WO2000033152A1 - Systeme de guidage de vehicule - Google Patents

Systeme de guidage de vehicule Download PDF

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Publication number
WO2000033152A1
WO2000033152A1 PCT/JP1999/001171 JP9901171W WO0033152A1 WO 2000033152 A1 WO2000033152 A1 WO 2000033152A1 JP 9901171 W JP9901171 W JP 9901171W WO 0033152 A1 WO0033152 A1 WO 0033152A1
Authority
WO
WIPO (PCT)
Prior art keywords
course
vehicle
obstacle
area
data
Prior art date
Application number
PCT/JP1999/001171
Other languages
English (en)
Japanese (ja)
Inventor
Masato Kageyama
Original Assignee
Komatsu Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP10344407A external-priority patent/JPH11296229A/ja
Application filed by Komatsu Ltd. filed Critical Komatsu Ltd.
Priority to AU32762/99A priority Critical patent/AU769593B2/en
Priority to US09/857,409 priority patent/US6539294B1/en
Publication of WO2000033152A1 publication Critical patent/WO2000033152A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Definitions

  • the present invention relates to a vehicle guidance device, and more particularly to a device that is suitably applied when guiding a plurality of unmanned off-road dump trucks at a work site such as a mine.
  • an unmanned vehicle guided traveling system that guides unmanned vehicles such as unmanned off-road dump trucks has been widely put into practical use to relieve laborious labor, reduce production costs, and reduce fuel consumption. Is being done.
  • the unmanned vehicle is equipped with a position measuring device that measures its running position using GPS (Global Positioning System).
  • GPS Global Positioning System
  • the position data of the traveling course on which the unmanned vehicles should travel is obtained and stored by surveying and teaching at the work site.
  • the unmanned vehicle measures the position (and direction) of its own vehicle using a position measurement device mounted on the vehicle.
  • the vehicle steering control is performed so as to sequentially reach each position on the traveling course while comparing the current position with successive positions on the traveling course.
  • a method for acquiring the position data of the traveling course for example, a teaching method in which a manned vehicle for teaching is actually driven and its traveling route is stored is widely used.
  • the teaching vehicle actually travels so that the unmanned vehicle passes through the target point to be reached, and the route from the travel start point to the target point or the route from the travel start point to the travel point and back to the travel end point Position data is obtained.
  • the position data of the target point is acquired by teaching, and the position data of the target point acquired is run from the evening. There is also a way to generate a line course.
  • an unloading area 65 where the unmanned vehicle 2 transports the earth and sand and discharges the earth and sand, that is, the earth discharging operation.
  • the position data of the traveling course 71 passing through the target discharging point 72 in the discharging area 65 is acquired by the teaching method.
  • obstacles 34 are detected by the on-board obstacle detector 34 while the unmanned vehicle 2 is running as shown in Fig. 9. In this method, the driving course is changed individually for each vehicle.
  • Japanese Unexamined Patent Publication No. Sho 63-2773 916 Japanese Patent Laid-Open No. Hei 3-1-133516, and Japanese Utility Model Laid-open No. Hei 5-87680 discuss obstacles ahead of a vehicle.
  • the invention describes that a traveling course is changed so as to be detected by an on-board obstacle detector and to avoid interference with the detected obstacle.
  • the invention described in the above publication can detect only an obstacle having a shape that can be detected by the obstacle detector.
  • an obstacle having a shape that cannot be detected by the obstacle detector cannot be detected.
  • obstacle detectors can detect obstacles that are convex to the road surface, that is, obstacles such as falling loads (rocks), and it is possible to change the traveling course to avoid these obstacles. it can. However, it cannot detect a hole that is concave on the road surface, a rough road surface, or mud. For this reason, the traveling course is not changed so as to avoid the obstacle, so that the vehicle may interfere with the obstacle and may not be able to travel.
  • millimeter-wave radars, laser radars, visual sensors, and the like are generally used as obstacle detectors, and the accuracy of obstacle detection is affected by the S / N ratio.
  • Work sites such as mines are susceptible to dust and dust. For this reason, these dusts and dust may cause noise when the obstacle detector detects the obstacle, and it may be difficult to distinguish the obstacle from the surrounding environment. Therefore, even if an obstacle detector on one unmanned vehicle can detect an obstacle according to changes in the surrounding environment, an obstacle detector on another unmanned vehicle cannot detect the same obstacle. It is possible. For this reason, unmanned vehicles that could not detect an obstacle could interfere with this obstacle.
  • Japanese Patent Application Laid-Open No. H10-3858586 discloses that instead of detecting an obstacle in front of a vehicle by an obstacle detector, an obstacle is registered in advance, and the obstacle registered in advance is registered. An invention is described in which a warning is issued when an object approaches, and attention is paid to an operator in the evening.
  • the position of the obstacle of the snowplow is stored in advance in a storage medium mounted on the snowplow. Then, while the snowplow is running, the data in the storage medium is sequentially read out, and when approaching an obstacle stored in the storage medium, an alarm is issued to alert the operator. I try to evoke it.
  • obstacles fall from unmanned dump trucks as needed. Even if an obstacle (load) falls, manned vehicles such as bulldozers may detect it and remove it immediately.
  • manned work vehicles such as bulldozers and refueling vehicles may be stopped on the course of the unmanned dump truck. In this case, the manned work vehicle becomes an obstacle for the unmanned vehicle.
  • the stop position of the manned vehicle which is an obstacle, changes at any time. In this way, obstacles are not fixed at work sites where multiple vehicles travel. New obstacles are created or removed as the vehicle travels, and their positions change as needed.
  • the present invention has been made in view of such circumstances, and has the following objects. (1) If an obstacle occurs, correct the running course efficiently (correct the running course more efficiently than the teaching method).
  • the position of a loading machine such as a wheel loader or a power shovel changes as the work progresses.
  • a loading machine such as a wheel loader or a power shovel
  • the unloading area not only the unloading equipment (bits), but also the unloading area within a fixed area is gradually discharged while changing the discharging position. There is also a way to go.
  • Japanese Patent Application Laid-Open No. 5-25759-29 proposes a method of generating a course that guides a vehicle by radio control and then returns to a circuit course (original course).
  • Japanese Patent Application Laid-Open No. 9-244243 proposes a method of creating a course from a branch point of a planned course (original course) using a cubic curve.
  • This method is more convenient for practical use than the radio control method, but has the disadvantage that the range in which a vehicle can be guided is limited by a three-dimensional curve, and there are obstacles in the range to be guided. In such a case, there is a disadvantage that interference with the vehicle may occur.
  • Japanese Patent Application Laid-Open No. H08-110712 proposes a method that considers interference with obstacles in planning a traveling route of a vehicle. In this method, simple parts such as straight lines are taught off-line, and complicated parts with a high possibility of interference are taught by actual vehicles.
  • the route is made up of ordinary vehicles that operate by steering, etc., specifically, a front-wheel steering mechanism, a rear-wheel steering mechanism, and a four-wheel steering mechanism. It is impossible for vehicles with a steering mechanism such as an articulate to move.
  • Fig. 37 shows a route between two points considering obstacles.
  • vehicle A is obviously immovable.
  • the vehicle mechanism may be modified to design a vehicle that can move in all directions.
  • the extra steering mechanism not only increases the cost but also impairs the stability during high-speed driving, and is not suitable for use in unmanned mining vehicles that require high-speed driving.
  • SUMMARY OF THE INVENTION it is an object of the present invention to easily create a guidance course corresponding to a change in the shape of a course area or a change in a movement destination position, and to allow an unmanned vehicle to move around a boundary of a course area or a cutting face.
  • An object of the present invention is to provide an unmanned vehicle guidance device that can prevent interference with a vehicle. Disclosure of the invention
  • Storage means for storing a position of an obstacle common to the plurality of vehicles
  • Guidance means for guiding the plurality of vehicles so as not to interfere with the obstacle based on the content stored in the storage means
  • the position of the obstacle 74 is determined by the plurality of vehicles 2, 2,.
  • the position of the obstacle 74 is stored in the storage means 41 as a common obstacle 74.
  • the storage contents of the storage means 41 are updated as the plurality of vehicles 2, 2... Run.
  • the vehicle is guided and driven based on the stored contents of the storage means 41 so as not to interfere with the obstacle 74. That is, it stops or avoids before the interference.
  • the position of the obstacle 74 common to the plurality of vehicles 2, 2,... Is stored in the storage means 41, and as the plurality of vehicles 2, 2,.
  • the memory contents of 1 are updated. For this reason, even if a certain vehicle is overlooked or erroneously determined to be an obstacle, an accurate determination made by another vehicle is stored as an obstacle. Therefore, even in a work site where obstacles change in real time, such as a work site where a plurality of vehicles run, it is not necessary to miss an obstacle or to mistakenly judge it as an obstacle.
  • Vehicle position measuring means for measuring the current position of a plurality of vehicles and its own vehicle When position data of each target point to be reached by each of the plurality of vehicles is given, a data of each traveling course passing through each of the target points is generated, and for each of the plurality of vehicles, the vehicle In the vehicle guidance device, the vehicle is guided along the travel course while comparing the current vehicle position measured by the position measurement means with the position on the generated travel course.
  • Storage means for storing a position of an obstacle common to the plurality of vehicles
  • a travel course generation that generates a data of each travel course passing through each of the target points based on the stored contents of the storage means so as not to interfere with the obstacle.
  • Guiding means for guiding the plurality of vehicles along the respective running courses generated by the running course generating means
  • the position of the obstacle 74 is determined by the plurality of vehicles 2, 2,.
  • the position of the obstacle 74 is stored in the storage means 41 as a common obstacle 74.
  • the storage contents of the storage means 41 are updated as the plurality of vehicles 2, 2... Run.
  • the position of the obstacle 74 common to the plurality of vehicles 2, 2,... is stored in the storage means 41, and as the plurality of vehicles 2, 2,.
  • the memory contents of 1 are updated. For this reason, even if an obstacle is missed by a certain vehicle, an accurate decision made by another vehicle is stored as the obstacle. Therefore, even in a work site where obstacles change in real time, such as a work site where a plurality of vehicles travel, an obstacle is not missed.
  • the position of the obstacle 74 common to the plurality of vehicles 2, 2,... is stored in the storage means 41. Correction work of each of the running courses 7 1, 7 1... Of 2, 2,... Can be performed easily and in a short time. For this reason, the correction work of the traveling courses 71, 71, ... can be performed efficiently. The work efficiency is dramatically improved as compared with the teaching work in which the teaching vehicle must be driven every time an obstacle occurs.
  • a vehicle position measuring means for measuring a current position of each of the plurality of vehicles and the own vehicle, wherein the position data of each target point of each of the plurality of vehicles to be reached and the traveling of the plurality of vehicles are provided. Given position data of a possible course area, data of each running course that travels in the course area and passes through each of the target points is generated, and for each of the plurality of vehicles, the vehicle position measuring means A vehicle guidance device that guides the own vehicle along the traveling course while comparing the current vehicle position measured in the above with the generated position on the traveling course,
  • Storage means for storing a position of an obstacle common to the plurality of vehicles
  • the vehicle travels in the course area so as not to interfere with the obstacle and the respective targets Traveling course generating means for generating data of each traveling course passing through the point;
  • Guiding means for guiding the plurality of vehicles along the respective running courses generated by the running course generating means
  • the position of the obstacle 74 is determined by the plurality of vehicles 2, 2,.
  • the position of the obstacle 74 is stored in the storage means 41 as a common obstacle 74.
  • the storage contents of the storage means 41 are updated as the plurality of vehicles 2, 2... Run.
  • each target point 7 2, 7 2 Given the position data of the area 65, the vehicle travels in the course area 65 based on the storage contents of the storage means 41 so as not to interfere with the obstacle 74, and each of the target points 72, 72 ... Are generated for each of the traveling courses 7 1 ′, 7 ⁇ ,. Then, a plurality of vehicles 2, 2,... Are guided along each of the traveling courses 7 1 ′, 7 1 ′,.
  • the vehicle 2 is guided and guided so as not to interfere with the unrunnable area outside the course area 65.
  • Obstacle indicating means for indicating the position of an obstacle on the display screen based on a relative positional relationship with the course area on the display screen;
  • the storage means -stores the position of the obstacle on the display screen designated by the obstacle designation means as the position of the obstacle common to the plurality of vehicles;
  • the updating means calculates
  • the storage content of the storage means is updated.
  • the position relative to the course area (discharge area) 65 on the display screen 76 is displayed.
  • the position where the obstacle 74 is generated and extinguished can be accurately indicated on the screen.
  • the operator confirms that the obstacle is an obstacle by visual observation at the time of the operation. Therefore, the obstacle present in a range that cannot be detected by the obstacle detector mounted on the unmanned vehicle is not limited. 4 or an undetectable obstacle 7 4 (hole, mud, rough road, etc.) can be judged as an obstacle.
  • the operator visually confirms that the obstacle is 74.
  • the obstacle 74 is reliably captured regardless of the surrounding environment, as compared with the case where the obstacle is detected by the obstacle detector 34.
  • Display means for displaying, on a display screen, the course area and a traveled travel course in which the vehicle has finished traveling, of the travel courses generated by the travel course generation means,
  • Obstacle indicating means for indicating the position of the obstacle on the display screen based on the relative position relation with the course area on the display screen and the relative position relation with the traveled traveling course on the display screen;
  • the storage means The storage means,
  • the updating means updates the storage content of the storage means every time a new position of an obstacle is indicated by the obstacle indicating means.
  • the fifth invention when the operet finds an obstacle 74, the course area (the unloading area) 65 on the display screen 76 is displayed.
  • the generation position of the obstacle 74 can be indicated on the screen by the relative positional relationship.
  • Obstacles such as rocks 74 at the work site of the wide area mine are mainly generated by the falling load of vehicle 2. Therefore, the obstacle 74 is often located on the traveled traveling course 71 ⁇ where the vehicle 2 has finished traveling.
  • the rock position is determined by the relative positional relationship with the traveled traveling course 7 1 ⁇ . It is possible to more accurately determine the generation position of the obstacle 74 such as. In other words, in the operating evening, the position of the obstacle 74 determined based on the relative positional relationship with the course area 65 (the unloading area) is determined as the position of the obstacle 74 located on the driven traveling course 7 ⁇ Judgment Can be corrected to indicate the exact location of the obstacle 74.
  • the obstacle since the obstacle is visually confirmed at the time of the operation, it is confirmed that the obstacle is 74 regardless of the surrounding environment as compared with the case where the obstacle is detected by the obstacle detector 34. Obstacles 7 4 are reliably caught.
  • Obstacle indicating means for indicating a position of an obstacle on the display screen based on a relative positional relationship with the course area on the display screen;
  • Correcting means for correcting the position of an obstacle indicated by the obstacle indicating means, based on data of a traveled running course in which the vehicle has completed running, of the running course generated by the running course generating means;
  • the storage means The storage means,
  • the updating means calculates
  • the content stored in the storage means is updated. According to the sixth invention, the same effect as that of the third invention is obtained.
  • the relative position to the course area (discharge area) 65 on the display screen 76 is changed. With the positional relationship, the generation position of the obstacle 74 can be indicated on the screen.
  • Obstacles such as rocks 74 at the work site of the wide area mine are mainly generated by the falling load of vehicle 2. Therefore, the obstacle 7 4 is often located on the traveled traveling course 7 1 "where the vehicle 2 has finished traveling.
  • the generation position of the obstacles 74 such as rocks indicated by the operation is accurate. Automatically corrected to the correct position 7 4 '.
  • the obstacle since the obstacle is visually confirmed at the time of the operation, the obstacle is detected regardless of the surrounding environment, as compared with the case where the obstacle is detected by the obstacle detector. Obstacle ⁇ 4 is reliably captured.
  • the seventh invention in the first invention, the second invention, or the third invention, all or some of the plurality of vehicles are:
  • Obstacle position measurement means for measuring the position of the obstacle based on the position of the vehicle when the obstacle detection means detects the obstacle
  • the storage means The storage means,
  • the updating means includes:-every time a new obstacle is detected by the obstacle detecting means, based on a position of the new obstacle measured by the obstacle position measuring means, It is characterized by updating.
  • an obstacle 74 detected by a certain vehicle 2 is stored in the storage means 41 as an obstacle 74 for another unmanned vehicle 2 Will be. Therefore, even if the obstacle detecting means 34 mounted on the other vehicle 2 cannot detect the obstacle 74, the other vehicle 2 can surely avoid the obstacle 74. In other words, even if the obstacle detection means 34 of the other vehicle 2 fails, the operation is uncertain, or the obstacle 74 cannot be accurately detected due to the influence of the surrounding environment, the other vehicle 2 Can surely avoid obstacles 7 4.
  • the eighth invention in the first invention, the second invention or the third invention, All or some vehicles among the plurality of vehicles,
  • Road surface state detecting means for detecting a road surface state
  • Determining means for determining that the current road surface is an obstacle based on the road surface state detected by the road surface state detecting means
  • the storage means The storage means,
  • the position of the vehicle when the current road surface is determined to be an obstacle by the determination means is stored as the position of the obstacle common to the plurality of vehicles, and
  • the updating means calculates
  • the storage content of the storage unit is updated.
  • the vehicle-mounted obstacle detection means 34 since it is determined that the vehicle is an obstacle 74 from the state of the road surface on which the vehicle 2 travels, an obstacle that cannot be detected by the vehicle-mounted obstacle detection means 34 (FIG. 9). Even objects 7 4 (mud, holes, rough road surface, etc.) can be determined to be obstacles.
  • Transmitting means for transmitting a signal indicating the position of the own vehicle, when the receiving means receives a signal indicating that an obstacle is present near the own vehicle;
  • Obstacle position measuring means for receiving a signal indicating the position of the vehicle transmitted from the transmitting means and measuring the position of an obstacle near the vehicle based on the received position of the vehicle,
  • the storage means
  • the updating means calculates
  • the storage content of the storage unit is updated based on the position of the new obstacle measured by the obstacle position measuring unit. It is characterized by doing.
  • the position of the obstacle 74 is measured based on the signal indicating that an obstacle exists near the own vehicle, specifically, the position of the vehicle 2 to which the stop command is given.
  • the data is stored in the obstacle storage means 41. .
  • a manned or unmanned work vehicle provided with a vehicle position measuring means for measuring a position of the own vehicle, wherein the plurality of vehicles travels If it exists in the area,
  • the storage means The storage means,
  • the updating means calculates
  • the storage content of the storage means is updated.
  • a work vehicle such as a manned vehicle 20 or a loading machine 14 may become an obstacle when a plurality of unmanned vehicles 2, 2.
  • the storage means 41 stores the measurement position transmitted from the work vehicles 20 and 14 as the position of the obstacle 74. Each time the measurement positions of the work vehicles 20 and 14 are changed as needed, the storage content of the storage means 41 is updated. Then, based on the contents stored in the storage means 41, the vehicle 2 is guided to avoid the obstacle 74. According to the tenth invention, the same effect as that of the first invention, the second invention, or the third invention can be obtained.
  • the updating means updates the storage content of the storage means every time the position of the work vehicle is sequentially changed as the work vehicle travels.
  • the storage position of the obstacle 74 is updated as needed as long as the vehicle position is changed, regardless of whether the work vehicles 20 and 14 are traveling or stopped. Also, in the twenty-second invention, in the tenth invention,
  • the updating means updates the content stored in the storage means every time the work vehicle stops running and the stop position of the work vehicle is changed.
  • the update of the storage position of the obstacle 74 is not performed while the work vehicles 20 and 14 are running, but is performed only each time the work vehicles 20 and 14 stop.
  • a vehicle position measuring means for measuring a current position of the own vehicle, the position data of a target point to be reached by the vehicle, and the position data of a coaster capable of running the vehicle; It generates data of a traveling course that passes through the target point while traveling in the area, and compares the current vehicle position measured by the vehicle position measuring means with the position on the traveling course generated above.
  • a vehicle guidance device that guides the user's vehicle along the travel course
  • Indicating means for indicating a position of a target point in the course area
  • a driving course generating means for generating driving course data in advance
  • Guidance means for guiding the vehicle along the travel course generated by the travel course generation means
  • teaching of a traveling course by an actual vehicle is not required.
  • traveling course is generated such that the vehicle travels in the course area, it is possible to prevent the vehicle from interfering with the boundary between the vehicle body and the course area or the face of the cutting face.
  • Guidance of an unmanned vehicle that guides the unmanned vehicle along the guidance course based on the traveling position of the unmanned vehicle measured by the traveling position measuring means and a course day that defines the guidance course of the unmanned vehicle.
  • Course data changing means for changing the course time when the interference is estimated
  • the fourteenth aspect it is possible to easily generate a guidance course corresponding to a change in the shape of the course area and a change in the movement destination position without performing teaching of the guidance course by an actual vehicle.
  • interference between the generated unmanned vehicle traveling on the guidance course and the boundary of the course area is estimated, and when the interference is estimated, the course time is changed. Therefore, interference with the boundary between the unmanned vehicle body and the course area and the face of the cutting surface can be prevented.
  • the fifteenth invention is based on the fifteenth invention
  • Means for generating the course detour means for generating, in the course area, a position of an intermediate point of the guidance course and a vehicle traveling direction at that position; The position of the intermediate point and the position of the movement destination point are passed through the position at each of the positions, and the vehicle traveling direction at that position coincides with the tangential direction of the arc or the direction of the straight line.
  • the guidance course is created using the intermediate point, a path to be switched at the intermediate point can be easily generated, and as a result, a path including the return can be freely planned.
  • the guidance course can be efficiently created.
  • the sixteenth invention is the fourteenth invention.
  • the means for creating the course data includes:-a means for generating, in the course area, a position of an intermediate point of the guidance course and a vehicle traveling direction at that position; a position of the movement starting point; a position of the intermediate point; Means for connecting the position of the movement destination point with the spline curve at each position so that the vehicle travel direction at that position and the tangential direction of the spline curve at the position coincide with each other;
  • the course change unit changes the course data by changing the position of the intermediate point when the interference is estimated.
  • the seventeenth invention is based on the fourteenth invention.
  • the means for creating the course data includes: a means for generating, in the course area, a position of an intermediate point of the guidance course and a vehicle traveling direction at the position; a position of the movement start point; The spline is moved so that the position of the movement destination point passes through the position at each of the positions, and the tangential direction of the spline curve, the tangential direction of the arc, or the direction of the straight line at the position coincides with the vehicle traveling direction.
  • the eighteenth invention is the invention according to any one of the fifteenth to seventeenth inventions,
  • Means for creating the course data evaluation means for evaluating the course time using a distance between the guidance course and a boundary of the course area; And selecting means for selecting course data having the best evaluation value.
  • the course data is evaluated and the course data having the best evaluation value is selected, so that the course data which does not cause interference between the unmanned vehicle and the boundary of the course area is selected and evaluated. Is possible.
  • the nineteenth invention is the invention according to any one of the fifteenth to seventeenth inventions,
  • Means for creating the course data evaluation means for evaluating the course data by using a function of a distance between the guidance course and the boundary of the coaster, and a minimum radius of the guidance course; Selecting means for selecting a course having the best evaluation value among a plurality of course data.
  • the 20th invention is a first invention.
  • Guidance of an unmanned vehicle that guides the unmanned vehicle along the guidance course based on the traveling position of the unmanned vehicle measured by the traveling position measurement means and course data that defines the guidance course of the unmanned vehicle.
  • An unmanned vehicle was driven on the guidance course defined by the created course data Means for estimating interference between the unmanned vehicle and the course area in the case; andcourse data changing means for changing the course when the interference is estimated.
  • the automatic driving mode and the measurement mode can be selectively set, so that the unmanned vehicle is automatically driven in the measurement mode, and the shape of the course area during the automatic driving. Is avoided.
  • the operator since the operator can select and set the above two modes, workability is improved.
  • the twenty-first invention is:
  • an unmanned vehicle Based on the traveling position of the unmanned vehicle measured by the traveling position measuring means and a course departure stipulating the guidance course of the unmanned vehicle, an unmanned vehicle that guides the unmanned vehicle along the guidance course A guidance device,
  • Course data changing means for changing the course data when the interference is estimated
  • Course area shape updating means for updating the shape of the course area so that the shape of the course area is changed only in the shape change area
  • the number of shape input operations of the course area can be reduced as much as possible.
  • the twenty-second invention is based on the twenty-first invention,
  • the means for recognizing the shape change area of the course area includes: a measuring moving body that moves in the course area; a moving position measuring means that measures a moving position of the measuring moving body; and a moving position of the measuring moving body. Means for specifying the shape change area based on the occupied area of the moving object.
  • the shape change area is specified based on the movement position of the measurement moving body and the occupied area of the moving body.
  • the course area is a mine work area
  • a work machine that performs loading and other operations in the course area can be used as a moving object for measurement.
  • the twenty-third invention is based on the twenty-first invention
  • the means for recognizing the shape change area of the course area includes: a position measuring means for measuring a three-dimensional position of a digging portion of a work machine for performing digging work in the course area; and a means for measuring an initial ground height of the course area.
  • the change in the course area is detected because the height of the excavation part of the work machine performing the excavation work coincides with the ground level of the course area, and the position of the excavation part and the occupied area are changed.
  • the shape change area is specified based on the shape change area. Therefore, the shape change area can be specified without providing any special measuring means.
  • the twenty-fourth invention is the invention according to any one of the fifteenth, twenty-fifth, and twenty-first inventions,
  • the traveling position measuring means is a GPS
  • the means for inputting the shape of the coaster is a means for replacing a position measured by the GPS with a position measured at a left end or a right end of the unmanned vehicle; and Instruction means for instructing whether to replace the position measured at the right side or the position measured at the right end.
  • the position measured by the GPS is replaced with the position measured at the left end or the right end of the unmanned vehicle, so that the unmanned vehicle is moved along the left or right end of the unmanned vehicle along the boundary of the course area.
  • the twenty-fifth invention is any one of the fourteenth, twenty-fifth, and twenty-first inventions,
  • the travel position measuring means is a GPS
  • the means for inputting the shape of the course area includes means for selectively changing the position of the antenna of the GPS to a left end or a right end of the unmanned mobile object.
  • the position of the GPS antenna can be selectively changed between the left end and the right end of the unmanned vehicle, so that the position of the GPS antenna can be changed along the left or right end of the unmanned vehicle along the boundary of the course area.
  • the twenty-sixth invention is the same as the thirteenth invention.
  • the vehicle is an unmanned vehicle loaded with a load by a loading machine, and the position data of the coaster is updated by excluding a certain area based on a current position of the loading machine from a current course area. It is characterized by that.
  • the fixed area 14 b based on the current position of the loading machine 14 is excluded from the current course worker 1, and the course The location data of Area 1 (the shape of Course Area 1) is updated.
  • Area 1 the shape of Course Area 1
  • the twenty-seventh invention is based on the twenty-sixth invention
  • the certain area excluded from the current course area is an area within a reach of the loading work machine of the loading machine.
  • an area 14b within a range where the loading work machine (arm) of the loading machine 14 reaches from the current position of the loading machine 14 is obtained. Then, by excluding this area 14 b from the current course area 1, the position data of course area 1 (the shape of course area 1) is updated. That is, even if the loading machine 14 does not have a device for measuring the bucket position, as long as the device for measuring the current position of the loading machine 14 is provided, the position of the course area 1 can be reduced. Updates can be accurately performed.
  • the twenty-eighth invention is the twenty-sixth invention
  • the certain area excluded from the current course area is an area that is within a range where the loading work machine of the loading machine can reach, and is an area about the size of the main body of the loading machine.
  • the loading machine (arm) of the loading machine 14 can reach from the current position of the loading machine 14 within the area 14 b within the range where the loading machine (arm) can reach. Then, an area 14a approximately as large as the main body of the loading machine 14 is required, and this area 14a is excluded from the current course area 1. Area 1) is updated. In other words, even if the loading machine 14 does not have a device that measures the packet position, if the device that measures the current position of the loading machine 14 is provided, the update of the position data of the coaster 1 can be correctly performed. It can be carried out.
  • the certain area excluded from the current course area is an area within a range where the loading work machine of the loading machine can reach, and the distance from the boundary of the course area is constant.
  • the area 14 b within the range where the loading machine (arm) of the loading machine 14 reaches from the current position of the loading machine 14 is An area 14c where the distance from the boundary 1a of the course area 1 is constant is determined, and this area 14c is excluded from the current course area 1 so that the position data of the course area 1 (course area 1 Is updated.
  • the position data of the course area 1 needs to be updated. Can be done accurately.
  • the vehicle is an unmanned vehicle on which a load is loaded by a loading machine, and includes relative position indicating means for indicating a relative position with respect to the loading machine,
  • the area data based on the position designated by the relative position designating means is excluded from the current course area, thereby updating the position data of the course area.
  • the relative position (bucket position) with respect to the loading machine 14 is indicated by the relative position indicating means, and the area based on the indicated position is changed from the current course area 1 to the current course area 1.
  • the position of course area 1 (the shape of course area 1) is updated.
  • the range to be excluded from the current course area 1 is directly instructed by the operation room, and the position data of the course area 1 is updated accurately. Can be.
  • the vehicle is an unmanned vehicle on which a load is loaded by a loading machine, and the position data of the course area adds an area of an occupied range of the unmanned vehicle at a target point to which the unmanned vehicle should reach to a current course area. It is said that it will be updated as a result.
  • the area 2a of the occupied range of the unmanned vehicle 2 at this target point is obtained from the target point that the unmanned vehicle 2 should reach,
  • the location data of the course area 1 (the shape of the course area 1) is updated.
  • the course area The position data of 1 can be updated accurately.
  • the vehicle is an unmanned vehicle on which a load is loaded by a loading machine, and the position data of the coaster is obtained by excluding a certain area based on a current position of the loading machine from a current course area.
  • the area is updated by adding the area of the occupied range of the unmanned vehicle at the target point to be reached by the unmanned vehicle to the current course area.
  • the thirty-second invention as shown in FIG. 40 (a), the fixed area 14 b based on the current position of the loading machine 14 is excluded from the current coaster 1, and the course Area 1 position data (course area 1 shape) is updated.
  • the course Area 1 position data course area 1 shape
  • the area 2a of the occupied range of the unmanned vehicle 2 at this target point is obtained from the target point that the unmanned vehicle 2 should reach, and the area 2a of this occupied area is By adding to course area 1, the position data of course area 1 — evening (the shape of course area 1) is updated.
  • the course area 1 Positioning—Evening updates can be accurate.
  • selecting means for selecting whether the course area is to be enlarged or reduced in accordance with the work mode of the loading machine, and the position data of the course area is updated according to the result of the selection by the selecting means. I have to.
  • a selection means for selecting whether to enlarge or reduce the course area 1 in accordance with the work form of the loading machine 14, and the course is selected according to the selection result of the selection means. Update processing of the location data of area 1 is performed overnight.
  • FIG. 1 is a block diagram showing a data flow of the embodiment.
  • FIG. 2 is a block diagram showing the configuration of the unmanned vehicle.
  • FIG. 3 is a block diagram showing the configuration of the monitoring station.
  • FIG. 4 is a block diagram showing the configuration of the loading machine.
  • FIG. 5 is a block diagram showing the configuration of the manned vehicle.
  • FIG. 6 is a conceptual diagram illustrating generation of a traveling course.
  • FIG. 7 is a diagram showing the entire course area.
  • FIG. 8 is a diagram showing a state of a work site.
  • FIG. 9 is a diagram showing how an obstacle is detected.
  • FIG. 10 is a diagram showing a positional relationship between an obstacle and a traveling course.
  • FIG. 11 is a diagram showing a positional relationship between an obstacle and a traveling course.
  • FIGS. 12 (a) and 12 (b) are diagrams showing display screens.
  • Fig. 13 is a block diagram showing the configuration of the control system provided in the unmanned dump truck
  • FIG. 14 is a flowchart illustrating a procedure for generating a guidance course.
  • FIG. 15 is a conceptual diagram illustrating the shape of the course area.
  • FIG. 16 is a diagram showing a manner of generating a guidance course.
  • FIG. 17 is a diagram showing a manner of generating a guidance course.
  • FIG. 18 is a diagram showing a manner of generating a guidance course.
  • FIG. 19 is a diagram showing a manner of generating a guidance course.
  • FIG. 20 is a diagram showing a manner of generating a guidance course.
  • FIG. 21 is a diagram showing a manner of generating a guidance course.
  • FIG. 22 is a diagram showing a generation mode of the guidance course.
  • FIG. 23 is a diagram showing a manner of generating a guidance course.
  • FIG. 24 is a diagram showing a generation mode of the guidance course.
  • FIG. 25 is a diagram showing a generation mode of the guidance course.
  • FIG. 26 is a diagram showing a generation mode of the guidance course.
  • FIG. 27 is a plan view showing an arrangement position of the GPS antenna.
  • FIG. 28 is a flowchart showing the process of replacing the measurement position by the GPS.
  • FIG. 29 is a conceptual diagram showing the position of the loading machine in the course area.
  • FIG. 30 is a conceptual diagram showing the manner of movement of the loading machine in the course area.
  • FIG. 31 is a conceptual diagram showing the updated course area shape.
  • FIG. 32 is a block diagram showing a configuration of a control system provided in the loading machine.
  • FIG. 33 is a flowchart illustrating a procedure for updating the course area.
  • FIG. 34 is a conceptual diagram showing an excavation mode of the power shovel.
  • FIG. 35 is a block diagram showing a configuration of a control system provided with a power shovel.
  • FIG. 36 is a flowchart illustrating a procedure for updating the course area.
  • FIG. 37 is a conceptual diagram showing an example of an immovable route.
  • FIG. 38 is a conceptual diagram showing an example of a movable route.
  • Fig. 39 illustrates how the course area expands.
  • FIG. 40 illustrates how the course area is reduced.
  • FIG. 41 illustrates how the course area is reduced.
  • FIG. 7 shows the entire work site of the embodiment.
  • a plurality of unmanned vehicles (dump trucks) 2, 2 ... carry out loading work for loading rock and soil containing ore in the loading area 7 3 of the wide area mine site. It is assumed that the vehicle is running to perform earth removal work for discharging earth and sand in the earth removal area 65.
  • a plurality of unmanned vehicles 2, 2... Are guided along a traveling course 71 generated for each vehicle as described later.
  • the loading area 73, the traveling course area 67, and the unloading area 65 become the course area 68.
  • the course area 68 is an area where the unmanned vehicle 2 can travel. As shown in Fig. 8, the area outside the course area 68 is an area where vehicles cannot travel, such as cliffs and cutting faces.
  • loading machines 14 and manned vehicles 20 are running.
  • the loading machine 14 is a manned vehicle on which an operator boards, but is distinguished from the manned vehicle 20 for convenience of explanation.
  • the loading machine 14 is a manned work machine that mines ore in the loading area 7 3 (mining area) and loads the ore (earth and sand) mined on the unmanned vehicle 2. For example, Ex-X Rikibe or wheel loader.
  • the loading machine 14 changes its vehicle position as the mining operation progresses.
  • the manned vehicle 20 carries various operations other than the above-mentioned loading operation with the operator on board. Manned work vehicle. For example, there are manned dump trucks, bulldozers, mooring graders, watering vehicles, refueling vehicles, and four-wheel-drive vehicles that perform teaching work. For example, if the manned vehicle 20 is a bulldozer, as shown in FIG. 8, the unmanned vehicle 2 dumps the earth and sand that has been unearthed in the earth unloading area 65 (the earth unloading area), and performs a leveling operation. As with the loading machine 14, the position of the manned vehicle 20 changes at any time as the work progresses, similarly to the loading machine 14.
  • the position and shape of the loading area 14 and the discharging area 65 change as the work by the loading machine 14 and the manned vehicle 20 progresses. This is because the position and shape of walls and cliffs such as cutting faces change with the work.
  • the position and shape of the traveling course area 67 may also change due to the change in the position and shape of the road shoulder as the work progresses.
  • the position and shape of the course area 68 change at any time as the work progresses.
  • Course area 6 8 is unpaved.
  • the road surface condition changes as the plurality of unmanned vehicles 2, 2 ... travel. Also, while the unmanned vehicle 2 is traveling, the load rock may fall on the road surface.
  • holes or mud may be formed on the traveling course of the unmanned vehicle 2, and it may be difficult for the vehicle to pass through.
  • rocks may appear on the running course, making it impossible for vehicles to pass. Therefore, these holes, mud, rocks, and the like become obstacles for the unmanned vehicle 2 to travel.
  • the obstacles (loads) fall from time to time. Also, even if an obstacle (load) falls, manned vehicles such as bulldozers 20 may detect it and remove it. Further, other manned work vehicles 20 such as bulldozers and refueling vehicles may be stopped on the traveling course of the unmanned vehicles 2. In this case, the manned vehicle 20 becomes an obstacle to the unmanned vehicle 2. The stop position of the manned vehicle 20, which is an obstacle, changes at any time. In this way, the obstacles in the course area 68 where the plurality of unmanned vehicles 2, 2... Travel are not fixed. As the unmanned vehicle 2 travels, a new obstacle is generated or removed, and its position changes as needed.
  • a discharging area 65 is assumed as a course area 68, and a traveling course 71 in the discharging area 65 is generated.
  • the discharging area 65 is an area surrounded by a boundary line 66.
  • the entrance and exit of the unmanned vehicle 2 are provided in the discharge area 65.
  • the entrance and exit of the unloading area 65 are connected to the traveling course area 67, which is the traveling path of the unmanned vehicle 2.
  • the unmanned vehicle 2 starts traveling from the traveling starting point, travels on the traveling course area 67 in the direction of arrow A, and reaches the entrance point 69 of the earth discharging area 65. Then, it passes through the entrance point 69 and enters the earth removal area 65 from the earth removal area entrance. Then, the unmanned vehicle 2 performs switchback traveling in the earth discharging area 65. That is, the unmanned vehicle 2 moves forward in the arrow B direction, and then moves backward in the arrow C direction along the earth discharging direction. Then, the vehicle is stopped at the target discharging point 72 to perform the discharging operation. That is, the vessel of the dump truck 2 is inclined to discharge the soil in the vessel at the target discharge point 72.
  • the unmanned vehicle 2 that has completed the earth discharging operation advances in the direction of arrow D, escapes from the earth discharging area 65 through the earth discharging area entrance and enters the traveling course area 67. After passing through the exit point 70, the vehicle travels in the direction of arrow E on the travel course area 67, and returns to the travel end point.
  • the unmanned vehicle 2 is guided along the traveling course 71 as described above.
  • the actual terrain shows the unloading area 65 (the interior surrounded by the boundary line 66) and the outside of the traveling course area 67, that is, the outside of the course area 68, as shown in Fig. 8. It is an area where unmanned vehicles 2 cannot travel due to terrain such as cliffs and cliffs.
  • the position and shape of the unloading area 65 change as the work progresses, and the obstacles 74 in the unloading area 65 change at any time.
  • the vehicle can be driven in the course area 68 (discharge area 65) and is corrected at any time so as not to interfere with the obstacle 74.
  • FIG. 1 is a block diagram showing a flow of various data in the embodiment.
  • Data is transmitted and received between the monitoring station 8, unmanned vehicles 2, loading machines 14, and manned vehicles 20.
  • the monitoring station 8 has a function of managing and monitoring a plurality of unmanned vehicles 2, 2,. Obstacles common to a plurality of unmanned vehicles 2, 2, ... in the database of the monitoring station 8 by transmitting and receiving various data between the monitoring station 8, unmanned vehicles 2, loading machines 14, and manned vehicles 20
  • the data of the object 74 is stored and the data indicating the position and shape of the course area 68 are stored.
  • the plurality of unmanned vehicles 2, 2,... Travel the data of the obstacle 74 is updated and the data of the course area 68 is updated.
  • the traveling course 71 is modified at any time as a modified traveling course 7 1 ′ based on data updated as needed.
  • FIGS. 2, 3, 4, and 5 respectively show the configuration of the unmanned vehicle 2, the monitoring station 8, the loading machine 14 and the manned vehicle 20 in the form of a block diagram.
  • the position measuring unit 33 of the unmanned vehicle 2 measures its own vehicle position (X, Y).
  • a wheel speed sensor and a gyro provided on the front and rear wheels of the unmanned vehicle 2 are used.
  • the vehicle position is measured based on the output signal of the wheel speed sensor and the output signal of the jay mouth.
  • a GPS that can measure the ground position of the vehicle 2 is also mounted as a device for measuring the vehicle position.
  • the unmanned vehicle 2 is equipped with an obstacle detector 34 that detects an obstacle 74 in front of the vehicle traveling direction. I have.
  • the obstacle detector 34 a millimeter wave radar, a laser radar, a visual sensor, or the like is used.
  • FIG. 9 shows how an obstacle 74 in front of the unmanned vehicle 2 is detected. It is assumed that while the vehicle 2 is traveling in the direction indicated by the arrow 75, an obstacle 74 in front of the vehicle is detected by the obstacle detector 34 when the radio wave or the laser is projected at the projection angle 0. At this time, the relative position of the obstacle 74 with respect to the vehicle 2 is obtained based on the projection angle 3 of the radio wave or laser and the distance d to the obstacle 74 corresponding to the transmission / reception time of the radio wave or laser.
  • the absolute position (X, Y) of the unmanned vehicle 2 is measured by the position measuring unit 33, the absolute position (X, Y) of the unmanned vehicle 2 and the vehicle 2 obtained from the obstacle detector 34
  • the absolute position of the obstacle 74 is measured from the relative position of the obstacle 44 to the obstacle 44.
  • a detector provided with a scanning mechanism for scanning radio waves or laser may be used. Also emits radio waves or lasers in a certain direction An obstacle detector may be used.
  • a stop command is transmitted to the unmanned vehicle 2 via the communication unit 55 of the loading machine 14 and the communication unit 63 of the manned vehicle 20.
  • the stop command is received by the communication unit 32 of the unmanned vehicle 2.
  • Data indicating the vehicle position measured by the unmanned vehicle 2 data indicating the detection position of the obstacle 74, data indicating the road surface condition, and data indicating that the stop command has been received are processed by the processing unit. It is processed in 31 and transmitted to the monitoring station 8 via the communication unit 32.
  • the monitoring station 8 transmits a message indicating a traveling course 71 (or a modified traveling course 7 1 ′) in which the unmanned vehicle 2 should travel, and the communication section 32 receives the data.
  • the received data of the traveling course 7 1 or 7 1 ′ is stored in the traveling course storage unit 35.
  • the processing unit 31 compares the own vehicle position measured by the position measurement unit 33 with the sequential position on the traveling course 71 or 7 1 ′ stored in the traveling course storage unit 35, A traveling command and a steering command are generated so that the unmanned vehicle 2 sequentially follows successive positions on the traveling course 7 1 or 7 1 ′. These traveling commands and steering commands are output to the traveling mechanism section 36 and the steering mechanism section 37. As a result, the unmanned vehicle 2 is guided along the traveling course 7 1 or 7 1 ′ and reaches the target discharging point 72.
  • the loading machine 14 is provided with a position measuring unit 51 that measures the position of the vehicle in order to measure the position of the vehicle as the position of the obstacle 74.
  • a position measuring unit 51 that measures the position of the vehicle in order to measure the position of the vehicle as the position of the obstacle 74.
  • GPS which can measure the ground position of the vehicle 14 is used.
  • Data indicating the position and shape of the course area 68 and data indicating the position, shape and size of the obstacle 74 are input from the data input section 48 of the loading machine 14 o
  • the display area 50 of the loading machine 14 displays on the same screen the course area 68, various vehicles including the running courses 71, 7 1 'and the own vehicle 14, and obstacles 74. Done
  • Fig. 12 (a) shows the discharging area 65, the running courses 71 and 71 'within the discharging area 65, and the discharging area 65 on the display screen 76 of the display section 50.
  • An unmanned vehicle 2, a manned vehicle 20, and an obstacle 74 in the discharge area 65 are displayed.
  • the loading area is displayed, the loading area 73, the running courses 71 1, 7 1 'in the loading area 73, and the loading area 73 on the display screen 76 of the display section 50 are displayed.
  • the unmanned vehicle 2, the loading machine 14, and the obstacles 74 in the loading area 73 are displayed.
  • the relative position of each display object (course area 68, obstacle 74, etc.) on the display screen 76 of the display unit 50 corresponds to the actual relative position.
  • the position, shape and size of the course area 6 8 on the display screen 7 6 are determined by the travel of a plurality of unmanned vehicles 2, 2 ... (as the work of each vehicle progresses). It changes according to the data input from the input unit 48. In other words, when a new instruction input operation is performed on the data input section 48, the position and shape of the course area 68 displayed on the display screen 76 of the display section 50 and the position and shape of the obstacle 74 are displayed. The size is changed according to the content of the instruction operation.
  • the operator visually detects the change in the position and shape of the course area 68 and confirms the generation and disappearance of the obstacle 74.
  • an instruction input operation is performed by the data input unit 48 so that a result as visually observed on the display screen 76 is obtained.
  • the display screen 76 is composed of a sunset display panel.
  • the input data is automatically corrected by the data correction unit 49 as described later.
  • a traveling command and a steering command according to the manual operation of the operator are generated by the processing unit 47, and the traveling command and the steering command are output to the traveling mechanism unit 53 and the steering mechanism unit 54. As a result, the loading machine 14 is steered and driven according to the manual operation.
  • loading machine 14 is used for loading course 7 Points.
  • the traveling course correction unit 52 of the loading machine 14 performs a process of modifying the route of the traveling course 71 in response to the change of the target point due to the movement of the vehicle 14.
  • Obstacles corrected by the loading machine 14 Data of the obstacles 7 4 and data of the input corrected course area 6 8, data of the corrected driving course 7 1, and measured vehicle 1 4
  • the data indicating the position is processed by the processing unit 47 and transmitted to the monitoring station 8 via the communication unit 55. If the traveling course 71 is modified due to the movement of the loading machine 14, data indicating permission to use traveling along the modified traveling course 71 is transmitted to the monitoring station 8. You.
  • the operation of the loading machine 14 visually detects that an obstacle 7 4 is present near the running unmanned vehicle 2, it instructs the corresponding unmanned vehicle 2 to stop. Is transmitted via the communication unit 55.
  • the same reference numerals as those in FIG. 4 denote the same components. That is, the manned vehicle 20 is configured in substantially the same manner as the loading machine 14. However, the difference is that the loading machine 14 has the traveling course correction section 52, whereas the manned vehicle 20 does not have the traveling course correction section 52.
  • the same reference numerals as those in FIG. 4 denote the same components. That is, the display section 50 of the monitoring station 8 performs the same display as the display screen 76 of FIG. 12A. Therefore, when the operator of the monitoring station 8 inputs the data of the obstacles 74 and the data of the course area 68, the instructions are inputted from the evening input section 48, and the display screen 76 is displayed according to the inputted contents. The content changes. In addition, the data correction section 49 automatically corrects the data input.
  • the communication unit 45 of the monitoring station 8 receives various data transmitted from the plurality of unmanned vehicles 2, 2,..., The loading machine 14 and the manned vehicle 20. Various kinds of data are processed by the processing unit 38.
  • the data that is, the position data of all vehicles, is stored in the vehicle position storage unit 46. Then, each time the latest location data is transmitted, the stored content is rewritten to the latest location data.
  • the course area storage unit 40 stores the data of the course area 68 transmitted from the loading machine 14, the data of the course area 68 transmitted from the manned vehicle 20, and the course area 6 corrected by the monitoring station 8. 8 days are remembered. Then, the stored contents are rewritten in the latest data every time the latest data of the course area 68 is transmitted. In other words, the course area storage unit 40 stores data on the latest position and shape of the course area 68 that changes as the work progresses.
  • the processing unit 38 of the monitoring station 8 determines the position of the obstacle 74 based on the vehicle position data, obstacle position data, road surface condition data, and stop command reception data transmitted from the unmanned vehicle 2 as described later.
  • the data indicating the shape and size are generated.
  • the processing unit 38 of the monitoring station 8 based on the vehicle position data and the obstacle data transmitted from the loading machine 14, as described above, the position, shape, A data indicating the size is generated.
  • the processing unit 38 of the monitoring station 8 determines the position, shape, and size of the obstacle 74 based on the vehicle position data and the obstacle data transmitted from the manned vehicle 20 as described later. Data indicating the magnitude is generated.
  • Obstacle memory 4 1 contains unmanned vehicles 2, loading machines 14, manned vehicles 20 transmission data — obstacles 7 generated based on the evening data 4, obstacles 7 corrected by monitoring station 8 4 nights are remembered. Then, the stored content is rewritten to the latest data every time the latest obstacle 74 is generated. That is, the obstacle storage unit 41 stores the latest position, shape, and size of the obstacle 74 that changes as the work progresses.
  • the display screen 76 of the display unit 50 displays the latest vehicle position based on the storage contents of the vehicle position storage unit 46, the storage contents of the course area storage unit 40, and the storage contents of the obstacle storage unit 41.
  • the position, shape and size of the latest course area 68 (discharge area 65) and the position, shape and size of the latest obstacle 74 are displayed (see Fig. 12 (a)).
  • the manned vehicle 20 for teaching travels in the course area 68 in advance, and the position data of the course area 68 (discharge area 65) is acquired.
  • Driving course 7 1 position de overnight is acquired.
  • the position data obtained by these teachings is given to the monitoring station 8. These position data may be obtained by surveying.
  • the traveling course generation unit 44 of the monitoring station 8 generates the traveling course 71 based on the position data obtained by the above teaching.
  • the data stored in the area storage unit 40 and the obstacle storage unit 41 are read out at any time. Then, based on the latest obstacles and course area data read out as needed, the unmanned vehicle 2 travels in the course area 6 8 (discharge area 65) without interfering with the obstacle 74.
  • the running course 71 is modified to pass the target discharge point 72.
  • the position data of the driving course 71 generated by the driving course generating unit 44 and the corrected position data of the corrected driving course 71 1 ′ are transmitted to the unmanned vehicle 2 via the communication unit 45. .
  • this corresponds to the case where a falling load (rock) is removed by a manned vehicle 20 such as a bulldozer in the field of view of the operator.
  • a falling load rock
  • the operator turns his / her eyes to the display screen 76 and replaces the position where the obstacle 74 in the actual discharge area 65 disappears with the position on the display screen 76.
  • the unloading area 65 is displayed on the display screen 76, the position where the obstacle 74 is generated and extinguished can be confirmed on the screen from the relative positional relationship with the unloading area 65, and the position can be confirmed. Can be indicated.
  • an obstacle 74 is newly generated, the data of its generation position, shape, and size is instructed and input from the data input unit 48. In this way, as shown in FIG. 12 (a), an obstacle 74 captured by the operator is displayed on the display screen 76.
  • the same processing as the above-described obstacle indication processing performed through the display unit 50 and the data input unit 48 of the manned vehicle 20 is performed through the display unit 50 and the data input unit 48 of the loading machine 14. . Also, the monitoring station 8 performs the same obstacle instruction processing.
  • the obstacle storage unit 41 of the monitoring station 8 stores the data of the position, shape, and size of the obstacle 74 specified on the display screen 76 of each display unit 50. Then, every time an obstacle 74 is newly instructed on the display screen 76, the storage content of the obstacle storage unit 41 is updated.
  • the traveling course generation unit 44 of the monitoring station 8 calculates the obstacle 7 based on the data of the obstacle 74 stored in the obstacle storage unit 41.
  • a modified driving course 7 1 ′ that avoids 4 is generated.
  • the corrected driving course 7 1 ′ is displayed on the display screen 76.
  • Fig. 8 shows the modified running course 7 1 'at the actual work site.
  • the unmanned vehicle 2 is guided along the modified traveling course 7 1 ′. Therefore, the unmanned vehicle 2 can travel safely without interference with the obstacle 74.
  • the traveling course generation unit 44 can generate a traveling course that passes through the obstacle disappearance position. In other words, unnecessary correction of the running course is prevented.
  • the traveling course 71 in response to an instruction to generate and disappear the obstacle 74 on the display screen 76.
  • the traveling course 71 may be corrected by the loading machine 14. It is also possible to implement the same processing in the manned vehicle 20.
  • the obstacle 74 indicated on the display screen 76 is stored as the position of the obstacle 74 common to the plurality of unmanned vehicles 2, 2,. From the stored data, it is possible to easily and quickly correct the traveling courses 71, 71, ... of the plurality of unmanned vehicles 2, 2, .... Therefore, the correction work of the traveling courses 7 1, 7 1,... Can be performed efficiently. The work efficiency is dramatically improved as compared with the teaching work in which a teaching vehicle must be run every time an obstacle occurs.
  • the data of the obstacle 74 is updated at any time, so that an obstacle such as a work site where a plurality of unmanned vehicles 2, 2. 7 4 can cope with work sites that are generated and disappeared in real time. In other words, it is not necessary to miss the constantly changing obstacle 74 or to judge the obstacle 74 to be an erroneous obstacle.
  • the obstacle existing in a range that cannot be detected by the obstacle detector mounted on the unmanned vehicle is determined. 4 or an undetectable obstacle 7 4 (hole, muddy, rough road surface, etc.) can be judged as an obstacle.
  • the obstacle since the operator visually confirms that the obstacle is the obstacle 74, the obstacle may be detected regardless of the surrounding environment as compared with the case where the obstacle is detected by the obstacle detector 34. Object ⁇ 4 is reliably caught.
  • the unloading area 65, the unmanned vehicles 2 and the manned vehicles in the unloading area 65 are displayed on the display screen 76 of the display section 50 of the manned vehicle 20. It is assumed that 20 is displayed. Also, on the display screen 76, a traveled traveling course 7 1 ′′ in which the unmanned vehicle 2 has already traveled is displayed as shown in FIG. 12 (b).
  • This completed driving course 7 1 ⁇ is the same as the driving course that has already been completed in the past. Then, the latest driving course can be selected. In addition, by indicating a code (vehicle number) specifying the unmanned vehicle 2, it is possible to select the traveled traveling course 7 1 ⁇ and display it on the screen.
  • Opere is visually observing the formation of obstacles 7 4 in course area 6 8.
  • the operator turns to the display screen 76 and looks at the obstacles 7 4 (rock) in the actual unloading area 65. Replace the generation position with the position on the display screen 76.
  • the generation position of the obstacle 74 can be determined based on the relative positional relationship with the unloading area 65.
  • obstacles 74 such as rocks are mainly generated by the load of the unmanned vehicle 2 falling. Therefore, the obstacle 7 4 is often located on the traveled traveling course 7 1 ⁇ where the unmanned vehicle 2 has finished traveling.
  • the traveled traveling course 71 1 ⁇ is displayed on the display screen 76, and the rock position is determined by the relative positional relationship with the traveled traveling course 71 ⁇ . It is possible to more accurately determine the generation position of the obstacle 74 such as.
  • the position of the obstacle 74 determined based on the relative positional relationship with the course area 6 8 is corrected to be determined to be located at 7 4 ′ on the traveled traveling course 7 1 ⁇ .
  • the exact position of the obstacle 74 can be instructed and input from the data input unit 48.
  • the falling direction of the load differs depending on the curvature of the running course 71 ⁇ . Therefore, the position of the obstacle 74 can be corrected with higher accuracy in consideration of the falling direction of the cargo (the rear of the vehicle, the left of the vehicle, and the right of the vehicle).
  • the position of the obstacle 4 generated by the fall of the load of the unmanned vehicle 2 such as a rock can be more accurately indicated on the display screen 76. The effect is obtained.
  • the same processing as the above-described obstacle indication processing performed through the display unit 50 and the data input unit 48 of the manned vehicle 20 is performed through the display unit 50 and the data input unit 48 of the loading machine 14. . Also, the monitoring station 8 performs the same obstacle instruction processing.
  • the unloading area 65, the unmanned vehicles 2 and the manned vehicles in the unloading area 65 are displayed on the display screen 76 of the display section 50 of the manned vehicle 20. It is assumed that 20 is displayed. Further, on the display screen 76, a traveled traveling course 71 1 ⁇ in which the unmanned vehicle 2 has already traveled is displayed as shown in FIG. 12 (b).
  • the operator visually catches the formation of the obstacle 74 in the course area 68.
  • the operator turns to the display screen 76 and the obstacles 74 in the actual unloading area 65 (rocks) Is replaced with the position on the display screen 76.
  • the operation instruction inputs the data of the position of the obstacle 74 determined in this way from the data input section 48.
  • obstacles 74 such as rocks are mainly generated by the load of the unmanned vehicle 2 falling. Therefore, the obstacle 7 4 is often located on the traveled traveling course 7 1 ⁇ where the unmanned vehicle 2 has finished traveling.
  • the de-night correction unit 49 determines the position of the obstacle 74 indicated by the operation overnight as shown in Fig. 12 (b). Is automatically corrected so as to be located at 7 4 ′ on the traveled traveling course 7 1 ⁇ .
  • the direction in which the cargo falls depends on the curvature of the running course 71 ⁇ ⁇ ⁇ . Therefore, the position of the obstacle 74 may be corrected with higher accuracy based on the data indicating the falling direction of the cargo (vehicle rear, vehicle left, vehicle right).
  • the position of the instruction is changed. This has the effect of being automatically corrected to the more accurate position 7 4 ′.
  • the same processing as the above-described obstacle indication correction processing performed through the display section 50 of the manned vehicle 20, the data input section 48, and the data correction section 49 is performed on the display section 50 of the loading machine 14. This is performed through the data input section 48 and the data correction section 49.
  • the same obstacle instruction correction processing is performed.
  • the obstacle detector 34 of the unmanned vehicle 2 detects an obstacle 74 in front of the vehicle. It should be noted that obstacles 74 on the side and behind the unmanned vehicle 2 may be detected by appropriately changing the location and number of the obstacle detectors 34. Further, the obstacle detector 34 may be mounted on the manned work vehicles 20 and 14. Further, the obstacle detector 34 may be mounted on all unmanned vehicles, or the obstacle detector 34 may be mounted on only some unmanned vehicles.
  • the processing unit 31 of the unmanned vehicle based on the projection angle 0 of the radio wave or laser projected from the obstacle detector 34 and the distance d to the obstacle 74 corresponding to the transmission or reception time of the radio wave or laser.
  • the relative position of the obstacle 74 on the vehicle 2 is calculated.
  • the absolute position of the obstacle 74 is calculated by adding the distance d and the relative position of the obstacle 74 obtained from the projection angle 0.
  • the monitoring station 8 may perform a process of calculating the position of the obstacle 4 by transmitting a detection signal of the obstacle detector 34 to the monitoring station 8.
  • the obstacle storage unit 41 of the monitoring station 8 stores the data of the calculated position of the obstacle 74 transmitted from the plurality of unmanned vehicles 2, 2,.
  • the content stored in the obstacle storage unit 41 is updated.
  • the same obstacle 74 may be detected by a plurality of unmanned vehicles 2, 2.
  • an average value of the calculated positions of the same obstacle 74 transmitted from each of the vehicles 2, 2,... Is obtained, and the average value is stored as the position data of the same obstacle 74 in the obstacle storage unit. 4 1 can be memorized.
  • the traveling course generation unit 44 of the monitoring station 8 performs the operation as shown by the broken line in FIG. Then, based on the position data of the obstacle 74 stored in the obstacle storage unit 41, a corrected traveling course 7 1 ′ that avoids the obstacle 74 is generated.
  • the corrected driving course 7 1 ′ is displayed on the display screen 76.
  • Figure 8 shows a modified running course 7 ⁇ 'at the actual work site.
  • the unmanned vehicle 2 is guided along the modified traveling course 7 1 ′. Therefore, the unmanned vehicle 2 can travel safely without interference with the obstacle 74.
  • the obstacle 74 detected by a certain unmanned vehicle 2 is stored as the position of the obstacle 74 common to the plurality of unmanned vehicles 2, 2,. It is possible to easily and quickly correct the traveling courses 7 1, 7 1... Of the plurality of unmanned vehicles 2, 2. Therefore, the correction work of the traveling courses 7 1, 7 1,... Can be performed efficiently.
  • an obstacle 74 detected by a certain unmanned vehicle 2 is regarded as an obstacle 74 for another unmanned vehicle 2, so even if the obstacle detector 34 mounted on another unmanned vehicle 2 Even if the obstacle 74 cannot be detected, the other unmanned vehicle 2 can avoid the obstacle 74. In other words, even if the obstacle detector 34 of the other vehicle 2 breaks down, the operation is uncertain, or the obstacle 74 cannot be detected accurately due to the influence of the surrounding environment, the other vehicle 2 remains Obstacles 7 4 can be avoided reliably. Further, according to the present embodiment, the detection and calculation of the obstacle 74 are performed at any time by the plurality of unmanned vehicles 2, 2... It is possible to deal with a work site where obstacles 74 are generated in real time, such as a work site where vehicles 2, 2 ... travel. In other words, by sharing data obtained from a plurality of unmanned vehicles, it is not necessary to miss obstacles 74 that change from time to time.
  • the processing unit 31 of the unmanned vehicle 2 calculates the deviation between the vehicle position obtained from the output of the wheel rotation speed sensor and the vehicle position obtained from the output of the GPS, which is a position measurement device, and calculates the unmanned The road surface state of the road surface on which the vehicle 2 is currently traveling is detected.
  • the road surface state data is transmitted to the monitoring station 8, and the processing section 38 of the monitoring station 8 It is determined whether it is 7 4 or not.
  • the deviation between the vehicle position obtained from the output of the wheel rotation speed sensor and the vehicle position obtained from the output of the GPS, which is a position measurement device for the ground is equal to or greater than a predetermined threshold value (when the wheel rotates, Uninhabited vehicle 2 is judged to have slipped greatly, and the road surface at that time is judged to be an obstacle 7 4 (mud, hole, etc.) .
  • a predetermined threshold value when the wheel rotates, Uninhabited vehicle 2 is judged to have slipped greatly, and the road surface at that time is judged to be an obstacle 7 4 (mud, hole, etc.) .
  • the current measurement position (X, Y) of the unmanned vehicle 2 that has transmitted the road condition data is the position of the obstacle 74 (mud, hole, etc.).
  • the size of the obstacle 7 4 (mud, hole, etc.) may be set according to the magnitude of the slip (the magnitude of the above deviation).
  • the vehicle position obtained from the output of the wheel rotation speed sensor and the vehicle position obtained from the output of the GPS, which is a position measurement device for the ground it is determined whether the vehicle is an obstacle 74.
  • the difference between the rotation speed of the front wheel and the rotation speed of the rear wheel is large, it can be determined that the unmanned vehicle 2 is slipping.
  • the vehicle is the obstacle 74 by detecting the slip, but it may be determined that the vehicle is the obstacle 74 by detecting the rough road surface.
  • a gyro is mounted on the unmanned vehicle 2 as a component of the position measurement unit 33.
  • the output of the jay mouth that is, the angular velocity of the attitude angle of the unmanned vehicle 2 is transmitted to the monitoring station 8 as road surface state data.
  • the angular velocity of the attitude angle of the unmanned vehicle 2 output from the gyro is equal to or greater than a predetermined threshold value (when the attitude change of the unmanned vehicle 2 in one direction per unit time is large)
  • a predetermined threshold value when the attitude change of the unmanned vehicle 2 in one direction per unit time is large.
  • the traveling and stop instructions are given to the unmanned vehicle 2 according to the degree of slip or road surface roughness. Can be sent. That is, the monitoring station 8 can transmit to the unmanned vehicle 2 a traveling command for reducing the traveling speed according to the magnitude of the slip or the rough road. In some cases, the monitoring station 8 may transmit a stop command for stopping the running to the unmanned vehicle 2.
  • the monitoring station 8 determines the degree of slippage or road surface roughness based on the road surface condition data, but the unmanned vehicle 2 side independently determines the degree of slippage or road surface roughness based on the road surface condition data. May be.
  • the unmanned vehicle 2 reduces the traveling speed according to the magnitude of the slip or the rough road surface. If the slip surface becomes larger than the predetermined threshold value, stop traveling. In this case, a message indicating that the speed of the unmanned vehicle 2 has decreased or the traveling has stopped is transmitted to the monitoring station 8.
  • the monitoring station 8 may directly use the determination result transmitted from the unmanned vehicle 2.
  • the monitoring station 8 further analyzes the data transmitted from the unmanned vehicles 2 (road surface data, speed reduction / running stop data, obstacle judgment data), and determines whether the event is finally an obstacle 74. You may decide whether or not.
  • the measured position (X, Y) of the unmanned vehicle 2 when the slip or the rough road surface occurs is stored as the position of the obstacle 74 in the obstacle storage unit 41 of the monitoring station 8. So Then, each time the obstacle detector 34 determines that the obstacle is a new obstacle 74 (slip, rough road), the storage content of the obstacle storage unit 41 is updated.
  • the traveling course generation unit 44 of the monitoring station 8 determines the obstacle based on the position data of the obstacle 74 stored in the obstacle storage unit 41.
  • a modified driving course 7 1 ′ that avoids the object 7 4 is generated.
  • the corrected driving course 7 ′ is displayed on the display screen 76.
  • Fig. 8 shows the modified running course 7 1 'at the actual work site.
  • the unmanned vehicle 2 is guided along the modified traveling course 7 1 ′. Therefore, the unmanned vehicle 2 can safely travel without interfering with the obstacle # 4.
  • the obstacle 74 (slip, rough road surface) generated by a certain unmanned vehicle 2 is set as the position of the obstacle 74 common to the plurality of unmanned vehicles 2, 2,. Since the stored data is stored, it is possible to easily and quickly correct the running courses 71, 71,... Of the plurality of unmanned vehicles 2, 2,. For this reason, the repair work of the traveling courses 71, 71, ... can be performed efficiently. Further, according to the present embodiment, the data of the obstacle 74 is updated at any time in response to the obstacle 74 (slip, rough road surface) occurring at any time in the plurality of unmanned vehicles 2, 2,.
  • the obstacle 7 4 cannot be detected by the obstacle detector 34 mounted on the unmanned vehicle. Even if it is a mud, a hole, a rough road, etc., it can be judged as an obstacle.
  • obstacles 74 such as mud, holes, and rough road surfaces may change and disappear with the progress of work.
  • the observer instructs the disappearance of the obstacle 74 on the display screen 76 as described above.
  • the obstacle storage unit 41 sends the corresponding object to the obstacle A process of erasing the data of the corresponding obstacle 74 is performed.
  • the monitoring station 8 asks the operator overnight whether the obstacle 74 has disappeared. Is also good.
  • the road surface state is detected by all unmanned vehicles, but the road surface state may be detected by only some unmanned vehicles.
  • the road surface condition may be detected by the loaded vehicle 14 and the manned vehicle 20.
  • obstacles 7 4 mud, holes, rough road surface, etc.
  • the obstacles 74 in this case are loads (rocks, earth and sand, etc.), mud, holes, rough roads, etc. that have fallen from the unmanned vehicles 2.
  • the monitoring station 8 receives a message indicating that the stop command has been received from the unmanned vehicle 2 that has received the stop command. In addition, the monitoring station 8 receives the data of the current measurement position (X, Y) of the unmanned vehicle 2 that has received the stop command. Therefore, the monitoring station 8 can determine that the measurement position (X, Y) (the stop position of the unmanned vehicle 2) of the unmanned vehicle 2 that has received the stop command is the position of the obstacle 74.
  • the data indicating the relative position of the obstacle 74 to the unmanned vehicle 2 is monitored from the loading machine 14 or the manned vehicle 20 that sent the stop command. It may be sent to station 8.
  • FIGS. 10 and 11 illustrate the positional relationship between the obstacle 74 and the traveling course, respectively.
  • Fig. 10 when the operation of the manned vehicle 20 or the loading machine 14 is confirmed to be behind the unmanned vehicle 2 (on the traveling course 71), an obstacle 74 is confirmed. Transmits to the monitoring station 8 data on the coordinate position on the coordinate system XY with the unmanned vehicle 2 as the origin. Also, the data “L (m) behind unmanned vehicle 2” was sent to monitoring station 8. May be sent. In this case, by indicating a corresponding position on the display screen 76 of the display section 50 of the manned vehicle 20 or the loading machine 14, the corresponding data is transmitted to the monitoring station 8.
  • the position of the obstacle 74 is accurately calculated. That is, the rear of the unmanned vehicle 2 (on the traveling course 71) is specified as the exact position of the obstacle 74.
  • the unmanned vehicle 2 is located at the origin. The data of the coordinate position on the coordinate system X—Y to be transmitted to the monitoring station 8.
  • a message “L (m) beside unmanned vehicle 2” may be transmitted to the monitoring station 8.
  • the corresponding data is transmitted to the monitoring station 8 by indicating the corresponding position on the display screen 76 of the display section 50 of the manned vehicle 20 or the loading machine 14.
  • the monitoring station 8 compares the measurement position (X, Y) (stop position of the unmanned vehicle 2) of the uninhabited vehicle 2 that received the stop command with the relative position data transmitted from the manned vehicle 20 or the loading machine 14. Based on this, the position of the obstacle 74 is accurately calculated. That is, it is specified that the side of the unmanned vehicle 2 is the exact position of the obstacle 74.
  • the shape and size of the obstacles 74 By transmitting the shape and size of the obstacles 74 from the manned vehicle 20 or the loading machine 14 to the monitoring station 8, the shape and size of the obstacles 4 as well as the position of the obstacles 4 are specified. May be.
  • the position of the unmanned vehicle 2 that has received the stop command (or a position in the vicinity thereof) is stored in the obstacle storage unit 41 of the monitoring station 8 as the position of the obstacle 74. Then, each time the unmanned vehicle 2 receives the stop command, the storage content of the obstacle storage unit 41 is updated. Then, as shown by the dashed line in FIG. 12 (a), the traveling course generation unit 44 of the monitoring station 8 determines the relevant position based on the position data of the obstacle 74 stored in the obstacle storage unit 41. A corrected driving course 7 1 ′ avoiding the obstacle 7 4 is generated. The corrected driving course 7 1 ′ is displayed on the display screen 76.
  • Fig. 8 shows the modified running course 7 1 'at the actual work site.
  • the unmanned vehicle 2 is guided along the modified traveling course 7 1 ′. Therefore, the unmanned vehicle 2 can travel safely without interference with the obstacle 74.
  • the place where one unmanned vehicle 2 stops is stored as the position of the obstacle 74 common to the plurality of unmanned vehicles 2, 2,. It is possible to easily and quickly correct the traveling courses 7 1, 7 1... Of the plurality of unmanned vehicles 2, 2. Therefore, the correction work of the traveling courses 7 1, 7 1,... Can be performed efficiently.
  • the data of the obstacle 74 is updated as needed in response to the plurality of unmanned vehicles 2, 2... Stopping at any time. It is possible to deal with a work site where obstacles 74 are generated in real time like a site. In other words, by sharing the obstacle data obtained from a plurality of unmanned vehicles, it is possible to prevent the ever-changing obstacle 74 from being missed.
  • the obstacle 7 4 that cannot be detected by the obstacle detector 4 mounted on the unmanned vehicle sludge, hole, rough road surface, etc.
  • Etc. the obstacle 7 4 that cannot be detected by the obstacle detector 4 mounted on the unmanned vehicle
  • the obstacle 7 since the operator visually confirms that the obstacle is the obstacle 74, the obstacle 7 does not matter regardless of the surrounding environment as compared with the case where the obstacle is detected by the obstacle detector 34. 4 is reliably captured.
  • the position measuring unit 51 of the manned vehicle 20 and the loading machine 14 measures its own vehicle position.
  • the data at this measurement position is transmitted to the monitoring station 8.
  • the manned vehicle 20 and the loading machine 14 become obstacles for a plurality of unmanned vehicles 2, 2.
  • the measured position transmitted from the manned vehicle 20 and the loading machine 14 is stored in the obstacle storage unit 41 of the monitoring station 8 as the position of the obstacle 74. And manned vehicles 20, Every time the measurement position of the loading machine 14 is changed at any time, the content stored in the obstacle storage unit 41 is updated.
  • the traveling course generation unit 44 of the monitoring station 8 determines the obstacle based on the position data of the obstacle 74 stored in the obstacle storage unit 41.
  • a modified driving course 7 1 ′ that avoids the object 7 4 is generated.
  • the corrected driving course 7 1 ′ is displayed on the display screen 76.
  • Fig. 8 shows the modified running course 7 1 'at the actual work site.
  • the unmanned vehicle 2 is guided along the modified traveling course 7 1 ′. Therefore, the unmanned vehicle 2 can safely travel without interfering with the obstacle # 4.
  • the storage position of the obstacle 74 may be updated at any time, regardless of whether the manned vehicle 20 or the loading machine 14 is running or stopped.
  • the update of the storage position of the obstacle 74 may be performed only when the manned vehicle 20 and the loading machine 14 are stopped, not while the manned vehicle 20 and the loading machine 14 are running. In this case, while the manned vehicle 20 and the loading machine 14 are running, the data of the obstacle corresponding to the running vehicle is deleted from the stored contents of the obstacle storage unit 41.
  • the traveling course 71 is complicatedly corrected. In order to avoid this, it is desirable to update the storage position of the obstacle 74 and correct the traveling course 71 each time the manned vehicle 20 and the loading machine 14 stop.
  • the manned vehicle 20 when the operator discovers a rock or other obstacle 74, the manned vehicle 20 Drive to a position near the obstacle 7 4. Therefore, the manned vehicle 20 specifies the relative position of the obstacle 74 with respect to its own vehicle 20 in the same manner as in FIGS. 10 and 11. Then, the relative position data is transmitted to the monitoring station 8.
  • the monitoring station 8 determines the exact position of the obstacle 74 based on the transmitted measurement data of the manned vehicle 20 and the data of the relative position of the obstacle 74 with respect to the manned vehicle 20. Is calculated. Then, the position data of the obstacle 74 is stored in the obstacle storage unit 41.
  • the traveling speed of the vehicle and the traveling direction of the vehicle are calculated based on the outputs of the manned vehicle 20 and the position measurement unit 51 of the loading machine 14. Then, a data of the size of the obstacle 74 is generated in accordance with the calculated vehicle speed. Specifically, the size of the obstacle 74 is determined by determining that the obstacle 74 is larger as the traveling speed of the manned vehicle 20 and the loading machine 14 is shorter.
  • data of the shape of the obstacle 74 is generated according to the calculated traveling direction of the vehicle. Specifically, the shape of the obstacle 74 is specified by determining that the obstacle 74 has a long shape in the direction in which the manned vehicle 20 and the loading machine 14 travel. Thus, the data of the position, shape, and size of the obstacle 74 is stored in the obstacle storage unit 41.
  • the manned work vehicles 20 and 14 are assumed to be obstacles to the unmanned vehicle 2, but the work vehicles 20 and 14 may be unmanned vehicles. As described above, according to the present embodiment, the work vehicles 20 and 14 are stored as the positions of the obstacles 74 common to the plurality of unmanned vehicles 2, 2... It is possible to easily and quickly correct the traveling courses 71, 71,... Of the plurality of unmanned vehicles 2, 2,. Therefore, the correction work of the traveling courses 71, 71,... Can be performed efficiently.
  • the corrected traveling course 7 1 ′ is generated according to the data of the obstacle 74.
  • the unmanned vehicle when applying to an unmanned vehicle with artificial intelligence, if only the overnight of the obstacle 74 is given to the vehicle, the unmanned vehicle follows the inference engine and the route for evading the obstacle 74 is provided. Through this, it is possible to reach the target discharge point 72.
  • course area 1 is the work area (loading area or unloading area) in the mine.
  • the unmanned off-road dump truck 2 which is an unmanned mobile object, reaches the entry point SP of the course area 1 and then travels along the guide course described later toward the destination point TP of the movement destination. Perform the specified work (loading work or unloading work) at the TP.
  • the unmanned off-road dump truck 2 (hereinafter referred to as unmanned dump truck) has a travel control system as shown in FIG.
  • the mode setting unit 3 sets a measurement mode and an automatic operation mode, and is configured by, for example, a switch.
  • the position measuring unit 4 uses an unillustrated GPS (global positioning system), a tire rotation speed detection sensor for obtaining mileage information, an optical fiber jar for obtaining directional information, and the like. The current traveling position of dump 2 is detected.
  • GPS global positioning system
  • tire rotation speed detection sensor for obtaining mileage information
  • optical fiber jar for obtaining directional information
  • Figure 14 illustrates the procedure for generating a guided course.
  • step 100 the shape input processing of the course area 1 is executed.
  • the position measuring section 4 of the dump for measurement dump detects the running position of the dump for measurement every moment and stores it in the course area storage section 6. Therefore, the shape of the course area 1 is stored in the course area storage unit 6 as a sequence of coordinate points of the traveling position.
  • the communication unit 7 shown in FIG. 13 communicates with the monitoring station 8 installed at a predetermined place.
  • the communication unit 7 of the measurement dump described above has the shape of the measured course area. Is transmitted to the monitoring station 8. _
  • the loading operation of the unmanned dump truck 2 for work is performed by the approach of a dumping machine such as a wheel loader or a power shovel that is collecting ore, which loads the ore into the dump truck. Done.
  • a dumping machine such as a wheel loader or a power shovel that is collecting ore, which loads the ore into the dump truck. Done.
  • the position TP of the movement destination point is a loading position of the loading device, and the loading position changes as the work progresses.
  • the bucket position of the wheel loader or the power shovel and the approach angle of the unmanned dump 2 are obtained by using the GPS on the loading device and the geomagnetic direction sensor.
  • the loading device includes a wireless communication device, and transmits a bucket position at the time of mouthing to the monitoring device 8 as the position T P of the movement destination point.
  • the monitoring station 8 indicates the shape of the course area for the unmanned dump truck 2 for work.
  • the data, the position SP of the entrance branch point (movement start point) of the course area 1 and the position TP of the movement destination point described above are transmitted.
  • the processing unit 5 of the unmanned dump 2 inputs the position SP of the branch point and the position TP of the movement destination point via the communication unit 7 (step 101). Then, the number of guided course generations n and the best Initialize the evaluation values E best to 0 (Step 102)
  • the processing unit 5 randomly sets the coordinates of the position MP of one intermediate point in the course area 1 and the azimuth angle of the unmanned dump 2 at the position MP of the intermediate point (step 103).
  • the guidance course of the unmanned dump 2 connecting the branch point position SP and the intermediate point position MP is generated (step 104).
  • the direction vector of the unmanned dump 2 at the branch point position SP is spv
  • the same direction vector at the intermediate point position MP is mpv
  • the target point position TP is Assuming that the same direction vector is tpv
  • the procedure for generating the guidance course in step 104 is as follows.
  • the circle S1 has a circumference passing through the position SP and a straight line SP + kspv as a tangent.
  • the circle S 2 has a circumference passing through the position MP and a straight line MP + 1 mpv as a tangent.
  • Condition 2 The center of the circle S 4 is on the position MP side as viewed from the position SP, and the center of the circle S 5 is on the position SP side as viewed from the position MP.
  • Condition 3 The circles S l and S 2 have the same diameter and touch each other.
  • a straight line passing through the position SP and including the vector spv and a straight line passing through the position MP and including the vector mpv are set as tangents.
  • a circle S3 is set, and a guidance course that passes through an arc and a straight line on the circle S3 interposed between the positions SP and MP is generated.
  • the circle S4 is tangent to a straight line that passes through the position SP and includes the vector spv.
  • the circle S5 has a tangent to a straight line passing through the position MP and including the vector mpv.
  • Circles S4 and S5 have the same diameter and touch each other.
  • Circles S4 and S5 satisfying the conditions shown in (b-2) are set, and a line consisting of a combination of arcs on the circles S4 and S5 interposed between the positions SP and MP is generated as a guidance course. I do.
  • the procedure for generating the guidance course for unmanned dumping 2 between the position SP at the entrance junction and the position MP at the intermediate point is as described above.
  • the diameters of the two circles are set equal. This is for the purpose of facilitating the calculation, and the course can be generated without setting the diameter of each circle equal.
  • the processing unit 5 generates a guidance course between the position MP of the intermediate point and the position TP of the destination point (step 105). Since the method is based on the method of generating the guidance course between the point positions MP, the description is omitted here.
  • step 103 the coordinates of the position M P of the intermediate point are set randomly, but the coordinates may be set sequentially from the coordinates of a predetermined end of the course area 1.
  • step 105 one or more other intermediate points are set between the positions as necessary. May be.
  • the processing unit 5 calculates the minimum distance between the guidance course and the boundary of the course area (step 106).
  • the generated guidance course is expressed as a sequence of coordinate points, similarly to the shape of the course area 1. Therefore, the processing unit 5 stops the distance between the line segment indicated by each point on the guidance course and the line segment indicated by each point on the course area 1, and obtains the minimum distance.
  • the generated guidance course is designed so that the distance from the boundary of the course area 1 is as large as possible, that the unmanned dump 2 can move with a turning radius as large as possible, and that the dump 2 is as short as possible. It is desirable to be set so that it can reach the position TP of the destination point.
  • the processing unit evaluates the generated guidance course using the following evaluation function (step 107).
  • minimum R Minimum value of the radius of the arc part of the guidance course length of course: Length of the guidance course
  • step 108 it is determined whether the minimum distance is smaller than 1/2 of the vehicle width of the dump 2 or not.
  • step 109 the minimum radius is a reference radius (minimum turning radius of the dump 2). It is determined whether it is smaller than each.
  • step 111 it is determined whether or not the evaluation value E is greater than the best evaluation value E best obtained so far.
  • step 111 If the judgment result in step 111 is YES, the best evaluation value up to that point is updated by the evaluation value E, and the position Mp of the intermediate point set in step 103 and the steps 104, 105
  • the guidance course force generated in step s is stored in the guidance course storage unit 9 shown in FIG. 1'3 (step 112).
  • next step 113 it is determined whether or not the evaluation value E is larger than a preset reference evaluation value. If the evaluation value E is larger than the reference evaluation value, the current guidance course storage unit is used. The position Mp of the intermediate point and the guidance course stored in 9 are determined as the position of the employed intermediate point and the adopted guidance course (step 114).
  • step 111 and 113 determine whether or not the number of guided course generations ⁇ has reached the set number of times.
  • step 103 If the number of generations ⁇ has not reached the set number, the procedure returns to step 103, and if the number of generations ⁇ has reached the set number, the procedure shifts to step 114. .
  • the process of setting the above evaluation value E to 0 is executed, so that the judgment result of step 111 becomes NO, As a result, the procedure returns to step 103, and another course generation process is executed.
  • the minimum distance to be determined in step 108 includes a measurement error of the course area.
  • errors such as a position measurement error and a travel control error occur. Therefore, in order to improve the reliability of the interference check in step 108, it is desirable to adopt a judgment criterion in which the above error is added to 1/2 of the vehicle width.
  • the position SP of the entrance branch point and the destination point via the position MP of the intermediate point are determined.
  • a guidance course is generated which leads to the position TP, specifically a straight or circular arc or a combination thereof. Then, when the evaluation value of the generated guidance course is higher than the reference evaluation value, or when the number of generations n of the guidance course reaches the set number, the position of the employed intermediate point and the adopted guidance Is determined.
  • the processing unit 5 transmits the position of the adopted intermediate point and the adopted guidance course to the monitoring station 8 via the communication unit 7 shown in FIG.
  • the position MP of the intermediate point is set randomly, but the position MP of the intermediate point may be set sequentially from an arbitrary end position of the course area 1. good.
  • a predetermined area of the course area may be designated, and an intermediate point position MP may be sequentially set from an arbitrary end position of the area.
  • the guidance course is formed by a straight or circular Or a combination of them, but it is also possible to construct a guide course connecting the above-mentioned positions SP and MP and between the positions MP and TP with spline curves, respectively. And a spline curve may be combined.
  • the guidance course that does not cause interference is automatically generated. However, every time one course is generated, the response of the operator to the course may be obtained.
  • the unmanned dump truck 2 that has traveled to the entrance branch point SP by the automatic operation is temporarily stopped by a stop command from the monitoring station 8. Then, at the time when the automatic driving command is transmitted from the monitoring station 8, the automatic driving traveling in the course area 1 is started.
  • the processing unit 5 activates the traveling mechanism unit 10 to travel the unmanned dump 2 based on the automatic driving command, and at the same time, based on the output of the traveling position measurement unit 4, the current position of the unmanned dump 2 Based on the current position and the guidance course stored in the guidance course storage unit 9, the steering mechanism 11 of the unmanned dump 2 is positioned so that the unmanned dump 2 is located on the guidance course. Control. Therefore, the unmanned dump 2 reaches the target point position TP while traveling on the above-mentioned guidance course.
  • the branch point SP of the unmanned dump 2 is set at the entrance of the course area 1, but the so-called hole road, which is the traveling path of the dump 2 up to the entrance of the course area 1, and the entrance of the course area If the boundary of the hall is not clear or the coaster 1 is long, the branch point SP may be provided at an arbitrary position in the hall opening.
  • the branch point SP is uniquely determined as a position on the hole road that is a predetermined distance from the position TP of the destination point, or the position of the branch point is determined. Set the SP to the position on the above-mentioned hall road.
  • the distance of the dump 2 from the predetermined departure position on the guidance course set in advance on the road is expressed using this parameter. May be determined.
  • the position MP of the intermediate point is given by the rectangular coordinates (X, Y), but the position MP of the intermediate point may be given by the cylindrical coordinates (0, 1). Then, two vectors at right angles may be used as a reference of the coordinate system, or arbitrary vectors in different directions, for example, the position SP of the entrance branch point and the position TP of the target point may be used.
  • the position MP of the intermediate point can be given as follows.
  • the partial guidance course is configured as a course capable of sufficiently turning the dump 2.
  • one circle is drawn to set the position MP of the intermediate point.
  • a plurality of circles are drawn, and the position of the intermediate point is determined by the radius of each circle and the arc length of each circle. You can also set the MP.
  • a circle S 10 passing through the position TP of the movement destination point and in contact with the vector tpv and a circle S 11 having the same diameter in contact with the circle S 10 are drawn.
  • the length of the arc from the position TP to the contact point of the circles SI0 and S10, and the length of the arc from the contact point to the intermediate point position MP1 the position TP of the movement destination point
  • the position MP of the intermediate point with reference to can be set.
  • circle tangent the position TP of the moving target point as base vector tpv includes a circular S 1 0 shown positioned above the base vector S pv, 2 kinds of circles (not shown) located below the vector spv Exists.
  • the partial guidance course does not include a portion where the unmanned dump 2 cannot turn.
  • the position measuring unit 4 shown in FIG. 14 is equipped with the GPS, but as shown in FIG. 27, when the GPS antenna 12 is arranged at the center of the front of the unmanned dump truck 2 The GPS measures the position of the antenna 12 as the traveling position of the unmanned dump truck 2.
  • the measured course area 1 is a shape in which the boundary of the actual course area 1 is shifted inward by a distance approximately 1/2 of the vehicle width of the unmanned dump truck 2. That is, the measured shape of the course area 1 includes an error corresponding to a distance of about 1 Z2 of the vehicle width.
  • FIG. 28 illustrates a procedure for reducing the error as much as possible. What Note that this procedure is executed in the processing unit 5, and at the time of execution, the measurement mode is set by the mode setting unit 3.
  • the GPS outputs a data indicating the position of the dump 2 at a predetermined cycle (hereinafter referred to as GPS data).
  • GPS data a data indicating the position of the dump 2 at a predetermined cycle
  • the read GPS data ⁇ GPS x, GPS y ⁇
  • the GPS data output in the cycle is set as ⁇ GPS old x, GPS old y ⁇ (step 201).
  • step 202 the GPS data ⁇ GPS x, GPS y ⁇ is read (step 202), and it is determined whether or not the flag is set to 1 (203). At the present time, since the above flag is 0, the judgment result in step 203 is NO. Then, after the flag is set to 1 (step 204), the procedure returns to step 201.
  • step 203 the procedures of steps 201 to 203 are executed again. However, since the flag is set to 1, the judgment result of step 203 is YES. From the above, the GPS data ⁇ GPS old x, GPS old y ⁇ output in the previous cycle and the GPS data ⁇ GPS x, GPS y ⁇ output in the current cycle were obtained. The azimuth of the unmanned dump 2 is calculated based on the (Step 205).
  • Atan2 is the angle taking into account the signs of X and Y
  • step 206 it is determined whether to set the left end of the unmanned dump truck 2 at the measurement position.
  • the measurement position indicating switch 13 shown in FIG. 14 selectively indicates the left end and the right end of the unmanned dump 2 as the measurement position, and the determination in step 206 is executed based on the instruction of the switch 13. .
  • the left end position is calculated as the traveling position based on the following equations (2) and (3) (step 207).
  • the right end is indicated
  • the position of the left end is calculated as the traveling position based on the following equations (4) and (5) (step 208).
  • Edge x Gps x + 11 * cos (Angle) -12 * sin (Angle)... (2)
  • Edge y Gps y +11 * cos (Angle)-12 * cos (Angle) (3)
  • Edge x Gps x + 11 * cos (Angle)-13 * sin (Angle) (4)
  • Edge y Gps y + 11 * cos (Angle)-13 * cos (Angle)... (5)
  • the calculated travel position ⁇ Edge X, Edge y ⁇ is stored in the query storage unit 6 (step 209), and thereafter, the above procedure is repeated.
  • the shape of the course area 1 can be measured with extremely high accuracy. Can be.
  • the azimuth of the unmanned dump 2 is calculated based on the amount of change in the position of the unmanned dump 2, but the azimuth may be measured using an optical fiber jar or a geomagnetic sensor. Further, a so-called sensor fusion technique for improving detection accuracy by using a plurality of different types of sensors in combination can be introduced into the measurement of the azimuth angle.
  • connectors for attaching the GPS antennas 12 are also provided on the left and right ends of the unmanned dump truck 2, and the GPS antennas 12 are selectively connected to the above connectors according to the driving state of the dump truck 2 with respect to the boundary of the coaster. connect.
  • course area 1 is the loading area
  • the course area 1 expands with the progress of the excavating work of the excavating machine. That is, the shape of the course area 1 changes.
  • the shape measurement operation of the course area 1 may be performed periodically, but this is not advisable because it reduces workability.
  • a loading machine (loading device) 14 such as a wheel loader is located in the loading area of course area 1.
  • the loading machine 14 includes a position measuring unit 15 equipped with a GPS, an azimuth measuring unit 16 equipped with an optical fiber gyro, etc., and a communication unit 17 communicating with the monitoring station 8. And a guidance course storage section 18 and a processing section 19.
  • the data indicating the shape of the coaster 1 transmitted from the monitoring station 8 is received by the communication unit 17 and then stored in the course area storage unit 19 via the processing unit 18.
  • the data indicating the shape of the course area 1 relates to the course area measured by the unmanned dump 2, and the course area is hereinafter referred to as an initial course area.
  • the processing unit 19 inputs the current position of the loading machine 14 measured by the position measuring unit 15 (step 300), and the position and the initial course Calculate the distance to the boundary of area 1 (step 301), and then determine whether the distance has become zero (step 302) o
  • the loading machine 14 moves outward from the initial course area 1 as the ore excavation progresses, as indicated by the arrow in Fig. 29, and as a result, its position and the initial course area 1 The distance between the borders gradually decreases.
  • step 302 when the loading machine 14 advances until the above-mentioned distance becomes 0, the judgment result of step 302 becomes YES, so that the processing area 18 executes the course area shape update processing. Is done (step 303). That is, the course area shape data stored in the storage unit 18 is updated so that the entry area of the loading machine 14 is added to the initial course area.
  • the storage unit 18 stores data indicating the enlarged course area shape as shown in FIG. Then, the updated course area is updated again as the loading machine 14 proceeds further.
  • the occupied area of the loading machine 14 and the positions of the left and right front ends are calculated by the processing unit 19 based on the position, shape, and orientation of the loading machine 14.
  • the updated coarse configuration is transmitted to the monitoring station 8 via the communication unit 17. Therefore, the monitoring station 8 updates the position TP of the movement destination point in response to the movement of the loading machine 14, and displays a data TP indicating the updated position TP of the movement destination point and the updated course area shape. The evening is sent to Dump 2.
  • the processing unit 5 of the dump 2 shown in FIG. 13 executes the guidance course generation procedure shown in FIG. 15 based on the updated position T P of the movement destination point and the course area shape. As a result, the dump 2 is guided to the position TP of the movement destination point along the guidance course adapted to the change in the course area ⁇ .
  • the above course area shape is updated based on the change in the position of the loading machine 14.
  • the above course is updated based on the work form of the excavator, for example, the work form of the excavator 20 shown in FIG. It is also possible to update the shape of the area.
  • the power shovel 20 includes a three-dimensional position measuring unit 21 composed of a GPS or the like, a bucket position measuring unit 22, a communication unit 23 for communicating with the monitoring station 8, and a course.
  • a course area storage unit 24 and a processing unit 25 for storing an area shape are provided.
  • the packet position measuring unit 22 includes a three-dimensional position of the power shovel 20 measured by the three-dimensional position measuring device 21 and a rotation angle of the boom 25, the arm 26, and the bucket 27.
  • the three-dimensional position of the bucket 27 is measured based on the swing angle of the upper swing body 28.
  • the course area storage unit 24 stores data indicating the shape of the course area (the initial course area) 1 transmitted from the monitoring station 8 in the communication unit 23 and the processing unit 2. Stored via 5.
  • FIG. 36 exemplifies a procedure for updating the course area shape executed in the processing section 25.
  • the position of the excavator 20 measured by the position measuring unit 21 is input (step 400), and then the position of the bucket 27 measured by the bucket position measuring unit 22 is input. (Step 410).
  • the ground height of the excavated portion of the power shovel 20 decreases as the excavation progresses, and eventually coincides with the height of the ground in the course area. Therefore, in the next step 402, it is determined whether or not the height of the bucket 27 matches the initial ground height in the course area.
  • the height of the packet 27 can be obtained from the output of the bucket position measuring unit 22. Also, the initial ground height in the course area should be measured in advance by appropriate means.
  • the height position in the three-dimensional position output from the packet position measuring unit 22 indicates the ground height. It is also possible to measure the initial ground height by the excavator 20 itself.
  • step 4003 a course area update process is executed (step 4003). That is, the course area shape data stored in the storage unit 24 is updated so that the exclusive error of the bucket 27 is added to the initial course area. The updated shape data is updated again as the excavation by the power shovel 20 proceeds.
  • the shape of the course area can be updated.
  • the shape of the area changes with the unloading work of the dump 2, but the unloading position is known from the position of the dump 2, and the unloading area is determined by the unloading of the dump. Known from soil volume.
  • the portion of the course area corresponding to the unloading position is reduced by the unloading range. Update the shape area of the course area. Of course, the updated shape will be renewed with the subsequent unloading work.
  • the measuring dump truck is actually run to measure the shape of the course area 1.
  • the course area 1 is turned around a vertical axis at the entrance portion, for example.
  • a laser-emitter that projects one laser beam in the horizontal direction and a photoreceiver that receives the reflected light of the laser beam (reflected light from the boundary of the course area 1) while projecting the laser beam. It is also possible to measure the shape of the space area 1 based on the time from the point of time when the reflected light is received.
  • the shape of the shape change area can be measured by running the measurement dump truck in the shape change area.
  • the height of the bucket 27 of the excavator 20 is measured by the bucket position measuring unit 22, and the height measured by the bucket position measuring unit 22 is an initial value of the course area 1.
  • the course area 1 is enlarged and updated by the area occupied by the bucket 27 when the ground level is reached.
  • the actual loading machine 14 often does not include a work implement position measuring unit such as a bucket position measuring unit 22. Therefore, next, an embodiment is described in which the processing for updating the course area 1 can be performed even when a work machine position measuring unit such as the bucket position measuring unit 22 is not mounted.
  • the position of the loading machine 14 such as an excavator and a wheel loader shall be measured by a position measuring device such as GPS.
  • the position measured by the loading machine 14 is set as the movement destination point Tp of the unmanned dump truck 2. For example, if the loading machine 14 is at night, its position is measured by one or more GPS units attached to the body or arm or boom of the night.
  • FIG. 39 is a diagram illustrating an update process for enlarging the course area 1 based on the current position of the loading machine 14 measured by the loading machine 14.
  • 1a indicated by a broken line indicates the boundary of course area 1.
  • the loading machine 14 performs excavation work by so-called top loading like Fig. 34. Therefore, the course area 1 changes from the state shown in Fig. 39 (a) to the state shown in Fig. 39 (b) with the progress of excavation and loading work by the loading machine 14. In this way, the work surface of the loading machine 14 is leveled according to the excavation, and the course area 1 on which the unmanned dump truck 2 can travel is expanded.
  • the loading machine 14 has a work implement position measuring unit such as the bucket position measuring unit 22 mounted thereon, the measurement is performed by the packet position measuring unit 22 as in the above-described embodiment. From the position of the bucket 27 when the height of the bucket 27 becomes the initial ground height of the course area 1, it is possible to obtain the position data of the portion where the course area 1 expands. And course area 1 is expanded by the area occupied by ket 27
  • the loading machine 14 measured by the position measuring device (GPS) mounted on the loading machine 14 is not used.
  • the position where the course area 1 expands and the range where the course area 1 expands are determined.
  • the area indicated as the target position ⁇ of the unmanned dump truck 2 is an area where the loading machine 14 has leveled the ground and the like.
  • the leveled area is an area that is guaranteed by the operator of the loading machine 14 to be suitable for traveling of the unmanned dump 2.
  • the range where course area 1 expands is set to the size of vehicle occupation range 2a centered on the movement destination point Tp (loading position) of unmanned dump truck 2 (reference). can do.
  • the occupation range 2a of the vehicle 2 a certain margin may be expected. In this way, as shown in FIG. 39 (a), every time the movement destination point Tp of the unmanned dump truck 2 is given, the course yard 1 expands sequentially by the occupation range 2a of the vehicle 2.
  • the unmanned dump 2 moves toward the movement destination point Tp.
  • the traveling course required for this unmanned dump truck 2 to move toward the movement destination point Tp is also considered to have been leveled by the loading machine 14 and added to the expanded area of the course area 1 at the same time. It is also possible to implement.
  • the loading machine 14 performs excavation and loading work in the state shown in Fig. 40 (b). For this reason, as the operation of the loading machine 14 progresses, the boundary 1a of the course area 1 shifts inward, and the course area 1 is reduced.
  • a loading machine 14 such as an excavator operates a bucket to excavate earth and sand, and then swivels (rotates) the main body (upper revolving structure) to transport ore in the packet to an unmanned dump 2 for loading. Perform a series of excavation and loading operations.
  • the turning speed of the main body of the loading machine 14 is higher than the moving speed of the vehicle. For this reason, the work of transporting (loading) the earth and sand (ore) after excavating the earth and sand is performed by rotating the main body, and the vehicle itself does not move.
  • a loading machine 14 such as Excabe can excavate any area within reach of its arms, as shown in Figure 40 (a). Therefore, When the destination point Tp (loading position) of the unmanned dump truck 2 is specified, the entire area 1 4b where the arm can reach is based on the rotation center position of the loading machine 14 at that time. To get rid of it. As a result, the loading machine 14 is prevented from entering the area where the unmanned dump 2 is excavating no matter what operation is performed in the area 14 b.
  • the destination point Tp of the unmanned dump truck 2 is an area where the ground is leveled by the loading machine 14 and the vehicle can travel. Therefore, only this destination point T p is removed from the circle 14 a reached by the arm of the loading machine 14. This is because it is considered that the area excluding the destination point T p in the surroundings 14 a of the loading machine 14 may be excavated.
  • a part of the area can be removed.
  • excavation does not start from the center of the empty course area 1 but excavates within a certain range from the boundary 1 a of the course area 1 and the other part travels by unmanned dump 2 It is common to leave as a possible course area.
  • the loading machine 14 repeatedly moves with a pitch of about 1 to 3 m at any time. Therefore, even when the range to be removed from the course area 1 is set to, for example, a range of about the size of the vehicle body, the course area 1 changed by excavation can be covered. Therefore, as shown in Fig.
  • the circle of the arm 14b of the loading machine 14 reaches a certain range from the boundary 1a of the course area 1 in the circle 14b.
  • the area 14 a (octagonal area 14 a) of about the size of the existing vehicle body is sequentially removed from the course area 1.
  • the operation area of the loading machine 14 may directly indicate the range to be excluded from the course area 1. For example, if the loading machine 14 is at full power, the bucket is moved to the position where the user wants to excavate, and the operator then presses a button or the like to change the current packet position. It is conceivable to specify the area to be removed from course area 1. In this case, the position and direction of the rotation center of the ex-force can be obtained by a plurality of position measuring devices (GPS) installed in the ex-cab. Then, the position of the bucket is calculated by using these and the distance between the bucket given in advance and the rotation center of the main body.
  • GPS position measuring devices
  • the update processing when the course area 1 is enlarged has been described in the first embodiment, and the update processing when the course area 1 has been reduced has been described in the second, third, and fourth embodiments.
  • Either an update process for expanding the course area 1 or an update process for reducing the course area 1 may be performed according to the work situation.
  • a selection switch is provided for selecting whether the course area 1 is to be enlarged or reduced according to the work form of the loading machine 14. It is conceivable to perform any of the update processes to reduce the size.
  • the guidance course described above is obtained through heuristic problem solving techniques, and various methods have been proposed for such solving techniques.
  • the Monte Carlo method simply performs multiple trials and selects the trial with the best evaluation function value.
  • the trial is not performed in the whole space, but in a solution space close to the previous trial, the evaluation value is compared with the previous evaluation value, and when the evaluation value is improved, a new trial is performed.
  • the hill climb method is a method that is effective for solving heuristic problems at high speed.
  • the optimal solution may not be selected if there is a local solution in the solution space. For example, if there is an island-shaped no-go area in the course area May have a local solution, in which case the optimal solution may not be selected.
  • Genetic Aigorithm is another heuristic method. This is done by exchanging data on some of the candidates and repeatedly performing “crossover” to create new candidates and mutations that change some of the candidates to generate descendants with better evaluation values. This is the calculation method to be created.
  • the Genetic Algorithm is used, but details thereof are omitted.
  • the following method can be considered as a method of selecting a plurality of point sequences on the course that advances to course area 1. That is, a case where the evaluation function value becomes optimal by changing the same as the intermediate point Mp may be selected.
  • the operating hours may be selected arbitrarily.
  • one point may be selected as a point on a line segment, an arc, or a spline curve without giving the point sequence.
  • the evaluation function for evaluating the guided traveling course is not limited to the one described in the above embodiment.
  • the time expected when moving on the guided course may be evaluated.
  • the shorter the traveling time the better the evaluation value.
  • the position of the switchback may be set as an evaluation target. In this case, the closer the switchback position is to the target point, the better the evaluation value.
  • the smaller the change between the posture angle at the switchback position and the posture angle at the target position the better the evaluation value.

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Abstract

Aux fins du système décrit dans l'invention, si un obstacle (74) est décelé par le système, sa position est mise en mémoire (41). L'hypothèse retenue par le système est que l'obstacle (74) est commun à une pluralité de véhicules (2, 2). Une fois cet obstacle (74) franchi par les véhicules (2, 2), la mémoire (41) est mise à jour. Lorsque les véhicules (2, 2) reçoivent les données de position de leurs destinations respectives (72, 72), leur guidage vers ces destinations (72, 72) commence, sur la base du contenu de la mémoire (41), de sorte qu'ils puissent éviter l'obstacle (74). Ainsi, on peut guider des véhicules pour qu'ils évitent les obstacles en connaissant l'existence de ces obstacles sur les sites d'exploitation où la position des obstacles est toujours différente.
PCT/JP1999/001171 1998-02-13 1999-03-11 Systeme de guidage de vehicule WO2000033152A1 (fr)

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AU32762/99A AU769593B2 (en) 1998-12-03 1999-03-11 Vehicle guidance system
US09/857,409 US6539294B1 (en) 1998-02-13 1999-11-03 Vehicle guidance system for avoiding obstacles stored in memory

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JP10344407A JPH11296229A (ja) 1998-02-13 1998-12-03 車両の誘導装置
JP10/344407 1998-12-03

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CN102459811A (zh) * 2009-06-24 2012-05-16 山特维克矿山工程机械有限公司 教导用于移动采掘机械的自动控制的模型
EP3217380A4 (fr) * 2014-11-06 2018-06-20 Hitachi Construction Machinery Co., Ltd. Dispositif de création de carte
US20220136211A1 (en) * 2019-03-26 2022-05-05 Hitachi Construction Machinery Co., Ltd. Work machine

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BR112015028757B1 (pt) 2013-05-15 2022-03-15 Volvo Truck Corporation Método para auxiliar a reversão de um veículo articulado

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JPS61240306A (ja) * 1985-04-17 1986-10-25 Hitachi Ltd 自律型移動機械の制御装置
JP2523005B2 (ja) * 1988-11-29 1996-08-07 株式会社小松製作所 建設作業の管制システム
JPH0324606A (ja) * 1989-06-22 1991-02-01 Yutaka Kanayama 移動ロボットの経路指定方法
JPH07146707A (ja) * 1993-11-25 1995-06-06 Hazama Gumi Ltd 重機車両の遠隔操縦方法
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CN102459811A (zh) * 2009-06-24 2012-05-16 山特维克矿山工程机械有限公司 教导用于移动采掘机械的自动控制的模型
CN102459811B (zh) * 2009-06-24 2015-07-15 山特维克矿山工程机械有限公司 教导用于移动采掘机械的自动控制的模型
EP3217380A4 (fr) * 2014-11-06 2018-06-20 Hitachi Construction Machinery Co., Ltd. Dispositif de création de carte
US20220136211A1 (en) * 2019-03-26 2022-05-05 Hitachi Construction Machinery Co., Ltd. Work machine

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