WO2017130418A1 - 作業機械の管理システム及び作業機械 - Google Patents
作業機械の管理システム及び作業機械 Download PDFInfo
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- WO2017130418A1 WO2017130418A1 PCT/JP2016/052839 JP2016052839W WO2017130418A1 WO 2017130418 A1 WO2017130418 A1 WO 2017130418A1 JP 2016052839 W JP2016052839 W JP 2016052839W WO 2017130418 A1 WO2017130418 A1 WO 2017130418A1
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Definitions
- the present invention relates to a work machine management system and a work machine.
- the mining machine may be driven according to the set travel route.
- a technique for generating a route for a moving body to move from a starting point to a destination point is disclosed in Patent Document 1.
- the actual position data of the mining machine is acquired by GPS (Global Positioning System) etc., and the difference between the target position on the travel route and the actual position of the mining machine
- the traveling of the mining machine is controlled so as to be small.
- An object of an aspect of the present invention is to provide a work machine management system and a work machine that can suppress a decrease in productivity in a mine.
- a position detection device that detects a position of a work machine that travels along a travel route, a non-contact sensor that detects an object near the travel route in a non-contact manner, and the position detection device Based on the detected data and the detected data of the non-contact sensor, map data that accumulates the presence and position information of the object beside the travel route, and travel route generation that generates the travel route on which the work machine travels
- a work machine management system is provided that includes a section and a specifying section that specifies the degree of completion of the map data.
- a work machine including the work machine management system according to the first aspect.
- a position detection device that detects the position of a work machine that travels along a travel route, a non-contact sensor that detects an object near the travel route in a non-contact manner, and the position detection device Based on the detected data and the detected data of the non-contact sensor, map data that accumulates the presence and position information of the object beside the travel route, and travel route generation that generates the travel route on which the work machine travels
- map data that accumulates the presence and position information of the object beside the travel route
- travel route generation that generates the travel route on which the work machine travels
- a designation unit that designates the travel route, and the travel route generation unit preferentially assigns the second area or the second travel route to the work machine based on information from the designation unit.
- a position detection device that detects the position of a work machine, a non-contact sensor that detects an object near a travel route on which the work machine travels, and the position detection device. Based on the detected data and the detected data of the non-contact sensor, map data that accumulates the presence and position information of the object beside the travel route, and travel route generation that generates the travel route on which the work machine travels And a specifying unit that identifies an area or travel route with a low degree of completion of map data, and the travel route generation unit completes the map data on the work machine when the position detection device is valid.
- a travel route is generated so as to pass a travel route having a low degree side or a travel route having a low degree of completion of the map data, and the position detection device is not effective
- a work machine management system that generates a travel route that allows an industrial machine to pass a travel route having an area with a low degree of completion of the map data or a travel route other than the travel route with a low degree of completion of the map data. Is done.
- a work machine management system and a work machine capable of suppressing a decrease in productivity in a mine are provided.
- FIG. 1 is a diagram illustrating an example of a mining machine management system according to the first embodiment.
- FIG. 2 is a schematic diagram for explaining a travel route of the dump truck according to the first embodiment.
- FIG. 3 is a control block diagram of the management apparatus according to the first embodiment.
- FIG. 4 is a control block diagram of the dump truck according to the first embodiment.
- FIG. 5 is a hardware configuration diagram of the dump truck according to the first embodiment.
- FIG. 6 is a front view of the obstacle sensor of the dump truck according to the first embodiment.
- FIG. 7 is a plan view showing a detection area of the non-contact sensor.
- FIG. 8 is a side view showing a detection area of the non-contact sensor.
- FIG. 1 is a diagram illustrating an example of a mining machine management system according to the first embodiment.
- FIG. 2 is a schematic diagram for explaining a travel route of the dump truck according to the first embodiment.
- FIG. 3 is a control block diagram of the management apparatus according to the first embodiment.
- FIG. 9 is a diagram for explaining a method in which the travel controller of the control system according to the first embodiment detects the position and direction in the GPS travel mode.
- FIG. 10 is a diagram for explaining a method in which the travel controller of the control system according to the first embodiment detects the position and direction in the verification navigation travel mode.
- FIG. 11 is a diagram illustrating a method in which the reference navigation position calculation unit of the position measurement controller calculates the position and direction when the control system according to the first embodiment is in the GPS travel mode.
- FIG. 12 is a diagram illustrating a method in which the reference navigation position calculation unit of the position measurement controller calculates the position and direction when the control system according to the first embodiment is in the reference navigation mode.
- FIG. 13 is a diagram illustrating a part of map data stored in the map storage database of the control system according to the first embodiment.
- FIG. 14 is an enlarged view of the XIV part in FIG.
- FIG. 15 is an example of a flowchart of the control system according to the first embodiment.
- FIG. 16 is an example of a flowchart of step ST4.
- FIG. 17 is a diagram illustrating an example of a partial area of map data read into the storage unit from the map storage database according to the first embodiment.
- FIG. 18 is a diagram illustrating an example of a detection result actually detected by the laser sensor of the control system according to the first embodiment.
- FIG. 19 is a diagram illustrating an example of a state in which the reference navigation position calculation unit calculates the position and direction of the host vehicle based on the detection result actually detected by the laser sensor of the control system according to the first embodiment.
- FIG. 20 is a diagram illustrating course data set in the second area according to the first embodiment.
- FIG. 21 is a diagram illustrating course data set in the second area according to the first embodiment.
- FIG. 22 is a flowchart illustrating a method of creating map data for the second area according to the first embodiment.
- FIG. 1 is a diagram illustrating an example of a management system 1 for a mining machine 4 according to the first embodiment.
- FIG. 2 is a plan view illustrating an example of a mine to which the management system 1 for the mining machine 4 according to the first embodiment is applied.
- Management system 1 manages the mining machine 4.
- the management of the mining machine 4 is at least one of operation management of the mining machine 4, evaluation of the productivity of the mining machine 4, evaluation of operation technology of the operator of the mining machine 4, maintenance of the mining machine 4, and abnormality diagnosis of the mining machine 4. Including one.
- Mining machine 4 is a general term for machines used for various operations in a mine.
- the mining machine 4 includes at least one of a loading machine, a transporting machine, a crusher, and a vehicle operated by an operator.
- the loading machine is a mining machine for loading a load on a transporting machine.
- the loading machine includes at least one of a hydraulic excavator, an electric excavator, and a wheel loader.
- the transporting machine includes a moving body such as a dump truck that can move in the mine, and is a mining machine that can transport a load.
- the load includes at least one of sediment and ore generated by mining.
- the crusher crushes the soil discharged from the transport machine.
- Embodiment 1 an example in which a dump truck 2 that is a transport machine capable of traveling in a mine is managed by the management system 1 will be described.
- the dump truck 2 travels at least a part of the mine work area PA and the conveyance path HL leading to the work place PA.
- the work place PA includes at least one of a loading place LPA and a dumping place DPA.
- the conveyance path HL includes an intersection IS.
- the dump truck 2 travels on a travel route set on the transport path HL and the work place PA.
- An object is provided beside the transport path HL.
- the object provided beside the transport path HL is the bank BK.
- the object provided beside the transport path HL may be a side wall or an artificially manufactured structure.
- the object may include metal or concrete.
- the dump truck 2 is a movable body that can move in the mine.
- the travel route is set to at least a part of the loading site LPA, the earth removal site DPA, and the transport route HL.
- the loading site LPA is an area where loading work for loading the dump truck 2 is performed.
- the earth removal site DPA is an area where a discharging operation for discharging the load from the dump truck 2 is performed.
- a crusher CR may be provided in at least a part of the earth removal site DPA.
- the dump truck 2 is a so-called unmanned dump truck that autonomously travels along a travel route based on a command signal from the management device 10.
- the autonomous traveling of the dump truck 2 refers to traveling based on a command signal from the management device 10 without depending on the operator's operation.
- the dump truck 2 may travel by an operator's operation.
- a management system 1 is a mine that is a management device 10 disposed in a control facility 7 installed in a mine, a communication system 9, a dump truck 2, and another mining machine 4 different from the dump truck 2.
- the management apparatus 10 is installed in the mine control facility 7 and basically does not move, but the management apparatus 10 may be movable.
- the communication system 9 wirelessly communicates data or command signals among the management device 10, the dump truck 2, and other mining 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 mining machine 3, and between the dump truck 2 and another mining machine 3.
- the communication system 9 includes a plurality of repeaters 6 that relay data or command signals (such as radio waves).
- GNSS Global Navigation Satellite System
- the GNSS detects a position defined by latitude, longitude, and altitude coordinate data.
- the position detected by GNSS is an absolute position defined in the global coordinate system.
- the position of the dump truck 2 and the position of the other mining machine 3 in the mine are detected by the GNSS.
- the “absolute position” does not indicate the position of the true dump truck 2 but indicates an estimated position with high accuracy with respect to the position of the true dump truck 2. .
- the position detected by the GNSS is appropriately referred to as a GPS position.
- the GPS position is an absolute position and is coordinate data of latitude, longitude, and altitude.
- the positioning state (position) is influenced by at least one of the positioning satellite 5 arrangement, the number of positioning satellites 5 that have received data, the ionosphere, the troposphere, and the terrain around the antenna that receives data from the positioning satellite 5.
- the accuracy changes.
- the positioning state includes a Fix solution (accuracy ⁇ 1 cm to about 2 cm), a Float solution (accuracy ⁇ 10 cm to about several meters), a Single solution (accuracy ⁇ about several meters), and non-positioning (positioning calculation impossible).
- the management system 1 determines the position and orientation (orientation) of the dump truck 2 in the mine and other mine It manages the position and orientation of the machine 3.
- the direction of the dump truck 2 is the traveling direction of the traveling dump truck 2.
- the management device 10 transmits data and a command signal to the dump truck 2 and receives data from the dump truck 2.
- the management device 10 includes a computer 11, a display device 16, an input device 17, and a wireless communication device 18.
- the computer 11 includes a processing device 12, a storage device 13, and an input / output unit (input / output interface) 15.
- the display device 16, the input device 17, and the wireless communication device 18 are connected to the computer 11 via the input / output unit 15.
- 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 mining machines 3.
- the processing device 12 acquires position data of the dump truck 2 and position data of other mining machines 3 through the communication system 9 in order to perform various processes.
- FIG. 2 is a schematic diagram showing the dump truck 2 traveling on the transport path HL.
- the processing device 12 sets a travel route RP on which the dump truck 2 travels.
- the travel route RP is defined by the course data CS.
- the course data CS is an aggregate of a plurality of points PI each having an absolute position (latitude, longitude, and altitude coordinate data) defined. That is, the trajectory passing through the plurality of points PI is the travel route RP.
- the processing device 12 functions as a course data creation unit that generates course data CS that defines the travel route RP of the dump truck 2.
- the processing device 12 creates the course data CS and sets the travel route RP.
- the storage device 13 is connected to the processing device 12 and stores various data related to management of the dump truck 2 and various data related to management of other mining machines 3.
- the storage device 13 stores position data of the dump truck 2 and position data of other mining machines 3.
- the display device 16 can display a map including a transport path HL in the mine, position data of the dump truck 2, and position data of other mining machines 3.
- the input device 17 includes at least one of a keyboard, a touch panel, and a mouse, and functions as an operation unit that can input an operation signal to the processing device 12.
- the wireless communication device 18 has an antenna 18A, is disposed in the control facility 7, and is connected to the processing device 12 via the input / output unit 15.
- the wireless communication device 18 is a part of the communication system 9.
- the wireless communication device 18 can receive data transmitted from at least one of the dump truck 2 and the other mining machine 3. Data received by the wireless communication device 18 is output to the processing device 12 and stored in the storage device 13.
- the wireless communication device 18 can transmit data to at least one of the dump truck 2 and the other mining machine 3.
- FIG. 3 is a functional block diagram of the management apparatus 10.
- the management device 10 includes a travel route generation unit 19 that generates a travel route on which the dump truck 2 travels, and a first area where the completeness of the map data is high in an area near the travel route on which the dump truck 2 travels.
- the specifying unit 14 for specifying the second area where the degree of completion of the map data is low, the storage device 13 for storing the map data, and the wireless communication device 18 are provided.
- the computer 11 includes a communication input / output unit 15, an arithmetic processing unit having a microprocessor such as a CPU (Central Processing Unit) for executing a control program, and a ROM (Read Only Memory) for storing the control program.
- a microprocessor such as a CPU (Central Processing Unit) for executing a control program
- ROM Read Only Memory
- An external storage device a main storage device (internal storage device) such as RAM (Random Access Memory) used as a work area for the CPU, and an external storage device such as a nonvolatile memory in which data is registered by the CPU (auxiliary Storage device).
- 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 data 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 cooperate to realize the functions of the processing device 12 and the storage device 13.
- the other mining machine 3 is a mining machine other than the dump truck 2 and is operated by an operator's operation.
- the other mining machine 3 includes a CPU and a processing device that executes various processes related to work contents, a GPS receiver that detects a GPS position, and a wireless communication device that transmits and receives data to and from the wireless communication device 18 of the control facility 7 With.
- the other mining machine 3 transmits its own GPS position to the wireless communication device 18 of the control facility 7 every predetermined time.
- FIG. 4 is a control block diagram of the dump truck 2 according to the first embodiment.
- FIG. 5 is a hardware configuration diagram of the dump truck 2 according to the first embodiment.
- FIG. 6 is a front view of the non-contact sensor 24 of the dump truck 2 according to the first embodiment.
- FIG. 7 is a plan view showing a detection area of the laser sensor 24B of the non-contact sensor 24.
- FIG. 8 is a side view showing a detection area of the laser sensor 24 ⁇ / b> B of the non-contact sensor 24.
- the control system 30 includes at least a travel controller 20, a travel route determination device 32, a verification navigation position measurement controller 33, and a safety controller 40.
- the travel controller 20 can receive signals from the gyro sensor 26 and the speed sensor 27.
- the travel route determination device 32 can receive signals from the GPS receiver 31 and the wireless communication device 34.
- the verification navigation position measurement controller 33 can receive signals or data from the non-contact sensor 24 and the map storage database 36.
- the safety controller 40 can receive a signal from the non-contact sensor 24.
- the verification navigation position measurement controller 33 includes a determination unit 33A, a verification navigation position calculation unit 33B, a map data creation unit 33C, a storage unit 33D, a diagnosis unit 33E, an observation point coordinate conversion unit 38, and an observation point availability determination unit 39. Prepare.
- the dump truck 2 includes a vehicle main body 21, a vessel 22, wheels 23, a non-contact sensor 24, and a control system 30.
- the vehicle main body 21 is provided with an engine 2E such as a diesel engine, a generator 2G operated by the engine 2E, and an electric motor 23M operated by electric power generated by the generator 2G.
- the wheel 23 includes a front wheel 23F and a rear wheel 23R.
- the rear wheel 23R is driven by the electric motor 23M.
- the power of engine 2E may be transmitted to rear wheel 23R via a transmission including a torque converter.
- the vehicle body 21 is provided with a steering device 2S that steers the front wheels 23F.
- a load is loaded on the vessel 22 by a loading machine. In the discharging operation, the vessel 22 is lifted and the load is discharged from the vessel 22.
- the non-contact sensor 24 is disposed at the lower part of the front portion of the vehicle body 21.
- the non-contact sensor 24 detects an object around the dump truck 2 in a non-contact manner.
- Objects around the dump truck 2 include objects (banks BK, side walls, etc.) that exist beside the travel route RP.
- the non-contact sensor 24 functions as an obstacle sensor that detects an obstacle in front of the dump truck 2 in a non-contact manner.
- the non-contact sensor 24 can detect the relative position of the object with respect to the non-contact sensor 24 (dump truck 2).
- the non-contact sensor 24 includes a radar 24A and a laser sensor 24B.
- the resolution of the laser sensor 24B is higher than the resolution of the radar 24A.
- the radar 24A emits radio waves, irradiates the radio waves on the object, and receives the radio waves reflected by the object. Thereby, the radar 24A can detect the direction and distance of the object with respect to the radar 24A.
- three radars 24 ⁇ / b> A are provided at intervals in the left-right direction of the vehicle main body 21.
- the laser sensor 24B emits a laser beam, irradiates the object with the laser beam, and receives the laser beam reflected by the object. Thereby, the laser sensor 24B can detect the direction and distance of the object with respect to the laser sensor 24B.
- two laser sensors 24 ⁇ / b> B are provided at intervals in the left-right direction of the vehicle main body 21.
- the two laser sensors 24B each emit a plurality of laser beams having different azimuths in the vertical direction (vertical direction), and each of the plurality of laser beams has a laser beam irradiation area IAH in the horizontal direction (horizontal direction) at a predetermined angle.
- the laser beam is swung in the left-right direction.
- the two laser sensors 24B oscillate the laser beams so that the irradiation areas IAH of the laser beams irradiated from the two laser sensors 24B overlap at the center in the left-right direction.
- the laser sensor 24B irradiates a laser beam onto an irradiation area IAV inclined downward from the vehicle body 21.
- Laser beam irradiation areas IAH and IAV are detection areas of an object or the like by the laser sensor 24B.
- the installation position of the laser sensor 24B and the irradiation area of the laser beam are determined so that an object (bank BK) near the travel route RP is disposed in the detection area of the laser sensor 24B.
- the radar 24A also has an irradiation range, but the irradiation range is not shown in FIGS.
- the non-contact sensor 24 including the radar 24 ⁇ / b> A and the laser sensor 24 ⁇ / b> B is connected to the verification navigation position measurement controller 33 via the second communication line 37 control system of the control system 30.
- FIG. 9 is a diagram illustrating a method in which the travel controller 20 of the control system 30 calculates the position and direction in the GPS travel mode according to the first embodiment.
- FIG. 10 is a diagram illustrating a method in which the reference navigation position calculation unit 33B of the reference navigation position measurement controller 33 of the control system 30 detects the position and direction in the reference navigation traveling mode according to the first embodiment.
- FIG. 13 is a diagram illustrating a part of the map data MI stored in the map storage database 36 of the control system 30 according to the first embodiment.
- FIG. 14 is an enlarged view of the XIV part in FIG.
- the control system 30 is installed in the dump truck 2.
- the control system 30 makes the dump truck 2 autonomously travel according to the travel route RP.
- the control system 30 includes a gyro sensor 26, a speed sensor 27, a GPS receiver 31, a travel route determination device 32, a verification navigation position measurement controller 33, a travel controller 20, and a non-contact type.
- a sensor 24, a wireless communication device 34, and a map storage database 36 are provided.
- the control system 30 includes a first communication line 35, a second communication line 37, and a safety controller 40.
- the travel controller 20, the travel route determination device 32, the verification navigation position measurement controller 33, the map storage database 36, and the safety controller 40 are connected to the first communication line 35. Via the data communication.
- the travel controller 20 and the safety controller 40 are also connected to the second communication line 37 and perform data communication via the second communication line 37.
- 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 and outputs detection data to the travel controller 20.
- the traveling controller 20 calculates the direction (direction change amount) of the dump truck 2 based on the detection data of the gyro sensor 26.
- the speed sensor 27 detects the rotational speed of the wheel 23 and detects the traveling speed of the dump truck 2.
- the speed sensor 27 is connected to the travel controller 20 and outputs detection data to the travel controller 20.
- the travel controller 20 calculates the travel distance of the dump truck 2 based on the detection data of the speed sensor 27 and the time data measured by a timer built in the travel controller 20.
- the GPS receiver 31 is provided in the dump truck 2 and detects the absolute position (GPS position) of the dump truck 2.
- An antenna 31A for receiving data from the positioning satellite 5 is connected to the GPS receiver 31.
- the antenna 31 ⁇ / b> A outputs a signal based on the data received from the positioning satellite 5 to the GPS receiver 31.
- the GPS receiver 31 uses the data from the positioning satellite 5 to detect the position (GPS position) of the antenna 31A.
- the GPS receiver 31 detects whether the detected GPS position is a Fix solution, a Float solution, or a Single solution indicating the accuracy.
- the GPS receiver 31 When the GPS receiver 31 detects any one of the Fix solution, the Float solution, or the Single solution indicating the accuracy of the detected GPS position, the GPS receiver 31 indicates that the GPS position is calculated together with the accuracy of the detected GPS position. Output positioning signal.
- the GPS receiver 31 outputs a non-positioning signal indicating non-positioning when the GPS position cannot be calculated.
- the positioning signal or the non-positioning signal is output to the travel controller 20 and the verification navigation position measurement controller 33 via the travel route determination device 32.
- the GPS position accuracy is the Fix solution
- the dump truck 2 can autonomously travel based on the detected GPS position.
- the GPS position accuracy is a float solution and a single solution, or when the GPS position cannot be calculated, the dump truck 2 cannot perform autonomous traveling based on the detected GPS position.
- the travel route determination device 32 is connected to a wireless communication device 34 to which an antenna 34A is connected.
- the wireless communication device 34 can receive a command signal or data transmitted from at least one of the mining machine 4 other than the management device 10 and the host vehicle.
- the mining machine 4 other than the own vehicle includes a mining machine 4 other than the dump truck 2 such as a boring machine, an excavating machine, a loading machine, a transporting machine, and a vehicle driven by an operator, and a dump truck 2 other than the own vehicle. including.
- the wireless communication device 34 receives the command signal transmitted from the wireless communication device 18 of the control facility 7 and outputs it to the travel controller 20 and the verification navigation position measurement controller 33 via the travel route determination device 32.
- the command signal includes travel condition data indicating the travel condition of the dump truck that is the host vehicle.
- the traveling condition data includes course data generated by the processing device 12 and traveling speed data of the dump truck 2.
- the course data of the host vehicle is defined by the XY coordinate system.
- the travel route determination device 32 receives the course data from the wireless communication device 34 and stores it in the route position storage unit 32A.
- the travel route determination device 32 transmits the position data and direction data of the dump truck 2 that is the host vehicle to the wireless communication device 18 of the control facility 7 via the wireless communication device 34.
- the travel route determination device 32 is connected to the first communication line 35 and transmits a command signal to various controllers such as the verification navigation position measurement controller 33 and the travel controller 20.
- the travel route determination device 32 includes an input / output unit for communication, an arithmetic processing device having a microprocessor such as a CPU (Central Processing Unit) that executes a control program, and a RAM ( Data is registered by a main storage device (internal storage device) such as Random Access Memory, an external storage device (auxiliary storage device) such as ROM (Read Only Memory) that stores control programs, and an arithmetic processing unit. And an external storage device (auxiliary storage device) such as a nonvolatile memory.
- the function of the travel route determination device 32 is realized by the arithmetic processing device reading a control program stored in the external storage device and executing it in the work area of the main storage device.
- the path position storage unit 32A is realized by an external storage device and an external storage device.
- the external storage device includes at least one of a flash memory and a hard disk drive. A plurality of processing circuits may cooperate to realize the function of the travel route determination device 32.
- the travel controller 20 includes 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.
- the travel controller 20 includes position data indicating the GPS position of the dump truck 2 detected by the GPS receiver 31 and the absolute value of the dump truck 2 calculated by the reference navigation position calculation unit 33B of the reference navigation position measurement controller 33. Position data indicating the position is received, and based on at least one of the two, the dump truck 2 autonomously travels according to the travel route RP defined by the course data.
- the travel controller 20 autonomously travels the dump truck 2 according to the travel route RP, not only the position data of the dump truck 2 but also the direction data indicating the direction (direction change amount) of the dump truck 2 which is the detection data of the gyro sensor 26. And the traveling speed data which shows the traveling speed of the dump truck 2 which is the detection data of the speed sensor 27 are acquired.
- the dump truck 2 travels according to the travel route RP exclusively in two travel modes.
- the first traveling mode includes the detection data of the GPS receiver 31, the position and direction data estimated by dead reckoning using the detection data 27 of the gyro sensor 26 and the detection data 27 of the speed sensor 27.
- This is a GPS travel mode in which the dump truck 2 autonomously travels based on the above.
- map data creation processing described later is performed, and map data MI created in the map data creation processing is stored and updated in the map storage database 36 as needed. As shown in FIG.
- the second traveling mode is a method called Scan Matching Navigation based on the map data MI created and updated in the GPS traveling mode and the detection data of the laser sensor 24B.
- This is a collation navigation travel mode in which position and azimuth data indicating the absolute position of the dump truck 2 is calculated using, and the dump truck 2 autonomously travels based on the calculated position and azimuth data of the dump truck 2.
- the verification navigation travel mode the position and direction data of the dump truck 2 are calculated by the verification navigation position calculator 33B.
- Dead-reckoning refers to navigation in which the current position and direction of an object (dump truck 2) are estimated based on an orientation (direction change amount) from a known position and a moving distance (speed).
- 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 (speed) 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 continues to update the estimated current position of the dump truck 2 every predetermined period using the dead reckoning method based on the detection signal from the gyro sensor 26 and the detection signal from the speed sensor 27.
- a control amount related to the travel of the dump truck 2 is generated so that the dump truck 2 travels according to the course data set in the travel route RP.
- 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 estimation of the position and direction of the vehicle by dead reckoning navigation is likely to cause an error due to a slight slip of the tire. That is, when the travel distance of the dump truck 2 by dead reckoning becomes longer, a large difference between the estimated position (estimated position) and the actual position is caused by accumulation of detection errors of one or both of the gyro sensor 26 and the speed sensor 27. An error may occur. As a result, the dump truck 2 may travel out of the course data generated by the processing device 12.
- the travel controller 20 calculates the position (estimated position) of the dump truck 2 calculated (estimated) by dead reckoning navigation using GPS position data and azimuth data detected by the GPS receiver 31 every predetermined period ( For example, a direction indicated by a straight line connecting the GPS position data detected this time and the previously detected GPS position data can be used as azimuth data) to correct the error accumulated by dead reckoning.
- the dump truck 2 is caused to travel while being prevented from becoming too large.
- the travel controller 20 calculates the position (estimated position) and direction (estimated direction) of the dump truck 2 calculated (estimated) by dead reckoning by the verification navigation position calculation unit 33B every predetermined period.
- the dump truck 2 is caused to travel while the error accumulated by the dead reckoning navigation does not become too large by performing correction using the collation navigation position data and the direction data.
- ta [msec] is a period in which the traveling controller 20 estimates the current position of the dump truck 2 by dead reckoning navigation based on the detection results of the gyro sensor 26 and the speed sensor 27.
- a detection signal indicating a GPS position which is a detection result of the GPS receiver 31, is input to the travel controller 20 every tb [msec].
- the estimated frequency of the position by dead reckoning is higher than the frequency at which the detection signal of the GPS detector 31 is input to the travel controller 20, that is, the frequency at which the GPS position is detected. Therefore, every time position estimation by dead reckoning is performed several times, the GPS position is input to the travel controller 20 and the current position of the dump truck 2 is corrected. Therefore, the error due to dead reckoning does not become too large.
- position data indicating the position and direction of the dump truck 2, which is the calculation result of the collation navigation position calculation unit 33B, is input to the travel controller 20 every tc [msec].
- the estimated frequency of the position by dead reckoning is higher than the frequency at which the calculation result of the verification navigation position calculation unit 33B is input to the travel controller 20, that is, the frequency at which the verification navigation position is calculated. Therefore, every time position estimation by dead reckoning is performed several times, position data by the collation navigation position calculator 33B is input to the travel controller 20 and the current position of the dump truck 2 is corrected, so that the error due to dead reckoning does not become too large. .
- every time dead reckoning navigation is performed several times it becomes the frequency that the detection data which shows a GPS position, and the position data by the collation navigation position calculating part 33B are input into the traveling controller 20.
- the frequency at which dead reckoning is performed and the frequency at which the detection signal indicating the GPS position and the position data by the collation navigation position calculation unit 33B are input to the travel controller 20 may be set to the same level.
- the travel controller 20 calculates the position and direction of the dump truck 2 by dead reckoning navigation using the detection data of the speed sensor 27 and the detection data of the gyro sensor 26.
- the detection data of the GPS receiver 31 is input to the travel controller 20
- the position and orientation calculated by dead reckoning and the detection data of the GPS receiver 31 are integrated by a Kalman filter KF (Kalman Filter).
- KF Kalman Filter
- the verification navigation position measurement controller 33 includes a determination unit 33A, a verification navigation position calculation unit 33B, a map data creation unit 33C, a storage unit 33D, and a diagnosis unit 33E.
- the verification navigation position measurement controller 33 is connected to the first communication line 35 and acquires the detection data of the gyro sensor 26 and the detection data of the speed sensor 27 via the first communication line 35 and the travel controller 20.
- the verification navigation position measurement controller 33 is connected to the GPS receiver 31 via the wireless communication device 34, the travel route determination device 32, and the first communication line 35, and acquires detection data of the GPS receiver 31.
- the determination unit 33A determines whether or not the accuracy of the GPS position detected by the GPS receiver 31 exceeds a predetermined accuracy. For example, the determination unit 33A determines whether or not the GPS position solution is a Fix solution. When the GPS position solution is the Fix solution, the determination unit 33A determines that the detected GPS position accuracy of the dump truck 2 is high (in this case, the travel controller 20 selects the GPS travel mode as the travel mode). ) If the GPS position solution is a float solution, a single solution, or the GPS position is non-positioning, the determination unit 33A determines that the accuracy of the detected GPS position of the dump truck 2 is low (in this case, the travel controller). 20), the reference navigation travel mode is selected as the travel mode.
- the predetermined accuracy is the accuracy of the GPS position at which the dump truck 2 can autonomously travel according to the travel route RP by dead reckoning navigation to be described later.
- 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 determination unit 33A determines that the accuracy of the GPS position of the dump truck 2 detected by the GPS receiver 31 exceeds a predetermined accuracy, that is, when the determination unit 33A determines that the map data generation unit 33C is highly accurate (during the GPS driving mode)
- the map data generation unit 33C is highly accurate (during the GPS driving mode)
- the map data creation unit 33C integrates the position and orientation of the dump truck 2 and the detection result of the laser sensor 24B, and deletes the detection results (for example, various noises and the ground) other than the bank BK from the integrated data. The presence and position of the bank BK is detected.
- the map data creation unit 33C stores the map data in the map storage database 36.
- the map storage database 36 may be stored in the storage device 13 in the management device 10. In this case, the map data created by the map data creation unit 33C in the dump truck 2 is transmitted to the map storage database 36 via the communication system 9.
- the map data MI shown in FIG. 12 shows the detection result of the bank BK in the area around the transport path HL.
- the transport path HL is a blank area in the center extending in the x direction in FIG. 12, and the bank BK is an area in which black and white are sparse in the upper and lower parts of FIG.
- the map data MI includes, in plan view, the position of the grid GR that divides the mine by a predetermined size in the XY coordinate system, and whether or not the bank BK exists in each grid GR. Indicates.
- Each grid GR of the map data MI includes binary data (1 bit data) indicating whether or not the bank BK exists, that is, “0” or “1”. As shown in FIGS.
- each grid GR of the map data MI is indicated by a black square in the figure as “1” when there is a bank BK, and “0” when there is no bank BK.
- the map data may be prepared not as binary data of only “0” and “1” but as continuous value data of 0 to 1 (for example, 0.5).
- the numerical value may be gradually increased from 0 to 1 as an upper limit based on the number of times the bank BK is detected in a certain grid GR.
- the map storage database 36 stores the position data of the bank BK as map data MI.
- the map storage database 36 is connected to the first communication line 35.
- the map storage database 36 is an external storage device (auxiliary storage device) configured by at least one of a ROM, a flash memory, and a hard disk drive.
- the map storage database 36 stores the detection result related to the bank BK as map data MI each time the map data creation unit 33C detects it.
- the map data MI stored in the map storage database 36 is overwritten each time the map data creation unit 33C detects the bank BK. Overwriting means changing to “1” if the bank BK is detected in the grid “0”, and maintaining “1” even if the bank BK is not detected in the grid “1”.
- the present invention is not limited to this embodiment, and the grid of “1” may be changed to “0”.
- the storage unit 33D is a main storage device (internal storage device) whose operating speed is faster than the map storage database 36.
- the determination unit 33A determines that the accuracy of the GPS position of the dump truck 2 detected by the GPS receiver 31 is equal to or lower than a predetermined accuracy, that is, low accuracy (in the verification navigation travel mode)
- the verification navigation position calculation unit 33B Based on 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 data MI read and stored in the storage unit 33D from the map storage database 36, the position of the dump truck 2 and Calculate the bearing.
- the collation navigation position calculation unit 33B may calculate the position and orientation of the dump truck 2 by calling the map data MI directly from the map storage database 36 without using the storage unit 33D.
- the diagnosis unit 33E acquires the detection data of the GPS receiver 31 and the calculation data of the verification navigation position calculation unit 33B, as will be described later.
- the diagnosis unit 33E compares the GPS position (absolute position) of the dump truck 2 derived from the detection data of the GPS detector 31 with the absolute position of the dump truck 2 calculated by the collation navigation position calculation unit 33B. The accuracy of the detection data of the detector 31 is diagnosed.
- the reference navigation position calculator 33B stores the detection data of the gyro sensor 26, the detection data of the speed sensor 27, the detection data of the laser sensor 24B, and the map storage database 36 in the reference navigation driving mode.
- the map data MI is integrated by a particle filter PF (Particle Filter) to calculate the position and orientation of the dump truck 2. A specific calculation method will be described later.
- the verification navigation position measurement controller 33 includes an observation point coordinate conversion unit 38 and an observation point availability determination unit 39.
- the observation point coordinate conversion unit 38 converts 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 into the XY coordinate system based on the position and orientation of the host vehicle. To do.
- the position of the detection result whose coordinates are converted by the observation point coordinate conversion unit 38 is defined by the X-axis direction and the height direction (Z-axis direction) orthogonal to the Y-axis direction in addition to the X-axis direction and the Y-axis direction.
- the observation point availability determination unit 39 removes various noises, detection results (ground) or the like below a predetermined height from the ground surface, as described above, from the detection results obtained by converting the coordinates by the observation point coordinate conversion unit 38.
- the observation point availability determination unit 39 uses the combined detection result as a map data creation unit 33C (used for map data creation in the GPS travel mode) and a verification navigation position calculation unit 33B (position of the host vehicle in the verification navigation travel mode). And used to calculate the orientation).
- the safety controller 40 obtains the relative position between the dump truck 2 and the object (bank BK, side wall, obstacle, etc.) based on the detection signals of the radar 24A and the laser sensor 24B.
- the safety controller 40 outputs the presence or absence of an obstacle to the travel controller 20 based on the relative position information with respect to the object.
- the travel controller 20 generates a command for controlling at least one of the accelerator, the braking device 23B, and the steering device 2S based on the signal acquired from the safety controller 40, and controls the dump truck 2 based on the command.
- the dump truck 2 is prevented from colliding with the object.
- FIG. 15 is an example of a flowchart of the control system 30 according to the first embodiment.
- FIG. 16 is an example of a flowchart of step ST4 in FIG.
- FIG. 17 is a diagram illustrating an example of a partial region of the map data MI read into the storage unit 33D from the map storage database 36 according to the first embodiment.
- FIG. 18 is a diagram illustrating an example of a detection result actually detected by the laser sensor 24B of the control system 30 according to the first embodiment.
- FIG. 19 is a diagram illustrating an example of a state in which the reference navigation position calculation unit 33B calculates the position and direction of the host vehicle based on the detection result actually detected by the laser sensor 24B of the control system 30 according to the first embodiment. .
- the travel controller 20 of the control system 30 executes step ST1 of causing the dump truck 2 to travel by dead reckoning according to the course data set in the travel route RP.
- step ST1 the travel controller 20 of the control system 30 executes step ST1 of causing the dump truck 2 to travel by dead reckoning according to the course data set in the travel route RP.
- step ST ⁇ b> 1 the frequency of position estimation by dead reckoning is higher than the GPS position detection frequency from the GPS receiver 31
- dead reckoning navigation is performed a plurality of times in step ST ⁇ b> 1.
- the determination unit 33A of the verification navigation position measurement controller 33 executes step ST2 for determining whether or not the accuracy of the GPS position is high. Specifically, the determination unit 33A of the verification navigation position measurement controller 33 determines whether or not the GPS position solution detected by the GPS receiver 31 is a Fix solution. The determination unit 33A of the verification navigation 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 accuracy of the GPS position of the dump truck 2 detected by the GPS receiver 31 is high. When it is determined that the predetermined accuracy is exceeded (step ST2: Yes), the determination result is transmitted to the travel controller 20, and the travel controller 20 shifts to the GPS travel mode or is already in the GPS travel mode. The GPS driving mode is continued (ST3).
- map data creation processing is performed by the map data creation unit 33C (step ST4), and the map data creation unit 33C creates map data MI.
- the verification navigation position measurement controller 33 follows the course data stored in the path position storage unit 32A based on the GPS position of the dump truck 2 detected by the GPS receiver 31 and the position and orientation calculated by dead reckoning navigation.
- the dump truck 2 is autonomously driven, and the detection result related to the bank BK is extracted from the detection result of the laser sensor 24B, and the detection result related to the extracted bank BK is stored in the map storage database 36 as the map data MI of the travel route RP. Execute.
- 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 based on the position and orientation of the dump truck 2 to XY. Conversion is made to the position of the coordinates indicated by the coordinates (step ST41).
- the observation point availability determination unit 39 extracts the detection result related to the bank BK from the detection result obtained by converting the coordinates by the observation point coordinate conversion unit 38 (step ST42).
- the observation point availability determination unit 39 extracts the detection result regarding the bank BK, the detection result that the laser beam seems to have detected dust, for example, from the detection result in which the coordinate is converted by the observation point coordinate conversion unit 38, You may make it remove various noises, such as the detection result which seems to have reflected the laser beam by the ground, and the detection result which the laser beam seems to have detected the lump of soil on the ground.
- the observation point availability determination unit 39 outputs the detection result from which various noises and the like are removed to the map data creation unit 33C, and the map data creation unit 33C is the detection result whose position is indicated in the XY coordinate system.
- the position of the bank BK is overwritten and stored in the map storage database 36 as map data MI composed of the grid GR (step ST43).
- “overwrite” is set to “1” (exists) if a detection result that a bank BK has been newly detected is input to the grid that has been in a “0” (not existed) state until then. Even if a detection result indicating that a new bank does not exist in the grid that has been in the state “1” until then is input, the state “1” is maintained.
- control system 1 performs steps ST1 to ST4, so that the accuracy of the GPS position of the dump truck 2 detected by the GPS receiver 31 exceeds a predetermined accuracy and the GPS driving mode is continued.
- the detection result regarding the bank BK is extracted from the detection result of the laser sensor 24B, and the detection result regarding the extracted bank BK is continuously overwritten and stored in the map data MI of the travel route RP as needed.
- the determination unit 33A of the reference navigation position measurement controller 33 determines that the solution of the GPS position detected by the GPS receiver 31 is not the Fix solution, that is, the GPS position of the dump truck 2 detected by the GPS receiver 31.
- the determination result is transmitted to the travel controller 20, and the travel controller 20 shifts to the verification navigation travel mode or is already in the verification navigation travel mode. In this case, the collation navigation driving mode is continued (ST5).
- the collation navigation position calculation unit 33B determines the position of the dump truck 2 based on the detection data of the laser sensor 24B and the map data MI stored in the map storage database 36 and read into the storage unit 33D. The azimuth is calculated, and the dump truck 2 is caused to travel according to the travel route RP (step ST6). That is, the verification navigation position measurement controller 33 calculates the position and direction of the dump truck 2 by comparing the detection result of the laser sensor 24B with the map data MI stored in the map storage database 36. Even in the collation navigation driving mode, the position and direction calculation frequency by the dead reckoning and collation navigation position calculation unit 33B is the position by the collation navigation position calculation unit 33B after several dead reckoning navigations as shown in FIG.
- the position and azimuth calculated by the reference navigation position calculator 33B are used as the current position of the dump truck 2. You may make it employ
- the reference navigation position calculation unit 33B determines the current position of the dump truck from the detection result of the laser sensor 24B based on the map data MI read from the map storage database 36 into the storage unit 33D. And the direction are calculated. In the calculation by the reference navigation position calculation unit 33B, the calculation cost is reduced by using a plurality of points (particles) PA virtually arranged within a range where the dump truck 2 is expected to exist at a certain time. The position and orientation of the dump truck 2 close to the true value are calculated. Since self-position estimation using particles is a well-known method, a detailed description is omitted.
- each square is a grid GR.
- the colored grid DR1 is a grid where the bank BK is detected, and the white grid DR3 is a grid DR3 where the bank BK is not detected.
- FIG. 18 shows detection data DR2 actually detected by the laser sensor 24B.
- the map data MI shown in FIG. 17 and the detection result of the laser sensor 24B shown in FIG. 18 are collated, and finally the dump truck 2 as shown in FIG. 19 by the self-position estimation method using particles.
- the final estimated value (expected value) PO of the position and orientation that will most likely exist is calculated. That is, the final estimated value PO is not necessarily selected from the position where any particle PA was present.
- the collation navigation position calculation unit 33B allows the grid DR1 in which the bank BK in the map data MI is detected to be the dump truck most similar to the detection data DR2 that the laser sensor 24B actually detects.
- the position and orientation (final estimated value PO) are calculated.
- the collation navigation position calculating unit 33B estimates the accuracy of the difference between the final estimated value PO and the absolute position of the dump truck 2, and the likelihood of the final estimated value PO (likelihood). ) Is also calculated.
- the grid GR in which the bank BK exists is indicated by a dense parallel oblique line, and the actual detection result of the bank BK is indicated by a rough parallel oblique line.
- the collation navigation position calculation unit 33B regards the calculated position and direction of the dump truck 2 as the current position and direction of the dump truck, and the traveling controller 20 executes dead reckoning navigation (step ST1) again, The travel (operation) of the dump truck 2 is controlled so that the truck 2 travels according to the travel route RP.
- the control system 30 executes step ST1, step ST2, step ST5, and step ST6, so that the accuracy of the GPS position of the dump truck 2 detected by the GPS receiver 31 is equal to or lower than a predetermined accuracy.
- the position and direction of the dump truck 2 are calculated by collating the detection result of the laser sensor 24B with the map data MI of the travel route RP stored in the map storage database 36.
- the travel controller 20 causes the dump truck 2 to travel by dead reckoning according to the travel route RP based on the position and orientation of the dump truck 2 calculated by the verification navigation position measurement controller 33.
- ⁇ Driving route setting method> As described above, when the dump truck 2 travels on the travel route RP, the position and direction of the dump truck 2 derived by dead reckoning navigation are based on the GPS position detected by the GPS receiver 31 in the GPS travel mode. Thus, in the case of the verification navigation travel mode, the current position and direction of the dump truck 2 are corrected based on the position and direction calculated by the verification navigation position calculation unit 33B.
- controlling the traveling of the dump truck 2 using the GPS position which is the detection data detected by the GPS receiver 31 is appropriately referred to as GPS traveling and is calculated by the reference navigation position calculation unit 33B. Controlling the traveling of the dump truck 2 using the determined position and direction is appropriately referred to as collation navigation traveling.
- a bank BK is provided beside the conveyance path HL.
- the dump truck 2 travels according to the transport route RP set by the processing device 12.
- the course data CS that defines the travel route RP in the transport path HL is set so that the bank BK is arranged in the detection area of the laser sensor 24B.
- the course data CS is set so that the laser sensor 24B detects only one bank (BK on the left side in the traveling direction) on the transport path HL.
- the verification navigation position measurement controller 33 can perform map data creation processing and verification navigation travel.
- FIG. 20 is a plan view schematically showing a partial region having a conveyance path HL and a dump truck 2 traveling along the conveyance path HL in a mine.
- This plan view is configured by a grid GR divided by a predetermined size. For example, a plurality of colors painted by detecting an object (such as a bank BK) by a non-contact sensor beside the conveyance path HL.
- a grid DR1 is displayed.
- the grid DR3 that is an area outside the transport path HL and is not colored is a grid in which an object (such as a bank BK) is not detected by the non-contact sensor. That is, this plan view includes map data MI.
- the GPS receiver 31 can detect the absolute position of the dump truck 2 by receiving a signal from the GPS, but if ionospheric scintillation or the like has occurred, the signal from the GPS is generated in the time zone in which they occur. May not be received. In order for the GPS receiver 31 to accurately detect the absolute position of the dump truck 2, it is necessary to receive signals from a plurality of GPS existing in the sky. However, in the time zone in which ionospheric scintillation or the like occurs, the number of satellites that can be received by the GPS receiver 31 decreases, thereby reducing the accuracy of absolute position detection by GPS.
- the dump truck 2 travels along a predetermined travel route RP, and the travel route RP It is necessary to detect an object (such as a bank BK) located by the non-contact sensor to create map data, that is, to place a large number of colored grids DR1 beside the travel route RP.
- an object such as a bank BK
- the completeness of the map data on the travel route RP can be increased.
- the absolute position of the dump truck 2 can be accurately calculated by the verification navigation position calculation unit 33B.
- the completeness of the map data may be improved by causing the plurality of dump trucks 2 to travel on the same travel route RP and superimposing the map data results created by the respective dump trucks 2.
- the degree of completeness of the map data is based on the ratio between the colored grid DR1 (first detection data) and the non-colored grid DR3 (second detection data) in an arbitrary area near the travel route RP. Can be determined. For example, in a predetermined area beside the travel route RP, if the ratio of the colored grid DR1 is equal to or higher than a predetermined value (even if the ratio of the uncolored grid DR3 is lower than the predetermined value), the degree of completion of the map data May be specified as high, and if the ratio of the colored grid DR1 is less than a predetermined value, the degree of completion of the map data may be specified as low.
- a certain travel route may be determined based on the number of times the dump truck 2 has traveled. For example, when the dump truck 2 has traveled a certain travel route a predetermined number of times or more, it is determined that the map data of the travel route is high, and map data is obtained for a travel route in which the travel number of the dump truck 2 is less than the predetermined number. It may be determined that the degree of completion is low.
- the collation navigation position calculation unit 33B performs collation navigation.
- a position calculation may be performed, and the completeness of the map data at the position on the travel route for which the position calculation has been performed may be specified based on the estimated accuracy or likelihood (likelihood) of the result of the position calculation.
- the estimation accuracy or likelihood of the result by position calculation by collation navigation is high, it can be determined that the completeness of the map data at the position is high, and the estimation accuracy or likelihood of the result by position calculation by collation navigation Is low, it can be determined that the completeness of the map data at the position is low.
- An area or a travel route with a low degree of completion of map data may be specified by successive positions with a low degree of completion of map data. For example, when a position, area, or travel route with a low degree of completion of map data is specified, the position, area, or travel route is output to the display device 16, and the display device 16 displays the position, area, or travel route. By doing so, the administrator may be able to confirm the position, area, or travel route where the degree of completion of the map data is low.
- an area with a high degree of completion of map data is set as a first area AR1
- an area with a low degree of completion of map data is set as a second area AR2.
- an area other than the second area AR2 is set as the first area AR1, but a specific area may be specified as the first area AR1.
- Each of the first area AR1 and the second area AR2 is specified by the specifying unit 14 in the management device 10, for example.
- the first area AR1 and the second area AR2 are defined in the global coordinate system.
- the ratio of the colored grid DR1 in the predetermined area beside the travel route as described above Can be determined based on whether or not is greater than or equal to a predetermined value.
- the ratio of the colored grid DR1 in the area determined as the second area AR2 is smaller than a predetermined value, and the other areas determined as the first area AR1 are colored.
- the ratio of the grid DR1 is larger than a predetermined value.
- the area beside the travel route can be arbitrarily determined.
- the area near the travel route may be divided into certain sections, and the ratio of the colored grid DR1 may be determined for each section.
- the ratio of the grid DR1 that is colored in a route unit having the intersection IS as both ends may be determined.
- the neighboring area in the route having both ends of IS1 and IS3 is composed of a substantially colored grid DR1, so that the map Whereas the data perfection area is high
- the adjacent area in the route having both ends of IS1 and IS2 is composed of a grid DR3 that is almost uncolored, so that the map data completion degree is low.
- the lateral width with respect to the traveling direction in the area beside the travel route can be set as appropriate.
- the administrator may manually set the first area AR1 or the second area AR2 by using the input device 17 (designating unit) in the management device 10.
- an area may be specified using the input device 17 such as a mouse while referring to the map data MI displayed on the display device 16. Then, the area information designated by the input device 17 (designating unit) is also output to the identifying unit 14 of the management device 10, and the first area AR1 or the second area AR2 is identified.
- the target specified by the input device 17 (designating unit) is not limited to the area beside the travel route, and may be specified for the travel route itself, for example.
- the input device 17 designates a first travel route with a high degree of completion of map data and a second travel route with a low degree of completion of map data.
- information related to the first area AR1 or the first travel route specified by the input device 17 (designating unit), or the second area AR2 or the second travel route is output to the travel route generation unit 19, and the travel route is determined.
- the generation unit 19 may generate a travel route based on information from the input device 17.
- the target specified by the specifying unit 14 is not limited to the embodiment in which the degree of completion of the map data in the area beside the travel route is specified.
- the degree of completion of the map data is specified in units of the travel route or the transportation route. You may make it do.
- the first area AR1 includes an area where the colored grid DR1 is equal to or greater than a predetermined ratio due to the dump truck 2 traveling for the map data creation process in the past.
- the second area AR2 includes an area where the dump truck 2 has not traveled in the past for map data creation processing.
- the second area AR2 includes an area where the dump truck 2 has traveled in the past for map data creation processing but the colored grid DR1 has not reached a predetermined ratio or more.
- the collation navigation position calculation unit 33B collates the map data with the detection data of the laser sensor 24B when an object such as a bank BK is detected, and calculates the absolute position of the dump truck 2.
- the completeness in the map data of the second area A2 is not sufficiently high.
- the absolute position of the dump truck 2 cannot be calculated. For this reason, when the dump truck 2 passes through the second area AR2 in the reference navigation travel mode, accumulation of errors due to dead reckoning navigation is not eliminated, and for example, the dump truck 2 must be stopped.
- the vehicle travels preferentially along the travel route having the second area AR2 beside it, and the second area AR2 It is desirable to increase the ratio of the colored grid DR1 by detecting an object such as a bank BK existing in the area and switch the area to the first area AR1.
- the data indicating the first area AR1 and the data indicating the second area AR2 specified by the specifying unit 14 are output to the travel route generating unit 19 in the processing device 12, and the travel route generating unit 19
- the travel route RP for traveling is preferentially set to the travel route having the second area AR2 beside it.
- the certain dumping site LPAa and the certain dumping site DPAa There are a plurality of transport paths HL, and all of one of the transport paths HLa is the first area AR1, and a part of the transport path HLb, which is another transport path, is the second area AR2.
- the travel route generation unit 19 sets the course data CS (travel route RP) in the transport route HLb having the second area AR2.
- the travel controller 20 causes the dump truck 2 to travel along the course data CS (travel route RP) set in the second area AR2 in the GPS travel mode.
- the map data creation unit 33C creates map data for the second area AR2 based on the detection data of the GPS detector 31 provided in the dump truck 2 traveling in the second area AR2 and the detection data of the laser sensor 24C. To do.
- the created map data of the second area AR2 is stored in the map storage database 36.
- the dump truck 2 when the dump truck 2 travels on the conveyance path HLb with a low degree of completion of the map data, it will make a detour to the destination, and the productivity is temporarily Will be reduced. Therefore, the dump truck 2 may be set so as to travel on the conveyance path HLb having a low degree of completeness of map data until the entire area of the second area AR2 is switched to the first area AR1 or travels the predetermined number of times HLb. Good.
- FIG. 21, like FIG. 20, is a plan view schematically showing a partial area of a mine with a high degree of map data completion on one conveyance path HLa and a low degree of map data completion on the other conveyance path HLb. is there.
- there are two dump trucks 2 a and 2 b and each dump truck is traveling toward the same destination from different positions.
- the traveling paths of the two dump trucks are usually set so that both of the two dump trucks 2a and 2b pass through the conveyance path HLa which is the shortest path.
- the solid-line travel paths extending from the dump trucks 2a and 2b in FIG. 21 are travel paths for the two dump trucks 2a and 2b to pass through the conveyance path HLa, which is the shortest path.
- the dump truck 2a may be passed through the transport path HLa having a high degree of completion of map data
- the dump truck 2b may be passed through the transport path HLb having a low degree of completion of map data.
- a broken-line travel path extending from the dump truck 2b in FIG. 21 is a travel path for passing the transport path HLb. Note that both the dump trucks 2a and 2b may pass through the conveyance path HLb having a low degree of completion of map data.
- FIG. 22 is a flowchart illustrating an example of a method of creating map data for the second area AR2 according to the first embodiment.
- the dump truck In the GPS driving mode, the dump truck is driven, and map data is generated by the map data generating unit (step ST70).
- the specifying unit 14 acquires the ratio of the colored grid DR1 in an arbitrary area beside the travel route in the map data (step ST71).
- the identifying unit 14 determines the area beside the travel route as the first area AR1 and the second area AR2 based on the acquired ratio of the colored grid DR1 (step ST72).
- the traveling route generation unit 19 preferentially sets a traveling route having the second area AR2 as a traveling route RP for traveling the dump truck 2 (step ST73).
- the travel controller 20 uses the detection data of the GPS receiver 31 and the course data CS set in the second area AR2 to The dump truck 2 is caused to travel in the two area AR2.
- the verification navigation position measurement controller 33 detects the bank BK with the laser sensor 24B during the traveling period of the dump truck 2 traveling according to the course data CS set in the second area AR2 (step ST74).
- the map data creation unit 33C creates map data for the second area AR2 based on the detection data of the GPS detector 31 provided in the dump truck 2 traveling in the second area AR2 and the detection data of the laser sensor 24C. (Step ST75).
- the created map data of the second area AR2 is stored in the map storage database 36.
- the travel route generation unit 19 does not pass the travel route having the second area AR2 having a low degree of completion of the map data. Set. In such a case, trying to pass the travel route having the second area AR2 beside it causes the worst dump truck 2 to stop and reduces productivity.
- the dump truck 2 when the second area AR2 having a low degree of completion of map data exists in the mine, the dump truck 2 identifies the second area AR2 after specifying the second area AR2.
- the dump truck 2 traveling the course data CS causes the second area AR2 map data can be created.
- the second area AR2 where the degree of completeness of the map data is low is an area where the position data of the dump truck 2 cannot be acquired by the verification navigation position calculation unit 33E.
- the routes that can be used for the reference navigation are limited.
- the dump truck 2 cannot perform the verification navigation, You have to drive in GPS driving mode. Furthermore, when it is difficult to accurately acquire the position data of the dump truck 2 with the GPS detector 31 (for example, when a Fix solution cannot be obtained), the dump truck 2 is set to the travel route set in the second area AR2. It becomes difficult to travel according to the RP, and in the worst case, the dump truck 2 stops. In this way, when the route that can be collated navigation is limited, or when the travel route RP is set in the second area AR2 where the completeness of the map data is low, the productivity of the dump truck 2 in the mine is reduced. Bring.
- the dump truck 2 when the accuracy of the GPS receiver 31 is high, the dump truck 2 is preferentially traveled on a travel route having the second area AR2 beside it, and the map data of the second area AR2 is positively collected. create. As a result, the number of route options that can be used for collation navigation can be increased, so that a reduction in productivity of the dump truck 2 in the mine can be suppressed.
- the dump truck 2 that receives the course data from the management device 10 and travels in the mine may travel on a travel route determined in advance in coordinates. In this case, it is possible to create highly accurate map data with little variation. Further, during collation navigation traveling, the vehicle travels on the same traveling route as during GPS traveling, so that accurate position calculation can be performed based on map data created during GPS traveling.
- step ST70 to step ST72 of the above-described embodiment when the frequency of the accuracy of the GPS detector 31 in the second area AR2 is high (for example, when a Fix solution cannot be obtained), the driving that is the course data creation unit The route generation unit 19 does not have to set the course data CS in the second area AR2.
- the travel route generation unit 19 sets the course data CS as a travel route that has the first area AR1 with a high degree of completion of map data.
- the storage device 13 in the management device 10 uses the detection data of the GPS detector 31 and the detection data of the laser sensor 24B provided in the first dump truck 2 when a plurality of dump trucks 2 travel in the mine.
- the first map data created based on the first map data and the second map data created based on the detection data of the GPS detector 31 provided in the second dump truck 2 and the detection data of the laser sensor 24B are integrated.
- integrated map data may be created.
- the first map data created by the map data creation unit 33C of the first dump truck 2 and the second map data created by the map data creation unit 33C of the second dump truck 2 are transmitted via the communication system 9. And transmitted to the management apparatus 10 functioning as an integration unit. Thereby, the storage device 13 can create the integrated map data by integrating the first map data and the second map data.
- the predetermined area may be the first area AR1 in the first map data, and the predetermined area may be the second area AR2 in the second map data.
- the first map data and the second map data are integrated, and the integrated map data is distributed to the first dump truck 2 and the second dump truck 2, thereby the first dump truck 2 and the second dump truck.
- Each of the two possesses map data whose predetermined area is the first area AR1, and can travel.
- switching from using the second map data to using the integrated map data increases the choices of routes that can be used for collation navigation.
- the integration unit that integrates the first map data and the second map data may be provided in the computer of at least one specific dump truck 2 among the plurality of dump trucks 2. In that case, map data from another dump truck 2 is transmitted to the specific dump truck 2.
- the specific dump truck 2 integrates map data transmitted from a plurality of other dump trucks 2 to create integrated map data, and then distributes the integrated map data to the other dump trucks 2.
- the travel route generation unit 19, the identification unit 14, and the designation unit 17 are provided in the management device 10 of the control facility 7 arranged at a position different from the dump truck 2. .
- the travel route generating unit 19, the specifying unit 14, and the specifying unit 17 may be provided in the computer of the dump truck 2.
- the travel route determination device 32 may function as the travel route generation unit 19, the specification unit 14, and the designation unit 17.
- the detection data of the laser sensor 24B among the non-contact sensors 24 is used during collation navigation traveling and GPS traveling (map data creation processing).
- the detection data of the radar 24A in the non-contact sensor 24 may be used at least one of the verification navigation traveling and the GPS traveling.
- the non-contact sensor 24 may be a distance measuring sensor that can measure a relative position with an object around the dump truck 2. For example, a camera that acquires an optical image of an object around the dump truck 2 may be used as the non-contact sensor 24.
- the specifying unit 14 specifies the area beside the travel route as either the first area AR1 having a high degree of completion of map data or the second area AR2 having a low degree of completion of map data.
- the generation unit 19 generates the travel route so as to pass the travel route having the first area AR1 preferentially.
- the generation unit 19 is not limited to the embodiment.
- the specifying unit 14 sets the intersection IS at both ends.
- a route with a high degree of map data completeness (first broad area AR1) and a route with a low degree of map data completeness (second wide area AR2) are identified, and a travel route generating unit 19 may generate the travel route so as to preferentially pass a route having a low degree of completion of the map data.
- a route with a low degree of completion of map data may be designated by the input device 17 (designation unit).
- the method described in the flowchart of FIG. 15 is used as the method for calculating the position and direction of the dump truck 2 by the verification navigation position calculation unit 33B.
- the method is not limited to this method, and the laser sensor 24B is used. Any method may be used as long as the current position and direction of the dump truck 2 are calculated by comparing the detection result obtained by the above and the stored map data.
- the present invention when determining whether the accuracy of the GPS position is high, it is determined whether the GPS position solution detected by the GPS receiver 31 is a Fix solution.
- the present invention is not limited to this. For example, even if it is a float solution, it may be determined that the accuracy of the GPS position is high if a predetermined condition is satisfied.
- the position and direction are estimated by dead reckoning in both the GPS driving mode and the verification navigation driving mode.
- the detection signal from the GPS receiver or the verification navigation position is used. If the detection period of the detection signal from the calculation unit is similar to that of dead reckoning, dead reckoning is not necessarily performed.
- the map data creation unit 33C is provided in the dump truck 2.
- the present invention is not limited to this.
- the map data creation unit 33C may be provided to transmit necessary information such as the detection result of the laser sensor 24B and the current position and direction of the dump truck 2 to the map data creation unit 33C.
- map storage database (map data) is provided in the dump truck 2, but the present invention is not limited thereto.
- the computer 11 in the management apparatus 10 or a server provided in another place, other mining machines The map data may be stored in 4 or the like, and the map data may be received from the outside of the dump truck 2 before the position and direction of the dump truck 2 are calculated by collation navigation.
- the mining machine used in the mine has been described as an example.
- the present invention is not limited thereto, and the present invention may be applied to a working machine used in an underground mine or a working machine used on a ground work site.
- the work machine includes a mining machine.
- the “work machine control system” the above-described embodiment has been described with reference to the dump truck control system in the ground mine as an example.
- the present invention is not limited thereto, and is used in other mining machines and underground mines in the ground mine.
- a work machine control system for a work machine (hydraulic excavator, bulldozer, wheel loader, etc.) used on a work machine or on the ground, which includes a “position detection device”, a “non-contact sensor”, and a “position calculation unit” Also included.
- the position of the mining machine is detected using the GPS detector.
- the present invention is not limited to this, and the position of the mining machine may be detected based on a known “position detection device”.
- GNSS cannot be detected in underground mines, for example, IMES (Indoor Messaging System), pseudo-satellite (Radio Frequency Identifier), RFID (Radio Frequency Identifier), beacons, surveying instruments, wireless LAN, UWB (UWB ( Self-localization of a working machine using an Ultra Wide Band, SLAM (Simultaneous Localization and Mapping), or a landmark (a mark provided beside the travel route) may be used. You may use these position detection apparatuses for the working machine used in the mining machine in an above-ground mine, or the work site on the ground.
- objects alongside the travel route include not only the banks and side walls provided on the travel route of the mine, but also, for example, the wall surface of the travel route in the underground mine, and the periphery of the work machine travel route on the ground work site.
- obstacles such as embankments, buildings and trees are also included.
- Management system Dump truck (mining equipment) 2E Engine 2G Generator 2S Steering device 3 Other mining machinery 4 Mining machinery 5 Positioning satellite 6 Repeater 7 Control facility 9 Communication system 10 Management device 11 Computer 12 Processing device (course data creation unit) 13 storage device 13B database 14 identification unit 15 input / output unit 16 display device 17 input device (designation unit) 18 wireless communication device 18A antenna 19 travel route generation unit 20 travel controller (travel control unit) 21 Vehicle body 22 Vessel 23 Wheel 23B Braking device 23F Front wheel 23M Motor 23R Rear wheel 24 Non-contact sensor 24A Radar 24B Laser sensor 26 Gyro sensor 27 Speed sensor 29 Interface 30 Control system 31 GPS receiver (position detection device) 31A Antenna 31B Antenna 32 Travel route determination device 32A Route position storage unit 33 Position measurement controller 33A Determination unit 33B Reference navigation position calculation unit (position calculation unit) 33C Map data creation unit 33D Storage unit (second storage unit) 33E Deriving unit 34 Wireless communication device 34A Antenna 35 First communication line 36 Map storage database 37A Second communication line 37B Third
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Abstract
Description
<鉱山機械の管理システムの概要>
図1は、実施形態1に係る鉱山機械4の管理システム1の一例を示す図である。図2は、実施形態1に係る鉱山機械4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に対してデータ及び指令信号を送信し、ダンプトラック2からデータを受信する。図1に示すように、管理装置10は、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とを備える。
次に、他の鉱山機械3について説明する。他の鉱山機械3は、ダンプトラック2以外の鉱山機械であり、作業者の操作により作動する。他の鉱山機械3は、CPU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とデータを送受信する無線通信装置とを備える。他の鉱山機械3は、所定時間毎に自機のGPS位置を管制施設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4は、実施形態1に係るダンプトラック2の制御ブロック図である。図5は、実施形態1に係るダンプトラック2のハードウエア構成図である。図6は、実施形態1に係るダンプトラック2の非接触センサ24の正面図である。図7は、非接触センサ24のレーザセンサ24Bの検出エリアを示す平面図である。図8は、非接触センサ24のレーザセンサ24Bの検出エリアを示す側面図である。
次に、制御システム30を説明する。図9は、実施形態1に係る、GPS走行モードにおいて制御システム30の走行コントローラ20が位置及び方位を演算する方法を説明する図である。図10は、実施形態1に係る、照合航法走行モードにおいて制御システム30の照合航法位置計測コントローラ33の照合航法位置演算部33Bが位置及び方位を検出する方法を説明する図である。図13は、実施形態1に係る制御システム30のマップ保存用データベース36に記憶されるマップデータMIの一部を示す図である。図14は、図13中のXIV部を拡大して示す図である。
走行コントローラ20は、CPU(Central Processing Unit)と、制御プログラムを記憶するROM(Read Only Memory)と、CPUの作業領域として使用されるRAM(Random Access Memory)と、不揮発性メモリと、を備える。走行コントローラ20は、後述するが、GPS受信器31で検出されたダンプトラック2のGPS位置を示す位置データ及び照合航法位置計測コントローラ33の照合航法位置演算部33Bで算出されたダンプトラック2の絶対位置を示す位置データを受信し、両者の少なくとも一方に基づいて、コースデータによって規定された走行経路RPに従ってダンプトラック2を自律走行させる。
図4に示すように、照合航法位置計測コントローラ33は、判定部33Aと、照合航法位置演算部33Bと、マップデータ作成部33Cと、記憶部33Dと、診断部33Eとを備える。
次に、実施形態1に係るダンプトラック2の走行モードの一例について説明する。図15は、実施形態1に係る制御システム30のフローチャートの一例である。図16は、図15のステップST4のフローチャートの一例である。図17は、実施形態1に係るマップ保存用データベース36から記憶部33Dに読み込まれたマップデータMIの一部領域の一例を示す図である。図18は、実施形態1に係る制御システム30のレーザセンサ24Bが現実に検出した検出結果の一例を示す図である。図19は、実施形態1に係る制御システム30のレーザセンサ24Bが現実に検出した検出結果に基づいて照合航法位置演算部33Bが自車両の位置及び方位を算出した状態の一例を示す図である。
上述したように、ダンプトラック2が走行経路RPを走行する場合、推測航法により導出されたダンプトラック2の位置及び方位が、GPS走行モードの場合ではGPS受信器31により検出されたGPS位置に基づいて、照合航法走行モードの場合では照合航法位置演算部33Bにより算出された位置及び方位に基づいてダンプトラック2の現在位置及び方位が補正される。以下の説明においては、GPS受信器31により検出された検出データであるGPS位置を使ってダンプトラック2の走行を制御することを適宜、GPS走行、と称し、照合航法位置演算部33Bにより算出された位置及び方位を使ってダンプトラック2の走行を制御することを適宜、照合航法走行、と称する。
以上説明したように、実施形態1によれば、鉱山においてマップデータの完成度が低い第2エリアAR2が存在する場合、その第2エリアAR2を特定した後、ダンプトラック2が第2エリアAR2を傍らに有する走行経路を走行する頻度が増えるように、敢えてコースデータCSを第2エリアAR2を傍らに有する走行経路に設定することにより、そのコースデータCSを走行するダンプトラック2によって、第2エリアAR2のマップデータを作成することができる。
なお、上述の実施形態のステップST70からステップST72において、第2エリアAR2においてGPS検出器31の精度が低下する頻度が高い場合(例えばFix解が得られない場合)、コースデータ作成部である走行経路生成部19は、その第2エリアAR2には敢えてコースデータCSを設定しなくてもよい。第2エリアAR2においてGPS受信器31の精度が低下する場合、走行経路生成部19は、コースデータCSをマップデータの完成度が高い第1エリアAR1を傍らに有する走行経路に設定する。GPS受信器31の精度が低下する頻度が高いエリアにはコースデータCSを設定しないようにすることで、ダンプトラック2は円滑に走行されるので、鉱山の生産性の低下が抑制される。
2 ダンプトラック(鉱山機械)
2E エンジン
2G 発電機
2S 操舵装置
3 他の鉱山機械
4 鉱山機械
5 測位衛星
6 中継器
7 管制施設
9 通信システム
10 管理装置
11 コンピュータ
12 処理装置(コースデータ作成部)
13 記憶装置
13B データベース
14 特定部
15 入出力部
16 表示装置
17 入力装置(指定部)
18 無線通信装置
18A アンテナ
19 走行経路生成部
20 走行コントローラ(走行制御部)
21 車両本体
22 ベッセル
23 車輪
23B 制動装置
23F 前輪
23M 電動機
23R 後輪
24 非接触センサ
24A レーダ
24B レーザセンサ
26 ジャイロセンサ
27 速度センサ
29 インターフェース
30 制御システム
31 GPS受信器(位置検出装置)
31A アンテナ
31B アンテナ
32 走行経路決定装置
32A 経路位置記憶部
33 位置計測コントローラ
33A 判定部
33B 照合航法位置演算部(位置演算部)
33C マップデータ作成部
33D 記憶部(第2記憶部)
33E 導出部
34 無線通信装置
34A アンテナ
35 第1通信線
36 マップ保存用データベース
37A 第2通信線
37B 第3通信線
38 観測点座標変換部
39 観測点利用可能判断部
40 安全コントローラ
41 ゲートウェイコントローラ
321 入出力部
322 演算処理装置
323 主記憶装置(第2記憶部)
324 外部記憶装置
325 外部記憶装置(第1記憶部)
331 入出力部
332 演算処理装置
333 主記憶装置(第2記憶部)
334 外部記憶装置
335 外部記憶装置(第1記憶部)
AR1 マップデータの完成度が高い第1エリア
AR2 マップデータの完成度が低い第2エリア
BK 土手
CR 破砕機
DPA 排土場
DR1 色塗りされたグリッド(第1検出データ)
DR2 検出データ
DR3 白塗りのグリッド(第2検出データ)
GR グリッド
HL 搬送路
IAH 照射エリア
IAV 照射エリア
IS 交差点
KF カルマンフィルタ
LPA 積込場
MI マップデータ
MIf 特定マップデータ
MIm 管理マップデータ
MIp 分割マップデータ
RP 走行経路
Claims (12)
- 走行経路を走行する作業機械の位置を検出する位置検出装置と、
前記走行経路の傍らの物体を非接触で検出する非接触センサと、
前記位置検出装置の検出データ及び前記非接触センサの検出データに基づいて、前記走行経路の傍らの前記物体の有無及び位置情報を蓄積するマップデータと、
前記作業機械が走行する前記走行経路を生成する走行経路生成部と、
前記マップデータの完成度を特定する特定部と、
を備える作業機械の管理システム。 - 前記走行経路生成部は、前記特定部により特定された前記マップデータの完成度に基づいて、前記作業機械が走行する前記走行経路を生成する、
請求項1に記載の作業機械の管理システム。 - 前記作業機械が走行する前記走行経路のマップデータの完成度が高い第1のエリア又はマップデータの完成度が高い第1の走行経路と、前記走行経路のマップデータの完成度が低い第2のエリア又はマップデータの完成度が低い第2の走行経路とを特定する特定部と、を備え、
前記走行経路生成部は、前記作業機械に優先的に前記第2のエリア又は前記第2の走行経路を通過させるように走行経路を生成する、
請求項1又は2に記載の作業機械の管理システム。 - 前記特定部は、前記作業機械が走行する前記走行経路の傍らの領域の内、マップデータの完成度が高い第1のエリア又はマップデータの完成度が高い第1の走行経路と、マップデータの完成度が低い第2のエリア又はマップデータの完成度が低い第2の走行経路とを特定し、
前記走行経路生成部は、前記作業機械に優先的に前記第2のエリアを傍らに有する走行経路又は前記第2の走行経路を通過させるように走行経路を生成する、
請求項3に記載の作業機械の管理システム。 - 前記マップデータの完成度が低い第2のエリアは、前記マップデータにおいて傍らに前記物体が検出されていないエリア、前記走行経路において傍らに前記物体が検出された領域の割合が所定値以下のエリア、前記作業機械が走行した回数が所定回数以下の走行経路の傍らの領域、の少なくとも一つを含む、
請求項3又は請求項4に記載の作業機械の管理システム。 - 前記マップデータの完成度が低い第2の走行経路は、前記非接触センサが前記物体を検出不可能な走行経路、前記マップデータを作成不可能な走行経路、傍らに前記物体が検出された領域の割合が所定値以下の走行経路、前記作業機械が走行した回数が所定回数以下の走行経路、の少なくとも一つを含む、
請求項3又は請求項4に記載の作業機械の管理システム。 - 前記非接触センサの検出結果と前記マップデータを照合させることにより前記作業機械の位置を演算する照合航法位置演算部を備え、
前記照合航法位置演算部は、演算結果における推定精度又は尤度を算出し、
前記特定部は、前記推定精度又は前記尤度の算出結果及び前記算出が行われた走行経路上の位置に基づいて、マップデータの完成度が高い第1のエリア又はマップデータの完成度が高い第1の走行経路と、前記走行経路のマップデータの完成度が低い第2のエリア又はマップデータの完成度が低い第2の走行経路とを特定し、
前記走行経路生成部は、前記作業機械に優先的に前記第2のエリアを傍らに有する走行経路又は前記第2の走行経路を通過させるように走行経路を生成する、
請求項1から請求項6のいずれか一項に記載の作業機械の管理システム。 - 前記マップデータの完成度が低いエリア又は走行経路を指定する指定部を備え、
前記特定部は、前記指定部からのマップデータの完成度が低い前記エリア又は前記走行経路の情報に基づいて、前記マップデータの完成度が低い第2のエリア又は第2の走行経路を特定する、
請求項1から請求項7のいずれか一項に記載の作業機械の管理システム。 - 第1作業機械と第2作業機械とを備え、
前記第1作業機械に設けられている前記位置検出装置の検出データと前記非接触センサの検出データとに基づいて作成された第1マップデータと、前記第2作業機械に設けられている前記位置検出装置の検出データと前記非接触センサの検出データとに基づいて作成された第2マップデータとを統合して統合マップデータを作成する統合部を備える、
請求項1から請求項8のいずれか一項に記載の作業機械の管理システム。 - 請求項1から請求項9のいずれか一項に記載の作業機械の管理システムを備える作業機械。
- 走行経路を走行する作業機械の位置を検出する位置検出装置と、
前記走行経路の傍らの物体を非接触で検出する非接触センサと、
前記位置検出装置の検出データ及び前記非接触センサの検出データに基づいて、前記走行経路の傍らの前記物体の有無及び位置情報を蓄積するマップデータと、
前記作業機械が走行する前記走行経路を生成する走行経路生成部と、
マップデータの完成度が高い第1のエリア又はマップデータの完成度が高い第1の走行経路と、マップデータの完成度が低い第2のエリア又はマップデータの完成度が低い第2の走行経路を指定する指定部と、を備え、
前記走行経路生成部は、前記指定部からの情報に基づいて、前記作業機械に優先的に前記第2のエリア又は前記第2の走行経路を通過させるように走行経路を生成する、
作業機械の管理システム。 - 作業機械の位置を検出する位置検出装置と、
前記作業機械が走行する走行経路の傍らの物体を非接触で検出する非接触センサと、
前記位置検出装置の検出データ及び前記非接触センサの検出データに基づいて、前記走行経路の傍らの前記物体の有無及び位置情報を蓄積するマップデータと、
前記作業機械が走行する前記走行経路を生成する走行経路生成部と、
マップデータの完成度が低いエリア又は走行経路を特定する特定部と、を備え、
前記走行経路生成部は、前記位置検出装置が有効な場合に、前記作業機械に前記マップデータの完成度が低いエリアを傍らに有する走行経路又は前記マップデータの完成度が低い走行経路を通過させるよう走行経路を生成し、前記位置検出装置が有効でない場合に、前記作業機械に前記マップデータの完成度が低いエリアを傍らに有する走行経路又は前記マップデータの完成度が低い走行経路以外の走行経路を通過させるよう走行経路を生成する、
作業機械の管理システム。
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Also Published As
Publication number | Publication date |
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AU2016390302B2 (en) | 2019-11-07 |
JP6672339B2 (ja) | 2020-03-25 |
JPWO2017130418A1 (ja) | 2018-11-29 |
US20190072403A1 (en) | 2019-03-07 |
CA3001963A1 (en) | 2017-08-03 |
AU2016390302A1 (en) | 2018-05-10 |
US10801852B2 (en) | 2020-10-13 |
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