WO2016093374A1 - 作業機械の制御システム、作業機械、及び作業機械の管理システム - Google Patents
作業機械の制御システム、作業機械、及び作業機械の管理システム Download PDFInfo
- Publication number
- WO2016093374A1 WO2016093374A1 PCT/JP2016/052940 JP2016052940W WO2016093374A1 WO 2016093374 A1 WO2016093374 A1 WO 2016093374A1 JP 2016052940 W JP2016052940 W JP 2016052940W WO 2016093374 A1 WO2016093374 A1 WO 2016093374A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work machine
- information
- dump truck
- detection result
- control system
- Prior art date
Links
- 238000001514 detection method Methods 0.000 claims abstract description 152
- 238000004364 calculation method Methods 0.000 claims description 44
- 238000005259 measurement Methods 0.000 claims description 41
- 230000008859 change Effects 0.000 claims description 20
- 238000000605 extraction Methods 0.000 claims description 13
- 239000000284 extract Substances 0.000 abstract 1
- 238000004891 communication Methods 0.000 description 60
- 238000010586 diagram Methods 0.000 description 39
- 238000011068 loading method Methods 0.000 description 39
- 238000012545 processing Methods 0.000 description 37
- 238000000034 method Methods 0.000 description 17
- 238000006243 chemical reaction Methods 0.000 description 14
- 239000004576 sand Substances 0.000 description 10
- 230000006870 function Effects 0.000 description 9
- 238000012795 verification Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000007599 discharging Methods 0.000 description 7
- 238000005065 mining Methods 0.000 description 7
- 230000008439 repair process Effects 0.000 description 7
- 239000002689 soil Substances 0.000 description 6
- 230000007423 decrease Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012876 topography Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000001678 irradiating effect Effects 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000005433 ionosphere Substances 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Definitions
- the present invention relates to a work machine control system, a work machine, and a work machine management system.
- a work machine such as a dump truck as disclosed in Patent Document 1 operates.
- ⁇ Work machines that travel autonomously on the mine's travel route may stop operation if the ionosphere is abnormal and the accuracy of the position detected using the global navigation satellite system will be reduced. As a result, productivity in the mine may be reduced.
- An object of the present invention is to provide a work machine control system, a work machine, and a work machine management system capable of suppressing a decrease in productivity in a mine.
- a control system for a work machine that travels along a travel route, the position detection means for detecting the position of the work machine, and the positions of objects around the work machine. It includes a non-contact sensor, a detection result of the position detection means, and detection object information extracted from the detection result of the non-contact sensor, and includes a terrain changing portion where the terrain changes by using a machine around the travel route. And a control unit that excludes the detected object information inside the mask region set as described above.
- a control system for a work machine that travels along a travel route, the position detection means for detecting the position of the work machine, and the positions of objects around the work machine.
- the position of the work machine is specified by collating the non-contact sensor, the detection result of the position detection means, the map information generated based on the detection result of the non-contact sensor, and the detection result of the non-contact sensor.
- a measurement output unit that performs a specific operation, and the measurement output unit provides a control system for a work machine that uses the map information excluding a position in a predetermined mask area when performing the specific operation. .
- a work machine including a work machine main body that travels along a mine travel route and a work machine control system according to the first aspect of the present invention.
- the working machine according to the second aspect of the present invention, the terrain changing portion provided in the mine, and the terrain changing by using the machine around the traveling route, and the machine A control facility that transmits position-related information regarding at least one of the positions, the work machine control system receives the position-related information, and sets the mask region based on the received position-related information
- a work machine management system is provided.
- FIG. 1 is a diagram illustrating an example of a work machine management system according to the first embodiment.
- FIG. 2 is a plan view illustrating an example of a mine to which the work machine management system according to the first embodiment is applied.
- FIG. 3 is a control block diagram of the dump truck according to the first embodiment.
- FIG. 4 is a hardware configuration diagram of the dump truck according to the first embodiment.
- FIG. 5 is a plan view illustrating a detection range of the laser sensor of the obstacle sensor according to the first embodiment.
- FIG. 6 is a diagram for explaining a method in which the collation navigation position calculation unit of the position measurement controller of the work machine control system according to the first embodiment detects the position and direction.
- FIG. 7 is a diagram illustrating a part of map information stored in the map storage database of the work machine control system according to the first embodiment.
- FIG. 8 is an enlarged view of the XIV part in FIG.
- FIG. 9 is a diagram illustrating an example of detection by a laser sensor.
- FIG. 10 is a diagram illustrating an example of detection by a laser sensor.
- FIG. 11 is a diagram illustrating an example of map information generated from the detection result.
- FIG. 12 is a diagram illustrating an example of detection information generated from the detection result.
- FIG. 13 is a block diagram illustrating an example of the observation point availability determination unit.
- FIG. 14 is a diagram illustrating an example of a mask region.
- FIG. 15 is a diagram illustrating an example of a mask area.
- FIG. 16 is a diagram illustrating an example of a mask region.
- FIG. 17 is a diagram illustrating an example of a mask region.
- FIG. 18 is a diagram illustrating an example of detection by a laser sensor.
- FIG. 19 is a diagram illustrating an example of detection by a laser sensor.
- FIG. 20 is a diagram illustrating an example of detection information and map information.
- FIG. 21 is a diagram illustrating an example of detection information.
- FIG. 22 is an example of a flowchart of the work machine control system according to the first embodiment.
- FIG. 23 is an example of a flowchart of step ST3 in FIG.
- FIG. 24 is an example of a flowchart of step ST4 in FIG.
- FIG. 25 is a diagram illustrating an example of detection by a laser sensor.
- FIG. 26 is a diagram illustrating an example of detection information.
- FIG. 27 is a diagram illustrating an example of a mask area.
- FIG. 28 is a diagram illustrating an example of a mask area.
- FIG. 29 is a flowchart illustrating an example of a communication operation between the dump truck and the control facility.
- FIG. 1 is a diagram illustrating an example of a work machine management system according to the present embodiment.
- FIG. 2 is a plan view showing an example of a mine to which the work machine management system and the work machine management system 1 according to this embodiment are applied.
- Work machine management system 1 (hereinafter referred to as a management system) manages work machines.
- the work machine management includes at least one of work machine operation management, work machine productivity evaluation, work machine operator operation technique evaluation, work machine maintenance, and work machine abnormality diagnosis.
- Work machine is a general term for machines used for various operations in a mine.
- the work machine includes at least one of a boring machine, an excavating machine, a loading machine, a transporting machine, a crusher, and a vehicle operated by an operator.
- the excavating machine can excavate the mine.
- the loading machine can load a load on the transport machine.
- the loading machine includes at least one of a hydraulic excavator, an electric excavator, and a wheel loader.
- the transport machine includes a movable body that can move in the mine, and can transport a load.
- the transport machine includes a dump truck.
- the load includes at least one of sediment and ore generated by mining.
- the crusher crushes the soil discharged from the transport machine.
- a management system 1 manages a transport machine that is a work machine that travels in a mine, and in this embodiment, an example in which a dump truck 2 that is a work machine is managed will be described.
- the dump truck 2 includes a loading site LPA in the mine, a dumping site DPA, a transporting path HL that leads to at least one of the loading site LPA and the dumping site DPA, and a transporting path. It operates in at least a part of the intersection IS where the HLs intersect.
- a crusher CR that crushes the earth discharged may be arranged.
- the mine is provided with a bank BK configured by stacking soil on at least one of the outside of the loading site LPA, the outside of the soil discharging site DPA, and the outside of the transport path HL.
- the dump truck 2 is a movable body that can move in the mine.
- the dump truck 2 can travel at least a part of the loading site LPA, the earth discharging site DPA, the transport path HL, and the intersection IS. That is, the traveling route RP of the dump truck 2 provided in the mine includes at least a part of the loading site LPA, the earth discharging site DPA, the transport route HL, and the intersection IS.
- the mine is provided with an upward projecting object VP projecting upward from the surface of the operation area of the dump truck 2 by a predetermined height or more.
- the upward projecting object VP includes a bank BK provided outside the travel route RP, an artificial object AF installed on at least one of the loading field LPA, the earth discharging field DPA, and the transport path HL, and
- the wall WL is installed in at least one of the loading site LPA, the earth discharging site DPA, and the transport path HL, and includes artificial objects such as signs and buildings, rocks, and the like.
- the predetermined height is a height that is undesirable for the dump truck 2 to get over the upward projecting object VP when autonomously traveling.
- the dump truck 2 is loaded with a load at the loading site LPA.
- the dump truck 2 lowers (discharges) the load at the dumping site DPA.
- the dump truck 2 inputs the discharged soil as a load into the crusher CR in the earth discharge site DPA provided with the crusher CR.
- the dump truck 2 is a so-called unmanned dump truck that normally travels autonomously on the travel route RP in response to a command signal from the management device 10 during operation of the mine.
- the dump truck 2 traveling autonomously means that the dump truck 2 travels by a command signal from the management device 10 without traveling by an operator's operation. Further, the dump truck 2 can also travel by the operation of an operator (driver).
- the management system 1 includes a management device 10 arranged in a control facility 7 installed in a mine, a communication system 9, a dump truck 2, and another work machine 3.
- the management device 10 is installed in the mine control facility 7 and does not move. Moreover, the management apparatus 10 may be movable.
- the communication system 9 transmits information by wireless communication among the management device 10, the dump truck 2, and the other work machines 3.
- the communication system 9 can bidirectionally wirelessly communicate between the management device 10 and the dump truck 2, between the management device 10 and another work machine 3, and between the dump truck 2 and another work machine 3.
- the communication system 9 includes a plurality of repeaters 6 that relay signals (radio waves).
- the position of the dump truck 2 and the position of the other work machine 3 are detected using RTK-GNSS (Real Time Kinematic-Global Navigation Satellite System, GNSS is a global navigation satellite system).
- the An example of the global navigation satellite system includes, but is not limited to, GPS (Global Positioning System).
- the RTK-GNSS has a plurality of positioning satellites 5.
- RTK-GNSS detects a position in a coordinate system (global coordinate system) that defines latitude, longitude, and altitude.
- the position detected by the RTK-GNSS includes latitude, longitude, and altitude coordinate information.
- the position of the dump truck 2 and the positions of other work machines 3 in the mine are detected by the RTK-GNSS.
- the position detected by RTK-GNSS is an absolute position defined in the global coordinate system.
- the position detected by the RTK-GNSS is appropriately referred to as a GPS position.
- the GPS position is an absolute position and is latitude, longitude, and altitude coordinate information (coordinate values).
- the positioning state changes due to the positioning satellite 5 arrangement, the ionosphere, the troposphere, or the topography around the antenna that receives information from the positioning satellite 5.
- the positioning state includes, for example, Fix solution (accuracy ⁇ 1 cm to 2 cm), Float solution (accuracy ⁇ 10 cm to several meters), Single solution (accuracy ⁇ approximately several meters), non-positioning (positioning calculation impossible), etc. There is.
- the management system 1 determines the positions of the dump truck 2 and the other work machines 3 in the mine according to coordinates defined by the X-axis direction and the Y-axis direction shown in FIG. To manage. In addition, the management system 1 manages the direction of the dump truck 2 and the other work machines 3 as 0 degrees north, 90 degrees east, 180 degrees south, and 270 degrees west.
- the direction of the dump truck 2 and the other work machine 3 is a direction in which the dump truck 2 and the other work machine 3 move when traveling forward. In the present embodiment, the Y-axis direction indicates north, but the present invention is not limited to this.
- the management device 10 transmits travel route information that is information for designating a travel route RP provided in the mine to the control system 30 of the work machine of the dump truck 2, and as shown in FIG.
- a display device 16, an input device 17, a wireless communication device 18, and a GPS base station 19 are provided.
- the computer 11 includes a processing device 12, a storage device 13, and an input / output unit 15.
- the display device 16, the input device 17, the wireless communication device 18, and the GPS base station 19 are connected to the computer 11 via the input / output unit 15.
- the input / output unit 15 is used for input / output (interface) of information between the processing device 12 and at least one of the display device 16, the input device 17, the wireless communication device 18, and the GPS base station 19.
- the processing device 12 executes various processes related to the management of the dump truck 2 and various processes related to the management of other work machines 3.
- the processing device 12 processes the information regarding the position of the dump truck 2 and the information regarding the position of the other work machine 3 acquired via the communication system 9.
- the processing device 12 generates travel route information of the dump truck 2.
- the storage device 13 is connected to the processing device 12.
- the storage device 13 stores various information related to management of the dump truck 2 and various information related to management of other work machines 3.
- the storage device 13 stores the position of the dump truck 2 and the position of the other work machine 3.
- the storage device 13 stores a computer program for causing the processing device 12 to execute various processes.
- the display device 16 includes, for example, a flat panel display such as a liquid crystal display.
- the display device 16 can display information related to the position of the dump truck 2 and information related to the positions of other work machines 3.
- the input device 17 includes at least one of a keyboard, a touch panel, and a mouse.
- the input device 17 functions as an operation unit that can input an operation signal to the processing device 12.
- the wireless communication device 18 is disposed in the control facility 7.
- the wireless communication device 18 is a part of the communication system 9.
- the wireless communication device 18 is connected to the processing device 12 via the input / output unit 15.
- the wireless communication device 18 has an antenna 18A.
- the wireless communication device 18 can receive information transmitted from at least one of the dump truck 2 and the other work machine 3. Information received by the wireless communication device 18 is output to the processing device 12 and stored (registered) in the storage device 13.
- the wireless communication device 18 can transmit information to at least one of the dump truck 2 and the other work machine 3.
- the wireless communication device 18 can transmit position information (moving object position information) about moving objects such as the dump truck 2 and other work machines 3. This moving object position information includes, for example, coordinate information about the X coordinate and the Y coordinate.
- the GPS base station 19 is disposed in the control facility 7.
- the GPS base station 19 includes at least an antenna 19A that receives information from a plurality of positioning satellites 5 and a transmission / reception device 19B connected to the antenna 19A.
- the transmitter / receiver 19B includes a receiver that receives information from the positioning satellite 5 via the antenna 19A, a transmitter that transmits information to the dump truck 2 via the antenna 19C, and a micro processor such as a CPU (Central Processing Unit). It includes at least an arithmetic processing unit having a processor and a storage device having a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory).
- the transmitting / receiving device 19B detects the GPS position of the GPS base station 19 from the information received by the antenna 19A, and generates corrected observation information for correcting the GPS position of the dump truck 2.
- the transmission / reception device 19B transmits the corrected observation information to the dump truck 2 and the other work machine 3 through the antenna 19C.
- the GPS base station 19 may transmit the corrected observation information via the antenna 18A instead of the antenna 19C.
- the computer 11 includes a communication input / output unit 15, a CPU (Central Processing Unit) that executes a control program, a ROM (Read Only Memory) that stores the control program, and a RAM (Random) that is used as a work area of the CPU. Access Memory) and a nonvolatile memory in which information is registered by the CPU.
- the function of the processing device 12 is realized by the CPU reading a control program stored in the ROM and executing it in the work area of the RAM.
- the function of the storage device 13 is realized by storing a control program in the ROM and registering information in the nonvolatile memory by the CPU.
- the nonvolatile memory includes at least one of a flash memory and a hard disk drive, and realizes the database 13B.
- a plurality of processing circuits may realize the functions of the processing device 12 and the storage device 13 in cooperation with each other.
- the other work machine 3 is a work machine other than the dump truck 2 and is driven by an operator's operation.
- the other work machine 3 includes a processing device that includes a CPU (Central Processing Unit) and executes various processes related to work contents, a GPS receiver that detects a GPS position, and a wireless communication device 18 of the control facility 7.
- the radio communication device transmits the GPS position to the radio communication device 18 of the control facility 7 every predetermined time.
- FIG. 3 is a control block diagram of the dump truck according to the present embodiment.
- FIG. 4 is a hardware configuration diagram of the dump truck according to the present embodiment.
- FIG. 5 is a plan view showing a detection range of the laser sensor of the obstacle sensor according to the present embodiment.
- the dump truck 2 includes a vehicle main body 21, a vessel 22, wheels 23, an obstacle sensor 24, and a work machine control system 30.
- the vehicle main body 21 travels in an operating region including the travel route RP.
- the operation area is an area including the transport path HL, the loading site LPA, the earth discharging site DPA, and an intersection, and is an area through which the dump truck 2 travels and performs work.
- the vehicle body 21 is provided with an internal combustion engine 2E such as a diesel engine, a generator 2G that is operated by the internal combustion engine 2E, and an electric motor 23M that is operated by electric power generated by the generator. Of the wheels 23, the rear wheels 23R are driven by the electric motor 23M.
- the power of the internal combustion engine 2E may be transmitted to the rear wheel 23R via a transmission including a torque converter.
- the vehicle body 21 includes an operation device 2S that steers the front wheel 23F of the wheels 23.
- the vessel 22 is loaded with a load by a loading machine and is lifted in a discharge operation to discharge the load.
- the obstacle sensor 24 is arranged at the lower part of the front part of the vehicle main body 21.
- the obstacle sensor 24 detects an obstacle in front of the vehicle body 21 in a non-contact manner.
- the obstacle sensor 24 includes a plurality of radars 24A and a laser sensor 24B that is a non-contact sensor.
- the radar 24A emits radio waves, irradiates the radio waves on the obstacle, and receives the radio waves reflected by the obstacle. Thereby, the radar 24A can detect the direction and distance of the obstacle with respect to the radar 24A.
- three radars 24 ⁇ / b> A are provided at intervals in the left-right direction of the vehicle body 21, but are not limited to this.
- the laser sensor 24B detects the position of an object around the dump truck 2, emits a laser beam, irradiates the obstacle that is the object, and receives the laser beam reflected by the obstacle. Thereby, the laser sensor 24B can detect the direction and distance of the obstacle with respect to the laser sensor 24B. Since the laser sensor 24B emits a laser beam and receives the reflected laser beam, the resolution of the laser sensor 24B is higher than the resolution of the radar 24A. In the present embodiment, two laser sensors 24B are provided at intervals in the left-right direction of the vehicle main body 21, but the present invention is not limited to this.
- the radar 24A and the laser sensor 24B are connected to the second communication line 35B of the work machine control system 30. Further, the laser sensor 24B is connected to the position measurement controller 33 of the control system 30 of the work machine.
- FIG. 6 is a diagram for explaining a method in which the collation navigation position calculation unit of the position measurement controller of the work machine control system according to the present embodiment detects the position and direction.
- FIG. 7 is a diagram showing a part of map information stored in the map storage database of the work machine control system according to the present embodiment.
- FIG. 8 is an enlarged view of the XIV part in FIG.
- the work machine control system 30 is a system that is installed in the dump truck 2 and autonomously travels the dump truck 2 according to the travel route RP.
- the work machine control system 30 includes a gyro sensor 26, a speed sensor 27, a GPS receiver 31, a travel route creation device 32, a position measurement controller 33, a travel controller 20, and a laser.
- At least a sensor 24B, a wireless communication device 34, and a map storage database 36 are provided.
- the work machine control system 30 includes a first communication line 35 ⁇ / b> A, a second communication line 35 ⁇ / b> B, and a safety controller 40.
- the travel controller 20, the travel route creation device 32, the position measurement controller 33, the map storage database 36, and the safety controller 40 are connected to the first communication line 35A. These communicate with each other via the first communication line 35 to transmit and receive information.
- the travel controller 20 and the safety controller 40 are also connected to the second communication line 35B. These communicate with each other via the second communication line 35B to transmit and receive information.
- the standard of communication using the first communication line 35A and the second communication line 35B is CAN (Controller Area Network) standardized as ISO11898 and ISO11519, but is not limited thereto.
- the gyro sensor 26 detects the direction (direction change amount) of the dump truck 2.
- the gyro sensor 26 is connected to the travel controller 20.
- the gyro sensor 26 outputs a detection signal as a detection result to the travel controller 20.
- the travel controller 20 can obtain the direction (direction change amount) of the dump truck 2 based on the detection signal of the gyro sensor 26.
- the speed sensor 27 detects the traveling speed of the dump truck 2.
- the speed sensor 27 detects the rotational speed of the wheels 23 and detects the speed (traveling speed) of the dump truck 2.
- the speed sensor 27 is connected to the travel controller 20.
- the speed sensor 27 outputs a detection signal as a detection result to the travel controller 20.
- the travel controller 20 can determine the travel distance of the dump truck 2 based on the detection signal of the speed sensor 27 and the time information from the timer built in the travel controller 20.
- the GPS receiver 31 is position detecting means for detecting a GPS position that is the position of the dump truck 2 using GPS.
- the GPS receiver 31 is connected at least to an antenna 31A that receives information from the positioning satellite 5 and an antenna 31B that receives corrected observation information from the GPS base station 19.
- the antenna 31A outputs a signal based on the information received from the positioning satellite 5 to the GPS receiver 31, and the antenna 31B outputs a signal based on the received corrected observation information to the GPS receiver 31.
- the GPS receiver 31 detects the position (GPS position) of the antenna 31 ⁇ / b> A using information from the positioning satellite 5 and corrected observation information from the GPS base station 19.
- the GPS receiver 31 compares the information from the positioning satellite 5 with the corrected observation information from the GPS base station 19, obtains the distance to the arbitrary positioning satellite 5, and further determines the positioning satellite. 5 is checked to detect the position (GPS position) of the antenna 31A.
- the GPS receiver 31 uses RTK (Real Time Kinematic) -GNSS, but is not limited thereto.
- the GPS receiver 31 detects the position (GPS position) of the dump truck 2 by detecting the position (GPS position) of the antenna 31A. In addition, the GPS receiver 31 detects, in the process of detecting the position of the antenna 31A, a Fix solution that indicates the accuracy of the detected GPS position based on the number of positioning satellites 5 that the antenna 31A has received information, a Float solution, or A single solution is detected. The GPS receiver 31 outputs a non-positioning signal when the GPS position cannot be calculated.
- the accuracy of the GPS position of the Fix solution is an accuracy that allows the dump truck 2 to perform autonomous traveling
- the accuracy of the GPS position of the Float solution and the Single solution is that the dump truck 2 performs autonomous traveling.
- the accuracy is not limited thereto.
- the GPS receiver 31 detects a fix solution, a float solution, or a single solution indicating the accuracy of the detected GPS position, and if the positioning calculation is impossible, the GPS receiver 31 sends a signal that is non-positioning to the travel route creation device 32. To the travel controller 20 and the position measurement controller 33.
- the travel route creation device 32 includes a route position storage unit 32 ⁇ / b> A that is a route position storage unit that stores travel route information generated by the processing device 12 of the management device 10.
- the travel route creation device 32 is connected to the wireless communication device 34 to which the antenna 34A is connected.
- the wireless communication device 34 can receive information (including a command signal) transmitted from at least one of the management device 10 and the work machine 4 other than the host vehicle.
- the work machines 4 other than the host vehicle are work machines 4 other than the dump truck 2 in which the work machine control system 30 is installed, and are operated by a boring machine, an excavating machine, a loading machine, a transporting machine, and an operator. Including vehicles. That is, the work machine 4 other than the host vehicle includes the dump truck 2 other than the host vehicle.
- the wireless communication device 34 receives the travel route information transmitted by the wireless communication device 18 of the control facility 7 and the information related to the position of the work machine 4 other than the host vehicle, and outputs the information to the travel route creation device 32 and the position measurement controller 33. .
- the travel route information and information related to the position of the work machine 4 other than the host vehicle are indicated by XY coordinates.
- the travel route creation device 32 stores the travel route information in the route position storage unit 32A.
- the travel route creation device 32 When the travel route creation device 32 receives the travel route information and the information related to the position of the work machine 4 other than the host vehicle from the wireless communication device 34, the travel route creation device 32 controls the position and direction of the dump truck 2 that is the host vehicle through the wireless communication device 34. It transmits to the radio communication device 18 of the facility 7. In addition, the travel route creation device 32 is connected to the first communication line 35A.
- the travel controller 20 includes at least a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores a control program, a RAM (Random Access Memory) used as a work area of the CPU, and a nonvolatile memory. It is a computer.
- the travel controller 20 receives the GPS position detected by the GPS receiver 31 and the position of the dump truck 2 detected by the position measurement controller 33.
- the travel controller 20 detects the dump truck 2 according to the travel route RP based on the GPS position of the dump truck 2 detected by the GPS receiver 31 or the position of the dump truck 2 detected by the reference navigation position calculator 33B of the position measurement controller 33. Is a traveling control means for autonomously traveling the vehicle.
- the travel controller 20 includes a GPS position as a detection result of the GPS receiver 31, a travel speed of the dump truck 2 as a detection result of the speed sensor 27, and a direction (direction change amount) of the dump truck 2 as a detection result of the gyro sensor 26. ), A specific operation for specifying the position and orientation of the dump truck 2 is performed.
- the travel controller 20 includes the GPS position as a detection result of the GPS receiver 31, the travel speed of the dump truck 2 as a detection result of the speed sensor 27, and the dump truck 2 as a detection result of the gyro sensor 26.
- the azimuth (azimuth change amount) is integrated by a Kalman filter KF (Kalman Filter) to specify the position and azimuth of the dump truck 2.
- the travel controller 20 detects the detection result of the speed sensor 27 based on the time information from the timer based on the GPS position when the GPS position is input from the GPS receiver 31 and the direction that is the detection result of the gyro sensor 26.
- the position and direction are specified by integrating the traveling speed.
- the travel controller 20 converts the GPS position into an XY coordinate position before, during, or after detection of the position and direction.
- the travel controller 20 controls the accelerator, the braking device, and the operation of the dump truck 2 so that the position of the dump truck 2 overlaps the position of the travel path RP included in the travel path information, that is, the dump truck 2 travels according to the travel path RP. Control at least one of the devices 2S. By such control, the travel controller 20 causes the dump truck 2 to travel along the travel route RP.
- the function of the travel controller 20 is realized by the CPU reading a control program stored in the ROM and executing it in the work area of the RAM. A plurality of processing circuits may realize the function of travel controller 20 in cooperation.
- the position measurement controller 33 includes a determination unit 33A, a matching navigation position calculation unit 33B, and a grid map creation unit 33C, as shown in FIG.
- the position measurement controller 33 detects the upward projecting object VP (Embodiment 1) from the GPS position of the dump truck 2 that is the detection result of the GPS receiver 31 and the detection result of the laser sensor 24B.
- the position of the bank BK is mainly detected, and the presence / absence and position of the detected upward projecting object VP are stored in the map storage database 36 as the map information MI of the operation area including the travel route RP.
- the position measurement controller 33 is connected to the first communication line 35.
- the position measurement controller 33 includes a detection signal indicating the direction (direction change amount) of the dump truck 2 as a detection result of the gyro sensor 26 and a detection result of the speed sensor 27 via the first communication line 35 and the travel controller 20.
- a detection signal indicating the traveling speed of the dump truck 2 is input.
- the position measurement controller 33 is connected to the GPS receiver 31 via the wireless communication device 34, the travel route creation device 32, and the first communication line 35A.
- the position measurement controller 33 receives a detection signal indicating the GPS position, which is the detection result of the GPS receiver 31.
- the determination unit 33A is a determination unit that determines whether or not the GPS position accuracy detected by the GPS receiver 31 exceeds a predetermined accuracy (that is, high accuracy). In the present embodiment, the determination unit 33A determines whether or not the GPS position solution is a Fix solution. If the GPS position solution is a Fix solution, the accuracy of the detected GPS position of the dump truck 2 is high. It is determined that The determination unit 33A determines that the accuracy of the detected GPS position of the dump truck 2 is low when the GPS position solution is a float solution, a single solution, or when the GPS position is non-positioning. To do.
- the predetermined accuracy is the GPS position accuracy at which the dump truck 2 can autonomously travel according to the travel route RP by dead reckoning navigation to be described later. In the present embodiment, the GPS receiver 31 detects the GPS position and the solution, but the solution may be detected by another device (for example, the determination unit 33A).
- the grid map creation unit 33C generates map information of the operation area. For example, when the determination unit 33A determines that the GPS position accuracy of the dump truck 2 detected by the GPS receiver 31 exceeds a predetermined accuracy (that is, high accuracy), the grid map creation unit 33C detects the map information MI. Is generated.
- the grid map creation unit 33C first performs an extraction operation for extracting the position of the upward projecting object VP from the detection information detected by the laser sensor 24B.
- the grid map creation unit 33C first integrates the position and orientation of the dump truck 2 detected by the determination unit 33A and the detection information detected by the laser sensor 24B. Then, detection results other than the upward projecting object VP are deleted from the integrated result, and detected object information of the upward projecting object VP is extracted.
- the grid map creation unit 33C performs a map information generation operation based on the detected object information extracted as described above.
- the grid map creation unit 33C stores, for example, the detected object information in the map storage database 36 as the map information MI of the operation area.
- the map information MI indicates the presence or absence and the position of the upward projecting portion VP such as the bank BK in the operation area of the mine in plan view.
- the map information MI is configured by rectangular grid areas GR arranged in a grid pattern in the X direction and the Y direction. Each grid area GR corresponds to a rectangular area of the mine in plan view. An X coordinate and a Y coordinate are set in each grid region GR.
- Each grid region GR includes information indicating whether or not the upward protrusion VP exists, that is, 0 or 1.
- the grid region GR is shown in black (1) when the upward projecting object VP is present, and the grid region GR is represented when the upward projecting portion VP is not present.
- white (0) it is not limited to this.
- the map storage database 36 is a map information storage unit that stores information related to the position of the upward projecting object VP as the map information MI of the operation area, and is connected to the first communication line 35A.
- the map storage database 36 includes at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and a hard disk drive.
- the determination unit 33A determines that the GPS position accuracy of the dump truck 2 detected by the GPS receiver 31 exceeds a predetermined accuracy
- the map storage database 36 includes an operation region including the travel route RP from the detection result of the laser sensor 24B.
- the detection result regarding the upper protrusion VP is extracted, and the detection result regarding the extracted upper protrusion VP is stored as the map information MI of the operation area.
- the map storage database 36 stores the detection result detected by the grid map creation unit 33C as map information MI every time the grid map creation unit 33C detects it.
- the map information MI stored in the map storage database 36 is overwritten each time the grid map creation unit 33C detects, but the present invention is not limited to this.
- the verification navigation position calculation unit 33B detects the detection result of the gyro sensor 26, the detection result of the speed sensor 27, Based on the detection result of the laser sensor 24B and the map information MI stored in the map storage database 36, the position and orientation of the dump truck 2 are detected. As shown in FIG. 6, the reference navigation position calculation unit 33B obtains the detection result of the gyro sensor 26, the detection result of the speed sensor 27, the detection result of the laser sensor 24B, and the map information MI stored in the map storage database 36. The position and orientation of the dump truck 2 are detected by integrating with a particle filter PF (Particle Filter).
- PF Particle Filter
- the verification navigation position calculation unit 33 ⁇ / b> B detects the position and direction, and outputs the detected position and direction to the travel controller 20.
- the travel controller 20 receives the position and orientation detected by the verification navigation position calculation unit 33B every T3.
- the position measurement controller 33 wirelessly communicates information about the position and direction of the dump truck 2 that is the host vehicle detected by the GPS receiver 31 or the reference navigation position calculation unit 33B via the wireless communication device 34 to the control facility 7. Transmit to device 18.
- the position measurement controller 33 includes an observation point coordinate conversion unit 38 and an observation point availability determination unit 39 as shown in FIG.
- the observation point coordinate conversion unit 38 converts the position of the detection result of the laser sensor 24B indicated by coordinates defined by the direction and distance from the laser sensor 24B into XY coordinates.
- the position of the detection result obtained by converting the coordinates by the observation point coordinate conversion unit 38 is defined by the orthogonal height direction (Z-axis direction) in addition to the X-axis direction and the Y-axis direction.
- the observation point availability determination unit 39 receives information on the position of the work machine 4 other than the host vehicle from the route position storage unit 32A.
- the observation point availability determination unit 39 detects various noises from the detection results obtained by converting the coordinates by the observation point coordinate conversion unit 38, detection results below a predetermined height from the ground surface, and the work machine 4 other than the host vehicle. Remove expected detection results.
- the observation point availability determination unit 39 combines the detection result of the laser sensor 24B from which noise has been removed with the detection result of the grid region GR.
- the observation point availability determination unit 39 outputs the combined detection result to both the grid map creation unit 33C and the collation navigation position calculation unit 33B.
- FIG. 9 and 10 are diagrams for explaining an example in which the dump truck 2 performs detection using the laser sensor 24B in the loading field LPA.
- the dump truck 2 that is the host vehicle enters the loading site LPA, and another work machine (for example, a hydraulic excavator that is a loading machine, an electric excavator, etc.) 4 is separated from the wall W. It shows the state of mining earth and sand.
- the earth and sand mined by the work machine 4 is loaded onto the dump truck 2. For this reason, the dump truck 2 moves to a position near the work machine 4 in order to load earth and sand.
- the control facility 7 sets a traveling route from the entrance of the loading place LPA to the loading position of earth and sand and transmits it to the dump truck 2.
- the dump truck 2 travels along the received travel route.
- the dump truck 2 travels through the loading field LPA while irradiating the irradiation range IAH with laser light.
- a portion included in the laser beam irradiation range IAH in the wall portion W is detected as a part S of the upward projecting object VP.
- the work machine 4 is also detected as a part S of the upward projecting object VP when included in the laser light irradiation range IAH.
- the dump truck 2 generates map information MI based on the detection result and stores it in the map storage database 36.
- the work machine 4 moves so as to enter the recess Wa and proceeds with mining.
- the loading position of earth and sand is set to a position closer to the recess Wa than the position shown in FIG. From this state, for example, it is assumed that the dump truck 2 calculates the position and direction by the verification navigation position calculation unit 33B.
- the vehicle travels on the loading field LPA while irradiating the irradiation range IAH with the laser beam, and the wall W and the work machine 4 are detected as a part S of the upward projecting object VP.
- FIG. 11 is a diagram showing an example of the map information MI generated by the detection shown in FIG.
- FIG. 12 is a diagram illustrating an example of the detected object information DI generated by the detection illustrated in FIG.
- the map information MI and the detected object information DI correspond to the detected object information S1 corresponding to the part S of the upward projecting object VP of the wall W and the work machine 4, respectively.
- the detected object information S1 is included.
- the detected object information DI includes detected object information S1a corresponding to the concave portion Wa of the wall W. This detected object information S1a is not included in the map information MI.
- the position of the detected object information S1 is shifted between the map information MI and the detected object information DI. Therefore, when the collation navigation position calculation unit 33B calculates the position of the dump truck 2 based on the map information MI and the detected object information DI, there is an inconsistent portion in the position information of each other. There is a possibility of lowering.
- the position measurement controller 33 uses the work machine 4 with the progress of the work as in the above-described concave portion Wa in the map creation and the position calculation in order to suppress the decrease in the accuracy of the calculation result.
- the mask area is set in the terrain changing part where the terrain changes or the work machine 4 and the position information of the mask area of the detected object information is not used, that is, the information excluding the position information of the mask area is used. Like that.
- FIG. 13 is a block diagram illustrating an example of the observation point availability determination unit 39.
- the observation point availability determination unit 39 includes a mask area setting unit 51 and an information setting unit 52.
- the dump truck 2 can receive position-related information regarding the position of the landform change part or other work machine 4 via the wireless communication device 34.
- the mask area setting unit 51 sets a mask area including the topographic change portion or other work machine 4 based on the position related information received by the wireless communication device 34.
- FIG. 14 to 17 are diagrams showing examples of the topographic change portion and the mask region.
- FIG. 14 shows an example in the loading area LPA.
- the work machine 4 such as a hydraulic excavator or an electric excavator.
- the portion Wb mined by the work machine 4 in the wall portion W is a topographic change portion. Therefore, the mask area setting unit 51 can set the mask area MA1 in an area including the work machine 4 and a portion (terrain change portion) Wb mined by the work machine 4.
- the mask area MA1 is set as a circular area having a predetermined radius, for example. Note that the shape of the mask region MA1 is not limited to a circle, and a mask region MA1 having another shape such as an ellipse or a polygon may be set.
- FIG. 15 shows an example in the edge dump area of the earth removal site DPA.
- a load such as earth and sand is discharged from the dump truck 2 to the cliff portion (edge portion) E.
- the topography of the cliff E may change due to discharged earth and sand.
- the cliff E from which the cargo is discharged is a topographic change portion. Therefore, the mask area setting unit 51 can set the mask area MA2 in an area including a cliff E that is a topographic change portion of the edge dump area as shown in FIG.
- the mask area MA2 is formed in a strip shape along the cliff E.
- the mask area MA2 one area is set in a rectangular shape, but the present invention is not limited to this, and a plurality of areas may be set, or a shape different from the rectangular shape may be used.
- FIG. 16 shows an example in the paddock dump area of the earth removal site DPA.
- the paddock dump area of the earth discharge site DPA different discharge positions are sequentially transmitted from the control facility 7, and loads such as earth and sand are discharged from the dump truck 2 to the road surface F.
- the discharged cargo is stacked on the road surface F.
- the dump truck 2 repeatedly discharges, since the discharged earth and sand are arranged at a plurality of locations on the road surface F, the topography of the road surface F changes. In this case, the road surface F on which the load is placed is a topographic change portion. Therefore, the mask area setting unit 51 can collectively set the mask area MA3 in an area where earth and sand etc.
- the mask area MA3 can be placed on the road surface F of the paddock dump area as shown in FIG.
- the mask area MA3 one area is set in a rectangular shape, but the present invention is not limited to this, and a plurality of areas may be set, or a shape different from the rectangular shape may be used. Good.
- FIG. 17 shows an example in the transport path HL.
- the dump truck 2 travels on the conveyance path HL.
- a repair vehicle 5 that repairs the bank BK and the like of the transport path HL travels on the transport path HL.
- the mask area setting unit 51 can set the mask area MA4 in an area along the traveling locus of the repair vehicle 5, as shown in FIG.
- the mask area MA4 may include the bank BK.
- the mask area setting unit 51 sets the mask areas MA1 to MA4 based on the position related information from the control facility 7.
- the position related information includes information related to the position of the work machine 4 such as a hydraulic excavator and an electric excavator, information related to the position mined by the work machine 4, and the like.
- the position related information includes information on the position where the dump truck 2 is scheduled to discharge the load.
- the position related information includes information related to the position where the dump truck 2 is scheduled to be discharged.
- the mask area setting unit 51 may estimate the traveling position of the repair vehicle 5 and set the mask area MA4 based on the estimation result.
- the information setting unit 52 determines whether or not the detected object information exists in the mask area MA. When it is determined that the detected object information exists in the mask area MA, the information setting unit 52 sets the detected object information existing in the mask area MA as moving object information.
- the function of the information setting unit 52 will be described with a specific example.
- FIG. 18 and 19 are diagrams for explaining an example in the case where detection is performed by the laser sensor 24B in a state where the mask area MA1 is set in the loading field LPA.
- the dump truck 2 that is the host vehicle irradiates the irradiation range IAH with laser light while traveling on the loading field LPA.
- the dump truck 2 detects the wall portion W and the work machine 4 as a part S of the upward projecting object VP, and generates map information MI based on the detection result.
- FIG. 20 is a diagram showing an example of detected object information DI and map information MI obtained in the case shown in FIG.
- the detected object information DI includes detected object information S1 corresponding to the work machine 4.
- the information setting unit 52 determines whether or not the position information of the upward projecting object VP detected by the laser sensor 24B exists in the mask area MA1 by an inside / outside determination process or the like. For example, the information setting unit 52 determines that a part of the detected object information S1 and the detected object information S1 exist in the mask area MA1. When it is determined that the position information of the upward protrusion VP exists in the mask area MA1, the information setting unit 52 deletes the position information of the upward protrusion VP in the mask area MA1. Thereby, the detected object information S1 is deleted.
- the grid map creation unit 33C creates the map information MI based on the detected object information DI from which the position information is deleted. As shown in FIG. 20, in the map information MI, the detected object information S3 of the part from which the shape along the mask area MA1 is deleted is formed.
- FIG. 21 is a diagram showing an example of detected object information DI obtained in the case shown in FIG.
- the detected object information DI includes detected object information S1a corresponding to the recess Wa and detected object information S1 corresponding to the work machine 4.
- the information setting unit 52 determines whether or not the position information of the upward projecting object VP exists in the mask area MA1 by an inside / outside determination process or the like. For example, the information setting unit 52 determines that the detected object information S1a and the detected object information S1 exist in the mask area MA1. When it is determined that the position information of the upward protrusion VP exists in the mask area MA1, the information setting unit 52 deletes the position information of the upward protrusion VP in the mask area MA1.
- the detected object information S1a and the detected object information S1 are deleted.
- a deletion portion S3 having a shape along the mask area MA1 is formed in the detected object information DIa.
- the position information of the detected object information DIa matches the position information of the map information MI shown in FIG. Therefore, when the collation navigation position calculation unit 33B calculates the position of the dump truck 2 based on the map information MI shown in FIG. 20 and the detected object information DIa, the mismatched portion between the position information is removed. Therefore, it can suppress that the precision of a calculation result falls.
- the position measurement controller 33 includes a communication input / output, a CPU (Central Processing unit) for executing a control program, a ROM (Read Only Memory) for storing the control program, and a RAM (Random) used as a work area of the CPU. (Access Memory) and a non-volatile memory in which information is registered by a CPU.
- the functions of the determination unit 33A, the collation navigation calculation unit 33B, the grid map creation unit 33C, the observation point coordinate conversion unit 38, and the observation point availability determination unit 39 are such that the CPU reads the control program stored in the ROM and operates the RAM. This is realized by executing in the area.
- the nonvolatile memory includes at least one of a flash memory and a hard disk drive. Further, even if a plurality of processing circuits cooperate to realize the functions of the determination unit 33A, the collation navigation calculation unit 33B, the grid map creation unit 33C, the observation point coordinate conversion unit 38, and the observation point availability determination unit 39. Good.
- the safety controller 40 obtains the relative position between the dump truck 2 and the obstacle based on the detection signals of the radar 24A and the laser sensor 24B.
- the safety controller 40 generates a command for controlling at least one of the accelerator, the braking device 23 ⁇ / b> B, and the operating device 2 ⁇ / b> S using the relative position with the obstacle, and outputs the command to the travel controller 20.
- the traveling controller 20 controls the dump truck 2 based on the command acquired from the safety controller 40 to avoid the dump truck 2 from colliding with an obstacle.
- the traveling controller 20 determines that the determination unit 33A determines that the GPS position solution is a float solution, a single solution, or that the GPS position is non-positioned for a predetermined time, and the collation navigation position calculation unit 33B A braking device 23B that causes the travel controller 20 to stop the vehicle main body 21 when only a detection result of the laser sensor 24B having a final estimated value with the map information MI stored in the map storage database 36 is lower than a predetermined value is obtained. Outputs a command to control.
- FIG. 22 is an example of a flowchart of the work machine control system according to the present embodiment.
- FIG. 23 is an example of a flowchart of step ST3 in FIG.
- the work machine control method is a control method of the work machine of the dump truck 2 that travels in the operating area according to the travel route RP.
- the processing device 12 transmits a command signal to the travel route creation device 32 and the position measurement controller 33 of the dump truck 2 via the wireless communication device 18.
- the command signal includes information related to the traveling condition of the dump truck 2 and information related to the position of the work machine 4 other than the host vehicle.
- the information regarding the traveling condition includes the traveling route information generated by the processing device 12 and the information regarding the traveling speed of the dump truck 2.
- the travel route creation device 32 stores travel route information and information on the position of the work machine 4 other than the host vehicle in the route position storage unit 32 ⁇ / b> A among the command signals from the processing device 12 transmitted via the communication system 9.
- the position measurement controller 33 receives information on the position and direction of the dump truck 2 that is the host vehicle via the wireless communication device 34. It transmits to the processing device 12.
- the travel controller 20 controls the travel of the dump truck 2 by controlling the accelerator of the dump truck 2, the braking device 23B, and the operation device 2S based on the command signal from the processing device 12.
- the traveling controller 20 of the work machine control system 30 executes step ST1 of traveling the dump truck 2 by dead reckoning according to the traveling route RP based on the GPS position of the dump truck 2 detected by the GPS receiver 31.
- the travel controller 20 determines the dump truck 2 according to the travel conditions including the travel route information generated by the processing device 12 of the management device 10 and the travel speed (target travel speed) set by the processing device 12. It is made to drive
- Dead reckoning refers to navigation in which the current position of the object (dump truck 2) is estimated based on the azimuth (azimuth change amount) from a known position and the moving distance.
- the azimuth (azimuth change amount) of the dump truck 2 is detected by using a gyro sensor 26 disposed on the dump truck 2.
- the moving distance of the dump truck 2 is detected using a speed sensor 27 arranged on the dump truck 2.
- the detection signal of the gyro sensor 26 and the detection signal of the speed sensor 27 are output to the travel controller 20 of the dump truck 2.
- the traveling controller 20 can obtain the direction (direction change amount) of the dump truck 2 from a known starting point based on the detection signal from the gyro sensor 26.
- the travel controller 20 can determine the moving distance of the dump truck 2 from a known starting point based on the detection signal from the speed sensor 27.
- the travel controller 20 Based on the detection signal from the gyro sensor 26 and the detection signal from the speed sensor 27, the travel controller 20 generates a control amount related to the travel of the dump truck 2 so that the dump truck 2 travels according to the generated travel route RP. To do.
- the control amount includes an accelerator signal, a braking signal, and a steering signal.
- the travel controller 20 controls the travel (operation) of the dump truck 2 based on the steering signal, the accelerator signal, and the braking signal.
- the dump truck 2 travels while the estimated position obtained by dead reckoning is corrected using RTK-GNSS or the collation navigation position calculator 33B.
- the travel distance of the dump truck 2 is increased, an error may occur between the estimated position (estimated position) and the actual position due to accumulation of detection errors of one or both of the gyro sensor 26 and the speed sensor 27. is there.
- the dump truck 2 may travel off the travel route RP generated by the processing device 12.
- the travel controller 20 detects the position (estimated position) of the dump truck 2 derived (estimated) by dead reckoning by the GPS position detected by the GPS receiver 31 or the reference navigation position calculation unit 33B.
- the dump truck 2 is made to travel while correcting using the position.
- the travel controller 20 detects the dump truck 2 based on the detection signal from the gyro sensor 26, the detection signal from the speed sensor 27, and the GPS position from the GPS receiver 31 or the position detected by the verification navigation position calculation unit 33B.
- the control amount related to the traveling of the dump truck 2 is calculated including the correction amount for correcting the position of the dump truck 2 so that the vehicle travels according to the traveling route RP.
- the travel controller 20 controls the travel (operation) of the dump truck 2 based on the calculated correction amount and control amount so that the dump truck 2 travels according to the travel route RP.
- the determination unit 33A of the position measurement controller 33 executes step ST2 for determining whether or not the GPS position accuracy of the dump truck 2 detected by the GPS receiver 31 exceeds a predetermined accuracy. That is, in step ST2, the determination unit 33A of the position measurement controller 33 determines whether or not the accuracy of the GPS position of the dump truck 2 detected by the GPS receiver 31 is high. Specifically, the determination unit 33A of the position measurement controller 33 determines whether the GPS position solution detected by the GPS receiver 31 is a Fix solution.
- the determination unit 33A of the position measurement controller 33 determines that the solution of the GPS position detected by the GPS receiver 31 is a Fix solution, that is, the GPS position accuracy of the dump truck 2 detected by the GPS receiver 31 is high. If it determines with there (step ST2: Yes), the grid map preparation part 33C will produce the map information MI (step ST3). That is, when the position measurement controller 33 determines that the GPS position accuracy detected by the GPS receiver 31 is high, the path position storage unit 32A stores the position based on the GPS position of the dump truck 2 detected by the GPS receiver 31.
- the dump truck 2 is autonomously driven according to the travel route RP, and the detection result related to the upward protrusion VP is extracted from the detection result of the laser sensor 24B, and the detection result related to the extracted upward protrusion VP is mapped as the map information MI of the operation area.
- Step ST3 stored in the storage database 36 is executed.
- the mask area setting unit 51 sets the mask area in each part of the loading site LPA, the earth removal site DPA, the transport path HL, and the intersection IS based on the position related information transmitted from the control facility 7. MA is set (step ST31).
- the observation point coordinate conversion unit 38 converts the position of the detection result of the laser sensor 24B indicated by the coordinates specified by the direction and distance from the laser sensor 24B into the position of the coordinates indicated by the XY coordinates.
- the detected object information DI is generated (step ST32).
- the information setting unit 52 determines whether or not the detected object information of the upward projecting object VP is included in the mask area MA in the detected object information DI (step ST33).
- the position measurement controller 33 determines the upper position in the mask area MA from the detected object information DI.
- the position information of the protrusion VP is deleted (step ST35), and then the extraction operation is performed (step ST34).
- the observation point availability determination unit 39 When performing the extraction operation, the observation point availability determination unit 39 first removes various noises of the detection result in which the coordinates are converted by the observation point coordinate conversion unit 38. Specifically, the observation point availability determining unit 39 detects, as noise, a detection result with a low reflection intensity, a detection result that the laser beam is considered to have passed through the transparent object, a detection result that the laser beam is considered to detect dust, the ground The detection result that the laser beam seems to have been reflected by the above and the detection result that the laser beam seems to have detected a lump of soil on the ground are removed from the detection result whose coordinates have been converted by the observation point coordinate conversion unit 38.
- the observation point availability determination unit 39 first removes various noises of the detection result obtained by converting the coordinates by the observation point coordinate conversion unit 38. Specifically, the observation point availability determining unit 39 detects, as noise, a detection result with a low reflection intensity, a detection result that the laser beam is considered to have passed through the transparent object, a detection result that the laser beam is considered to detect dust, the ground The detection result that the laser beam seems to have been reflected by the above and the detection result that the laser beam seems to have detected a lump of soil on the ground are removed from the detection result whose coordinates have been converted by the observation point coordinate conversion unit 38.
- the observation point availability determination unit 39 removes the detection result where the distance from the dump truck 2 is greater than the maximum distance and the detection result where the distance is less than the minimum distance from the detection result obtained by converting the coordinates by the observation point coordinate conversion unit 38.
- the predetermined maximum distance is a distance necessary for removing noise caused by sunlight
- the predetermined minimum distance is a distance for removing dark dust noise that occurs at a short distance from the laser sensor 24B. It is.
- the observation point availability determination unit 39 removes a detection result having a predetermined height or less from the ground surface from the detection result obtained by converting the coordinates by the observation point coordinate conversion unit 38.
- the observation point availability determination unit 39 removes detection results of a predetermined height or less, but is not limited to this. As described above, the observation point availability determination unit 39 removes various noises from the detection result.
- the observation point availability determination unit 39 synthesizes the detection result from which various noises and the like are removed into a detection result including a grid region GR whose position is indicated by XY coordinates.
- the observation point availability determination unit 39 outputs the combined detection result to both the grid map creation unit 33C and the collation navigation position calculation unit 33B.
- the grid map creation unit 33C of the position measurement controller 33 stores the position of the upward projecting object VP, which is the detection result synthesized by the observation point availability determination unit 39, in the map storage database 36 as the map information MI of the travel route RP. (Step ST36). Thereby, creation of map information is performed.
- the determination unit 33A of the position measurement controller 33 determines that the GPS position solution detected by the GPS receiver 31 is not a Fix solution, that is, the dump truck detected by the GPS receiver 31. 2 is determined to be equal to or less than the predetermined accuracy (step ST2: No), the reference navigation position calculation unit 33B uses the detection result of the laser sensor 24B and the map information MI stored in the map storage database 36. Based on this, the position and direction of the dump truck 2 are detected, and the dump truck 2 travels according to the travel route RP (step ST4).
- the position measurement controller 33 determines that the GPS position accuracy detected by the GPS receiver 31 is below a predetermined accuracy, the position measurement controller 33 compares the detection result of the laser sensor 24B with the map information MI stored in the map storage database 36. Thus, the position and orientation of the dump truck 2 are calculated.
- the observation point coordinate conversion unit 38 determines the position of the detection result of the laser sensor 24B indicated by the coordinates defined by the direction and distance from the laser sensor 24B as XY.
- the detected object information DI to be converted into the coordinate position is generated (step ST41).
- the information setting unit 52 determines whether or not position information is included in the mask area MA in the detected object information DI (step ST42). When it is determined that the position information is not included in the mask area MA (No in step ST42), an extraction operation is performed to extract the position information of the upward projecting object VP from the detected object information DI (step ST43).
- step ST42 If it is determined that the position information is included in the mask area MA (Yes in step ST42), the position measurement controller 33 deletes the position information in the mask area MA from the detected object information DI (step ST44). ), An extraction operation is performed (step ST43). Note that the processing from step ST41 to step ST44 is the same as the processing from step ST32 to step ST35 described above, and detailed description thereof is omitted.
- the verification navigation position calculation unit 33B calculates the position and orientation of the dump truck 2 (step ST45).
- the collation navigation position calculation unit 33B passes the detection result from which the noise is removed by the observation point availability determination unit 39 through an isolation filter (Isolation Filter), and thins out the detection result.
- the collation navigation position calculation unit 33B leaves only detection results that are separated from each other by a predetermined distance among the detection results from which noise is removed by the observation point availability determination unit 39, and removes other detection results.
- the reference navigation position calculation unit 33B integrates the detection result of the gyro sensor 26, the detection result of the speed sensor 27, the detection result of the laser sensor 24B, and the map information MI stored in the map storage database 36 by the particle filter PF.
- the position and direction of the dump truck 2 are detected.
- the reference navigation position calculation unit 33B is based on the direction that is the detection result of the gyro sensor 26 and the traveling speed that is the detection result of the speed sensor 27, and the range in which the dump truck 2 is expected to exist at a certain point in time. A plurality of positions and orientations are calculated.
- the reference navigation position calculation unit 33B determines whether the laser sensor 24B is located when the dump truck 2 is located at each position and direction where the dump truck 2 is expected to exist. A detection result that is expected to be detected is estimated. The collation navigation position calculation unit 33B collates the detection result expected to be detected by the laser sensor 24B with the detection result actually detected by the laser sensor 24B, and is expected to be detected by the laser sensor 24B at each position and orientation. The likelihood of the detection result actually detected by the laser sensor 24B is calculated. The collation navigation position calculation unit 33B normalizes the likelihood of each position and direction.
- the collation navigation position calculation unit 33B calculates the final estimated value from the likelihood of each detection result that the laser sensor 24B is expected to detect at each position and orientation and each position, and the detection result that is expected to be detected by the laser sensor 24B. Calculates the position and orientation most similar to the detection result actually detected by the laser sensor 24B.
- the reference navigation position calculation unit 33B detects the most similar position and direction as the position and direction of the dump truck 2. When the most similar position and orientation are calculated, the verification navigation position calculation unit 33B also calculates the estimation accuracy and reliability of the most similar position and orientation.
- the detected object information of the mask area MA set in a part of the mine is not used in the detected object information DI. Therefore, when calculating the position of the dump truck 2, it is possible to suppress a decrease in the accuracy of the calculation result. Thereby, the productivity fall in a mine can be suppressed.
- the travel route is set at the same position in the conveyance path, and along the travel route without a predetermined accuracy. Running. For this reason, the detection of the upward projecting portion such as the shape of the bank performed during traveling is performed from substantially the same position, so that variations in detection results can be suppressed. Therefore, it is possible to improve the accuracy of creating topographic information and specifying the position.
- FIG. 25 is a diagram for explaining a modification in the case where the dump truck 2 performs detection using the laser sensor 24B in the loading field LPA.
- a target TG is arranged at the loading site LPA.
- the detected object information to be removed increases, so that there is a possibility that the available detected object information may be reduced.
- the detected object information that can be used in the calculation operation of the collation navigation position calculation unit 33B decreases, and the accuracy of the calculation result may be reduced. Therefore, it is possible to set the target TG to be used in the loading field LPA or the like and to use the detected object information for the portion including the target TG even when included in the mask area MA.
- FIG. 26 is a diagram showing detected object information DI when position detection is performed in the example of FIG.
- the detected object information DI includes detected object information S11 and S12 on the outer wall W of the mask area MA, and detected object information S13 on the target TG in the arrangement area TA of the target TG. , S14. Further, the detected object information DI does not include the wall portion W or the work machine 4 in the mask area MA.
- the map information MI is generated based on the detected object information DI, the detected object information about the wall portion W in the vicinity of the mask area MA cannot be used, but the detected object information S13, S14 of the target TG. Can be used. For this reason, in the specific operation of the verification navigation position calculation unit 33B, the position and orientation of the dump truck 2 can be calculated with high accuracy.
- FIG. 27 is a diagram showing a modification of the mask area MA set in the loading area LPA.
- the mask area MAa may be set as an area including a plurality of unit areas UA partitioned in a lattice pattern, and processing may be performed for each unit area UA.
- the inside / outside determination of the observation point of the laser becomes easy, and the calculation cost can be reduced.
- FIG. 28 is a diagram showing a modification of the mask area MA set in the loading area LPA.
- the position of the wall portion W mined by the work machine 4 also moves. For this reason, the position of the shape deformation part in which a shape deform
- the position information of the mask area MA that has been set or reset may be transmitted to the control facility 7 as mask area information.
- the control facility 7 may receive the mask area information transmitted from the dump truck 2 and store it in the management device 10.
- the control facility 7 may update the mask area information stored in the management apparatus 10 when receiving the mask area information from each dump truck 2.
- the dump truck 2 requests the control facility 7 to transmit the position information of the mask area MA at regular intervals, for example, and the control facility 7 sends a request to the dump truck 2 when there is a request from the dump truck 2.
- the latest mask area information may be transmitted.
- the dump truck 2 can set the mask area MA based on the latest received mask area information.
- the mask area information may be requested to the control facility 7 when the power source of the dump truck 2 is turned on.
- FIG. 29 is a flowchart showing an example of a communication operation between the dump truck 2 and the control facility 7.
- the control facility 7 transmits the mask area information updated during the power supply stoppage period.
- the dump truck 2 transmits to the control facility 7 off period information indicating a period of power stop.
- the control facility 7 searches for the mask area information updated during the power stop period of the dump truck 2 (step ST61), and the corresponding mask area information is retrieved from the dump truck. 2 (step ST62).
- the dump truck 2 When receiving the mask area information (Yes in step ST53), the dump truck 2 sets the mask area MA based on the mask area information (step ST54). Thereafter, the dump truck 2 starts autonomous traveling (step ST55). Thereby, even when the dump truck 2 stops the power supply for a certain period, the update information of the mask area MA updated when the power supply is turned on again can be acquired.
- the control facility 7 may set the mask area MA.
- information on the set mask area MA may be transmitted from the wireless communication device 18 to the dump truck 2. Further, the mask area MA may be set manually by the operator.
- the processing device 12 may set the mask area MA according to the mine site map.
- the mask area MA may be automatically set for the topographic change portion.
- the development information includes, for example, mining place information or conveyance path repair plan information.
- the operator may set a mask area MA having an arbitrary shape at a desired location with an input device such as a touch panel or a mouse while looking at the display device 16.
- a processing device, a display device, and an input device may be provided in a service car or a dump truck, and a service person or an operator may set the mask area MA in the same procedure as the above control operator.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
図1は、本実施形態に係る作業機械の管理システムの一例を示す図である。図2は、本実施形態に係る作業機械の管理システム及び作業機械の管理システム1が適用される鉱山の一例を示す平面図である。
次に、管制施設7に配置される管理装置10について説明する。管理装置10は、ダンプトラック2の作業機械の制御システム30に鉱山に設けられる走行経路RPを指定する情報である走行経路情報を送信するものであり、図1に示すように、コンピュータ11と、表示装置16と、入力装置17と、無線通信装置18と、GPS基地局19と、を備えている。
次に、他の作業機械3について説明する。本実施形態において、他の作業機械3は、ダンプトラック2以外の作業機械であり、作業者の操作により駆動する。他の作業機械3は、CPU(Central Processing Unit)を含みかつ作業内容に関する各種の処理を実行する処理装置と、GPS位置を検出するGPS受信器と、管制施設7の無線通信装置18と情報を送受信する無線通信装置と、を少なくとも備える。他の作業機械3は、所定時間毎にGPS位置を無線通信装置が管制施設7の無線通信装置18に送信する。
次に、ダンプトラック2について説明する。図3は、本実施形態に係るダンプトラックの制御ブロック図である。図4は、本実施形態に係るダンプトラックのハードウエア構成図である。図5は、本実施形態に係る障害物センサのレーザーセンサの検出範囲を示す平面図である。
次に、作業機械の制御システムを説明する。図6は、本実施形態に係る作業機械の制御システムの位置計測コントローラの照合航法位置演算部が位置及び方位を検出する方法を説明する図である。図7は、本実施形態に係る作業機械の制御システムのマップ保存用データベースに記憶される地図情報の一部を示す図である。図8は、図7中のXIV部を拡大して示す図である。
次に、本実施形態に係る作業機械の制御方法、即ち作業機械の制御システム30の動作の一例について説明する。図22は、本実施形態に係る作業機械の制御システムのフローチャートの一例である。図23は、図22のステップST3のフローチャートの一例である。
BK 土手
DI 検出情報
MA,MA1,MA2,MA3,MA4 マスク領域
HL 搬送路
MI 地図情報
IAH,IAV 照射範囲
IS 交差点
DPA 排土場
RP 走行経路
LPA 積込場
VP 上方突出物
1 管理システム
2 ダンプトラック(作業機械)
7 管制施設
9 通信システム
10 管理装置
18,34 無線通信装置
20 走行コントローラ
24 障害物センサ
24A レーダー(非接触センサ)
24B レーザーセンサ(非接触センサ)
30 作業機械の制御システム
31 GPS受信器(位置検出手段)
32 走行経路作成装置
33 位置計測コントローラ(計測出力手段)
33A 判定部
33B 照合航法位置演算部
33C グリッドマップ作成部
36 マップ保存用データベース
39 観測点利用可能判断部
51 マスク領域設定部
52 情報設定部
Claims (10)
- 走行経路を走行する作業機械の制御システムであって、
前記作業機械の位置を検出する位置検出手段と、
前記作業機械の周囲の物体の位置を検出する非接触センサと、
前記位置検出手段の検出結果及び前記非接触センサの検出結果から被検出物情報を抽出し、前記走行経路の周辺のうち機械を用いることにより地形が変化する地形変化部分を含むように設定されるマスク領域の内側の前記被検出物情報を除外する制御部と、
を備える作業機械の制御システム。 - 前記被検出物情報は、前記非接触センサの検出結果と、当該検出結果のうち上方に突出した上方突出物の位置から生成される地図情報と、の少なくとも一方を含む、
請求項1に記載の作業機械の制御システム。 - 前記制御部は、上方に突出した上方突出物の位置を抽出する抽出動作と、前記抽出動作によって抽出された前記上方突出物の位置を地図情報として生成する生成動作と、前記非接触センサの検出結果と前記地図情報とを照合することにより前記作業機械の位置を特定する特定動作とを行う計測出力手段を備え、
前記計測出力手段は、前記抽出動作、前記生成動作及び前記特定動作の少なくとも1つを行う際、前記マスク領域内の位置を除外した情報を用いる、
請求項1又は請求項2に記載の作業機械の制御システム。 - 前記計測出力手段は、前記マスク領域内の被検出物情報を削除した後に、前記抽出動作、前記生成動作及び前記特定動作の少なくとも1つを行う、
請求項3に記載の作業機械の制御システム。 - 前記鉱山の管制施設から送信される前記地形変化部分及び前記機械の位置に関する位置関連情報を受信する受信部を備え、
前記制御部は、前記受信部で受信した前記位置関連情報に基づいて前記マスク領域を設定する、
請求項1から請求項4のうちいずれか一項に記載の作業機械の制御システム。 - 前記制御部は、前記マスク領域内に所定のターゲット部分が設定される場合には、前記抽出動作、前記生成動作及び前記算出動作を行う際、前記ターゲット部分の位置情報については用いるようにする、
請求項1から請求項5のうちいずれか一項に記載の作業機械の制御システム。 - 前記マスク領域は、格子状に区画された複数の単位領域を含む、
請求項1から請求項6のうちいずれか一項に記載の作業機械の制御システム。 - 走行経路を走行する作業機械の制御システムであって、
前記作業機械の位置を検出する位置検出手段と、
前記作業機械の周囲の物体の位置を検出する非接触センサと、
前記位置検出手段の検出結果及び前記非接触センサの検出結果に基づいて生成される地図情報と、前記非接触センサの検出結果とを照合することにより前記作業機械の位置を特定する特定動作を行う計測出力手段と、を備え、
前記計測出力手段は、前記特定動作を行う際、所定のマスク領域内の位置を除外した前記地図情報を用いる作業機械の制御システム。 - 鉱山の走行経路を走行する作業機械本体と、
請求項1から請求項8のうちいずれか一項に記載の作業機械の制御システムと、
を備える作業機械。 - 請求項9に記載の作業機械と、
鉱山に設けられ、前記走行経路の周辺のうち機械を用いることにより地形が変化する地形変化部分及び前記機械のうち少なくとも一方の位置に関する位置関連情報を送信する管制施設と、
を備え、
前記作業機械の制御システムは、前記位置関連情報を受信し、受信した前記位置関連情報に基づいて前記マスク領域を設定する、
作業機械の管理システム。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016506019A JP6475227B2 (ja) | 2016-02-01 | 2016-02-01 | 作業機械の制御システム、作業機械、及び作業機械の管理システム |
CN201680000871.0A CN107231813A (zh) | 2016-02-01 | 2016-02-01 | 作业机械的控制系统、作业机械以及作业机械的管理系统 |
AU2016204168A AU2016204168B2 (en) | 2016-02-01 | 2016-02-01 | Work machine control system, work machine, and work machine management system |
US15/126,446 US10031528B2 (en) | 2016-02-01 | 2016-02-01 | Work machine control system, work machine, and work machine management system |
CA2942874A CA2942874C (en) | 2016-02-01 | 2016-02-01 | Work machine control system, work machine, and work machine management system |
PCT/JP2016/052940 WO2016093374A1 (ja) | 2016-02-01 | 2016-02-01 | 作業機械の制御システム、作業機械、及び作業機械の管理システム |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/052940 WO2016093374A1 (ja) | 2016-02-01 | 2016-02-01 | 作業機械の制御システム、作業機械、及び作業機械の管理システム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016093374A1 true WO2016093374A1 (ja) | 2016-06-16 |
Family
ID=56107547
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/052940 WO2016093374A1 (ja) | 2016-02-01 | 2016-02-01 | 作業機械の制御システム、作業機械、及び作業機械の管理システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US10031528B2 (ja) |
JP (1) | JP6475227B2 (ja) |
CN (1) | CN107231813A (ja) |
AU (1) | AU2016204168B2 (ja) |
CA (1) | CA2942874C (ja) |
WO (1) | WO2016093374A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180355587A1 (en) * | 2017-03-31 | 2018-12-13 | Komatsu Ltd. | Control system for work vehicle, method for setting trajectory of work implement, and work vehicle |
AU2017272178B2 (en) * | 2017-01-31 | 2019-06-20 | Komatsu Ltd. | Control system for work vehicle, and method for setting trajectory of work implement |
WO2019167203A1 (ja) * | 2018-02-28 | 2019-09-06 | 本田技研工業株式会社 | 制御装置、作業機械及びプログラム |
TWI773768B (zh) * | 2017-07-05 | 2022-08-11 | 日商迪思科股份有限公司 | 加工裝置 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017109977A1 (ja) * | 2015-12-25 | 2017-06-29 | 株式会社小松製作所 | 作業機械の制御システム、作業機械、作業機械の管理システム、及び作業機械の管理方法 |
WO2017171073A1 (ja) * | 2017-03-31 | 2017-10-05 | 株式会社小松製作所 | 運搬車両の制御システム、運搬車両、及び運搬車両の制御方法 |
JP7199865B2 (ja) * | 2018-07-31 | 2023-01-06 | 株式会社小松製作所 | 作業機械を制御するためのシステム及び方法 |
JP7231351B2 (ja) * | 2018-07-31 | 2023-03-01 | 株式会社小松製作所 | 無人車両の制御システム、無人車両、及び無人車両の制御方法 |
US10829911B2 (en) * | 2018-09-05 | 2020-11-10 | Deere & Company | Visual assistance and control system for a work machine |
US11105653B2 (en) * | 2019-02-05 | 2021-08-31 | Caterpillar Inc. | System for generating map with instructional tips |
US11970839B2 (en) | 2019-09-05 | 2024-04-30 | Deere & Company | Excavator with improved movement sensing |
US11821167B2 (en) | 2019-09-05 | 2023-11-21 | Deere & Company | Excavator with improved movement sensing |
JP2021047724A (ja) * | 2019-09-19 | 2021-03-25 | 本田技研工業株式会社 | 作業システム、自律作業機、自律作業機の制御方法及びプログラム |
US11320830B2 (en) | 2019-10-28 | 2022-05-03 | Deere & Company | Probabilistic decision support for obstacle detection and classification in a working area |
US11693411B2 (en) | 2020-02-27 | 2023-07-04 | Deere & Company | Machine dump body control using object detection |
EP4189328A1 (en) * | 2020-07-28 | 2023-06-07 | Ception Technologies Ltd. | Onboard hazard detection system for a vehicle |
US11879231B2 (en) * | 2021-04-19 | 2024-01-23 | Deere & Company | System and method of selective automation of loading operation stages for self-propelled work vehicles |
US11966220B2 (en) * | 2021-05-25 | 2024-04-23 | Deere & Company | Method and user interface for selectively assisted automation of loading operation stages for work vehicles |
CN114488907A (zh) * | 2022-02-15 | 2022-05-13 | 深圳海星智驾科技有限公司 | 一种工程机械域控制器、工程机械控制系统及工程机械 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11242520A (ja) * | 1997-12-08 | 1999-09-07 | Caterpillar Inc | 障害物検出応答式代替通路決定方法及びその装置 |
JP2014203429A (ja) * | 2013-04-10 | 2014-10-27 | トヨタ自動車株式会社 | 地図生成装置、地図生成方法及び制御プログラム |
JP5714129B1 (ja) * | 2013-07-30 | 2015-05-07 | 株式会社小松製作所 | 鉱山機械の管理システム及び管理方法 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9615501B2 (en) | 2007-01-18 | 2017-04-11 | Deere & Company | Controlling the position of an agricultural implement coupled to an agricultural vehicle based upon three-dimensional topography data |
JP2014191689A (ja) | 2013-03-28 | 2014-10-06 | Hitachi Industrial Equipment Systems Co Ltd | 移動体の走行制御手段に対して制御指令を出力する位置検出装置を取り付けた移動体及びその位置検出装置 |
JP5607841B1 (ja) | 2013-07-30 | 2014-10-15 | 株式会社小松製作所 | 鉱山機械の管理システム及び管理方法 |
US10488867B2 (en) * | 2013-12-27 | 2019-11-26 | Komatsu Ltd. | Mining machine management system, mining machine, and management method |
AU2013408993B2 (en) * | 2013-12-27 | 2018-04-26 | Komatsu Ltd. | Mining machine management system and management method |
JP6211449B2 (ja) * | 2014-03-27 | 2017-10-11 | 日立建機株式会社 | 運行管理サーバ、車載端末装置、及び運行管理システム |
JP6339427B2 (ja) * | 2014-03-31 | 2018-06-06 | ヤンマー株式会社 | 併走作業システム |
US9763377B2 (en) * | 2014-05-22 | 2017-09-19 | Yanmar Co., Ltd. | Running system of work vehicle |
JP6285838B2 (ja) * | 2014-09-29 | 2018-02-28 | 日立建機株式会社 | 作業車両の移動制御装置及び作業車両 |
JP5997364B2 (ja) * | 2014-12-26 | 2016-09-28 | 株式会社小松製作所 | 鉱山機械、鉱山機械の管理システム、及び鉱山機械の管理方法 |
JP6352841B2 (ja) * | 2015-03-12 | 2018-07-04 | 日立建機株式会社 | 車載端末装置及び交通管制システム |
JP6055120B2 (ja) * | 2015-10-30 | 2016-12-27 | 株式会社小松製作所 | 作業機械の制御システム、作業機械、作業機械の管理システム、作業機械の制御方法及びプログラム |
US10026308B2 (en) * | 2015-10-30 | 2018-07-17 | Komatsu Ltd. | Construction machine control system, construction machine, construction machine management system, and construction machine control method and program |
US10202116B2 (en) * | 2015-11-27 | 2019-02-12 | Komatsu Ltd. | Mining machine control system, mining machine, mining machine management system, and mining machine management method |
AU2015331289B2 (en) * | 2015-11-30 | 2017-08-03 | Komatsu Ltd. | Work machine control system, work machine, work machine management system, and method for controlling work machine |
CN105814617B (zh) * | 2015-11-30 | 2020-08-28 | 株式会社小松制作所 | 作业机械的控制系统、作业机械、作业机械的管理系统和作业机械的控制方法 |
AU2016204167B2 (en) * | 2016-02-01 | 2017-11-02 | Komatsu Ltd. | Work machine control system, work machine, and work machine management system |
-
2016
- 2016-02-01 US US15/126,446 patent/US10031528B2/en active Active
- 2016-02-01 CN CN201680000871.0A patent/CN107231813A/zh active Pending
- 2016-02-01 CA CA2942874A patent/CA2942874C/en active Active
- 2016-02-01 WO PCT/JP2016/052940 patent/WO2016093374A1/ja active Application Filing
- 2016-02-01 AU AU2016204168A patent/AU2016204168B2/en active Active
- 2016-02-01 JP JP2016506019A patent/JP6475227B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11242520A (ja) * | 1997-12-08 | 1999-09-07 | Caterpillar Inc | 障害物検出応答式代替通路決定方法及びその装置 |
JP2014203429A (ja) * | 2013-04-10 | 2014-10-27 | トヨタ自動車株式会社 | 地図生成装置、地図生成方法及び制御プログラム |
JP5714129B1 (ja) * | 2013-07-30 | 2015-05-07 | 株式会社小松製作所 | 鉱山機械の管理システム及び管理方法 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU2017272178B2 (en) * | 2017-01-31 | 2019-06-20 | Komatsu Ltd. | Control system for work vehicle, and method for setting trajectory of work implement |
US10767341B2 (en) | 2017-01-31 | 2020-09-08 | Komatsu Ltd. | Control system for work vehicle, and method for setting trajectory of work implement |
US20180355587A1 (en) * | 2017-03-31 | 2018-12-13 | Komatsu Ltd. | Control system for work vehicle, method for setting trajectory of work implement, and work vehicle |
AU2019204212B2 (en) * | 2017-03-31 | 2020-08-20 | Komatsu Ltd. | Control system for work vehicle, method for setting trajectory of work implement, and work vehicle |
AU2019204212C1 (en) * | 2017-03-31 | 2020-12-24 | Komatsu Ltd. | Control system for work vehicle, method for setting trajectory of work implement, and work vehicle |
US11111653B2 (en) | 2017-03-31 | 2021-09-07 | Komatsu Ltd. | Control system for work vehicle, method for setting trajectory of work implement, and work vehicle |
TWI773768B (zh) * | 2017-07-05 | 2022-08-11 | 日商迪思科股份有限公司 | 加工裝置 |
WO2019167203A1 (ja) * | 2018-02-28 | 2019-09-06 | 本田技研工業株式会社 | 制御装置、作業機械及びプログラム |
US11718976B2 (en) | 2018-02-28 | 2023-08-08 | Honda Motor Co., Ltd. | Control apparatus, work machine, control method, and computer readable storage medium |
Also Published As
Publication number | Publication date |
---|---|
JP6475227B2 (ja) | 2019-02-27 |
CA2942874A1 (en) | 2016-06-16 |
US20170220044A1 (en) | 2017-08-03 |
JPWO2016093374A1 (ja) | 2017-04-27 |
US10031528B2 (en) | 2018-07-24 |
AU2016204168A1 (en) | 2017-08-17 |
AU2016204168B2 (en) | 2017-11-09 |
CN107231813A (zh) | 2017-10-03 |
CA2942874C (en) | 2020-12-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6475227B2 (ja) | 作業機械の制御システム、作業機械、及び作業機械の管理システム | |
JP6055120B2 (ja) | 作業機械の制御システム、作業機械、作業機械の管理システム、作業機械の制御方法及びプログラム | |
JP6267783B2 (ja) | 作業機械の制御システム、作業機械、及び作業機械の管理システム | |
JP6059846B2 (ja) | 鉱山用作業機械の制御システム、鉱山用作業機械、鉱山用作業機械の管理システム、鉱山用作業機械の制御方法及びプログラム | |
JP6087475B2 (ja) | 作業機械の制御システム、作業機械、及び作業機械の管理システム | |
JP6672336B2 (ja) | 作業機械の制御システム、作業機械、作業機械の管理システム、及び作業機械の管理方法 | |
JP6617192B2 (ja) | 作業機械の管理システム、及び作業機械 | |
JPWO2017072980A1 (ja) | 作業機械の制御システム、作業機械、作業機械の管理システム、及び作業機械の管理方法 | |
US10520320B2 (en) | Management system for work machine, work machine, and management device for work machine | |
WO2016148310A1 (ja) | 作業機械の制御システム、作業機械及び作業機械の制御方法 | |
JP6757749B2 (ja) | 作業機械の管理システム、作業機械、作業機械の管理方法 | |
WO2017130418A1 (ja) | 作業機械の管理システム及び作業機械 | |
JP6538793B2 (ja) | 作業機械の制御システム、作業機械、及び作業機械の管理システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2016506019 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16727610 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2942874 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15126446 Country of ref document: US |
|
ENP | Entry into the national phase |
Ref document number: 2016204168 Country of ref document: AU Date of ref document: 20160201 Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16727610 Country of ref document: EP Kind code of ref document: A1 |