the forward travel route 870 temporarily generated in step 23 is less than the minimum turning radius r of the dump truck 20 to be set as the earthing position (S24 / Yes), the dump truck 20 is provisionally generated. Since it is not possible to switch back on the forward travel route, the process returns to step 21 to calculate a candidate for the next switching point. In the example of FIG. 15, the forward travel route 870 is formed to include a straight section 871, a curved section 872, and a straight section 873, but the arc curvature of the curved section 872 or the minimum curvature of the buffer curve is less than the minimum turning radius r. In the case of, the next turn-back point candidate 804-2 is selected.

  If the minimum curvature in the forward travel route temporarily generated in step 23 is a curve having a curvature greater than or equal to the minimum turning radius of the dump truck for which the earthing position is set (S24 / No), the candidate for the turning point Is set as the turning point (S25), and the forward travel route passing through this turning point is generated. At that time, if the outbound travel route is an outbound travel route to the target earthing position in the extended earthing area, the direction of the body of the dump truck 20 is parallel to the extended earthing direction and the target earthing is retreated. It is generated as a route approaching the position. In addition, if the travel route is to the target earthing position in the final earthing area, it is generated as a path in which the body direction of the dump truck 20 is parallel to the final earthing direction and moves backward to approach the target earthing position. Is done.

  The travel route generation unit 312 selects a target earthing position in an order farther from the entry point 801 of the earthing ground 62 in the extended earthing area 850, and switches back to the target earthing position in the extended earthing area 850. When the point 804 can be set, an outward travel route to be turned back within the extended earthing area 850 is generated, and a return traveling route starting in parallel with the extended earthing direction is generated (see FIG. 16).

  However, at the target earthing position near the final earthing area 820 in the extended earthing area 850, a cut-back point may not be ensured in the extended earthing area 850. In this case, the travel route generation unit 312 sets a turning point 804 in the final earthing area 820 and generates an outward travel route (see FIG. 17). Similarly to FIG. 16, the travel route generation unit 312 generates a return route travel route including a section parallel to the extended earthing direction from a target earthing position to a predetermined section (section where earthing is performed while traveling).

  In addition, the travel route generation unit 312 generates an outward travel route that passes through the turn-around point 804 in the final earthing area 820 at the target earthing position in the final earthing area 820 (see FIG. 18). In addition, the travel route generation unit 312 generates a return route travel route including a section parallel to the final earthing direction from a target earthing position to a predetermined section (section where earthing while traveling).

  In any case, the travel route generation unit 312 generates a return route travel route that is parallel to the extended earthing direction 855 for a predetermined section from the target earthing position.

  According to the present embodiment, one side of the final earthing area 820 has a length that allows the dump truck to turn, so that even if the remaining area of the earthing area decreases, a turning point is secured and an outward traveling route is generated. it can. Furthermore, by setting the final earthing direction to a direction that can go almost straight toward the exit, even if the remaining area of the earthing area decreases, it is possible to proceed from the last earthing area almost straight forward and exit. . Therefore, even after the extended earthing area is filled with the earthing material, the target earthing position can be set sequentially in the final earthing area, and the forward traveling route and the backward traveling route can be generated. As a result, it is possible to efficiently use the earthmoving field without waste.

<Second embodiment>
The second embodiment is an embodiment in which a plurality of extended earthing areas are set in one earthing place. Hereinafter, a second embodiment will be described with reference to FIG. FIG. 19 is a diagram showing an example in which a plurality of extended earthing areas are set.

  As shown in FIG. 19, a first extended earthing area 850-1 and a second extended earthing area 850-2 may be set on both sides of the earthing ground 62 with the final earthing area 820 interposed therebetween. In this case, the travel routes 803-1 and 803-2 are generated at the target earthing positions 805-1 and 805-2 set in the respective extended earthing areas 850-1 and 850-2, and the first dumping is performed. If the truck 20-1 and the second dump truck 20-2 travel along the travel routes 803-1 and 803-2, a plurality of dump trucks can be discharged in the release ground 62. Efficiency can be improved. At that time, when the first dump truck 20-1 performs the earthing work at the target earthing position 805-1 in the first extension earthing area 850-1, the second extension truck 20-2 receives the second extension. An outward travel route and a return travel route to the target earthing position 805-2 in the earthing area 850-2 may be set. Thereby, since the earthing work can be performed alternately in the first extended earthing area 850-1 and the second extended earthing area 850-2, interference between dump trucks can be prevented and the efficiency of the earthing work can be improved. it can.

<Third embodiment>
The third embodiment is an embodiment in which a target earthing position is set after setting a final earthing area and an extended earthing area as necessary in the earthing area. Hereinafter, a third embodiment will be described with reference to FIGS. 20 to 22. FIG. 20 is a flowchart illustrating a flow of setting processing of the earthing position according to the third embodiment. FIG. 21 is a diagram illustrating a case where the distance from the earthing limit line to the final earthing area (boundary side) is greater than or equal to the distance threshold. FIG. 22 is a diagram showing a case where the distance from the earthing limit line to the final earthing area (boundary side) is less than the distance threshold. In FIG. 20, the same steps as those included in the setting process of the earthing position according to the first embodiment of FIG.

  When the earth release area setting unit 316 acquires boundary information and vehicle information of the earth release field (S01, S02), the final earth release area is set by the same process as in step 04 (S31).

  Next, the earthing area setting unit 316 calculates a distance difference Δd from the boundary side 824 of the final earthing area 820 to the earthing limit line 1800 as shown in FIG. The earthing limit line used here is a contour line in the earthing ground 62 in an area where a new earthing position can be set. If there is an earthing position that has already been earthed on the perpendicular line from the boundary side 824 to the earthing line boundary 810, the point closest to the earthing position is the point on the earthing limit line, If there is no position, the point on the boundary line is the point on the earthing limit line.

  The earth release area setting unit 316 has a distance difference Δd and an earth release allowable distance d_th set in advance to determine whether to allow earth release between the edge of the earth release direction and the opposing boundary line. Are compared (S32). As shown in FIG. 21, when the maximum value of the distance difference Δd is equal to or greater than the allowable earth removal distance d_th (S32 / Yes), the earth removal region setting unit 316 extends from the boundary side 824 to the earth release limit line 1800. Is set as an extended earthing area 850 (S33). After that, as in steps S07 to S16, the earthing work is performed in the extended earthing area, and when there is no space for the earthing work in the extended earthing area, the earthing work is performed in the final earthing area.

  In addition, as shown in FIG. 22, if the maximum value of the distance difference Δd is less than the earthing allowable distance d_th (S32 / No), the earthing position direction setting unit 315 releases the earthing ground in the final earthing area. Is searched (S12).

  According to this embodiment, whether or not the extended earthing area is set is changed according to the distance from each point on the last earthing area to the earthing limit line, so even if the position of the boundary line is complicated It becomes easy to set the earthing area.

  Each of the above embodiments is merely an embodiment of the present invention, and is not intended to limit the present invention. Various changes and modifications can be made by those skilled in the art within the scope of the technical idea disclosed in this specification.

  For example, the dump truck that travels autonomously has been described above as an example. However, the dump truck that is operated by the operator is equipped with a display device that displays the target earthing position and the travel route, and receives and displays the route information from the control server. May be. Also in this example, in consideration of the vehicle length and the minimum turning radius in the earthing area, set the final earthing area and the extended earthing area, set the earthing in order from the extended earthing area while securing the turning point, It is possible to increase the use efficiency of the earthmoving ground.

  In addition, when setting the target release position in the extended release area and the final release area, it is desirable to set the release position in order from the point farthest from the entrance of the release area, but it is not always the target release that is farthest away. There is no need to select a soil position. For example, a point slightly closer to the entrance than the farthest release position may be set as the target release position.

  Further, the length of the reference side of the final earthing area may be set to a value including the vehicle body width as a margin.

1: vehicle travel control system, 10: excavator, 20, 20-1, 20-2: dump truck, 31: control server, 40: wireless communication line, 62 earthmoving ground

Claims (7)

A control server that is wirelessly connected to a dump truck that performs earthing work in a mine ground, and guides the dump truck to a target earthing position where this earthing work is performed,
A map information storage unit for storing map information including the position of the boundary of the earthmoving field and the position of the entrance of the earthing ground;
A vehicle information storage unit for storing vehicle information including a vehicle length and a minimum turning radius of the dump truck;
Based on the map information and the vehicle information, a rectangular end having a length of one side in a region facing the entrance in the release ground is equal to or longer than the sum of the vehicle length and the minimum turning radius of the dump truck. An earthing area setting unit that sets an earthing area and sets an extended earthing area in an area that is inside the earthing area and outside the final earthing area;
If there is a remaining area for setting the target earthing position in the extended earthing area, the target earthing position is set in the extended earthing area, and the extended earthing is out of the sides of the final earthing area. An extended earthing direction for performing earthing work while moving forward from the target earthing position in a direction orthogonal to the boundary side located at the boundary with the soil area is set, and the target earthing is within the extended earthing area. If there is no remaining area for setting the position, the target earthing position is set in the final earthing area, and the earthing work is performed while moving forward from the target earthing position in a direction parallel to the boundary side. The earthing position direction setting unit for setting the final earthing direction to perform,
When the target earthing position is set in the extended earthing area, the traveling direction of the dump truck is turned back so as to approach the target earthing position while retreating along the extended earthing direction. A cutback point is set in the extended earthing area or the final earthing area, and an outward traveling route from the entrance of the earthing ground via the turning point to the target earthing position is generated, and the final earthing point is generated. When the target earthing position is set in the soil area, a turn-back point for turning back the traveling direction of the dump truck so as to approach the target earthing position while retreating along the final earthing direction. A travel route that is set in the final earthing area and that generates a forward traveling route that reaches the target earthing position from the entrance of the earthing ground via the turnaround point based on the vehicle information and the map information Generator ,
A communication control unit for transmitting route information indicating the outward travel route to the dump truck;
A control server comprising: The control server according to claim 1,
The map information storage unit stores map information further including a position of the exit of the earthing ground,
When the target earthing position is set in the extended earthing area, the travel route generation unit travels from the target earthing position to the exit of the earthing ground through a section parallel to the extended earthing direction. When a return traveling route is generated and the target earthing position is set in the final earthing area, it goes from the target earthing position to the exit of the earthing ground through a section parallel to the final earthing direction. A return route is generated based on the vehicle information and the map information,
The communication control unit further transmits route information indicating the return route travel route,
Control server characterized by that. The control server according to claim 1,
The vehicle information storage unit stores vehicle information regarding a plurality of types of dump trucks having different vehicle lengths and minimum turning radii,
The earthing area setting unit sets the final earthing area based on vehicle information having a maximum vehicle length and a minimum turning radius among the plurality of types of dump trucks.
Control server characterized by that. The control server according to claim 1,
The earthing area setting unit sets a first extended earthing area and a second extended earthing area on both sides of the final earthing area toward the entrance of the earthing ground,
The earth release position / direction setting unit sets the target earth release position and the extended earth release direction in the first extended earth release area, and the target earth release position and the extension release in the second extended earth release area. Alternately performing a soil direction setting process, and when there is no remaining area for setting the target earthing position in the first extended earthing area and the second extended earthing area, in the final earthing area Setting the target earthing position,
Control server characterized by that. The control server according to claim 1,
The travel route generation unit, when generating the forward travel route toward the target earthing position in the extended earthing area, passes through the target earthing position and is a candidate for the return point on a virtual line parallel to the extended earthing direction. And when the provisional travel route connecting from the entrance of the earthmoving field to the candidate for the turning point includes a curvature less than the minimum turning radius of the dump truck, the entrance of the earthing ground is based on the virtual line. A candidate for a new turning point is set at a point farther than the point, and the forward traveling route is generated with a point where the curvature included in the provisional traveling route is equal to or greater than the minimum turning radius as a turning point,
Control server characterized by that. A vehicle traveling control system in which a dump truck that performs earthing work in a mine ground and a control server that guides the dump truck to a target earthing position where the current earthing work is performed are wirelessly connected. ,
The control server is
A server-side map information storage unit that stores map information including the position of the boundary of the earthing ground and the position of the entrance of the earthing ground;
A vehicle information storage unit for storing vehicle information including a vehicle length and a minimum turning radius of the dump truck;
Based on the map information and the vehicle information, a rectangular end having a length of one side in a region facing the entrance in the release ground is equal to or longer than the sum of the vehicle length and the minimum turning radius of the dump truck. An earthing area setting unit that sets an earthing area and sets an extended earthing area in an area that is inside the earthing area and outside the final earthing area;
If there is a remaining area for setting the target earthing position in the extended earthing area, the target earthing position is set in the extended earthing area, and the extended earthing is out of the sides of the final earthing area. An extended earthing direction for performing earthing work while moving forward from the target earthing position in a direction orthogonal to the boundary side located at the boundary with the soil area is set, and the target earthing is within the extended earthing area. If there is no remaining area for setting the position, the target earthing position is set in the final earthing area, and the earthing work is performed while moving forward from the target earthing position in a direction parallel to the boundary side. The earthing position direction setting unit for setting the final earthing direction to perform,
When the target earthing position is set in the extended earthing area, the traveling direction of the dump truck is turned back so as to approach the target earthing position while retreating along the extended earthing direction. A cutback point is set in the extended earthing area or the final earthing area, and an outward traveling route from the entrance of the earthing ground via the turning point to the target earthing position is generated, and the final earthing point is generated. When the target earthing position is set in the soil area, a turn-back point for turning back the traveling direction of the dump truck so as to approach the target earthing position while retreating along the final earthing direction. A travel route that is set in the final earthing area and that generates a forward traveling route that reaches the target earthing position from the entrance of the earthing ground via the turnaround point based on the vehicle information and the map information Generator ,
A server-side communication control unit that transmits route information indicating the outbound travel route to the dump truck,
The dump truck is
A position calculation device that detects the position of the vehicle and outputs vehicle position information;
A vehicle-side communication device that receives the route information;
A vehicle drive device including a traveling device and a braking device;
A vehicle control device that executes a vehicle control process for autonomously running the vehicle drive device, and
The vehicle control device includes:
A vehicle-side map information storage unit for storing the map information;
A travel control unit that outputs a drive control signal to the vehicle drive device to travel along the forward travel route and the backward travel route indicated by the route information based on the map information and the vehicle position information;
A vehicle travel control system characterized by the above. It is a vehicle travel control method for guiding the dump truck to a target earthing position where the earthing work of this time is performed, wirelessly connected to a dump truck that performs earthing work in the earthing area of the mine,
Obtain map information including the boundary position of the earth release field, the position of the earth release ground, and the position of the exit of the earth release place, and vehicle information including the vehicle length and minimum turning radius of the dump truck. Based on these, a rectangular final earth release area having a side length equal to or longer than the sum of the vehicle length of the dump truck and the minimum turning radius in the area facing the entrance in the earth release field. And setting an extended earthing area in an area that is within the earthing ground and outside the final earthing area;
The target earthing position is set in the extended earthing area, and the target earthing position is set in a direction orthogonal to the boundary side located at the boundary with the extended earthing area among the sides of the final earthing area. Setting an extended earthing direction to perform earthing work while moving forward from
An outbound travel route that reaches the target earthing position via a turn-back point that turns back the traveling direction of the dump truck in a direction that retreats and approaches toward the target earthing position from the entrance of the earthing ground; Generating a return path from the target earthing position through the section parallel to the extended earthing direction to the exit of the earthing ground based on the vehicle information and the map information;
Transmitting the route information indicating the forward travel route to the target earthing position set in the extended earthing area and the return route from the target earthing position to the dump truck;
Setting the target earthing position in the final earthing area, setting a final earthing direction for performing earthing work while moving forward from the target earthing position in a direction orthogonal to the boundary side;
The return point is set in the final release area from the entrance of the release site, and the final release point is determined from the forward travel route that reaches the target release position via the return point and the target release position. Generating a return path along the section parallel to the soil direction toward the exit of the earth release field based on the vehicle information and the map information;
Transmitting the route information indicating the forward traveling route to the target earthing position set in the final earthing region and the returning route from the target earthing position to the dump truck;
The vehicle travel control method characterized by including.