Unmanned vehicle control system, unmanned vehicle, and unmanned vehicle control method

Abstract

To provide an unmanned vehicle control system capable of minimizing reduction in productivity of a worksite where an unmanned vehicle operates.SOLUTION: A control system 100 for an unmanned vehicle 2 is provided, comprising a travel control unit 104 configured to output a start command for getting the unmanned vehicle 2 to start moving, and a control area setting unit 107 configured to set a control area in which the unmanned vehicle 2 can move if it is determined that the unmanned vehicle 2 does not start moving in spite of the start command. The travel control unit 104 generates an escape command of causing a running device 51 of the unmanned vehicle 2 to operate in an escape mode while restricting the unmanned vehicle 2 from moving out of the control area.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to a control system for an unmanned vehicle, an unmanned vehicle, and a method for controlling an unmanned vehicle.

Background Art

[0002] In a wide work site such as a mine, an unmanned vehicle operates. As disclosed in Patent Document 1, an unmanned vehicle may operate in an oil sand mine. Oil sands refer to sandstone containing a high-viscosity mineral oil component.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Oil sands are soft like a sponge. Due to the weight of the unmanned vehicle, at least a part of the tires of the unmanned vehicle may be buried in the oil sands. When the unmanned vehicle is in a stopped state and its tires are buried in the oil sands, it may be difficult for the unmanned vehicle to start. If the unmanned vehicle cannot start or the time required to escape the tires from the oil sands becomes long, the productivity of the work site may decrease.

[0005] An object of the present disclosure is to suppress a decrease in productivity of a work site where an unmanned vehicle operates.

Means for Solving the Problems

[0006] According to this disclosure, a control system for an unmanned vehicle is provided, comprising: a driving control unit that outputs a start command to start an unmanned vehicle; and a management area setting unit that sets a management area in which the unmanned vehicle can move if it is determined that the unmanned vehicle will not start in response to the start command, wherein the driving control unit outputs an escape command to cause the unmanned vehicle's driving device to escape while restricting the unmanned vehicle from moving outside the management area. [Effects of the Invention]

[0007] According to this disclosure, the decline in productivity at work sites where unmanned vehicles are in operation will be suppressed. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing a work site of an unmanned vehicle according to an embodiment. [Figure 2] Figure 2 is a schematic diagram showing a work site management system according to an embodiment. [Figure 3] Figure 3 is a functional block diagram showing a work site management system according to this embodiment. [Figure 4] Figure 4 is a schematic diagram illustrating the course data according to the embodiment. [Figure 5] Figure 5 is a configuration diagram showing an unmanned vehicle according to an embodiment. [Figure 6] Figure 6 is a functional block diagram showing the control system for an unmanned vehicle according to the embodiment. [Figure 7] Figure 7 is a diagram illustrating the starting conditions according to the embodiment. [Figure 8] Figure 8 shows the state of the unmanned vehicle according to the embodiment. [Figure 9] Figure 9 shows a management area according to an embodiment. [Figure 10] Figure 10 is a diagram illustrating the escape operation of the traveling device according to the embodiment. [Figure 11] Figure 11 shows the surrounding conditions of the unmanned vehicle before the start of setting up the management area according to the embodiment. [Figure 12]FIG. 12 is a diagram for explaining that the course data of other unmanned vehicles is changed by the notification from the notification unit according to the embodiment. [Figure 13] FIG. 13 is a diagram for explaining that the course data of other unmanned vehicles is generated by the notification from the notification unit according to the embodiment. [Figure 14] FIG. 14 is a flowchart showing a method for controlling an unmanned vehicle according to the embodiment. [Figure 15] FIG. 15 is a diagram for explaining the start control according to the embodiment.

Embodiment for Carrying out the Invention

[0009] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. Also, some components may not be used.

[0010] [Work site] FIG. 1 is a schematic diagram showing a work site 1 of an unmanned vehicle 2 according to the embodiment. As the work site 1, a mine or a quarry is exemplified. A mine refers to a place or establishment for mining minerals. A quarry refers to a place or establishment for mining stone materials. In the work site 1, a plurality of unmanned vehicles 2 operate. Also, in the work site 1, an auxiliary vehicle 3 operates.

[0011] The unmanned vehicle 2 refers to a work vehicle that operates without a driver's driving operation. The unmanned vehicle 2 is an unmanned dump truck that travels through the work site 1 without a driver and transports the load. As the load transported to the unmanned vehicle 2, the excavated material excavated at the work site 1 is exemplified.

[0012] The auxiliary vehicle 3 refers to a manned vehicle that travels through the work site 1 for the maintenance, inspection, or management of the work site 1. A manned vehicle refers to a vehicle that operates based on the driving operation of the onboard driver.

[0013] In an embodiment, the work site 1 is a mine. Examples of the mine include a metal mine for mining metals, a non-metal mine for mining limestone, or a coal mine for mining coal.

[0014] A driving area 4 is set in the work site 1. The driving area 4 refers to an area where the unmanned vehicle 2 can drive. The driving area 4 includes a loading area 5, a waste dump 6, a parking area 7, a refueling area 8, a driving path 9, and an intersection 10.

[0015] The loading area 5 refers to an area where a loading operation of loading a load on the unmanned vehicle 2 is performed. In the loading area 5, a loader 11 operates. An example of the loader 11 is a hydraulic excavator.

[0016] The waste dump 6 refers to an area where a discharging operation of discharging a load from the unmanned vehicle 2 is performed. A crusher 12 is provided at the waste dump 6.

[0017] The parking area 7 refers to an area where the unmanned vehicle 2 is parked.

[0018] The refueling area 8 refers to an area where the unmanned vehicle 2 is refueled.

[0019] The driving path 9 refers to an area where the unmanned vehicle 2 driving towards at least one of the loading area 5, the waste dump 6, the parking area 7, and the refueling area 8 travels. The driving path 9 is provided so as to connect at least the loading area 5 and the waste dump 6. In the embodiment, the driving path 9 is connected to each of the loading area 5, the waste dump 6, the parking area 7, and the refueling area 8.

[0020] The intersection 10 refers to an area where a plurality of driving paths 9 intersect or an area where one driving path 9 branches into a plurality of driving paths 9.

[0021] [Management System] FIG. 2 is a schematic diagram showing a management system 20 of the work site 1 according to the embodiment. FIG. 3 is a functional block diagram showing the management system 20 of the work site 1 according to the embodiment.

[0022] The management system 20 comprises a management device 21, an input device 22, and a communication system 24. The management device 21 and the input device 22 are each installed in the control facility 13 at the work site 1. An administrator is present in the control facility 13.

[0023] The unmanned vehicle 2 has a control device 30. The auxiliary vehicle 3 has a control device 40. The management device 21 and the control device 30 of the unmanned vehicle 2 communicate wirelessly via the communication system 24. The management device 21 and the control device 40 of the auxiliary vehicle 3 communicate wirelessly via the communication system 24. A wireless communication device 24A is connected to the management device 21. A wireless communication device 24B is connected to the control device 30. A wireless communication device 24C is connected to the control device 40. The communication system 24 includes wireless communication devices 24A, 24B, and 24C.

[0024] The input device 22 is operated by the administrator of the control facility 13. The input device 22 generates input data when operated by the administrator. Examples of input devices 22 include a touch panel, a computer keyboard, a mouse, or control buttons.

[0025] The management device 21 includes a computer system. The management device 21 has a processor 21A, main memory 21B, storage 21C, and interface 21D. An example of the processor 21A is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). An example of the main memory 21B is non-volatile memory or volatile memory. An example of non-volatile memory is ROM (Read Only Memory). An example of volatile memory is RAM (Random Access Memory). An example of storage 21C is a hard disk drive (HDD) or a solid state drive (SSD). An example of interface 21D is an input / output circuit or a communication circuit.

[0026] The computer program 21E is loaded into the main memory 21B. The processor 21A executes processing according to the computer program 21E. The interface 21D is connected to the input device 22.

[0027] The management device 21 has a course data generation unit 211.

[0028] The course data generation unit 211 generates course data indicating the driving conditions of the unmanned vehicles 2. The course data generation unit 211 generates course data for each of the multiple unmanned vehicles 2. The administrator of the control facility 13 operates the input device 22 to input the driving conditions of the unmanned vehicles 2 to the management device 21. The course data generation unit 211 generates course data based on the input data generated by the input device 22. The course data generation unit 211 transmits the course data to the unmanned vehicles 2 via the communication system 24.

[0029] The unmanned vehicle 2 operates at the work site 1 based on course data transmitted from the control device 21.

[0030] Figure 4 is a schematic diagram illustrating the course data according to the embodiment. The course data defines the driving conditions of the unmanned vehicle 2. The course data includes course point 14, driving course 15, target position of the unmanned vehicle 2, target driving speed of the unmanned vehicle 2, target direction of the unmanned vehicle 2, and terrain at course point 14.

[0031] Multiple course points 14 are set in the driving area 4. Each course point 14 defines the target position of the unmanned vehicle 2. For each of the multiple course points 14, the target driving speed and target direction of the unmanned vehicle 2 are set. The multiple course points 14 are set at intervals. The interval between the course points 14 is set to, for example, 1 [m] or more and 5 [m] or less. The interval between the course points 14 may be uniform or uneven.

[0032] The driving course 15 refers to a virtual line indicating the target driving path of the unmanned vehicle 2. The driving course 15 is defined by a trajectory that passes through multiple course points 14. The unmanned vehicle 2 travels through the driving area 4 according to the driving course 15.

[0033] The target position of the unmanned vehicle 2 refers to the target position of the unmanned vehicle 2 when it passes course point 14. The target position of the unmanned vehicle 2 may be defined in the local coordinate system of the unmanned vehicle 2 or in the global coordinate system.

[0034] The target speed of the unmanned vehicle 2 refers to the target speed of the unmanned vehicle 2 when it passes course point 14.

[0035] The target direction of the unmanned vehicle 2 refers to the target direction of the unmanned vehicle 2 when it passes through course point 14.

[0036] The terrain at course point 14 refers to the slope angle of the surface of the driving area 4 at course point 14.

[0037] [Support Vehicles] As shown in Figures 2 and 3, the auxiliary vehicle 3 includes a control device 40, a wireless communication device 24C, a position sensor 41, and an output device 42.

[0038] The control device 40 includes a computer system. The control device 40 has a processor 40A, main memory 40B, storage 40C, and interface 40D. The computer program 40E is loaded into the main memory 40B. Interface 40D is connected to the position sensor 41 and the output device 42, respectively.

[0039] The position sensor 41 detects the position of the auxiliary vehicle 3. The position of the auxiliary vehicle 3 is detected using the Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects the position in a global coordinate system defined by latitude, longitude, and altitude coordinate data. A global coordinate system refers to a coordinate system fixed to the Earth. The position sensor 41 includes a GNSS receiver and detects the position of the auxiliary vehicle 3 in the global coordinate system.

[0040] The output device 42 is located in the driver's cab of the auxiliary vehicle 3. The output device 42 outputs output data. An example of the output device 42 is a display device or an audio output device. An example of the display device is a flat panel display such as a liquid crystal display or an organic electroluminescent display.

[0041] [Unmanned vehicles] Figure 5 is a configuration diagram showing an unmanned vehicle 2 according to an embodiment. As shown in Figures 2, 3, and 5, the unmanned vehicle 2 comprises a control device 30, a wireless communication device 24B, a vehicle body 50, a running device 51, a dump body 52, a hydraulic device 60, a position sensor 71, a compass sensor 72, a tilt sensor 73, a speed sensor 74, and a steering sensor 75.

[0042] As shown in Figure 2, the local coordinate system of the unmanned vehicle 2 is defined by the pitch axis PA, the roll axis RA, and the yaw axis YA. The pitch axis PA extends in the left-right direction (vehicle width direction) of the unmanned vehicle 2. The roll axis RA extends in the front-rear direction of the unmanned vehicle 2. The yaw axis YA extends in the up-down direction of the unmanned vehicle 2. The pitch axis PA and the roll axis RA are orthogonal. The roll axis RA and the yaw axis YA are orthogonal. The yaw axis YA and the pitch axis PA are orthogonal.

[0043] The control device 30 includes a computer system. As shown in Figure 3, the control device 30 has a processor 30A, main memory 30B, storage 30C, and interface 30D. The computer program 30E is loaded into the main memory 30B.

[0044] The vehicle body 50 includes a vehicle frame. The vehicle body 50 is supported by a running gear 51. The vehicle body 50 supports a dump body 52.

[0045] The running gear 51 moves the unmanned vehicle 2. The running gear 51 moves the unmanned vehicle 2 forward or backward. At least a portion of the running gear 51 is positioned below the vehicle body 50. The running gear 51 includes wheels 53, tires 54, a drive unit 55, a brake unit 56, a transmission unit 57, and a steering unit 58.

[0046] The tire 54 is mounted on the wheel 53. The wheel 53 includes a front wheel 53F and a rear wheel 53R. The tire 54 includes a front tire 54F mounted on the front wheel 53F and a rear tire 54R mounted on the rear wheel 53R.

[0047] The drive unit 55 generates driving force to start or accelerate the unmanned vehicle 2. An internal combustion engine or an electric motor is an example of the drive unit 55. A diesel engine is an example of an internal combustion engine.

[0048] The braking device 56 generates a braking force to stop or decelerate the unmanned vehicle 2. Examples of the braking device 56 include disc brakes and drum brakes.

[0049] The transmission device 57 transmits the driving force generated by the drive device 55 to the wheels 53. The transmission device 57 has a forward clutch and a reverse clutch. By switching the engagement state of the forward clutch and the reverse clutch, the unmanned vehicle 2 can be switched between forward and reverse. The wheels 53 rotate due to the driving force generated by the drive device 55. With the tires 54 in contact with the road surface of the work site, the unmanned vehicle 2 travels around the work site 1 as the wheels 53 rotate.

[0050] The steering device 58 generates steering force to adjust the direction of travel of the unmanned vehicle 2. The direction of travel of the unmanned vehicle 2 when moving forward refers to the direction of the front of the vehicle body 50. The direction of travel of the unmanned vehicle 2 when moving backward refers to the direction of the rear of the vehicle body 50. The wheels 53 are steered by the steering device 58. The direction of travel of the unmanned vehicle 2 is adjusted by steering the wheels 53.

[0051] The wheels 53 include drive wheels to which driving force from the drive unit 55 is transmitted, and steering wheels that are steered by the steering unit 58. In this embodiment, the drive wheels are the rear wheels 53R. The steering wheels are the front wheels 53F.

[0052] The dump body 52 is the component on which the cargo is loaded. At least a portion of the dump body 52 is positioned above the vehicle body 50. The dump body 52 performs dumping and lowering operations. Through the dumping and lowering operations, the dump body 52 is adjusted to a dumping position and a loading position. The dumping position refers to the position in which the dump body 52 is raised. The loading position refers to the position in which the dump body 52 is lowered.

[0053] The hydraulic system 60 includes a steering cylinder 61, a hoist cylinder 62, a hydraulic pump 63, and a valve device 64.

[0054] The steering cylinder 61 generates steering force for steering the front wheel 53F in the steering device 58. The steering cylinder 61 is a hydraulic cylinder. The steering device 58 includes the steering cylinder 61. The front wheel 53F is connected to the steering cylinder 61 via a linkage mechanism of the steering device 58. The front wheel 53F is steered by the extension and retraction of the steering cylinder 61.

[0055] The hoist cylinder 62 generates the lifting force that operates the dump body 52. ​​The hoist cylinder 62 is a hydraulic cylinder. The dump body 52 is connected to the hoist cylinder 62. As the hoist cylinder 62 extends and retracts, the dump body 52 performs dumping and lowering operations.

[0056] The hydraulic pump 63 is operated by the driving force generated by the drive unit 55. A portion of the driving force generated by the drive unit 55 is transmitted to the hydraulic pump 63 via the power transmission mechanism 59. The hydraulic pump 63 discharges hydraulic fluid to extend and retract the steering cylinder 61 and the hoist cylinder 62, respectively.

[0057] The valve device 64 adjusts the flow of hydraulic fluid supplied to the steering cylinder 61 and the hoist cylinder 62, respectively. The valve device 64 operates based on control commands from the control device 30. The valve device 64 includes a first flow control valve that can adjust the flow rate and direction of hydraulic fluid supplied to the steering cylinder 61, and a second flow control valve that can adjust the flow rate and direction of hydraulic fluid supplied to the hoist cylinder 62. The steering cylinder 61 extends and retracts using hydraulic fluid supplied from the hydraulic pump 63 via the valve device 64. The hoist cylinder 62 extends and retracts using hydraulic fluid supplied from the hydraulic pump 63 via the valve device 64.

[0058] The position sensor 71 detects the position of the unmanned vehicle 2. The position of the unmanned vehicle 2 is detected using the Global Navigation Satellite System (GNSS). The position sensor 71 includes a GNSS receiver and detects the position of the unmanned vehicle 2 in the global coordinate system.

[0059] The orientation sensor 72 detects the orientation of the unmanned vehicle 2. The orientation of the unmanned vehicle 2 includes its yaw angle Yθ. The yaw angle Yθ refers to the tilt angle of the unmanned vehicle 2 around the yaw axis YA. A gyro sensor is an example of the orientation sensor 72.

[0060] The tilt sensor 73 detects the attitude of the unmanned vehicle 2. The attitude of the unmanned vehicle 2 includes the tilt angle of the vehicle body 50. The tilt angle of the vehicle body 50 includes the pitch angle Pθ and the roll angle Rθ of the vehicle body 50. The pitch angle Pθ refers to the tilt angle of the vehicle body 50 around the pitch axis PA. The roll angle Rθ refers to the tilt angle of the vehicle body 50 around the roll axis RA. An inertial measurement unit (IMU) is an example of the tilt sensor 73.

[0061] When the lower end portion 54B of the tire 54 is in contact with the ground parallel to the horizontal plane, the pitch axis PA and the roll axis RA are both parallel to the horizontal plane. When the lower end portion 54B of the tire 54 is in contact with the ground parallel to the horizontal plane, the pitch angle Pθ and the roll angle Rθ are both 0°. The lower end portion 54B of the tire 54 refers to the part of the outer circumferential surface of the tire 54 that is positioned at the lowest point in the vertical direction parallel to the yaw axis YA.

[0062] The speed sensor 74 detects the travel speed of the unmanned vehicle 2. An example of the speed sensor 74 is a pulse sensor that detects the rotation of the wheels 53.

[0063] The steering sensor 75 detects the steering angle of the steering device 58. A potentiometer is an example of the steering sensor 75.

[0064] The control device 30 is located on the vehicle body 50. The control device 30 outputs control commands to control the running gear 51. The control commands output from the control device 30 include a drive command to activate the drive unit 55, a braking command to activate the brake unit 56, a forward / reverse command to activate the transmission unit 57, and a steering command to activate the steering unit 58. The drive unit 55 generates a driving force to start or accelerate the unmanned vehicle 2 based on the drive command output from the control device 30. The brake unit 56 generates a braking force to stop or decelerate the unmanned vehicle 2 based on the braking command output from the control device 30. The transmission unit 57 switches the unmanned vehicle 2 between forward and reverse based on the forward / reverse command output from the control device 30. The steering unit 58 generates a steering force to move the unmanned vehicle 2 straight or turn based on the steering command output from the control device 30.

[0065] [Control System] Figure 6 is a functional block diagram showing the control system 100 of the unmanned vehicle 2 according to this embodiment. The control system 100 includes a control device 30, a driving device 51, a hydraulic device 60, a position sensor 71, a compass sensor 72, a tilt sensor 73, a speed sensor 74, and a steering sensor 75.

[0066] Interface 30D is connected to the travel device 51, hydraulic device 60, position sensor 71, orientation sensor 72, tilt sensor 73, speed sensor 74, and steering sensor 75, respectively.

[0067] The control device 30 includes a course data acquisition unit 101, a course data setting unit 102, a sensor data acquisition unit 103, a driving control unit 104, a starting condition generation unit 105, a starting determination unit 106, a management area setting unit 107, a surrounding situation determination unit 108, a notification unit 109, a starting condition storage unit 110, and an escape condition storage unit 111.

[0068] The processor 30A functions as a course data acquisition unit 101, a course data setting unit 102, a sensor data acquisition unit 103, a driving control unit 104, a starting condition generation unit 105, a starting determination unit 106, a management area setting unit 107, a surrounding condition determination unit 108, and a notification unit 109. The storage 30C functions as a starting condition storage unit 110 and an escape condition storage unit 111.

[0069] The course data acquisition unit 101 acquires course data transmitted from the course data generation unit 211 via the interface 30D. When the course data generation unit 211 updates the course data, the course data acquisition unit 101 acquires the updated course data. The course data acquisition unit 101 acquires course data each time the course data is updated.

[0070] The course data setting unit 102 switches between enabling and disabling course driving control, which is performed based on the course data. Course driving control refers to the driving control of the driving device 51, which is performed based on the course data. The course driving control of the driving device 51 includes course following control, which causes the unmanned vehicle 2 to follow the driving course 15. When course driving control is enabled, the unmanned vehicle 2 drives according to the course data. When course driving control is disabled, the unmanned vehicle 2 drives without following the course data. Course data is acquired by the course data acquisition unit 101. The course data acquired by the course data acquisition unit 101 is always valid. The course driving control, which is performed based on the course data, is switched between enabling and disabling.

[0071] The sensor data acquisition unit 103 acquires detection data from the position sensor 71, the orientation sensor 72, the tilt sensor 73, the speed sensor 74, and the steering sensor 75.

[0072] The driving control unit 104 performs course driving control of the unmanned vehicle 2. When course driving control is enabled, the driving control unit 104 performs course driving control of the driving device 51 based on the course data.

[0073] The driving control unit 104 performs course driving control of the driving device 51 so that the unmanned vehicle 2 travels according to the driving course 15 when course driving control is enabled. In this embodiment, the driving control unit 104 performs course driving control of the driving device 51 so that the unmanned vehicle 2 travels with its center in the width direction aligned with the driving course 15.

[0074] With course driving control enabled, the driving control unit 104 performs course driving control of the driving device 51 based on the detection data of the position sensor 71 so that the actual position of the unmanned vehicle 2 when it passes course point 14 becomes the target position. The driving control unit 104 performs course driving control of the driving device 51 based on the detection data of the position sensor 71 so that the unmanned vehicle 2 drives according to the driving course 15.

[0075] With course driving control enabled, the driving control unit 104 performs course driving control of the driving device 51 based on the detection data of the direction sensor 72 so that the actual direction of the unmanned vehicle 2 when passing course point 14 becomes the target direction. The driving control unit 104 performs course driving control of the driving device 51 so that there is no deviation between the actual position of the unmanned vehicle 2 and the target position of the unmanned vehicle 2 defined by the course point 14, and so that the actual direction of the unmanned vehicle 2 when passing course point 14 becomes the target direction.

[0076] The driving control unit 104 calculates the attitude of the unmanned vehicle 2 at the course point 14 based on the data detected by the tilt sensor 73 and the terrain at the course point 14 when the unmanned vehicle 2 passes through the course point 14, in both the state where course driving control is enabled and the state where course driving control is disabled.

[0077] With course driving control enabled, the driving control unit 104 performs course driving control of the driving device 51 based on the detection data of the speed sensor 74 so that the actual driving speed of the unmanned vehicle 2 when passing through course point 14 becomes the target driving speed.

[0078] With course driving control enabled, the driving control unit 104 performs course driving control of the driving device 51 based on the detection data of the steering sensor 75 so that the actual steering angle of the unmanned vehicle 2 when passing through the course point 14 becomes the target steering angle.

[0079] Furthermore, the driving control unit 104 performs starting control of the unmanned vehicle 2. Starting control refers to control that starts the unmanned vehicle 2 from a stationary state. In this embodiment, starting control refers to driving control of the driving device 51 that is performed based on predetermined starting conditions.

[0080] In the starting control, the driving control unit 104 outputs a starting command Ca that causes the unmanned vehicle 2 to start moving in a predetermined direction. In this embodiment, the predetermined direction is forward of the unmanned vehicle 2. That is, the starting command Ca causes the unmanned vehicle 2 to move forward.

[0081] The starting condition generation unit 105 generates starting conditions used for starting control of the unmanned vehicle 2. The starting conditions include a control program related to starting control. The starting conditions generated by the starting condition generation unit 105 are stored in the starting condition storage unit 110. The driving control unit 104 performs starting control of the unmanned vehicle 2 based on the starting conditions stored in the starting condition storage unit 110.

[0082] Figure 7 is a diagram illustrating the starting conditions according to the embodiment. When the unmanned vehicle 2 is started, a starting command Ca is output from the driving control unit 104. In Figure 7, the vertical axis shows the command value of the starting command Ca, and the horizontal axis shows the elapsed time from time ta when the output of the starting command Ca begins. Time ta is the start of the starting control by the starting command Ca. The starting conditions show the relationship between the starting command Ca that starts the unmanned vehicle 2 and the elapsed time from time ta of the starting control. The starting command Ca is output for a specified time T from time ta to time tb. Time tb is the end of the starting control by the starting command Ca.

[0083] The start command Ca includes a drive command that generates a driving force Da in the drive unit 55 of the unmanned vehicle 2. The larger the command value of the start command Ca, the larger the driving force Da generated by the drive unit 55, and the smaller the command value of the start command Ca, the smaller the driving force Da generated by the drive unit 55. When the command value is 100[%], the drive unit 55 outputs the maximum value of the driving force it can generate. That is, when the command value is 100[%], the drive unit 55 operates in a full-accelerator state.

[0084] In the example shown in Figure 7, the starting condition is set so that the command value of the starting command Ca does not reach 100%. The command value Va of the starting command Ca at time ta is less than 50%. Note that the command value Va of the starting command Ca at time ta may be 50% or greater than 50%. The command value Vb of the starting command Ca at time tb is greater than the command value Va and less than 100%. The command value of the starting command Ca is set to increase monotonically from time ta to time tb. At time tb, after a specified time T has elapsed since the output of the starting command Ca began, the output of the starting command Ca is stopped.

[0085] The command value Va of the start command Ca is calculated so that the stationary unmanned vehicle 2 starts moving at time ta. The start condition generation unit 105 calculates the target acceleration of the unmanned vehicle 2 based on the target driving speed of the unmanned vehicle 2 defined by the course data. The start condition generation unit 105 calculates the target driving force of the drive unit 55 that generates the target acceleration based on the equations of motion that model the unmanned vehicle 2 and the driving area 4, respectively. Correlation data (table) showing the relationship between the target driving force and the command value is predetermined. Based on the correlation data, the start condition generation unit 105 determines the command value Va that generates the target driving force at time ta.

[0086] When controlling the vehicle to start based on the starting conditions, the driving control unit 104 starts outputting a start command Ca at time ta. Upon outputting the start command Ca, the unmanned vehicle 2 can start moving. The drive unit 55 generates a driving force Da based on the start command Ca.

[0087] Note that the command value Va at time ta is a theoretical value calculated based on the equation of motion described above. For example, depending on the actual state of the unmanned vehicle 2 or the actual state of the driving area 4, even if the output of the start command Ca is initiated, the unmanned vehicle 2 may not be able to start at time ta. In this embodiment, since the command value of the start command Ca increases monotonically from time ta to time tb, the unmanned vehicle 2 can start at the specified time T.

[0088] Furthermore, the command value of the launch command Ca may reach 100%. For example, the command value Vb of the launch command Ca at time tb may be 100%. The command value Va of the launch command Ca at time ta may also be 100%.

[0089] The starting determination unit 106 determines whether the unmanned vehicle 2 has started moving in response to the starting command Ca. The starting determination unit 106 determines whether the unmanned vehicle 2 has started moving based on a specified time T and the detection data from the speed sensor 74. The starting determination unit 106 can determine whether the unmanned vehicle 2 has started accelerating based on the detection data from the speed sensor 74. If the starting determination unit 106 determines that the unmanned vehicle 2 has started accelerating within the specified time T, it determines that the unmanned vehicle 2 has started moving. If the starting determination unit 106 determines that the unmanned vehicle 2 has not started accelerating within the specified time T, it determines that the unmanned vehicle 2 has not started moving.

[0090] The starting determination unit 106 may determine whether the unmanned vehicle 2 has started moving based on the unmanned vehicle 2's travel speed, acceleration, and distance traveled. The starting determination unit 106 may also estimate the unmanned vehicle 2's travel speed from at least one of the detection data from a speed sensor 74 including a pulse sensor, a position sensor 71 including a GNSS receiver, and a tilt sensor 73 including an inertial measuring device. The starting determination unit 106 may also determine whether the unmanned vehicle 2 has started moving by considering the slip condition of the tires 54.

[0091] Figure 8 shows the state of the unmanned vehicle 2 according to the embodiment. The state of the unmanned vehicle 2 includes both a normal state and an abnormal state.

[0092] As shown in Figure 8(A), the normal state of the unmanned vehicle 2 includes a state in which the lower end 54B of the tire 54 is in contact with the road surface 81. In other words, the normal state of the unmanned vehicle 2 means a state in which the tire 54 is not buried under the road surface 81 or a state in which the tire 54 is not caught in grooves present in the road surface 81. If the road surface 81 is firm, the unmanned vehicle 2 is likely to be in the normal state.

[0093] As shown in Figure 8(B), abnormal conditions of the unmanned vehicle 2 include a state in which at least a portion of the tire 54 is buried under the road surface 81 or is stuck in a groove present in the road surface 81. If the road surface 81 is soft, the unmanned vehicle 2 is likely to enter an abnormal condition. Also, if the dump body 52 is loaded with cargo 82 and the weight of the unmanned vehicle 2 is large, the unmanned vehicle 2 is likely to enter an abnormal condition. Examples of soft road surfaces 81 include oil sand roads or muddy roads due to rainwater.

[0094] The starting conditions shown in Figure 7 are those used when the unmanned vehicle 2 is in a normal state. In other words, the starting command Ca is used to start the unmanned vehicle 2 when it is in a normal state. If the unmanned vehicle 2 is in an abnormal state, it may not start even with the starting command Ca.

[0095] Furthermore, if the unmanned vehicle 2 does not start in response to the start command Ca, the driving control unit 104 performs escape control for the unmanned vehicle 2. Escape control refers to control that causes the driving device 51 to perform an escape operation different from the start operation in order to start the unmanned vehicle 2. In this embodiment, escape control refers to driving control of the driving device 51 that is performed based on predetermined escape conditions.

[0096] If the departure determination unit 106 determines that the unmanned vehicle 2 will not depart in response to the departure command Ca, the management area setting unit 107 sets a management area 83 in which the unmanned vehicle 2 can move.

[0097] Figure 9 shows a management area 83 according to an embodiment. If it is determined that the unmanned vehicle 2 will not start based on the start command Ca, the management area setting unit 107 sets a management area 83 to which the unmanned vehicle 2 can move. The management area 83 is set to include the unmanned vehicle 2. The edges of the management area 83 are arranged around the unmanned vehicle 2.

[0098] In the example shown in Figure 9, the outline of the control area 83 is a rectangle. However, the outline of the control area 83 may also be a pentagon or a hexagon, or a polygon with seven or more sides. The outline of the control area 83 may also be a circle or an ellipse. The control area 83 may also be defined by any curve.

[0099] The management area setting unit 107 sets the management area 83 so that the edges of the management area 83 are positioned around the unmanned vehicle 2 at the time the departure determination unit 106 determines that the vehicle will not depart.

[0100] If a control area 83 is established, the unmanned vehicle 2 is restricted from moving outside of the control area 83.

[0101] After the management area 83 is established, the driving control unit 104 performs escape control of the unmanned vehicle 2. With the unmanned vehicle 2 restricted from moving outside the management area 83, the driving control unit 104 outputs an escape command Ce to cause the running gear 51 of the unmanned vehicle 2 to escape. The escape operation of the running gear 51 due to the escape command Ce is different from the start operation of the running gear 51 due to the start command Ca.

[0102] Figure 10 is a diagram illustrating the escape operation of the running gear 51 according to this embodiment. The escape operation refers to the operation of releasing the tire 54 from a buried state when at least a part of the tire 54 is buried under the road surface 81 or has entered a groove present in the road surface 81. If at least a part of the tire 54 is buried under the road surface 81, the running control unit 104 causes the running gear 51 to perform an escape operation to release the tire 54 from the buried state. The running gear 51 performs the escape operation based on the escape command Ce output from the running control unit 104. The running control unit 104 outputs the escape command Ce with course driving control disabled.

[0103] The escape command Ce includes a control command to start the unmanned vehicle 2 that could not be started by the start command Ca. The escape command Ce also includes a drive command to generate a driving force De for the drive unit 55 to start the unmanned vehicle 2. The driving force De output by the escape command Ce may be equal to the driving force Da output by the start command Ca, or it may be greater than the driving force Da. In this embodiment, the driving force De is the maximum driving force that the drive unit 55 of the unmanned vehicle 2 can generate. That is, the command value of the escape command Ce is 100%.

[0104] If the unmanned vehicle 2 fails to start with the start command Ca, the driving control unit 104 outputs an escape command Ce to the driving device 51 to start the unmanned vehicle 2 while the management area 83 is set. The driving control unit 104 causes the driving device 51 to escape so that the unmanned vehicle 2 does not go outside the management area 83. Since course driving control is disabled, the driving control unit 104 can move the unmanned vehicle 2 freely inside the management area 83. If the position of the edge of the management area 83 is defined in the global coordinate system, the driving control unit 104 outputs an escape command Ce based on the detection data of the position sensor 71 so that the unmanned vehicle 2 does not go outside the management area 83.

[0105] The escape conditions that define the escape operation are stored in the escape condition storage unit 111. The escape conditions indicate the content and sequence of the escape operation that the running gear 51 will perform to free the tire 54 from the buried state. The escape conditions are defined based on empirical rules that enable the tire 54 to be freed from the buried state. The running control unit 104 outputs an escape command Ce based on the escape conditions stored in the escape condition storage unit 111. The running gear 51 performs the escape operation in accordance with the escape conditions.

[0106] As described above, the start command Ca is a control command to start the unmanned vehicle 2 in a predetermined direction of travel. The escape operation of the running gear 51 includes the operation of traveling in the opposite direction to the direction of travel of the unmanned vehicle 2. If the start command Ca is a control command to move the unmanned vehicle 2 forward, the escape command Ce is a control command to move the unmanned vehicle 2 backward. The escape operation of the running gear 51 includes the operation of moving the unmanned vehicle 2 backward. If the unmanned vehicle 2 is unable to move forward with the start command Ca, the tire 54 can escape from the buried state by moving the unmanned vehicle 2 backward based on the escape command Ce. Note that if the start command Ca is a control command to move the unmanned vehicle 2 backward, the escape command Ce is a control command to move the unmanned vehicle 2 forward.

[0107] The escape operation of the running gear 51 may also be an operation of repeatedly moving forward and backward. If the unmanned vehicle 2 is unable to move forward based on the departure command Ca, the tires 54 can escape from the buried state by making the unmanned vehicle 2 repeatedly move forward and backward based on the escape command Ce.

[0108] The escape operation of the running gear 51 may also be an operation to change the steering angle of the front wheels 53F while a driving force De is being generated to start the unmanned vehicle 2. The front wheels 53F can be steered within a specified steering range. The running control unit 104 may output an escape command Ce to the steering device 58 so that the front wheels 53F move back and forth within the steering range. The running control unit 104 may output an escape command Ce so that the front wheels 53F move back and forth between one end and the other end of the steering range, or may output an escape command Ce so that the front wheels 53F move back and forth within a part of the steering range. Note that the front wheels 53F do not have to move back and forth within the steering range. The running control unit 104 may output an escape command Ce so that the front wheels 53F move from one end to the other end of the steering range. The steering speed of the front wheels 53F may be constant or random. The steering speed of the front wheel 53F may be, for example, the speed corresponding to the maximum cylinder speed that the steering cylinder 61 can generate, or it may be the speed corresponding to a value between 1% and 50% of the maximum cylinder speed.

[0109] Even if the tire 54 is buried, the running gear 51 performs an escape operation different from the starting operation, allowing the tire 54 to escape from the buried state. Therefore, the unmanned vehicle 2 can start moving.

[0110] In this embodiment, the course data setting unit 102 determines that the unmanned vehicle 2 will not start in response to the start command Ca, and after the management area 83 is set, it disables course driving control and enables escape control. After course driving control is disabled and escape control is enabled, the driving control unit 104 performs escape control of the driving device 51 based on the escape conditions. If course driving control is disabled, the driving control unit 104 performs escape control of the driving device 51 so that the unmanned vehicle 2 moves within the management area 83, regardless of the course data.

[0111] After the course data setting unit 102 determines that the unmanned vehicle 2 has started due to the escape command Ce, it disables the escape control and enables the course driving control. After the escape control is disabled and the course driving control is enabled, the driving control unit 104 performs course driving control of the driving device 51 based on the course data. The management area setting unit 107 releases the management area 83 after the deviation between the actual position of the unmanned vehicle 2 after it has started and the driving course 15 falls below a predetermined allowable value.

[0112] In one embodiment, the distance from the center of the unmanned vehicle 2 to the edge of the management area 83 is set to a distance sufficient to determine whether or not the unmanned vehicle 2 has started due to the escape command Ce, and to a distance sufficient to ensure that the deviation between the actual position of the unmanned vehicle 2 after it has started due to escape control and the driving course 15 is below an acceptable value. As an example, the distance from the center of the unmanned vehicle 2 to the edge of the management area 83 is 5[m] or more and 30[m] or less. In another embodiment, 15[m] is set as the distance for determining whether or not the unmanned vehicle 2 has started due to the escape command Ce, and 15[m] is set as the distance for ensuring that the deviation between the actual position of the unmanned vehicle 2 after it has started and the driving course 15 is below an acceptable value. That is, the distance from the center of the unmanned vehicle 2 to the edge of the management area 83 is 30[m].

[0113] The surrounding conditions determination unit 108 determines whether it is possible to start setting up the management area 83 based on the surrounding conditions of the unmanned vehicle 2 before the setting up of the management area 83 is started. The management area setting unit 107 sets up the management area 83 based on the determination result of the surrounding conditions determination unit 108.

[0114] As an example of the surrounding conditions, the positions of moving objects around the unmanned vehicle 2 in relation to the management area 83 are given. Examples of moving objects include other unmanned vehicles 2A or auxiliary vehicles 3. Also as an example of the surrounding conditions, the positions of non-moving objects around the unmanned vehicle 2 in relation to the management area 83 are given. Examples of non-moving objects include streetlights, stones, embankments, refueling equipment, and signs present at the work site. Also as an example of the surrounding conditions, the course data of other unmanned vehicles 2A around the unmanned vehicle 2 in relation to the management area 83 are given.

[0115] Figure 11 shows the surrounding conditions of the unmanned vehicle 2 before the start of setting up the management area 83 according to the embodiment. Figure 11 shows an example where the surrounding conditions are the course data of another unmanned vehicle 2A. As shown in Figure 11, before the start of setting up the management area 83, there is a possibility that the travel course 15 of the other unmanned vehicle 2A is located in the planned area 83P of the management area 83. The planned area 83P refers to the area where the setting up of the management area 83 is scheduled. If the setting up of the management area 83 is started while the travel course 15 is located in the planned area 83P, the unmanned vehicle 2 moving through the management area 83 may obstruct the progress of the other unmanned vehicle 2A. As a result, the productivity of the work site may decrease.

[0116] The surrounding conditions determination unit 108 acquires course data of other unmanned vehicles 2A from the course data generation unit 211. If the driving course 15 of the other unmanned vehicle 2A is not set in the planned area 83P, the surrounding conditions determination unit 108 determines that it is possible to start setting the management area 83. If the driving course 15 of the other unmanned vehicle 2A is set in the planned area 83P, the surrounding conditions determination unit 108 determines that it is not possible to start setting the management area 83. If the surrounding conditions determination unit 108 determines that it is possible to start setting the management area 83, the management area setting unit 107 sets the management area 83. If the surrounding conditions determination unit 108 determines that it is not possible to start setting the management area 83, the management area setting unit 107 does not set the management area 83. This suppresses a decrease in productivity at the work site.

[0117] Furthermore, if the setting of the management area 83 is initiated while another unmanned vehicle 2A or auxiliary vehicle 3 is approaching the planned area 83P before the setting of the management area 83 begins, the unmanned vehicle 2 moving through the management area 83 may obstruct the progress of the other unmanned vehicle 2A or auxiliary vehicle 3. As a result, the productivity of the work site may decrease.

[0118] The position of the other unmanned vehicle 2A is detected by the position sensor 71 of the other unmanned vehicle 2A. The position of the auxiliary vehicle 3 is detected by the position sensor 41. Based on the detection data from the position sensor 71 of the other unmanned vehicle 2A and the detection data from the position sensor 41 of the auxiliary vehicle 3, the surrounding situation determination unit 108 can determine whether the other unmanned vehicle 2A or the auxiliary vehicle 3 is approaching the planned area 83P. If the other unmanned vehicle 2A and the auxiliary vehicle 3 are not approaching the planned area 83P, the surrounding situation determination unit 108 determines that it is possible to start setting the management area 83. If the other unmanned vehicle 2A or the auxiliary vehicle 3 is approaching the planned area 83P, the surrounding situation determination unit 108 determines that it is not possible to start setting the management area 83. If the surrounding situation determination unit 108 determines that it is possible to start setting the management area 83, the management area setting unit 107 sets the management area 83. If the surrounding conditions determination unit 108 determines that it is not possible to start setting the management area 83, the management area setting unit 107 will not set the management area 83. This helps to prevent a decrease in productivity at the work site.

[0119] If the departure determination unit 106 determines that the unmanned vehicle 2 will not depart in response to the departure command Ca, the notification unit 109 notifies an external party that the setting of the management area 83 will begin.

[0120] An example of an external target of the unmanned vehicle 2 is the course data generation unit 211 of the management device 21. Additionally, other unmanned vehicles 2A or auxiliary vehicles 3 are also examples of external targets of the unmanned vehicle 2.

[0121] Figure 12 is a diagram illustrating how the course data of another unmanned vehicle 2A is changed by a notification from the notification unit 109 according to this embodiment.

[0122] If the notification unit 109 determines that the unmanned vehicle 2 will not depart in response to the departure command Ca, it notifies the course data generation unit 211 that the setting of the management area 83 will begin before the setting of the management area 83 actually starts. The notification unit 109 also notifies the course data generation unit 211 of the planned area 83P.

[0123] The course data generation unit 211 generates course data for the other unmanned vehicle 2A based on the scheduled area 83P notified by the notification unit 109. In this embodiment, the course data generation unit 211 determines whether the driving course 15 of the other unmanned vehicle 2A is located in the scheduled area 83P based on the location of the scheduled area 83P notified by the notification unit 109. If it determines that the driving course 15 of the other unmanned vehicle 2A is located in the scheduled area 83P, the course data generation unit 211 generates course data for the other unmanned vehicle 2A so that the driving course 15 of the other unmanned vehicle 2A is separated from the scheduled area 83P. The driving course 15 of the other unmanned vehicle 2A is modified to avoid the scheduled area 83P. In addition, the driving course 15 of the other unmanned vehicle 2A is modified so that the other unmanned vehicle 2A traveling according to the driving course 15 does not overlap with the scheduled area 83P. The course data generation unit 211 transmits the modified course data to the other unmanned vehicle 2A. Other unmanned vehicles 2A travel according to the modified travel course 15. Since the modified travel course 15 is separated from the planned area 83P, other unmanned vehicles 2A can travel in a way that avoids the management area 83. The management area setting unit 107 can set the management area 83 after the travel course 15 of the other unmanned vehicles 2A has been modified to separate it from the planned area 83P. Since the progress of other unmanned vehicles 2A is prevented from being obstructed by unmanned vehicle 2, the decrease in productivity at the work site is suppressed.

[0124] Furthermore, if the departure determination unit 106 determines that the unmanned vehicle 2 will not depart in response to the departure command Ca, the notification unit 109 may notify the auxiliary vehicle 3 that the setting of the management area 83 will begin and the planned area 83P before the setting of the management area 83 begins. The control device 40 of the auxiliary vehicle 3 outputs the location of the planned area 83P notified by the notification unit 109 to the output device 42 of the auxiliary vehicle 3. The driver of the auxiliary vehicle 3 can confirm the location of the planned area 83P output to the output device 42 and drive through the driving area 4 in a way that avoids the planned area 83P. This prevents the progress of the auxiliary vehicle 3 from being obstructed by the unmanned vehicle 2, thus suppressing a decrease in productivity at the work site.

[0125] Furthermore, the notification unit 109 notifies an external party of the unmanned vehicle 2 that the setting of the management area 83 has been completed.

[0126] An example of an external target of the unmanned vehicle 2 is the course data generation unit 211 of the management device 21. Additionally, other unmanned vehicles 2A or auxiliary vehicles 3 are also examples of external targets of the unmanned vehicle 2.

[0127] Figure 13 is a diagram illustrating how course data for other unmanned vehicles 2A is generated by a notification from the notification unit 109 according to this embodiment.

[0128] When a management area 83 is set during launch control, the notification unit 109 notifies the course data generation unit 211 that the setting of the management area 83 has been completed. The notification unit 109 also notifies the course data generation unit 211 of the management area 83 set by the management area setting unit 107.

[0129] The course data generation unit 211 generates course data for the other unmanned vehicle 2A based on the management area 83 notified by the notification unit 109. In this embodiment, the course data generation unit 211 generates course data for the other unmanned vehicle 2A based on the location of the management area 83 notified by the notification unit 109, such that the driving course 15 of the other unmanned vehicle 2A is away from the management area 83. The driving course 15 of the other unmanned vehicle 2A is generated to avoid the management area 83. The course data generation unit 211 transmits the generated course data to the other unmanned vehicle 2A. The other unmanned vehicle 2A drives according to the driving course 15. Since the driving course 15 of the other unmanned vehicle 2A is away from the management area 83, the other unmanned vehicle 2A can drive in a way that avoids the management area 83. This prevents the progress of the other unmanned vehicle 2A from being obstructed by the unmanned vehicle 2 moving through the management area 83. Therefore, a decrease in productivity at the work site is suppressed.

[0130] Furthermore, the notification unit 109 may notify the auxiliary vehicle 3 that the setting of the management area 83 is complete and the location of the management area 83 after the setting of the management area 83 is finished. The control device 40 of the auxiliary vehicle 3 outputs the location of the management area 83 notified by the notification unit 109 to the output device 42 of the auxiliary vehicle 3. The driver of the auxiliary vehicle 3 can check the location of the management area 83 output to the output device 42 and drive through the driving area 4 to avoid the management area 83. This prevents the progress of the auxiliary vehicle 3 from being obstructed by the unmanned vehicle 2 moving through the management area 83. Therefore, a decrease in productivity at the work site is suppressed.

[0131] [Control Method] Figure 14 is a flowchart showing the control method for the unmanned vehicle 2 according to an embodiment. In the following description, the starting control when the unmanned vehicle 2, which is stationary at the work site 1, starts moving forward will be explained.

[0132] The driving control unit 104 outputs a start command Ca to the drive unit 55 in order to start the unmanned vehicle 2 (step S1).

[0133] The departure determination unit 106 determines whether the unmanned vehicle 2 has started moving based on the unmanned vehicle 2's travel speed, acceleration, and distance traveled. For example, it determines whether the unmanned vehicle 2 has started moving based on the departure command Ca, based on a specified time T and the detection data from the speed sensor 74 (step S2).

[0134] In step S2, if it is determined that the unmanned vehicle 2 has started due to the start command Ca (step S2: Yes), the driving control unit 104 starts course driving control. The unmanned vehicle 2 drives around the work site 1 according to the course data.

[0135] In step S2, if it is determined that the unmanned vehicle 2 will not depart in response to the departure command Ca (step S2: No), the surrounding situation determination unit 108 recognizes the surrounding situation of the unmanned vehicle 2 before the setting of the management area 83 begins (step S3).

[0136] The surrounding conditions determination unit 108 determines whether or not it is possible to set the management area 83 based on the recognized surrounding conditions (step S4).

[0137] The surrounding conditions determination unit 108 determines that it is possible to set up the management area 83 if the driving course 15 of another unmanned vehicle 2A is not located in the planned area 83P. The surrounding conditions determination unit 108 determines that it is not possible to set up the management area 83 if the driving course 15 of another unmanned vehicle 2A is located in the planned area 83P.

[0138] Furthermore, the surrounding situation determination unit 108 may determine that setting the management area 83 is not possible if another unmanned vehicle 2A or auxiliary vehicle 3 is approaching or present in the planned area 83P, and may determine that setting the management area 83 is possible if the other unmanned vehicle 2A or auxiliary vehicle 3 moves away from the planned area 83P. The surrounding situation determination unit 108 can determine whether another unmanned vehicle 2A is approaching or present in the planned area 83P based on the detection data from the position sensor 71 of the other unmanned vehicle 2A. The surrounding situation determination unit 108 can determine whether an auxiliary vehicle 3 is approaching or present in the planned area 83P based on the detection data from the position sensor 41 of the auxiliary vehicle 3.

[0139] If it is determined in step S4 that it is possible to set the management area 83 (step S4: Yes), the management area setting unit 107 sets the management area 83 (step S5).

[0140] After the management area 83 is set up, the notification unit 109 notifies an external target of the unmanned vehicle 2 that the setting up of the management area 83 has been completed. In this embodiment, the notification unit 109 notifies the course data generation unit 211 that the setting up of the management area 83 has been completed (step S6).

[0141] This allows the course data generation unit 211 to generate course data for other unmanned vehicles 2A so that they avoid the management area 83.

[0142] After setting the management area 83, the course data setting unit 102 disables course driving control and enables exit control (step S7).

[0143] After course driving control is disabled and escape control is enabled, the driving control unit 104 outputs an escape command Ce (step S8).

[0144] The traveling device 51 performs an escape operation based on the escape command Ce. The traveling device 51 performs an escape operation based on the escape conditions stored in the escape condition storage unit 111.

[0145] The departure determination unit 106 determines, for example, whether the unmanned vehicle 2 has departed in response to the escape command Ce, based on the specified time T and the detection data from the speed sensor 74 (step S9).

[0146] In step S9, if it is determined that the unmanned vehicle 2 has departed due to the escape command Ce (step S9: Yes), the course data setting unit 102 disables the escape control and enables the course driving control (step S10).

[0147] The driving control unit 104 starts course driving control. The unmanned vehicle 2 drives around the work site 1 according to the course data.

[0148] The course data used for course driving control may be existing course data, or it may be newly generated course data based on the position of the unmanned vehicle 2 after it has started due to the escape operation. For example, if the management device 21 detects that the deviation between the actual position or orientation of the unmanned vehicle 2 and the target position or target orientation defined by the existing course data is likely to be large due to the escape operation, the management device 21 may predict the position of the unmanned vehicle 2 based on its driving speed and attitude after it has started due to the escape operation and generate new course data. By driving based on the newly generated course data after course driving control has started, the unmanned vehicle 2 reduces unnecessary driving to minimize the deviation between its actual position or orientation and the target position or target orientation. This helps to suppress a decrease in productivity at the work site.

[0149] Course driving control is initiated, and after the deviation between the actual position of the unmanned vehicle 2 and the driving course 15 falls below an acceptable value, the management area setting unit 107 releases the management area 83 (step S11).

[0150] In step S4, if it is determined that setting the management area 83 is not possible (step S4: No), the notification unit 109 notifies an external target of the unmanned vehicle 2 that the setting of the management area 83 will be initiated. In this embodiment, the notification unit 109 notifies the course data generation unit 211 that the setting of the management area 83 will be initiated. In this embodiment, the notification unit 109 also notifies the auxiliary vehicle 3 that the setting of the management area 83 will be initiated (step S12).

[0151] When the course data generation unit 211 is notified that the setting of the management area 83 has begun, the course data generation unit 211 can generate course data for other unmanned vehicles 2A so that they avoid the planned area 83P.

[0152] When the auxiliary vehicle 3 is notified that the setting of management area 83 has begun, the auxiliary vehicle 3 can drive in a manner that avoids the planned area 83P.

[0153] After notification that the setting of the management area 83 has begun, the surrounding situation determination unit 108 recognizes the surrounding situation of the unmanned vehicle 2 (step S13).

[0154] The surrounding conditions determination unit 108 determines whether or not it is possible to set the management area 83 based on the recognized surrounding conditions (step S14).

[0155] For example, if the setting of the management area 83 is initiated and notification of the planned area 83P is received, and the driving course 15 of the other unmanned vehicle 2A is generated to avoid the planned area 83P, if the other unmanned vehicle 2A drives in a manner that moves away from the planned area 83P, or if the auxiliary vehicle 3 drives in a manner that avoids the planned area 83P, the surrounding situation determination unit 108 determines that it is possible to set the management area 83.

[0156] If it is determined in step S14 that the management area 83 can be configured (step S14: Yes), then the processes from step S5 to step S11 are executed.

[0157] If it is determined in step S14 that it is not possible to configure the management area 83 (step S14: No), the process in step S13 is executed. The processes in steps S13 and S14 are executed until it is determined that it is possible to configure the management area 83.

[0158] In step S9, if it is determined that the unmanned vehicle 2 will not depart in response to the escape command Ce (step S9: No), the escape control is terminated. For example, an error signal is output to the management device 21, and the escape process is performed on the unmanned vehicle 2 by the driver's operation.

[0159] [effect] As described above, according to the embodiment, if the management area setting unit 107 determines that the unmanned vehicle 2 will not start in response to the start command Ca, it sets a management area 83 in which the unmanned vehicle 2 can move. The travel control unit 104 outputs an escape command Ce to cause the travel device 51 to escape while restricting the unmanned vehicle 2 from moving outside the management area 83. By having the travel device 51 perform an escape operation different from the start operation, the unmanned vehicle 2, which could not start in response to the start command Ca, can start in response to the escape command Ce. Since the unmanned vehicle 2 can be started, the decrease in productivity at the work site is suppressed.

[0160] The driving control unit 104 outputs an escape command Ce with course driving control disabled. Because course driving control is disabled, the driving control unit 104 can move the unmanned vehicle 2 freely within the management area 83 and freely operate the driving device 51 to escape. As a result, the tires 54 can escape from the buried state.

[0161] The management area setting unit 107 sets the management area 83 based on the position of the unmanned vehicle 2 at the time the departure determination unit 106 determines that the unmanned vehicle 2 will not depart in response to the departure command Ca. In other words, the edges of the management area 83 are positioned around the unmanned vehicle 2 at the time the departure determination unit 106 determines that it will not depart. This ensures that the management area 83 is properly set. The unmanned vehicle 2 can move freely forward, backward, left, and right within the management area 83.

[0162] If the unmanned vehicle 2 fails to move forward in response to the start command Ca, the driving control unit 104 outputs an escape command Ce to move the unmanned vehicle 2 backward. If the unmanned vehicle 2 fails to move forward based on the start command Ca, the tire 54 can escape from the buried state by moving the unmanned vehicle 2 backward based on the escape command Ce.

[0163] Furthermore, if the unmanned vehicle 2 fails to start when given a start command Ca to move forward, the driving control unit 104 outputs an escape command Ce to the unmanned vehicle 2 to repeatedly move forward and backward. If the unmanned vehicle 2 fails to move forward based on the start command Ca, the tires 54 can escape from the buried state by the unmanned vehicle 2 repeatedly moving forward and backward based on the escape command Ce.

[0164] If the unmanned vehicle 2 fails to start when given a start command Ca to move the unmanned vehicle 2 forward, the driving control unit 104 outputs an escape command Ce that changes the steering angle of the front wheels 53F while the driving force De for starting the unmanned vehicle 2 is being generated. If the unmanned vehicle 2 fails to move forward based on the start command Ca, the tires 54 can escape from being stuck by steering the front wheels 53F within the steering range based on the escape command Ce.

[0165] The escape condition storage unit 111 stores the escape conditions that define the escape operation. The driving control unit 104 outputs an escape command Ce based on the escape conditions stored in the escape condition storage unit 111. If the escape conditions are defined based on empirical rules that allow the tire 54 to escape from the buried state, the driving device 51 can properly perform the escape operation.

[0166] The management area setting unit 107 sets the management area 83 based on the surrounding conditions of the unmanned vehicle 2 before the setting of the management area 83 begins. Based on the surrounding conditions of the unmanned vehicle 2, it is determined whether or not the setting of the management area 83 is appropriate. If it is determined that the setting of the management area 83 is inappropriate, the management area 83 is not set. If it is determined that the setting of the management area 83 is appropriate, the management area 83 is set. This suppresses a decrease in productivity at the work site.

[0167] The notification unit 109 notifies an external entity of the unmanned vehicle 2 that the setting of the management area 83 is about to begin, before the setting of the management area 83 is initiated. This prevents the unmanned vehicle 2 performing the escape operation from obstructing the progress of other unmanned vehicles 2A or auxiliary vehicles 3. Therefore, a decrease in productivity at the work site is suppressed.

[0168] The notification unit 109 notifies an external target of the unmanned vehicle 2 that the setting of the management area 83 has been completed. This prevents the unmanned vehicle 2 performing the escape operation from obstructing the progress of other unmanned vehicles 2A or auxiliary vehicles 3. Therefore, a decrease in productivity at the work site is suppressed.

[0169] [Other embodiments] Figure 15 is a diagram illustrating the starting control according to the embodiment. In the above embodiment, when the tire 54 is released from the buried state, the driving device 51 performs the release operation based on the release conditions stored in the release condition storage unit 111. The driving device 51 may also perform the release operation based on the detection data of the surrounding sensor 76.

[0170] As shown in Figure 15, the surrounding sensor 76 is installed on the unmanned vehicle 2. The surrounding sensor 76 is capable of detecting the road surface conditions around the unmanned vehicle 2. An imaging device is exemplified as the surrounding sensor 76. The detection data of the road surface conditions around the unmanned vehicle 2 detected by the surrounding sensor 76 is transmitted to the control device 30. The sensor data acquisition unit 103 acquires the detection data of the road surface conditions around the unmanned vehicle 2. The driving control unit 104 outputs an escape command Ce based on the road surface condition detection data.

[0171] The surrounding sensor 76 detects, for example, an escapeable area 84 on the road surface 81. Examples of escapeable areas 84 include hard areas of the road surface 81 or areas with many rocks. Another example of an escapeable area 84 is an area near the tire 54 that is less buried than the other four tires 54. Based on the data detected by the surrounding sensor 76, the driving control unit 104 controls the steering device 58 so that the tire 54 drives over the escapeable area 84. As a result, the tire 54 of the unmanned vehicle 2 can escape from being buried.

[0172] In the above-described embodiment, the drive wheels are the rear wheels 53R and the steering wheels are the front wheels 53F. The drive wheels may be the front wheels 53F, or both the front wheels 53F and the rear wheels 53R. The steering wheels may be the rear wheels 53R, or both the front wheels 53F and the rear wheels 53R.

[0173] In the above embodiment, if the departure determination unit 106 determines that the unmanned vehicle 2 will not depart in response to the departure command Ca, the management area setting unit 107 sets the management area 83. The management area setting unit 107 may also set the management area 83 based on control commands transmitted from the management device 21. For example, if the administrator of the control facility 13 determines that the unmanned vehicle 2 will not depart in response to the departure command Ca, the management area setting unit 107 can set the management area 83 based on control commands transmitted from the management device 21. Alternatively, the management area setting unit 107 may also set the management area 83 based on operation commands transmitted from the auxiliary vehicle 3. For example, if the driver of the auxiliary vehicle 3 determines that the unmanned vehicle 2 will not depart in response to the departure command Ca, the management area setting unit 107 can set the management area 83 based on control commands transmitted from the control device 40 of the auxiliary vehicle 3.

[0174] In the above-described embodiment, the management area setting unit 107 may set a three-dimensional management space to which the unmanned vehicle 2 can move, instead of the management area 83. The height of the management space may be determined by the distance between the ground in contact with the tires 54 and the highest point of the unmanned vehicle 2. An example of the highest point of the unmanned vehicle 2 is the GNSS antenna connected to the GNSS receiver. If the position of the highest point of the unmanned vehicle 2 changes, the height of the management space may be changed to match the change in the position of the highest point of the unmanned vehicle 2. For example, if the highest point of the unmanned vehicle 2 is defined as the dump body 52, and the dump body 52 performs a dumping operation, the position of the highest point of the unmanned vehicle 2 changes. The management area setting unit 107 may change the height of the management space to match the dumping operation of the dump body 52.

[0175] In the above-described embodiment, the starting conditions are generated by the starting condition generation unit 105. The starting conditions may be generated by a different arithmetic processing unit than the control device 30. The starting conditions generated by the arithmetic processing unit may be stored in the starting condition storage unit 110. The driving control unit 104 can use the starting conditions stored in the starting condition storage unit 110 to perform starting control of the unmanned vehicle 2.

[0176] In the above-described embodiment, at least some of the functions of the control device 30 may be provided in the management device 21, or at least some of the functions of the management device 21 may be provided in the control device 30. For example, in the above-described embodiment, the management device 21 may have the function of a starting condition generation unit 105. The starting conditions may be transmitted from the management device 21 to the control device 30 of the unmanned vehicle 2 via the communication system 24. The driving control unit 104 can use the starting conditions transmitted from the management device 21 to perform starting control of the unmanned vehicle 2. In addition, the management device 21 may have the functions of, for example, a starting determination unit 106 and a surrounding condition determination unit 108.

[0177] In the above-described embodiment, the course data acquisition unit 101, course data setting unit 102, sensor data acquisition unit 103, driving control unit 104, starting condition generation unit 105, starting determination unit 106, management area setting unit 107, surrounding situation determination unit 108, notification unit 109, starting condition storage unit 110, and escape condition storage unit 111 may each be configured with separate hardware.

[0178] In the above-described embodiment, the unmanned vehicle 2 may be a mechanically driven dump truck or an electrically driven dump truck. [Explanation of Symbols]

[0179] 1...Work site, 2...Unmanned vehicle, 2A...Other unmanned vehicles, 3...Auxiliary vehicle, 4...Driving area, 5...Loading area, 6...Soil disposal area, 7...Parking area, 8...Fueling station, 9...Driving road, 10...Intersection, 11...Loading machine, 12...Crusher, 13...Control facility, 14...Course point, 15...Driving course, 20...Management system, 21...Management device, 21A...Processor, 21B...Main memory, 21C...Storage, 21D...Interface, 21E...Computer program, 22...Input device, 24...Communication system, 24A...Wireless communication device, 24B...Wireless communication device, 24C...Unmanned Line communication device, 30...control device, 30A...processor, 30B...main memory, 30C...storage, 30D...interface, 30E...computer program, 40...control device, 40A...processor, 40B...main memory, 40C...storage, 40D...interface, 40E...computer program, 41...position sensor, 42...output device, 50...vehicle body, 51...running gear, 52...dump body, 53...wheels, 53F...front wheels, 53R...rear wheels, 54...tires, 54B...lower end, 54F...front tires, 54R...rear tires, 55…Drive system, 56…Brake system, 57…Transmission system, 58…Steering system, 59…Power transmission mechanism, 60…Hydraulic system, 61…Steering cylinder, 62…Hoist cylinder, 63…Hydraulic pump, 64…Valve system, 71…Position sensor, 72…Direction sensor, 73…Tilt sensor, 74…Speed ​​sensor, 75…Steering sensor, 76…Surroundings sensor, 81…Road surface, 82…Cargo, 83…Management area, 83P…Planned area, 84…Exitable area, 100…Control system, 101…Course data acquisition unit, 102… Course data setting unit, 103... Sensor data acquisition unit, 104... Driving control unit, 105... Start condition generation unit, 106... Start determination unit, 107... Management area setting unit, 108... Surrounding situation determination unit, 109... Notification unit, 110... Start condition storage unit, 111... Escape condition storage unit, 211... Course data generation unit, Ca... Start command, Ce... Escape command, Da... Driving force, De... Driving force, PA... Pitch axis, Pθ... Pitch angle, RA... Roll axis, Rθ... Roll angle, ta... Time point, tb... Time point, T... Specified time, Va... Command value, Vb... Command value, YA... Yaw axis, Yθ... Yaw angle.

Claims

1. a travel control unit that outputs a start command to start the unmanned vehicle; a control area setting unit that sets a control area in which the unmanned vehicle can move when it is determined that the unmanned vehicle will not start in response to the start command, the traveling control unit outputs an escape command to cause a traveling device of the unmanned vehicle to perform an escape operation while restricting the unmanned vehicle from moving outside the management area. Unmanned vehicle control system.

2. a course data acquisition unit that acquires course data indicating the driving conditions of the unmanned vehicle; a course data setting unit that switches between enabling and disabling course travel control that is implemented based on the course data, the traveling control unit outputs the escape command in a state in which the course traveling control is disabled. The unmanned vehicle control system according to claim 1 .

3. the control area setting unit sets the control area so that an edge of the control area is located around the unmanned vehicle at the time when it is determined that the vehicle will not start.

3. The unmanned vehicle control system according to claim 1 or 2.

4. The start command causes the unmanned vehicle to start in a predetermined traveling direction, the escape operation includes traveling in a direction opposite to the traveling direction. The unmanned vehicle control system according to any one of claims 1 to 3.

5. The escape operation includes repeating forward and backward movement.

5. The unmanned vehicle control system according to claim 1 or 4.

6. the escape operation includes changing a steering angle of a steering wheel of the unmanned vehicle while a driving force for starting the unmanned vehicle is being generated. The unmanned vehicle control system according to any one of claims 1 to 5.

7. an escape condition storage unit that stores an escape condition that defines the escape operation; The traveling control unit outputs the escape command based on the escape condition. The unmanned vehicle control system according to any one of claims 1 to 6.

8. a sensor data acquisition unit that acquires detection data of road surface conditions around the unmanned vehicle; The traveling control unit outputs the escape command based on the detection data of the road surface condition. The unmanned vehicle control system according to any one of claims 1 to 7.

9. a surrounding situation determination unit that determines whether or not it is possible to start setting the management area based on the surrounding situation of the unmanned vehicle before setting of the management area is started, the management area setting unit sets the management area based on a determination result of the surrounding situation determination unit. The unmanned vehicle control system according to any one of claims 1 to 8.

10. the surrounding situation includes at least one of course data of moving objects around the unmanned vehicle relative to the management area and positions of moving objects around the unmanned vehicle relative to the management area; The unmanned vehicle control system according to claim 9.

11. a notification unit that notifies an object outside the unmanned vehicle that setting of the management area will start before setting of the management area starts, The unmanned vehicle control system according to any one of claims 1 to 10.

12. the target includes a course data generation unit that generates course data for a moving object; the notification unit notifies a planned area in which the management area is planned to be set, the course data generation unit generates the course data based on the planned area. The unmanned vehicle control system according to claim 11.

13. a notification unit that notifies an object outside the unmanned vehicle that setting of the management area has been completed; The unmanned vehicle control system according to any one of claims 1 to 10.

14. the target includes a course data generation unit that generates course data for a moving object; the notification unit notifies the management area; the course data generation unit generates the course data based on the management area.

14. The unmanned vehicle control system according to claim 13.

15. An unmanned vehicle control system according to any one of claims 1 to 14, Unmanned vehicle.

16. outputting a start command to start the unmanned vehicle; If it is determined that the unmanned vehicle will not depart in response to the departure command, setting a management area in which the unmanned vehicle can move; outputting an escape command to cause a traveling device of the unmanned vehicle to perform an escape operation while restricting the unmanned vehicle from moving outside the management area. A method for controlling an unmanned vehicle.

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