WO2022085282A1 - ブルドーザと運搬車両とを制御するための方法及びシステム - Google Patents
ブルドーザと運搬車両とを制御するための方法及びシステム Download PDFInfo
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- WO2022085282A1 WO2022085282A1 PCT/JP2021/030015 JP2021030015W WO2022085282A1 WO 2022085282 A1 WO2022085282 A1 WO 2022085282A1 JP 2021030015 W JP2021030015 W JP 2021030015W WO 2022085282 A1 WO2022085282 A1 WO 2022085282A1
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- Prior art keywords
- operating area
- bulldozer
- transport vehicle
- vehicle
- earth
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 41
- 239000002689 soil Substances 0.000 claims abstract description 88
- 239000004576 sand Substances 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims description 27
- 230000032258 transport Effects 0.000 description 109
- 230000005540 biological transmission Effects 0.000 description 15
- 239000010720 hydraulic oil Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000007599 discharging Methods 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000002706 hydrostatic effect Effects 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
- E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2054—Fleet management
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- 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
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
- G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
-
- 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
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y10/00—Economic sectors
- G16Y10/40—Transportation
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/10—Detection; Monitoring
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/30—Control
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
Definitions
- the control server wirelessly communicates with a transport vehicle that travels autonomously (hereinafter, referred to as “self-sustaining vehicle”) to acquire the position of the self-sustaining vehicle.
- the control server stores a map database that stores the travel route of the work site.
- the control server wirelessly communicates with the vehicle driven by the driver (hereinafter referred to as "manned vehicle”), and acquires the traveling position and working state of the manned vehicle.
- the control server controls the self-driving vehicle so as to avoid interference with the manned vehicle based on the traveling position of the manned vehicle and the map database.
- An object of the present disclosure is to provide a technique for avoiding interference between a self-propelled transport vehicle and a self-propelled bulldozer.
- the seventh process is to prohibit the transport vehicle from entering the first operating region when the transport vehicle leaves the first operating region.
- the eighth process is to allow the bulldozer to enter the first operating area after prohibiting the carrier vehicle from entering the first operating area.
- the order of processing execution is not limited to the above order, and may be changed.
- the controller controls the transport vehicle so as to leave the first operating area when the transport of the earth and sand to the first soil discharge position is completed.
- the controller determines whether the transport vehicle has left the first operating area.
- the controller prohibits the transport vehicle from entering the first operating region when the transport vehicle exits the first operating region.
- the controller prohibits the carrier vehicle from entering the first operating area and then permits the bulldozer to enter the first operating area.
- FIG. 2 is a perspective view of the bulldozer 1.
- FIG. 3 is a block diagram showing the configuration of the bulldozer 1.
- the bulldozer 1 includes a vehicle body 11, a traveling device 12, and a working machine 13.
- the vehicle body 11 is supported by the traveling device 12.
- the traveling device 12 has a track band 14.
- the bulldozer 1 runs by rotating the track 14.
- the working machine 13 is attached to the vehicle body 11.
- the working machine 13 includes a lift frame 15, a blade 16, and a lift cylinder 17.
- the lift frame 15 is attached to the traveling device 12 so as to be movable up and down.
- the lift frame 15 may be attached to the vehicle body 11.
- the lift frame 15 supports the blade 16.
- the blade 16 moves up and down with the operation of the lift frame 15.
- the lift cylinder 17 is connected to the vehicle body 11 and the lift frame 15. As the lift cylinder 17 expands and contracts, the lift frame 15 moves up and down.
- the bulldozer 1 includes a drive source 18, a hydraulic pump 19, a power transmission device 20, and a control valve 21.
- the drive source 18 is, for example, an internal combustion engine.
- the hydraulic pump 19 is driven by the drive source 18 and discharges hydraulic oil.
- the hydraulic oil discharged from the hydraulic pump 19 is supplied to the lift cylinder 17.
- one hydraulic pump is shown in FIG. 3, a plurality of hydraulic pumps may be provided.
- the power transmission device 20 transmits the driving force of the drive source 18 to the traveling device 12.
- the power transmission device 20 may be, for example, an HST (Hydro Static Transmission).
- the power transmission device 20 may be a torque converter or a transmission having a plurality of transmission gears.
- the power transmission device 20 may be another type of transmission.
- the bulldozer 1 includes a machine controller 22 and a machine communication device 23.
- the mechanical controller 22 drives the bulldozer 1 by controlling the traveling device 12 or the power transmission device 20.
- the mechanical controller 22 moves the blade 16 up and down by controlling the control valve 21.
- the machine controller 22 is programmed to control the bulldozer 1 based on the acquired data.
- the machine controller 22 includes a processor 221 and a storage device 222.
- the processor 221 is, for example, a CPU (central processing unit). Alternatively, the processor 221 may be a processor different from the CPU.
- the processor 221 executes a process for controlling the bulldozer 1 according to a program.
- the machine communication device 23 wirelessly communicates with the remote control system 3.
- the machine communication device 23 communicates with the remote control system 3 via a wireless LAN such as Wi-Fi (registered trademark), mobile communication such as 3G, 4G, or 5G, or another type of wireless communication network. do.
- a wireless LAN such as Wi-Fi (registered trademark)
- mobile communication such as 3G, 4G, or 5G, or another type of wireless communication network. do.
- FIG. 4 is a side view of the transport vehicle 2.
- FIG. 5 is a block diagram showing the configuration of the transport vehicle 2.
- the transport vehicle 2 includes a vehicle body 30, a traveling device 31, and a loading platform 32.
- the vehicle body 30 is supported by the traveling device 31.
- the traveling device 31 includes a track 33. By driving the track 33, the transport vehicle 2 travels.
- the traveling device 31 may include tires instead of the tracks 33.
- the power transmission device 36 transmits the driving force of the drive source 34 to the traveling device 31.
- the power transmission device 36 is, for example, an HST (Hydro Static Transmission).
- the lift cylinder 37 is a hydraulic cylinder.
- the hydraulic oil discharged from the hydraulic pump 35 is supplied to the lift cylinder 37.
- the lift cylinder 37 is driven by hydraulic oil from the hydraulic pump 35.
- the lift cylinder 37 raises and lowers the loading platform 32. As a result, the posture of the loading platform 32 is switched between the transport posture and the dump posture.
- the vehicle controller 40 is programmed to control the transport vehicle 2 based on the acquired data.
- the vehicle controller 40 includes a processor 401 and a storage device 402.
- the processor 401 is, for example, a CPU (central processing unit). Alternatively, the processor 401 may be a processor different from the CPU.
- the processor 401 executes a process for controlling the transport vehicle 2 according to a program.
- the storage device 402 includes a non-volatile memory such as ROM and a volatile memory such as RAM.
- the storage device 402 may include a hard disk or an auxiliary storage device such as an SSD (Solid State Drive).
- the storage device 402 is an example of a recording medium that can be read by a non-transitory computer.
- the storage device 402 stores computer commands and data for controlling the transport vehicle 2.
- the vehicle communication device 41 wirelessly communicates with the remote control system 3.
- the vehicle communication device 41 communicates with the remote control system 3 via a wireless LAN such as Wi-Fi (registered trademark), mobile communication such as 3G, 4G, or 5G, or another type of wireless communication network. do.
- a wireless LAN such as Wi-Fi (registered trademark)
- mobile communication such as 3G, 4G, or 5G, or another type of wireless communication network. do.
- the transport vehicle 2 includes a vehicle position sensor 42.
- the vehicle position sensor 42 may include, for example, a GNSS (Global Navigation Satellite System) receiver such as a GPS (Global Positioning System). Alternatively, the vehicle position sensor 42 may include receivers for other positioning systems.
- the vehicle position sensor 42 may include a distance measuring sensor such as Lidar, or an image sensor such as a stereo camera.
- the vehicle position sensor 42 outputs the position data to the vehicle controller 40.
- the position data indicates the current position of the transport vehicle 2.
- the external communication device 45 wirelessly communicates with the machine communication device 23 and the vehicle communication device 41.
- the external communication device 45 transmits a command signal from the remote controller 43 to the machine communication device 23 and the vehicle communication device 41.
- the machine controller 22 receives a command signal via the machine communication device 23.
- the vehicle controller 40 receives a command signal via the vehicle communication device 41.
- the external communication device 45 receives the position data of the bulldozer 1 via the machine communication device 23.
- the external communication device 45 receives the position data of the transport vehicle 2 via the vehicle communication device 41.
- the input device 44 is a device that can be operated by an operator.
- the input device 44 receives an input command from the operator and outputs an operation signal corresponding to the input command to the remote controller 43.
- the input device 44 outputs an operation signal corresponding to the operation by the operator.
- the input device 44 outputs an operation signal to the remote controller 43.
- the input device 44 may include a pointing device such as a mouse or a trackball.
- the input device 44 may include a keyboard.
- the input device 44 may include a touch screen.
- the remote controller 43 receives an operation signal from the input device 44.
- the remote controller 43 acquires the position data of the bulldozer 1 from the bulldozer 1.
- the remote controller 43 acquires the position data of the transport vehicle 2 from the transport vehicle 2.
- the remote controller 43 includes a processor 431 and a storage device 432.
- the processor 431 is, for example, a CPU (Central Processing Unit). Alternatively, the processor 431 may be a processor different from the CPU.
- the processor 431 executes a process for controlling the bulldozer 1 and the transport vehicle 2 according to a program.
- the storage device 432 includes a non-volatile memory such as ROM and a volatile memory such as RAM.
- the storage device 432 may include a hard disk or an auxiliary storage device such as an SSD (Solid State Drive).
- the storage device 432 is an example of a recording medium that can be read by a non-transitory computer.
- the storage device 432 stores computer commands and data for controlling the bulldozer 1 and the transport vehicle 2.
- FIG. 6 is a top view of the work site.
- the remote controller 43 stores the current terrain data indicating the current terrain 50 of the work site.
- An excavator 4 is arranged at the work site.
- the excavation machine 4 excavates the existing terrain 50.
- the excavation machine 4 may be automatically controlled by the remote controller 43. Alternatively, the excavator 4 may be operated manually.
- the current terrain 50 includes a work area 51 and a soil removal area 52.
- the remote controller 43 stores the position of the work area 51 assigned to the bulldozer 1. For example, by operating the input device 44 by the operator, a predetermined area in the work site is allocated to the bulldozer 1 as the work area 51.
- the remote controller 43 stores the position of the soil removal area 52 and the boundary position 53 between the work area 51 and the soil removal area 52.
- the remote controller 43 acquires, for example, the position of the soil removal area 52 and the boundary position 53 from the current topographical data.
- the remote controller 43 determines the loading position 60 and the soil discharge position 61.
- the loading position 60 is a position near the excavating machine 4.
- the loading position 60 may be set by the operation of the input device 44 by the operator. Alternatively, the loading position 60 may be determined by the remote controller 43 from the position of the excavator 4.
- the soil removal position 61 is a position within the work area 51.
- the soil removal position 61 is located near the boundary position 53 between the work area 51 and the soil removal area 52.
- the soil removal position 61 will be described later.
- the remote controller 43 determines the traveling route 56 connecting the loading position 60 and the soil discharging position 61.
- the remote controller 43 determines the travel path 56 so that the travel distance of the transport vehicle 2 is the shortest, for example.
- the remote controller 43 transmits data indicating the travel route 56 to the transport vehicle 2.
- the transport vehicle 2 travels independently along the travel route 56.
- the transport vehicle 2 moves to the loading position 60, and the excavated earth and sand are loaded into the transport vehicle 2 at the loading position 60.
- the transport vehicle 2 moves along the traveling path 56 and discharges the earth and sand from the loading platform 32 at the soil discharge position 61.
- the earth and sand excavated by the excavation machine 4 is carried to the work area 51 assigned to the bulldozer 1.
- the bulldozer 1 pushes the earth and sand placed in the work area 51 from the boundary position 53.
- the earth and sand are discharged from the work area 51 to the earth removal area 52.
- FIG. 7 is a flowchart showing a process of automatic control executed by the remote controller 43.
- the remote controller 43 determines the first soil discharge position 61A-63A.
- the remote controller 43 determines the first soil discharge position 61A-63A in the operating area where the bulldozer 1 is not present. For example, when the bulldozer 1 is located in the second operating area 51B and is not in the first operating area 51A, the remote controller 43 determines a plurality of first soil discharge positions 61A-63A in the first operating area 51A. do.
- the remote controller 43 may determine a position separated from the boundary position 53 in the first operating area 51A by a predetermined distance as the first soil discharge position 61A-63A.
- the remote controller 43 may determine the first soil discharge positions 61A-63A so that the plurality of first soil discharge positions 61A-63A are arranged at predetermined intervals.
- step S107 the remote controller 43 determines whether the transportation of the earth and sand to the first soil discharge positions 61A-63A by the transportation vehicle 2 is completed.
- the transport vehicle 2 may transmit a report signal indicating the completion of transport to the remote controller 43 when the soil is discharged to all the first soil discharge positions 61A-63A.
- the remote controller 43 may determine the completion of transporting the earth and sand to the first soil discharge positions 61A-63A based on the report signal from the transport vehicle 2.
- step S108 the remote controller 43 controls the transport vehicle 2 so as to exit from the first operating area 51A.
- the remote controller 43 controls the transport vehicle 2 so that the transport vehicle 2 moves to the loading position 60.
- step S109 the remote controller 43 determines whether the transport vehicle 2 has left the first operating area 51A. When the transport vehicle 2 exits from the first operating area 51A, the process proceeds to step S110 shown in FIG.
- step S117 the remote controller 43 controls the transport vehicle 2 so as to exit from the second operating area 51B.
- step S118 the remote controller 43 determines whether the transport vehicle 2 has left the second operating area 51B. When the transport vehicle 2 exits the second operating area 51B, the process proceeds to step S119 shown in FIG.
- step S119 the remote controller 43 prohibits the transport vehicle 2 from entering the second operating area 51B.
- step S120 the remote controller 43 prohibits the transport vehicle 2 from entering the second operating region 51B, and then permits the bulldozer 1 to enter the first operating region 51A. As a result, the bulldozer 1 can move from the first operating area 51A to the second operating area 51B.
- the bulldozer 1 acquires a traveling path 81B for discharging the earth and sand 71B-73B placed at the second soil discharge position 61B-63B to the soil removal area 52 in the second operating area 51B. ..
- the process for the bulldozer 1 to discharge the earth and sand to the soil removal area 52 in the second operating area 51B is the same as the process for the bulldozer 1 to discharge the earth and sand to the soil removal area 52 in the first operating area 51A described above. Is.
- the transportation of earth and sand to the first operating area 51A and the second operating area 51B by the transport vehicle 2 is repeated. Further, the bulldozer 1 repeatedly discharges the earth and sand to the soil discharge area 52 in the first operating area 51A and the second operating area 51B. At that time, depending on the current position of the transport vehicle 2, permission or prohibition of entry into the first operating area 51A and the second operating area 51B of the bulldozer 1 is switched. Further, depending on the current position of the bulldozer 1, permission or prohibition of entry of the transport vehicle 2 into the first operating area 51A and the second operating area 51B is switched. As a result, while avoiding interference between the transport vehicle 2 and the bulldozer 1, the transport vehicle 2 and the bulldozer 1 can efficiently perform work by self-driving.
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Abstract
Description
2 運搬車両
43 リモートコントローラ
45 外部通信装置
51 作業エリア
51A 第1稼働領域
51B 第2稼働領域
61A 第1排土位置
61B 第2排土位置
Claims (12)
- ブルドーザと運搬車両とを制御するための方法であって、
ワークサイト内において、前記ブルドーザがいない第1稼働領域を認識することと、
前記第1稼働領域内において第1排土位置を決定することと、
前記第1排土位置へ土砂を運搬するように前記運搬車両を制御することと、
前記運搬車両による前記第1排土位置への土砂の運搬が完了したかを判定することと、
前記第1排土位置への前記土砂の運搬が完了したときに、前記第1稼働領域から退出するように前記運搬車両を制御することと、
前記運搬車両が前記第1稼働領域から退出したかを判定することと、
前記運搬車両が前記第1稼働領域から退出したときには、前記第1稼働領域への前記運搬車両の進入を禁止することと、
前記第1稼働領域への前記運搬車両の進入を禁止した後で、前記第1稼働領域への前記ブルドーザの進入を許可すること、
を備える方法。 - 前記ブルドーザの現在位置を取得することと、
前記ブルドーザの現在位置と前記第1排土位置とに基づいて、前記第1排土位置への前記運搬車両の走行経路を決定すること、
をさらに備える請求項1に記載の方法。 - 前記ブルドーザの現在位置を取得することと、
前記ブルドーザが存在する第2稼働領域を認識することと、
前記ブルドーザの前記第2稼働領域から前記第1稼働領域への移動が完了したかを判定することと、
前記ブルドーザの前記第2稼働領域から前記第1稼働領域への移動が完了した後で、し、前記第2稼働領域への前記運搬車両の移動を許可すること、
を備える請求項1に記載の方法。 - 前記第2稼働領域内において第2排土位置を決定することと、
前記第2排土位置へ土砂を運搬するように前記運搬車両を制御することと、
前記運搬車両による前記第2排土位置への土砂の運搬が完了したかを判定することと、
前記第2排土位置への前記土砂の運搬が完了したときに、前記第2稼働領域から退出するように前記運搬車両を制御することと、
前記運搬車両が前記第2稼働領域から退出したかを判定することと、
前記運搬車両が前記第2稼働領域から退出したときには、前記第2稼働領域への前記運搬車両の進入を禁止することと、
前記第2稼働領域への前記運搬車両の進入を禁止した後で、前記第2稼働領域への前記ブルドーザの進入を許可すること、
をさらに備える、
請求項3に記載の方法。 - 前記第2稼働領域は、前記第1稼働領域に隣接している、
請求項3に記載の方法。 - 前記ワークサイト内において前記ブルドーザに割り当てられた作業エリアの位置を取得することと、
前記作業エリアを前記第1稼働領域と前記第2稼働領域とを含む複数の稼働領域に区画して、前記複数の稼働領域を認識すること、
をさらに備える、
請求項3に記載の方法。 - ブルドーザと運搬車両とを制御するためのシステムであって、
前記ブルドーザ及び前記運搬車両と通信する通信装置と、
前記通信装置を介して前記ブルドーザと前記運搬車両とに指令信号を送信するコントローラと、
を備え、
前記コントローラは、
ワークサイト内において、前記ブルドーザがいない第1稼働領域を認識し、
前記第1稼働領域内において第1排土位置を決定し、
前記第1排土位置へ土砂を運搬するように前記運搬車両を制御し、
前記運搬車両による前記第1排土位置への土砂の運搬が完了したかを判定し、
前記第1排土位置への前記土砂の運搬が完了したときに、前記第1稼働領域から退出するように前記運搬車両を制御し、
前記運搬車両が前記第1稼働領域から退出したかを判定し、
前記運搬車両が前記第1稼働領域から退出したときには、前記第1稼働領域への前記運搬車両の進入を禁止し、
前記第1稼働領域への前記運搬車両の進入を禁止した後で、前記第1稼働領域への前記ブルドーザの進入を許可する、
システム。 - 前記コントローラは、
前記ブルドーザの現在位置を取得し、
前記ブルドーザの現在位置と前記第1排土位置とに基づいて、前記第1排土位置への前記運搬車両の走行経路を決定する、
請求項7に記載のシステム。 - 前記コントローラは、
前記ブルドーザの現在位置を取得し、
前記ブルドーザが存在する第2稼働領域を認識し、
前記ブルドーザの前記第2稼働領域から前記第1稼働領域への移動が完了したかを判定し、
前記ブルドーザの前記第2稼働領域から前記第1稼働領域への移動が完了した後で、前記第2稼働領域への前記運搬車両の移動を許可する、
請求項7に記載のシステム。 - 前記コントローラは、
前記第2稼働領域内において第2排土位置を決定し、
前記第2排土位置へ土砂を運搬するように前記運搬車両を制御し、
前記運搬車両による前記第2排土位置への土砂の運搬が完了したかを判定し、
前記第2排土位置への前記土砂の運搬が完了したときに、前記第2稼働領域から退出するように前記運搬車両を制御し、
前記運搬車両が前記第2稼働領域から退出したかを判定し、
前記運搬車両が前記第2稼働領域から退出したときには、前記第2稼働領域への前記運搬車両の進入を禁止し、
前記第2稼働領域への前記運搬車両の進入を禁止した後で、前記第2稼働領域への前記ブルドーザの進入を許可する、
請求項9に記載のシステム。 - 前記第2稼働領域は、前記第1稼働領域に隣接している、
請求項9に記載のシステム。 - 前記コントローラは、
前記ワークサイトにおいて、前記ブルドーザに割り当てられた作業エリアの位置を取得し、
前記作業エリアを前記第1稼働領域と前記第2稼働領域とを含む複数の稼働領域に区画して、前記複数の稼働領域を認識する、
請求項9に記載のシステム。
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JPH09198134A (ja) * | 1996-01-18 | 1997-07-31 | Komatsu Ltd | 無人ダンプの作業エリア内への進入インターロック方法及びその装置 |
JP2014218576A (ja) * | 2013-05-08 | 2014-11-20 | 三井化学東セロ株式会社 | ステレオコンプレックス・ポリ乳酸延伸フィルムの製造方法 |
JP2019212184A (ja) * | 2018-06-08 | 2019-12-12 | 日立建機株式会社 | 車両干渉防止システム、接近判定装置 |
JP2020154655A (ja) * | 2019-03-19 | 2020-09-24 | 株式会社小松製作所 | 作業現場の管理システム及び作業現場の管理方法 |
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JPH09198134A (ja) * | 1996-01-18 | 1997-07-31 | Komatsu Ltd | 無人ダンプの作業エリア内への進入インターロック方法及びその装置 |
JP2014218576A (ja) * | 2013-05-08 | 2014-11-20 | 三井化学東セロ株式会社 | ステレオコンプレックス・ポリ乳酸延伸フィルムの製造方法 |
JP2019212184A (ja) * | 2018-06-08 | 2019-12-12 | 日立建機株式会社 | 車両干渉防止システム、接近判定装置 |
JP2020154655A (ja) * | 2019-03-19 | 2020-09-24 | 株式会社小松製作所 | 作業現場の管理システム及び作業現場の管理方法 |
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