JP2020057410A - Management system of work vehicle and management method of work vehicle - Google Patents

Abstract

To provide a management system of a work vehicle capable of suppressing reduction in productivity at a work site.SOLUTION: A management system of a work vehicle comprises: a travel condition data generation unit for setting travel condition data which includes a first travel route on which the work vehicle is caused to travel forward and a second travel route on which the work vehicle is caused to travel backward, on a conveyance path leading to a work site at which work is carried out by the work vehicle; a specific area data acquisition unit for acquiring specific area data which indicates a specific area where the work vehicle can switchback in the conveyance path; and a switchback command signal for outputting a command signal which causes the work vehicle travelling on one of the first travel route and the second travel route to switchback in the specific area and to travel on the other of the first travel route and the second travel route.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a work vehicle management system and a work vehicle management method.

  In a wide-area work site such as a mine, an unmanned working vehicle is used for carrying work. After the work vehicle is loaded at the loading site, the work vehicle travels along the transport path, moves to the discharging site, and discharges the load at the discharging site. Patent Literature 1 discloses a technique in which a work vehicle changes the front-rear direction of the work vehicle at a loading site and moves to a loading point.

JP 2012-113429 A

  For example, although the abnormality occurs in the first loading place among the plurality of loading places and it is difficult to perform the intended work in the first loading place, When traveling toward the first loading site, productivity at the work site is reduced. In order to suppress a decrease in productivity at the work site when an abnormality occurs at the first loading site, a technology capable of promptly moving the work vehicle to the normal second loading site is desired. Is done.

  An aspect of the present invention is to provide a work vehicle management system and a work vehicle management method that can suppress a decrease in productivity at a work site.

  According to the first aspect of the present invention, a travel path including a first travel path for traveling the work vehicle forward and a second travel path for traveling the reverse travel on a transport path leading to a work place where the work of the work vehicle is performed. A traveling condition data generating unit that sets condition data; a specific area data acquiring unit that acquires specific area data indicating a specific area to which the work vehicle can switch back in the transport path; A switchback command that outputs a command signal for causing the work vehicle traveling on one of the two traveling routes to switch back in the specific area and traveling on the other traveling route of the first traveling route and the second traveling route. And a management system for a work vehicle including:

  According to the second aspect of the present invention, a traveling path including a first traveling path for traveling the traveling vehicle forward and a second traveling path for traveling the traveling reversely on a transport path leading to a work place where the work of the work vehicle is performed. Setting condition data, acquiring specific area data indicating a specific area to which the work vehicle can be switched back in the transport path, and one of the first travel path and the second travel path And outputting a command signal for causing the work vehicle traveling on the vehicle to switch back in the specific area to travel the other of the first travel route and the second travel route. Provided.

  According to an aspect of the present invention, a work vehicle management system and a work vehicle management method capable of suppressing a decrease in productivity at a work site are provided.

FIG. 1 is a diagram schematically illustrating an example of a work vehicle management system according to the present embodiment. FIG. 2 is a perspective view of the work vehicle according to the present embodiment as viewed from the front. FIG. 3 is a perspective view of the work vehicle according to the present embodiment as viewed from the rear. FIG. 4 is a side view showing the work vehicle according to the present embodiment. FIG. 5 is a functional block diagram illustrating an example of the management device and the control device according to the present embodiment. FIG. 6 is a diagram schematically illustrating traveling condition data according to the present embodiment. FIG. 7 is a flowchart illustrating an example of the work vehicle management method according to the present embodiment. FIG. 8 is a schematic diagram for explaining the work vehicle management method according to the present embodiment. FIG. 9 is a schematic diagram for explaining the work vehicle management method according to the present embodiment.

  Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be appropriately combined. In some cases, some components may not be used.

[Management system]
FIG. 1 is a diagram schematically illustrating an example of a management system 1 for a work vehicle 2 according to the present embodiment. The management system 1 performs operation management of the work vehicle 2. In the present embodiment, the work vehicle 2 is a dump truck 2 that is a transport vehicle that can travel in a mine.

  As illustrated in FIG. 1, the dump truck 2 travels at least a part of a work site PA of a mine and a transport path HL leading to the work site PA. The work place PA includes at least one of a loading place LPA and a dumping place DPA. The transport path HL includes an intersection IS. The dump truck 2 travels according to a target traveling route set in the transport path HL and the work place PA.

  The loading site LPA is an area where a loading operation for loading the dump truck 2 is performed. A loading machine 3 such as a hydraulic shovel operates at the loading site LPA. The dumping place DPA is an area where a discharging operation for discharging a load from the dump truck 2 is performed. For example, a crusher CR is provided in the dumping place DPA.

  The management system 1 includes a management device 10 and a communication system 9. The management device 10 includes a computer system and is installed in a control facility 7 provided in a mine. The communication system 9 performs data communication and signal communication between the management device 10 and the dump truck 2. The communication system 9 has a plurality of repeaters 6 that relay data and signals. The management device 10 and the dump truck 2 perform wireless communication via the communication system 9.

  In the present embodiment, the dump truck 2 is an unmanned dump truck that travels in a mine based on a command signal from the management device 10. The dump truck 2 travels in the mine based on a command signal from the management device 10 without operating by a driver.

  In the present embodiment, the position of the dump truck 2 is detected by using a GNSS (Global Navigation Satellite System). The global navigation satellite system includes a GPS (Global Positioning System). The GNSS has a plurality of positioning satellites 5. The GNSS detects a position defined by latitude, longitude, and altitude coordinate data. The position detected by the GNSS is an absolute position defined in the global coordinate system. The absolute position of the dump truck 2 in the mine is detected by the GNSS.

[Dump truck]
Next, the dump truck 2 according to the present embodiment will be described. FIG. 2 is a perspective view of the dump truck 2 according to the present embodiment as viewed from the front. FIG. 3 is a perspective view of the dump truck 2 according to the present embodiment as viewed from the rear. FIG. 4 is a side view showing the dump truck 2 according to the present embodiment. In the description using FIG. 2, FIG. 3, and FIG. 4, an XYZ rectangular coordinate system is set, and the positional relationship of each part is described with reference to the XYZ rectangular coordinate system.

  2, 3, and 4, the Y-axis direction is the traveling direction of the dump truck 2, the + Y direction is the forward direction of the dump truck 2, and the -Y direction is the backward direction of the dump truck 2. . In the traveling direction, the portion or direction on the + Y side of the dump truck 2 is appropriately referred to as front or front, and the portion or direction on the −Y side of the dump truck 2 is appropriately referred to as rear or rear. Further, the X-axis direction is defined as the vehicle width direction of the dump truck 2, and in the vehicle width direction, the portion or direction on the + X side of the dump truck 2 is referred to as a right portion or a right side as appropriate, and the -X side of the dump truck 2 is defined. The site or direction is referred to as left or left as appropriate. In addition, the Z-axis direction is defined as the vertical direction of the dump truck 2, and in the vertical direction, the + Z-side part or direction of the dump truck 2 is appropriately referred to as upper or upper, and the −Z-side part or direction of the dump truck 2 is defined as It is referred to as lower or lower as appropriate.

  The dump truck 2 includes a chassis 20, a dump body 21 supported by the chassis 20, a traveling device 22 that supports the chassis 20, a driving device 23 that generates power for operating the traveling device 22, and a radiator 24. , A hoist cylinder 25 for driving the dump body 21, and a control device 40.

  In this embodiment, the dump truck 2 is a cabless dump truck having no cab (cab). The dump truck 2 runs unmanned without depending on the operation of the driver. The dump truck 2 may be a dump truck having a cab and traveling unmanned.

  The traveling device 22 is provided at a front part of the dump truck 2 and supports a tire 26T, a wheel 26 provided at a rear part of the dump truck 2 and supports a tire 27T, and brakes the wheel 26 and the wheel 27. It has a brake device and a steering device for steering the wheels 26 and 27. One wheel 26 and one tire 26T are provided on each of the right and left portions of the chassis 20. One wheel 27 and one tire 27T are provided on each of the right and left portions of the chassis 20.

  The wheel 26 and the wheel 27 are supported by the chassis 20 via a suspension device. The rotation of the wheels 26 and 27 causes the dump truck 2 to travel.

  The driving device 23 generates power for rotating the wheels 26 and 27. In the present embodiment, the drive device 23 includes an internal combustion engine, a generator that generates electric power by operation of the internal combustion engine, and an electric motor that operates based on the electric power generated by the generator. The radiator 24 radiates the coolant of the internal combustion engine.

  The wheels 26 and 27 are rotated by the power generated by the electric motor. The electric motor is an in-wheel motor, and is provided on each of the wheel 26 and the wheel 27. When the internal combustion engine is driven, the generator operates to generate electric power. The electric motor is driven by the electric power generated by the generator. The electric motor is provided on each of the two wheels 26. Further, the electric motor is provided on each of the two wheels 27. That is, in the present embodiment, the traveling device 22 is a four-wheel drive traveling device.

  The wheel 26 is steered by the first steering device. The wheel 27 is steered by a second steering device. That is, in the present embodiment, the traveling device 22 is a four-wheel steering traveling device.

  The dump truck 2 is capable of moving forward and moving backward. It is preferable that the traveling performance of the dump truck 2 when traveling forward and the traveling performance of the dump truck 2 when traveling backward are substantially the same. That is, at least one of the driving performance, the braking performance, and the turning performance of the traveling device 22 during forward traveling and at least one of the driving performance, the braking performance, and the turning performance of the traveling device 22 during reverse traveling are substantially the same. is there. For example, the maximum traveling speed of the dump truck 2 when traveling forward and the maximum traveling speed of the dump truck 2 when traveling backward are substantially the same. The maximum acceleration of the dump truck 2 when moving forward and the maximum acceleration of the dump truck 2 when moving backward are substantially the same.

  The dump body 21 accommodates a load. The dump body 21 is rotatably supported by a rear portion of the chassis 2 via a hinge mechanism 28. The dump body 21 has a protruding portion 29 at a front portion and an inclined surface 30 at a rear portion.

  The hoist cylinder 25 drives the dump body 21. Two hoist cylinders 25 are provided in the vehicle width direction. The upper end of the hoist cylinder 25 is rotatably connected to the front of the dump body 21. The lower end of the hoist cylinder 25 is rotatably connected to the chassis 20.

  The dump body 21 performs a dump operation by the operation of the hoist cylinder 25. The extension of the hoist cylinder 25 causes the dump body 21 to rotate about the hinge mechanism 25 such that the front portion of the dump body 21 rises. When the dump body 21 performs the dumping operation, the load loaded on the dump body 21 is discharged from the rear part of the dump body 21.

  Control device 40 includes a computer system. The control device 40 controls the dump truck 2 based on a command signal including the driving condition data supplied from the management device 10.

  The dump truck 2 includes a position detector 31 for detecting an absolute position of the dump truck 2, an illumination light 32 provided at a front portion, an illumination light 33 provided at a rear portion, and an obstacle sensor provided at a front portion. 36 and an obstacle sensor 37 provided at the rear.

  The position detector 31 includes a GPS antenna that receives a GPS signal from the GPS satellite 5, and a GPS calculator that calculates the absolute position of the dump truck 2 based on the GPS signal received by the GPS antenna. The GPS antenna of the position detector 31 is provided at the rear of the dump body 21.

  The illumination lamp 32 illuminates an object in front of the dump truck 2. The illumination lamp 33 illuminates an object behind the dump truck 2.

  The obstacle sensor 36 detects an obstacle in front of the dump truck 2 when the dump truck 2 moves forward. The obstacle sensor 37 detects an obstacle behind the dump truck 2 when the dump truck 2 moves backward. The obstacle sensor 36 and the obstacle sensor 37 include, for example, a radar device. Note that the obstacle sensor 36 and the obstacle sensor 37 may include a laser scanner device, or may include a camera. When the obstacle sensor 36 detects an obstacle while the dump truck 2 moves forward, the control device 40 uses the detection data of the obstacle sensor 36 to avoid collision between the dump truck 2 and the obstacle. Perform processing. When the obstacle sensor 37 detects an obstacle during the backward movement of the dump truck 2, the control device 40 uses the detection data of the obstacle sensor 37 to avoid collision between the dump truck 2 and the obstacle. Perform processing. The process for avoiding the collision between the dump truck 2 and the obstacle is, for example, a process for decelerating or stopping the traveling dump truck 2.

[Management device and control device]
Next, the management device 10 and the control device 40 according to the present embodiment will be described. FIG. 5 is a functional block diagram illustrating an example of the management device 10 and the control device 40 according to the present embodiment. As described above, the management device 10 is installed in the control facility 7. The control device 40 is mounted on the dump truck 2. The management device 10 and the control device 40 perform wireless communication via the communication system 9.

  The management device 10 includes a computer system. The management device 10 includes an arithmetic processing device 11 including a processor such as a CPU (Central Processing Unit), a storage device 12 including a memory and storage such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an input device. An output interface 13.

  The management device 10 is connected to the wireless communication device 14. The management device 10 performs data communication with the dump truck 2 via the wireless communication device 14 and the communication system 9.

  The management device 10 is connected to the input device 15 and the output device 16. The input device 15 and the output device 16 are installed in the control facility 7. The input device 15 includes, for example, at least one of a computer keyboard, a mouse, and a touch panel. Input data generated by operating the input device 15 is output to the management device 10. The output device 16 includes a display device. The display device includes a flat panel display such as a liquid crystal display (Liquid Crystal Display: LCD) or an organic EL display (Organic Electroluminescence Display: OELD). The output device 16 operates based on display data output from the management device 10. Note that the output device 16 may be, for example, a printing device.

  The arithmetic processing device 11 includes a traveling condition data generation unit 111, a specific area acquisition unit 112, an abnormal data acquisition unit 113, a position data acquisition unit 114, and a switchback command unit 115.

  The traveling condition data generation unit 111 generates traveling condition data of the dump truck 2 traveling in the mine. The traveling condition data of the dump truck 2 includes at least one of a traveling route, a traveling speed, an acceleration, a deceleration, and a traveling direction of the dump truck 2. The traveling condition data of the dump truck 2 may include at least one of the stop position and the departure position of the dump truck 2.

  In the present embodiment, the traveling condition data generation unit 111 sets traveling condition data including at least the first traveling route RPa for traveling the dump truck 2 forward and the second traveling route RPb for traveling backward in the transport path HL. I do.

  The traveling condition data generation unit 111 preferably generates traveling condition data such that the first traveling route RPa and the second traveling route RPb do not overlap in the workplace PA and the transport path HL.

  The specific area data acquisition unit 112 acquires specific area data indicating a specific area SA in the transport path HL where the dump truck 2 can switch back.

  The switchback is an operation in which the advancing dump truck 2 changes the traveling direction without changing the front-rear direction of the dump truck 2 and starts reverse, or the backward dump truck 2 moves in the front-rear direction of the dump truck 2. It refers to an operation of changing the traveling direction without changing the direction and starting to move forward. Note that, in the present embodiment, “forward” refers to traveling in a state where the front portion of the dump truck 2 faces the traveling direction. In the present embodiment, “reverse” means that the vehicle travels in a state where the rear part of the dump truck 2 faces the traveling direction.

  In the transport path HL, a plurality of specific areas SA to which the dump truck 2 can switch back are provided. The condition of the specific area SA in which the dump truck 2 can be switched back is, for example, an area where the dump truck 2 traveling in one direction and the dump truck 2 traveling in the opposite direction can pass each other, and the switchback is performed. That there is no obstacle that hinders the operation. An example of the specific area SA includes a transport path HL and an intersection area including an intersection IS of the transport path HL.

  The specific area data includes position data of the specific area SA in the global coordinate system and dimension data of the specific area SA. The specific area data is known data derived from a preliminary survey or a field survey in a mine, and is stored in the storage device 12. The specific area data acquisition unit 112 acquires specific area data from the storage device 12.

  Note that the administrator of the control facility 7 may specify the specific area SA via the input device 15. The input device 15 generates specific area data when operated by an administrator. In this case, the specific area data acquisition unit 112 acquires specific area data from the input device 15. For example, when the input device 15 includes the touch panel provided on the output device (display device) 16, the administrator of the control facility 7 refers to the map data of the mine displayed on the display device 16 while referring to the map data of the mine. A specific area SA in which the dump truck 2 is switched back may be designated by touching an arbitrary position of the HL.

  The abnormal data acquisition unit 113 acquires abnormal data of the workplace PA. The abnormal data of the workplace PA includes abnormal data of the loading site LPA and abnormal data of the unloading site DPA. The abnormality data of the loading site LPA includes, for example, an abnormality of the loading machine 3. The abnormality of the loading machine 3 includes a failure or malfunction of the loading machine 3. The abnormality data of the dump site DPA includes, for example, an abnormality of the crusher DR. The abnormality of the crusher DR includes a failure or malfunction of the crusher DR.

  The abnormal data of the workplace PA is transmitted from the workplace PA to the management device 10 via the communication system 9. The abnormal data acquisition unit 113 acquires the abnormal data of the workplace PA via the communication system 9. For example, when an abnormality occurs in the loading machine 3, abnormality data of the loading machine 3 is transmitted from the loading machine 3 to the management device 10 via the communication system 9. When an abnormality occurs in the crusher DR, abnormal data of the crusher DR is transmitted from the crusher DR to the management device 10 via the communication system 9.

  The position data acquisition unit 114 acquires position data indicating the absolute position of the dump truck 2. As described above, the absolute position of the dump truck 2 is detected by the position detector 31. The detection data of the position detector 31 is transmitted to the management device 10 via the communication system 9. The position data acquisition unit 114 acquires the position data of the dump truck 2 via the communication system 9.

  The switchback command unit 115 causes the dump truck 2 traveling on one of the first travel route RPa and the second travel route RPb set on the transport route HL to switch back in the specific area SA, and the first travel route RPa. And a command signal for causing the other traveling route of the second traveling route RPb to travel to the dump truck 2.

  The input / output interface 13 outputs the traveling condition data generated by the traveling condition data generation unit 111 to the dump truck 2. The input / output interface 13 outputs a command signal output from the switchback command unit 115 to the dump truck 2. The input / output interface 13 functions as an output unit that outputs running condition data and a command signal to the dump truck 2. The traveling condition data and the command signal generated by the arithmetic processing unit 11 are output to the dump truck 2 via the input / output interface 13 and the communication system 9.

  Control device 40 includes a computer system. The control device 40 includes an arithmetic processing device 41 including a processor such as a CPU (Central Processing Unit), a storage device 42 including a memory and storage such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and an input device. An output interface 43.

  The control device 40 is connected to the wireless communication device 44. The control device 40 performs data communication with the management device 10 via the wireless communication device 44 and the communication system 9.

  The control device 40 is connected to the position detector 31, the drive device 23, the brake device 34, and the steering device 35. The position detector 31, the drive device 23, the brake device 34, and the steering device 35 are mounted on the dump truck 2.

  As described above, the position detector 31 detects the absolute position of the dump truck 2. The driving device 23 operates to drive the traveling device 22 of the dump truck 2. The brake device 34 operates to brake the traveling device 22 of the dump truck 2. The steering device 35 operates to steer the traveling device 22 of the dump truck 2.

  The arithmetic processing device 41 includes an operation control unit 411 and an absolute position data acquisition unit 412.

  The driving control unit 411 outputs a driving control signal for controlling at least one of the driving device 23, the braking device 34, and the steering device 35 of the dump truck 2 based on the driving condition data supplied from the management device 10. The operation control signal includes an accelerator signal output to the drive device 23, a brake command signal output to the brake device 34, and a steering command signal output to the steering device 35.

  The absolute position data acquisition unit 412 acquires the absolute position data of the dump truck 2 from the detection data of the position detector 31.

[Driving condition data]
Next, the traveling condition data according to the present embodiment will be described. FIG. 6 is a diagram schematically illustrating traveling condition data according to the present embodiment. FIG. 6 shows an example of traveling condition data defined for the transport path HL.

  As shown in FIG. 6, the traveling condition data includes an aggregate of a plurality of course points PI set at a constant interval W.

  Each of the plurality of course points PI includes the target absolute position data of the dump truck 2, the target traveling speed data of the dump truck 2 at the position where the course point PI is set, and the dump truck 2 at the position where the course point PI is set. Target traveling direction data.

  A target traveling route RP of the dump truck 2 is defined by a trajectory passing through a plurality of course points PI. Based on the target traveling speed data, the target traveling speed of the dump truck 2 at the position where the course point PI is set is defined. Based on the target traveling direction data, the target traveling direction of the dump truck 2 at the position where the course point PI is set is defined.

  FIG. 6 shows an example of travel condition data set for the transport path HL. The traveling condition data of the dump truck 2 is also set in the workplace PA.

[Management method]
Next, a method of managing the dump truck 2 according to the present embodiment will be described. FIG. 7 is a flowchart illustrating an example of a method of managing the dump truck 2 according to the present embodiment. FIG. 8 and FIG. 9 are schematic diagrams for explaining a method of managing the dump truck 2 according to the present embodiment.

  The traveling condition data generation unit 111 moves the dump truck 2 forward on the transport path HL leading to the loading site LPA where the loading operation of the dump truck 2 is performed and the dumping site DPA where the discharging operation of the dump truck 2 is performed. The travel condition data including the first travel route RPa for traveling in and the second travel route RPb for traveling in reverse is set (step S10).

  FIG. 8 shows an example of the traveling condition data according to the present embodiment. In the example shown in FIG. 8, a plurality of loading sites LPA and a plurality of discharging sites DPA are provided in the mine. In the example shown in FIG. 8, a first loading site LPA1 and a second loading site LPA2 are provided in the mine. In addition, a first dump site DPA1 and a second dump site DPA2 are provided in the mine.

  As shown in FIG. 8, a first traveling route RPa for traveling the dump truck 2 forward and a second traveling route RPb for traveling the dump truck 2 backward are set in the transport route HL. The dump truck 2 travels on the transport path HL according to the first travel path RPa and the second travel path RPb.

  FIG. 8 shows an example in which traveling condition data is set such that the dump truck 2 reciprocates between the first loading site LPA1 and the first dumping site DPA1. When the loading site LPA and the unloading site DPA are in a normal state, the dump truck 2 travels forward along the transport path HL according to the first traveling route RPa, and enters the first loading site LPA1. The dump truck 2 is loaded by the loading machine 3 at the first loading site LPA1. After the loading operation at the first loading site LPA1 is completed, the dump truck 2 travels backward on the transport path HL according to the second traveling route RPb, and enters the first discharging site DPA1. The dump truck 2 discharges the cargo at the first discharging site LPA1. After the discharging operation at the first dumping place DPA1 is completed, the dump truck 2 travels forward along the transport path HL according to the first running path RPa, and enters the first loading place LPA1. The dump truck 2 is loaded by the loading machine 3 at the first loading site LPA1. Hereinafter, the same operation is repeated.

  The position data of the dump truck 2 is monitored by the management device 10. The position data acquisition unit 114 acquires the position data of the dump truck 2 (Step S20).

  The abnormal data acquisition unit 113 determines whether or not abnormal data of the loading site LPA and the unloading site DPA has been acquired (step S30).

  If it is determined in step S30 that abnormal data has not been acquired (step S30: No), the process returns to step S20, and monitoring of the position data of the dump truck 2 is continued.

  If it is determined in step S30 that abnormal data has been acquired (step S30: Yes), the specific area data acquisition unit 112 outputs the specific area data indicating the specific area SA of the transport path HL to which the dump truck 2 can switch back. From the storage device 12.

  FIG. 9 schematically shows traveling condition data when an abnormality occurs in the first loading site LPA1. For example, when the abnormal data of the first loading site LPA1 is acquired by the abnormal data acquisition unit 113 while the dump truck 2 is traveling on the transport path HL toward the first loading site LPA1, a switchback command is issued. The unit 115 determines a specific area SA for switching back the dump truck 2 from among the plurality of specific areas SA acquired by the specific area data acquisition unit 112 based on the position data of the dump truck 2 (step S40). .

  As shown in FIG. 9, the transport path HL is provided with a plurality of specific areas SA to which the dump truck 2 can switch back. FIG. 9 illustrates an example in which a first specific area SA1, a second specific area SA2, and a third specific area SA3 are provided on the transport path HL. The second specific area SA2 and the third specific area SA3 include the intersection IS. The position and the number of the specific area SA shown in FIG. 9 are examples.

  For example, when the abnormal data acquisition unit 113 acquires the abnormal data of the first loading site LPA1 when the dump truck 2 traveling on the transport path HL toward the first loading site LPA1 passes the position PS. The switchback command unit 115 causes the dump truck 2 to switch back to the specific area SA closest to the dump truck 2 among the plurality of specific areas SA based on the position data indicating the position PS of the dump truck 2.

  In the example shown in FIG. 9, the specific area SA closest to the position PS is the first specific area SA1. The switchback command unit 115 is configured to switch the dump truck 2 out of the plurality of specific areas SA based on the position data of the dump truck 2 so that the dump truck 2 switches back in the first specific area SA1. The SA is determined as the first specific area SA1.

  The switchback command unit 115 causes the dump truck 2 traveling on the first traveling route RPa to switch back in the first specific area SA1, and outputs a command signal for traveling on the second traveling route RPb to the dump truck 2 (step S50). ).

  Thereby, as shown in FIG. 9, the dump truck 2 switches back in the first specific area SA1, and travels backward on the second traveling route RPb.

  In the present embodiment, when the first loading site LPA1 is abnormal, the traveling condition data generation unit 111 drives the dump truck 2 so that the dump truck 2 travels toward the normal second loading site LPA2. The condition data is reset (step S60).

  The switchback command unit 115 is configured to obtain the specific area data based on the position data of the dump truck 2 and the position data of the second loading site LPA2 so that the dump truck 2 travels toward the second loading site LPA2. The specific area SA for switching back the dump truck 2 is determined from among the plurality of specific areas SA acquired at step 112 (step S70).

  The position data indicating the absolute position of the second loading site LPA2 is known data, and is stored in the storage unit 12. The switchback instructing unit 115 determines the plurality of specific areas based on the position data of the dump truck 2 acquired by the position data acquiring unit 114 and the position data of the second loading site LPA2 stored in the storage unit 12. From SA, a specific area SA to be switched back to drive the dump truck 2 toward the second loading site LP2 is determined.

  In the present embodiment, the switchback command unit 115 causes the dump truck 2 to switch back in the specific area SA closest to the second loading site LPA2 among the plurality of specific areas SA. In the example shown in FIG. 9, the specific area SA closest to the second loading site LPA2 is the second specific area SA2. The switchback command unit 115 switches the dump truck 2 out of the plurality of specific areas SA based on the position data of the second loading area LPA2 so that the dump truck 2 switches back in the second specific area SA2. The specific area SA to be determined is determined as the second specific area SA2.

  The switchback command unit 115 causes the dump truck 2 traveling on the second traveling route RPb to switch back in the second specific area SA2, and outputs a command signal for traveling on the first traveling route RPa to the dump truck 2 (Step S80). ).

  Thereby, as shown in FIG. 9, the dump truck 2 switches back in the second specific area SA2 and travels forward on the first travel route RPa. The dump truck 2 that switches back in the second specific area SA2 and travels forward on the first traveling route RPa can enter the second loading area LPA2.

  As described above, in the present embodiment, the dump truck 2 can travel to the second loading site LPA, which is the destination, by switching back a plurality of times on the transport path HL.

  When the first loading site LPA1 is in an abnormal state, the traveling condition data generation unit 111 sets the traveling condition data so that the dump truck 2 reciprocates between the second loading site LPA2 and the first dumping site DPA1.

  The administrator of the control facility 7 can change the destination of the dump truck 2 as appropriate by operating the input device 15.

  In the present embodiment, an example of a method of managing the dump truck 2 when an abnormality occurs in the first loading site LPA1 has been described. The above-described management method is applicable to, for example, the dump truck 2 when an abnormality occurs in the first dumping place DPA1.

  For example, when the abnormal data of the first dumping place DPA1 is acquired by the abnormal data acquisition unit 113 when the second traveling route RPb dump truck 2 is traveling backward toward the first dumping place DPA1, The switchback command unit 115 outputs a command signal for switching back the dump truck 2 in the specific area SA closest to the dump truck 2 among the plurality of specific areas SA based on the position data of the dump truck 2. As a result, the dump truck 2 traveling backward on the second traveling route RPb toward the first discharge site DPA1 switches back and travels forward on the first traveling route RPa.

  Further, when the first dumping place DPA1 is abnormal, the traveling condition data generation unit 111 converts the traveling condition data of the dump truck 2 so that the dump truck 2 travels toward the normal second dumping place DPA2. Reset. The switchback command unit 115 is configured to acquire the specific area data based on the position data of the dump truck 2 and the position data of the second dumping site DPA2 so that the dump truck 2 travels toward the second dumping site DPA2. The specific area SA in which the dump truck 2 is to be switched back is determined from the plurality of specific areas SA acquired by 112.

  The position data indicating the absolute position of the second dumping site DPA2 is known data and is stored in the storage unit 12. The switchback instructing unit 115 determines the plurality of specific areas based on the position data of the dump truck 2 acquired by the position data acquiring unit 114 and the position data of the second dumping place DPA2 stored in the storage unit 12. From SA, a specific area SA to be switched back to drive the dump truck 2 toward the second dump site DP2 is determined. The switchback command unit 115 switches back the dump truck 2 traveling on the first traveling route RPa in the specific area SA, and outputs a command signal for traveling on the second traveling route RPb to the dump truck 2.

  Thus, the dump truck 2 switches back in the specific area SA and travels backward on the second traveling route RPb. The dump truck 2 that switches back in the specific area SA and travels backward on the second travel route RPb can enter the second dumping place DPA2.

[Action and effect]
As described above, according to the present embodiment, the dump truck 2 in which the traveling performance at the time of forward traveling and the traveling performance at the time of reverse traveling are substantially the same is one of the first traveling route RPa and the second traveling route RPb. Is switched back in the specific area SA of the transport path HL from the state in which the vehicle travels along the travel path, and travels along the other travel path of the first travel path RPa and the second travel path RPb.

  Accordingly, for example, when an abnormality occurs in the first loading site LPA1 among the plurality of loading sites LPA and it is difficult to perform the intended work in the first loading site LPA1, the dump is performed. The truck 2 can be quickly driven toward the normal second loading site LPA2 without running the truck 2 toward the first loading site LPA1. As a result, the loading operation is performed normally in the second loading site LPA2, so that a decrease in mine productivity is suppressed.

  According to the present embodiment, in the dump truck 2, the front wheels 26 or 27 in the traveling direction are steered by the four-wheel steering system both when moving forward and when moving backward. In addition, the traveling performance of the dump truck 2 when traveling forward and the traveling performance of the dump truck 2 when traveling backward are substantially the same. An obstacle sensor 36 is provided at the front of the dump truck 2, and an obstacle sensor 37 is provided at the rear of the dump truck 2. Therefore, even when an abnormality occurs in the loading site LPA, the dump truck 2 can easily change the direction in the transport path HL without traveling to the loading site LPA in which the abnormality has occurred. Therefore, even when an abnormality occurs in the loading site LPA, the time required for the dump truck 2 to change the direction can be reduced as compared with the related art. Therefore, it is possible to suppress a decrease in the productivity of the mine. Further, since the direction of the dump truck 2 can be changed without traveling to the loading site LPA, useless traveling can be suppressed, and fuel consumption can be reduced. Further, since the dump truck 2 does not need to switch back, uneven wear of the tire 26T and the tire 27T is suppressed, and the life of the tire 26T and the tire 27T is improved. Further, in the present embodiment, since the dump truck 2 can be switched back on the transport path HL, it is not necessary to increase the area of the loading site LPA.

  In the present embodiment, the first switchback is performed in the specific area SA closest to the dump truck 2 among the plurality of specific areas SA. Thereby, for example, the period during which the dump truck 2 travels toward the first loading site LPA1 in an abnormal state can be shortened. In the present embodiment, the second switchback is performed in the specific area SA closest to the normal second loading area LPA2. Thereby, the dump truck 2 can arrive at the second loading site LPA2 early.

  In the above-described embodiment, when switching back a specific dump truck 2 among the plurality of dump trucks 2 traveling on the transport path HL, the switchback command unit 115 selects another dump truck among the plurality of specific areas SA. The specific dump truck 2 may be switched back in the specific area SA having the longest time until the vehicle 2 enters. Generally, in a mine, a plurality of dump trucks 2 travel on the transport path HL according to travel condition data. The position data acquisition unit 114 acquires the position data of each of the plurality of dump trucks 2. The position data acquisition unit 114 determines which specific area SA among the plurality of specific areas SA is crowded in the dump truck 2 and which specific area SA is free based on the position data of each of the plurality of dump trucks 2. Can be determined. When the specific dump truck 2 is switched back, the switchback command unit 115 determines an empty specific area SA that is not crowded in the dump truck 2 and switches back the dump truck 2 with the determined specific area SA. Can be done. Thus, the traveling of the other dump truck 2 is not hindered, and a decrease in mine productivity is suppressed.

  In the above-described embodiment, the functions of the traveling condition data generation unit 111, the specific area data acquisition unit 112, the abnormal data acquisition unit 113, the position data acquisition unit 114, and the switchback command unit 115 are included in the management device 10. I decided that. A control in which some or all of the functions of the traveling condition data generation unit 111, the specific area data acquisition unit 112, the abnormal data acquisition unit 113, the position data acquisition unit 114, and the switchback command unit 115 are mounted on the dump truck 2 It may be included in the device 40.

  In the above-described embodiment, the work vehicle is the dump truck 2 operating in the mine. The work vehicle may operate at a wide-area work site different from the mine.

  DESCRIPTION OF SYMBOLS 1 ... Management system, 2 ... Dump truck (working vehicle), 3 ... Loading machine, 5 ... Positioning satellite, 6 ... Repeater, 7 ... Traffic control facility, 9 ... Communication system, 10 ... Management device, 11 ... Arithmetic processing device , 12 ... storage device, 13 ... input / output interface, 14 ... wireless communication device, 15 ... input device, 16 ... output device, 18 ... wireless communication device, 20 ... chassis, 21 ... dump body, 22 ... traveling device, 23 ... Drive device, 24: radiator, 25: hoist cylinder, 26: wheel, 26T: tire, 27: wheel, 27T: tire, 28: hinge mechanism, 29: projection, 30: inclined surface, 31: position detector, 32 ... Illumination light, 33 ... Illumination light, 34 ... Brake device, 35 ... Steering device, 36 ... Obstacle sensor, 37 ... Obstacle sensor, 40 ... Control device, 41 ... Calculation processing device, 42 ... Storage device 43, an input / output interface, 44, a wireless communication device, 111, a driving condition data generation unit, 112, a specific area data acquisition unit, 113, an abnormal data acquisition unit, 114, a position data acquisition unit, 115, a switchback command unit, 411: operation control unit, 412: absolute position data acquisition unit, CR: crusher, DPA: earth removal site, Gi: entrance, Go: exit, HL: transport path, IS: intersection, LPA: loading site, PA ... Work area, RP: target travel route, RPa: first travel route, RPb: second travel route, SA: overlapping area.

Claims (5)

A traveling condition data generator configured to set traveling condition data including a first traveling route for traveling the traveling vehicle forward and a second traveling route for traveling the traveling vehicle backward on a transport path leading to a work place where work of the work vehicle is performed; ,
A specific area data acquisition unit that acquires specific area data indicating a specific area where the work vehicle can be switched back in the transport path;
The work vehicle traveling on one of the first travel route and the second travel route is switched back in the specific area without changing the front-rear direction of the work vehicle, and the first travel route and the second travel route are switched. A switchback command unit that outputs a command signal for causing the other travel route of the two travel routes to travel.
Work vehicle management system. The switchback command section causes the work vehicle to travel from the first work place to a second work place different from the first work place by switching back the work vehicle a plurality of times.
The work vehicle management system according to claim 1. The switchback command unit determines a specific area in which the work vehicle is to be switched back based on the position data of the work vehicle and the position data of the work place.
The work vehicle management system according to claim 1 or 2. The specific area includes a transport path or an intersection of the transport paths,
The work vehicle management system according to any one of claims 1 to 3. On a transport path leading to a work place where the work of the work vehicle is performed, setting travel condition data including a first travel path for traveling the work vehicle forward and a second travel path for traveling the work vehicle backward,
Acquiring specific area data indicating a specific area in which the work vehicle can be switched back in the transport path,
The work vehicle traveling on one of the first travel route and the second travel route is switched back in the specific area without changing the front-rear direction of the work vehicle, and the first travel route and the second travel route are switched. Outputting a command signal for traveling the other traveling route of the two traveling routes,
Work vehicle management method.