JP7121774B2 - Unmanned dump truck management system and unmanned dump truck management method - Google Patents

Description

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

In wide-area work sites such as mines, unmanned work vehicles are used for transportation work. Patent Literature 1 discloses a technique for unmanned vehicles that operate in mines.

JP 2012-113429 A

Both unmanned and manned vehicles may operate at the same work site. An unmanned vehicle moves forward or backward. If the traveling direction of the unmanned vehicle can be grasped, the work at the work site can be carried out smoothly.

An object of an aspect of the present invention is to provide a work vehicle management system and a work vehicle management method capable of ascertaining the traveling direction of a work vehicle that travels unmanned.

According to the first aspect of the present invention, a traveling condition data generating unit for generating traveling condition data of a work vehicle having an annunciator capable of informing a traveling direction; Notification data for controlling the alarm so that the alarm operates in a first state when the work vehicle is moving backward, and the alarm operates in a second state different from the first state when the work vehicle moves backward. and an output unit for outputting the notification data to the work vehicle.

According to a second aspect of the present invention, driving condition data for a work vehicle having an annunciator capable of informing a traveling direction is generated; generating notification data for controlling the annunciator so that the annunciator operates in a first state and the annunciator operates in a second state different from the first state when the work vehicle is moving backward; and outputting the notification data to the work vehicle.

ADVANTAGE OF THE INVENTION According to the aspect of this invention, the management system of a work vehicle and the management method of a work vehicle which can grasp the advancing direction of the work vehicle which runs unmanned are provided.

FIG. 1 is a diagram schematically showing an example of a work vehicle management system according to the first embodiment. FIG. 2 is a front perspective view of the work vehicle according to the first embodiment. FIG. 3 is a rear perspective view of the work vehicle according to the first embodiment. FIG. 4 is a side view showing the work vehicle according to the first embodiment; FIG. 5 is a functional block diagram illustrating an example of a management device and a control device according to the first embodiment; FIG. 6 is a diagram schematically showing driving condition data according to the first embodiment. FIG. 7 is a flowchart illustrating an example of a work vehicle management method according to the first embodiment. FIG. 8 is a schematic diagram for explaining the work vehicle management method according to the first embodiment. FIG. 9 is a schematic diagram for explaining the work vehicle management method according to the first embodiment. FIG. 10 is a schematic diagram for explaining the work vehicle management method according to the first embodiment. FIG. 11 is a schematic diagram for explaining a work vehicle management method according to the second embodiment. FIG. 12 is a schematic diagram for explaining a work vehicle management method according to the third embodiment. FIG. 13 is a schematic diagram for explaining a work vehicle management method according to the third embodiment. FIG. 14 is a schematic diagram for explaining a work vehicle management method according to the fourth embodiment. FIG. 15 is a schematic diagram for explaining a work vehicle management method according to the fourth embodiment.

Embodiments of the present invention will be described below with reference to the drawings, but the present invention is not limited thereto. The constituent elements of the embodiments described below can be combined as appropriate. Also, some components may not be used.

First embodiment.
[Management system]
FIG. 1 is a diagram schematically showing an example of a management system 1 for a work vehicle 2 according to this embodiment. The management system 1 implements operation management of the work vehicle 2 . In this embodiment, the work vehicle 2 is a dump truck 2 that is a transport vehicle capable of traveling in mines.

As shown in FIG. 1, the dump truck 2 travels on at least part of a mine worksite PA and a transport path HL leading to the worksite PA. The workplace PA includes at least one of a loading area LPA and a dumping area DPA. The transport path HL includes an intersection IS. The dump truck 2 travels according to the target travel route set for the transport path HL and the workplace PA.

The loading area LPA is an area where the dump truck 2 is loaded with cargo. A loading machine 3 such as a hydraulic excavator operates at the loading site LPA. The unloading site DPA is an area where the dump truck 2 discharges the load. The unloading station DPA is provided with, for example, a crusher CR.

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 the control facility 7 provided in the mine. The communication system 9 implements data communication and signal communication between the management device 10 and the dump truck 2 . The communication system 9 has multiple repeaters 6 that repeat data and signals. The management device 10 and the dump truck 2 wirelessly communicate via the communication system 9 .

In this embodiment, the dump truck 2 is an unmanned dump truck that travels through mines based on command signals from the management device 10 . The dump truck 2 travels through the mine based on the command signal from the management device 10 without being operated by the driver.

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

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

2, 3, and 4, the Y-axis direction is the running 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 addition, in the running direction, the +Y side portion or direction of the dump truck 2 is appropriately referred to as the front portion or front, and the -Y side portion or direction of the dump truck 2 is appropriately referred to as the rear portion or rear side. In addition, the X-axis direction is the vehicle width direction of the dump truck 2, and the portion or direction on the +X side of the dump truck 2 in the vehicle width direction is appropriately referred to as the right portion or the right side, and the -X side of the dump truck 2 is referred to as the right portion or right side. The location 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, the +Z side portion or direction of the dump truck 2 in the vertical direction is appropriately referred to as the upper portion or the upper portion, and the −Z side portion or direction of the dump truck 2 is referred to as the upper portion or upper direction. It is arbitrarily referred to as lower or lower.

The dump truck 2 includes a chassis 20, a dump body 21 supported by the chassis 20, a traveling device 22 supporting the chassis 20, a driving device 23 generating 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 that does not have a cab (cab). The dump truck 2 runs unmanned without being operated by a driver. The dump truck 2 may be a dump truck that has a cab and runs unmanned.

The traveling device 22 is provided in the front part of the dump truck 2 and has wheels 26 that support tires 26T, and wheels 27 that are provided in the rear part of the dump truck 2 and support tires 27T, and brakes the wheels 26 and 27. It has a braking 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 wheels 26 and 27 are supported by the chassis 20 via suspension devices. The dump truck 2 travels as the wheels 26 and 27 rotate.

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

The wheels 26 and 27 are rotated by power generated by the electric motor. The electric motors are in-wheel motors and are provided in each of the wheels 26 and 27 . By driving the internal combustion engine, the generator operates to generate electric power. The electric motor is driven by the electric power generated by the generator. An electric motor is provided for each of the two wheels 26 . Also, an electric motor is provided for each of the two wheels 27 . That is, in the present embodiment, the travel device 22 is a four-wheel drive travel device.

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

The dump truck 2 can move forward and backward. It is preferable that the running performance of the dump truck 2 when moving forward is substantially the same as the running performance of the dump truck 2 when moving backward. That is, at least one of the driving performance, braking performance, and turning performance of the traveling device 22 during forward movement and at least one of the driving performance, braking performance, and turning performance of the traveling device 22 during reverse movement are substantially the same. be. For example, the maximum travel speed of the dump truck 2 during forward travel and the maximum travel speed of the dump truck 2 during reverse travel 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 cargo. The dump body 21 is rotatably supported on the rear portion of the chassis 20 via a hinge mechanism 28 . The dump body 21 has a protrusion 29 at the front and an inclined surface 30 at the rear.

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

The dump body 21 is dumped by the operation of the hoist cylinder 25 . The extension of the hoist cylinder 25 rotates the dump body 21 around the hinge mechanism 28 so that the front portion of the dump body 21 rises. The cargo loaded on the dump body 21 is discharged from the rear portion of the dump body 21 by the dumping operation of the dump body 21 .

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

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

Position detector 31 includes a GPS antenna that receives GPS signals from positioning satellites 5 and a GPS calculator that calculates the absolute position of dump truck 2 based on the GPS signals received by the GPS antenna. A GPS antenna of the position detector 31 is provided at the rear of the dump body 21 .

The illumination lamp 32 illuminates an object ahead of the dump truck 2 . A lighting lamp 33 illuminates an object behind the dump truck 2 .

The obstacle sensor 36 detects an obstacle in front of the dump truck 2 while the dump truck 2 is moving forward. The obstacle sensor 37 detects an obstacle behind the dump truck 2 when the dump truck 2 is moving backward. The obstacle sensor 36 and the obstacle sensor 37 include radar devices, for example. In addition, 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 is moving forward, the control device 40 controls the collision of the dump truck 2 with the obstacle based on the detection data of the obstacle sensor 36. Take action. When the obstacle sensor 37 detects an obstacle while the dump truck 2 is moving in reverse, the controller 40 controls the collision of the dump truck 2 with the obstacle based on the detection data of the obstacle sensor 37. Take action. The process for avoiding collision between the dump truck 2 and an obstacle is, for example, a process of decelerating or stopping the running dump truck 2 .

[Management device and control device]
Next, the management device 10 and the control device 40 according to this embodiment will be described. FIG. 5 is a functional block diagram showing an example of the management device 10 and the control device 40 according to this 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 wirelessly communicate 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 memory and storage such as ROM (Read Only Memory) or RAM (Random Access Memory), and an input device. and an output interface 13 .

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

The management device 10 is connected with an input device 15 and an 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, mouse, and touch panel. Input data generated by operating the input device 15 is output to the management device 10 . Output device 16 includes a display device. The display device includes a flat panel display such as a liquid crystal display (LCD) or an 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.

Arithmetic processing device 11 has running condition data generation unit 111 , notification data generation unit 112 , and position data acquisition unit 113 .

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

In the present embodiment, the traveling condition data generator 111 sets traveling condition data including at least a first traveling route RPa on which the dump truck 2 travels forward and a second traveling route RPb on which the dump truck 2 travels backward on the transport path HL. do.

The traveling condition data generator 111 preferably generates the traveling condition data so that the first traveling route RPa and the second traveling route RPb do not overlap in the workshop PA and the transport path HL.

The notification data generation unit 112 generates notification data for controlling the notification device provided on the dump truck 2 based on the driving condition data generated by the driving condition data generation unit 111 . The annunciator is an annunciator capable of announcing the traveling direction of the dump truck 2 .

In this embodiment, the annunciator includes an illumination light 32 provided at the front of the dump truck 2 and an illumination light 33 provided at the rear of the dump truck 2 . The notification data generation unit 112 generates notification data such that the lighting states of the illumination lamps 32 and 33 are different between when the dump truck 2 moves forward and when the dump truck 2 moves backward.

The position data acquisition unit 113 acquires position data indicating the absolute position of the dump truck 2 . As described above, the absolute position of dump truck 2 is detected by position detector 31 . Detection data of the position detector 31 is transmitted to the management device 10 via the communication system 9 . The position data acquisition unit 113 acquires position data of the dump truck 2 via the communication system 9 .

The input/output interface 13 outputs the driving condition data generated by the driving condition data generator 111 to the dump truck 2 . The input/output interface 13 also outputs the notification data generated by the notification data generation unit 112 to the dump truck 2 . The input/output interface 13 functions as an output unit that outputs the driving condition data and notification data to the dump truck 2 . The driving condition data and notification data 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 .

Controller 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 memory and storage such as ROM (Read Only Memory) or RAM (Random Access Memory), and an input device. and an output interface 43 .

Control device 40 is connected to wireless communication device 44 . The control device 40 communicates data 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 driving device 23 , the braking device 34 , the steering device 35 , the illumination lamps 32 and 33 . A position detector 31 , a driving device 23 , a braking device 34 , a steering device 35 , an illumination lamp 32 and an illumination lamp 33 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 travel device 22 of the dump truck 2 . The brake device 34 operates to brake the travel device 22 of the dump truck 2 . The steering device 35 operates to steer the travel device 22 of the dump truck 2 .

The arithmetic processing unit 41 has an operation control unit 411 , an absolute position data acquisition unit 412 , and an alarm control unit 413 .

The operation control unit 411 outputs an operation 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 traveling condition data supplied from the management device 10. The driving 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 absolute position data of the dump truck 2 from detection data of the position detector 31 .

The annunciator control unit 413 outputs a control signal for controlling an annunciator of the dump truck 2 based on the annunciation data supplied from the management device 10 . In the present embodiment, the annunciator control unit 413 controls a control signal for controlling the lighting state of the lighting lamp 32 of the dump truck 2 and the lighting state of the lighting lamp 33 based on the notification data supplied from the management device 10. Output a control signal.

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

As shown in FIG. 6, the driving condition data includes a set of multiple course points PI set at regular intervals W. As shown in FIG.

Each of the plurality of course points PI is 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 heading data.

A target travel route RP of the dump truck 2 is defined by a trajectory passing through a plurality of course points PI. Based on the target travel speed data, the target travel 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.

In this embodiment, each of the multiple course points PI includes notification data for controlling the notification device of the dump truck 2 . The notification data generation unit 112 sets notification data for each of the plurality of course points PI. The notification data is data for controlling the operating state of the notification device when the dump truck 2 passes the position of the course point PI.

That is, in this embodiment, each of the plurality of course points PI includes target absolute position data, target travel speed data, target traveling direction data, and notification data.

The notification data generation unit 112 provides notification so that the alarm operates in the first state when the dump truck 2 moves forward, and operates in a second state different from the first state when the dump truck 2 moves backward. Generate data. For example, if the target traveling direction data defined for a certain course point PI is the target traveling direction data for advancing the dump truck 2, the notification data defined for that course point PI activates the alarm in the first mode. This is notification data to be made. When the target traveling direction data defined for a certain course point PI is the target traveling direction data for causing the dump truck 2 to move backward, the notification data defined for the course point PI uses an alarm that is different from the first form. This is notification data that operates in two modes.

The input/output interface 13 of the management device 10 outputs driving condition data including notification data to the dump truck 2 via the wireless communication device 18 . The management device 10 outputs to the dump truck 2 driving condition data including a plurality of course points PI in front of the dump truck 2 in the traveling direction. The dump truck 2 travels through the mine according to the travel condition data transmitted from the management device 10 . Also, the dump truck 2 controls alarms including the illumination lamps 32 and 33 according to the notification data transmitted from the management device 10 .

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 workshop PA.

[Management method]
Next, a method for managing the dump truck 2 according to this embodiment will be described. FIG. 7 is a flow chart showing an example of a management method for the dump truck 2 according to this embodiment. 8, 9, and 10 are schematic diagrams for explaining the management method of the dump truck 2 according to this embodiment.

The driving condition data generator 111 generates driving condition data of the dump truck 2 (step S10). The traveling condition data is such that the dump truck 2 travels forward on the transport path HL leading to the loading site LPA where the dump truck 2 is loaded and the dump site DPA where the dump truck 2 is discharged. It includes a first travel route RPa and a second travel route RPb for traveling in reverse.

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

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

FIG. 8 shows an example in which the driving condition data is set such that the dump truck 2 reciprocates between the first loading area LPA1 and the first dumping area DPA1. The dump truck 2 travels forward on the transport path HL along the first travel route RPa and enters the first loading area LPA1. The dump truck 2 is loaded with cargo by the loading machine 3 at the first loading area LPA1. After the loading operation at the first loading site LPA1 is completed, the dump truck 2 travels backward along the transport path HL along the second travel route RPb and enters the first dumping site DPA1. The dump truck 2 discharges the cargo at the first discharge station DPA1. After the discharge work at the first dumping site DPA1 is completed, the dump truck 2 travels forward along the transport path HL along the first travel route RPa and enters the first loading site LPA1. The dump truck 2 is loaded with cargo by the loading machine 3 at the first loading area LPA1. Similar operations are repeated thereafter.

The notification data generation unit 112 generates notification data for controlling the lighting lamps 32 and 33 based on the driving condition data generated by the driving condition data generation unit 111 (step S20).

The driving condition data generator 111 synthesizes the notification data generated by the notification data generator 112 and the driving condition data.

For example, when target travel direction data for advancing the dump truck 2 at a certain course point PI is set in the traveling condition data generation unit 111, the notification data generation unit 112 sets the notification device to the first mode at the course point PI. Set the notification data to be activated by . In the traveling condition data generation unit 111, when the target traveling direction data for causing the dump truck 2 to move backward at a certain course point PI is set, the notification data generation unit 112 activates the alarm at the course point PI in the second mode. Set the notification data to be used.

The input/output interface 13 of the management device 10 outputs the driving condition data including the notification data to the dump truck 2 (step S30). The dump truck 2 runs according to the running condition data.

FIG. 9 is a diagram schematically showing an example of the dump truck 2 during forward movement. FIG. 10 is a diagram schematically showing an example of the dump truck 2 during reverse travel. As shown in FIG. 9, when the dump truck 2 moves forward, the illumination lights 32 and 33 functioning as alarms operate in a first state (first lighting state). As shown in FIG. 10, when the dump truck 2 is moving backward, the lighting lamps 32 and 33 functioning as alarms are in a second state (second lighting state) different from the first state (first lighting state). works with In this embodiment, when the dump truck 2 moves forward, the lighting lamp 32 operates in the first lighting state, and when the dump truck 2 moves backward, the lighting lamp 32 operates in the second lighting state different from the first lighting state. Operate. When the dump truck 2 moves forward, the lighting lamp 33 operates in the second lighting state, and when the dump truck 2 moves backward, the lighting lamp 33 operates in the first lighting state different from the second lighting state.

In the example shown in FIGS. 9 and 10, when the dump truck 2 moves forward, the lighting lamp 32 emits a first colored light (eg, yellow light), and the lighting lamp 33 emits a second colored light (for example, yellow light) different from the first colored light. for example red light). When the dump truck 2 is moving backward, the lighting lamp 32 emits the second color light (eg, red light), and the lighting lamp 33 emits the first color light (eg, yellow light).

It should be noted that the illumination lamp 32 may emit light and the illumination lamp 33 may not emit light when the dump truck 2 moves forward. When the dump truck 2 moves backward, the lighting lamp 33 may emit light and the lighting lamp 32 may not emit light.

When the dump truck 2 moves forward, the lighting lamp 32 may emit continuous light and the lighting lamp 33 may emit flashing light. When the dump truck 2 is moving backward, the illumination lamp 33 may emit continuous light and the illumination lamp 32 may emit flashing light.

[Action and effect]
As described above, according to the present embodiment, the driving performance including the lighting lamps 32 and the lighting lamps 33 provided on the dump truck 2 having substantially the same running performance when moving forward and when moving backward The traveling direction of the dump truck 2 is notified around the dump truck 2 by the device. As a result, the driver of the manned vehicle around the dump truck 2 or the worker working in the mine can grasp the traveling direction of the dump truck 2 . Therefore, the work in the mine is carried out smoothly, and the workability and productivity of the mine are improved.

A conventional dump truck 2 has a cab. Therefore, conventionally, a driver of a manned vehicle around the dump truck 2 or a worker working in a mine can grasp the traveling direction of the dump truck 2 from the appearance of the dump truck 2 . In this embodiment, the dump truck 2 does not have a cab. Therefore, it is difficult for a driver of a manned vehicle around the dump truck 2 or a worker working in a mine to grasp the traveling direction of the dump truck 2 from the appearance of the dump truck 2 . Moreover, in the mine, the dump truck 2 operates at full capacity 24 hours a day. It is difficult to ascertain the traveling direction of the dump truck 2 from the ground. According to this embodiment, since the traveling direction of the dump truck 2 is notified by the annunciator, the driver of the manned vehicle around the dump truck 2 or the worker working in the mine can I can grasp the direction.

In addition, in the present embodiment, notification data is assigned to each of the plurality of course points PI of the driving condition data, so that the notification device of the dump truck 2 traveling according to the driving condition data can be appropriately activated.

Further, in the present embodiment, the annunciator emits light to notify the traveling direction of the dump truck 2 . As a result, the driver of the manned vehicle around the dump truck 2 or the worker working in the mine can visually recognize the traveling direction of the dump truck 2 .

In addition, in the present embodiment, the annunciator includes an illumination light 32 provided at the front of the dump truck 2 and an illumination light 33 provided at the rear of the dump truck 2, and the notification data generation unit 112 The notification data is generated so that the lighting states of the illumination lamps 32 and 33 are different between when the dump truck 2 moves forward and when it moves backward. In this embodiment, when the dump truck 2 moves forward and backward, the lighting lamp 32 operates in the first lighting state and a second lighting state different from the first lighting state, and the lighting lamp 33 operates in the second lighting state. and a first lighting state different from the second lighting state. As a result, both the driver or worker of the manned vehicle present in front of the dump truck 2 and the driver or worker of the manned vehicle present behind the dump truck 2 can see the traveling direction of the dump truck 2 visually. can recognize.

Second embodiment.
A second embodiment will be described. In the following description, the same reference numerals are given to components that are the same as or equivalent to those of the above-described embodiment, and the description thereof will be simplified or omitted.

FIG. 11 is a diagram schematically showing an example of a method for managing the dump truck 2 according to this embodiment. In this embodiment, the operation of the annunciator when the dump truck 2 switches back will be described.

The switchback is an operation in which the forward dump truck 2 changes its traveling direction without changing its longitudinal direction and starts to move backward, or the backward dump truck 2 changes its longitudinal direction. It refers to the action of changing the direction of travel without turning and starting to move forward.

The dump truck 2 may be switched back at the work site PA or the transport path HL. When the dump truck 2 is switched back, the driving condition data generation unit 111 generates driving condition data including command data for switching back the dump truck 2 .

In this embodiment, the notification data generation unit 112 operates so that the annunciator operates in the third state between the switchback position SP where the switchback is performed and the specified position KP separated from the switchback position SP by a specified distance. , to generate notification data. When the dump truck 2 moves forward and then switches back to move backward, the prescribed position KP is defined in the forward section of the dump truck 2 . When the dump truck 2 moves backward and then switches back to move forward, the prescribed position KP is defined in the backward movement section of the dump truck 2 . That is, the notification data generation unit 112 generates notification data so that the notification device operates in the third state different from the first state and the second state immediately before the dump truck 2 switches back.

FIG. 11 shows an example in which the dump truck 2 traveling forward along the first travel route RPa switches back at the switchback SP and then travels backward along the second travel route RPb. The specified position KP is specified on the first travel route RPa, which is the forward section of the dump truck 2 . A defined position KP is defined by a specific course point PI. The switchback position SP is also defined by a specific course point PI.

In the section before the dump truck 2 passes through the specified position KP, the lighting lamps 32 and 33 are lit in the first state (first lighting state). The first lighting state is, for example, a state in which the illumination lamp 32 emits continuous yellow light and the illumination lamp 33 emits continuous red light.

When the dump truck 2 passes through the specified position KP, the lighting states of the illumination lamps 32 and 33 transition from the first state (first lighting state) to the third state (third lighting state). In the section between the specified position KP and the switchback position SP, the lighting lamps 32 and 33 are lit in the third state (third lighting state). The third lighting state is an operation different from the first lighting state and the second lighting state. The third lighting state is, for example, a state in which the illumination lamp 32 emits yellow blinking light and the illumination lamp 33 emits red blinking light.

The dump truck 2 switches back at the switchback position SP. In the section before the dump truck 2 passes the switchback position SP, the lighting lamps 32 and 33 are lit in the second state (second lighting state). The second lighting state is, for example, a state in which the illumination lamp 32 emits red continuous light and the illumination lamp 33 emits yellow continuous light.

As described above, in this embodiment, the annunciator operates in the third state, which is different from the first state and the second state, in the interval immediately before the switchback is performed. As a result, the driver of the manned vehicle around the dump truck 2 or the worker working in the mine can recognize that the traveling direction of the dump truck 2 is about to change. Therefore, the work in the mine is carried out smoothly, and the workability and productivity of the mine are improved.

Third embodiment.
A third embodiment will be described. In the following description, the same reference numerals are given to components that are the same as or equivalent to those of the above-described embodiment, and the description thereof will be simplified or omitted.

12 and 13 are diagrams schematically showing an example of a management method for the dump truck 2 according to this embodiment. In this embodiment, an example in which the alarm device includes a display device 51 provided on the outer surface of the dump truck 2 will be described. The display device 51 includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD). The display device 51 emits light to notify the traveling direction of the dump truck 2 .

The display device 51 is provided at a position that can be visually recognized by a driver of a manned vehicle around the dump truck 2 or by a worker working in a mine. In the example shown in FIGS. 12 and 13 , the display device 51 is provided on the side surface of the chassis 20 of the dump truck 2 .

The notification data generator 112 generates display data to be displayed on the display device 51 . The notification data generation unit 112 generates notification data so that the display data displayed on the display device 51 differs between when the dump truck 2 moves forward and when the dump truck 2 moves backward.

In the example shown in FIGS. 12 and 13, image data of an arrow indicating the traveling direction of the dump truck 2 is displayed on the display device 51 when the dump truck 2 is moving forward. In the examples shown in FIGS. 12 and 13 , the direction of the arrow is displayed so as to face forward in the traveling direction of the dump truck 2 . When the dump truck 2 is moving in reverse, image data of an arrow indicating the traveling direction of the dump truck 2 is displayed on the display device 51 . Image data is not limited to arrows. Moreover, the display data displayed on the display device 51 may include character data.

As described above, also in this embodiment, the traveling direction of the dump truck 2 is notified to the surroundings of the dump truck 2 . The notification data generation unit 112 can arbitrarily generate display data, and can notify the traveling direction of the dump truck 2 in various notification forms.

Fourth embodiment.
A fourth embodiment will be described. In the following description, the same reference numerals are given to components that are the same as or equivalent to those of the above-described embodiment, and the description thereof will be simplified or omitted.

14 and 15 are diagrams schematically showing an example of a management method for the dump truck 2 according to this embodiment. In the present embodiment, an example will be described in which the notification device includes a projection device 52 and a projection device 53 that project an image onto the ground on which the dump truck 2 travels. The projection device 52 and the projection device 53 are projector devices having an optical modulation element such as a liquid crystal panel or a DMD (Digital Mirror Device) and a projection optical system. The projection device 52 and the projection device 53 emit light to notify the direction of travel of the dump truck 2 .

The projection device 52 is provided in the front part of the dump truck 2 . The projection device 53 is provided at the rear of the dump truck 2 . The projection device 52 projects an image onto the ground in front of the dump truck 2 . The projection device 53 projects an image onto the ground behind the dump truck 2 .

The notification data generation unit 112 generates image data to be projected by the projection device 52 and the projection device 53 . The notification data generation unit 112 generates notification data so that the image projected on the ground differs between when the dump truck 2 moves forward and when it moves backward.

In the example shown in FIGS. 14 and 15 , when the dump truck 2 is moving forward, images of arrows indicating the traveling direction of the dump truck 2 are projected on the ground in front of and behind the dump truck 2 . When the dump truck 2 is moving backward, an image of an arrow indicating the traveling direction of the dump truck 2 is projected on the ground in front of and behind the dump truck 2 . Note that the projected image is not limited to the arrow. Also, the characters may be projected onto the ground.

As described above, also in this embodiment, the traveling direction of the dump truck 2 is notified to the surroundings of the dump truck 2 . The notification data generation unit 112 can arbitrarily generate image data, and can notify the traveling direction of the dump truck 2 in various notification forms.

In the above-described embodiment, the functions of the driving condition data generation unit 111, the notification data generation unit 112, and the position data acquisition unit 113 are included in the management device 10. FIG. A part or all of the functions of the driving condition data generation unit 111 , the notification data generation unit 112 and the position data acquisition unit 113 may be included in the control device 40 mounted on the dump truck 2 .

In the above-described embodiment, the working vehicle is the dump truck 2 that operates in a mine. The work vehicle may operate at a large work site other than the mine.

DESCRIPTION OF SYMBOLS 1... Management system, 2... Dump truck (working vehicle), 3... Loading machine, 5... Positioning satellite, 6... Repeater, 7... Control facility, 9... Communication system, 10... Management apparatus, 11... Processing unit , 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... travel device, 23... Driving device 24 Radiator 25 Hoist cylinder 26 Wheel 26T Tire 27 Wheel 27T Tire 28 Hinge mechanism 29 Protrusion 30 Inclined surface 31 Position detector 32 Illumination lamp 33 Illumination lamp 34 Brake device 35 Steering device 36 Obstacle sensor 37 Obstacle sensor 40 Control device 41 Arithmetic processing device 42 Storage device 43 Input Output interface 44... Wireless communication device 51... Display device 52... Projection device 53... Projection device 111... Driving condition data generation unit 112... Notification data generation unit 113... Position data acquisition unit 411... Operation control Part, 412... Absolute position data acquisition part, 413... Alarm control part, CR... Crusher, DPA... Unloading site, HL... Conveying path, IS... Intersection, LPA... Loading area, PA... Work area, RP... Target Travel route, RPa... first travel route, RPb... second travel route.

Claims (5)

A management system for a cabless unmanned dump truck that operates at the same work site with a manned vehicle and has alarms that can notify the direction of travel at the front and rear,
A plurality of courses that define a travel route for the unmanned dump truck to travel on a transport route leading to a loading site where the unmanned dump truck is loaded and a discharge site where the unmanned dump truck is discharged. a driving condition data generator that generates driving condition data including points;
Based on the traveling condition data, the alarm operates in a first state when the unmanned dump truck moves forward, and the alarm operates in a second state different from the first state when the unmanned dump truck moves backward. a notification data generator for generating notification data for controlling the annunciator so as to operate and setting the notification data for each of the plurality of course points ;
an output unit that outputs the notification data to the unmanned dump truck;
Management system for unmanned dump trucks. The travel route includes a first travel route on which the unmanned dump truck travels forward and a second travel route on which the unmanned dump truck travels in reverse,
The first travel route and the second travel route lead to the loading site and the unloading site, respectively.
The management system for an unmanned dump truck according to claim 1. The driving condition data includes command data for switching back the unmanned dump truck on the transport path,
The management system for an unmanned dump truck according to claim 1 or 2. The alarm device includes a first illumination light provided at the front of the unmanned dump truck and a second illumination light provided at the rear of the unmanned dump truck,
The notification data generation unit generates the notification data such that the lighting state of the first lighting lamp and the lighting state of the second lighting lamp are different when the unmanned dump truck moves forward and when the unmanned dump truck moves backward.
The unmanned dump truck management system according to any one of claims 1 to 3. A management method for a cabless unmanned dump truck that operates at the same work site together with a manned vehicle and has alarms that can notify the traveling direction in the front and rear parts,
A plurality of courses that define a travel route for the unmanned dump truck to travel on a transport route leading to a loading site where the unmanned dump truck is loaded and a discharge site where the unmanned dump truck is discharged. generating driving condition data, including points;
Based on the traveling condition data, the alarm operates in a first state when the unmanned dump truck moves forward, and the alarm operates in a second state different from the first state when the unmanned dump truck moves backward. operatively generating annunciation data for controlling the annunciator and setting the annunciation data for each of a plurality of the course points ;
and outputting the notification data to the unmanned dump truck;
How to manage an unmanned dump truck.

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