WO2017209181A1 - 作業機械の管理装置、作業機械、及び作業機械の管理システム - Google Patents
作業機械の管理装置、作業機械、及び作業機械の管理システム Download PDFInfo
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- WO2017209181A1 WO2017209181A1 PCT/JP2017/020265 JP2017020265W WO2017209181A1 WO 2017209181 A1 WO2017209181 A1 WO 2017209181A1 JP 2017020265 W JP2017020265 W JP 2017020265W WO 2017209181 A1 WO2017209181 A1 WO 2017209181A1
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- WIPO (PCT)
- Prior art keywords
- data
- direction indicator
- manned vehicle
- work machine
- dump truck
- Prior art date
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- 238000004891 communication Methods 0.000 description 42
- 238000005065 mining Methods 0.000 description 40
- 238000012545 processing Methods 0.000 description 27
- 238000010586 diagram Methods 0.000 description 18
- 230000001276 controlling effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 238000002485 combustion reaction Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000004397 blinking Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/38—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction using immovably-mounted light sources, e.g. fixed flashing lamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
- E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2054—Fleet management
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2800/00—Features related to particular types of vehicles not otherwise provided for
- B60Q2800/20—Utility vehicles, e.g. for agriculture, construction work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2900/00—Features of lamps not covered by other groups in B60Q
- B60Q2900/30—Lamps commanded by wireless transmissions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Definitions
- the present invention relates to a work machine management device, a work machine, and a work machine management system.
- Patent Document 1 discloses a technique of a direction indication method in an automatic traveling automatic guided vehicle.
- direction indicators are thought to contribute to the improvement of mine safety.
- a technique for using a direction indicator in an unmanned work machine has not been established.
- An object of an aspect of the present invention is to provide a work machine management device, a work machine, and a work machine management system that can improve the safety of a mine.
- a manned vehicle data acquisition unit that acquires position data of a manned vehicle having a first direction indicator and operation data of the first direction indicator, and a target travel route of the work machine For controlling the second direction indicator of the work machine based on link data that associates the position data of the manned vehicle and the operation data of the first direction indicator.
- a work machine management device comprising: a winker data setting unit that sets winker data; and an output unit that outputs the winker data to a work machine that travels according to the target travel route.
- a manned vehicle data acquisition unit that acquires position data of a manned vehicle having a first direction indicator and operation data of the first direction indicator, and a target travel route of the work machine For controlling the second direction indicator of the work machine based on link data that associates the position data of the manned vehicle and the operation data of the first direction indicator.
- a work machine that includes a turn signal data setting unit that sets turn signal data, and that controls a second direction indicator of the work machine based on the set turn signal data.
- a manned vehicle data acquisition unit that acquires position data of a manned vehicle having a first direction indicator and operation data of the first direction indicator, and position data of the manned vehicle
- a winker data setting unit for setting winker data for controlling the second direction indicator of the work machine based on the operation data of the first direction indicator, and an output unit for outputting the winker data to the work machine
- a management system for work machines is provided.
- a work machine management device capable of improving the safety of a mine are provided.
- FIG. 1 is a diagram schematically illustrating an example of a work machine management system according to the present embodiment.
- FIG. 2 is a functional block diagram illustrating an example of a work machine management apparatus according to the present embodiment.
- FIG. 3 is a schematic diagram for explaining a target travel route of the dump truck according to the present embodiment.
- FIG. 4 is a diagram schematically illustrating an example of the dump truck according to the present embodiment.
- FIG. 5 is a control block diagram illustrating an example of a dump truck control system according to the present embodiment.
- FIG. 6 is a diagram schematically illustrating an example of a manned vehicle according to the present embodiment.
- FIG. 7 is a control block diagram illustrating an example of a manned vehicle control system according to the present embodiment.
- FIG. 1 is a diagram schematically illustrating an example of a work machine management system according to the present embodiment.
- FIG. 2 is a functional block diagram illustrating an example of a work machine management apparatus according to the present embodiment.
- FIG. 3 is a
- FIG. 8 is a flowchart showing an example of the operation of the management system according to the present embodiment.
- FIG. 9 is a diagram for explaining the mining survey traveling by the manned vehicle according to the present embodiment.
- FIG. 10 is a diagram for explaining traveling control and direction indicator control for the dump truck according to the present embodiment.
- FIG. 1 is a diagram illustrating an example of a work machine management system 1 according to the present embodiment.
- the 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 boring machine, an excavating machine, a loading machine, a transporting machine, a crusher, and a vehicle operated by a driver.
- the excavating machine is a mining machine for excavating a mine.
- 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.
- a transport machine is a mining machine for transporting a load.
- the crusher is a mining machine that crushes the soil discharged from the transporting machine.
- the mining machine 4 is movable in the mine.
- the mining machine 4 includes a dump truck 2 which is a transport machine capable of traveling in the mine, another mining machine 3 different from the dump truck 2, and a manned vehicle 8 driven by the driver.
- a dump truck 2 which is a transport machine capable of traveling in the mine
- another mining machine 3 different from the dump truck 2 and a manned vehicle 8 driven by the driver.
- the dump truck 2 is mainly managed by the management system 1.
- 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 according to a target travel route set in the transport path HL and the work place PA.
- the loading site LPA is a range in which loading work for loading the dump truck 2 is performed.
- the earth removal site DPA is a range in which a discharge operation for discharging the load from the dump truck 2 is performed.
- a crusher CR is provided in at least a part of the earth removal site DPA.
- the dump truck 2 is an unmanned dump truck that autonomously travels in a mine 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 operation of the driver.
- the management system 1 includes a management device 10 disposed in a control facility 7 installed in a mine, and a communication system 9.
- the communication system 9 includes a plurality of repeaters 6 that relay data or command signals.
- the communication system 9 wirelessly communicates data or command signals between the management device 10 and the mining machine 4.
- the communication system 9 wirelessly communicates data or command signals among the plurality of mining machines 4.
- GNSS Global Navigation Satellite System
- GPS Global Positioning System
- the GNSS has a plurality of positioning satellites 5.
- 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 position detected by the GNSS is appropriately referred to as a GPS position.
- the GPS position is an absolute position and includes latitude, longitude, and altitude coordinate data.
- the absolute position includes the estimated position of the dump truck 2 estimated with high accuracy.
- the management device 10 transmits data or a command signal to the mining machine 4 and receives data from the mining machine 4.
- 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 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 performs arithmetic processing for managing the mining machine 4.
- the storage device 13 is connected to the processing device 12 and stores data for managing the mining machine 4.
- the input device 17 is operated by an administrator to generate input data for managing the mining machine 4 and supply the input data to the processing device 12.
- the input device 17 includes, for example, at least one of a keyboard for a computer, a mouse, and a touch sensor provided on the display screen of the display device 16.
- the display device 16 includes a flat panel display such as a liquid crystal display.
- the processing device 12 performs arithmetic processing using data stored in the storage device 13, data input from the input device 17, and data acquired via the communication system 9.
- the display device 16 displays the arithmetic processing result of the processing device 12 and the like.
- the wireless communication device 18 has an antenna 18A and is disposed in the control facility 7.
- the wireless communication device 18 is connected to the processing device 12 via the input / output unit 15.
- the communication system 9 includes a wireless communication device 18.
- the wireless communication device 18 can receive data transmitted from the mining machine 4. 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 the mining machine 4.
- FIG. 2 is a functional block diagram illustrating an example of the management apparatus 10 according to the present embodiment.
- the processing device 12 of the management device 10 acquires link data that associates position data of the manned vehicle 8 having the direction indicator 86 and operation data of the direction indicator 86 from the manned vehicle 8.
- the target travel route generation unit 122 that generates the target travel route of the dump truck 2
- the manned vehicle data acquisition unit 121 the direction indicator 37 of the dump truck 2 is changed.
- a winker data setting unit 123 that sets winker data for control and an absolute position data acquisition unit 124 that acquires absolute position data of the dump truck 2 are provided.
- the blinker data is output from the input / output unit 15 functioning as an output unit to the dump truck 2 that travels according to the target travel route via the wireless communication device 18.
- the blinker data is stored in the storage device 13.
- FIG. 3 is a schematic diagram showing the dump truck 2 traveling on the conveyance path HL.
- the target travel route generation unit 122 of the processing device 12 generates travel condition data including the target travel route of the dump truck 2 traveling through the mine.
- the traveling condition data includes an aggregate of a plurality of course points PI set at a constant interval W.
- Each of the plurality of course points PI includes target absolute position data of the dump truck 2.
- the target travel route RP is an aggregate of a plurality of course points PI.
- a target travel route RP of the dump truck 2 is defined by a trajectory passing through a plurality of course points PI. For example, the dump truck 2 travels so that the reference position at any location in the host vehicle matches the target absolute position data of the course point PI ahead.
- the dump truck 2 is not limited to the embodiment that travels according to the target travel route RP that is an aggregate of a plurality of course points PI.
- the dump truck 2 travels along the target travel route RP at a position shifted from the target travel route RP. You may make it do.
- the dump truck 2 may travel on the mine transport path HL where the target travel path RP and the course point PI are not provided, and in this case, it is only necessary to travel on the area in the transport path HL. In that case, the target travel route indicates the entire transport route HL.
- Each of the plurality of course points PI includes turn signal data for controlling the direction indicator 37 of the dump truck 2.
- the blinker data is data indicating the operating condition of the direction indicator 37 when the dump truck 2 passes the position of the course point PI.
- the turn signal data includes data for turning on the turn signal lamp 37R for turning right of the direction indicator 37, data for turning on the turn signal lamp 37L for turning left of the direction indicator 37, turn signal lamp 37R for turning right and turn signal lamp for turning left. This includes data for turning on the light 37L simultaneously and data for turning off the turn signal lamp 37R and the turn signal lamp 37L.
- the winker data setting unit 123 sets the winker data in the course point PI based on the link data output from the manned vehicle 8. That is, in this embodiment, the blinker data is set based on the operation data of the direction indicator 86 of the manned vehicle 8.
- Each of the plurality of course points PI includes target absolute position data and blinker data.
- the management device 10 outputs traveling condition data including a plurality of course points PI ahead in the traveling direction to the dump truck 2 via the wireless communication device 18.
- the dump truck 2 travels in the mine according to the travel condition data transmitted from the management device 10.
- the dump truck 2 controls the direction indicator 37 according to the winker data transmitted from the management device 10.
- FIG. 4 is a diagram schematically illustrating an example of the dump truck 2 according to the present embodiment.
- the dump truck 2 includes a traveling device 21 capable of traveling in a mine, a vehicle main body 22 supported by the traveling device 21, a vessel 23 supported by the vehicle main body 22, a drive device 24 that drives the traveling device 21, and a direction.
- An indicator 37 and a control device 25 are provided.
- the traveling device 21 includes a wheel 26, an axle that rotatably supports the wheel 26, a steering device 27 that can adjust the traveling direction of the traveling device 21, and a brake device 28 that brakes the traveling device 21.
- the traveling device 21 is operated by the driving force generated by the driving device 24.
- the driving device 24 generates a driving force for accelerating the dump truck 2.
- the drive device 24 drives the traveling device 21 by an electric drive method.
- the drive device 24 includes an internal combustion engine such as a diesel engine, a generator that operates by power of the internal combustion engine, and an electric motor that operates by electric power generated by the generator.
- the driving force generated by the electric motor is transmitted to the wheels 26 of the traveling device 21. Thereby, the traveling device 21 is driven.
- the dump truck 2 is self-propelled by the driving force of the driving device 24 provided in the vehicle body 22.
- the traveling speed of the dump truck 2 is adjusted by adjusting the output of the driving device 24.
- the driving device 24 may drive the traveling device 21 by a mechanical driving method. For example, power generated in the internal combustion engine may be transmitted to the wheels 26 of the traveling device 21 via a power transmission device.
- the steering device 27 can adjust the traveling direction of the traveling device 21.
- the traveling direction of the dump truck 2 including the traveling device 21 includes the direction of the front portion of the vehicle main body 22.
- the steering device 27 adjusts the traveling direction of the dump truck 2 by changing the direction of the wheels 26.
- the brake device 28 generates a braking force for decelerating or stopping the dump truck 2.
- the control device 25 outputs an accelerator command signal for operating the drive device 24, a brake command signal for operating the brake device 28, and a steering command signal for operating the steering device 27.
- the driving device 24 generates a driving force for accelerating the dump truck 2 based on the accelerator command signal output from the control device 25.
- the brake device 28 generates a braking force for decelerating the dump truck 2 based on the brake command signal output from the control device 25.
- the steering device 27 generates a force for changing the direction of the wheels 26 in order to make the dump truck 2 go straight or turn based on the steering command signal output from the control device 25.
- the direction indicator 37 displays the traveling direction of the dump truck 2.
- the direction indicator 37 is disposed at each of the front part and the rear part of the vehicle main body 22.
- the direction indicator 37 includes a blinker lamp, and notifies the surroundings of the traveling direction of the dump truck 2 by lighting or blinking the blinker lamp.
- the direction indicator 37 includes a right turn turn signal lamp 37R that is turned on when the dump truck 2 makes a right turn, and a left turn turn signal lamp 37L that is turned on when the dump truck 2 makes a left turn.
- the right turn turn signal lamp 37 ⁇ / b> R is disposed at the right portion of the vehicle body 22, and the left turn turn signal lamp 37 ⁇ / b> L is disposed at the left portion of the vehicle body 22.
- lighting of the blinker lamp 37R is appropriately referred to as right-turn lighting
- lighting of the blinker lamp 37L is appropriately referred to as left-turn lighting.
- the dump truck 2 includes a travel speed detector 31 that detects the travel speed of the dump truck 2, an acceleration detector 32 that detects the acceleration of the dump truck 2, and a position detector 35 that detects the position of the dump truck 2. And a wireless communication device 36.
- the traveling speed detector 31 detects the traveling speed of the dump truck 2.
- the traveling speed detector 31 includes a rotational speed sensor that detects the rotational speed of the wheel 26. Since the rotational speed of the wheel 26 and the traveling speed of the dump truck 2 are correlated, the rotational speed value detected by the rotational speed sensor is converted into the traveling speed value of the dump truck 2.
- the traveling speed detector 31 may detect the rotational speed of the axle 26.
- the position detector 35 includes a GPS receiver, and detects the GPS position (coordinates) of the dump truck 2.
- the position detector 35 has a GPS antenna 35A.
- the antenna 35 ⁇ / b> A receives radio waves from the positioning satellite 5.
- the position detector 35 converts a signal based on the radio wave from the positioning satellite 5 received by the antenna 35A into an electric signal, and calculates the position of the antenna 35A.
- the GPS position of the dump truck 2 is detected by calculating the GPS position of the antenna 35A.
- the communication system 9 includes a wireless communication device 36 provided in the dump truck 2.
- the wireless communication device 36 has an antenna 36A.
- the wireless communication device 36 can wirelessly communicate with the management device 10.
- the management device 10 transmits a command signal including travel condition data of the dump truck 2 to the control device 25 via the communication system 9.
- the control device 25 drives the dump truck 2 so that the dump truck 2 travels according to the traveling condition data (including absolute position data at a plurality of course points PI) based on the traveling condition data supplied from the management device 10.
- the traveling condition data including absolute position data at a plurality of course points PI
- At least one of the device 24, the brake device 28, and the steering device 27 is controlled.
- the dump truck 2 transmits absolute position data indicating the absolute position of the dump truck 2 detected by the position detector 35 to the management apparatus 10 via the communication system 9.
- the absolute position data acquisition unit 124 of the management device 10 acquires absolute position data of a plurality of dump trucks 2 traveling in the mine. Further, the absolute position data acquisition unit 124 of the management device 10 acquires not only the dump truck 2 but also absolute position data of other mining machines 3 including the position detector 35.
- FIG. 5 is a control block diagram of the control system 20 according to the present embodiment.
- the control system 20 is mounted on the dump truck 2.
- the control system 20 includes a wireless communication device 36, a travel speed detector 31, a position detector 35, a control device 25, a drive device 24, a brake device 28, and a steering device 27.
- the direction indicator 37 is provided.
- the control device 25 includes an input / output unit 41, an operation control unit 42, a winker data acquisition unit 43, a winker control unit 44, an absolute position data acquisition unit 45, and a storage unit 46.
- the input / output unit 41 outputs turn signal data and travel condition data output from the management device 10, travel speed data indicating the travel speed of the dump truck 2 output from the travel speed detector 31, and output from the position detector 35. Position data indicating the position of the dump truck 2 is acquired.
- the input / output unit 41 outputs an accelerator command signal to the drive device 24, outputs a brake command signal to the brake device 28, and outputs a steering command signal to the steering device 27.
- the operation control unit 42 outputs an operation control signal for controlling the traveling device 21 of the dump truck 2 based on the designated traveling condition data.
- the traveling device 21 includes a brake device 28 and a steering device 27.
- the driving control unit 42 outputs a driving control signal to the traveling device 21 including the driving device 24, the brake device 28, and the steering device 27.
- the driving control signal includes an accelerator signal output to the drive device 24, a brake command signal output to the brake device 28, and a steering command signal output to the steering device 27.
- the turn signal data acquisition unit 43 acquires turn signal data for controlling the direction indicator 37 of the dump truck 2.
- the winker data acquisition unit 43 acquires the winker data output from the management device 10.
- the winker control unit 44 outputs a winker control signal to the direction indicator 37 provided in the dump truck 2 based on the winker data acquired by the winker data acquisition unit 43.
- the blinker control signal includes a lighting signal for turning on the direction indicator 37 and a turn-off signal for turning off the direction indicator 37.
- the lighting signal includes a right turn lighting signal, a left turn lighting signal, and a hazard lighting signal that simultaneously performs right turn lighting and left turn lighting.
- the absolute position data acquisition unit 45 acquires the absolute position data of the dump truck 2 from the detection data of the position detector 35.
- the storage unit 46 stores the traveling condition data of the dump truck 2 acquired by the wireless communication device 36.
- the traveling condition data includes turn signal data for controlling the direction indicator 37.
- FIG. 6 is a diagram schematically illustrating an example of the manned vehicle 8 according to the present embodiment.
- the manned vehicle 8 has a cab where the driver WM is boarded.
- the manned vehicle 8 is operated by a driver WM boarding the driver's cab.
- the manned vehicle 8 is, for example, a passenger vehicle type vehicle and is smaller than the dump truck 2.
- the manned vehicle 8 has a direction indicator 86.
- the direction indicator 86 displays the traveling direction of the manned vehicle 8.
- the direction indicator 86 is disposed at each of the front part and the rear part of the manned vehicle 8.
- the direction indicator 86 includes a blinker lamp, and notifies the surroundings of the traveling direction of the manned vehicle 8 by turning on or blinking the blinker lamp.
- the turn indicator 86 includes a right turn turn signal lamp 86R that lights or blinks when the manned vehicle 8 turns right, and a left turn turn signal lamp 86L that lights or blinks when the manned vehicle 8 turns left.
- the right turn turn signal lamp 86 ⁇ / b> R is disposed at the right portion of the manned vehicle 8
- the left turn turn signal lamp 86 ⁇ / b> L is disposed at the left portion of the manned vehicle 8.
- lighting of the blinker lamp 86R is appropriately referred to as right turn lighting
- lighting of the blinker lamp 86L is appropriately referred to as left turn lighting.
- the direction indicator 86 is operated by an operating device 87 such as a winker lever provided in the cab.
- the driver WM operates the operation device 87 to start and end the operation of the direction indicator 86.
- the direction indicator 86 starts and ends when the operation device 87 provided in the manned vehicle 8 is operated.
- the manned vehicle 8 has a wireless communication device 84.
- the wireless communication device 84 has an antenna 84A.
- the wireless communication device 84 can perform data communication with the management device 10 and the dump truck 2.
- the communication system 9 includes a wireless communication device 84.
- the manned vehicle 8 has a position detector 85 that acquires position data of the manned vehicle 8.
- the position detector 85 includes a GPS receiver and detects the GPS position (coordinates) of the manned vehicle 8.
- FIG. 7 is a control block diagram of the control system for the manned vehicle 8 according to the present embodiment.
- the control system for the manned vehicle 8 is mounted on the manned vehicle 8.
- the control system of the manned vehicle 8 includes a computer 80, a wireless communication device 84, a position detector 85, a direction indicator 86, an operation device 87, an input device 88, and a display device 89.
- the computer 80 includes an input / output unit 81, an arithmetic processing unit 82, and a storage unit 83.
- the arithmetic processing unit 82 generates link data that associates the position data of the manned vehicle 8 detected by the position detector 85 with the operation data of the direction indicator 86.
- the operation data of the direction indicator 86 includes an operation start time when the operation of the direction indicator 86 is started by operation of the operation device 87 and an operation end time when the operation of the direction indicator 86 is ended.
- the arithmetic processing unit 82 generates link data by associating the position data of the manned vehicle 8 detected by the position detector 85 and the operation data of the direction indicator 86 defined by the operation of the operation device 87.
- the link data includes position data of the manned vehicle 8 when the direction indicator 86 starts operating, and position data of the manned vehicle 8 when the direction indicator 86 ends operation.
- the storage unit 83 stores the link data generated by the arithmetic processing unit 82.
- the input / output unit 81 outputs the link data generated by the arithmetic processing unit 82 to the management device 10 via the wireless communication device 84.
- the input / output unit 81 may output the link data generated by the arithmetic processing unit 82 to the dump truck 2 via the wireless communication device 84.
- the input device 88 and the display device 89 are disposed in the cab of the manned vehicle 8.
- the input device 88 generates input data for managing the mining machine 4 and supplies it to the computer 80 by being operated by the driver WM.
- the input device 88 includes, for example, at least one of a keyboard for a computer, a mouse, and a touch sensor provided on the display screen of the display device 89.
- the display device 89 includes a flat panel display such as a liquid crystal display.
- FIG. 8 is a flowchart showing an example of the operation of the management system 1 according to the present embodiment.
- a mining survey using manned vehicles 8 is carried out.
- the manned vehicle 8 travels in the mine while being operated by the driver WM.
- FIG. 9 is a schematic diagram for explaining the mining survey traveling by the manned vehicle 8 according to the present embodiment.
- the target travel route RP is set in an unpaved mine.
- the manned vehicle 8 travels in the mine and performs a survey travel for generating the target travel route RP.
- the driver WM drives the manned vehicle 8 and travels along a candidate mine route for driving the dump truck 2.
- the manned vehicle 8 travels through the mine while transmitting the position data of the manned vehicle 8 to the management device 10.
- the position detector 85 of the manned vehicle 8 acquires the position data of the manned vehicle 8 at a predetermined sampling period, and the position data of the manned vehicle 8 detected by the position detector 85 via the wireless communication device 84 in real time. It transmits to the management apparatus 10.
- the driver WM of the manned vehicle 8 operates the operation device 87 to operate the direction indicator 86 of the manned vehicle 8.
- the traveling direction of the manned vehicle 8 can be notified to the surroundings.
- the driver WM operates the operation device 87 so that the turn signal lamp 86R for right turn is activated.
- the blinker lamp 86R is turned on or blinks.
- Driver WM operates the operation device 87 to start the operation of the blinker lamp 86R of the direction indicator 86 when the manned vehicle 8 passes the position PJa of the candidate route of the mine.
- the direction indicator 86 starts to operate when the manned vehicle 8 passes through the position PJa, and the operation of the direction indicator 86 ends when the manned vehicle 8 passes through the position PJb.
- Operation data of the direction indicator 86 generated by operating the operation device 87 is output to the arithmetic processing unit 82.
- the arithmetic processing unit 82 detects when the operation of the direction indicator 86 starts and when the operation of the direction indicator 86 ends based on the operation data of the direction indicator 86 output from the operation device 87.
- the position PJa of the manned vehicle 8 when the direction indicator 86 starts operation and the position PJb of the manned vehicle 8 when the direction indicator 86 ends operation are detected by the position detector 85 and calculated as position data.
- the data is output to the processing unit 82.
- the arithmetic processing unit 82 is based on the position data of the manned vehicle 8 and the position data indicating the position PJa of the manned vehicle 8 when the direction indicator 86 starts to operate based on the input operation data of the direction indicator 86.
- the position data indicating the position PJb of the manned vehicle 8 when the operation of the direction indicator 86 is completed can be acquired.
- the calculation processing unit 82 generates link data that associates the position data of the manned vehicle 8 with the operation data of the direction indicator 86.
- the link data may be position data indicating the position PJa of the manned vehicle 8 when the direction indicator 86 starts operating, and position data indicating the position PJb of the manned vehicle 8 when the direction indicator 86 ends operating.
- the position data of the manned vehicle 8 may be combined with the operation data of the direction indicator 86 at that position (light-off, right-turn on, left-turn on, right-turn on and left-turn on simultaneously).
- the input / output unit 81 transmits the link data generated by the arithmetic processing unit 82 to the management device 10 via the wireless communication device 84.
- the manned vehicle data acquisition unit 121 of the management device 10 acquires the position data and operation data (link data) transmitted from the manned vehicle 8 (step SP1).
- the target travel route generation unit 122 includes travel condition data including a target travel route RP that is a travel route targeted by the dump truck 2, based on the position data output from the manned vehicle 8 and acquired by the manned vehicle data acquisition unit 121. Is generated (step SP2).
- the turn signal data setting unit 123 sets turn signal data for controlling the direction indicator 37 of the dump truck 2 based on the link data acquired by the manned vehicle data acquisition unit 121 (step SP3).
- the winker data setting unit 123 sets the winker data in the target travel route RP generated by the target travel route generation unit 122, for example.
- the turn signal data setting unit 123 may add turn signal data to a plurality of course points PI on the target travel route RP. That is, the winker data setting unit 123 adds the set winker data to the traveling condition data.
- the input / output unit 15 of the management device 10 outputs travel condition data including turn signal data and the target travel route RP to the dump truck 2 via the wireless communication device 18 (step SP4).
- FIG. 10 is a schematic diagram illustrating an example of the dump truck 2 that transmits the blinker data and the target travel route RP and travels according to the winker data and the target travel route RP.
- the turn signal lamp 37R for right turn of the dump truck 2 starts to operate, and the direction indicator 86 of the manned vehicle 8 has finished operating.
- the blinker data is set so that when the dump truck 2 passes the course point PIb set at a position associated with PJb, the turn signal lamp 37R for right turn of the dump truck 2 is ended.
- the position associated with the position PJa at which the direction indicator 86 of the manned vehicle 8 starts operating is not limited to the same position as the position PJa at which the direction indicator 86 of the manned vehicle 8 starts operating.
- a position within a predetermined range from the position PJa at which the direction indicator 86 starts to operate is also included.
- a position within a predetermined range obtained by dividing the transport path HL vertically in the traveling direction is also included.
- the position associated with the position PJb at which the direction indicator 86 of the manned vehicle 8 has finished operating is the same as described above.
- the turn signal data setting unit 123 turns the turn signal data to a plurality of specific course points PI between the course point PIa and the course point PIb among the plurality of course points PI of the target travel route RP. Is added. Thereby, when the dump truck 2 turns right at the intersection IS, the blinker ramp 37R can continue to operate during a period in which the dump truck 2 travels from the course point PIa to the course point PIb.
- the blinker data for controlling the direction indicator 37 of the dump truck 2 is set based on the link data output from the manned vehicle 8. Since the direction indicator 37 is controlled based on the set turn signal data, the driver of the manned vehicle 8 around the dump truck 2 or the worker working in the mine determines the traveling direction of the dump truck 2. I can grasp it. Therefore, the safety of the mine is improved.
- the direction indicator 86 of the manned vehicle 8 starts and ends when the operation device 87 provided in the manned vehicle 8 is operated, and the turn signal data setting unit 123 displays the direction of the manned vehicle 8.
- the direction indicator 37 of the dump truck 2 starts to operate at a position associated with the position PJa at which the indicator 86 starts to operate, and the dump truck at a position associated with the position PJb at which the direction indicator 86 of the manned vehicle 8 ends operation.
- the blinker data is set so that the operation of the second direction indicator 37 is completed. In other words, the operating condition of the direction indicator 86 of the manned vehicle 8 is reproduced in the direction indicator 37 of the dump truck 2.
- the direction indicator 37 of the dump truck 2 will operate
- the blinker data is generated based on the link data acquired in the survey travel for generating the target travel route RP. Therefore, the blinker data can be generated smoothly without disturbing the operation of the dump truck 2.
- the turn signal data set by the turn signal data setting unit 123 is added to the travel condition data generated by the target travel route generation unit 122, and the travel condition data including the turn signal data is
- traveling condition data that does not include turn signal data is transmitted from the management apparatus 10 to the dump truck 2, and the vehicle travels according to the traveling condition data.
- the blinker data may be transmitted from the management device 10 to the dump truck 2 to be performed every predetermined time.
- link data is output from the manned vehicle 8 to the management device 10, but link data may be output from the manned vehicle 8 to the dump truck 2.
- the control system 20 of the dump truck 2 may set the blinker data based on the traveling condition data supplied from the management device 10 and the link data supplied from the manned vehicle 8.
- the manned vehicle 8 generates the link data based on the position data of the manned vehicle 8 and the operation data of the direction indicator 86.
- the position data and the direction of the manned vehicle 8 are used.
- the operation data of the indicator 86 is transmitted to the management device 10 via the communication system 9, and the management device 10 generates link data based on the acquired position data of the manned vehicle 8 and the operation data of the direction indicator 86. May be.
- the link data for generating the target travel route RP is acquired using the passenger car type manned vehicle 8.
- the driver WM may board the dump truck 2
- the link data may be acquired using the dump truck 2 on which the driver WM has boarded. That is, the first direction indicator and the second direction indicator may be the same direction indicator.
- the mining investigation traveling by the manned vehicle 8 is performed by the driver WM driving the manned vehicle 8 to drive the dump truck 2.
- the survey travel is not limited to this.
- the manned vehicle 8 may travel near the shoulder of the transport path HL, recognize the entire transport path HL, and then output link data for generating the target travel path RP to the management apparatus 10.
- the management device 10 may set the target travel route RP at a position away from the shoulder of the transport route HL by a predetermined distance. That is, the dump truck 2 may be used as the manned vehicle 8 for acquiring the link data.
- the link data is generated based on the position data of the manned vehicle 8 and the operation data of the direction indicator 86 in the survey traveling.
- the position data of the manned vehicle 8 and the operation data of the direction indicator 86 for generating the link data are not limited to the data acquired in the survey travel as long as the data is acquired in the travel of the manned vehicle 8.
- the position data of the manned vehicle 8 and the operation data of the direction indicator 86 acquired in the travel are included. Based on this, link data may be generated.
- the dump truck 2 is an unmanned dump truck.
- the dump truck 2 may be a manned dump truck that travels according to a driver's operation.
- an operating device such as a winker lever for operating the direction indicator 37 is provided, and the operating device is operated by the driver.
- the control system 20 intervenes in the operation of the operating device even if the driver neglects to operate the operating device, and turns on or blinks the direction indicator 37. That is, the control system 20 performs so-called assist control that assists the operation of the driver. This ensures the safety of the mine.
- each component such as the manned vehicle data acquisition unit 121, the target travel route generation unit 122, and the winker data setting unit 123 is provided in the management device 10.
- Each component such as the manned vehicle acquisition unit 121, the target travel route generation unit 122, and the winker data setting unit 123 may be provided in the dump truck 2.
- some components of the plurality of components such as the manned vehicle acquisition unit 121, the target travel route generation unit 122, and the turn signal data setting unit 123 are provided in the management device 10, and some of the components are dump trucks. 2 may be provided.
- at least a part of these components may be provided in a device or work machine other than the management device 10 and the dump truck 2.
- the work machine is a dump truck that operates in a mine on the ground.
- the work machine may be a mining machine such as a wheel loader operating in a mine on the ground.
- the working machine is described as an example of a mining machine operating in a mine, but is not limited to a mining machine.
- the components described in the above-described embodiments can be applied to any work machine used at a work site.
- SYMBOLS 1 Management system, 2 ... Dump truck (mining machine), 3 ... Other mining machine, 4 ... Mining machine, 5 ... Positioning satellite, 6 ... Repeater, 7 ... Control facility, 8 ... Manned vehicle, 9 ... Communication system DESCRIPTION OF SYMBOLS 10 ... Management apparatus, 11 ... Computer, 12 ... Processing apparatus, 13 ... Memory
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Abstract
Description
Claims (4)
- 第1方向指示器を有する有人車両の位置データと前記第1方向指示器の作動データとを取得する有人車両データ取得部と、
作業機械の目標走行経路を生成する目標走行経路生成部と、
前記有人車両の位置データと前記第1方向指示器の作動データとを関連させたリンクデータに基づいて前記作業機械の第2方向指示器を制御するためのウインカーデータを設定するウインカーデータ設定部と、
前記目標走行経路に従って走行する作業機械に前記ウインカーデータを出力する出力部と、
を備える作業機械の管理装置。 - 前記リンクデータは、前記第1方向指示器が作動開始したときの前記有人車両の位置データ及び前記第1方向指示器が作動終了したときの前記有人車両の位置データを含み、
前記ウインカーデータ設定部は、前記第1方向指示器が作動開始した位置と関連付けられた位置で前記第2方向指示器が作動開始し、前記第1方向指示器が作動終了した位置と関連付けられた位置で前記第2方向指示器が作動終了するように、前記ウインカーデータを設定する、
請求項1に記載の作業機械の管理装置。 - 第1方向指示器を有する有人車両の位置データと前記第1方向指示器の作動データとを取得する有人車両データ取得部と、
作業機械の目標走行経路を生成する目標走行経路生成部と、
前記有人車両の位置データと前記第1方向指示器の作動データとを関連させたリンクデータに基づいて前記作業機械の第2方向指示器を制御するためのウインカーデータを設定するウインカーデータ設定部と、を備え、
前記設定されたウインカーデータに基づいて、前記作業機械の第2方向指示器を制御する、
作業機械。 - 第1方向指示器を有する有人車両の位置データと前記第1方向指示器の作動データとを取得する有人車両データ取得部と、
前記有人車両の位置データ及び前記第1方向指示器の作動データに基づいて作業機械の第2方向指示器を制御するためのウインカーデータを設定するウインカーデータ設定部と、
前記作業機械に前記ウインカーデータを出力する出力部と、
を含む作業機械の管理システム。
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AU2017275215A AU2017275215B2 (en) | 2016-05-31 | 2017-05-31 | Work machine management device, work machine, and work machine management system |
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CN109154822A (zh) | 2019-01-04 |
CN109154822B (zh) | 2021-09-17 |
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CA3021954A1 (en) | 2017-12-07 |
AU2017275215A1 (en) | 2018-11-15 |
JP2017215820A (ja) | 2017-12-07 |
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