WO2022176496A1 - 無人車両の管理システム、及び無人車両の管理方法 - Google Patents
無人車両の管理システム、及び無人車両の管理方法 Download PDFInfo
- Publication number
- WO2022176496A1 WO2022176496A1 PCT/JP2022/002043 JP2022002043W WO2022176496A1 WO 2022176496 A1 WO2022176496 A1 WO 2022176496A1 JP 2022002043 W JP2022002043 W JP 2022002043W WO 2022176496 A1 WO2022176496 A1 WO 2022176496A1
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- WIPO (PCT)
- Prior art keywords
- watering
- unmanned
- vehicle
- area
- water
- Prior art date
Links
- 238000007726 management method Methods 0.000 title claims description 54
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 202
- 239000007921 spray Substances 0.000 claims description 127
- 238000005507 spraying Methods 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 15
- 239000003643 water by type Substances 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 165
- 238000001514 detection method Methods 0.000 description 31
- 238000004891 communication Methods 0.000 description 30
- 238000012545 processing Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 21
- 230000006870 function Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 6
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- 238000007599 discharging Methods 0.000 description 3
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- 239000003245 coal Substances 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 235000019738 Limestone Nutrition 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000006028 limestone Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 239000011707 mineral Substances 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
- E01H3/02—Mobile apparatus, e.g. watering-vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D1/225—
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- G05D1/229—
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- G05D1/637—
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- G05D1/693—
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- G05D1/6987—
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- G05D2105/05—
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- G05D2107/73—
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- G05D2109/10—
Definitions
- the present disclosure relates to an unmanned vehicle management system and an unmanned vehicle management method.
- Patent Literature 1 discloses a movable fluid transporter that transports fluid to a site.
- Unmanned vehicles are in operation at large work sites such as mines. If the unmanned vehicle is too close to the watering vehicle during watering, there is a possibility that unmanned vehicles around the watering vehicle will be hindered from traveling.
- the purpose of the present disclosure is to suppress the influence of a water sprinkler vehicle on surrounding unmanned vehicles.
- protection area setting for setting a protection area that prohibits unmanned vehicles traveling around the watering vehicle from entering based on the state of water spraying from the watering spray provided on the watering vehicle traveling through the work site and an output unit that outputs the protected area set by the protected area setting unit.
- FIG. 1 is a schematic diagram showing a work site management system according to an embodiment.
- FIG. 2 is a perspective view showing the unmanned transport vehicle according to the embodiment.
- FIG. 3 is a perspective view showing the unmanned water sprinkler vehicle according to the embodiment.
- FIG. 4 is a schematic diagram showing a work site according to the embodiment.
- FIG. 5 is a functional block diagram showing a work site management system according to the embodiment.
- FIG. 6 is a diagram for explaining first course data and protection areas of the unmanned transport vehicle according to the embodiment;
- FIG. 7 is a diagram for explaining second course data and protection areas of the unmanned watering vehicle according to the embodiment.
- FIG. 8 is a diagram for explaining a watering state from the water spray according to the embodiment.
- FIG. 9 is a diagram for explaining processing of the second protection area setting unit according to the embodiment.
- FIG. 10 is a diagram for explaining processing of the second protected area setting unit according to the embodiment.
- FIG. 11 is a diagram illustrating a relationship between an unmanned watering vehicle and an unmanned transport vehicle according to the embodiment;
- FIG. 12 is a flowchart showing a method for managing unmanned vehicles according to the embodiment.
- FIG. 13 is a diagram for explaining a watering state from the water spray according to the embodiment.
- FIG. 14 is a diagram for explaining a watering state from the water spray according to the embodiment.
- FIG. 1 is a schematic diagram showing an unmanned vehicle management system 1 according to an embodiment.
- the management system 1 manages unmanned vehicles operating at work sites.
- An unmanned vehicle is a work vehicle that operates unmanned without being driven by a driver.
- the unmanned vehicles that operate at the work site include the first unmanned vehicle 10 and the second unmanned vehicle 20 .
- the first unmanned vehicle 10 is an unmanned transport vehicle.
- the second unmanned vehicle 20 is an unmanned sprinkler vehicle.
- the first unmanned vehicle 10 will be referred to as the unmanned transport vehicle 10
- the second unmanned vehicle 20 will be referred to as the unmanned sprinkler vehicle 20.
- the unmanned transport vehicle 10 unmannedly travels through the work site and transports cargo.
- An unmanned dump truck is exemplified as the unmanned transport vehicle 10 .
- Excavated material excavated at a work site is exemplified as a load to be transported by the unmanned transport vehicle 10 .
- the unmanned watering vehicle 20 unmannedly travels the work site and sprinkles water.
- An unmanned water truck is exemplified as the unmanned water vehicle 20 .
- the unmanned water sprinkler vehicle 20 sprinkles water to suppress the spread of dust or sand at the work site.
- the management system 1 includes a management device 2 and a communication system 3.
- the management device 2 is installed in a control facility 4 at a work site. An administrator exists at the control facility 4 .
- the unmanned transport vehicle 10 has a control device 11.
- the unmanned watering vehicle 20 has a control device 21 .
- the management device 2 , the control device 11 and the control device 21 wirelessly communicate via the communication system 3 .
- a wireless communication device 3A is connected to the management device 2 .
- a wireless communication device 3B is connected to the control device 11 .
- a wireless communication device 3C is connected to the control device 21 .
- the communication system 3 includes a wireless communication device 3A, a wireless communication device 3B, and a wireless communication device 3C.
- FIG. 2 is a perspective view showing the unmanned transport vehicle 10 according to the embodiment.
- the unmanned transport vehicle 10 includes a wireless communication device 3B, a control device 11, a vehicle body 12, a travel device 13, a dump body 14, and a sensor system 15.
- the vehicle body 12 includes a body frame.
- the vehicle body 12 is supported by the travel device 13 .
- the vehicle body 12 supports the dump body 14 .
- the traveling device 13 generates a driving force for causing the unmanned transport vehicle 10 to travel.
- the travel device 13 generates a braking force for decelerating or stopping the unmanned transport vehicle 10 .
- the travel device 13 generates a steering force for turning the unmanned transport vehicle 10 .
- the travel device 13 moves the unmanned transport vehicle 10 forward or backward.
- Traveling device 13 includes wheels 16 .
- a tire 17 is attached to the wheel 16 .
- the wheels 16 include front wheels 16F and rear wheels 16R.
- the tire 17 includes a front tire 17F attached to the front wheel 16F and a rear tire 17R attached to the rear wheel 16R.
- the wheels 16 rotate while the tires 17 are in contact with the road surface of the work site, so that the unmanned transport vehicle 10 travels on the work site.
- the dump body 14 is a member on which cargo is loaded. At least part of the dump body 14 is arranged above the vehicle body 12 .
- the sensor system 15 includes a position sensor 15A, an orientation sensor 15B, a speed sensor 15C, and an obstacle sensor 15D.
- the position sensor 15A detects the position of the unmanned transport vehicle 10 .
- the position of the unmanned vehicle 10 is detected using the Global Navigation Satellite System (GNSS).
- the position sensor 15A includes a GNSS receiver and detects the position of the unmanned transport vehicle 10 in the global coordinate system.
- the azimuth sensor 15B detects the azimuth of the unmanned transport vehicle 10 .
- a gyro sensor is exemplified as the direction sensor 15B.
- the speed sensor 15C detects the travel speed of the unmanned transport vehicle 10 .
- a pulse sensor that detects the rotation of the wheels 16 is exemplified as the speed sensor 15C.
- the obstacle sensor 15D detects obstacles around the unmanned transport vehicle 10 .
- the obstacle sensor 15D detects obstacles in a non-contact manner.
- a laser sensor LIDAR: Light Detection and Ranging
- RADAR Radio Detection and Ranging
- FIG. 3 is a perspective view showing the unmanned water sprinkler vehicle 20 according to the embodiment.
- the unmanned watering vehicle 20 includes a wireless communication device 3C, a control device 21, a vehicle body 22, a traveling device 23, a tank 24, a sensor system 25, and a watering spray 28.
- a wireless communication device 3C a control device 21, a vehicle body 22, a traveling device 23, a tank 24, a sensor system 25, and a watering spray 28.
- the vehicle body 22 includes a body frame.
- the vehicle body 22 is supported by the travel device 23 .
- the vehicle body 22 supports the tank 24 .
- the vehicle body 22 is provided with a cab 29 .
- the cab 29 is provided at the front portion of the vehicle body 22 .
- a driver can get on the cab 29 and operate the unmanned watering vehicle 20 .
- the driver performs driving operation of the unmanned watering vehicle 20 .
- the unmanned watering vehicle 20 operates unmanned at least when watering a work site.
- the cab 29 may not be provided in the unmanned watering vehicle 20 .
- the traveling device 23 generates driving force for causing the unmanned watering vehicle 20 to travel.
- the travel device 23 generates braking force for decelerating or stopping the unmanned water vehicle 20 .
- the travel device 23 generates a steering force for turning the unmanned water vehicle 20 .
- the traveling device 23 advances or reverses the unmanned watering vehicle 20 .
- the travel device 23 includes wheels 26 .
- a tire 27 is attached to the wheel 26 .
- the wheels 26 include front wheels 26F and rear wheels 26R.
- the front wheels 26F are steering wheels and the rear wheels 26R are driving wheels. Both the front wheels 26F and the rear wheels 26R may be steering wheels. Both the front wheels 26F and the rear wheels 26R may be drive wheels.
- the front wheels 26F may be driving wheels and the rear wheels 26R may be steering wheels.
- the tire 27 includes a front tire 27F attached to the front wheel 26F and a rear tire 27R attached to the rear wheel 26R. As the wheels 26 rotate while the tires 27 are in contact with the road surface of the work site, the unmanned watering vehicle 20 travels on the work site.
- the tank 24 is a member that stores water for watering. At least part of the tank 24 is arranged above the vehicle body 22 .
- the sensor system 25 includes a position sensor 25A, an orientation sensor 25B, a speed sensor 25C, and an obstacle sensor 25D.
- the position sensor 25A detects the position of the unmanned watering vehicle 20 .
- the position of the unmanned water vehicle 20 is detected using the Global Navigation Satellite System (GNSS).
- Position sensor 25A includes a GNSS receiver and detects the position of unmanned water vehicle 20 in the global coordinate system.
- the azimuth sensor 25B detects the azimuth of the unmanned water vehicle 20 .
- a gyro sensor is exemplified as the direction sensor 25B.
- a speed sensor 25 ⁇ /b>C detects the running speed of the unmanned water vehicle 20 .
- a pulse sensor that detects the rotation of the wheels 26 is exemplified as the speed sensor 25C.
- the obstacle sensor 25 ⁇ /b>D detects obstacles around the unmanned water vehicle 20 .
- the obstacle sensor 25D detects obstacles without contact.
- a laser sensor LIDAR: Light Detection and Ranging
- RADAR Radio Detection and Ranging
- the water spray 28 sprays water from the tank 24 .
- a watering sprayer 28 is arranged at the rear of the unmanned watering vehicle 20 .
- the water spray 28 is positioned at the rear of the tank 24 .
- a watering spray 28 is watered behind the unmanned watering vehicle 20 .
- a plurality of water sprays 28 are provided.
- a plurality of watering sprays 28 are arranged at intervals in the vehicle width direction of the unmanned watering vehicle 20 at the rear portion of the tank 24 .
- the vehicle width direction refers to a direction parallel to the rotation axis of the wheels 26 when the unmanned water sprinkler vehicle 20 is in a straight-ahead state.
- FIG. 4 is a schematic diagram showing a work site according to the embodiment.
- a mine or a quarry is exemplified as a work site.
- a mine is a place or establishment from which minerals are extracted.
- a quarry is a place or establishment where stone is mined.
- the unmanned transport vehicle 10 and the unmanned sprinkler vehicle 20 operate.
- the work site is a mine.
- mines include metal mines for mining metals, non-metal mines for mining limestone, and coal mines for mining coal.
- a loading site 31, a dumping site 32, an apron 33, a refueling station 34, a water supply station 35, a running path 36, and an intersection 37 are provided at the work site.
- the loading area 31 is an area where the loading operation of loading the unmanned transport vehicle 10 is carried out.
- the loading machine 5 operates.
- a hydraulic excavator is exemplified as the loader 5 .
- the unloading site 32 is an area where the unmanned transport vehicle 10 discharges the load.
- a crusher 6 is provided in the dumping site 32 .
- the parking lot 33 is an area where at least one of the unmanned transport vehicle 10 and the unmanned watering vehicle 20 is parked.
- the refueling station 34 is an area where at least one of the unmanned transport vehicle 10 and the unmanned watering vehicle 20 is refueled.
- a fueling station 34 is provided with a fueling machine 7 for supplying fuel.
- the water supply station 35 refers to an area where the unmanned watering vehicle 20 is supplied with water. Water for watering is supplied to the tank 24 at the water supply station 35 .
- a water supply station 35 is provided with a water supply machine 8 for supplying water to the tank 24 .
- the travel path 36 refers to an area where unmanned vehicles travel toward at least one of the loading area 31, the unloading area 32, the apron 33, the refueling area 34, and the water supply area 35.
- the travel path 36 is provided so as to connect at least the loading site 31 and the earth discharging site 32 .
- the travel path 36 is connected to each of the loading area 31, the unloading area 32, the parking area 33, the refueling area 34, and the water supply area 35.
- An intersection 37 is an area where a plurality of roads 36 intersect or an area where one road 36 branches into a plurality of roads 36 .
- FIG. 5 is a functional block diagram showing the work site management system 1 according to the embodiment.
- the management system 1 has a management device 2 , a communication system 3 , a control device 11 and a control device 21 .
- the management device 2 includes a computer system.
- the management device 2 is connected to the input device 9 .
- the management device 2 has a communication interface 41 , a storage circuit 42 and a processing circuit 43 .
- the input device 9 is connected to the processing circuit 43 .
- the input device 9 is operated by an administrator of the control facility 4 .
- the input device 9 generates input data based on the administrator's operation. Input data generated by the input device 9 is input to the processing circuit 43 .
- Examples of the input device 9 include a touch panel, a computer keyboard, a mouse, or operation buttons.
- the input device 9 may be a non-contact input device including an optical sensor, or may be a voice input device.
- the communication interface 41 is connected to the processing circuit 43 .
- the communication interface 41 controls communication between the management device 2 and at least one of the control devices 11 and 21 .
- the communication interface 41 communicates with at least one of the control device 11 and the control device 21 via the communication system 3 .
- the storage circuit 42 is connected to the processing circuit 43 .
- the storage circuit 42 stores data.
- a non-volatile memory or a volatile memory is exemplified as the storage circuit 42 .
- Non-volatile memory is exemplified by ROM (Read Only Memory) or storage. Examples of storage include a hard disk drive (HDD) or a solid state drive (SSD).
- RAM Random Access Memory
- the processing circuit 43 performs arithmetic processing and output processing of control commands.
- a processor is exemplified as the processing circuit 43 .
- a CPU Central Processing Unit
- MPU Micro Processing Unit
- a computer program is stored in the storage circuit 42 .
- the processing circuit 43 obtains a computer program from the storage circuit 42 and executes it to perform a predetermined function.
- the processing circuit 43 includes a first course data generation unit 61, a second course data generation unit 62, a first protection area setting unit 63, a second protection area setting unit 64, a watering data generation unit 65, and a first course data generation unit 65. It has an output section 66 and a second output section 67 .
- the first course data generation unit 61 generates first course data indicating the traveling conditions of the unmanned transport vehicle 10 set at the work site.
- the first course data generator 61 may generate the first course data based on input data from the input device 9 .
- the second course data generation unit 62 generates second course data indicating the traveling conditions of the unmanned watering vehicle 20 set at the work site.
- the second course data generator 62 may generate the second course data based on the input data from the input device 9 .
- the first protection area setting unit 63 sets a protection area 103 at least in front of the unmanned transport vehicle 10 in which the unmanned transport vehicle 10 is allowed to travel.
- the second protected area setting unit 64 sets a protected area 203 at least in front of the unmanned water vehicle 20 in which the unmanned water vehicle 20 is permitted to travel.
- FIG. 6 is a diagram for explaining the first course data and the protection area 103 of the unmanned transport vehicle 10 according to the embodiment.
- the first course data defines travel conditions for the unmanned transport vehicle 10 .
- the first course data includes course points 101 , travel course 102 , target position of unmanned transport vehicle 10 , target orientation of unmanned transport vehicle 10 , and target running speed of unmanned transport vehicle 10 .
- a plurality of course points 101 are set on the travel path 36 including the intersection 37 .
- a plurality of course points 101 are set at each of the loading area 31 , the earth discharging area 32 , the parking area 33 , and the refueling area 34 .
- a course point 101 defines a target position for the unmanned transport vehicle 10 .
- a target azimuth and a target traveling speed of the unmanned transport vehicle 10 are set for each of the plurality of course points 101 .
- a plurality of course points 101 are set at intervals. The interval between the course points 101 is set to, for example, 1 [m] or more and 5 [m] or less. The intervals between the course points 101 may be uniform or non-uniform.
- the travel course 102 is a virtual line indicating the target travel route of the unmanned transport vehicle 10 .
- a travel course 102 is defined by a trajectory passing through a plurality of course points 101 .
- the unmanned transport vehicle 10 travels through the work site according to the traveling course 102 .
- the target position of the unmanned transport vehicle 10 refers to the target position of the unmanned transport vehicle 10 when passing the course point 101.
- the target position of the unmanned transport vehicle 10 may be defined in the local coordinate system of the unmanned transport vehicle 10, or may be defined in the global coordinate system.
- the target orientation of the unmanned transport vehicle 10 refers to the target orientation of the unmanned transport vehicle 10 when passing the course point 101 .
- the target running speed of the unmanned transport vehicle 10 means the target running speed of the unmanned transport vehicle 10 when passing the course point 101 .
- the target travel speed of the unmanned transport vehicle 10 includes an upper limit speed (speed limit) that indicates the upper limit of the travel speed of the unmanned transport vehicle 10 .
- the unmanned transport vehicle 10 travels in the work site at a travel speed not exceeding the upper limit speed.
- the protected area 103 is an area in which the unmanned transport vehicle 10 is permitted to travel.
- the protected area 103 is an area where other unmanned transport vehicles 10 traveling around the unmanned transport vehicle 10 and unmanned sprinkler vehicles 20 are prohibited from entering. That is, the protection area 103 functions as a permission area that permits the unmanned transport vehicle 10 to travel.
- the protection area 103 functions as a no-entry area that prohibits other unmanned transport vehicles 10 traveling around the unmanned transport vehicle 10 and the unmanned watering vehicle 20 from entering.
- the protection area 103 is set in the traveling direction of the unmanned transport vehicle 10 . At least part of the protection area 103 is set in front of the unmanned transport vehicle 10 when the unmanned transport vehicle 10 moves forward.
- the protection area 103 is set in a strip shape so as to include the travel course 102 . Also, the protected area 103 is set to include the unmanned transport vehicle 10 .
- the length of the protection area 103 in the traveling direction of the unmanned transport vehicle 10 is, for example, 20 [m] or more and 500 [m] or less.
- a stop point 104 for the unmanned transport vehicle 10 is set inside the protected area 103 .
- a stop point 104 is set at the tip of the protected area 103 .
- the travel speed of the unmanned transport vehicle 10 is controlled so that the unmanned transport vehicle 10 can stop at the stop point 104 .
- the first protection area setting unit 63 sequentially updates the protection area 103 as the unmanned transport vehicle 10 advances.
- the first protected area setting unit 63 sequentially cancels the protected areas 103 after the unmanned transport vehicle 10 has passed through.
- the first protection area setting unit 63 sequentially extends the protection area 103 before the unmanned transport vehicle 10 passes through in the traveling direction of the unmanned transport vehicle 10 .
- By releasing the protected area 103 after the unmanned transport vehicle 10 has passed other unmanned transport vehicles 10 and unmanned watering vehicles 20 can travel.
- the unmanned transport vehicle 10 continues to advance. In the event that the protection area 103 cannot be extended, the unmanned vehicle 10 stops at the stop point 104 .
- An example of an event in which the protection area 103 cannot be extended is an event in which another unmanned transport vehicle 10 or an unmanned watering vehicle 20 is stopped in front of the protection area 103 .
- FIG. 7 is a diagram for explaining the second course data and the protection area 203 of the unmanned watering vehicle 20 according to the embodiment.
- the second course data defines the running conditions of the unmanned water vehicle 20 .
- the second course data includes course points 201 , travel course 202 , target position of unmanned water vehicle 20 , target orientation of unmanned water vehicle 20 , and target traveling speed of unmanned water vehicle 20 .
- a plurality of course points 201 are set on the travel path 36 including the intersection 37 .
- a plurality of course points 201 are set at each of the loading area 31 , the earth discharging area 32 , the parking area 33 , the refueling area 34 and the water supply area 35 .
- a course point 201 defines the target position of the unmanned water vehicle 20 .
- a target azimuth and a target traveling speed of the unmanned water vehicle 20 are set for each of the plurality of course points 201 .
- a plurality of course points 201 are set at intervals. The interval between the course points 201 is set to, for example, 1 [m] or more and 5 [m] or less. The intervals between the course points 201 may be uniform or non-uniform.
- the travel course 202 is a virtual line indicating the target travel route of the unmanned water vehicle 20 .
- a travel course 202 is defined by a trajectory passing through a plurality of course points 201 .
- the unmanned watering vehicle 20 travels through the work site along a travel course 202 .
- the target position of the unmanned watering vehicle 20 refers to the target position of the unmanned watering vehicle 20 when passing the course point 201 .
- the target position of the unmanned watering vehicle 20 may be defined in the local coordinate system of the unmanned watering vehicle 20 or in the global coordinate system.
- the target orientation of the unmanned watering vehicle 20 refers to the target orientation of the unmanned watering vehicle 20 when passing the course point 201 .
- the target running speed of the unmanned watering vehicle 20 means the target running speed of the unmanned watering vehicle 20 when passing the course point 201 .
- the target running speed of the unmanned water vehicle 20 includes an upper limit speed (speed limit) that indicates the upper limit of the running speed of the unmanned water vehicle 20 .
- the unmanned watering vehicle 20 travels the work site at a travel speed not exceeding the upper limit speed.
- the protected area 203 is an area in which the unmanned watering vehicle 20 is permitted to travel.
- the protected area 203 is an area where other unmanned watering vehicles 20 traveling around the unmanned watering vehicle 20 and unmanned transport vehicles 10 are prohibited from entering. That is, the protection area 203 functions as a permission area that permits the unmanned water vehicle 20 to travel.
- the protection area 203 functions as a no-entry area that prohibits other unmanned watering vehicles 20 traveling around the unmanned watering vehicle 20 and unmanned transport vehicles 10 from entering.
- the protected area 203 is set in the traveling direction of the unmanned water vehicle 20 . When the unmanned watering vehicle 20 moves forward, at least part of the protected area 203 is set in front of the unmanned watering vehicle 20 .
- the protection area 203 is set in a strip shape so as to include the running course 202 . Also, the protected area 203 is set to include the unmanned watering vehicle 20 .
- the length of the protection area 203 in the traveling direction of the unmanned watering vehicle 20 is, for example, 20 [m] or more and 500 [m] or less.
- a stop point 204 for the unmanned watering vehicle 20 is set inside the protected area 203 .
- a stop point 204 is set at the tip of the protected area 203 .
- the traveling speed of the unmanned watering vehicle 20 is controlled so that the unmanned watering vehicle 20 can stop at the stop point 204 .
- the second protected area setting unit 64 sequentially updates the protected area 203 as the unmanned watering vehicle 20 advances.
- the second protection area setting unit 64 sequentially cancels the protection area 203 after the unmanned water vehicle 20 passes through.
- the second protected area setting unit 64 sequentially extends the protected area 203 before the unmanned water vehicle 20 passes through in the traveling direction of the unmanned water vehicle 20 .
- the other unmanned watering vehicles 20 and the unmanned transport vehicle 10 can travel.
- the unmanned watering vehicle 20 continues to advance. If an event occurs in which the protection area 203 cannot be extended, the unmanned water vehicle 20 stops at the stop point 204 .
- an event in which the protection area 203 cannot be extended an event in which another unmanned watering vehicle 20 or an unmanned transport vehicle 10 is stopped in front of the protection area 203 is exemplified.
- the first protection area setting unit 63 sets protection areas 103 for each of the plurality of unmanned transport vehicles 10 operating at the work site.
- the second protection area setting unit 64 sets protection areas 203 for each of the plurality of unmanned water sprinkler vehicles 20 operating at the work site.
- the first protected area setting unit 63 sets the protected areas 103 so that the plurality of protected areas 103 do not overlap each other.
- the second protected area setting unit 64 sets the protected areas 203 so that the plurality of protected areas 203 do not overlap each other.
- the first protected area setting unit 63 and the second protected area setting unit 64 set the protected area 103 and the protected area 203 so that the protected area 103 and the protected area 203 do not overlap each other.
- the second protection area setting unit 64 selects an unmanned vehicle traveling around the unmanned watering vehicle 20 (other unmanned watering vehicles) based on the state of water spraying from the water sprayer 28 provided on the unmanned watering vehicle 20 traveling through the work site.
- a protected area 203 is set to prohibit entry of the vehicle 20 and the unmanned transport vehicle 10).
- the watering data generation unit 65 generates watering data for controlling the water spray 28 .
- the watering data includes at least one of execution and stoppage of watering from the watering sprayer 28, watering positions at the work site where the watering sprayer 28 waters, and watering amount per unit area from the watering sprayer 28.
- the watering positions where the watering sprayer 28 waters include a watering area indicating an area on the travel path 36 (work site) watered from the watering sprayer 28 .
- the watering data includes the number of the watering sprayers 28 that perform watering.
- the watering data includes the installation position of the watering sprayer 28 that performs watering.
- the watering data generator 65 may generate watering data based on input data from the input device 9 .
- the watering state from the watering spray 28 is defined by the watering data.
- the second protected area setting unit 64 can acquire the watering state of the water spray 28 by acquiring the watering data generated by the watering data generation unit 65 .
- the first output unit 66 outputs the first course data generated by the first course data generation unit 61 to the unmanned transport vehicle 10.
- the first output unit 66 transmits the first course data from the communication interface 41 to the control device 11 of the unmanned transport vehicle 10 .
- the first output unit 66 outputs the protected area 103 set by the first protected area setting unit 63 and the protected area 203 set by the second protected area setting unit 64 to the unmanned transport vehicle 10 .
- the first output unit 66 transmits the protected area 103 and the protected area 203 from the communication interface 41 to the control device 11 of the unmanned transport vehicle 10 .
- the second output unit 67 outputs the second course data generated by the second course data generation unit 62 to the unmanned watering vehicle 20.
- the second output unit 67 transmits the second course data from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20 .
- the second output unit 67 outputs the protection area 203 set by the second protection area setting unit 64 and the protection area 103 set by the first protection area setting unit 63 to the unmanned watering vehicle 20 .
- the second output unit 67 transmits the protection area 203 and the protection area 103 from the communication interface 41 to the control device 21 of the unmanned water vehicle 20 .
- the second output unit 67 outputs the watering data generated by the watering data generation unit 65 to the unmanned watering vehicle 20 .
- the second output unit 67 transmits watering data from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20 .
- the control device 11 includes a computer system. Like the management device 2, the control device 11 has a communication interface, storage circuitry, and processing circuitry. The control device 11 has a travel control unit 71 that controls the travel device 13 . The traveling control unit 71 controls the traveling device 13 based on the first course data, the protected area 103 and the protected area 203 transmitted from the management device 2 .
- the control device 21 includes a computer system. Like the management device 2, the control device 21 has a communication interface, storage circuitry, and processing circuitry. The control device 21 has a traveling control section 81 that controls the traveling device 23 and a watering control section 82 that controls the watering spray 28 . The traveling control unit 81 controls the traveling device 23 based on the second course data, the protected area 203 and the protected area 103 transmitted from the management device 2 . The watering control unit 82 controls the watering spray 28 based on the watering data transmitted from the management device 2 .
- the travel control unit 71 controls the travel device 13 based on the first course data and the detection data of the sensor system 15 .
- the travel control unit 71 controls the travel device 13 so that the unmanned transport vehicle 10 travels along the travel course 102 based on the detection data of the position sensor 15A and the detection data of the azimuth sensor 15B.
- the travel control unit 71 determines that the deviation between the detection position of the unmanned transport vehicle 10 detected by the position sensor 15A when passing the course point 101 and the target position of the unmanned transport vehicle 10 set at the course point 101 is The travel device 13 is controlled so that it becomes smaller.
- the travel control unit 71 determines that the deviation between the detected orientation of the unmanned transport vehicle 10 detected by the orientation sensor 15B when passing the course point 101 and the target orientation of the unmanned transport vehicle 10 set at the course point 101 is The travel device 13 is controlled so that it becomes smaller.
- the travel control unit 71 controls the travel device 13 so that the unmanned transport vehicle 10 travels at the target travel speed based on the detection data of the speed sensor 15C. That is, the traveling control unit 71 controls the difference between the detected travel speed of the unmanned transport vehicle 10 detected by the speed sensor 15C when passing the course point 101 and the target travel speed of the unmanned transport vehicle 10 set at the course point 101. The travel device 13 is controlled so that the deviation becomes small.
- the target traveling speed of the unmanned transport vehicle 10 includes the upper limit speed of the unmanned transport vehicle 10.
- the travel control unit 71 controls the travel device 13 based on the detection data of the speed sensor 15C so that the unmanned transport vehicle 10 travels at a travel speed that does not exceed the upper limit speed. That is, the traveling control unit 71 prevents the detected travel speed of the unmanned transport vehicle 10 detected by the speed sensor 15C when passing the course point 101 from exceeding the upper limit speed of the unmanned transport vehicle 10 set at the course point 101.
- the traveling device 13 is controlled as follows.
- the traveling control unit 71 controls the traveling device 13 based on the protected area 103 and the protected area 203 transmitted from the management device 2 . As described above, when an event occurs in which the protection area 103 cannot be extended, the travel control unit 71 controls the travel device 13 so that the unmanned transport vehicle 10 stops at the stop point 104 . The travel control unit 71 controls the travel device 13 so that the unmanned transport vehicle 10 does not enter the protected area 203 set for the unmanned water vehicle 20 .
- the travel control unit 81 controls the travel device 23 based on the second course data and the detection data of the sensor system 25 .
- the travel control unit 81 controls the travel device 23 so that the unmanned water sprinkler vehicle 20 travels along the travel course 202 based on the detection data of the position sensor 25A and the detection data of the direction sensor 25B.
- the travel control unit 81 determines that the deviation between the detected position of the unmanned water vehicle 20 detected by the position sensor 25A when passing the course point 201 and the target position of the unmanned water vehicle 20 set at the course point 201 is The travel device 23 is controlled so that it becomes smaller.
- the travel control unit 81 determines that the deviation between the detected direction of the unmanned water vehicle 20 detected by the direction sensor 25B when passing the course point 201 and the target direction of the unmanned water vehicle 20 set at the course point 201 is The travel device 23 is controlled so that it becomes smaller.
- the travel control unit 81 controls the travel device 23 so that the unmanned water sprinkler vehicle 20 travels at the target travel speed based on the detection data of the speed sensor 25C. That is, the traveling control unit 81 controls the difference between the detected travel speed of the unmanned water vehicle 20 detected by the speed sensor 25C when passing the course point 201 and the target travel speed of the unmanned water vehicle 20 set at the course point 201. The travel device 23 is controlled so that the deviation becomes small.
- the target traveling speed of the unmanned watering vehicle 20 includes the upper limit speed of the unmanned watering vehicle 20.
- the travel control unit 81 controls the travel device 23 based on the detection data of the speed sensor 25C so that the unmanned water sprinkler vehicle 20 travels at a travel speed that does not exceed the upper limit speed. That is, the travel control unit 81 prevents the detected travel speed of the unmanned water vehicle 20 detected by the speed sensor 25C when passing the course point 201 from exceeding the upper limit speed of the unmanned water vehicle 20 set at the course point 201.
- the traveling device 23 is controlled as follows.
- the traveling control unit 81 controls the traveling device 23 based on the protected area 203 and the protected area 103 transmitted from the management device 2 . As described above, when an event occurs in which the protection area 203 cannot be extended, the travel control unit 81 controls the travel device 23 so that the unmanned water vehicle 20 stops at the stop point 204 . The travel control unit 81 controls the travel device 23 so that the unmanned watering vehicle 20 does not enter the protection area 103 set for the unmanned transport vehicle 10 .
- the watering control unit 82 controls the watering spray 28 based on the watering data transmitted from the management device 2 .
- the watering state from the watering spray is defined by the watering data.
- FIG. 8 is a diagram for explaining a watering state from the watering spray 28 according to the embodiment.
- the water sprayer 28 is arranged at the rear of the unmanned watering vehicle 20 .
- the water spray 28 sprinkles water behind the unmanned water vehicle 20 when the unmanned water vehicle 20 moves forward.
- the watering control unit 82 controls the watering spray 28 based on the watering data transmitted from the management device 2 .
- the watering state from the watering spray is defined by the watering data.
- the state of watering from the watering spray 28 includes watering execution and watering stop by the watering spray 28 .
- FIG. 8A shows a state in which the water spray 28 is spraying water.
- FIG. 8B shows a state in which watering by the watering spray 28 is stopped.
- FIG. 9 and 10 are diagrams for explaining the processing of the second protected area setting unit 64 according to the embodiment.
- FIG. 9 shows a protected area 203 set when watering by the water spray 28 is stopped.
- FIG. 10 shows a protected area 203 set when the water spray 28 is watering.
- the second protection area setting unit 64 sets the protection area 203 so as to include the unmanned watering vehicle 20.
- the second protected area setting unit 64 sets the protected area 203 when watering by the water spray 28 is performed, and the protected area when watering by the water spray 28 is stopped.
- a protected area 203 is set to be larger than 203 .
- the second protection area setting unit 64 sets the rear end of the unmanned watering vehicle 20 substantially coincident with the rear end of the protection area 203.
- the protected area 203 is set so as to
- the second protection area setting unit 64 sets the protection area 203 so as to include a water spray area 205 indicating the area to be watered by the water spray 28. do. That is, when watering by the watering spray 28 is being executed, the second protection area setting unit 64 arranges the watering area inside the protection area 203, so that the watering by the watering spray 28 is stopped. also enlarges the protected area 203 .
- the second protection area setting unit 64 extends the rear end of the protection area 203 to the rear of the unmanned watering vehicle 20 more than when the water spray 28 is stopped.
- the second protection area setting unit 64 extends the rear end of the protection area 203 rearward so that the unmanned transport vehicle 10 does not enter the watering area 205 .
- the dimensions of the protected area 203 defined in front of the unmanned watering vehicle 20 are the same when the watering by the water spray 28 is being performed and when the watering is stopped. That is, the distance between the front end of the unmanned watering vehicle 20 and the front end of the protected area 203 when the watering by the watering spray 28 is stopped, and the distance between the front end of the unmanned watering vehicle 20 when the watering by the watering spray 28 is executed The distance between the front edge and the front edge of the protected area 203 is equal.
- the distance between the front end of the unmanned watering vehicle 20 and the front end of the protected area 203 when the watering by the watering spray 28 is stopped and the distance between the front end of the unmanned watering vehicle 20 when the watering by the watering spray 28 is executed The distance between the front edge and the front edge of the protected area 203 may be different.
- the protection area 203 is set to include the water spray area 205 .
- the unmanned transport vehicle 10 traveling around the unmanned water vehicle 20 is prevented from entering the watering area 205 . That is, the unmanned transport vehicle 10 is restrained from traveling on the road immediately after watering. If the unmanned transport vehicle 10 runs on the road surface immediately after being watered, the possibility of the tires 17 of the unmanned transport vehicle 10 slipping increases, which may hinder the running of the unmanned transport vehicle 10 .
- the protected area 203 is set to include the watering area 205, and entry of the unmanned transport vehicle 10 into the watering area 205 is prohibited. Slipping of the tires 17 of the transport vehicle 10 is suppressed. Therefore, the unmanned transport vehicle 10 can run smoothly.
- the unmanned transport vehicle 10 when the water spray 28 is spraying water, the unmanned transport vehicle 10 is prohibited from entering the water spray area 205, so the water sprayed from the water spray 28 is provided on the unmanned transport vehicle 10. Collision with the obstacle sensor 15D is suppressed. Therefore, deterioration in the detection accuracy of the obstacle sensor 15D is suppressed.
- the protection area 203 is set to include the watering area 205, so that the unmanned transport vehicle 10 is prevented from entering the watering area 205.
- the travel device 13 of the vehicle 10 is controlled. As a result, the tires 17 of the unmanned transport vehicle 10 are prevented from slipping, and the unmanned transport vehicle 10 can run smoothly.
- FIG. 11 is a diagram showing the relationship between the unmanned watering vehicle 20 and the unmanned transport vehicle 10 according to the embodiment.
- the obstacle sensors 15D of the unmanned transport vehicle 10 are attached to the front part of the unmanned transport vehicle 10 and the rear part of the unmanned transport vehicle 10, respectively.
- a detection area 150 of the obstacle sensor 15 ⁇ /b>D attached to the front portion of the unmanned transport vehicle 10 is defined in front of the unmanned transport vehicle 10 .
- a detection area 150 of the obstacle sensor 15 ⁇ /b>D attached to the rear portion of the unmanned transport vehicle 10 is defined behind the unmanned transport vehicle 10 .
- Obstacle sensor 15D detects an obstacle present in detection area 150 .
- the protection area 203 is set to include the watering area 205 when watering by the watering spray 28 is performed, so that the unmanned vehicle 10 is prevented from entering the watering area 205.
- the travel device 13 of the transport vehicle 10 is controlled. Therefore, the water sprayed from the water spray 28 is prevented from splashing on the obstacle sensor 15D provided on the unmanned transport vehicle 10 or entering the detection area 150 of the obstacle sensor 15D. is suppressed.
- the protected area 203 is expanded.
- Protected area 203 is enlarged to change from the state shown in FIG. 9 to the state shown in FIG.
- the travel control unit 71 of the unmanned transport vehicle 10 controls the travel device 13 so that the unmanned transport vehicle 10 does not enter the protected area 203 .
- the unmanned transport vehicle 10 when watering by the watering spray 28 is executed and the unmanned transport vehicle 10 is controlled so as not to travel behind the unmanned watering vehicle 20, the watering by the watering spray 28 is stopped, the protected area 203 is reduced. be. Protected area 203 is reduced to change from the state shown in FIG. 10 to the state shown in FIG.
- the travel control unit 71 of the unmanned transport vehicle 10 can control the travel device 13 so that the unmanned transport vehicle 10 passes behind the unmanned sprinkler vehicle 20 .
- FIG. 12 is a flowchart showing a method for managing unmanned vehicles according to the embodiment.
- the first course data generator 61 generates first course data for the unmanned transport vehicle 10 (step S1).
- the first protection area setting unit 63 sets the protection area 103 for the unmanned transport vehicle 10 (step S2).
- step S2 may be performed before the process of step S1, or the process of step S2 may be performed in parallel with at least part of the process of step S1.
- the first output unit 66 transmits the first course data generated by the first course data generation unit 61 and the protection area 103 set by the first protection area setting unit 63 to the unmanned transport vehicle 10 (step S3).
- the unmanned transport vehicle 10 travels along the travel path 36 based on the first course data and the protected area 103.
- the second course data generator 62 generates second course data for the unmanned water vehicle 20 (step S4).
- the second protection area setting unit 64 sets the protection area 203 for the unmanned watering vehicle 20 (step S5).
- the watering data generation unit 65 generates watering data for the water spray 28 (step S6).
- step S4 the processing of step S5, and the processing of step S6 may be performed in any order.
- the second output unit 67 outputs the second course data generated by the second course data generation unit 62, the protection area 203 set by the second protection area setting unit 64, and the watering data generated by the watering data generation unit 65. to the unmanned watering vehicle 20 (step S7).
- the unmanned watering vehicle 20 travels along the travel path 36 based on the second course data and the protected area 203. Also, the water sprayer 28 performs or stops watering based on the watering data.
- the second protection area setting unit 64 acquires the watering state from the watering sprayer 28 (step S8).
- the watering state from the watering spray 28 is defined by the watering data generated by the watering data generation unit 65 .
- the second protected area setting unit 64 can acquire the watering state of the water spray 28 by acquiring the watering data generated by the watering data generation unit 65 .
- the second protection area setting unit 64 sets the size of the protection area 203 based on the state of water spray from the water spray 28 (step S9).
- the second protection area setting unit 64 reduces the dimensions of the protection area 203 defined behind the unmanned watering vehicle 20. . That is, when watering by the water spray 28 is stopped, the second protection area setting unit 64 sets the protection area so that the rear end of the unmanned water vehicle 20 and the rear end of the protection area 203 substantially coincide with each other. Area 203 is set.
- the second protection area setting unit 64 expands the dimension of the protection area 203 defined behind the unmanned watering vehicle 20 . . That is, when the water sprayer 28 is spraying water, the second protection area setting unit 64 sets the protection area 203 so that the protection area 203 includes the watering area 205 indicating the area to be watered by the water sprayer 28 . set. The second protection area setting unit 64 expands the protection area 203 so that the rear end of the protection area 203 moves rearward from the rear end of the unmanned watering vehicle 20 .
- the second output unit 67 transmits the protection area 203 set in step S9 to the unmanned watering vehicle 20.
- the second output section 67 outputs a control command indicating the change of the protection area 203 to the unmanned watering vehicle 20 (step S10).
- the travel control unit 71 of the unmanned transport vehicle 10 controls the travel device 13 so as not to enter the protected area 203.
- the protection area 203 that prohibits the unmanned transport vehicle 10 traveling around the unmanned water vehicle 20 from entering is set based on the watering state from the water spray 28 .
- the protection area 203 When watering by the watering spray 28 is performed, the protection area 203 is set to include the watering area 205, thereby suppressing the unmanned transport vehicle 10 from entering the watering area 205. Therefore, the tire 17 of the unmanned transport vehicle 10 is suppressed from slipping, and the unmanned transport vehicle 10 can move forward smoothly. Further, when the watering spray 28 is watering, the protection area 203 is set to include the watering area 205 , thereby suppressing the unmanned transport vehicle 10 from entering the watering area 205 . Therefore, the water sprayed from the water spray 28 is prevented from splashing on the obstacle sensor 15D provided in the front part of the unmanned transport vehicle 10 or entering the detection area 150 of the obstacle sensor 15D. Therefore, deterioration in the detection accuracy of the obstacle sensor 15D is suppressed.
- the protected area 203 is reduced. Since the protection area 203 is reduced when the watering by the watering spray 28 is stopped, unnecessary restriction of travel of the unmanned transport vehicle 10 is suppressed. Therefore, the influence of the unmanned watering vehicle 20 during watering on the surrounding unmanned transport vehicle 10 is suppressed. In addition, the unmanned transport vehicle 10 can smoothly travel on the travel path 36, thereby suppressing a decrease in productivity at the work site.
- FIG. 13A and 13B are diagrams for explaining a watering state from the watering spray 28 according to the embodiment.
- the state of watering from the watering sprayer 28 includes execution and stoppage of watering by the watering sprayer 28 .
- the state of watering from the watering spray 28 may include the amount of watering from the watering spray 28 .
- the amount of watering refers to the amount of watering per unit area from the water spray 28 .
- the watering control unit 82 can control the watering spray 28 so that the watering spray 28 sprays water at the first watering amount.
- the watering control unit 82 can control the watering spray 28 so that the watering spray 28 sprays water at a second watering amount that is smaller than the first watering amount.
- the second protected area setting unit 64 sets the protected area 203 when the water sprayer 28 is watering the first watering amount with the second watering amount smaller than the first watering amount.
- a protected area 203 is set to be larger than .
- the second protection area setting unit 64 defines a protection area behind the unmanned watering vehicle 20 so that the watering area 205 is included in the protection area 203 when the water spray 28 is spraying water at the first watering amount. 203 is enlarged backward. By enlarging the protection area 203 , entry of the unmanned transport vehicle 10 into the watering area 205 is suppressed. As a result, the tires 17 of the unmanned transport vehicle 10 are prevented from slipping, and the unmanned transport vehicle 10 can move forward smoothly.
- the protection area 203 is enlarged, and the water sprayed from the water spray 28 becomes an obstacle provided in front of the unmanned transport vehicle 10.
- the obstacle sensor 15D is prevented from being caught or entering the detection area 150 of the obstacle sensor 15D. Therefore, deterioration in the detection accuracy of the obstacle sensor 15D is suppressed.
- the second protection area setting unit 64 makes the protection area 203 smaller when the water sprayer 28 is spraying water at the second watering amount than when the watering sprayer 28 is watering the water at the first watering amount. That is, the second protection area setting unit 64 reduces the protection area 203 defined behind the unmanned water vehicle 20 .
- Second protected area setting unit 64 sets protected area 203 so that watering area 205 is included in protected area 203 .
- FIG. 14 is a diagram for explaining the watering state from the watering spray 28 according to the embodiment.
- a plurality of water sprayers 28 are provided on the rear portion of the unmanned watering vehicle 20 .
- the water spray 28 is installed at each of a plurality of positions in the vehicle width direction of the unmanned water vehicle 20 at the rear of the unmanned water vehicle 20 .
- the plurality of water sprays 28 are arranged at intervals in the vehicle width direction at the rear portion of the unmanned water sprinkler vehicle 20 .
- the obstacle sensor 25D is arranged at the center in the vehicle width direction.
- the watering state from the watering sprayers 28 includes the number of the watering sprayers 28 performing watering. Also, the state of watering from the watering sprayer 28 includes the installation position of the watering sprayer 28 that performs watering. As shown in FIG. 14A, the watering control unit 82 can control the watering sprays 28 so that the first number of watering sprayers 28 are watered. In the example shown in FIG. 14A, the first number is four. Moreover, the watering control unit 82 can control the watering spray 28 so that water is sprayed from at least the watering sprayer 28 installed in the central portion of the unmanned watering vehicle 20 in the vehicle width direction. As shown in FIG.
- the watering control unit 82 can control the watering sprays 28 so that the watering sprays 28 are watered from a second number smaller than the first number. In the example shown in FIG. 14B, the second number is two. Further, the watering control unit 82 can control the watering spray 28 so that water is sprayed from the watering sprayer 28 installed at the end of the unmanned watering vehicle 20 in the vehicle width direction.
- the second protected area setting unit 64 determines whether the protected area 203 when the first number of water sprays 28 are spraying is watered by a second number of water sprays 28 smaller than the first number.
- the protected area 203 is set so as to be different from the protected area 203 of .
- the watering area 205 may become larger than when the water is watered from the second number of water sprayers 28 .
- the second protected area setting unit 64 determines that the protected area 203 when being watered by the first number of water sprays 28 is watered by the second number of water sprays 28 smaller than the first number.
- the protection area 203 is set so as to be larger than the protection area 203 when
- the protection area 203 When the water is sprayed from the first number of water sprays 28, the protection area 203 is set large so as to include the watering area 205, thereby suppressing the tire 17 of the unmanned transport vehicle 10 from slipping, thereby preventing the unmanned transport.
- the vehicle 10 can move forward smoothly.
- the protection area 203 is set large so as to include the water spray area 205 , so that water sprayed from the water sprays 28 is provided to the unmanned transport vehicle 10 .
- the obstacle sensor 15D is prevented from being caught by the obstacle sensor 15D or entering the detection area 150 of the obstacle sensor 15D. Therefore, deterioration in the detection accuracy of the obstacle sensor 15D is suppressed.
- the protection area 203 is set small, thereby suppressing unnecessary restriction of travel of the unmanned transport vehicle 10.
- the unmanned transport vehicle 10 can smoothly travel on the travel path 36, and a decrease in productivity at the work site is suppressed.
- the second protection area setting unit 64 sets the protection area 203 when the installation position of the watering sprayer 28 for watering is the central portion of the unmanned watering vehicle 20 in the vehicle width direction.
- the protection area 203 is set so as to be different from the protection area 203 when is the end of the unmanned watering vehicle 20 in the vehicle width direction.
- the installation position of the watering sprayer 28 that performs watering is the end portion of the unmanned watering vehicle 20 in the vehicle width direction
- the installation position of the watering sprayer 28 that performs watering is the center portion of the unmanned watering vehicle 20 in the vehicle width direction.
- the watering area 205 will be larger in the vehicle width direction than the case.
- the second protection area setting unit 64 sets the protection area 203 when the installation position of the water spray 28 for watering is the end of the unmanned water vehicle 20 in the vehicle width direction.
- the protection area 203 is set so as to be larger than the protection area 203 when the installation position of is the central portion of the unmanned water vehicle 20 in the vehicle width direction.
- the installation position of the water spray 28 that carries out watering is at the end of the unmanned watering vehicle 20 in the vehicle width direction, the tires 17 of the unmanned transport vehicle 10 slip due to the expansion of the protection area 203 in the vehicle width direction. is suppressed, and the unmanned transport vehicle 10 can move forward smoothly. Also, the water sprayed from the water spray 28 is prevented from splashing on the obstacle sensor 15D provided on the unmanned transport vehicle 10 or entering the detection area 150 of the obstacle sensor 15D. Therefore, deterioration in the detection accuracy of the obstacle sensor 15D is suppressed.
- the installation position of the watering sprayer 28 that performs watering is the central portion of the unmanned watering vehicle 20 in the vehicle width direction
- the installation position of the watering sprayer 28 that performs watering is the end portion of the unmanned watering vehicle 20 in the vehicle width direction.
- the protection area 203 is reduced in the vehicle width direction compared to the case. As a result, unnecessary restriction of travel of the unmanned transport vehicle 10 is suppressed.
- the unmanned transport vehicle 10 can smoothly travel on the travel path 36, and a decrease in productivity at the work site is suppressed.
- the first course data need not be generated.
- the unmanned transport vehicle 10 may travel along the travel path 36 not based on the first course data.
- the second course data may not be generated.
- the unmanned watering vehicle 20 may travel along the travel path 36 without the second course data.
- control device 11 and the functions of the control device 21 may be provided in the management device 2, and at least some of the functions of the management device 2 may be provided in the control device 11 and the control device 21. may be provided on one or both of the
- control device 11 may have the function of the first course data generation section 61 and the function of the first protection area setting section 63 .
- the control device 21 may have the function of the second course data generation section 62 , the function of the second protection area setting section 64 , and the function of the watering data generation section 65 .
- the first course data generation unit 61, the second course data generation unit 62, the first protection area setting unit 63, the second protection area setting unit 64, the watering data generation unit 65, the first output unit 66, and the second output unit 67 may be configured by separate hardware.
- the first unmanned vehicle 10 is an unmanned transport vehicle
- the second unmanned vehicle 20 is an unmanned sprinkler vehicle.
- the first unmanned vehicle 10 may be an unmanned sprinkler vehicle.
- SYMBOLS 1 Management system, 2... Management apparatus, 3... Communication system, 3A... Wireless communication apparatus, 3B... Wireless communication apparatus, 3C... Wireless communication apparatus, 4... Control facility, 5... Loader, 6... Crusher, 7 ... Refueling machine, 8 ... Water supply machine, 9 ... Input device, 10 ... Unmanned transport vehicle (unmanned vehicle), 11 ... Control device, 12 ... Vehicle main body, 13 ... Traveling device, 14 ... Dump body, 15 ... Sensor system, 15A Position sensor 15B Orientation sensor 15C Speed sensor 15D Obstacle sensor 16 Wheel 16F Front wheel 16R Rear wheel 17 Tire 17F Front tire 17R Rear tire 20 Unmanned Watering vehicle (watering vehicle) 21... Control device 22... Vehicle main body 23...
- Second course data generation unit 63 First protection area setting unit 64 Second protection area setting unit 65 Watering data generation unit 66 First output unit 67 Second output unit 71 Driving control Section 81 Travel control section 82 Watering control section 101 Course point 102 Travel course 103 Protection area 104 Stop point 150 Detection area 201 Course point 202 Travel course 203 ... protection area, 204 ... stopping point, 205 ... watering area.
Abstract
Description
図1は、実施形態に係る無人車両の管理システム1を示す模式図である。管理システム1は、作業現場で稼働する無人車両を管理する。無人車両とは、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。実施形態において、作業現場で稼働する無人車両は、第1無人車両10と第2無人車両20とを含む。
図2は、実施形態に係る無人運搬車両10を示す斜視図である。図1及び図2に示すように、無人運搬車両10は、無線通信機3Bと、制御装置11と、車両本体12と、走行装置13と、ダンプボディ14と、センサシステム15とを備える。
図3は、実施形態に係る無人散水車両20を示す斜視図である。図1及び図3に示すように、無人散水車両20は、無線通信機3Cと、制御装置21と、車両本体22と、走行装置23と、タンク24と、センサシステム25と、散水スプレー28とを備える。
図4は、実施形態に係る作業現場を示す模式図である。作業現場として、鉱山又は採石場が例示される。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。作業現場において、無人運搬車両10及び無人散水車両20のそれぞれが稼働する。
図5は、実施形態に係る作業現場の管理システム1を示す機能ブロック図である。管理システム1は、管理装置2と、通信システム3と、制御装置11と、制御装置21とを有する。
図8は、実施形態に係る散水スプレー28からの散水状態を説明するための図である。図8に示すように、散水スプレー28は、無人散水車両20の後部に配置される。散水スプレー28は、無人散水車両20が前進するときに無人散水車両20の後方に散水する。
図9及び図10のそれぞれは、実施形態に係る第2保護エリア設定部64の処理を説明するための図である。図9は、散水スプレー28による散水が停止されているときに設定される保護エリア203を示す。図10は、散水スプレー28による散水が実行されているときに設定される保護エリア203を示す。
図12は、実施形態に係る無人車両の管理方法を示すフローチャートである。
以上説明したように、実施形態によれば、散水スプレー28からの散水状態に基づいて、無人散水車両20の周囲を走行する無人運搬車両10の進入を禁止する保護エリア203が設定される。
図13は、実施形態に係る散水スプレー28からの散水状態を説明するための図である。上述の実施形態においては、散水スプレー28からの散水状態は、散水スプレー28による散水の実行及び散水の停止を含むこととした。図13に示すように、散水スプレー28からの散水状態は、散水スプレー28からの散水量を含んでもよい。散水量とは、散水スプレー28から散水される単位面積当たりの散水量をいう。図13(A)に示すように、散水制御部82は、散水スプレー28から第1散水量で散水されるように、散水スプレー28を制御することができる。図13(B)に示すように、散水制御部82は、散水スプレー28から第1散水量よりも少ない第2散水量で散水されるように、散水スプレー28を制御することができる。
Claims (20)
- 作業現場を進行する散水車両に設けられている散水スプレーからの散水状態に基づいて、前記散水車両の周囲を走行する無人車両の進入を禁止する保護エリアを設定する保護エリア設定部と、
前記保護エリア設定部により設定された前記保護エリアを出力する出力部と、を備える、
無人車両の管理システム。 - 前記保護エリア設定部は、前記散水スプレーから散水されるエリアを示す散水エリアを含むように前記保護エリアを設定する、
請求項1に記載の無人車両の管理システム。 - 前記保護エリア設定部は、前記散水エリアに前記無人車両が進入しないように前記保護エリアを延長する、
請求項2に記載の無人車両の管理システム。 - 前記保護エリア設定部は、前記散水車両を含むように前記保護エリアを設定する、
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管理システム。 - 前記散水スプレーは、前記散水車両の後部に配置され、前記散水車両が前進するときに前記散水車両の後方に散水する、
請求項1から請求項4のいずれか一項に記載の無人車両の管理システム。 - 前記散水状態は、前記散水スプレーによる散水の実行及び散水の停止を含み、
前記保護エリア設定部は、散水が実行されているときの前記保護エリアが、散水が停止されているときの前記保護エリアよりも大きくなるように、前記保護エリアを設定する、
請求項1から請求項5のいずれか一項に記載の無人車両の管理システム。 - 前記散水状態は、散水スプレーからの散水量を含み、
前記保護エリア設定部は、第1散水量で散水されているときの前記保護エリアが、第1散水量よりも少ない第2散水量で散水されているときの前記保護エリアよりも大きくなるように、前記保護エリアを設定する、
請求項1から請求項5のいずれか一項に記載の無人車両の管理システム。 - 前記散水スプレーは、複数設けられ、
前記散水状態は、散水を実行する前記散水スプレーの数を含み、
前記保護エリア設定部は、第1の数の前記散水スプレーから散水されているときの前記保護エリアが、第1の数よりも少ない第2の数の前記散水スプレーから散水されているときの保護エリアとは異なるように、前記保護エリアを設定する、
請求項1から請求項5のいずれか一項に記載の無人車両の管理システム。 - 前記散水スプレーは、前記散水車両の車幅方向の複数の位置のそれぞれに設置され、
前記散水状態は、散水を実行する前記散水スプレーの設置位置を含み、
前記保護エリア設定部は、前記設置位置が前記車幅方向の中央部であるときの前記保護エリアが、前記設置位置が前記車幅方向の端部であるときの保護エリアとは異なるように、前記保護エリアを設定する、
請求項1から請求項5のいずれか一項に記載の無人車両の管理システム。 - 前記無人車両の走行装置を制御する走行制御部を備え、
前記走行制御部は、前記無人車両が前記保護エリアに進入しないように前記走行装置を制御する、
請求項1から請求項9のいずれか一項に記載の無人車両の管理システム。 - 前記無人車両は、無人運搬車両である、
請求項1から請求項10のいずれか一項に記載の無人車両の管理システム。 - 作業現場を進行する散水車両に設けられている散水スプレーからの散水状態に基づいて、前記散水車両の周囲を走行する無人車両の進入を禁止する保護エリアを設定することと、
前記保護エリアを出力することと、を含む、
無人車両の管理方法。 - 前記無人車両が前記保護エリアに進入しないように、前記無人車両の走行装置を制御することを含む、
請求項12に記載の無人車両の管理方法。 - 前記保護エリアは、前記散水スプレーから散水されるエリアを示す散水エリアを含むように設定される、
請求項12又は請求項13に記載の無人車両の管理方法。 - 前記保護エリアは、前記散水エリアに前記無人車両が進入しないように延長される、
請求項14に記載の無人車両の管理方法。 - 前記保護エリアは、前記散水車両を含むように設定される、
請求項12から請求項15のいずれか一項に記載の無人車両の管理方法。 - 前記散水スプレーによる散水が実行されているときの前記保護エリアは、前記散水スプレーによる散水が停止されているときの前記保護エリアよりも大きい、
請求項12から請求項16のいずれか一項に記載の無人車両の管理方法。 - 前記散水スプレーから第1散水量で散水されているときの前記保護エリアは、第1散水量よりも少ない第2散水量で散水されているときの前記保護エリアよりも大きい、
請求項12から請求項16のいずれか一項に記載の無人車両の管理方法。 - 前記散水スプレーは、複数設けられ、
第1の数の前記散水スプレーから散水されているときの保護エリアは、第1の数よりも少ない第2の数の前記散水スプレーから散水されているときの保護エリアとは異なる、
請求項12から請求項16のいずれか一項に記載の無人車両の管理方法。 - 前記散水スプレーは、前記散水車両の車幅方向の複数の位置のそれぞれに設置され、
前記散水スプレーの設置位置が前記車幅方向の中央部であるときの前記保護エリアは、前記設置位置が前記車幅方向の端部であるときの保護エリアとは異なる、
請求項12から請求項16のいずれか一項に記載の無人車両の管理方法。
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