JP6517096B2 - Travel support system for work machine and transport vehicle - Google Patents

Description

  The present invention relates to a travel support system for work machines and a transport vehicle, and more particularly to a technology for stopping a mining work machine at a designated stop position.

  As a technique for guiding an unmanned vehicle, Patent Document 1 discloses that “The unmanned vehicle is guided based on the traveling position of the unmanned vehicle measured by the traveling position measuring means and the course data defining the guidance course of the unmanned vehicle. A guiding apparatus for an unmanned vehicle to be guided and traveled along a course, which indicates a means for inputting the shape of the course area, the position of the movement starting point, the direction of the unmanned vehicle, the position of the moving destination point and the vehicle traveling direction Means, means for creating course data in which the instructed position and the traveling direction of the vehicle are satisfied at the starting point of movement and the destination point of movement, unmanned vehicle and course area when the unmanned vehicle travels with the created course data And a course data changing means for changing course data when the interference is found.

  Further, according to Patent Document 2, "when an obstacle is detected, the position of the obstacle is stored in the storage means as an obstacle common to a plurality of vehicles. The stored contents of the storage means are updated as the vehicle travels, and if the position data of each target point is given for each of a plurality of vehicles, the plurality of vehicles will not interfere with the obstacle based on the stored contents of the storage means. Are guided to the respective target points.

JP 2008-97632 A U.S. Pat. No. 6,539,294

  Patent documents 1 and 2 presuppose that position data of an unmanned vehicle is acquired. Here, as a device for detecting the position of an unmanned vehicle, GPS (Global Positioning System) is in widespread use.

  Although GPS must receive positioning radio waves from GPS satellites in order to detect the vehicle position by GPS, mines may have complicated topography including cliffs and rocky shades, and positioning radio waves may be received at various places in the mine. It is not always possible. In addition, global coordinates detected using GPS may include an error derived from GPS, and in some cases, position detection accuracy necessary for guiding an unmanned vehicle to a stop target position may not be ensured. Therefore, when the guidance techniques of Patent Documents 1 and 2 are applied to the guidance technique of an unmanned vehicle for mining, the unmanned vehicle can be guided to the stop target position when GPS positioning radio waves can not be received or when detection accuracy is low. There is a problem that the vehicle is not guided or guided to a position deviated from the original stop target position.

  The present invention has been made in view of the above situation, and has an object to provide a technology capable of guiding a working machine to a stop target position in a mine regardless of the accuracy of GPS.

In order to solve the above problems, the present invention relates to a travel support system for a work machine including a first work machine and a second work machine traveling toward a stop target position designated by the first work machine. And a stop target position specifying device provided in the first work machine and specifying a stop target position in the coordinate system of the first work machine, and the second work machine. An ambient shape measuring apparatus for measuring a distance from a measurement target point located forward in the traveling direction of the working machine to the second working machine A map generating device for dividing a surrounding three-dimensional space into a plurality of regions and generating a surrounding shape map consisting of three-dimensional voxel data defining presence or absence of an object in each region; external shape data of the first work machine I remember outside A shape data storage device, a work machine position detection device for comparing the external shape data of the first work machine and the surrounding shape map, and detecting the position of the first work machine in the surrounding shape map; The stop target position is converted to the coordinate system of the surrounding shape map based on the position of the first work machine in the surrounding shape map and the stop target position specified by the coordinate system of the first work machine, Based on the position of the second work machine in the surrounding shape map and the stop target position converted to the coordinate system of the surrounding shape map, the relative between the second work machine and the stop target position in real space And a relative position calculation device for calculating a position.

  According to the present invention, it is possible to provide a technology capable of guiding a working machine to a target point in a mine regardless of the accuracy of GPS. Problems, configurations, and effects other than those described above will be apparent from the description of the embodiments below.

Schematic explanatory drawing of the autonomous travel system which concerns on 1st embodiment Diagram showing hardware configuration of dump truck and shovel Diagram showing the dump truck coordinate system and the shovel coordinate system Diagram showing the mounting position of the surrounding shape measuring device in the dump truck Diagram showing the surrounding shape map It is a figure which shows the structure of a control server, Comprising: (a) is a hardware block diagram, (b) is a software block diagram. Sequence diagram showing the flow of operation of a dump truck, a control server, and a shovel Diagram showing posture parameters

  In the following embodiment, when it is necessary for convenience, it is divided into a plurality of sections or embodiments. In the following embodiments, when referring to the number of elements, etc. (including the number, numerical value, amount, range, etc.), unless explicitly stated otherwise or in principle when clearly limited to a specific number, etc. It is not limited to the specific number, and may be more or less than the specific number. In the following embodiments, the constituent elements (including processing steps and the like) are not necessarily essential except when particularly clearly shown and when it is considered to be obviously essential in principle.

  In addition, each configuration, function, processing unit, processing means, and the like in the following embodiments may realize part or all of them as, for example, integrated circuits or other hardware. Further, each configuration, function, processing unit, processing unit, and the like described later may be realized as a program executed on a computer. That is, it may be realized as software. Programs, tables, files, and other information for realizing each configuration, function, processing unit, processing means, etc., memory, hard disk, storage unit such as SSD (Solid State Drive), IC card, SD card, storage medium such as DVD Can be stored in

  Hereinafter, embodiments of the present invention will be described in detail based on the drawings. In all the drawings for describing the embodiments, members having the same function are denoted by the same or related reference numerals, and the repetitive description thereof will be omitted. Further, in the following embodiments, the description of the same or similar parts will not be repeated in principle unless particularly required.

First Embodiment
[System configuration]
The first embodiment relates to a travel support system of a working machine in which a first working machine operating in a mine specifies a stopping target position and guides a second working machine toward the stopping target position. In particular, in the present embodiment, the first work machine is a shovel, and the second work machine is an autonomous traveling conveyance vehicle (hereinafter, referred to as "dump truck") that performs autonomous traveling without steering by an operator. The example which applied the traveling assistance system which concerns on this invention to the autonomous traveling system which performs operation management of a truck is demonstrated. Hereinafter, the first embodiment will be described with reference to the drawings. FIG. 1 is a schematic explanatory view of an autonomous traveling system according to the first embodiment.

  In FIG. 1, a loading site 61 where the shovel 200 performs an excavation operation and a loading operation to the dump truck 100 and an earth releasing site 62, 63 where the dump truck 100 releases earth and sand are disposed in the mine 1. The conveyance path 60 which connects the loading space 61 and each of the earth release places 62 and 63 is laid.

  The dump truck 100 is wirelessly connected to a control server 310 installed near the quarry or at a remote control center 300 via a wireless communication line 40, and travels autonomously under the control instruction of the control server 310. The control server 310 is also communicably connected to the shovel 200 via the wireless communication line 40. And each of the shovel 200 and the dump truck 100 mounts the position calculation apparatus which receives the positioning electric wave from the GPS satellite 50, and calculates the own vehicle position. The control server 310 receives the vehicle position calculated by each of the dump truck 100 and the shovel 200. The host vehicle position based on GPS is used for grasping the position when the control server 310 autonomously travels the dump truck 100 along the transport path 60. The control server 310 is also used when the current position of the shovel 200 is grasped.

  In the loading station 61, the operator of the shovel 200 designates the loading position of the dump truck 100, and the dump truck 100 travels with the designated loading position as the stopping target position. The feature of the present embodiment is that the dump truck 100 travels toward the stop target position based on the relative position of the dump truck 100 and the shovel 200 without using a GPS signal when finally approaching the stop target position. one of.

  In addition, dozers 71 and wheel loaders (not shown) and water sprinklers 72 may be operated at the loading site, and these dozers 71 and wheel loaders designate the watering positions for the water sprinklers 72 and are designated. The water sprayer 72 may move toward the position. In this case, the dozer 71 equipped with the articulated front device and the wheel loader correspond to the first work machine, and the water sprayer 72 corresponds to the second work machine. When the shovel 200 calls in the dozer 71 for leveling the loading position, the first working machine corresponds to the shovel and the second working machine corresponds to the dozer 71. Therefore, the first working machine and the second working machine are determined not by the type of working machine but by the roles of the two working machines.

  The configurations of the dump truck 100 and the shovel 200 will be described with reference to FIGS. 2 to 4. FIG. 2 is a diagram showing a hardware configuration of the dump truck 100 and the shovel 200. As shown in FIG. FIG. 3 is a diagram showing a coordinate system of the dump truck 100 and a coordinate system of the shovel 200. As shown in FIG. FIG. 4 is a view showing the mounting position of the surrounding shape measuring device in the dump truck 100. As shown in FIG.

  In FIG. 2, the dump truck 100 measures the shape of the shovel 200 and surrounding embankment viewed from the dump truck 100 and detects the loading position, and a self-position measuring the position and attitude of the dump truck 100. It includes a measuring device 102, a vehicle control device 103 for guiding the dump truck 100 to a stop target position instructed by the shovel 200, and a communication device 104 for communicating with the shovel 200.

  The shovel 200 measures posture parameters that define the external shape of the shovel, such as the loading position indication device 201 (corresponding to the stop target position indication device), the bucket that constitutes the articulated front device, the arm, and the angle and turning angle of the boom. And a communication device 203 for communicating with the dump truck 100 and the control server 310. The respective output ends of the loading position pointing device 201 and the parameter measuring device 202 are connected to the input end of the communication device 203, and the communication device 203 loads the external device such as the dump truck 100 or the control server 310 Send attitude parameters.

Loading position indicating device 201 indicates the loading position P _S in the coordinate system sigma _S relative to the excavator 200, as shown in FIG. The dump truck 100 receives the loading position P _S defined in the coordinate system _{S S} of the shovel 200, converts it into the coordinate system _{T T} of the dump truck 100 to obtain the loading position P _T , and stops it Run autonomously as the target position.

  Returning to FIG. 2, the loading position detection device 101 measures the distance to the measurement target point located forward in the traveling direction to measure the shape of the shovel or embankment around the dump truck 100, and the shape of the surrounding environment And a map generating device 3 for generating a surrounding shape map representing the shape of the surrounding environment based on the measurement results by the surrounding shape measuring device 2 installed on the side of the dump truck 100 for acquiring Map storage unit 4 for storing a shape map, relative position calculation device 5 for estimating the position and loading position of dump truck 100 on the surrounding shape map, and external shape data calculation for calculating external shape data of shovel 200 Device 7 (Including external shape data storage device for storing reference external shape data), external shape data of shovel 200, and peripheral shape Comparing a map, and a shovel position detector 8 detects the position of the shovel in the peripheral shape in the map (corresponding to the working machine position detecting device).

  In the loading position detection device 101, the output end of the surrounding shape measurement device 2 is connected to the input end of the map generation device 3, and the output end of the map generation device 3 is connected to the input end of the map storage device 4. The input end of the shovel position detection device 8 is connected to each output end of the map storage device 4, the external shape data storage device 7, and the communication device 104. The input end of the relative position calculation device 5 is connected to the output ends of the map storage device 4 and the loading position detection device 8, and the output end of the relative position calculation device 5 is connected to the input end of a dump truck control device 20 described later. Be done.

  The surrounding shape measuring device 2 is, for example, a laser scanner which projects a laser beam in a fan-like shape and measures the distance and direction to an object (a measurement target point) by reflected light from the object.

Here, when the road surface is a dry soil dust was raised sown by the rotation of the tire may drift between the dump truck 1 00 and the surrounding embankment. In such a situation, if the surrounding shape measuring device 2 is installed under the dump truck 100, not only the distance to the surrounding embankment can not be measured correctly, but also the detection surface of the surrounding shape measuring device 2 may be contaminated. .

Therefore, in order to reduce the frequency of dust that has splashed from adhering to the detection window of the surrounding shape measuring device 2 and to detect the surrounding shape from above the dust, as shown in FIG. The shape measuring device 2 may be attached. Peripheral shape measuring device 2 for measuring the distance of each predetermined angle in the scan plane 21 within 0.

  Usually, at the time of loading, the dump truck 100 is receded or advanced straight as the loading position is approached, and it is accurately stopped at the loading position, particularly with respect to the front and rear position.

  At this time, by attaching the surrounding shape measuring device 2 as described above, the loading position can be approached while sensing almost the same point, and further, the sensing is not easily influenced by the pitching of the dump truck 100. is there.

  In addition, the shovel 200 may have the shovel 200 on the bench 250 as shown in FIG. 3 and perform loading operation from a position higher than the dump truck 100. In such a case, the dump truck 100 is installed on the dump truck 100 while being rotated in the roll direction about the scan axis of the surrounding shape measuring device 2 so that the shovel 200 can be measured. This makes it possible to measure the shovel located above the dump truck 100.

  Map data 6 shown in FIG. 5 is a peripheral shape map stored in the map storage device 4. The map generation device 3 is a three-dimensional voxel that defines the presence or absence of an object in each area determined by dividing the three-dimensional space of the loading place 61 into a plurality of parts according to a predetermined rule based on the measurement results of the surrounding shape measuring device 2 A peripheral shape map composed of data is generated and stored in the map storage device 4. The map generation device 3 generates the map data 6 as needed, and updates the map data of the map storage device 4.

  In the shovel position detection device 8, first, posture parameters for determining the shape of the shovel such as the angle of the bucket, the arm, and the boom and the turning angle received from the shovel 200, and the external shape of the shovel 200 stored in the external shape data storage device 7. The three-dimensional shape of the shovel 200 is restored from the shape data. More specifically, the external shape data is obtained by transforming the bucket, arm, and boom angles and pivot angles of the basic external shape data of the shovel 200 stored in the external shape data storage device 7 into values indicated by the posture parameter. Restore (reconfigure). Then, the position of the shovel 200 on the map is estimated by matching (overlapping) the restored three-dimensional shape of the shovel 200 with the map data 6. A specific method of matching here is a known method (Reference: Takeshi Masuda, Ayako Okaya (Shimizu), Tachimasa Sagawa, Distance data processing-Shape model generation technology from multiple distance images, Proc. Of the 146th CVIM, 2004) can be used.

The relative position calculating unit 5, based on the coordinate system Σ been loading position specified by _S (stop target position) P _S of the shovel 200 position and shovel 200 in the peripheral shape in the map, the peripheral shape Map loading position P _S converting the coordinate system sigma _T, based on the loading position P _T which has been converted into the coordinate system sigma _T position and peripheral shape map of the dump truck 100 in the peripheral shape in the map, shovel 200 and the loading position in the real space Calculate the relative position with. Note that the coordinate system _{T T} of the peripheral shape map and the coordinate system in the real space (coordinate system fixed to the ground) of the dump truck 100 (hereinafter referred to as “dump coordinate system”) are the coordinate system 周 辺_T of the peripheral shape map Since conversion can be performed by aligning the position of the dump truck 100 in the real space with the position of the dump truck 100, hereinafter, the coordinate system 周 辺_T of the peripheral map shape and the dump coordinate system in the real space will be described as being identical.

The loading position P _s instructed by the shovel 200 is defined by the coordinate system _{S S} as the shovel 200. In order to move the dump truck 100 to the loading position P _s , the coordinate system with which the dump truck 100 is based It must be converted to the loading position P _T at the sigma _T.

Here, the loading position P _T of the dump coordinate system and the loading position P _s of the shovel coordinate system are expressed by the homogeneous coordinates,
The transformation from P _s to P _T is defined by using the homogeneous transformation matrix H
P _s = HP _T
Is represented by

The homogeneous transformation matrix H can be calculated by estimating the position / attitude of the shovel from the map data defined by the dump coordinate system _{T T} by matching, and the dump truck 100 may move to the loading position P _s It becomes possible.

Self-position measuring apparatus 102 includes a steering angle measuring device 15 for measuring the steering angle and wheel speed measuring device 14 for measuring the wheel rotational speed of the dump truck 1 00, a position correcting unit 16, and a self-position calculating unit 17 . In the self-position measuring device 102, a wheel speed measuring device 14, a steering angle measuring device 15,其's及beauty position location correction unit 16 is connected to the self-position calculating unit 17. The self-position calculation unit 17 is connected to a dump truck control unit 20 (described later).

The self position calculation unit 17 calculates the speed and angular velocity of the dump truck 100 from the measurement results of the wheel speed measurement unit 14 and the steering angle measurement unit 15, and further calculates the position and orientation in a coordinate system fixed to the ground. In order to measure with higher accuracy the position and orientation of the dump truck 100, the self-position of the dump truck 1 00 is corrected by position correcting device 16. The position correction device 16 is configured of an IMU (inertial measurement device) or a GPS.

The vehicle control device 103, the speed control device 18 controls the speed of the dump truck 100 (also functions as a braking amount control device), a steering control unit 19 for controlling the steering angle of the dump truck 1 00, loading And a dump truck control device 20 that calculates a braking amount of the speed control device 18 and a control amount of the steering control device 19 in order to move toward the position.

  In the vehicle control device 103, the output terminals of the map database 21, the self position calculation device 17, and the relative position calculation device 5 are connected to the dump truck control device 20, and the output end of the dump truck control device 20 is speed control It is connected to the respective input ends of the device 18 and the steering control device 19.

The map generation device 3, the map storage device 4, and the self position calculation device 17 are configured using, for example, a microcomputer device including a central processing unit, a storage device, an input / output circuit and a communication circuit. Different microcomputer devices may be provided for processing of the map generation device 3 and the map storage device 4, respectively, or one microcomputer device may be used. The dump truck control device 20 is, for example, an on-vehicle controller including a plurality of microcomputer devices, and realizes functions by software in the on-vehicle controller.

  Next, the configuration of the control server will be described with reference to FIG. FIG. 6 is a diagram showing the configuration of the control server, where (a) is a hardware configuration and (b) is a software configuration. As shown in FIG. 6A, the control server 310 includes a central processing unit (CPU) 311, a read only memory (ROM) 312, a random access memory (RAM) 313, a hard disk drive (HDD) 314, and an interface (1). / F) 315, each of which is connected to one another via a bus 316. The 1 / F 315 is connected to an input device 317 such as a mouse and a keyboard, a display device 318 including a liquid crystal monitor, and a communication device 319 connected to the wireless communication line 40.

As shown in FIG. 6 (b), dump the ROM312 or HDD314 of control server 310, which includes distributing vehicle management unit 311a, travel permission section setting unit 311b, the dynamic path generator 311 c, and a server-side communication control section 311d stored autonomous program track 100, they that are executed by the CPU311 is loaded into RAM 31 3, each function included in the autonomous program is realized.

  The master map storage unit 314 a stores map information of the conveyance path 60 on which the dump truck 100 travels in one area of the HDD 314.

  Similarly, the section information storage unit 314 b is configured of one area of the HDD 314, and stores, as section information, partial sections of the transport path 60 for which the travel permission is given to the dump truck 100.

  The dispatch management unit 311a sets the destination of the dump truck 100 and determines the traveling route from the current position to the destination with reference to the map information stored in the master map storage unit 314a. The destination here is a range defined by the map information stored in advance in the master map storage unit 314a. Therefore, the dispatch management unit 311a sets the entrance or the exit of each work area (loading place 61, release site 62, 63) as the destination, but does not set the loading point or the release point as the destination.

  The travel permission section setting unit 311b refers to the map information stored in the master map storage unit 314a with respect to the dump truck 100, and travels only for the dump truck 100 with respect to the dump truck 100 that has requested the grant of travel permission. The permitted partial section is set as the travel permitted section. Each travel permitted section is a section that can travel for the dump truck 100 to which the travel permission is given, and functions as a closed section for which the other dump trucks are prohibited from entering. Thereby, only one dump truck exists in each travel permission section, and a collision and interference can be avoided.

  The dynamic path generation unit 311 c generates a dynamic path from the entrance of the loading space 61 to the loading position and a dynamic path from the loading position to the exit of the loading space 61. In the present embodiment, the shovel 200 converts the loading position in the shovel coordinate system designated by the shovel 200 into global coordinates, and transmits the coordinates of the loading position in the global coordinate system to the control server 310 via the wireless communication line 40. Send. The dynamic path generation unit 311 c sets the loading position designated in the global coordinate system and the map information stored in the master map storage unit 314 a (in this map information, each point of the loading position is a global coordinate system or global coordinates Create a dynamic path to reach the loading position for the dump truck 100 that has reached the entrance of the loading station 61, using a map coordinate system that can be converted into a system) .

  The dump truck 100 travels autonomously along this dynamic path, and when taking the final approach to the loading position, the autonomous travel along the dynamic path controls the approach support system according to the present invention, that is, the dump truck It switches to traveling using the relative position of 100 and the shovel 200, and travels and stops toward the loading position. Details will be described later.

  The server-side communication control unit 311 d performs communication control for the control server 310 to wirelessly communicate with the wireless communication line 40.

  The flow of processing until the dump truck 100 stops at the loading position will be described with reference to FIGS. 7 and 8. FIG. 7 is a sequence diagram showing the flow of operation of the dump truck, the control server, and the shovel. FIG. 8 is a view showing posture parameters.

  As shown in FIG. 7, the dump truck 100 transmits the current position to the control server 310 in a state where the dump truck 100 is stopped at the dumping ground 62, 63 or a parking lot (not shown) (S701). The dispatch management unit 311a refers to the current position of the dump truck 100 and the map information, selects the loading site 61 as the destination, sets the traveling route from the dump truck 100 to the loading site 61 (S702), and dumps The traveling route is returned to the truck 100 (S703).

  When the dump truck 100 receives the travel route (S704), the dump truck 100 transmits a travel permission request to the control server 310 (S705). The run permission section setting unit 311b refers to the section information in the section information storage unit 314b, and sets a run permission section that permits only the dump truck 100 to run in a section that does not overlap with the other dump truck travel permission sections S706), returns to the dump truck 100 (S707). The dump truck 100 travels in the travel permission section, and autonomously travels toward the loading station 61 while repeatedly receiving a request for setting a new travel permission section and a reply in the vicinity of the end of the travel permission section.

When the dump truck 100 approaches the loading site 61, the operator of the excavator 200 specifies the loading position by operating the loading position indication equipment 201 to position the bucket in loading position (S709). Communication device 203 transmits the loading position of the GPS coordinate system control server 31 0 (S710).

  The dynamic path generation unit 311 c of the control server 310 refers to the loading position of the GPS coordinate system and the map information (GPS coordinate system) of the master map storage unit 314 a, and generates a dynamic path defined in the GPS coordinate system. (S711), and transmits to the dump truck 100.

The dump truck 100 refers to the map information of the map database 21 (which is the same as the map information of the master map storage unit 314a of the control server 310) and the received dynamic path, and meanders along the dynamic path. while starts measurement by the ambient shape measuring device 2, the map generating unit 3 for generating a peripheral shape map on the basis of the measurement result (S712). By meandering travel, the scan area in the loading area becomes wider than when traveling straight, and it becomes possible to find the shovel 200 early and move toward the loading point P, but meandering travel is essential. is not. If the meandering can be started from a position further away from the loading position, it is possible to scan a wider area even with a small meander.

When the loading position is designated, the shovel 200 measures a posture parameter defining the posture of the shovel by the parameter measuring device 202, and transmits it to the dump truck 100 together with the loading position defined in the shovel coordinate system (S713).

  The posture parameters referred to here are, for example, a bucket angle α, an arm angle β, a boom angle γ, and a turning angle θ shown in FIG.

In the dump truck 100 , the shovel position detection device 8 reconstructs the external shape of the shovel 200 based on the posture parameter and the external shape data of the shovel of the external shape data storage device 7 (S714).

  The shovel position detection device 8 estimates the position of the shovel in the surrounding shape map by pattern matching between the reconstructed outer shape of the shovel 200 and the surrounding shape map (S715). Here, if the matching accuracy is equal to or greater than a predetermined threshold value, it is determined that the shovel has been detected.

When the position of the shovel can be detected, the relative position calculation device 5 converts the position of the loading position P _s of the shovel coordinate system instructed by the shovel 200 into a dump coordinate system to perform the loading position P _T (S716).

The dump truck control device 20 determines the relative position between the dump truck 100 and the loading position _PT with the loading position _PT as the stopping target point, and resets the traveling route accordingly (S717). At this time, a traveling route connecting the current position of the dump truck 100 and the loading position _PT can be generated by using a clothoid curve, so that unreasonable traveling can be achieved.

Dump truck control device 20 from the running to trace dynamic path, is straight running the dump truck 100 according to the travel route set at step S717 (S718), traveling toward the loading position P _T, it stops.

  According to the present embodiment, the loading position of the shovel coordinate system designated by the shovel approaches with the dynamic path using the GPS coordinate system, and when the shovel is detected from the surrounding shape map, the position and the surrounding of the shovel The loading position of the dump coordinate system is calculated using the homogeneous transformation matrix H for matching the map in the shape map. Then, when the loading position of the dump coordinate system is detected, the dump truck travels based on the relative position between the current position of the dump truck and the loading position of the dump coordinate system, and stops at the loading position of the dump coordinate system. Do. Therefore, since the final approach is performed based on the relative position of the loading position viewed from the dump truck, position information derived from GPS is not necessary for detecting the relative position. As a result, even if there is an error in the terrain environment where GPS satellite radio waves can not be received or GPS position information, errors caused by GPS affect the final approach to the dump truck's stopping target point. There is no

Second Embodiment
In the first embodiment, the shovel on the map data 6 is matched by matching the three-dimensional shape of the shovel restored based on the parameters α, β, γ, θ received by the relative position calculation device 5 and the created map data 6 Position and attitude of the

  However, if the shovel 200 is scanned and the map data 6 is created and updated while the shovel 200 is in operation, the map data 6 includes scan data of the shovel 200 in a plurality of postures, and the map It is difficult to estimate the position and attitude of the shovel from the data.

Therefore, during the operation of the shovel 200, that is, when the posture parameters α, β, γ, θ change, scan data of the shovel is not included in the map data. Then, when the shovel 200 operates, the data of the portion corresponding to the shovel 200 in the map data is deleted, and when the operation of the shovel 200 stops (when the shovel returns to the home position), the scan data of the shovel 200 portion is again accumulate. Attitude path lame over data that has been received in the last α, β, γ, θ and, received posture path lame over data α this time, β, γ, θ and there is no change in the operation of the excavator 200 if the match, map The data 6 is generated and updated, and if there is a change in the operation if they do not match, the shovel includes the shovel whose operation has changed in the map data by discarding the measurement result from the peripheral shape measuring device measured at that time You can avoid that.

  As a result, when the posture does not change (home position), the shovel is included in the peripheral shape map, and shovels with different postures are not included in the peripheral shape map, so the position and posture of the shovel 200 can not be estimated. To improve the accuracy and reliability of the estimated position and orientation of the shovel.

  The above embodiment merely describes one example of the embodiment of the present invention, and does not limit the present invention. The present invention includes various embodiments within the scope of the present invention, and they are also included in the present invention.

For example, including a road surface from the dump truck 100 to excavator 200 to scan the area of ambient shape measuring device 2 may generate a peripheral shape map including road profile. Furthermore, the shovel 200 is provided with, for example, a shovel terminal device having the same configuration as the hardware shown in FIG. 6A, and the peripheral shape map including the road surface shape is transmitted to the shovel terminal device, and the peripheral shape map is displayed on the display device. You may display it. As a result, the operator of the shovel 200 can grasp the road surface shape and specify the loading position at a position avoiding the road obstacle.

  Moreover, in 1st embodiment, although the surrounding shape measuring apparatus 2 was installed in the side of the dump truck 100 and front wheel upper part, you may install in the back of the dump truck 100. FIG. As a result, when the loading position is approached backward, the measurement resolution becomes higher, and the resolution of map data can be improved.

In the first embodiment, peripheral shape measuring device 2 dump truck 1 00 side, has been placed only one in front upper, one by one it to left and right, may be installed two total. As a result, measurement data of the surrounding environment is accumulated, the density and accuracy of the map data 6 become high, and the estimation accuracy of the relative position to the loading position is improved.

  Further, in the present embodiment, an example in which the multi-joint work machine specifies the loading position as in the shovel has been described, so the external shape of the shovel is reconstructed based on the posture parameters, but the loading position is specified. If the attitude at the time of the loading can be always made the same, the attitude when specifying the loading position may be stored in the external shape data storage device 7, and this may be compared with the surrounding shape map to detect the shovel . In this case, transmission of posture parameters and reconstruction of the external shape become unnecessary.

  In the above description, the map generation device, the working machine position detection device, and the relative position calculation device are mounted on the dump truck, but these are mounted on the control server, and the dynamic path generation unit 311c of the control server loads the dump truck loading position In the final approach to the above, the dynamic path in step S711 may be updated to the dynamic path based on the relative position, and may be configured to be transmitted to the dump truck 100. That is, in this embodiment, the map generation device, the work machine position detection device, and the relative position calculation device should be mounted on which configuration among the dump truck, the shovel, and the control server connected to the traveling support system. In the final approach of the dump truck, the loading position designated in the shovel coordinate system is converted into the dump coordinate system, and the relative position between the loading position and the dump truck can be determined and traveled based on this. In this case, any configuration may have a map generation device, a work machine position detection device, and a relative position calculation device.

1: Mine, 100: Dump truck, 200: Excavator, 300: Control center, 310: Control server

Claims (5)

A travel support system of a working machine including a first working machine and a second working machine traveling toward a stop target position designated by the first working machine,
A stop target position specifying device provided in the first work machine for specifying a stop target position in a coordinate system of the first work machine;
An ambient shape measuring device provided in the second working machine and measuring a distance from a measurement target point located forward in the traveling direction of the second working machine to the second working machine;
A surrounding shape map consisting of three-dimensional voxel data in which the three-dimensional space around the second working machine is divided into a plurality of regions based on the measurement results of the surrounding shape measuring device, and the presence or absence of an object in each region is defined. A map generator for generating
An external shape data storage device storing external shape data of the first work machine;
A work machine position detection device that compares the external shape data of the first work machine with the surrounding shape map and detects the position of the first work machine within the surrounding shape map;
The stop target position is converted to the coordinate system of the surrounding shape map based on the position of the first work machine in the surrounding shape map and the stop target position specified in the coordinate system of the first work machine Between the second work machine and the stop target position in real space, based on the position of the second work machine in the surrounding shape map and the stop target position converted to the coordinate system of the surrounding shape map; A relative position calculation device that calculates a relative position;
A traveling support system for a working machine, comprising: The first work machine is an articulated front device, and a parameter for measuring an attitude parameter defining an outer shape of the first work machine when specifying a stop target position in a coordinate system of the first work machine Equipped with a measuring device,
The work machine position detection device reconstructs the external shape of the first work machine on which the posture parameter is reflected based on the posture parameter and the external shape data of the first work machine, and reconstructs the external shape of the first work machine. Comparing the external shape data of the first work machine with the surrounding shape map,
A travel support system for a working machine according to claim 1, characterized in that. The map generation device generates the surrounding shape map using only the measurement result of the surrounding shape measuring device while the posture parameter does not change.
The traveling support system for a working machine according to claim 2, wherein The first work machine is a first communication device for receiving the surrounding shape map from the second work machine;
A display device for displaying the surrounding shape map;
The second working machine is provided with a second communication device for transmitting the peripheral shape map with respect to the first working machine,
The surrounding shape measuring device measures the shape of the road surface from the position of the second work machine in real space to the position of the first work machine;
The map generation device generates the surrounding shape map including the shape of the road surface,
The traveling support system for a working machine according to claim 2, wherein A transport vehicle traveling toward a stop target position designated by the loading machine,
A communication device for receiving the stop target position designated in the coordinate system of the loader from the loader;
An ambient shape measuring device that measures a distance to a measurement target point located forward of the traveling direction of the transport vehicle;
The three-dimensional space around the transport vehicle is divided into a plurality of regions based on the measurement results of the surrounding shape measuring device, and a surrounding shape map composed of three-dimensional voxel data defining presence or absence of an object in each region is generated. A map generator,
An outer shape data storage device for storing outer shape data of the loading machine;
A work machine position detection device that detects the position of the loading machine in the surrounding shape map by comparing the outside shape data of the loading machine and the surrounding shape map;
The target parking position is converted into the coordinate system of the surrounding shape map based on the position of the loading machine in the surrounding shape map and the stopping target position specified in the coordinate system of the loading machine, and the surrounding shape A relative position calculation device that calculates the relative position between the transport vehicle and the stop target position in real space based on the position of the transport vehicle in the map and the stop target position converted to the coordinate system of the surrounding shape map ,
A vehicle control device that autonomously travels the transport vehicle toward the stop target position in real space according to the calculated relative position;
A carrier vehicle characterized by comprising: