WO2022024522A1 - 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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- WO2022024522A1 WO2022024522A1 PCT/JP2021/019616 JP2021019616W WO2022024522A1 WO 2022024522 A1 WO2022024522 A1 WO 2022024522A1 JP 2021019616 W JP2021019616 W JP 2021019616W WO 2022024522 A1 WO2022024522 A1 WO 2022024522A1
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- unmanned vehicle
- course
- traveling
- steering speed
- speed
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- 238000001514 detection method Methods 0.000 description 21
- 239000010720 hydraulic oil Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 5
- 239000003245 coal Substances 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 235000019738 Limestone Nutrition 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000006028 limestone Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/12—Trucks; Load vehicles
- B60W2300/125—Heavy duty trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/205—Steering speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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 operates at a wide-area work site such as a mine.
- the unmanned vehicle travels on the work site according to the driving course. If the traveling speed of the unmanned vehicle increases, the unmanned vehicle may deviate from the traveling course. If the automatic guided vehicle deviates from the driving course, the operation of the automatic guided vehicle may be stopped and the productivity of the work site may be reduced.
- the purpose of this disclosure is to suppress the decrease in productivity at the work site where automatic guided vehicles operate.
- the required steering speed calculation unit for calculating the required steering speed of the unmanned vehicle and the actual steering speed of the unmanned vehicle detected by the steering sensor are acquired so that the unmanned vehicle travels according to the traveling course.
- an automatic guided vehicle control system including an actual steering speed acquisition unit and a traveling control unit that adjusts the traveling speed of the unmanned vehicle based on a comparison result between the required steering speed and the actual steering speed. ..
- the decrease in productivity at the work site where the automatic guided vehicle operates is suppressed.
- FIG. 1 is a schematic diagram showing an automated guided vehicle management system according to an embodiment.
- FIG. 2 is a schematic diagram showing an unmanned vehicle according to an embodiment.
- FIG. 3 is a schematic view showing a work site according to the embodiment.
- FIG. 4 is a schematic diagram for explaining the course data according to the embodiment.
- FIG. 5 is a functional block diagram showing a control system for an automatic guided vehicle according to an embodiment.
- FIG. 6 is a schematic diagram for explaining the traveling conditions of the unmanned vehicle according to the embodiment.
- FIG. 7 is a flowchart showing a control method of the unmanned vehicle according to the embodiment.
- FIG. 8 is a schematic diagram for explaining the operation of the unmanned vehicle according to the embodiment.
- FIG. 1 is a schematic diagram showing a management system 1 of an automatic guided vehicle 2 according to an embodiment.
- the automatic guided vehicle 2 refers to a work vehicle that operates unmanned without any driving operation by the driver.
- the automatic guided vehicle 2 operates at the work site. Examples of work sites are mines or quarries.
- the automatic guided vehicle 2 is an unmanned dump truck that runs unmanned at a work site and carries a load.
- a mine is a place or place of business where minerals are mined.
- a quarry is a place or place of business where stone is mined. Examples of the cargo carried to the automatic guided vehicle 2 include ore or earth and sand excavated in a mine or a quarry.
- the management system 1 includes a management device 3 and a communication system 4.
- the management device 3 includes a computer system.
- the management device 3 is installed in the control facility 5 at the work site. There is an administrator in the control facility 5.
- the management device 3 and the unmanned vehicle 2 wirelessly communicate with each other via the communication system 4.
- 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 generates course data indicating the running conditions of the unmanned vehicle 2.
- the automatic guided vehicle 2 operates at the work site based on the course data transmitted from the management device 3.
- FIG. 2 is a schematic diagram showing an automatic guided vehicle 2 according to an embodiment.
- the unmanned vehicle 2 includes a vehicle body 21, a traveling device 22, a dump body 23, a wireless communication device 30, a position sensor 31, an orientation sensor 32, and a speed sensor 33.
- a steering sensor 34 and a control device 40 are provided.
- the vehicle body 21 includes a vehicle body frame.
- the vehicle body 21 is supported by the traveling device 22.
- the vehicle body 21 supports the dump body 23.
- the traveling device 22 drives the unmanned vehicle 2.
- the traveling device 22 advances or reverses the unmanned vehicle 2. At least a part of the traveling device 22 is arranged below the vehicle body 21.
- the traveling device 22 includes wheels 24, tires 25, a driving device 26, a braking device 27, and a steering device 28.
- the tire 25 is mounted on the wheel 24.
- the wheel 24 includes a front wheel 24F and a rear wheel 24R.
- the tire 25 includes a front tire 25F mounted on the front wheel 24F and a rear tire 25R mounted on the rear wheel 24R.
- the drive device 26 generates a driving force for starting or accelerating the unmanned vehicle 2.
- An internal combustion engine or an electric motor is exemplified as the drive device 26.
- a diesel engine is exemplified as an internal combustion engine.
- the driving force generated by the driving device 26 is transmitted to the rear wheels 24R, so that the rear wheels 24R rotate.
- the unmanned vehicle 2 self-propells due to the rotation of the rear wheel 24R.
- the brake device 27 generates a braking force for stopping or decelerating the unmanned vehicle 2.
- a disc brake or a drum brake is exemplified as the brake device 27.
- the steering device 28 generates a steering force for adjusting the traveling direction of the unmanned vehicle 2.
- the traveling direction of the unmanned vehicle 2 moving forward means the direction of the front portion of the vehicle body 21.
- the traveling direction of the unmanned vehicle 2 traveling backward means the direction of the rear part of the vehicle body 21.
- the steering device 28 has a steering cylinder 51.
- the steering cylinder 51 is a hydraulic cylinder.
- the front wheels 24F are steered by the steering force generated by the steering cylinder 51. By steering the front wheels 24F, the traveling direction of the unmanned vehicle 2 is adjusted.
- the dump body 23 is a member on which a load is loaded. At least a part of the dump body 23 is arranged above the vehicle body 21. As shown in FIG. 2, the dump body 23 moves up and down by the operation of the hoist cylinder 52.
- the hoist cylinder 52 is a hydraulic cylinder.
- the dump body 23 is adjusted to the loading posture or the dump posture by the elevating force generated by the hoist cylinder 52.
- the loading posture means a posture in which the dump body 23 is lowered.
- the dump posture means a posture in which the dump body 23 is raised.
- the automatic guided vehicle 2 has a hydraulic pump 53, a valve device 54, and a hydraulic oil tank 55.
- the hydraulic pump 53 is operated by the driving force generated by the driving device 26.
- the hydraulic pump 53 discharges hydraulic oil for driving each of the steering cylinder 51 and the hoist cylinder 52.
- the hydraulic pump 53 sucks and discharges the hydraulic oil contained in the hydraulic oil tank 55.
- the valve device 54 adjusts the flow state of the hydraulic oil supplied to each of the steering cylinder 51 and the hoist cylinder 52.
- the valve device 54 operates based on a control command from the control device 40.
- the valve device 54 has a first flow rate adjusting valve that can adjust the flow rate and direction of the hydraulic oil supplied to the steering cylinder 51, and a second flow rate adjusting valve that can adjust the flow rate and direction of the hydraulic oil supplied to the hoist cylinder 52. Includes flow control valve.
- the steering cylinder 51 has a bottom chamber 51B and a head chamber 51H.
- the steering cylinder 51 extends.
- the steering cylinder 51 contracts.
- the hydraulic oil discharged from the steering cylinder 51 is returned to the hydraulic oil tank 55 via the valve device 54.
- the front wheel 24F is connected to the steering cylinder 51 via a link mechanism. The front wheels 24F are steered by the expansion and contraction of the steering cylinder 51.
- the hoist cylinder 52 has a bottom chamber 52B and a head chamber 52H.
- the hoist cylinder 52 extends.
- the hoist cylinder 52 contracts.
- the hydraulic oil discharged from the hoist cylinder 52 is returned to the hydraulic oil tank 55 via the valve device 54.
- the dump body 23 is connected to the hoist cylinder 52. As the hoist cylinder 52 expands and contracts, the dump body 23 moves up and down.
- the wireless communication device 30 wirelessly communicates with the wireless communication device 6.
- Communication system 4 includes a wireless communication device 30.
- the position sensor 31 detects the position of the automatic guided vehicle 2.
- the position of the unmanned vehicle 2 is detected by using the Global Navigation Satellite System (GNSS).
- the global navigation satellite system includes a global positioning system (GPS: Global Positioning System).
- GPS Global Positioning System
- the Global Navigation Satellite System detects the position of the global coordinate system defined by the coordinate data of latitude, longitude, and altitude.
- the global coordinate system is a coordinate system fixed to the earth.
- the position sensor 31 includes a GNSS receiver and detects the position of the global coordinate system of the automatic guided vehicle 2.
- the directional sensor 32 detects the directional of the unmanned vehicle 2.
- the orientation of the unmanned vehicle 2 includes the traveling direction of the unmanned vehicle 2.
- a gyro sensor is exemplified as the azimuth sensor 32.
- the speed sensor 33 detects the traveling speed of the unmanned vehicle 2.
- the steering sensor 34 detects the steering angle of the steering device 28.
- a potentiometer is exemplified as the steering sensor 34.
- the control device 40 includes a computer system.
- the control device 40 is arranged in the vehicle body 21.
- the control device 40 can communicate with the management device 3.
- the control device 40 outputs a control command for controlling the traveling device 22.
- the control command output from the control device 40 includes a drive command for operating the drive device 26, a braking command for operating the brake device 27, and a steering command for operating the steering device 28.
- the drive device 26 generates a driving force for starting or accelerating the unmanned vehicle 2 based on the drive command output from the control device 40.
- the brake device 27 generates a braking force for stopping or decelerating the unmanned vehicle 2 based on the braking command output from the control device 40.
- the steering device 28 generates a steering force for driving the unmanned vehicle 2 straight or turning based on the steering command output from the control device 40.
- FIG. 3 is a schematic view showing a work site according to the embodiment.
- the work site is a mine.
- mines include metal mines that mine metal, non-metal mines that mine limestone, and coal mines that mine coal.
- an excavated object excavated in a mine is exemplified.
- a running area 10 is set at the work site.
- the traveling area 10 is an area where the automatic guided vehicle 2 is permitted to travel.
- the unmanned vehicle 2 can travel in the traveling area 10.
- the traveling area 10 includes a loading area 11, a dumping area 12, a parking apron 13, a refueling area 14, a traveling path 15, and an intersection 16.
- the loading area 11 is an area where loading work for loading a load on an automatic guided vehicle 2 is carried out.
- the dump body 23 is adjusted to the loading posture.
- the loading machine 7 operates.
- a hydraulic excavator is exemplified as the loading machine 7.
- the loading machine 7 is a manned vehicle that operates based on the driving operation of the driver.
- the lumber yard 12 is an area where the discharge work is carried out in which the cargo is discharged from the automatic guided vehicle 2.
- the dump body 23 is adjusted to the dump posture.
- a crusher 8 is provided at the lumber yard 12.
- the parking apron 13 is an area where the automatic guided vehicle 2 is parked.
- the refueling station 14 is an area where the automatic guided vehicle 2 is refueled.
- the travel path 15 refers to an area in which an automatic guided vehicle 2 heading for at least one of a loading area 11, a lumber yard 12, a tarmac 13, and a refueling area 14 travels.
- the runway 15 is provided so as to connect at least the loading area 11 and the earth removal area 12.
- the travel path 15 is connected to each of the loading yard 11, the dumping yard 12, the tarmac 13 and the refueling yard 14.
- intersection 16 means an area where a plurality of travel paths 15 intersect or an area where one travel path 15 branches into a plurality of travel paths 15.
- FIG. 4 is a schematic diagram for explaining the course data according to the embodiment.
- the management device 3 generates course data.
- the course data shows the running conditions of the automatic guided vehicle 2.
- the course data is set in the traveling area 10.
- the unmanned vehicle 2 travels in the traveling area 10 based on the course data transmitted from the management device 3.
- the course data includes a course point 18, a traveling course 17 of the unmanned vehicle 2, a target position Pr of the unmanned vehicle 2, a target azimuth Dr of the unmanned vehicle 2, and a target traveling speed Vr of the unmanned vehicle 2.
- a plurality of course points 18 are set in the traveling area 10.
- the course point 18 defines the target position Pr of the automatic guided vehicle 2.
- the target direction Dr of the unmanned vehicle 2 and the target traveling speed Vr of the unmanned vehicle 2 are set at each of the plurality of course points 18.
- the plurality of course points 18 are set at intervals.
- the interval between the course points 18 is set to, for example, 1 [m] or more and 5 [m] or less.
- the spacing between the course points 18 may be uniform or non-uniform.
- the traveling course 17 is a virtual line indicating the target traveling route of the automatic guided vehicle 2.
- the traveling course 17 is defined by a locus that passes through a plurality of course points 18.
- the control device 40 controls the traveling device 22 so that the unmanned vehicle 2 travels according to the traveling course 17.
- the control device 40 controls the traveling device 22 so that the unmanned vehicle 2 travels in a state where the center of the unmanned vehicle 2 in the vehicle width direction coincides with the traveling course 17.
- the target position Pr of the unmanned vehicle 2 means the target position of the unmanned vehicle 2 when passing through the course point 18. Based on the detection data of the position sensor 31, the control device 40 controls the traveling device 22 so that the actual position Ps of the unmanned vehicle 2 when passing through the course point 18 becomes the target position Pr. The control device 40 controls the traveling device 22 so that the unmanned vehicle 2 travels according to the traveling course 17 based on the detection data of the position sensor 31.
- the target position Pr of the unmanned vehicle 2 may be defined in the local coordinate system of the unmanned vehicle 2 or may be defined in the global coordinate system.
- the target direction Dr of the unmanned vehicle 2 means the target direction of the unmanned vehicle 2 when passing through the course point 18.
- the target azimuth Dr includes the azimuth angle of the unmanned vehicle 2 with respect to the reference azimuth (for example, north).
- the target direction Dr is the target direction of the front part of the vehicle body 21, and indicates the target traveling direction of the unmanned vehicle 2.
- the control device 40 controls the traveling device 22 so that the actual direction Ds of the unmanned vehicle 2 when passing through the course point 18 becomes the target direction Dr. For example, when the target direction Dr at the first course point 18 is set to the first target direction Dr1, the control device 40 controls the actual direction Ds of the unmanned vehicle 2 when passing through the first course point 18.
- the steering device 28 is controlled so that the first target direction is Dr1.
- the control device 40 has the actual direction Ds of the unmanned vehicle 2 when passing through the second course point 18 as the first.
- the steering device 28 is controlled so as to have the target direction Dr2 of 2.
- the target traveling speed Vr of the unmanned vehicle 2 means the target traveling speed of the unmanned vehicle 2 when passing through the course point 18. Based on the detection data of the speed sensor 33, the control device 40 controls the traveling device 22 so that the actual traveling speed Vs of the unmanned vehicle 2 when passing through the course point 18 becomes the target traveling speed Vr. For example, when the target traveling speed Vr at the first course point 18 is set to the first target traveling speed Vr1, the control device 40 actually controls the unmanned vehicle 2 when passing through the first course point 18. The drive device 26 or the brake device 27 is controlled so that the travel speed Vs becomes the first target travel speed Vr1.
- the control device 40 determines the actual traveling speed of the unmanned vehicle 2 when passing through the second course point 18.
- the drive device 26 or the brake device 27 is controlled so that Vs becomes the second target traveling speed Vr2.
- FIG. 5 is a functional block diagram showing a control system 100 of the unmanned vehicle 2 according to the embodiment.
- the control system 100 includes a control device 40 and a traveling device 22.
- the management device 3 and the control device 40 of the unmanned vehicle 2 wirelessly communicate with each other via the communication system 4.
- the control device 40 has a processor 41, a main memory 42, a storage 43, and an interface 44.
- a processor 41 a CPU (Central Processing Unit) or an MPU (Micro Processing Unit) is exemplified.
- main memory 42 a non-volatile memory or a volatile memory is exemplified.
- ROM Read Only Memory
- RAM Random Access Memory
- storage 43 a hard disk drive (HDD: Hard Disk Drive) or a solid state drive (SSD: Solid State Drive) is exemplified.
- An input / output circuit or a communication circuit is exemplified as the interface 44.
- the interface 44 is connected to each of the traveling device 22, the position sensor 31, the direction sensor 32, the speed sensor 33, and the steering sensor 34.
- the interface 44 communicates with each of the traveling device 22, the position sensor 31, the direction sensor 32, the speed sensor 33, and the steering sensor 34.
- the control device 40 includes a course data acquisition unit 101, a sensor data acquisition unit 102, a required steering speed calculation unit 103, an actual steering speed acquisition unit 104, a determination unit 105, and a travel control unit 106.
- the processor 41 functions as a course data acquisition unit 101, a sensor data acquisition unit 102, a required steering speed calculation unit 103, an actual steering speed acquisition unit 104, a determination unit 105, and a travel control unit 106.
- the course data acquisition unit 101 acquires the course data transmitted from the management device 3 via the interface 44.
- the sensor data acquisition unit 102 acquires sensor data via the interface 44.
- the sensor data includes at least one of the detection data of the position sensor 31, the detection data of the orientation sensor 32, the detection data of the speed sensor 33, and the detection data of the steering sensor 34.
- the required steering speed calculation unit 103 calculates the required steering speed vreq of the steering device 28 of the unmanned vehicle 2 so that the unmanned vehicle 2 travels according to the traveling course 17.
- the required steering speed calculation unit 103 calculates the required steering speed vreq based on the course data acquired by the course data acquisition unit 101 and the sensor data acquired by the sensor data acquisition unit 102. In the embodiment, the required steering speed calculation unit 103 calculates the required steering speed v req based on the target steering angle ⁇ com and the actual steering angle ⁇ real detected by the steering sensor 34.
- FIG. 6 is a schematic diagram for explaining the traveling conditions of the unmanned vehicle 2 according to the embodiment.
- FIG. 6 shows an example in which the traveling course 17 is set so that the automatic guided vehicle 2 turns.
- the course points 18 (i) to the course points 18 (i + n) are set as the course points 18.
- the automatic guided vehicle 2 travels in the traveling area 10 so as to pass the course point 18 (i + n) after passing the course point 18 ( i ).
- a target position Pr, a target direction Dr, and a target traveling speed Vr are set for each of the plurality of course points 18.
- the required steering speed calculation unit 103 calculates the difference ⁇ Pr (i) between the target position Pr (i) at the course point 18 (i ) and the sensor data (detection data of the position sensor 31) acquired from the sensor data acquisition unit 102. do. Further, the required steering speed calculation unit 103 has a difference ⁇ Dr (i) between the target direction Dr (i) at the course point 18 (i ) and the sensor data (detection data of the direction sensor 32) acquired from the sensor data acquisition unit 102. Is calculated.
- the required steering speed calculation unit 103 sets the difference ⁇ Pr (i), the difference ⁇ Dr (i) , the target position Pr (i + n) at the course point 18 ( i + n) , the target direction Dr (i + n) at the course point 18 (i + n), and the like. Based on this, the target steering angle ⁇ com (i) of the unmanned vehicle 2 traveling from the course point 18 (i) to the course point 18 (i + n) is calculated.
- the actual steering angle ⁇ real is the detection data of the steering sensor 34.
- the required steering speed calculation unit 103 acquires the actual steering angle ⁇ real , which is the detection data of the steering sensor 34, from the sensor data acquisition unit 102.
- the required steering speed calculation unit 103 can acquire the actual steering angle ⁇ real (i) detected by the steering sensor 34 of the unmanned vehicle 2 at the course point 18 (i) .
- the required steering speed calculation unit 103 calculates the required steering speed v req for the automatic guided vehicle 2 to travel according to the traveling course 17 based on the target steering angle ⁇ com and the actual steering angle ⁇ real .
- the required steering speed v req is calculated based on the following equation (1).
- the time T is an estimated time until the automatic guided vehicle 2 reaches the target arrival point.
- the time T is calculated based on the distance from the local point of the unmanned vehicle 2 to the time when the target is reached and the traveling speed Vs of the unmanned vehicle 2. For example, when the automatic guided vehicle 2 existing at the course point 18 ( i ) travels toward the course point 18 (i + n) which is the target arrival point, the time T is from the course point 18 (i) to the course point 18 (i + n) . This is the time required for the automatic guided vehicle 2 to move.
- the time T is calculated based on the distance from the course point 18 (i) to the course point 18 (i + n) and the traveling speed Vs of the automatic guided vehicle 2 when passing through the course point 18 (i) .
- the distance from the course point 18 (i) to the course point 18 (i + n) is defined by the course data.
- the traveling speed Vs of the unmanned vehicle 2 when passing through the course point 18 (i) is detected by the speed sensor 33.
- ⁇ is a constant.
- the constant ⁇ is, for example, 3.
- the required steering speed calculation unit 103 calculates the required steering speed v req (i) so that the unmanned vehicle 2 existing at the course point 18 (i) does not deviate from the traveling course 17 at the course point 18 (i + n) . That is, the required steering speed calculation unit 103 determines the required steering speed based on the equation (1) so that the unmanned vehicle 2 traveling from the course point 18 (i) to the course point 18 (i + n) does not deviate from the traveling course 17. v Req (i) is calculated.
- the actual steering speed acquisition unit 104 acquires the actual steering speed value of the steering device 28 of the unmanned vehicle 2 detected by the steering sensor 34.
- the actual steering speed v real is the detection data of the steering sensor 34.
- the actual steering speed acquisition unit 104 acquires the actual steering speed v real from the steering sensor 34.
- the actual steering speed acquisition unit 104 may acquire the actual steering speed value by differentiating the steering angle detected by the steering sensor 34.
- the actual steering speed acquisition unit 104 can acquire the actual steering speed v real (i) detected by the steering sensor 34 of the unmanned vehicle 2 at the course point 18 (i) .
- the determination unit 105 determines whether or not the unmanned vehicle 2 can travel according to the travel course 17 based on the comparison result between the required steering speed v req and the actual steering speed v real . That is, the determination unit 105 determines whether or not the unmanned vehicle 2 can travel without deviating from the travel course 17 based on the comparison result between the required steering speed v req and the actual steering speed v real .
- the determination unit 105 is an automatic vehicle traveling from the course point 18 (i) to the course point 18 (i + n) based on the comparison result between the required steering speed v req (i) and the actual steering speed v real (i) . It is determined whether or not 2 can travel without deviating from the traveling course 17.
- the determination unit 105 determines that the unmanned vehicle is an unmanned vehicle when the required steering speed v req is higher than the actual steering speed v real and the difference between the required steering speed v req and the actual steering speed v real exceeds a predetermined threshold value ⁇ . It is determined that 2 cannot travel according to the traveling course 17. That is, the determination unit 105 determines that the unmanned vehicle 2 cannot travel according to the travel course 17 when the condition of the following equation (2) is satisfied.
- the threshold ⁇ is zero.
- the threshold value ⁇ may be a positive number.
- the actual steering speed v real is the detection data of the steering sensor 34 when the steering device 28 of the unmanned vehicle 2 is driven by the control device 40 at the maximum output.
- the actual steering speed value when the steering device 28 is driven by the control device 40 at the maximum output is appropriately referred to as a maximum steering speed.
- the determination unit 105 reaches the required steering speed v req even if the steering device 28 of the unmanned vehicle 2 existing at the first course point 18 (i) is driven at the maximum steering speed. If it is determined that the automatic guided vehicle 2 cannot travel, it is determined that the automatic guided vehicle 2 deviates from the traveling course 17 at the second course point 18 (i + n) ahead of the automated guided vehicle 2, and the automatic guided vehicle 2 cannot travel according to the traveling course 17. Is determined.
- the determination unit 105 determines that the unmanned vehicle 2 can travel according to the travel course 17. In the embodiment, the determination unit 105 determines that the unmanned vehicle 2 can travel according to the travel course 17 when the required steering speed v req is equal to or less than the actual steering speed v real .
- the travel control unit 106 controls the travel device 22 based on the course data acquired by the course data acquisition unit 101. Further, the traveling control unit 106 adjusts the traveling speed Vs of the unmanned vehicle 2 based on the comparison result between the required steering speed v req and the actual steering speed v real .
- the travel control unit 106 determines that the automatic guided vehicle 2 cannot travel.
- the traveling speed Vs of the vehicle is reduced.
- the traveling control unit 106 When the actual traveling speed when the unmanned vehicle 2 passes the first course point 18 is Vs, the traveling control unit 106 is set so that the traveling speed Vs becomes equal to or less than the traveling speed Vt shown by the equation (3). The traveling speed Vs is reduced.
- the travel control unit 106 determines by the determination unit 105 that the automatic guided vehicle 2 can travel according to the travel course 17 based on the comparison result between the required steering speed v req and the actual steering speed v real , the automatic guided vehicle 2 Is driven based on the target traveling speed Vr specified by the course data.
- the management device 3 has a course data generation unit 3A and a communication unit 3B.
- the course data generation unit 3A generates course data indicating the running conditions of the automatic guided vehicle 2.
- the manager of the control facility 5 operates the input device 9 connected to the management device 3 to input the traveling conditions of the unmanned vehicle 2 to the management device 3. Examples of the input device 9 include a touch panel, a computer keyboard, a mouse, and operation buttons.
- the input device 9 generates input data by being operated by the administrator.
- the course data generation unit 3A generates course data based on the input data generated by the input device 9.
- the course data generation unit 3A transmits the course data to the unmanned vehicle 2 via the communication unit 3B and the communication system 4.
- FIG. 7 is a flowchart showing a control method of the unmanned vehicle 2 according to the embodiment.
- Course data is transmitted from the management device 3 to the control device 40.
- the course data acquisition unit 101 acquires the course data transmitted from the management device 3 (step S1).
- the travel control unit 106 outputs a control command for controlling the travel device 22 so that the unmanned vehicle 2 travels based on the course data.
- the unmanned vehicle 2 travels in the traveling area 10 based on the course data.
- the sensor data acquisition unit 102 acquires sensor data (step S2).
- the sensor data acquired in step S2 includes the detection data of the position sensor 31, the detection data of the orientation sensor 32, the detection data of the speed sensor 33, and the detection data of the steering sensor 34.
- the detection data of the steering sensor 34 is the actual steering angle ⁇ real .
- the required steering speed calculation unit 103 calculates the required steering speed v req based on the target steering angle ⁇ com and the actual steering angle ⁇ real (step S3).
- the required steering speed calculation unit 103 calculates the target steering angle ⁇ com based on the course data acquired in step S1 and the sensor data acquired in step S2.
- the required steering speed calculation unit 103 calculates the target steering angle ⁇ com based on the target position Pr, the target direction Dr, and the sensor data of the course point 18. Further, the required steering speed calculation unit 103 acquires the actual steering angle ⁇ real acquired in step S2.
- the required steering speed calculation unit 103 calculates the required steering speed v req for the unmanned vehicle 2 to travel according to the traveling course 17 based on the equation (1).
- the actual steering speed acquisition unit 104 acquires the actual steering speed v real based on the actual steering angle ⁇ real acquired in step S2 (step S4).
- the determination unit 105 compares the required steering speed v req calculated in step S3 with the actual steering speed v real acquired in step S4 (step S5).
- the determination unit 105 determines whether or not the unmanned vehicle 2 can travel according to the travel course 17 based on the comparison result of step S5 (step S6).
- the determination unit 105 determines whether or not the unmanned vehicle 2 can travel according to the travel course 17 based on the equation (2). In the embodiment, the determination unit 105 determines that the unmanned vehicle 2 can travel according to the travel course 17 when the required steering speed v req is equal to or less than the actual steering speed v real . When the required steering speed v req exceeds the actual steering speed v real , the determination unit 105 determines that the unmanned vehicle 2 cannot travel according to the travel course 17.
- step S6 When it is determined in step S6 that the automatic guided vehicle 2 can travel according to the travel course 17 (step S6: Yes), the travel control unit 106 uses the unmanned vehicle based on the target travel speed Vr defined by the course data. 2 is run (step S7).
- step S6 When it is determined in step S6 that the automatic guided vehicle 2 cannot travel according to the travel course 17 (step S6: No), the travel control unit 106 operates the brake device 27 to reduce the travel speed Vs. Then, the unmanned vehicle 2 is driven (step S8).
- the required steering speed v lex for driving the unmanned vehicle 2 according to the traveling course 17 is calculated.
- the required steering speed v req is the difference ⁇ Pr between the target position Pr of the first course point 18 and the sensor data (detection data of the position sensor 31), and the target azimuth Dr and sensor data (direction sensor) of the first course point 18.
- the time T is calculated based on the distance from the first course point 18 to the second course point 18 and the traveling speed Vs of the automatic guided vehicle 2 when passing through the first course point 18.
- the distance from the first course point 18 to the second course point 18 is defined by the course data.
- the traveling speed Vs of the unmanned vehicle 2 when passing through the first course point 18 is detected by the speed sensor 33.
- the actual steering speed value when the automatic guided vehicle 2 passes through the first course point 18 is detected by the steering sensor 34.
- the traveling speed Vs of the unmanned vehicle 2 is adjusted based on the comparison result between the required steering speed v req and the actual steering speed v real . As a result, the decrease in productivity at the work site is suppressed.
- FIG. 8 is a schematic diagram for explaining the operation of the unmanned vehicle 2 according to the embodiment.
- the actual traveling speed Vs may be higher than the target traveling speed Vr defined by the course data.
- the traveling area 10 on which the unmanned vehicle 2 travels is a downhill road or the dump body 23 is loaded, the actual traveling speed Vs becomes higher than the target traveling speed Vr. There is a possibility that it will end up. Further, even immediately after the unmanned vehicle 2 in the stopped state starts, the actual traveling speed Vs may be higher than the target traveling speed Vr. If the unmanned vehicle 2 enters the curve while the traveling speed Vs is high, the unmanned vehicle 2 may not be able to completely turn the curve and may deviate from the traveling course 17 as shown by the unmanned vehicle 2D in FIG. ..
- the automatic guided vehicle 2 when it is determined that the automatic guided vehicle 2 cannot travel according to the traveling course 17 based on the comparison result between the required steering speed v req and the actual steering speed v real , that is, in a curve at the traveling speed Vs.
- the braking device 27 is operated and the traveling speed Vs of the unmanned vehicle 2 is reduced.
- the unmanned vehicle 2 can travel so as to follow the traveling course 17. Since the unmanned vehicle 2 is suppressed from deviating from the traveling course 17, the decrease in productivity at the work site is suppressed.
- the traveling speed Vs of the unmanned vehicle 2 is not reduced. Since the traveling speed Vs of the unmanned vehicle 2 is not reduced, the unmanned vehicle 2 can arrive at the destination in a short time. For example, when the unmanned vehicle 2 is traveling toward the lumber yard 12, the traveling speed Vs of the unmanned vehicle 2 is not reduced, so that the unmanned vehicle 2 can arrive at the lumber yard 12 in a short time. Therefore, the decrease in productivity at the work site is suppressed.
- the management device 3 has the function of the required steering speed calculation unit 103, and the required steering speed vreq calculated by the management device 3 based on the change command is transmitted via the communication system 4. , May be transmitted to the control device 40 of the unmanned vehicle 2.
- the management device 3 may have the function of the determination unit 105, and the determination result of the determination unit 105 may be transmitted to the control device 40 of the unmanned vehicle 2 via the communication system 4.
- the travel control unit 106 of the control device 40 reduces the travel speed Vs of the unmanned vehicle 2 when the determination unit 105 of the management device 3 determines that the automatic vehicle 2 cannot travel according to the travel course 17.
- Required steering speed calculation unit 104 ... Actual steering speed acquisition unit, 105 ... Judgment unit, 106 ... Travel control Part, Pr ... target position, Ps ... position, Vr ... target running speed, Vs ... running speed, Vt ... running speed, Dr ... target azimuth, Ds ... azimuth, ⁇ Dr ... difference, ⁇ ... constant, ⁇ ... threshold, v req ... Required steering speed, v real ... actual steering speed, ⁇ com ... target steering angle, ⁇ real ... actual steering angle.
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Abstract
Description
図1は、実施形態に係る無人車両2の管理システム1を示す模式図である。無人車両2とは、運転者による運転操作によらずに無人で稼働する作業車両をいう。無人車両2は、作業現場において稼働する。作業現場として、鉱山又は採石場が例示される。無人車両2は、無人で作業現場を走行して積荷を運搬する無人ダンプトラックである。鉱山とは、鉱物を採掘する場所又は事業所をいう。採石場とは、石材を採掘する場所又は事業所をいう。無人車両2に運搬される積荷として、鉱山又は採石場において掘削された鉱石又は土砂が例示される。
図2は、実施形態に係る無人車両2を示す模式図である。図1及び図2に示すように、無人車両2は、車両本体21と、走行装置22と、ダンプボディ23と、無線通信機30と、位置センサ31と、方位センサ32と、速度センサ33と、ステアリングセンサ34と、制御装置40とを備える。
図3は、実施形態に係る作業現場を示す模式図である。実施形態において、作業現場は、鉱山である。鉱山として、金属を採掘する金属鉱山、石灰石を採掘する非金属鉱山、又は石炭を採掘する石炭鉱山が例示される。無人車両2に運搬される積荷として、鉱山において掘削された採掘物が例示される。
図4は、実施形態に係るコースデータを説明するための模式図である。管理装置3は、コースデータを生成する。コースデータは、無人車両2の走行条件を示す。コースデータは、走行エリア10に設定される。無人車両2は、管理装置3から送信されたコースデータに基づいて、走行エリア10を走行する。コースデータは、コース点18、無人車両2の走行コース17、無人車両2の目標位置Pr、無人車両2の目標方位Dr、及び無人車両2の目標走行速度Vrを含む。
図5は、実施形態に係る無人車両2の制御システム100を示す機能ブロック図である。制御システム100は、制御装置40と、走行装置22とを含む。管理装置3と、無人車両2の制御装置40とは、通信システム4を介して、無線通信する。
図7は、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から制御装置40にコースデータが送信される。コースデータ取得部101は、管理装置3から送信されたコースデータを取得する(ステップS1)。
以上説明したように、実施形態によれば、無人車両2を走行コース17に従って走行させるための要求ステアリング速度vreqが算出される。要求ステアリング速度vreqは、第1のコース点18の目標位置Prとセンサデータ(位置センサ31の検出データ)との差ΔPrと、第1のコース点18の目標方位Drとセンサデータ(方位センサ32の検出データ)との差ΔDrと、第1のコース点18よりも前方の第2のコース点18の目標位置Pr及び目標方位Drから導出される目標ステアリング角度δcomと、第1のコース点18を無人車両2が通過するときにステアリングセンサ34により検出される実ステアリング角度δrealと、第1のコース点18から第2のコース点18まで無人車両2が移動するのに要する時間Tと、に基づいて算出される。時間Tは、第1のコース点18から第2のコース点18までの距離と、第1のコース点18を通過するときの無人車両2の走行速度Vsとに基づいて算出される。第1のコース点18から第2のコース点18までの距離は、コースデータにより規定される。第1のコース点18を通過するときの無人車両2の走行速度Vsは、速度センサ33により検出される。また、第1のコース点18を無人車両2が通過するときの実ステアリング速度vrealがステアリングセンサ34により検出される。要求ステアリング速度vreqと実ステアリング速度vrealとの比較結果に基づいて、無人車両2の走行速度Vsが調整される。これにより、作業現場の生産性の低下が抑制される。
なお、上述の実施形態において、制御装置40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40に設けられてもよい。例えば、上述の実施形態において、管理装置3が、要求ステアリング速度算出部103の機能を有し、管理装置3において変更指令に基づいて算出された要求ステアリング速度vreqが、通信システム4を介して、無人車両2の制御装置40に送信されてもよい。また、管理装置3が、判定部105の機能を有し、判定部105の判定結果が、通信システム4を介して、無人車両2の制御装置40に送信されてもよい。制御装置40の走行制御部106は、無人車両2が走行コース17に従って走行可能ではないと管理装置3の判定部105により判定された場合、無人車両2の走行速度Vsを低減させる。
Claims (8)
- 無人車両が走行コースに従って走行するように、前記無人車両の要求ステアリング速度を算出する要求ステアリング速度算出部と、
ステアリングセンサにより検出された前記無人車両の実ステアリング速度を取得する実ステアリング速度取得部と、
前記要求ステアリング速度と前記実ステアリング速度との比較結果に基づいて、前記無人車両の走行速度を調整する走行制御部と、を備える、
無人車両の制御システム。 - 前記比較結果に基づいて、前記無人車両が前記走行コースに従って走行可能か否かを判定する判定部を備え、
前記走行制御部は、前記無人車両が前記走行コースに従って走行可能ではないと判定された場合、前記無人車両の走行速度を低減させる、
請求項1に記載の無人車両の制御システム。 - 前記判定部は、前記要求ステアリング速度が前記実ステアリング速度よりも高く、且つ、前記要求ステアリング速度と前記実ステアリング速度との差が閾値を上回る場合、前記無人車両が前記走行コースに従って走行可能ではないと判定する、
請求項2に記載の無人車両の制御システム。 - 前記走行コースは、複数のコース点を通過する軌跡によって規定され、
複数の前記コース点のそれぞれに、前記無人車両の目標方位及び目標走行速度が設定され、
前記要求ステアリング速度算出部は、第1のコース点に存在する前記無人車両が前記無人車両よりも前方の第2のコース点において前記走行コースから逸脱しないように、前記要求ステアリング速度を算出する、
請求項2又は請求項3に記載の無人車両の制御システム。 - 前記判定部は、前記無人車両のステアリング装置が最大ステアリング速度で駆動されても、第2のコース点において前記無人車両が前記走行コースから逸脱すると判定した場合、前記無人車両が前記走行コースに従って走行可能ではないと判定する、
請求項4に記載の無人車両の制御システム。 - 前記判定部は、前記要求ステアリング速度が前記実ステアリング速度以下である場合、前記無人車両が前記走行コースに従って走行可能であると判定する、
請求項2から請求項5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6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。 - 無人車両が走行コースに従って走行するように、前記無人車両の要求ステアリング速度を算出することと、
ステアリングセンサにより検出された前記無人車両の実ステアリング速度を取得することと、
前記要求ステアリング速度と前記実ステアリング速度との比較結果に基づいて、前記無人車両の走行速度を調整することと、を含む。
無人車両の制御方法。
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JPH11120497A (ja) * | 1997-10-14 | 1999-04-30 | Mitsubishi Motors Corp | 車両のコースアウト防止装置 |
JP2019101688A (ja) * | 2017-11-30 | 2019-06-24 | 株式会社小松製作所 | 無人車両の制御装置及び無人車両の制御方法 |
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