WO2018180136A1 - 路面管理システムおよび路面管理方法 - Google Patents
路面管理システムおよび路面管理方法 Download PDFInfo
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- WO2018180136A1 WO2018180136A1 PCT/JP2018/007380 JP2018007380W WO2018180136A1 WO 2018180136 A1 WO2018180136 A1 WO 2018180136A1 JP 2018007380 W JP2018007380 W JP 2018007380W WO 2018180136 A1 WO2018180136 A1 WO 2018180136A1
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- road surface
- data
- vehicle
- repair
- surface state
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- 238000007726 management method Methods 0.000 title claims description 70
- 230000008439 repair process Effects 0.000 claims abstract description 100
- 230000008859 change Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 49
- 239000000725 suspension Substances 0.000 claims description 21
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 51
- 238000004364 calculation method Methods 0.000 description 48
- 230000032258 transport Effects 0.000 description 39
- 238000000034 method Methods 0.000 description 26
- 230000008569 process Effects 0.000 description 15
- 238000012545 processing Methods 0.000 description 12
- 238000013480 data collection Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000006866 deterioration Effects 0.000 description 6
- 230000010365 information processing Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012886 linear function Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Forestry; Mining
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/08—Construction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
Definitions
- the present invention relates to a technique for managing a road surface state of a traveling path of a transport vehicle.
- the present invention relates to a technique for managing the road surface state of an unpaved road such as a mine.
- Patent Document 1 states that “the management device collects dump truck operation information via the management-side wireless communication device. The cargo is loaded from the dump truck's location included in the dump truck operation information. Based on position information of at least four locations included in the route from moving to a location to moving to a site where soil is dumped again, the routes Rg and Rr traveled by the dump truck are identified (summary excerpt). It is disclosed.
- the technique disclosed in Patent Document 1 detects road surface unevenness of the traveling road specified by the above method using dump truck operation information and makes a road surface maintenance plan.
- a repair vehicle that repairs the traveling road travels at the same time, and repairs a portion where the road surface condition has deteriorated.
- such repair by a repair vehicle is not considered at all.
- the occurrence of unevenness includes temporal and local factors such as traveling of the transport vehicle, and sudden and overall factors such as rainfall.
- the technology disclosed in Patent Document 1 cannot provide a rational and highly accurate road surface maintenance plan.
- the present invention has been made in view of the above circumstances, and is a technique for enabling efficient road surface management and improving the efficiency of road surface maintenance work in an environment where a transport vehicle repeatedly travels on an unpaved traveling road such as a mine.
- the purpose is to provide.
- the present invention is a road surface management system that divides a traveling road on which a transport vehicle travels into a plurality of segments and manages the road surface state of the traveling road for each segment, and includes an arithmetic device, a storage device, an output device, and a communication device. And a management vehicle equipped with a management vehicle, a transportation vehicle on-board terminal equipped with a first arithmetic device and a first communication device, and a repair vehicle for repairing the travel path, a second computation device and a second computing device.
- a repair vehicle in-vehicle terminal provided with a communication device, wherein the first calculation device calculates road surface state data of the traveling road based on a signal input from a sensor attached to the transport vehicle, Road surface state data is transmitted to the management server via the first communication device together with transport vehicle position data, which is the position data of the transport vehicle, and the second arithmetic unit sends the repair vehicle to the repair vehicle. Based on the signal input from the attached sensor, the work state data indicating the work state of the repair vehicle is calculated, and the calculated work state data together with the repair vehicle position data which is the position data of the repair vehicle.
- the arithmetic device is connected to the communication device, the storage device, and the output device, and the transport vehicle position data and the road surface state data are transmitted by the communication device.
- the segment including the position specified by the transport vehicle position data, the reception time, and the road surface state data are stored in the storage device in association with each other, and the repair vehicle position data and work are stored in the communication device.
- the segment is associated with the segment including the position specified by the repair vehicle position data.
- the road surface state data accumulated in the storage device is reset and the road surface state data is newly accumulated in the storage device, the segment is determined based on the accumulated plurality of road surface state data for each segment.
- a prediction function for predicting a change in the road surface condition with time is determined, a time for reaching a road surface repair threshold is calculated as a scheduled repair time according to the determined prediction function, and the calculated scheduled repair time is output to the output device.
- (A) is a side view of the dump truck of embodiment of this invention
- (b) is a functional block diagram of the conveyance vehicle vehicle-mounted terminal of embodiment of this invention.
- (A) is an example of the road surface state database of the embodiment of the present invention
- (b) is an example of the transport vehicle data
- (c) is an example of the work state database
- (d) is the same.
- (A) is a side view of the motor grader of embodiment of this invention
- (b) is a functional block diagram of the repair vehicle vehicle-mounted terminal of embodiment of this invention.
- FIG. 1 It is a functional block diagram of the management server of the embodiment of the present invention.
- (A) is an explanatory view for explaining an example of a travel route data database according to the embodiment of the present invention
- (b) is an explanatory diagram for explaining an example of the road surface data database, respectively.
- the road surface management system of the present embodiment is mainly used in an environment in which a transport vehicle repeatedly travels on an unpaved travel path such as a mine.
- the road surface state prediction function is determined using the position information received from the transport vehicle and the road surface information of the traveling road, and the position information and work information received from the repair vehicle.
- the prediction function is used to predict and notify when to repair. At this time, the change of the road surface due to the weather is taken into consideration independently of the determination of the prediction function.
- the road surface management system of the present embodiment will be described focusing on these functions.
- FIG. 1 is a schematic configuration diagram of a road surface management system 100 according to the present embodiment.
- the road surface management system 100 of this embodiment includes a work vehicle 110, a transport vehicle 120, a repair vehicle 130, a management server 140, and a wireless relay station 150.
- the number of work vehicles 110, transport vehicles 120, repair vehicles 130, and the number of wireless relay stations 150 are not limited. In the present embodiment, the road surface management system will be described as an example when used in a mine.
- Work vehicle 110 is, for example, an excavator or the like, and performs excavation work or loading work.
- the work vehicle 110 is arranged at a loading place in the mine.
- the transport vehicle 120 is, for example, a dump truck, and transports excavated materials such as crushed stones and earth and sand excavated by the work vehicle 110 from the loading site to the dumping site. During transportation, the vehicle travels on the traveling path 101 in the mine.
- the transport vehicle 120 will be described as the dump truck 120.
- the dump truck 120 includes a transport vehicle in-vehicle terminal 121 (see FIG. 2B).
- the repair vehicle 130 is, for example, a motor grader or a bulldozer.
- the traveling road 101 is not paved. For this reason, the road surface condition of the traveling path 101 deteriorates due to reciprocating traveling, rainfall, and the like repeated by the heavy dump truck 120.
- the repair vehicle 130 repairs the road surface of the traveling road 101 that has deteriorated due to such circumstances.
- the repair vehicle 130 will be described as the motor grader 130.
- the motor grader 130 includes a repair vehicle in-vehicle terminal 131 (see FIG. 4B).
- Management server 140 is located at a management station in the mine. Data is transmitted / received to / from the transport vehicle in-vehicle terminal 121 and the repair vehicle in-vehicle terminal 131 via the wireless relay station 150. In this embodiment, the data received from the transport vehicle in-vehicle terminal 121 and the repair vehicle in-vehicle terminal 131 are processed to manage the road surface of the traveling path 101 in the mine.
- FIG. 2A is a side view of the appearance of the dump truck 120
- FIG. 2B is a functional block diagram of the transport vehicle in-vehicle terminal 121 included in the dump truck 120.
- the dump truck 120 includes a vehicle body 211, left and right front wheels 212, left and right rear wheels 213, a cargo bed 214, a cab 215, left and right front wheel side suspensions 216, and left and right respectively.
- a rear wheel suspension 217 and various sensors 220 are provided.
- the transport vehicle in-vehicle terminal 121 is disposed in the cab 215, for example.
- the left and right front wheel side suspensions 216 are provided between the vehicle body 211 and the left and right front wheels 212, respectively.
- the left and right rear wheel suspensions 217 are provided between the vehicle body 211 and the left and right rear wheels 213, respectively.
- the four suspensions 216 and 217 are, for example, hydraulic cylinders.
- a speed sensor 221 As various sensors 220, as shown in FIG. 2B, a speed sensor 221, an angle sensor 222, and a pressure sensor 224 are provided.
- the speed sensor 221 is provided on each of the left and right front wheels 212 and the left and right rear wheels 213, and independently detects the rotational speed of each axis.
- the angle sensor 222 is provided on the vehicle body 211 and detects the tilt angle of the vehicle body 211.
- a pendulum sensor, MEMS, or the like is used.
- the pressure sensor 224 is a suspension pressure sensor that is provided in each of the front wheel side suspension 216 and the rear wheel side suspension 217 and detects the pressure of the hydraulic cylinder. The detected pressure is output as a suspension pressure.
- the dump truck 120 of this embodiment includes a satellite signal receiving device 122.
- the satellite signal receiving device 122 receives signals from a plurality of navigation satellites, such as a GPS (Global Positioning System) satellite.
- GPS Global Positioning System
- the satellite signal receiving device 122 is referred to as a GPS receiving device 122.
- a signal from a navigation satellite to be received is also called a GPS signal.
- the transport vehicle in-vehicle terminal 121 is connected to various sensors 220 and the GPS receiver 122 as shown in FIG.
- the road surface condition and slip ratio of the traveling road 101 are further calculated and transmitted to the management server 140 together with the position information.
- the transport vehicle in-vehicle terminal 121 of this embodiment includes a host vehicle position calculation unit 231, an operation data collection unit 232, and an operation data database (DB) 233. , A wireless communication device (first communication device) 234, a road surface state estimation unit 235, and a road surface state database (DB) 236.
- the own vehicle position calculation unit 231 is connected to the GPS receiver 122 and the operation data DB 233.
- the own vehicle position calculation unit 231 acquires the GPS signal received by the GPS receiving device 122, and calculates the own vehicle position using the GPS signal.
- GNSS Global Navigation Satellite System
- GNSS Global Navigation Satellite System
- the calculated vehicle position data is stored in the operation data DB 233 together with the GPS signal reception time.
- the navigation satellite used is not limited to the GPS satellite as described above.
- a satellite positioning system such as GLONASS, Galileo, Quasi-Zenith Satellite (QZSS), or a combination thereof may be used.
- the estimated vehicle position is a coordinate value of a predetermined coordinate system.
- the coordinate system may be, for example, a coordinate system unique to the mine, or a latitude / longitude coordinate system having coordinate values of latitude / longitude.
- this is simply referred to as an applicable coordinate system.
- the GPS signal reception time is referred to as acquisition time.
- the operation data collection unit 232 is connected to various sensors 220 and operation data DB 233 attached to each unit of the dump truck 120. From various sensors 220, sensor signals of each part of the dump truck 120 detected by the sensor 220 are collected as operation data.
- operation data For example, the speed data of each wheel from the speed sensor 221, the angle data from the angle sensor 222, and the pressure data of each suspension from the pressure sensor 224 (hereinafter referred to as suspension pressure data) are operating data. Collect as.
- each sensor signal and GPS signal are periodically acquired at approximately the same time.
- These signal values (data) are output to the operation data DB 233 together with the acquisition time.
- the operation data DB 233 stores own vehicle position data and operation data collected by the own vehicle position calculation unit 231 and the operation data collection unit 232. In this embodiment, each is stored in association with the acquisition time.
- the road surface state estimation unit 235 is connected to the operation data DB 233.
- the road surface state estimation unit 235 estimates the road surface state of the traveling road 101 using the operation data stored in the operation data DB 233.
- the road surface state estimation unit 235 calculates a road surface state amount (road surface state data) and a slip ratio as indices indicating the road surface state.
- the road surface state estimation unit 235 calculates road surface state data using the suspension pressure data and speed data of the dump truck 120.
- road surface condition data h (t) is calculated using the data acquired at time t according to the following equation (1).
- h (t) ⁇ A / v (1)
- A is a coefficient of variation within a predetermined time ⁇ before and after time t relating to the suspension pressure data, that is, from t ⁇ to t + ⁇
- v is a speed (m / sec) acquired at time t
- ⁇ is a coefficient. It is.
- the road surface state estimation unit 235 calculates the slip ratio using the speed data of the dump truck 120 acquired by the speed sensor 221.
- the slip ratio ⁇ (t) is calculated using the data acquired at time t.
- ⁇ (t)
- Vr is the wheel speed of the driving wheel at time t
- V is the wheel speed of the driven wheel at time t
- Max ⁇ is a function that returns the maximum value in ⁇
- indicates the absolute value of the value in (
- the speed data from the speed sensor 221 of the rear wheel 213 is used as the wheel speed of the driving wheel
- the speed data from the speed sensor 221 of the front wheel 212 is used as the wheel speed of the driven wheel.
- the calculation of the road surface condition data h (t) and the slip ratio ⁇ (t) is not limited to the above method.
- the road surface condition data h (t) may be calculated by using the ratio of the suspension pressure data at time t to the suspension pressure data when traveling on a flat road surface at a constant speed (for example, Japanese Patent Application Laid-Open No. 2013-2013). 166425). Further, the maximum amplitude and frequency of the suspension pressure data within a predetermined time may be obtained, and these values may be used as the road surface condition data h (t) (see, for example, International Publication No. 2015-140966).
- the calculated road surface state data h (t) and slip ratio ⁇ (t) are stored in the road surface state DB 236 in association with the acquisition time t of the operation data used for the calculation and the own vehicle position data acquired at the same time. Is done. In addition, when there is no own vehicle position data acquired at the same time as the operation data, it may be stored in association with the own vehicle position data acquired at the nearest time.
- the road surface state DB 236 includes a host vehicle position 236b, a time 236c, road surface state data 236d, and a slip ratio 236e. Further, a vehicle ID that is uniquely assigned to each dump truck 120 may be provided.
- the wireless communication device 234 transmits / receives data to / from the management server 140.
- each time new data is connected to the road surface state DB 236 and stored in the road surface state DB 236, it is transmitted to the management server 140 as transport vehicle data.
- the transport vehicle data may be transmitted periodically or in response to a request from the management server 140.
- the transport vehicle data 237 transmitted from the dump truck 120 to the management server 140 is shown in FIG.
- the transport vehicle data 237 includes a vehicle ID 237a, own vehicle position data 237b, a time 237c, a road surface state 237d, and a slip rate 237e.
- the wireless communication device 234 may also be connected to the operation data DB 233 and output data stored in the operation data DB 233 to the management server 140 periodically or in response to a request from the management server 140.
- the transport vehicle in-vehicle terminal 121 of this embodiment is realized by, for example, a general-purpose information processing device including a first arithmetic device (CPU) 123, a memory, a first storage device 124, and a communication interface (wireless communication device 234).
- the first arithmetic unit 123 loads a program stored in the first storage device 124 in advance into the memory and executes the program, so that the host vehicle position arithmetic unit 231, the operation data collection unit 232, the road surface state estimation unit 235, Realize.
- the operation data DB 233 and the road surface state DB 236 are stored in the first storage device 124.
- the transport vehicle in-vehicle terminal 121 may include a display control unit and a display for displaying processing contents.
- FIG. 4A is a side view of the appearance of the motor grader 130
- FIG. 4B is a functional block diagram of the repair vehicle in-vehicle terminal 131 provided in the motor grader 130.
- the motor grader 130 of this embodiment includes a blade 311 and a blade actuator 312 that drives the blade.
- the sensor 320 includes a speed sensor 321, an angle sensor 322, and a blade angle sensor 323.
- a satellite signal receiving device (GPS receiving device) 132 that receives a signal from the navigation satellite is provided.
- the repair vehicle vehicle-mounted terminal 131 is arrange
- the repair vehicle in-vehicle terminal 131 is connected to the sensor 320 and the GPS receiver 122, processes data acquired by these, and transmits the data to the management server 140.
- the repair vehicle in-vehicle terminal 131 further detects whether or not the motor grader 130 has performed the repair work, and transmits the detection result (work state data) to the management server 140 together with the self-position data.
- the repair vehicle in-vehicle terminal 131 of the present embodiment includes a host vehicle position calculation unit 331, an operation data collection unit 332, an operation database (DB) 333, as shown in FIG.
- a wireless communication device (second communication device) 334, a work state estimation unit 335, and a work state database (DB) 336 are provided.
- the own vehicle position calculation unit 331, the operation data collection unit 332, the operation data DB 333, and the wireless communication device 334 basically have the same functions as those of the transport vehicle in-vehicle terminal 121. Therefore, detailed description is given here. Omitted. However, the wireless communication device 334 is connected to the work state DB 336 and transmits repair vehicle data described later to the management server 140.
- the work state estimation unit 335 acquires information on whether or not the motor grader 130 is working. In the present embodiment, it is determined whether or not it is in a working state based on a sensor signal (operation data) that is connected to the operation data DB 333 and acquired and stored from the angle sensor 322 and the blade angle sensor 323.
- the work state estimation unit 335 calculates, for example, the height position of the tip portion on the lower end side of the blade 311 as a three-dimensional position using these operation data, and if the work state estimation unit 335 is less than or equal to a predetermined height threshold value, Judged as a state.
- the determination result is stored as work state data in the work state DB 336 in association with the acquisition time of the operation data used for the calculation and the own vehicle position data acquired at the same time as the road surface state data described above.
- the work state estimation unit 335 of the present embodiment calculates the slip ratio using the speed data acquired by the speed sensor 221, similarly to the road surface state estimation unit 235 of the dump truck 120.
- the work state DB 336 includes a host vehicle position 336b, a time 336c, work state data 336d, and a slip rate 336e. Further, a vehicle ID that is uniquely assigned to each motor grader 130 may be provided.
- the work state data 336d illustrates a case where 1 is stored when it is determined that there is work, and 0 is stored in other cases.
- FIG. 3D shows an example of repair vehicle data 337 transmitted from the motor grader 130 of the present embodiment to the management server 140.
- the repair vehicle data 337 includes a vehicle ID 337a, a vehicle position 337b, a time 337c, work state data 337d, and a slip rate 337e.
- the repair vehicle in-vehicle terminal 131 is also realized by a general-purpose information processing device including a second arithmetic device (CPU) 133, a memory, a second storage device 134, and a communication interface (wireless communication device 334), like the transport vehicle in-vehicle terminal 121. .
- the second calculation device 133 loads a program stored in advance in the second storage device 134 into the memory and executes it, thereby causing the host vehicle position calculation unit 331, the operation data collection unit 332, the work state estimation unit 335, Realize.
- the operation data DB 333 and the work state DB 336 are stored in the second storage device 134.
- the repair vehicle in-vehicle terminal 131 may include a display control unit and a display for displaying processing contents.
- the transport vehicle data 237 and the repair vehicle data 337 are also simply referred to as vehicle data when it is not necessary to distinguish between them.
- FIG. 5 is a functional block diagram of the management server 140 of this embodiment.
- the management server 140 calculates a prediction function that can grasp the change in the road surface state using the transport vehicle data transmitted from each dump truck 120 and each motor grader 130, and presents it to the administrator. To do.
- the prediction function uses the prediction function, the next scheduled repair time is calculated and presented to the administrator.
- the prediction function and the scheduled repair time are calculated for each segment by dividing the travel path 101 into a plurality of regions (segments).
- the management server 140 of this embodiment includes a wireless communication device 450, a data distribution unit 410, a road surface state calculation unit 420, a storage device 430, and a display device 440.
- the road surface state calculation unit 420 estimates the current value, average value, deterioration rate, etc. of the road surface state for each segment. For this reason, the road surface state calculation unit 420 includes a prediction function calculation unit 422, a repair time estimation unit 423, and a reset unit 424.
- the storage device 430 stores a travel road data DB 431, a road surface data DB 432, and an estimated value DB 433.
- the display device 440 includes a display control unit 441 and a display 442.
- the wireless communication device 450 is a communication interface that receives vehicle data transmitted from the dump truck 120 and the motor grader 130 via the wireless relay station 150. In the present embodiment, the received vehicle data is output to the data distribution unit 410.
- the travel route data DB 431 stores the location data of the travel route 101 of the entire mine divided into segments. For example, as shown in FIG. 6A, the range specified by the coordinate value of the applied coordinate system is stored for each segment. The range of the segment may be determined based on data transmitted from the dump truck 120 while the dump truck 120 reciprocates the travel path 101 a plurality of times, for example. .
- the road surface data DB 432 stores vehicle data received from each vehicle for each segment, as shown in FIG.
- a storage area is provided for each segment.
- a storage area provided for each segment in each database is referred to as a segment storage area.
- the estimated value DB 433 stores the estimated value calculated by the road surface state calculation unit 420 for each segment.
- the estimated value is, for example, a current value, an average value, a deterioration rate, or the like of the road surface condition for each segment.
- the data distribution unit 410 is connected to the wireless communication device 450 and the travel route data DB 431.
- Each vehicle data received via the wireless communication device 450 is stored in the road surface data DB 432 for each segment where the transmission source vehicle is located. Which segment the transmission source vehicle is located in is determined based on own vehicle position data in the vehicle data.
- the prediction function calculation unit 422 is connected to the road surface data DB 432 and the estimated value DB 433. Then, the prediction function calculation unit 422 calculates a prediction function based on the road surface state data accumulated in the road surface data DB 432. The prediction function is calculated for each segment.
- the prediction function calculation unit 422 plots road surface state data accumulated in a specific segment area of the road surface data DB 432 as shown in FIG.
- the horizontal axis of the graph of FIG. 7 is time [hours], and the vertical axis is road surface condition data.
- the prediction function calculation unit 422 performs fitting on the plot result by, for example, the least square method, and determines the approximate function as the prediction function 510. Then, the determined coefficient of the prediction function 510 is stored as an estimated value in the storage area of the estimated value DB 433 provided for the segment to be processed.
- the prediction function calculation unit 422 approximates the plot result with a linear function.
- the coefficient stored as the estimated value is the slope of the function. In this case, the slope indicates the deterioration rate.
- the prediction function calculation unit 422 registers the latest value of the road surface state data registered in the road surface data DB 432 as the current value 520 of the road surface state in the estimated value DB 433. Furthermore, an average value 550 or a weighted average value of the most recent road surface state data may be registered as the current value of the road surface condition.
- the prediction function calculation unit 422 may register all road surface state data used for calculation of the prediction function in the estimated value DB in association with the time.
- the repair time estimation unit 423 is connected to the estimated value DB 433.
- the scheduled repair time 530 is estimated as the repair time for each segment.
- the estimated repair time is estimated by setting a road surface repair threshold 540 and extrapolating a prediction function to estimate the time when the value of the road surface condition data exceeds the road surface repair threshold.
- the calculated scheduled repair time is stored in the estimated value DB 433.
- the reset unit 424 is connected to the road surface data DB 432 and the estimated value DB 433, and resets (discards) the accumulated data.
- work state data work presence data
- all road surface state data accumulated up to that point in the segment area are stored. Reset.
- 0 is registered as the current value in the estimated value DB 433 in association with the acquisition time of the work presence data.
- the prediction function calculation unit 422 thereafter calculates the prediction function 510 using only the newly accumulated road surface state data as shown in FIG. This is considered that when the work presence data is registered, the segment of the traveling path 101 has been repaired by the motor grader 130 and leveled. For this reason, it is because a road surface state is considered to be an initial state.
- the reset unit 424 resets the road surface state data of all the segment areas when data having a slip ratio ⁇ (t) of a threshold value or more is simultaneously registered in the road surface data DB 432 by a predetermined threshold value or more.
- the reason why the vehicle data having the slip ratio ⁇ (t) equal to or greater than the threshold value is output from a plurality of vehicles is that the road surface state of the traveling road 101 is considered to have changed significantly due to external factors such as rainfall.
- the display control unit 441 is connected to the estimated value DB 433.
- the display control unit 441 generates display data to be displayed on the display 442 using the estimated value stored in the estimated value DB 433 and causes the display 442 to display the display data.
- the display data includes, for example, road surface state data shown in FIG. 7, a prediction function 510, a current value 520, an average value 550, and a scheduled repair time 530.
- management server 140 may further include a voice output unit so as to notify the scheduled repair time 530 by voice.
- the management server 140 is realized by an information processing apparatus including a CPU (arithmetic unit) 460, a memory, a storage unit 430, a communication interface (wireless communication unit 450), and an output unit (display unit 440).
- the calculation device 460 implements the data distribution unit 410, the road surface state calculation unit 420, and the display control unit 441 by loading a program stored in the storage device 430 in advance into the memory and executing the program.
- the traveling road data DB 431, the road surface data DB 432, and the estimated value DB 433 are stored in the storage device 430.
- FIG. 8 is a processing flow of the road surface management processing of this embodiment.
- vehicle data is received from M (M is an integer of 1 or more) vehicles at substantially the same time.
- the data distribution unit 410 compares the vehicle position data with the coordinates of the travel path data DB 431, determines the segment where the vehicle that is the transmission source of the processing target vehicle data is located (step S1102), and the corresponding segment.
- the road surface state data of the number is registered in the corresponding segment area of the road surface data DB 432 (step S1103).
- the reset unit 424 determines whether or not the slip ratio of the vehicle data registered in the road surface data DB 432 is equal to or less than the slip ratio threshold ⁇ th (step S1104).
- step S1104 If the slip ratio is equal to or less than the slip ratio threshold ⁇ th (S1104; Yes), the process returns to step S1102, and the next vehicle data is processed (steps S1105 and 1106).
- Step S1110 a road surface state calculation process is performed (step S1111), and the process ends.
- the reset unit 424 increments the slip ratio counter ⁇ ct by 1 (step S1107). Then, in the vehicle data received at the same time, it is determined whether or not the number of vehicles having a slip ratio larger than the slip ratio threshold ⁇ th (high slip ratio vehicle) exceeds a predetermined number threshold Nth. Here, it is determined whether or not ⁇ ct is equal to the number threshold Nth (step S1108).
- the number threshold Nth is set to a value appropriate for such determination. For example, 40%, half of all vehicles, etc.
- step S1108 when the number of high slip ratio vehicles reaches the number threshold Nth (Yes), the reset unit 424 sets a slip flag (step S1109), and proceeds to S1111.
- FIG. 9 is a processing flow of the road surface state calculation processing of this embodiment.
- the road surface state calculation process is performed only for the segment in which data is newly registered in the road surface data DB 432.
- the number of segments in which data is newly registered is K.
- the road surface condition calculation unit 420 first determines whether or not a slip flag is set (step S2101).
- the road surface state calculation unit 420 determines whether or not the transmission source of the newly registered vehicle data is the dump truck 120 (step S2103). The determination is made based on the vehicle ID of the vehicle data.
- the prediction function calculation unit 422 determines a prediction function using all the vehicle data stored in the segment area of the road surface data DB 432 (step S2104).
- the prediction function calculation unit 422 obtains the calculated coefficient of the prediction function as the deterioration rate. Moreover, an average value is calculated using all the vehicle data accumulated in the segment area (step S2105). For example, when the prediction function is a linear function, the gradient is used as the deterioration rate.
- the prediction function calculation unit 422 extrapolates the prediction function and predicts the scheduled repair time (step S2106).
- the prediction function calculation unit 422 stores estimated values such as the calculated average value, deterioration rate, and scheduled repair time in the estimated value DB 433 (step S2107).
- the display control unit 441 uses the data stored in the estimated value DB 433 to generate display image data and display it on the display 442, thereby updating the display on the display 442 (step S2108).
- step S2103 determines whether or not work is registered as the work state data (step S2111). If there is no work, the process proceeds to step S2108.
- the reset unit 424 performs a reset process for resetting all road surface state data of the currently processed segment (step S2112), and estimates 0 as the road surface state data. Register in the DB 433 and proceed to Step S2108.
- the road surface state calculation unit 420 repeats the above processing for all segments for which data has been newly registered (steps S2109 and S2110), and ends the processing.
- the reset unit 424 performs a reset process for resetting road surface state data of all segments in the road surface data DB 432 (step S2121). At this time, the reset unit 424 registers 0 as road surface state data for each segment of the estimated value DB 433.
- the display control unit 441 generates display image data for all segments using the data in the estimated value DB 433 after the reset process, and updates the display on the display 442 by displaying the data on the display 442 (step S2123). Exit.
- the self-position data that is mounted on the dump truck 120 and is the position of the dump truck 120, the road surface state data of the travel path 101 of the dump truck 120, and the dump truck 120 The vehicle-mounted on-vehicle terminal 121 that periodically transmits the slip rate, the self-position data that is mounted on the motor grader 130, the position data of the motor grader 130, the work state data, and the slip rate of the motor grader 130 are periodically transmitted.
- the repair vehicle in-vehicle terminal 131 and the management server 140 are provided. Then, the management server 140 divides the traveling path 101 on which the dump truck 120 travels into a plurality of segments, and manages the road surface state of the traveling path 101 for each segment.
- the management server 140 associates the segment including the position specified by the self-position data with the reception time and the road surface data. Accumulate in the road surface data DB 432. Further, each time the management server 140 receives the self-position data and the work status data indicating “work is present” from the motor grader 130, the management server 140 includes the position specified by the self-position data stored in the road surface data DB 432. Every time the road surface data of the segment is reset and new road surface state data is accumulated in the road surface data DB 432, the road surface of the segment based on a plurality of accumulated road surface state data for each segment. A prediction function for predicting a change in state due to time is determined, and a time for reaching a repair scheduled time road surface repair threshold is calculated according to the determined prediction function and output to an output device.
- the repair time is predicted based on the determined prediction function. For this reason, it is possible to make a highly accurate prediction in accordance with the actual situation. Since the manager can make a repair plan based on this highly accurate prediction, a rational and highly accurate road surface maintenance plan can be made, and road surface management can be performed efficiently.
- the slip ratio is received from each vehicle, and the fluctuation of the slip ratio data is also monitored. Then, at the same time, when the slip rate from a predetermined number or more of vehicles exceeds a predetermined value, the prediction function is reset. This is because when the slip rate of a predetermined number or more vehicles is high at the same time, it means that it has become rainy. In this case, the prediction function for the entire mine is reset. That is, according to the present embodiment, not only the road surface state data but also the slip rate is taken into consideration to determine the road surface change state. For this reason, even if the road surface condition changes significantly due to changes in the weather, such as rain, it is possible to respond appropriately.
- road surface state data, slip ratio, and work state data are calculated on the vehicle side and transmitted to the management server 140, respectively.
- the vehicle position data, the acquisition time, and the operation state data may be transmitted from the vehicle to the management server 140 and may be calculated on the management server 140 side using these data.
- the estimated repair time is displayed on the display 442 to notify the administrator.
- the notification method to the manager is not limited to this.
- the notification may be made by voice or the like.
- SYMBOLS 100 Road surface management system, 101: Traveling road, 110: Work vehicle, 120: Dump truck (carrying vehicle), 121: Carrying vehicle vehicle-mounted terminal, 122: GPS receiver (satellite signal receiver), 123: 1st arithmetic unit , 124: first storage device, 130: motor grader (repair vehicle), 131: repair vehicle in-vehicle terminal, 133: second arithmetic device, 134: second storage device, 140: management server, 150: wireless relay station, 211: body, 212: front wheel, 213: rear wheel, 214: cargo bed, 215: cab, 216: front wheel side suspension, 217: rear wheel side suspension, 220: sensor, 221: speed sensor, 222: angle sensor, 224: Pressure sensor, 231: Own vehicle position calculation unit, 232: operation data collection unit, 233: operation data DB, 234: wireless communication device (first communication device), 235: road surface state estimation unit, 236: road surface
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Abstract
Description
まず、ダンプトラック120の構成について説明する。図2(a)は、ダンプトラック120の外観の側面図であり、図2(b)は、ダンプトラック120が備える運搬車両車載端末121の機能ブロック図である。
運搬車両車載端末121は、図2(b)に示すように、各種のセンサ220およびGPS受信装置122に接続され、これらで取得したデータを処理し、管理サーバ140に送信する。本実施形態では、さらに、走行路101の路面状況とスリップ率とを算出し、位置情報とともに管理サーバ140に送信する。
h(t)=αA/v ・・・(1)
ここで、Aは、サス圧データに関する時刻t前後の所定時間β内すなわちt-βからt+βまでの変動係数であり、vは、時刻tに取得された速度(m/sec)、αは係数である。
λ(t)=|(Vr-V)/Max{Vr,V}| ・・・(2)
ここで、Vrは、時刻tの駆動輪の車輪速度、Vは、時刻tの従動輪の車輪速度、Max{}は、{}内の値の最大値を返す関数であり、||は、||内の値の絶対値を示す(例えば、特許第5336447号公報参照)。本実施形態では、例えば、後輪213の速度センサ221からの速度データを、駆動輪の車輪速度とし、前輪212の速度センサ221からの速度データを従動輪の車輪速度として用いる。
次に、モータグレーダ130について説明する。図4(a)は、モータグレーダ130の外観の側面図であり、図4(b)は、モータグレーダ130が備える補修車両車載端末131の機能ブロック図である。
補修車両車載端末131は、図3(b)に示すように、センサ320およびGPS受信装置122に接続され、これらで取得したデータを処理し、管理サーバ140に送信する。本実施形態では、補修車両車載端末131は、さらに、モータグレーダ130が補修作業を行ったか否かを検出し、検出結果(作業状態データ)を自己位置データとともに管理サーバ140に送信する。
次に、管理サーバ140について説明する。図5は、本実施形態の管理サーバ140の機能ブロック図である。
211:車体、212:前輪、213:後輪、214:荷台、215:キャブ、216:前輪側サスペンション、217:後輪側サスペンション、220:センサ、221:速度センサ、222:角度センサ、224:圧力センサ、231:自車位置演算部、232:稼働データ収集部、233:稼働データDB、234:無線通信装置(第1通信装置)、235:路面状態推定部、236:路面状態DB、236b:自車位置、236c:時刻、236d:路面状態データ、236e:スリップ率、237:運搬車両データ、237a:車両ID、237c:時刻、237b:自車位置データ、237d:路面状態、237e:スリップ率、
311:ブレード、312:ブレードアクチュエータ、320:センサ、321:速度センサ、322:角度センサ、323:ブレード角度センサ、331:自車位置演算部、332:稼働データ収集部、333:稼働データDB、334:無線通信装置(第2通信装置)、335:作業状態推定部、336:作業状態DB、336b:自車位置、336c:時刻、336d:作業状態データ、336e:スリップ率、337:補修車両データ、337a:車両ID、337c:時刻、337b:自車位置データ、337d:作業状態データ、337e:スリップ率、
410:データ分配部、420:路面状態演算部、422:予測関数算出部、423:補修時期推定部、424:リセット部、430:記憶装置、431:走行路データDB、432:路面データDB、433:推定値DB、440:表示装置、441:表示制御部、442:ディスプレイ、450:無線通信装置、460:演算装置、
510:予測関数、520:現在値、530:補修予定時刻、540:路面補修閾値、550:平均値、h:路面状態データ、λ:スリップ率
Claims (4)
- 運搬車両が走行する走行路を複数のセグメントに分割し、セグメント毎に前記走行路の路面状態を管理する路面管理システムであって、
演算装置と記憶装置と出力装置と通信装置とを備える管理サーバと、
前記運搬車両に搭載され、第1演算装置と第1通信装置とを備える運搬車両車載端末と、
前記走行路を補修する補修車両に搭載され、第2演算装置と第2通信装置とを備える補修車両車載端末と、を備え、
前記第1演算装置は、前記運搬車両に取り付けられたセンサから入力された信号に基づき前記走行路の路面状態データを算出し、算出した前記路面状態データを、当該運搬車両の位置データである運搬車両位置データとともに、前記第1通信装置を介して前記管理サーバに送信し、
前記第2演算装置は、前記補修車両に取り付けられたセンサから入力された信号に基づき当該補修車両の作業状態を示す作業状態データを算出し、算出した前記作業状態データを、当該補修車両の位置データである補修車両位置データとともに、前記第2通信装置を介して前記管理サーバに送信し、
前記演算装置は、
前記通信装置と前記記憶装置と前記出力装置とに接続され、
前記通信装置で前記運搬車両位置データおよび前記路面状態データを受信する毎に、当該運搬車両位置データで特定される位置を含む前記セグメントと受信時刻と当該路面状態データとを対応づけて前記記憶装置に蓄積し、
前記通信装置で前記補修車両位置データおよび作業有を示す前記作業状態データを受信する毎に、当該補修車両位置データで特定される位置を含む前記セグメントに対応づけて前記記憶装置に蓄積された前記路面状態データをリセットし、
前記記憶装置に新たに前記路面状態データが蓄積される毎に、前記セグメント毎に、蓄積された複数の前記路面状態データに基づいて当該セグメントの路面状態の時間による変化を予測する予測関数を決定し、決定した前記予測関数に従って、補修予定時刻として路面補修閾値に達する時間を算出し、
前記出力装置に算出した前記補修予定時刻を出力すること
を特徴とする路面管理システム。 - 請求項1記載の路面管理システムであって、
前記運搬車両に取り付けられたセンサは、
前記運搬車両の速度を検出する速度センサと、
前記運搬車両のサスペンション圧を検出するサスペンション圧センサと、を含み、
前記第1演算装置は、前記サスペンション圧の変動係数を前記運搬車両の速度で除算することにより、前記路面状態データを算出すること
を特徴とする路面管理システム。 - 請求項1記載の路面管理システムであって、
前記第1演算装置は、前記センサからの信号に基づき前記運搬車両のスリップ率を算出し、前記運搬車両位置データとともに当該スリップ率をさらに送信し、
前記第2演算装置は、前記センサからの信号に基づき前記補修車両のスリップ率を算出し、前記補修車両位置データとともに当該スリップ率をさらに周期的に送信し、
前記演算装置は、前記通信装置で前記スリップ率を受信する毎に、スリップ率閾値と比較し、前記スリップ率が前記スリップ率閾値より大きい前記運搬車両および前記補修車両の台数を積算し、積算値が台数閾値以上である場合、前記記憶装置に蓄積された全てのセグメントの全ての前記路面状態データをリセットすること
を特徴とする路面管理システム。 - 運搬車両が走行する走行路を複数のセグメントに分割し、セグメント毎に前記走行路の路面状態を管理する路面管理システムにおける路面管理方法であって、
前記路面管理システムは、演算装置と記憶装置と出力装置と通信装置とを備える管理サーバと、前記運搬車両に搭載され、第1演算装置と第1通信装置とを備える運搬車両車載端末と、前記走行路を補修する補修車両に搭載され、第2演算装置と第2通信装置とを備える補修車両車載端末と、を備え、
前記第1演算装置は、前記運搬車両に取り付けられたセンサから入力された信号に基づき前記走行路の路面状態データを算出し、算出した前記路面状態データを、当該運搬車両の位置データである運搬車両位置データとともに、前記第1通信装置を介して前記管理サーバに送信し、
前記第2演算装置は、前記補修車両に取り付けられたセンサから入力された信号に基づき当該補修車両の作業状態を示す作業状態データを算出し、算出した前記作業状態データを、当該補修車両の位置データである補修車両位置データとともに、前記通信装置を介して前記管理サーバに周期的に送信し、
前記演算装置は、
前記通信装置と前記記憶装置と前記出力装置とに接続され、
前記通信装置で前記運搬車両位置データおよび前記路面状態データを受信する毎に、当該運搬車両位置データで特定される位置を含む前記セグメントと受信時刻と当該路面状態データとを対応づけて前記記憶装置に蓄積するとともに、前記通信装置で前記補修車両位置データおよび作業有を示す前記作業状態データを受信する毎に、当該補修車両位置データで特定される位置を含む前記セグメントに対応づけて前記記憶装置に蓄積された前記路面状態データをリセットし、
前記記憶装置に新たに前記路面状態データが蓄積される毎に、前記セグメント毎に、蓄積された複数の前記路面状態データに基づいて当該セグメントの路面状態の時間による変化を予測する予測関数を決定し、
決定した前記予測関数に従って、補修予定時刻として路面補修閾値に達する時間を算出し、
前記出力装置に前記補修予定時刻を出力すること
を特徴とする路面管理方法。
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CA3035328C (en) | 2021-07-13 |
US11105050B2 (en) | 2021-08-31 |
JP6694113B2 (ja) | 2020-05-13 |
US20190186086A1 (en) | 2019-06-20 |
EP3493123A4 (en) | 2019-12-18 |
AU2018246069B2 (en) | 2021-03-04 |
CA3035328A1 (en) | 2018-10-04 |
CN109791644A (zh) | 2019-05-21 |
AU2018246069A1 (en) | 2019-03-21 |
CN109791644B (zh) | 2022-12-13 |
EP3493123A1 (en) | 2019-06-05 |
JPWO2018180136A1 (ja) | 2019-06-27 |
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