WO2021256118A1 - 無人車両の制御システム、無人車両、及び無人車両の制御方法 - Google Patents
無人車両の制御システム、無人車両、及び無人車両の制御方法 Download PDFInfo
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- WO2021256118A1 WO2021256118A1 PCT/JP2021/017762 JP2021017762W WO2021256118A1 WO 2021256118 A1 WO2021256118 A1 WO 2021256118A1 JP 2021017762 W JP2021017762 W JP 2021017762W WO 2021256118 A1 WO2021256118 A1 WO 2021256118A1
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- unmanned vehicle
- vehicle
- traveling
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- 238000000034 method Methods 0.000 title description 6
- 238000004891 communication Methods 0.000 description 25
- 238000001514 detection method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 5
- 230000003111 delayed effect Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005401 electroluminescence Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
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- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0086—Surveillance aids for monitoring terrain
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
Definitions
- This disclosure relates to an automated guided vehicle control system, an automated guided vehicle, and a method for controlling an automated guided vehicle.
- an unmanned vehicle that runs unmanned along the running course may be used.
- a manned vehicle that runs by the operator's operation may be used together with an unmanned vehicle.
- an automated guided vehicle travels to the side of a manned vehicle, it is desirable to limit the traveling speed of the automated guided vehicle for safety.
- the productivity of the work site may decrease.
- the aspect of this disclosure is to ensure the safety of the work site where the automatic guided vehicle operates and to suppress the decrease in productivity.
- the traveling condition data generation unit that generates the traveling condition data including the traveling course of the unmanned vehicle and the traveling speed of the unmanned vehicle, and the traveling condition data generated by the traveling condition data generation unit.
- a travel control unit that controls the unmanned vehicle based on the above, and the travel condition data generation unit is based on information indicating the safety level when the unmanned vehicle travels on the side of the manned vehicle.
- An automatic guided vehicle control system is provided that changes the speed limit of the vehicle's travel speed.
- FIG. 1 is a diagram schematically showing an example of a control system and an automatic guided vehicle according to an embodiment.
- FIG. 2 is a diagram schematically showing an unmanned vehicle and a traveling path according to an embodiment.
- FIG. 3 is a functional block diagram showing a control system for an automatic guided vehicle according to an embodiment.
- FIG. 4 is a flowchart showing a control method of an automatic guided vehicle according to an embodiment.
- FIG. 5 is a schematic diagram showing an example of the speed limit of an automatic guided vehicle.
- FIG. 6 is a schematic diagram showing another example of the speed limit of an automatic guided vehicle.
- FIG. 7 is a block diagram showing an example of a computer system according to an embodiment.
- FIG. 1 is a diagram schematically showing an example of a control system 1 and an unmanned vehicle 2 according to the present embodiment.
- FIG. 2 is a diagram schematically showing an automatic guided vehicle 2 and a travel path HL according to an embodiment.
- FIG. 3 is a functional block diagram showing a control system 1 of an automatic guided vehicle 2 according to an embodiment.
- a manned vehicle is used together with the unmanned vehicle 2 at the work site.
- the unmanned vehicle 2 travels on an outdoor unpaved road.
- the work site where the automatic guided vehicle 2 operates includes an outdoor unpaved road such as a mine.
- the unmanned vehicle 2 refers to a work vehicle that travels unmanned based on a control command without being driven by a driver.
- a manned vehicle is a work vehicle that travels by the operation of an operator.
- the work site is, for example, a mine.
- a mine is a place or place of business where minerals are mined.
- the cargo carried to the automatic guided vehicle 2 is, for example, ore or earth and sand excavated in a mine.
- the workshop PA includes at least one of a loading and unloading yard.
- the workplace PA may include at least one of a gas station and a tarmac.
- the runway HL includes the intersection IS.
- the loading area means an area where loading work for loading a load on an automatic guided vehicle 2 is carried out.
- a loading machine 7 such as a hydraulic excavator operates.
- the lumber yard is an area where the discharge work is carried out, in which the cargo is discharged from the automatic guided vehicle 2.
- a crusher 8 is provided at the lumber yard.
- the automatic guided vehicle 2 is, for example, a dump truck that travels on a work site and carries a load.
- Manned vehicles are, for example, dump trucks, loading machines, crushers, etc. that travel on the work site and carry cargo.
- the control system 1 includes a management device 3 and a communication system 4.
- the management device 3 includes a computer system and is installed in the control facility 5 at the work site. There is an administrator in the control facility 5.
- the communication system 4 carries out communication between the management device 3 and the unmanned vehicle 2.
- the wireless communication device 6 is connected to the management device 3.
- the communication system 4 includes a wireless communication device 6.
- the management device 3 and the unmanned vehicle 2 wirelessly communicate with each other via the communication system 4.
- the management device 3 and the manned vehicle communicate wirelessly via the communication system 4.
- the unmanned vehicle 2 and the manned vehicle output the operating status data of each vehicle to the management device 3.
- the automatic guided vehicle 2 travels on the travel path HL at the work site based on the travel condition data transmitted from the management device 3.
- the automatic guided vehicle 2 travels according to the travel course CS set in the travel path HL and the work place PA based on the control signal from the management device 3.
- the unmanned vehicle 2 includes a vehicle body 21, a dump body 22 supported by the vehicle body 21, a traveling device 23 supporting the vehicle body 21, a wireless communication device 28, a position sensor 41, and a steering angle sensor 42. It includes an azimuth angle sensor 43, a speed sensor 44, and a control device 10. The control device 10 will be described later.
- the vehicle body 21 includes the vehicle body frame and supports the dump body 22. Further, the vehicle body 21 has a hydraulic pump (not shown) and a plurality of hydraulic cylinders (not shown) operated by hydraulic oil discharged from the hydraulic pump.
- the dump body 22 is a member on which a load is loaded.
- the dump body 22 moves up and down by the operation of the hoist cylinder, which is a hydraulic cylinder.
- the dump body 22 is adjusted to at least one of the loading posture and the dump posture by the operation of the hoist cylinder.
- the loading posture is a posture in which the load can be loaded, and the dump body 22 is in a lowered posture.
- the dump posture is a posture in which the load is discharged, and the dump body 22 is in a raised posture.
- the traveling device 23 includes the wheels 27 and travels on the traveling path HL.
- the wheel 27 includes a front wheel 27F and a rear wheel 27R. Tires are mounted on the wheels 27.
- the traveling device 23 includes a driving device 23A, a braking device 23B, and a steering device 23C.
- the drive device 23A generates a driving force for accelerating the unmanned vehicle 2.
- the drive 23A includes an internal combustion engine such as a diesel engine.
- the drive device 23A may include an electric motor.
- the driving force generated by the driving device 23A is transmitted to the rear wheels 27R, and the rear wheels 27R rotate.
- the unmanned vehicle 2 self-propells due to the rotation of the rear wheel 27R.
- the brake device 23B generates a braking force for decelerating or stopping the unmanned vehicle 2.
- the steering device 23C can adjust the traveling direction of the unmanned vehicle 2.
- the traveling direction of the unmanned vehicle 2 includes the direction of the front portion of the vehicle body 21.
- the steering device 23C adjusts the traveling direction of the unmanned vehicle 2 by steering the front wheels 27F.
- the steering device 23C has a steering cylinder which is a hydraulic cylinder.
- the front wheels 27F are steered by the power generated by the steering cylinder.
- the wireless communication device 28 wirelessly communicates with the wireless communication device 6 connected to the management device 3.
- Communication system 4 includes a wireless communication device 28.
- the position sensor 41 detects the position of the unmanned vehicle 2 traveling on the travel path HL.
- the detection data of the position sensor 41 includes absolute position data indicating the absolute position of the unmanned vehicle 2.
- the absolute position of the unmanned vehicle 2 is detected using the Global Navigation Satellite System (GNSS).
- the global navigation satellite system includes a global positioning system (GPS: Global Positioning System).
- the position sensor 41 includes a GNSS receiver.
- the global navigation satellite system detects the absolute position of the unmanned vehicle 2 defined by the coordinate data of longitude, latitude, and altitude.
- the global navigation satellite system detects the absolute position of the automatic guided vehicle 2 defined in the global coordinate system.
- the global coordinate system is a coordinate system fixed to the earth.
- the steering angle sensor 42 detects the steering angle of the unmanned vehicle 2 by the steering device 23C.
- the steering angle sensor 42 includes, for example, a rotary encoder provided in the steering device 23C.
- the detection data of the steering angle sensor 42 includes steering angle data indicating the steering angle of the unmanned vehicle 2.
- the azimuth sensor 43 detects the azimuth angle of the unmanned vehicle 2.
- the azimuth angle of the unmanned vehicle 2 includes the yaw angle of the unmanned vehicle 2.
- the yaw angle refers to the tilt angle of the unmanned vehicle 2 about the rotation axis extending in the vertical direction of the unmanned vehicle 2.
- the detection data of the azimuth sensor 43 includes azimuth data indicating the azimuth angle of the unmanned vehicle 2.
- the orientation of the unmanned vehicle 2 is the traveling direction of the unmanned vehicle 2.
- the azimuth sensor 43 includes, for example, a gyro sensor.
- the speed sensor 44 detects the traveling speed of the unmanned vehicle 2.
- the detection data of the speed sensor 44 includes traveling speed data indicating the traveling speed of the traveling device 23.
- the data detected by the position sensor 41, the steering angle sensor 42, the azimuth angle sensor 43, and the speed sensor 44 of the unmanned vehicle 2 are output to the management device 3 as the operating status data of the unmanned vehicle 2.
- control system 1 includes a management device 3 and a control device 10.
- the control system 1 appropriately controls the speed limit of the unmanned vehicle 2 at the work site where the manned vehicle is used together with the unmanned vehicle 2.
- the control device 10 can communicate with the management device 3 via the communication system 4.
- the management device 3 sets the traveling conditions of the unmanned vehicle 2 on the traveling path HL.
- the unmanned vehicle 2 travels on the travel path HL based on the travel condition data that defines the travel conditions transmitted from the management device 3.
- the management device 3 includes a computer system.
- the management device 3 includes an input / output interface 31, an arithmetic processing unit 32 including a processor such as a CPU (Central Processing Unit), and a memory and storage such as a ROM (Read Only Memory) or a RAM (Random Access Memory). It has a storage device 33.
- arithmetic processing unit 32 including a processor such as a CPU (Central Processing Unit), and a memory and storage such as a ROM (Read Only Memory) or a RAM (Random Access Memory). It has a storage device 33.
- the input / output interface 31 is connected to each of the input device 35, the output device 36, and the wireless communication device 6. Each of the input device 35, the output device 36, and the wireless communication device 6 is installed in the control facility 5.
- the input / output interface 31 transmits the traveling condition data to the automatic guided vehicle 2 via the communication system 4.
- the input / output interface 31 receives operation status data from the automatic guided vehicle 2 and the manned vehicle via the communication system 4.
- the arithmetic processing unit 32 has an operation status data acquisition unit 321 and a traveling condition data generation unit 322.
- the operation status data acquisition unit 321 acquires the operation status data indicating the operation status of the unmanned vehicle 2 and the manned vehicle at the work site, which is one of the information indicating the safety level.
- the information indicating the safety level may include information indicating the attributes of the manned vehicle.
- the attributes of a manned vehicle include, for example, at least one of the size of the manned vehicle and the quality of visibility.
- the information indicating the degree of safety may include information indicating the attributes of the operator.
- Operator attributes include, for example, at least one of the operator's skill and proficiency in a manned vehicle. The proficiency level can be calculated from, for example, the number of years of experience of the operator or the operating time.
- the information indicating the safety level includes information indicating a location such as an intersection or a work place located in front of the automatic guided vehicle 2 in the traveling direction.
- the information indicating the safety level includes, for example, information indicating an obstacle in front of the unmanned vehicle 2 in the traveling direction.
- the information indicating the safety level may include information indicating the environment of the work site.
- the information indicating the environment of the work site includes, for example, at least one of the time zone and the weather of the work site.
- the information indicating the safety level includes information indicating the presence or absence of another unmanned vehicle 2 located in the vicinity of the unmanned vehicle 2.
- the operation status data acquisition unit 321 acquires the operation status data indicating the operation status of the unmanned vehicle 2 transmitted from the control device 10 via the input / output interface 31.
- the operating status data of the unmanned vehicle 2 means data indicating the operating status of the unmanned vehicle 2.
- the operation status data of the unmanned vehicle 2 includes the detection data of the sensor mounted on the unmanned vehicle 2.
- the operation status data of the unmanned vehicle 2 includes vehicle data such as the type and size of the unmanned vehicle 2.
- the operation status data acquisition unit 321 acquires the operation status data of the manned vehicle via the input / output interface 31.
- the operating status data of a manned vehicle refers to data indicating the operating status of a manned vehicle.
- the operation status data of the manned vehicle includes the detection data of the sensor mounted on the manned vehicle.
- the driving condition data generation unit 322 generates driving condition data that defines the driving conditions of the unmanned vehicle 2. More specifically, the traveling condition data generation unit 322 generates traveling condition data including the traveling course of the unmanned vehicle 2 at the work site and the traveling speed of the unmanned vehicle. The traveling condition data generation unit 322 communicates with each of the input device 35, the output device 36, and the wireless communication device 6 via the input / output interface 31.
- the running conditions are determined by, for example, the manager existing in the control facility 5.
- the administrator operates the input device 35 connected to the management device 3.
- the running condition data is generated based on the input data generated by operating the input device 35.
- the running condition data includes the target position, the target running speed (running speed), the target direction, and the running course CS of the unmanned vehicle 2.
- the traveling condition data includes a plurality of target point PIs set at intervals in the traveling path HL.
- the interval of the target point PI is set to, for example, 1 [m] or more and 5 [m] or less.
- the target point PI defines the target position of the automatic guided vehicle 2.
- the target traveling speed and the target direction are set for each of the plurality of target point PIs.
- the traveling course CS is defined by a line connecting a plurality of target points PI. That is, the traveling condition data that defines the traveling conditions of the unmanned vehicle 2 includes a plurality of target point PIs indicating the target positions of the unmanned vehicle 2, and the target traveling speeds of the unmanned vehicle 2 set in each of the plurality of target point PIs. Includes target orientation.
- the target position of the unmanned vehicle 2 means the target position of the unmanned vehicle 2 defined in the global coordinate system. That is, the target position refers to the target position in the coordinate data defined by longitude, latitude, and altitude.
- the target position includes a target position in longitude (x coordinate) and a target position in latitude (y coordinate).
- the target position of the unmanned vehicle 2 may be defined in the local coordinate system of the unmanned vehicle 2.
- the target traveling speed of the unmanned vehicle 2 means the target traveling speed of the unmanned vehicle 2 when traveling (passing) the target point PI.
- the drive device 23A or the brake device of the unmanned vehicle 2 so that the actual traveling speed of the unmanned vehicle 2 when traveling at the target point PI becomes the target traveling speed. 23B is controlled.
- the target direction of the unmanned vehicle 2 means the target direction of the unmanned vehicle 2 when traveling (passing) the target point PI.
- the target azimuth refers to the azimuth angle of the unmanned vehicle 2 with respect to the reference azimuth (for example, north).
- the target azimuth is the target azimuth at the front of the vehicle body 21, and indicates the target traveling direction of the unmanned vehicle 2.
- the steering device 23C of the unmanned vehicle 2 is controlled so that the actual direction of the unmanned vehicle 2 when traveling on the target point PI becomes the target direction.
- the traveling condition data generation unit 322 determines whether or not the unmanned vehicle 2 passes near the manned vehicle.
- the traveling condition data generation unit 322 determines whether or not the unmanned vehicle 2 passes near the manned vehicle based on the position data included in the operating status data of the unmanned vehicle 2 and the position data included in the operating status data of the manned vehicle. Is determined.
- the traveling condition data generation unit 322 determines the traveling speed of the unmanned vehicle 2 based on the information indicating the safety level when the unmanned vehicle 2 travels to the side of the manned vehicle. Change the speed limit of.
- the driving condition data includes a speed limit indicating a speed limit which is the maximum speed of the target speed.
- the speed limit is set for each work site. The speed limit is set lower than the normal speed limit when the vehicle travels on the side near the small manned vehicle as compared with the unmanned vehicle 2 and satisfies a predetermined condition in which the degree of safety is lowered.
- the term "near a manned vehicle” means, for example, within a radius of about 100 [m] of the manned vehicle.
- the predetermined condition is at least one of a condition relating to a manned vehicle, a condition relating to a place, a condition relating to the environment, and a condition relating to another unmanned vehicle 2.
- the predetermined condition is determined based on the information indicating the safety level.
- the traveling condition data generation unit 322 changes the speed limit of the unmanned vehicle 2 based on the attributes of the manned vehicle. More specifically, the traveling condition data generation unit 322 lowers the speed limit of the unmanned vehicle 2 when the manned vehicle is a small vehicle. For example, when the unmanned vehicle 2 travels on the side of a manned vehicle that is smaller than the unmanned vehicle 2, the traveling condition data generation unit 322 generates traveling conditions in which the speed limit of the unmanned vehicle 2 is reduced. This is because if the unmanned vehicle 2 and the small manned vehicle come into contact with each other, the safety of the small manned vehicle may be impaired.
- the manned vehicle 2 Based on the vehicle data of the unmanned vehicle 2 and the manned vehicle included in the operating status data, it is possible to determine whether or not the manned vehicle is smaller than the unmanned vehicle 2. Alternatively, regardless of the size or type of the unmanned vehicle 2, if the manned vehicle is small, the speed limit of the unmanned vehicle 2 may be reduced.
- the driving condition data generation unit 322 lowers the speed limit of the unmanned vehicle 2 when the manned vehicle has poor visibility. For example, when the unmanned vehicle 2 travels on the side of the manned vehicle having poor visibility, the traveling condition data generation unit 322 generates traveling conditions in which the speed limit of the unmanned vehicle 2 is reduced. This is because when the visibility of the manned vehicle is poor, it may be difficult for the operator of the manned vehicle to visually recognize the unmanned vehicle 2. Based on the vehicle data of the manned vehicle included in the operating status data, it is possible to determine whether or not the manned vehicle is a type of vehicle with poor visibility.
- the driving condition data generation unit 322 changes the speed limit of the unmanned vehicle 2 based on the attributes of the operator of the manned vehicle. More specifically, the traveling condition data generation unit 322 lowers the speed limit of the unmanned vehicle 2 when the operator's skill or proficiency of the manned vehicle is low. For example, when the unmanned vehicle 2 travels on the side of a manned vehicle having low operator skill or proficiency, the traveling condition data generation unit 322 generates traveling conditions in which the speed limit of the unmanned vehicle 2 is reduced. This is because if the operator's skill or proficiency level is low, the recognition of the unmanned vehicle 2 may be delayed, or the operation of avoiding obstacles may be delayed. Based on the operator data stored in the storage device 33, it is possible to determine whether or not the operator's skill or proficiency is low.
- the driving condition data generation unit 322 changes the speed limit of the unmanned vehicle 2 based on the difficulty of predicting the course of the unmanned vehicle 2. More specifically, the traveling condition data generation unit 322 lowers the speed limit of the unmanned vehicle 2 when it is difficult to predict the course of the unmanned vehicle 2. More specifically, the traveling condition data generation unit 322 lowers the speed limit of the unmanned vehicle 2 when the current position of the unmanned vehicle 2 is in an intersection or a work place. For example, when it is a place where it is difficult to predict the traveling direction of the unmanned vehicle 2, the traveling condition data generation unit 322 generates traveling conditions in which the speed limit of the unmanned vehicle 2 is reduced.
- the unmanned vehicle 2 Since the unmanned vehicle 2 does not travel along the bank or the like at the intersection or in the workplace, it is difficult to predict the course, so that it is difficult for the operator of the small manned vehicle to predict the course of the unmanned vehicle 2. It is possible to determine whether or not the absolute position data of the unmanned vehicle 2 included in the operating status data is a place where it is difficult to predict the traveling direction of the unmanned vehicle 2 depending on whether or not it is an intersection or a work place, for example.
- the traveling condition data generation unit 322 lowers the speed limit of the unmanned vehicle 2 when an obstacle exists in front of the unmanned vehicle 2 in the traveling direction. For example, when an obstacle exists in front of the unmanned vehicle 2 in the traveling direction, the traveling condition data generation unit 322 generates traveling conditions in which the speed limit of the unmanned vehicle 2 is reduced. This is because the unmanned vehicle 2 may change the direction of travel in order to avoid obstacles, and it is difficult for the operator of the small manned vehicle to predict the course of the unmanned vehicle 2. Based on the absolute position data of the unmanned vehicle 2 and the obstacle data stored in the storage device 33, it is possible to determine whether or not it indicates that there is an obstacle in front of the unmanned vehicle 2 in the traveling direction.
- the driving condition data generation unit 322 changes the speed limit of the unmanned vehicle 2 based on the environment of the work site. More specifically, the traveling condition data generation unit 322 lowers the speed limit of the unmanned vehicle 2 when the work site is at night or in the rain. For example, depending on the time zone, the traveling condition data generation unit 322 generates traveling conditions in which the speed limit of the unmanned vehicle 2 is reduced. This is because visibility is worse at night than during the day. In the case of nighttime, the traveling condition in which the speed limit of the unmanned vehicle 2 is reduced is generated.
- the driving condition data generation unit 322 generates driving conditions in which the speed limit of the unmanned vehicle 2 is reduced. This is because there is a higher risk of slipping in rainy weather than in sunny or cloudy weather.
- the traveling condition in which the speed limit of the unmanned vehicle 2 is reduced is generated.
- the traveling condition data generation unit 322 lowers the speed limit of the unmanned vehicle. For example, when another unmanned vehicle 2 is present near the unmanned vehicle 2, the traveling condition data generation unit 322 generates traveling conditions in which the speed limit of the unmanned vehicle 2 is reduced.
- the term "near the unmanned vehicle 2" means, for example, within a radius of about 100 [m] of the unmanned vehicle 2. In other words, it means a state in which a plurality of unmanned vehicles 2 exist near the manned vehicle. Generate driving conditions in which the speed limit of the unmanned vehicle 2 is reduced. This is because the operators of small manned vehicles will pay more attention. Based on the operating status data of the plurality of unmanned vehicles 2, it is possible to determine whether or not another unmanned vehicle 2 exists near the unmanned vehicle 2.
- the traveling condition data generation unit 322 may generate traveling conditions in which the speed limit of the unmanned vehicle 2 is reduced. If multiple conditions are met, the speed limit may be changed according to the lowest speed limit. When a plurality of conditions are met, the speed limit may be reduced as the number of applicable conditions increases. For example, when another unmanned vehicle 2 is present near the unmanned vehicle 2, the speed limit may be reduced most. For example, when the traveling direction of the unmanned vehicle 2 is difficult to predict, the speed limit may be reduced to the maximum. For example, when an obstacle exists in front of the unmanned vehicle 2 in the traveling direction, the speed limit may be reduced to the maximum.
- the storage device 33 stores information indicating the degree of safety input via the input device 35.
- the safety information includes information indicating at least one of the skill and proficiency of the operator of the manned vehicle.
- the information indicating the safety level includes information indicating an obstacle in front of the automatic guided vehicle 2 in the traveling direction.
- the safety information includes information indicating at least either the time zone of the work site or the weather.
- the storage device 33 stores obstacle data indicating obstacles existing on the road and their positions, which are input via the input device 35.
- the storage device 33 stores environmental data indicating the weather at the work site, which is input via the input device 35.
- the storage device 33 stores operator data indicating the skill or proficiency of the operator of the manned vehicle, which is input via the input device 35. The operator's skill or proficiency may be calculated based on the driving time of the operator's manned vehicle.
- the input device 35 generates input data by being operated by the administrator of the control facility 5.
- the input data generated by the input device 35 is output to the management device 3.
- the management device 3 acquires input data from the input device 35.
- a contact type input device operated by an administrator's hand such as a computer keyboard, a mouse, a touch panel, an operation switch, and an operation button is exemplified.
- the input device 35 may be a voice input device operated by the voice of the administrator.
- the output device 36 provides output data to the manager of the control facility 5.
- the output device 36 may be a display device that outputs display data, a printing device that outputs print data, or an audio output device that outputs audio data.
- Examples of the display device include a flat panel display such as a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL display (OELD: Organic Electroluminescence Display).
- the control device 10 includes a computer system and is arranged in the vehicle body 21.
- the control device 10 outputs a control command for controlling the running of the traveling device 23 of the unmanned vehicle 2.
- the control command output from the control device 10 includes an accelerator command for operating the drive device 23A, a brake command for operating the brake device 23B, and a steering command for operating the steering device 23C.
- the drive device 23A generates a driving force for accelerating the unmanned vehicle 2 based on the accelerator command output from the control device 10.
- the brake device 23B generates a braking force for decelerating or stopping the unmanned vehicle 2 based on the brake command output from the control device 10.
- the steering device 23C generates a turning force for changing the direction of the front wheels 27F in order to drive the unmanned vehicle 2 straight or turn based on the steering command output from the control device 10.
- the control device 10 has an input / output interface 11, an arithmetic processing device 12 including a processor such as a CPU, and a storage device 13 including a memory and storage such as a ROM or RAM.
- the control device 10 acquires the traveling condition data transmitted from the management device 3 via the communication system 4.
- the input / output interface 11 is connected to each of the position sensor 41, the steering angle sensor 42, the azimuth sensor 43, the speed sensor 44, the traveling device 23, and the wireless communication device 28.
- the input / output interface 11 communicates with each of the position sensor 41, the steering angle sensor 42, the azimuth sensor 43, the speed sensor 44, the traveling device 23, and the wireless communication device 28.
- the arithmetic processing unit 12 has a traveling condition data acquisition unit 121, a position data acquisition unit 122, a detection data acquisition unit 123, and a travel control unit 124.
- the traveling condition data acquisition unit 121 acquires the traveling condition data generated by the traveling condition data generation unit 322 of the management device 3.
- the position data acquisition unit 122 acquires position data indicating the position of the unmanned vehicle 2 from the position sensor 41.
- the detection data acquisition unit 123 acquires the detection data of the azimuth sensor 43 that has detected the traveling direction of the unmanned vehicle 2 from the azimuth sensor 43.
- the detection data includes steering angle data detected by the steering angle sensor 42, azimuth angle data detected by the azimuth sensor 43, and speed data detected by the speed sensor 44.
- the detection data acquisition unit 123 acquires steering angle data from the steering angle sensor 42, azimuth data from the azimuth sensor 43, and speed data from the speed sensor 44.
- the travel control unit 124 controls the unmanned vehicle based on the travel condition data generated by the travel condition data generation unit 322 of the management device 3. More specifically, the travel control unit 124 controls at least one of the drive device 23A, the brake device 23B, and the steering device 23C of the unmanned vehicle 2 based on the travel course CS acquired by the travel condition data acquisition unit 121. Output the control signal.
- the control device 10 outputs the travel course CS generated by the travel condition data generation unit 322 from the input / output interface 11 to the travel control unit 124 of the unmanned vehicle 2.
- the travel course CS generated by the travel condition data generation unit 322 is transmitted from the input / output interface 11 to the travel control unit 124 of the unmanned vehicle 2.
- the travel control unit 124 generates a control signal for controlling the travel of the unmanned vehicle 2 based on the travel course CS.
- the control signal generated by the travel control unit 124 is output from the travel control unit 124 to the travel device 23.
- the control signal output from the travel control unit 124 includes an accelerator signal output to the drive device 23A, a brake control signal output to the brake device 23B, and a steering control signal output to the steering device 23C.
- the travel control unit 124 steers the drive device 23A, the brake device 23B, and the steering so that the specific portion of the unmanned vehicle 2 and the travel course CS are aligned with each other. It controls the device 23C.
- the travel control unit 124 controls the travel of the unmanned vehicle 2 based on the travel condition data.
- the travel control unit 124 outputs an accelerator command value according to the travel speed to the drive device 23A of the travel device 23.
- the drive device 23A generates power based on the accelerator command value.
- the travel control unit 124 outputs an accelerator command value or a brake command value so as to decelerate the travel speed.
- FIG. 4 is a flowchart showing a control method of the unmanned vehicle 2 according to the present embodiment.
- the arithmetic processing unit 32 of the management device 3 acquires operation status data from the unmanned vehicle 2 and the manned vehicle at the work site (step ST11). More specifically, the arithmetic processing unit 32 acquires the operation status data indicating the operation status of the unmanned vehicle 2 transmitted from the control device 10 of the unmanned vehicle 2 via the input / output interface 31 by the operation status data acquisition unit 321. do.
- the arithmetic processing unit 32 acquires the operation status data of the manned vehicle by the operation status data acquisition unit 321 via the input / output interface 31.
- the arithmetic processing unit 32 determines whether or not the unmanned vehicle 2 passes near the manned vehicle by the traveling condition data generation unit 322 (step ST12).
- the unmanned vehicle 2 is a manned vehicle based on the position data included in the operating status data of the unmanned vehicle 2 and the position data included in the operating status data of the manned vehicle by the traveling condition data generation unit 322. Determine if you are passing nearby.
- the traveling condition data generation unit 322 determines that the unmanned vehicle 2 passes near the manned vehicle (Yes in step ST12)
- the arithmetic processing unit 32 proceeds to step ST13.
- the traveling condition data generation unit 322 does not determine that the unmanned vehicle 2 passes near the manned vehicle (No in step ST12)
- the arithmetic processing unit 32 ends the processing.
- the arithmetic processing unit 32 determines whether or not a predetermined condition for reducing the degree of safety is satisfied by the traveling condition data generation unit 322. Determination (step ST13). More specifically, the arithmetic processing unit 32 satisfies at least one of a condition relating to a manned vehicle, a condition relating to a location, a condition relating to the environment, and a condition relating to another unmanned vehicle 2 as predetermined conditions by the traveling condition data generation unit 322. Whether or not the degree of safety is reduced is determined.
- step ST13 When the arithmetic processing unit 32 determines that the degree of safety is lowered by the traveling condition data generation unit 322 (Yes in step ST13), the arithmetic processing unit 32 proceeds to step ST14. When the traveling condition data generation unit 322 does not determine that the degree of safety is lowered (No in step ST13), the arithmetic processing unit 32 ends the processing.
- step ST13 When it is determined that the degree of safety is reduced (Yes in step ST13), the speed limit of the unmanned vehicle 2 is changed (step ST14). More specifically, the arithmetic processing unit 32 lowers the speed limit of the unmanned vehicle 2 by the traveling condition data generation unit 322.
- the arithmetic processing unit 32 outputs the driving condition data with the reduced speed limit to the control device 10 of the unmanned vehicle 20 via the input / output interface 31 by the traveling condition data generation unit 322 (step ST15).
- the unmanned vehicle 2 outputs a control signal to the traveling device 23 so as to reduce the speed limit of the unmanned vehicle 2 based on the traveling condition data acquired from the management device 3 via the input / output interface 11.
- FIG. 5 is a schematic diagram showing an example of the speed limit of the automatic guided vehicle 2.
- FIG. 6 is a schematic diagram showing another example of the speed limit of the automatic guided vehicle 2.
- the normal speed limit of the unmanned vehicle 2 is 50 [km / h].
- the unmanned vehicle 2 1 in the traveling path HL, it passes through the side of the manned vehicle 9 1.
- Unmanned vehicle 2 1 is reduced limit speed is 40 [km / h], traveling side of the manned vehicle 9 1 speed 40 [km / h].
- unmanned vehicle 2 2 at the intersection, to pass by the manned vehicle 9 2.
- Unmanned vehicle 2 2 is reduced limit speed is 30 [km / h], traveling side of the manned vehicle 9 2 at a speed 30 [km / h].
- unmanned vehicle 2 3 exist an obstacle ahead in the traveling direction, a difficult place in the traveling direction prediction, and passes through the side of the manned vehicle 9 3.
- Unmanned vehicle 2 3 are reduced limit speed is 20 [km / h], traveling side of the manned vehicle 9 3 running speed 20 [km / h].
- Unmanned vehicle 2 4 passes through the side of the manned vehicle 9 4.
- Unmanned vehicle 2 4 is reduced limit speed is 40 [km / h], traveling side of the manned vehicle 9 4 speed 40 [km / h].
- unmanned vehicle 2 5 and the unmanned vehicle 2 6 passes through the side of the manned vehicle 9 5.
- FIG. 7 is a block diagram showing an example of the computer system 1000.
- the computer system 1000 includes a processor 1001 such as a CPU, a main memory 1002 including a non-volatile memory such as a ROM and a volatile memory such as a RAM, a storage 1003, and an interface 1004 including an input / output circuit.
- the functions of the management device 3 and the functions of the control device 10 described above are stored in the storage 1003 as a program.
- the processor 1001 reads the program from the storage 1003, expands it into the main memory 1002, and executes the above-mentioned processing according to the program.
- the program may be distributed to the computer system 1000 via the network.
- the speed limit of the traveling speed of the unmanned vehicle 2 is changed based on the information indicating the safety level when the unmanned vehicle 2 travels on the side of the manned vehicle.
- the speed limit of the unmanned vehicle 2 can be reduced only when necessary based on the information indicating the safety level. According to the present embodiment, the safety of the work site where the unmanned vehicle 2 operates can be ensured, and the decrease in productivity can be suppressed.
- the speed limit of the unmanned vehicle 2 is changed.
- Small vehicles or manned vehicles are often smaller and lighter than unmanned vehicles 2, and may cause great damage when they collide with unmanned vehicles. Therefore, in the present embodiment, when the visibility of the manned vehicle is poor and it is difficult for the operator of the manned vehicle to visually recognize the unmanned vehicle 2, the safety of the manned vehicle can be maintained by reducing the speed limit of the unmanned vehicle 2. can.
- the speed limit of the unmanned vehicle 2 when the skill or proficiency of the operator of the manned vehicle is low, the speed limit of the unmanned vehicle 2 is changed.
- the safety of the manned vehicle is reduced by reducing the speed limit of the unmanned vehicle 2 when the operator's skill or proficiency is low and the recognition of the unmanned vehicle 2 is delayed or the avoidance operation is delayed. Can be kept. According to this embodiment, safety can be maintained regardless of the operator of the manned vehicle.
- the speed limit of the automatic guided vehicle 2 is changed.
- the safety of the manned vehicle can be maintained by reducing the speed limit of the unmanned vehicle 2. can.
- the speed limit of the unmanned vehicle 2 is changed.
- the safety of the manned vehicle can be maintained by reducing the speed limit of the unmanned vehicle 2. can.
- the speed limit of the unmanned vehicle 2 when the work site is at night or in the rain, the speed limit of the unmanned vehicle 2 is changed.
- the safety of a manned vehicle can be maintained by reducing the speed limit of the unmanned vehicle 2 when the visibility is poor or there is a high possibility of slipping.
- the safety of the manned vehicle can be maintained regardless of the time of day or the weather.
- the speed limit of the unmanned vehicle 2 is changed.
- This embodiment can reduce the burden on the operator of the manned vehicle when the number of objects to be paid attention to by the operator of the small manned vehicle increases. According to this embodiment, the safety of the manned vehicle can be maintained.
- control device 10 may be provided in the management device 3, or at least a part of the functions of the management device 3 may be provided in the control device 10.
- the control device 10 of the unmanned vehicle 2 may have the function of the traveling condition data generation unit 322 of the management device 3.
- the travel control unit 124 of the control device 10 controls the travel speed of the unmanned vehicle 2 based on the calculated speed limit.
- the unmanned vehicle 2 may be provided with an obstacle sensor that detects an object around the unmanned vehicle 2 in a non-contact manner.
- the objects detected by the obstacle sensor are, for example, an obstacle existing in the travel path HL on which the unmanned vehicle 2 travels, and another unmanned vehicle 2 traveling on the travel path HL.
- Input / output interface 32 ... Arithmetic processing device, 321 ... Operating status data acquisition unit, 322 ... Driving condition data generation unit, 33 ... Storage device, 35 ... Input device, 36 ... Output device, 41 ... Position sensor, 42 ... Steering angle sensor, 43 ... Direction angle sensor, 44 ... Speed sensor , CS ... driving course, HL ... driving path, IS ... intersection, PA ... workshop, PI ... target point.
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Abstract
Description
無人車両2は、車両本体21と、車両本体21に支持されるダンプボディ22と、車両本体21を支持する走行装置23と、無線通信機28と、位置センサ41と、操舵角センサ42と、方位角センサ43と、速度センサ44と、制御装置10とを備える。制御装置10については後述する。
鉱山の作業現場においては、無人車両2のみならず、有人車両も走行する。有人車両は、作業現場を管理又は監視するために、作業現場を走行する。有人車両は、無人車両2と同様にして稼働状況データを管理装置3へ出力する。
図3に示すように、制御システム1は、管理装置3と制御装置10とを含む。制御システム1は、無人車両2とともに有人車両が使用される作業現場において、無人車両2の制限速度を適切に制御する。制御装置10は、通信システム4を介して管理装置3と通信可能である。
管理装置3は、走行路HLにおける無人車両2の走行条件を設定する。無人車両2は、管理装置3から送信された走行条件を規定する走行条件データに基づいて、走行路HLを走行する。
制御装置10は、コンピュータシステムを含み、車両本体21に配置される。制御装置10は、無人車両2の走行装置23の走行を制御する制御指令を出力する。制御装置10から出力される制御指令は、駆動装置23Aを作動するためのアクセル指令、ブレーキ装置23Bを作動するためのブレーキ指令、及び操舵装置23Cを作動するためのステアリング指令を含む。駆動装置23Aは、制御装置10から出力されたアクセル指令に基づいて、無人車両2を加速させるための駆動力を発生する。ブレーキ装置23Bは、制御装置10から出力されたブレーキ指令に基づいて、無人車両2を減速又は停止させるための制動力を発生する。操舵装置23Cは、制御装置10から出力されたステアリング指令に基づいて、無人車両2を直進又は旋回させるために前輪27Fの向きを変えるための旋回力を発生する。
図4は、本実施形態に係る無人車両2の制御方法を示すフローチャートである。管理装置3の演算処理装置32は、作業現場の無人車両2及び有人車両から稼働状況データを取得する(ステップST11)。より詳しくは、演算処理装置32は、稼働状況データ取得部321によって、入出力インターフェース31を介して、無人車両2の制御装置10から送信された無人車両2の稼働状況を示す稼働状況データを取得する。演算処理装置32は、稼働状況データ取得部321によって、入出力インターフェース31を介して、有人車両の稼働状況データを取得する。
図7は、コンピュータシステム1000の一例を示すブロック図である。上述の管理装置3及び制御装置10のそれぞれは、コンピュータシステム1000を含む。コンピュータシステム1000は、CPUのようなプロセッサ1001と、ROMのような不揮発性メモリ及びRAMのような揮発性メモリを含むメインメモリ1002と、ストレージ1003と、入出力回路を含むインターフェース1004とを有する。上述の管理装置3の機能及び制御装置10の機能は、プログラムとしてストレージ1003に記憶されている。プロセッサ1001は、プログラムをストレージ1003から読み出してメインメモリ1002に展開し、プログラムに従って上述の処理を実行する。なお、プログラムは、ネットワークを介してコンピュータシステム1000に配信されてもよい。
以上説明したように、本実施形態は、無人車両2が有人車両の側方を走行する際の安全度を示す情報に基づいて、無人車両2の走行速度の制限速度を変更する。本実施形態は、安全度を示す情報に基づき必要な場合に限って、無人車両2の制限速度を低減できる。本実施形態によれば、無人車両2が稼働する作業現場の安全性を確保し、生産性の低下を抑制できる。
上述の実施形態において、制御装置10の機能の少なくとも一部が管理装置3に設けられてもよいし、管理装置3の機能の少なくとも一部が制御装置10に設けられてもよい。例えば、上述の実施形態において、無人車両2の制御装置10が、管理装置3の走行条件データ生成部322の機能を有してもよい。制御装置10の走行制御部124は、算出した制限速度に基づいて、無人車両2の走行速度を制御する。
Claims (10)
- 無人車両の走行コースと、前記無人車両の走行速度とを含む走行条件データを生成する走行条件データ生成部と、
前記走行条件データ生成部が生成した前記走行条件データに基づいて前記無人車両を制御する走行制御部と、
を備え、
前記走行条件データ生成部は、前記無人車両が有人車両の側方を走行する際の安全度を示す情報に基づいて、前記無人車両の走行速度の制限速度を変更する、
無人車両の制御システム。 - 前記安全度を示す情報は、前記有人車両の属性を示す情報を含み、
前記走行条件データ生成部は、前記有人車両の属性に基づいて、前記無人車両の制限速度を変更する、
請求項1に記載の無人車両の制御システム。 - 前記安全度を示す情報は、前記有人車両のオペレータの属性を示す情報を含み、
前記走行条件データ生成部は、前記有人車両のオペレータの属性に基づいて、前記無人車両の制限速度を変更する、
請求項1または請求項2に記載の無人車両の制御システム。 - 前記走行条件データ生成部は、前記無人車両の進路の予測の難易度に基づいて、前記無人車両の制限速度を変更する、
請求項1から請求項3のいずれか一項に記載の無人車両の制御システム。 - 前記安全度を示す情報は、前記無人車両の進行方向前方に位置する交差点又は作業場などの場所を示す情報を含み、
前記走行条件データ生成部は、前記無人車両の進路の予測が難しい場合として、前記無人車両が交差点又は作業場内を走行している場合、前記無人車両の制限速度を変更する、
請求項4に記載の無人車両の制御システム。 - 前記安全度を示す情報は、前記無人車両の進行方向前方の障害物を示す情報を含み、
前記走行条件データ生成部は、前記無人車両の進路の予測が難しい場合として、前記無人車両の進行方向前方に障害物が存在する場合、前記無人車両の制限速度を変更する、
請求項4に記載の無人車両の制御システム。 - 前記安全度を示す情報は、作業現場の環境を示す情報を含み、
前記走行条件データ生成部は、前記作業現場の環境に基づいて、前記無人車両の制限速度を変更する、
請求項1から請求項6のいずれか一項に記載の無人車両の制御システム。 - 前記安全度を示す情報は、前記無人車両の周辺に位置する他の無人車両の有無を示す情報を含み、
前記走行条件データ生成部は、前記有人車両の周辺に複数の無人車両が位置する場合、前記無人車両の制限速度を変更する、
請求項1から請求項7のいずれか一項に記載の無人車両の制御システム。 - 請求項1から請求項8のいずれか一項に記載の無人車両の制御システムを備える無人車両。
- 無人車両の走行コースと、前記無人車両の走行速度とを含む走行条件データを生成することと、
生成した前記走行条件データに基づいて前記無人車両を制御することと、
を含み、
前記無人車両が有人車両の側方を走行する際の安全度を示す情報に基づいて、前記無人車両の走行速度の制限速度を変更する、
無人車両の制御方法。
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JPH09231500A (ja) * | 1996-02-21 | 1997-09-05 | Komatsu Ltd | 無人車両と有人車両混走時のフリート制御装置及び制御方法 |
JPH11242520A (ja) * | 1997-12-08 | 1999-09-07 | Caterpillar Inc | 障害物検出応答式代替通路決定方法及びその装置 |
JP2000339029A (ja) * | 1999-05-31 | 2000-12-08 | Komatsu Ltd | 車両の干渉防止装置 |
JP2013196051A (ja) * | 2012-03-15 | 2013-09-30 | Komatsu Ltd | 鉱山機械の運行管理システム及び鉱山機械の運行管理方法 |
JP2018195301A (ja) * | 2017-05-15 | 2018-12-06 | キヤノン株式会社 | 制御装置及び制御方法 |
-
2020
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- 2021-05-10 US US17/914,898 patent/US20230205230A1/en active Pending
- 2021-05-10 AU AU2021291475A patent/AU2021291475A1/en not_active Abandoned
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JPH09231500A (ja) * | 1996-02-21 | 1997-09-05 | Komatsu Ltd | 無人車両と有人車両混走時のフリート制御装置及び制御方法 |
JPH11242520A (ja) * | 1997-12-08 | 1999-09-07 | Caterpillar Inc | 障害物検出応答式代替通路決定方法及びその装置 |
JP2000339029A (ja) * | 1999-05-31 | 2000-12-08 | Komatsu Ltd | 車両の干渉防止装置 |
JP2013196051A (ja) * | 2012-03-15 | 2013-09-30 | Komatsu Ltd | 鉱山機械の運行管理システム及び鉱山機械の運行管理方法 |
JP2018195301A (ja) * | 2017-05-15 | 2018-12-06 | キヤノン株式会社 | 制御装置及び制御方法 |
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