JP2018047813A - Soil discharge controlling control device and soil discharge position direction determination method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve use efficiency of a soil discharge ground.SOLUTION: A soil discharge controlling control device includes: a soil discharge line setting unit 322 for setting a soil discharge line serving as a point sequence of candidate positions for setting a soil discharge position in a soil discharge ground; past soil discharge information storage units 324, 325 for storing position information of the soil discharge position where soil discharge work is performed in the past and the amount of soil discharge on the soil discharge line; and a target soil discharge position direction determining unit 315 for calculating a distance between the proper soil discharge position from the last soil discharge position where the last soil discharge work is performed to the target soil discharge position for performing this time soil discharge work, based on load capacity information received from a dump truck and the last soil discharge amount discharged in last soil discharge work, and determining the position being on the soil discharge line and provided with the interval of to the proper soil discharge position distance from the last soil discharge position, as this time target soil discharge position.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an earthmoving control apparatus and an earthing position direction determination method.

  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 vehicle is sequentially guided to the plurality of target points inside the target area by sequentially providing the generated position data of the plurality of target points.

US Pat. No. 6,650,2016

  In the technique described in Patent Document 1, a plurality of earthing target positions are determined in advance in consideration of the amount of earthing to be released, and the earthing is sequentially performed there. For this reason, if the amount of released soil is less than expected, there will be less earth and sand in the vicinity, resulting in a high-density soil release, which may reduce the use efficiency of the ground disposal area. It was.

  This invention is made | formed in view of the said situation, and it aims at providing the technique which improves the utilization efficiency of an earth release place.

  In order to achieve the above object, the present invention provides a first dump truck and a second dump truck capable of vertically mounting a vessel around a support shaft at the rear of the vehicle body and discharging a load in the vessel to the rear of the vehicle body. The second dump truck is connected to the radio communication device that performs radio communication with each of the trucks. An earthing control apparatus for determining a target earthing position for discharging and determining a target earthing direction which is a traveling direction when discharging the remaining load in the vessel of the second dump truck while traveling forward. The second dump truck receives the position information of the earthing position where the dump truck performed the earthing work, the earthing information indicating the earthing quantity, and the loading quantity information indicating the current loading quantity of the second dump truck. Against A communication control unit that transmits information including the target earthing position and the target earthing direction, an initial earthing position that is a starting point of processing for determining the target earthing position and the target earthing direction, and the initial earthing position An initial earthing position direction setting unit that sets an initial earthing direction, which is a direction in which a dump truck that has started from the soil position and is dumped at the initial earthing position moves forward while earthing, and based on the initial earthing direction A target earthing direction determining unit for setting the target earthing direction for the second dump truck, and a point sequence of positions that are candidates for setting the earthing position of the earthing work to be carried out in the earthing site. An earthing line setting unit for setting a soil line, the earthing line setting unit for setting the first earthing line passing through the initial earthing position, and the position of the earthing position received from the first dump truck. Information and earthmoving The past dumping information storage unit for storing the previous dumping amount on the first dumping line, and the current dumping amount of the second dump truck and the previous dumping amount released by the previous dumping work. Based on the first appropriate earthing position distance from the immediately preceding earthing position where the last earthing work was performed to the target earthing position where the second dump truck is scheduled to perform earthing work from now on. A distance calculating unit for calculating a distance between appropriate earthing positions to be calculated, and a position on the first earthing line and having a distance from the immediately preceding earthing position to the distance between the first appropriate earthing positions. A target earthing position determining unit for determining the target earthing position, and an earthing information output unit for generating and outputting earthing information including the target earthing direction and the target earthing position. And

  ADVANTAGE OF THE INVENTION According to this invention, the technique which improves the utilization efficiency of a dumping ground can be provided. 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 functional configuration of the dump truck Block diagram of vehicle travel control system Block diagram showing the configuration of the target earthing position direction determination unit Sequence diagram showing the flow of processing for the control server to guide the dump truck to the unloading position Flow chart showing the flow of setting process of target earthing position The figure which shows the positional relationship of the initial earthing position, the initial earthing direction, and the earthing line The figure which shows the setting processing of target earthing position The figure which shows the process which determines a target earthing position on the earthing line after the 2nd row

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following description shows specific examples of the contents of the present invention, and the present invention is not limited to these descriptions. Various modifications by those skilled in the art are within the scope of the technical idea disclosed in this specification. Changes and modifications are possible. In all the drawings for explaining the present invention, components having the same function are denoted by the same reference numerals, and repeated description thereof may be omitted.

<First Embodiment>
A vehicle travel control system 1 according to a first embodiment will be described below with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a vehicle travel control system 1. As shown in FIG. 1, a vehicle travel control system 1 includes a loading machine 10 that excavates minerals and topsoil and loads the dump truck on a dump truck, and a control server that manages the operation of the dump truck (also functions as an earthmoving control controller). Each of the loading machine 10 and the dump truck is 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, two dump trucks that autonomously travel according to the control information from the control server 31 as the dump truck, that is, the first dump truck 20-1 and the second dump truck 20-2 will be described. One or three or more may be used. In addition, the first dump truck 20-1 and the second dump truck 20-2 are not limited to autonomous vehicles, and may be manned dump trucks that are driven by an operator, and in this case, the target release determined by the control server 31 is acceptable. A display device that displays the soil position and the earthing direction may be provided, and the operator may be guided toward the target earthing position. Moreover, the 1st dump truck 20-1 and the 2nd dump truck 20-2 may use the vehicle with the same vehicle rating, ie, the maximum load capacity of a load, and may mix vehicles with different vehicle ratings. . In the following description, when there is no need to distinguish between the first dump truck 20-1 and the second dump truck 20-2, the dump truck 20 may be described.

  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 this embodiment, an earthing method called paddock dumping is used in the earthing ground 62, and the determination process of the earthing position is one of the features of this embodiment.

  FIG. 2 is a view showing the appearance of the dump truck 20. FIG. 3 is a block diagram showing a functional configuration of the dump truck 20. As shown in FIG. 2, the dump truck 20 has a vessel 202 that carries a load on a vehicle body 201. The vessel 202 is in a solid line position during the loading operation and traveling, and wakes up to the state indicated by the two-dot chain line during the earthing operation. Thereby, the earth and sand loaded in the vessel 202 are released. In other words, the dump truck 20 is a dump truck that can be attached to the vessel 202 so as to be pivotable up and down around a support shaft at the rear of the vehicle body 201 and can discharge the load in the vessel 202 to the rear of the vehicle body.

  Further, the vehicle body 201 of the dump truck 20 is provided with a plurality of suspensions for supporting the vehicle body 201 on the front and rear axles. 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 206a, 206b, 206c, and 206d.

  As shown in FIG. 3, the dump truck 20 includes a body seating switch 205, an inclination angle sensor 207, a vehicle body speed detector 208, a position calculating device 209, a hoist operation lever (or hoist operation switch) 210, A load measuring device 220, a vehicle control device 230 that controls the vehicle body of the dump truck 20, and a vehicle-side wireless communication device 240 connected to the wireless communication line 40 are provided.

  The body seating switch 205 is provided between the vehicle body 201 and the vessel 202 of the dump truck 20. When the vessel 202 is seated, the seating state is detected and posture information is output to the vehicle control device 230.

  The vehicle body 201 of the dump truck 20 is provided with an inclination angle sensor 207. The tilt angle sensor 207 measures the tilt of the vehicle body 201 in the front-rear direction.

  The load measuring device 220 calculates the load from the vehicle body 201 and the vessel 202 (including load weight) based on the output from each pressure sensor 206a, 206b, 206c, 206d and the output from the tilt angle sensor 207. . The measurement result of the load measuring device 220 is input to the vehicle control device 230 as load information.

  The load measuring device 220 reads the output signals of the pressure sensors 206a, 206b, 206c, and 206d of each suspension 204 and the output signal of the inclination angle sensor 207, respectively, at predetermined sampling periods, and calculates a load Wp that is the weight of the load. . The total weight calculated by the four pressure sensors 206a, 206b, 206c, and 206d is the total load Wt. The total load Wt is the total weight applied to the suspension including the vehicle body 201 and the vessel 202 in the load. The load Wp1 is obtained by subtracting the initial load Ws of the vehicle body obtained in advance by calibration from the total load Wt. The load measuring device 220 always performs this load measurement calculation regardless of whether or not there is a load.

In this embodiment, the load Wp measured from the loading place 61 to the earthing position in the earthing place 62 is referred to as an immediately preceding load Wp1, and after the earthing is completed (the body seating switch 205 is turned OFF and the vessel 202 starts to tilt. The load measured after the next seating and the body seating switch 205 is turned ON) is referred to as a post-earth load Wp2. Then, the vehicle control device 230 calculates the soil discharge amount Wdn by the following formula (1) based on the immediately preceding load Wp1 and the post-ground load Wp2 acquired from the load measuring device 220, and outputs the calculated amount to the control server 31.
Wdn = previous load Wp1 (n-1) −post-load Wp2n (1)
However, Wdn: Load immediately before the soil release amount by the nth release work Wp1 (n-1): Load immediately before the nth release work Wp2n: Load immediately after the nth release work

  The dump truck 20 detects a rotation speed of a wheel attached to the vehicle body 201, in this embodiment, a front wheel, which is a driven wheel, and outputs speed information, a GPS (Global Positioning System), and an IMU. A position calculation device 209 that calculates a position of the host vehicle such as (Internal Measurement Unit) and outputs position information. The speed information and the position information are input to the vehicle control device 230.

  Further, the operation content of the hoist operation lever (switch) 210, specifically, a state signal indicating the tilt direction and tilt angle of the lever is input to the vehicle control device 230.

  The dump truck 20 includes a vehicle-side wireless communication device 240 that is connected to the control server 31 as an output destination of the vehicle control device 230 through the wireless communication line 40.

  In addition, the structure which acquires the output signal and speed information from the pressure sensor mentioned above by communication from another controller which controls a transmission or a body may be sufficient.

  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 the calculation result of the CPU 231 to the vehicle-side wireless communication device 240, and these And a bus 237 for connecting each component. The hardware configuration of the vehicle control device 230 is not limited to the above, and may be configured by one integrated circuit.

  Although not shown, the control server 31 may be configured to include a CPU, a ROM, a RAM, an HDD, an input I / F, an output I / F, and a bus, as in the case of the vehicle control device 230, or by an integrated circuit. It may be configured.

  FIG. 4 is a block diagram of the vehicle travel control system 1. In the control station 30, a server-side wireless communication device 51 is communicatively connected to the control server 31. In the dump truck 20, the vehicle-side wireless communication device 240 is communicatively connected to the vehicle control device 230. Then, necessary data is transmitted and received between the control server 31 and the vehicle control device 230. The server-side wireless communication device 51 and the vehicle-side wireless communication device 240 are wireless communication devices connected to the wireless communication line 40, respectively.

  The control server 31 includes a map data storage unit 311, a route generation unit 312, a travel permission section setting unit 313, a vehicle body state acquisition unit 314, a target earthing position direction determination unit 315, and a server side communication control unit 316.

  The map data storage unit 311 is configured so that the route data indicating the positional relationship of the transport route in the mine, the loading site 61, the earth release site 62, and the connection relationship by the transport route 60, and the dump truck in each area can be traveled. The boundary data indicating the boundary with the non-part is stored. It is configured so that data at a required location can be retrieved as necessary. The boundary data includes boundary data of the earthmoving field 62. The map data of the transport path 60 is defined by a node indicating a point and a link connecting adjacent nodes. A route set by a route generation unit 312 described later and a travel permission section set by the travel permission section setting unit 313 are defined by nodes and links.

  The route generation unit 312 generates a travel route from the departure point of each dump truck 20 to the destination. In the earthing ground 62, a dynamic path from the entrance of the earthing ground 62 (which may be the current position of the dump truck 20 that has arrived at the earthing ground 62) to the earthing position, and the earthing ground from the earthing position. Generate a dynamic path to 62 exits. In the present embodiment, the target earthing position and the target earthing direction determined by the target earthing position / direction determining unit 315 approach the target earthing position in the target earthing direction (in other words, when discharging the remaining load). Is transmitted to the dump truck 20 as information indicating a dynamic path (which can advance along the target earthing direction).

  The travel-permitted section setting unit 313 permits each dump truck 20 to travel only the dump truck, and sets a partial section (referred to as a travel-permitted section) on the travel route that prohibits the entry of other dump trucks 20. To do. In other words, since only the dump truck 20 to which the travel permission is granted can enter and travel in the travel permitted section, the travel permitted section functions as a closed section for the other dump trucks 20. Thereby, interference between the dump trucks 20 is avoided.

  The dump truck 20 transmits setting request information for the next new travel-permitted section to the control server 31 when the remaining section of the travel-permitted section set for the host vehicle is equal to or less than a predetermined distance. The travel permission section setting unit 313 sets a new travel permission section according to the setting request information. In addition, the travel permission section setting unit 313 releases the travel permission section set in the travel route behind the dump truck 20 that transmitted the setting request information. The released section can be set as a new travel permission section for the following vehicle.

  The vehicle body state acquisition unit 314 acquires state information such as the positions and speeds of work machines and dump trucks present in the mine, work states, destinations, and vehicle body specifications.

  The target earthing position direction determining unit 315 determines the target earthing position that is the target of the earthing work and the earthing direction that is the traveling direction when the dump truck 20 discharges the remaining load in the vessel while traveling forward. . Details thereof will be described later.

  The server-side communication control unit 316 performs wireless information transmission / reception control with the dump truck 20 via the server-side wireless communication device 51.

  On the other hand, the vehicle control device 230 includes a route acquisition unit 101, a vehicle position acquisition unit 102, a vehicle position link acquisition unit 103, a vehicle body state recognition unit 105, a vehicle side communication control unit 106, a travel permission section request unit 107, and a travel An autonomous traveling control unit 250 that enables autonomous driving by driving a vehicle body such as a motor or a steering motor autonomously is provided.

  The route acquisition unit 101 acquires route information on which the host vehicle should travel from the control station 30. The route information is given from the control station 30 not in the entire route to the destination but in the unit of the travel permitted section. The dump truck 20 travels toward the end of the travel permitted section.

  The own vehicle position acquisition unit 102 acquires position information from the position calculation device 209 and outputs the position information to the own vehicle position link acquisition unit 103.

  Based on the vehicle position obtained from the vehicle position acquisition unit 102, the vehicle position link acquisition unit 103 selects a vehicle position link that is a link where the vehicle is located. Then, the target speed added to each link included in the route information is read and output to the autonomous traveling control unit 250.

  The vehicle body state recognition unit 105 stores information defining predetermined vehicle body specifications, recognizes the vehicle body state of the dump truck 20 such as the steering angle and the traveling speed based on outputs from various sensors, and performs vehicle body state information. To the control server 31.

  The vehicle-side communication control unit 106 performs wireless information transmission / reception control with the control server 31 via the vehicle-side wireless communication device 240.

  The travel permission section request unit 107 transmits travel permission section setting request information to the control station 30.

  The autonomous traveling control unit 250 generates a target torque generating unit 251 that generates a traveling motor torque command for each wheel so as to realize a target speed, and a target steering angle generating unit 252 that generates a steering angle command so as to realize a target route. Including.

  The dump truck 20 moves autonomously along the route to the target earthing position determined by the target earthing position direction determining unit 315 generated by the route generator 312 of the control station 30 and performs earthing operation.

  FIG. 5 is a block diagram showing the configuration of the target earthing position / direction determining unit 315. The target earthing position / direction determining unit 315 includes an initial earthing position / direction setting unit 321 that acquires an initial earthing position and an initial earthing direction, and a grounding that is a point sequence of earthing position setting candidate positions in the earthing ground. An earth release line setting unit 322 that sets a line, a load amount acquisition unit 323 that receives and acquires load amount information from the dump truck 20, a past earth release amount storage unit 324 that records past earth release amounts, Past earthing position storage unit 325 for recording the earthing position of the earth, boundary interference judgment part 326 for judging the presence / absence of interference between the earthing position and the boundary line, and the vehicle body for obtaining the specifications of the vehicle body for the next earthing A specification acquisition unit 327, a target earthing direction determination unit 328, a proper earthing position distance calculation unit 329, a target earthing position determination unit 330, and an earthing information output unit 331 are provided. The processing contents of the target earthing direction determination unit 328, the appropriate earthing position distance calculation unit 329, the target earthing position determination unit 330, and the earthing information output unit 331 will be described later with reference to the flowchart of FIG.

  Since the past earth release amount storage unit 324 and the past earth release position storage unit 325 are components that store information on past earth release work, they are collectively referred to as a past earth release information storage unit.

  The “initial earthing position” is an earthing position that is a starting point for the process of determining the target earthing position and the target earthing direction. Therefore, when the earthing position is the first earthing position in the earthing ground and at a certain time, for example, when earthing work has been performed in the past in the same earthing ground, but the target earthing position setting process is re-executed Including both the first earthing position in

  Here, the “interference between the earthing position and the boundary line” means that the dump truck 20 moves backward and approaches the target earthing position along the earthing direction in addition to the case where the target earthing position is on the boundary line. When a part of the traveling route for the vehicle overlaps the boundary line, and when the traveling route is a locus of the longitudinal axis of the body of the dump truck 20, a part of the locus of the half width of the vehicle width around the locus This includes the case where overlaps with the boundary line. Furthermore, when the assumed earthing range (refer to FIG. 13) centering on the target earthing position overlaps the boundary line, it may be determined as interference.

  With reference to FIG. 6, the flow of processing in which the control server 31 determines the dump truck discharging position and the dump truck is guided to the discharging position will be described. FIG. 6 is a sequence diagram showing a flow of processing in which the control server 31 guides the dump truck 20 to the earthing position. In the following example, an example in which each of the first dump truck 20-1 and the second dump truck 20-2 is wirelessly connected to the control server 31 will be described. Then, the first dump truck 20-1 first enters the earthing ground 62 and releases it, and then the second dump truck 20-2 enters the earthing ground 62 and releases the earth.

  The route generation unit 312 generates a travel route from the loading place 61 to the earth release place 62 for the first dump truck 20-1 on the transport path 60, and transmits it to the first dump truck 20-1. In addition, the travel permission section setting unit 313 sets a travel permission section in the first dump truck 20-1 and transmits it to the first dump truck 20-1. The first dump truck 20-1 acquires (receives) the travel route and the travel permitted section, and autonomously travels accordingly (S01).

  Further, the load measuring device 220 of the first dump truck 20-1 measures and stores the current load amount (corresponding to the immediately preceding load Wp1 (n-1)) while traveling from the loading field 61 to the earthing field 62. Then, the immediately preceding load Wp1 (n-1) is transmitted to the control server 31 (S02).

  On the other hand, before the first dump truck 20-1 arrives at the entrance of the earthing ground 62, the control server 31 sets an initial earthing position (S03). The initial earthing position / direction setting unit 321 reads the map data of the earthing ground 62 from the map data storage unit 311 and displays the map on the display device of the control server 31. Then, the initial earthing position input by the operator using the input device is set as the initial earthing position. The operator may also input the initial earthing direction.

  Further, the initial earthing position / direction setting unit 321 reads the boundary line data of the earthing ground 62 from the map data storage unit 311, and the earthing earth farthest from the entrance of the earthing ground 62 is inside a predetermined distance from the boundary line. A point in the field 62 may be set as the initial earthing position. Moreover, the initial earthing position / direction setting unit 321 may set the initial earthing direction along a straight line from the initial earthing position to the exit of the earthing ground 62. In addition, when a dynamic path from the initial earthing position to the exit to the earthing ground 62 is generated in step S04, which will be described later, the initial earthing position / direction setting unit 321 sets the initial earthing direction on the dynamic path. It may be set.

  The target earthing position direction determination unit 315 outputs the position information of the initial earthing position to the route generation unit 312. The route generation unit 312 generates a route from the entrance of the earth discharging field 62 (or the current position of the first dump truck 20-1) to the initial earth discharging position (S04), and transmits the route to the first dump truck 20-1 ( S05). This route is a dynamic path approaching the initial earthing position along the initial earthing direction.

  The first dump truck 20-1 autonomously travels to the initial earthing position along the received route (S06), and releases the earth when it arrives at the initial earthing position (S07).

  The route generation unit 312 generates a route from the initial earthing position to the exit of the earthing ground 62 along the initial earthing direction (S08), and transmits the route to the first dump truck 20-1 (S09). This route is a route that travels along the initial earthing direction while traveling forward while discharging the remaining load from the initial earthing position. The first dump truck 20-1 starts autonomous traveling toward the loading place 61 along the received route (S10).

  The load measuring device 220 of the first dump truck 20-1 measures the post-release load Wp2n, calculates the release amount Wdn, and transmits it to the control server 31 (S11). The control server 31 receives and stores the earth discharge amount Wdn (S12).

  The control server 31 receives the current load Wp1n from the second dump truck 20-2 (S13), and determines the target discharge position direction of the second dump truck 20-2 using this and the previous discharge quantity Wdn. (S14).

  With reference to FIGS. 7 to 9, the method for determining the earthing position in step S14 will be described. FIG. 7 is a flowchart showing the flow of the setting process of the target earthing position direction. FIG. 8 is a diagram showing a positional relationship between the initial earthing position, the initial earthing direction, and the earthing line. FIG. 9 is a diagram illustrating a target earthing position setting process. Hereinafter, description will be made along the order of steps in FIG.

  The earthing line setting unit 322 sets the counter n of the earthing line to 1 (S141).

The earthing line setting unit 322 sets an n-row earthing line (S142). In this example, as shown in FIG. 8, the initial earthing position direction setting unit 321 starts earthing with the initial earthing position P ₀ and the dump truck 20 stopped at the initial earthing position P ₀ , and the slope It is assumed that an initial earthing direction V _0, which is a moving direction when earthing is performed while moving forward at a low speed before the earth and sand released at the lower end of the vessel 202 are clogged and cannot be earthed, is set. In this state, in this example, the earthing line setting unit 322 starts from the initial earthing position P ₀ and is orthogonal to the initial earthing direction V _{0 in the} two-dimensional plane including the ground surface of the earthing field. Is set as the first row of earthing lines (hereinafter referred to as the first earthing line L1).

  There are several modes in which the earthing line setting unit 322 sets the first earthing line L1, for example, a map of the earthing ground 62 is displayed on the GUI of the control server 31, and the operator inputs an input device such as a mouse or a touch panel. The earthing line may be input on the map displayed using, and the earthing line may be set from the input operation.

  Further, the earth release line setting unit 322 reads the boundary data of the earth release site 62 from the map data storage unit 311, and releases the margin distance interval provided so as not to interfere with the boundary toward the inside of the earth release site 62. An earth release line may be set at a position near the center of the ground. In this case, the earth release line may be set as a curve along the boundary line.

  The map data storage unit 311 stores the coordinates of the point sequence of each point on the boundary line as boundary data. In addition, the coordinates of each point in the earthing ground 62 are also stored. A target earthing position to be described later is expressed as coordinates indicating a point in the earthing field 62. Thereby, the boundary interference determination unit 326 determines the presence or absence of interference between the target earthing position and the boundary line by comparing the coordinates indicating the target earthing position with the coordinates of the point sequence on the boundary data. Details will be described later.

  The earthing line setting unit 322 compares the coordinates of the n-row earthing line with the coordinates of the points in the earthing ground 62 stored in the map data storage unit 311, and the n-row earthing line is in the earthing ground 62. Is determined (S143). If affirmative (S143 / Yes), the process proceeds to step S144. In the case of negative (S143 / No), this process is terminated. This step is used to determine the end of the series of processes in FIG.

  By the way, before the start of the target earthing position setting process in the second earthing work, the past earthing amount storage unit 324 stores the earthing amount received from the first dump truck 20-1 in step S11. . Further, the load amount acquisition unit 323 receives and stores the current load amount from the second dump truck 20-2 in step S12.

  The vehicle body specification acquisition unit 327 has vehicle body specification information in which vehicle identification information uniquely indicating the dump truck 20 is associated with a vehicle case (maximum loading capacity) in advance. For example, when the loading amount from the second dump truck 20-2 is missed in step S12, the vehicle type (the maximum loading amount or the size of the vehicle body) of the second dump truck 20-2 is used. ) To estimate the load capacity. Further, although the interference between the target earthing position and the boundary line is determined in a process described later, the size of the vehicle body and the distance to the boundary line may be compared at that time.

In the above state, the distance calculation unit 329 between the appropriate earthing positions from the previous earthing amount M1 acquired from the past earthing amount storage unit 324 and the loading amount acquisition part 323 as shown in the following equation (2). Using the function F, which is a function of the acquired current load amount M2, the previous earthing position is obtained from the past earthing position storage unit 325, and the first appropriate earthing that is the distance from this earthing position. An inter-position distance D1 (see FIG. 9) is obtained (S144). In this example, the distance D1 between the appropriate earthing positions as the distance D between the appropriate earthing positions, the distance D1 between the first appropriate earthing positions separated in the direction along the earthing line L, the first earthing line L1, and the second earthing line different from this. When there is L2, the second proper earthing position distance D2, which is the distance between the first earthing line L1 and the second earthing line L2, will be described separately.
Proper earthing distance D = F (M1, M2) (2)

  Here, the previous earthing position is the center position of the sediment deposited previously.

The function F is configured, for example, as the following expression (3).
F (M1, M2) = P × (previously released amount + next loading amount) (3)

  P is a parameter, and is configured so that an appropriate value can be determined by conducting a test in advance. This may be changed in accordance with the specification of the body of the dump truck that performs the next release, particularly the maximum load capacity. Moreover, you may be comprised so that a user can change suitably.

  In addition, the distance between the appropriate earthing positions is not calculated using the formula (2), but the distance between the appropriate earthing positions based on the past earthing quantity, the past earthing position, the next loading capacity, and the next vehicle specification. This can also be realized by preparing in advance a database configured so that the distance can be selected.

  Next, as shown in FIG. 9, the target earthing position determination unit 330 acquires the first earthing line L1 from the earthing line setting unit 322, and the previous earthing position (immediately before the first earthing line L1). A point away from the first proper earthing position distance D1 from the earthing position) is determined as the next target earthing position (S145).

  The target earthing direction determining unit 328 sets the target earthing direction to be parallel to the initial earthing direction acquired by the initial earthing position / direction setting unit 321 (S146).

  The boundary interference determination unit 326 determines whether the set target earthing position does not interfere with the boundary line of the earthing field 62 (S147). Whether or not there is interference in the determination processing by the boundary interference determination unit 326 depends on the margin distance provided to ensure the safety of the operation of the dump truck on the boundary line or the size of the vehicle body (particularly the vehicle width). If the vehicle width is equal to or greater than the margin distance, it may be determined that there is interference.

  If there is no interference (S147 / no interference), the earthing information output unit 331 generates earthing information including the target earthing direction and the target earthing direction, and outputs it to the route generation unit 312 (S148). The route generation unit 313 generates a dynamic path that approaches the target earthing position in the target earthing direction, transmits the dynamic path to the second dump truck 20-2, and returns to step S144. In this embodiment, an autonomous traveling dump truck is taken as an example, and the output of the earthing position information is indirectly output as on the route through the route generation process, but in the case of a manned dump truck, the earthing information The output unit 331 may transmit the release information directly to the manned dump truck via the server side communication control unit 316.

  When there is interference (S147 / with interference), the earth release line setting unit 322 increments n by 1 (S149) and sets the earth release line in the (n + 1) th column (S142).

  This process will be described with reference to FIG. FIG. 10 is a diagram showing processing for determining a target earthing position on the earthing lines in the second and subsequent columns.

  In the second and subsequent rows, it is necessary to determine the interval from the first earthing row. From the past earth release amount storage unit 324 and the past earth release position storage unit 325, the past earth release amount and the past earth release position near the position assumed to be the next earth release position are acquired. As shown in FIG. 10, the target earthing position direction determination unit 315 calculates a second appropriate earthing position distance D2 that is the distance between the appropriate earthing positions with the previous row, and an interval between the distance and the previous earthing position. The target earthing position is calculated using the first appropriate earthing position distance D1. For example, when the distance D2 between the second appropriate earthing positions is a calculated fixed value, when the amount of past earthing on the first earthing line L1 is large, the previous earthing position on the second earthing line L2 The distance from P (n-1) (first appropriate earthing position distance D1) may be set wide.

  According to this embodiment, the target earthing position in the current earthing is determined on the earthing line determined in advance in consideration of the amount of earthing previously. As a result, if the previous amount of earthing is large, the current target earthing position is set away, and if the previous earthing amount is small, the current target earthing position can be made closer, so that the high accumulation of earth can do. Therefore, the utilization efficiency of the earthmoving field can be improved.

  As a modification of the above embodiment, in S149, n is incremented by 1, an n + 1 column earthing line is set, and the first target earthing position in the n + 1 column is set. Then, the boundary interference determination unit 326 determines whether or not the first target earthing position interferes with the boundary line, and if there is no interference, the control server 31 generates a route to the target earthing position and sends it to the dump truck 20. The target earthing position and route may be transmitted. Thereafter, the processing from step S144 onward may be repeated for the n + 1 rows of earthing lines. On the other hand, if it is determined that the first target earthing position set in the n + 1 line earthing line interferes with the boundary, it is determined that the target earthing position cannot be determined any more, and the series of steps is completed. Also good.

  The above embodiment is merely an embodiment of the present invention, and is not intended to limit the present invention. The present invention includes various modifications that do not depart from the spirit of the present invention, and these modifications are also included in the present invention. For example, the calculation method of the distance between the appropriate earthing positions is not limited to the above example, and in the past earthing position adjacent to the target earthing position of the current earthing work, if the amount of earthing is large, the appropriate earthing position The calculation (not limited to the calculation) for determining that the distance between the appropriate earthing positions is made small when the distance between the earths is increased and the amount of earthing is small is included in the calculation process of the distance between the appropriate earthing positions in the present invention. . In addition, in calculating the distance between the appropriate earthing positions, in addition to the amount of earth released, the nature of the earthed material, for example, the ease of spreading the earthed material, such as the highly viscous earthed rocks and rocks, and the maintenance of the accumulated state In consideration of this, the value of the parameter P may be increased or decreased.

  Moreover, the dump truck 20 may include a rear obstacle distance calculation unit capable of calculating a distance to a rear obstacle as the above modification. Thus, when an attempt is made to stop at the position and direction determined by the target earthing position / direction determination unit, if there is an obstacle before that, the vehicle can stop there. In addition, since the obstacle in this case is considered to be earth and sand released in the past, if an obstacle is detected sufficiently far away from the target earthing position, the target earthing position and direction determination unit has determined. It may be configured to be able to correct the stopping position so that it is determined that the soil position is not appropriate and the obstacle detected by passing there, that is, approaching the past earth and sand, and stopping. .

DESCRIPTION OF SYMBOLS 10 ... Loading machine 20 ... Dump truck 30 ... Control station 31 ... Control server 50 ... Communication part 60 ... Conveyance path 61 ... Loading place 62 ... Unloading Place 1 ... Vehicle travel control system

Claims (6)

A wireless communication device for wirelessly communicating with each of the first dump truck and the second dump truck capable of vertically mounting the vessel around a support shaft at the rear of the vehicle body and discharging the load in the vessel to the rear of the vehicle body And the second dump truck will release the second dump truck from the earth in the earth dump site based on the contents of the earth dumping work that the first dump truck has already done in the earth dump site. An earthing control device for determining a target earthing direction, which is a traveling direction when discharging the remaining load in the vessel of the truck while traveling forward,
Receiving the position information of the earthing position where the first dump truck performed the earthing work, the earthing information indicating the earthing quantity, and the loading quantity information indicating the current loading quantity of the second dump truck; A communication control unit for transmitting information including the target earthing position and the target earthing direction to the dump truck;
The initial dumping position that is the starting point of the process for determining the target dumping position and the target dumping direction, and the dump truck that has started from the initial dumping position and dumped at the initial dumping position advances while dumping An initial earthing position direction setting unit for setting an initial earthing direction which is a direction to perform,
A target earthing direction determining unit that sets the target earthing direction for the second dump truck based on the initial earthing direction;
An earthing line setting unit for setting an earthing line composed of point sequences of positions that are candidates for setting an earthing position for an earthing operation to be carried out in the earthing site, and that passes through the initial earthing position. An earthing line setting section for setting one earthing line,
A past earth release information storage unit for storing the position information and the amount of earth release received from the first dump truck;
On the first release line, the last dumping work is performed based on the immediately previous release amount that the first dump truck released in the previous release work and the current loading amount of the second dump truck. A distance calculation unit between appropriate earthing positions for calculating a distance between first appropriate earthing positions between the immediately preceding earthing position and a target earthing position where the second dump truck is scheduled to perform earthing work from now on; ,
A target earthing position that determines a position that is on the first earthing line and that is spaced from the immediately preceding earthing position by a distance between the first appropriate earthing positions as a target earthing position of the second dump truck. A decision unit;
An earthing information output unit for generating and outputting earthing information including the target earthing direction and the target earthing position;
An earthmoving control apparatus comprising: The earth control control device according to claim 1,
The earth release line setting unit has an axis in a direction orthogonal to the initial earth release direction as a first earth release line passing through the initial earth release position and within a two-dimensional plane including the ground surface of the earth release field. Set the earthing line as the direction,
An earthmoving control device characterized by that. The earth control control device according to claim 1,
The earthing line setting unit has a margin distance interval to avoid interference between the earthing field boundary line and the second dump truck closer to the center of the earthing field from the earthing field boundary line. In the position, further set a release line of the shape along the boundary line,
An earthmoving control device characterized by that. The earth control control device according to claim 1,
A boundary interference determination unit for determining whether the target earthing position interferes with a boundary line of the earthing field;
When the target earthing position interferes with the boundary line of the earthing ground,
The distance calculation unit between the appropriate earthing positions is based on the amount of earthing already released in the current earthing line where the immediately preceding earthing position exists, Calculating the distance between the second appropriate earthing position between the new earthing line newly set near the entrance and the current earthing line,
The earthing line setting unit is closer to the entrance of the earthing ground than the current earthing line, and at a position where a distance between the current earthing line and the distance between the second appropriate earthing positions is provided. Set up a new earthmoving line,
The target earthing position determining unit determines a new target earthing position on the new earthing line instead of the target earthing position determined to interfere with the boundary line;
An earthmoving control device characterized by that. The earth control control device according to claim 1,
The distance between the appropriate earthing positions is determined based on the spread of the earthing material centered on the immediately preceding earthing position, and the distance between the first appropriate earthing positions is determined.
An earthmoving control device characterized by that. A wireless communication device for wirelessly communicating with each of the first dump truck and the second dump truck capable of vertically mounting the vessel around a support shaft at the rear of the vehicle body and discharging the load in the vessel to the rear of the vehicle body And the second dump truck will release the second dump truck from the earth in the earth dump site based on the contents of the earth dumping work that the first dump truck has already done in the earth dump site. An earthing position direction determination method for determining a target earthing direction, which is a traveling direction when discharging the remaining load in a vessel of a truck while traveling forward,
Position information of the earthing position where the first dump truck performed the earthing work from the first dump truck, earthing information indicating the earthing quantity, and loading information indicating the current loading quantity of the second dump truck. Receiving step;
The initial dumping position that is the starting point of the process for determining the target dumping position and the target dumping direction, and the dump truck that has started from the initial dumping position and dumped at the initial dumping position advances while dumping A step of accepting a setting of an initial earthing direction which is a direction to perform,
A step of setting a first earthing line that is a earthing line that is a point sequence of positions that are candidates for setting the earthing position of the earthing work to be carried out in the earthing site, and that passes through the initial earthing position. When,
On the first release line, the last dumping work is performed based on the immediately previous release amount that the first dump truck released in the previous release work and the current loading amount of the second dump truck. Calculating a distance between the first appropriate earthing positions between the immediately preceding earthing position and the target earthing position where the second dump truck is scheduled to perform earthing work;
Determining a position on the first earthing line and providing a distance of the distance between the first appropriate earthing positions from the immediately preceding earthing position as a target earthing position of the second dump truck;
Setting the target earthing direction for the second dump truck based on the initial earthing direction;
Generating and outputting earthing information including the target earthing position and the target earthing direction;
An earthing position direction determination method characterized by comprising: