Vehicle management system

Abstract

A vehicle management system (1) includes an unmanned vehicle (20) capable of autonomous travel, a loading machine (10) that performs a loading work with respect to the unmanned vehicle (20), and a control office (30) that performs vehicle assignment management and traffic control of the unmanned vehicle (20). The loading machine (10) has a bucket tip position calculation section (111) that calculates a position of a bucket tip based on information of a position, an orientation, and angles of joints of the loading machine. The control office (30) has an unmanned vehicle instruction section (313) that calculates a loading area of the unmanned vehicle (20) and performs a call instruction or a start instruction for the unmanned vehicle (20) based on the calculated loading area and the bucket tip position of the loading machine (10).

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle management system, and particularly to a vehicle management system in a site where a loading machine performs a loading work with respect to an unmanned vehicle.

[0002] This application claims priority based on Japanese Patent Application No. 2020-185835 filed on November 6, 2020, and the content thereof is incorporated herein by reference. BACKGROUND

[0003] In open-pit mines and the like, a vehicle management system is used, which has a self-unloading truck (i.e., an unmanned vehicle) that autonomously travels without a rider and a control office that communicates with the unmanned vehicle via a wireless communication backhaul. In such a vehicle management system, a loading work of loading earth and sand and ore and the like (hereinafter referred to as "earth and sand and the like") to the unmanned vehicle is performed by a loading machine operated by an operator. Since the operator does not ride on the unmanned vehicle, the operator of the loading machine needs to perform a call instruction to the unmanned vehicle to reach a loading position and a start instruction after loading in addition to the operation of the loading machine itself, and a more complex sequence is required. Therefore, in order to achieve high productivity in the vehicle management system, a system that enables the operator of the loading machine to work efficiently is required.

[0004] As a system that calls the unmanned vehicle to the loading position efficiently, a method is known, as shown in the following Patent Literature 1, which uses the position and orientation of the unmanned vehicle and the position and orientation of the loading site, and guides the travel path to the loading position based on the difference in position and the difference in orientation.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: U.S. Patent No. 9823082 Specification SUMMARY

[0008] According to the method shown in the above Patent Literature 1, although the unmanned vehicle can be efficiently guided by the operator of the loading machine instructing the loading position, the start instruction to the unmanned vehicle cannot be efficiently performed. In addition, the switches of the operating lever of the loading machine are assigned functions such as sounding an alarm and opening / closing a wireless intercom, and therefore the space for adding an instruction function to the unmanned vehicle is less. In addition, even if a switch for adding an instruction function to the unmanned vehicle is assumed, there is a possibility that a misoperation is induced particularly for an inexperienced operator, and therefore the work efficiency is conversely reduced. Therefore, there is a problem that it is difficult to improve the efficiency of the loading work performed by the operator of the loading machine with respect to the unmanned vehicle.

[0009] The present application has been made to solve such a technical problem, and has an object to provide a vehicle management system capable of improving the efficiency of loading work performed by an operator of a loading machine on an unmanned vehicle.

[0010] The vehicle management system of the present application is characterized by comprising: a vehicle information management unit that acquires and stores information on the position, orientation, and box size of the unmanned vehicle, and transmits the information to the control office; an autonomous travel control unit that controls the travel of the unmanned vehicle based on an instruction from the control office; a bucket tip position calculation unit that calculates the position of the bucket tip of the loading machine based on information on the position, orientation, and angle of each joint of the loading machine; a machine information management unit that acquires and stores the position of the bucket tip calculated by the bucket tip position calculation unit, and transmits the information on the position of the bucket tip to the control office; and an unmanned vehicle instruction unit that calculates a loading area of the unmanned vehicle based on the information on the position, orientation, and box size of the unmanned vehicle transmitted from the vehicle information management unit, and performs a call instruction or a start instruction on the unmanned vehicle based on the calculated loading area and the position of the bucket tip transmitted from the machine information management unit.

[0011] In the vehicle management system of the present application, the unmanned vehicle instruction unit performs a call instruction or a start instruction on the unmanned vehicle based on the position of the bucket tip calculated based on information on the position, orientation, and angle of each joint of the loading machine, and the loading area of the unmanned vehicle calculated based on the position, orientation, and box size of the unmanned vehicle. Thus, it is possible to reduce the work burden on the operator of the loading machine, and therefore improve the efficiency of loading work performed by the operator of the loading machine on the unmanned vehicle.

[0012] Effects of the Invention

[0013] According to the present application, it is possible to improve the efficiency of loading work performed by an operator of a loading machine on an unmanned vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a diagram showing the overall configuration of the vehicle management system of the first embodiment.

[0015] Figure 2 is a functional block diagram showing the vehicle management system of the first embodiment.

[0016] Figure 3 is a diagram showing the overall configuration of the vehicle management system of the first embodiment.

[0017] Figure 4A FIG. 1 is a diagram showing a table example of vehicle allocation management information.

[0018] Figure 4B FIG. 2 is a diagram showing a table example of regulation control information.

[0019] Figure 5 FIG. 3 is a diagram for explaining generation of an in-site path in a loading site.

[0020] Figure 6 FIG. 4 is a flowchart showing a processing content of a loading machine information management device.

[0021] Figure 7 FIG. 5 is a diagram for explaining a bucket claw tip position calculation in a loading machine.

[0022] Figure 8 FIG. 6 is a flowchart showing a processing content of a regulation control device.

[0023] Figure 9 FIG. 7 is a diagram for explaining a loading area of an unmanned vehicle.

[0024] Figure 10 FIG. 8 is a diagram for explaining a situation of making a call instruction with respect to an unmanned vehicle.

[0025] Figure 11 FIG. 9 is a diagram for explaining a situation of making a start instruction with respect to an unmanned vehicle.

[0026] Figure 12 FIG. 10 is a flowchart showing a regulation control device processing content of a second embodiment.

[0027] Figure 13 FIG. 11 is a diagram for explaining a situation of making a start instruction with respect to an unmanned vehicle.

[0028] Figure 14 FIG. 12 is a flowchart showing a regulation control device processing content of a third embodiment.

[0029] Figure 15 FIG. 13 is a diagram for explaining a situation of making a start instruction with respect to an unmanned vehicle. DETAILED DESCRIPTION

[0030] Hereinafter, an embodiment of a vehicle management system of the present application will be described with reference to the accompanying drawings. In the description of the drawings, the same reference numerals are applied to the components having the same function, and repeated description thereof will be omitted.

[0031] [First Embodiment]

[0032] Figure 1 FIG. 1 is a diagram showing a schematic configuration of a vehicle management system of the first embodiment. As shown in FIG. 1, the vehicle management system of the first embodiment includes a vehicle allocation management device 1, a regulation control device 2, a loading machine information management device 3, a loading machine 4, and a vehicle 5. Figure 1As shown, the vehicle management system 1 of the present embodiment is a system used in a work site of an open-pit mine or the like, and includes one or more loading machines 10 that perform a digging work and a loading work, one or more unmanned vehicles 20 (unmanned vehicle 20A, unmanned vehicle 20B) that transport earth and sand or the like loaded from the loading machines 10, and a control office 30 that performs assignment management and traffic control of the unmanned vehicles 20. The loading machines 10, the unmanned vehicles 20, and the control office 30 are configured to be able to communicate with each other through a wireless communication line 40. Specifically, a plurality of wireless base stations 41 are provided within the open-pit mine or the like, and the loading machines 10, the unmanned vehicles 20, and the control office 30 perform information transmission and reception with each other via the wireless base stations 41.

[0033] In the present embodiment, a so-called travel permission section control method is used as the traffic control method of the control office 30, which exclusively performs travel permission based on the position of each unmanned vehicle 20 for a partial section of the transport path 60 that is divided by nodes on map data that represents the transport path 60. In the travel permission section control method, for example, when travel permission of a front section adjacent to the travel permission section of the own vehicle is requested, the own vehicle is not allowed to travel in the requested front section in a case where the front section is permitted to travel with respect to other vehicles or is set to be entry prohibited. Therefore, the own vehicle stops at the end of the section that is currently permitted, and waits until the front section is permitted to travel.

[0034] Figure 2 is a functional block diagram that represents the vehicle management system of the first embodiment. Figure 2 In the present embodiment, one loading machine 10 and one unmanned vehicle 20 are each represented, but each has the same configuration in a case where two or more are present.

[0035] [About the Loading Machine]

[0036] The loading machine 10 is a machine on which a bucket is installed through a multi-joint configuration. The loading machine 10 of the present embodiment is, for example, a backhoe type excavator such as a hydraulic excavator that has a work device provided so as to be able to rotate in the up-down direction with respect to a machine body, the work device having a boom, a stick, a bucket, and the like. Note that the loading machine 10 is not limited to a hydraulic excavator, and may, for example, be a wheel loader or the like.

[0037] The loading machine 10 has a loading machine information management device 11, a loading machine position sensor 12, a loading machine orientation sensor 13, a work device angle sensor 14, an instruction input device 15, and a loading machine wireless communication device 16.

[0038] The loading machine position sensor 12 is, for example, a GPS (Global Positioning System), which measures the position of the loading machine 10 and outputs the measured position to the loading machine information management device 11. In addition, as a device for measuring the position of the loading machine 10, it is also possible to use, for example, a plurality of navigation satellites 70 (see FIG. Figure 1 ) A device that receives positioning radio waves to measure the position of the loading machine 10.

[0039] The loader orientation sensor 13 measures the orientation of the loader 10 and outputs the measured orientation to the loader information management device 11. The loader orientation sensor 13 may be, for example, a dual-antenna GPS having two antennas that measures orientation based on the relative positions of the antennas, or may be a magnetic orientation sensor.

[0040] The working device angle sensor 14 measures the relative angles of the various joints of the working device, such as the boom, arm, and bucket. Specifically, the working device angle sensor 14 measures the relative angles between the machine body and the boom, the boom and arm, and the arm and bucket, and outputs these measured angles to the loader information management device 11. The working device angle sensor 14 is, for example, a potentiometer mounted on each joint.

[0041] The instruction input device 15 is used for the operator of the loading machine 10 to input instructions to the unmanned vehicle 20, and is connected to the loading machine information management device 11. The instruction input device 15 is a switch or the like arranged on the operating seat 17 so that the operator can easily operate it. Specifically, Figure 3 As shown, a pair of operating levers 171 (operating levers 171A and 171B) are mounted on the operator's seat 17, which can be gripped by the operator's left and right hands when seated. The operator can operate the boom, arm, bucket, and other components of the loader 10 via the operating levers 171. Furthermore, an indicator input device 15 is disposed above the operating levers 171 as a switch that can be constantly and quickly operated, for example, by the right thumb, while the operator is gripping the operating levers 171.

[0042] The instruction input device 15 does not necessarily need to be a switch located above the operating lever 171. It may be a component other than a switch as long as the operator can easily input instructions to the unmanned vehicle 20 while performing normal operations such as loading. Furthermore, its location is not limited to the upper portion of the operating lever 171.

[0043] The loading machine wireless communication device 16 is a wireless device for connection with the wireless communication backhaul 40, for example. The loading machine wireless communication device 16 performs transmission and reception of information between the unmanned vehicle 20 or the control office 30 via the wireless communication backhaul 40.

[0044] The loading machine information management device 11 is configured by a microcomputer composed of a CPU (Central Processing Unit) that performs operations, a ROM (Read Only Memory) that stores programs for operations as a secondary storage device, and a RAM (Random Access Memory) that saves operation histories and temporary control variables as a temporary storage device, for example, and controls the operation of the loading machine 10 by executing the stored programs.

[0045] The loading machine information management device 11 has a claw tip position calculation section 111 and a machine information management section 112. The claw tip position calculation section 111 performs geometric calculation of the claw tip position of the bucket based on the information of the position output from the loading machine position sensor 12, the information of the orientation output from the loading machine orientation sensor 13, and the information of the angle of each joint output from the work implement angle sensor 14. Further, the claw tip position calculation section 111 outputs the calculated claw tip position to the machine information management section 112.

[0046] The machine information management section 112 acquires and stores the information of the claw tip position calculated by the claw tip position calculation section 111, and transmits the information of the claw tip position to the control office 30 via the loading machine wireless communication device 16. In addition, the machine information management section 112 also generates the operation instruction information for the unmanned vehicle 20 (hereinafter referred to as "unmanned vehicle operation instruction information") according to the instruction input in the case where the instruction input device 15 has an instruction input, and transmits the generated unmanned vehicle operation instruction information to the control office 30 together with the information of the claw tip position.

[0047] Further, the machine information management section 112 can acquire and store the information of the angle of each joint in addition to the claw tip position. In this case, the machine information management section 112 transmits the claw tip position and the information of the angle of each joint to the control office 30 via the loading machine wireless communication device 16.

[0048] [About Unmanned Vehicle]

[0049] The unmanned vehicle 20 is, for example, a dump truck that can autonomously travel based on the instruction of the control office 30. The unmanned vehicle 20 has an unmanned vehicle control device 21, a travel drive device 22, an unmanned vehicle position sensor 23, an unmanned vehicle orientation sensor 24, a load sensor 25, an unmanned vehicle storage device 26, and an unmanned vehicle wireless communication device 27.

[0050] The travel drive device 22 drives the unmanned vehicle 20 based on a control signal from the unmanned vehicle control device 21. The travel drive device 22 includes, for example, a steering motor for changing the steering angle of the unmanned vehicle 20, a travel motor for driving the unmanned vehicle 20, and brakes.

[0051] The unmanned vehicle position sensor 23 is, for example, a GPS device, which measures the position of the vehicle and outputs the measured position to the unmanned vehicle control device 21. Alternatively, the unmanned vehicle position sensor 23 may be a combination of a GPS and an inertial measurement unit (IMU), or a device that uses radio waves from a base station located on the ground to determine the vehicle's position.

[0052] The unmanned vehicle orientation sensor 24 is, for example, a GPS device or a sensor using magnetism, and measures the orientation of the unmanned vehicle 20 and outputs the measured orientation to the unmanned vehicle control device 21 .

[0053] The cargo sensor 25 measures the weight of the cargo (i.e., the cargo volume) loaded on the unmanned vehicle 20. This can be a weight sensor located in the seating area of ​​the cargo box, or a device that estimates the weight based on the pressure of suspension hydraulic cylinders interposed between the vehicle body and the front, rear, and left wheels. The cargo sensor 25 outputs the measured cargo volume to the unmanned vehicle control device 21.

[0054] The unmanned vehicle storage device 26 is a non-volatile storage medium capable of reading and writing information, and stores an OS (Operating System), various control programs, application programs, a database, etc. The unmanned vehicle storage device 26 also includes a map information storage unit 261 .

[0055] The unmanned vehicle wireless communication device 27 is, for example, a wireless device connected to the wireless communication loop 40 . The unmanned vehicle wireless communication device 27 transmits and receives information to and from the loading machine 10 or the control station 30 via the wireless communication loop 40 .

[0056] The unmanned vehicle control device 21 is composed of a microcomputer that combines, for example, a CPU (Central Processing Unit) that performs calculations, a ROM (Read Only Memory) that serves as a secondary storage device and stores programs for calculations, and a RAM (Random Access Memory) that serves as a temporary storage device and stores calculation processes and temporary control variables. The operation of the unmanned vehicle 20 is controlled by executing the stored programs.

[0057] The unmanned vehicle control device 21 includes a vehicle information management unit 211 and an autonomous driving control unit 212. The vehicle information management unit 211 obtains and stores position information output from the unmanned vehicle position sensor 23, orientation information output from the unmanned vehicle orientation sensor 24, and cargo volume information output from the cargo sensor 25, and transmits this information to the traffic control station 30 via the unmanned vehicle wireless communication device 27. Furthermore, the vehicle information management unit 211 outputs the position, orientation, and cargo volume information to the autonomous driving control unit 212. Furthermore, upon receiving information regarding the vehicle's driving route and permitted driving zone from the traffic control unit 312 (described later) of the traffic control station 30, the vehicle information management unit 211 outputs this information to the autonomous driving control unit 212.

[0058] Based on the information on the position, orientation, cargo volume, driving route, and permitted driving zone output from the vehicle information management unit 211, the autonomous driving control unit 212 generates acceleration and deceleration control signals and steering control signals to ensure that the unmanned vehicle 20 follows the permitted driving route and does not deviate from the permitted driving zone. The autonomous driving control unit 212 then outputs these generated control signals to the driving drive unit 22.

[0059] [Regarding the Control Board 30]

[0060] The control station 30 includes a control control device 31, a control station storage device 32, and a control station wireless communication device 33. The control station storage device 32 is a non-volatile storage medium capable of reading and writing information, and stores the operating system (OS), various control programs, application programs, databases, and the like. Furthermore, the control station storage device 32 includes a vehicle allocation management information storage unit 321, a control information storage unit 322, and a map information storage unit 323.

[0061] The control station wireless communication device 33 is, for example, a wireless device for connecting to the wireless communication loop 40 and has an antenna 331 (see Figure 1 The control station wireless communication device 33 transmits and receives information with the loading machine 10 or the unmanned vehicle 20 via the wireless communication loop 40 .

[0062] The control control device 31 is composed of a microcomputer that combines, for example, a CPU (Central Processing Unit) that performs calculations, a ROM (Read Only Memory) that serves as a secondary storage device and stores programs for calculations, and a RAM (Random Access Memory) that serves as a temporary storage device and stores calculation processes and temporary control variables. The operation of the control station 30 is controlled by executing the stored programs.

[0063] The control and management device 31 includes a vehicle allocation management unit 311, a control and management unit 312, and an unmanned vehicle instruction unit 313. The vehicle allocation management unit 311 sets the driving route for the unmanned vehicle 20 until it reaches its destination. For example, if the unmanned vehicle 20 is at the loading area, the vehicle allocation management unit 311 sets the driving route until it reaches the unloading area. On the other hand, if the unmanned vehicle 20 is at the unloading area, the vehicle allocation management unit 311 sets the driving route until it reaches the loading area. The driving routes set by the vehicle allocation management unit 311 are stored as vehicle allocation management information, for example, in a table format, in the vehicle allocation management information storage unit 321.

[0064] Figure 4A FIG is a diagram showing an example of a table of vehicle allocation management information. Figure 4A As shown, the vehicle allocation management information records the travel routes set by the vehicle allocation management unit 311 for each vehicle ID that uniquely identifies an unmanned vehicle. The travel routes consist of a site exit route, a transport route, and a site entrance route. The transport route is the route from the loading site exit point node_Lout to the unloading site entrance point node_Din, or from the unloading site exit point node_Dout to the loading site entrance point node_Lin; in other words, it represents the route along the transport road.

[0065] The site entrance side path is the path from the loading site entry point node_Lin to the loading position node_LP or from the unloading site entry point node_Din to the unloading site position node_DP, that is, it represents the path from the work site entrance to the work site. The site exit side path is the path from the loading position node_LP to the loading site exit point node_Lout or from the unloading position node_DP to the unloading site exit point node_Dout, that is, it represents the path from the work site to the work site exit point. Any path is defined as a coordinate point column (node ​​column) for the unmanned vehicle 20 to follow as the target track. In this embodiment, the site entrance side path and the site exit side path are collectively referred to as "site path".

[0066] Furthermore, map information for transport routes within the driving route that can be set as transport routes is stored in the map information storage unit 323 in a format that matches the pre-set transport route configuration. On the other hand, in-site map information that can be set as an in-site route is generated by the control control unit 312 after a loading or unloading location is designated as a work site, and stored in the map information storage unit 323. A single in-site map information may be generated for the same work site, or multiple in-site maps may be generated. When multiple in-site maps are generated, the vehicle allocation management unit 311 can select one of the multiple in-site map information when setting a driving route for the unmanned vehicle 20.

[0067] Further, the vehicle allocation management unit 311, when setting a travel path with respect to the unmanned vehicle 20, sets a carrying path and an in-site path at the same time in a case where there is an already generated in-site path with respect to the work site of the destination. On the other hand, in a case where there is no already generated in-site path with respect to the work site of the destination, the vehicle allocation management unit 311 first sets a carrying path up to an entry point of the work site that is the destination, and sets an in-site path at a point in time when a work site in the site is designated and in-site map information is generated.

[0068] The regulation control unit 312 sets a part of the travel path of the unmanned vehicle 20 as a travel permission section that permits travel of only the unmanned vehicle 20 based on information of traffic regulation (hereinafter referred to as "regulation information") stored in the regulation information storage unit 322. Figure 4B is a diagram showing an example of a table of the regulation information stored in the regulation information storage unit. In the regulation information, a node ID and a "travel permission vehicle" are associated, and the "travel permission vehicle" indicates an unmanned vehicle that is permitted to travel with respect to a section (a section up to a next node on a path) indicated by each node ID. The regulation control unit 312 sets a front section that can be permitted to travel as a travel permission section for the unmanned vehicle 20 according to the position of the unmanned vehicle 20. The unmanned vehicle 20 travels according to the node of the section set.

[0069] As described above, in the present embodiment, the travel permission section control method is employed. Therefore, in a case where a front section of a travel permission section that has been set for a certain unmanned vehicle 20A is set as a travel permission section for another unmanned vehicle 20B, the regulation control unit 312 does not permit the unmanned vehicle 20A to travel in the front section with respect to the unmanned vehicle 20A. In this case, the unmanned vehicle 20A stops at a node that does not exceed the end node of the currently permitted travel permission section, and waits until the front section is permitted to travel.

[0070] Further, the regulation control unit 312 generates in-site map information based on a work site designated in a work site, and stores the generated in-site map information in the map information storage unit 323. For example Figure 5 As shown in the drawing, in a case where a loading position node LP in the loading site 50 is designated, the regulation control unit 312 generates an in-site path in the loading site 50. Figure 5 In the drawing, the sections 60 and 63 indicate a carrying path, the sections 61a and 61b indicate a site entry side path, and the section 62 indicates a site exit side path. The carrying path is set based on carrying site map information set to be connected to the loading site 50.

[0071] Although described in detail later, the loading position node_LP is designated by the unmanned vehicle designation unit 313 based on the claw tip position of the loading machine 10. After the loading position node_LP is designated, the control control unit 312 generates in-site map information for the unmanned vehicle 20 to travel based on the loading site entry point node_Lin, the loading site exit point node_Lout, and the loading position node_LP.

[0072] The site map information generated by the control control unit 312 may include, in particular, a turning point node_LR for switching the unmanned vehicle 20 between forward and reverse directions on the site entrance path. The method for generating the site map information is described, for example, in Japanese Patent Application Laid-Open No. 2019-200462, as follows: within the permitted range of path generation within the work site, an appropriate path is searched for based on criteria such as the shortest path length from among candidates consisting of combinations of straight lines and circular arcs, which are path components.

[0073] Furthermore, at the dumping site, the control control unit 312 also generates site map information based on the designated dumping location. In this case, the dumping location can be designated by the operator of a bulldozer or the like operating at the dumping site, or by an operator operating remotely from a control station.

[0074] Furthermore, when generating in-field map information, the control unit 312 notifies the vehicle allocation management unit 311 of the newly generated in-field map information. For example, when generating an in-field route based on the designated loading location as described above, the control unit 312 notifies the vehicle allocation management unit 311 of the newly generated in-field route. Furthermore, if there is an unmanned vehicle 20 that has a transport route to the loading area set as its travel route but does not have a site entrance route set, the vehicle allocation management unit 311 sets the site entrance route for that unmanned vehicle 20 based on the generated in-field map information.

[0075] The unmanned vehicle instruction unit 313 calculates the loading area of ​​the unmanned vehicle 20 based on the position, orientation, and cargo box dimensions of the unmanned vehicle 20 transmitted from the vehicle information management unit 211 of the unmanned vehicle 20. Furthermore, the unmanned vehicle instruction unit 313 issues a call and start instruction to the unmanned vehicle 20 based on the calculated loading area and the claw tip position transmitted from the machine information management unit 112 of the loading machine 10.

[0076] In the present embodiment, a series of processes in which a loading position is specified with respect to the regulation control section 312, in-plant map information is generated based on the loading position, and the generated map information is set as a travel path of the unmanned vehicle 20 up to the loading position are referred to as "call instruction" for the unmanned vehicle 20. A process in which the unmanned vehicle 20 waits at the loading position until the loading work is completed, and in this state, a subsequent travel path is newly set from the in-plant exit side path is referred to as "start instruction" for the unmanned vehicle 20.

[0077] Specifically, in a case where the regulation office 30 receives the unmanned vehicle action instruction information from the machine information management section 112 of the loading machine 10, the unmanned vehicle instruction section 313 first calculates a loading area of the unmanned vehicle 20, selects (in other words, determines) the call instruction or the start instruction for the unmanned vehicle 20 based on the calculated loading area and the claw tip position calculated by the claw tip position calculation section 111, and executes the selected instruction via the regulation control section 312.

[0078] Further, in a case where the call instruction is performed, the unmanned vehicle instruction section 313 specifies a loading position with respect to the regulation control section 312, and requests the call instruction to the unmanned vehicle 20. The regulation control section 312 generates in-plant map information based on the specified loading position, and cooperates with the vehicle management section 311 to instruct travel of the in-plant entry side path up to the loading position for the unmanned vehicle 20. On the other hand, in a case where the start instruction is performed, the unmanned vehicle instruction section 313 requests the start instruction to the unmanned vehicle 20 with respect to the regulation control section 312. The regulation control section 312 cooperates with the vehicle management section 311 to instruct travel of the in-plant exit side path up to the loading site exit point, and the carrying path for the unmanned vehicle 20.

[0079] Next, the processing content of the loading machine information management device 11 of the loading machine 10 will be described using Figure 6 and Figure 7 . Figure 6 is a flowchart showing the processing content of the loading machine information management device, Figure 7 is a diagram for explaining the claw tip position calculation in the loading machine.

[0080] As shown in Figure 6 , after the operator of the loading machine 10 operates the instruction input device 15, the machine information management section 112 receives an instruction input from the instruction input device 15 (step S601). Then, the machine information management section 112 acquires the claw tip position at the point in time from the claw tip position calculation section 111 (step S602).

[0081] As shown in Figure 7As shown, the claw tip position 103 of the bucket is calculated by the claw tip position calculating section 111 based on the position 101, orientation 102 of the loading machine 10, and information of the angles al, a2, a3 of the respective joints. The position 101 of the loading machine 10 is measured by the loading machine position sensor 12, and the orientation 102 of the loading machine 10 is measured by the loading machine orientation sensor 13. In addition, the working device 18 of the loading machine 10 has a boom 18a, a stick 18b, and a bucket 18c. The angle al is the relative angle of the machine main body and the boom 18a, the angle a2 is the relative angle of the boom 18a and the stick 18b, and the angle a3 is the relative angle of the stick 18b and the bucket 18c. These angles are measured by the working device angle sensor 14, respectively. Here, al, a2, a3 are collectively referred to as "working device angles".

[0082] The claw tip position calculating section 111 performs geometric calculation of the claw tip position 103 using the position 101, orientation 102 of the loading machine 10, and the working device angles al, a2, a3, and the dimensions of the working device, and outputs the calculated claw tip position as the central position of the blade tip when the bucket 18c digs earth and sand. Then, the claw tip position calculating section 111 outputs the calculated claw tip position to the machine information management section 112. Thus, the machine information management section 112 can acquire the claw tip position.

[0083] Then, the machine information management section 112 transmits the acquired claw tip position and the unmanned vehicle action instruction information to the control office 30 via the loading machine wireless communication device 16 (step S603).

[0084] Next, the processing content of the control control device 31 of the control office 30 will be described using Figures 8 to 11 Figure 8 is a flowchart showing the processing content of the control control device, Figure 9 is a diagram for explaining the loading area of the unmanned vehicle. Figure 10 is a diagram for explaining the situation in which the call instruction is made with respect to the unmanned vehicle, Figure 11 is a diagram for explaining the situation in which the start instruction is made with respect to the unmanned vehicle.

[0085] As shown in Figure 8 ​As shown, first, the unmanned vehicle designation unit 313 receives information transmitted from the machine information management unit 112 via the control station wireless communication device 33 (step S801). The unmanned vehicle designation unit 313 then extracts the unmanned vehicles 20 located around the loading machine 10 based on the positions of the loading machine 10 and the unmanned vehicles 20 (step S802). The extraction method can include extracting unmanned vehicles 20 located within a predetermined range from the position of the loading machine 10, or extracting unmanned vehicles 20 with a set travel route centered on the loading area where the loading machine 10 is located. The extracted unmanned vehicles may be multiple or a single one.

[0086] Then, the unmanned vehicle instruction unit 313 calculates the loading area of ​​each extracted unmanned vehicle 20 (step S803). Figure 9 The calculation of the loading area of ​​the unmanned vehicle 20 will be described in detail. The unmanned vehicle instruction unit 313 repeatedly receives the reference position 201, orientation 202, and container size of the unmanned vehicle 20 from the vehicle information management unit 211 of the unmanned vehicle 20 at a predetermined cycle (eg, 0.5 seconds).

[0087] The reference position 201 of the unmanned vehicle 20 is, for example, the position of the center of the rear wheel axle of the unmanned vehicle 20 and is measured by the unmanned vehicle position sensor 23. The orientation 202 of the unmanned vehicle 20 is, for example, the orientation in front of the unmanned vehicle 20 and is measured by the unmanned vehicle orientation sensor 24. Figure 9 As shown by the dashed line, the loading area 203 is the area that is the projection of the entire space surrounding the cargo box 28 of the unmanned vehicle 20 onto the ground. However, the loading area 203 does not include the cabin 29 connected to the front end of the cargo box 28. In addition to the reference position 201 and orientation 202, the loading area 203 also includes the cargo box width parameter 204a, cargo box front length parameter 204b, and cargo box rear length parameter 204c stored in the vehicle information management unit 211 as the cargo box dimensions of the unmanned vehicle 20. The unmanned vehicle instruction unit 313 calculates these parameters based on the reference position 201. The cargo box front length parameter 204b and cargo box rear length parameter 204c are parameters based on the reference position 201. The cargo box width parameter 204a is the length from the reference position 201 to the most protruding part in the width direction of the cargo box. Furthermore, the container front length parameter 204b is the length from the reference position 201 to the container front end, and the container rear length parameter 204c is the length from the reference position 201 to the container rear end.

[0088] Then, the unmanned vehicle instructing section 313 judges whether the claw tip position exists within the loading area based on the calculated loading areas 203 of the plurality of unmanned vehicles 20 and the claw tip position 103 of the loading machine 10 transmitted from the machine information management section 112 (step S804).

[0089] In a case where it is judged that the claw tip position does not exist within the loading area of any of the unmanned vehicles 20, the unmanned vehicle instructing section 313 executes a call instruction to the unmanned vehicle 20 via the regulation control section 312, taking the claw tip position as the loading position (step S805). That is, as described above, the unmanned vehicle instructing section 313 designates the claw tip position of the loading machine 10 as the loading position. The regulation control section 312 generates in-plant map information based on the designated claw tip position, and sets a travel path to the loading position with respect to the unmanned vehicle 20 in cooperation with the vehicle management section 311.

[0090] Here, the use of Figure 10 The situation of the call instruction to the unmanned vehicle will be described. Figure 10 indicates a state where no in-plant entry-side path in the loading field is set, and the unmanned vehicle 20 is waiting at the end of the travel path 60.

[0091] The regulation control section 312 generates map information of the in-plant entry-side section 61 and the in-plant exit-side section 62 as in-plant map information based on the loading position designated by the unmanned vehicle instructing section 313. Further, the regulation control section 312 sets the in-plant entry-side path of the unmanned vehicle 20 to the generated in-plant entry-side section 61 in the in-plant map information in cooperation with the vehicle management section 311. Then, the regulation control section 312 transmits the call instruction and the set in-plant entry-side path to the unmanned vehicle 20 via the regulation office wireless communication device 33.

[0092] In the unmanned vehicle 20, the unmanned vehicle control device 21 receives the set in-plant entry-side path and the call instruction via the unmanned vehicle wireless communication device 27, and performs travel of the unmanned vehicle 20 via the travel drive device 22. As a result, the unmanned vehicle 20 travels along the in-plant entry-side section 61 (that is, the set in-plant entry-side path), and stops at the loading position set based on the claw tip position of the loading machine 10. By so doing, the loading machine 10 can call the unmanned vehicle 20 to a position where the loading work can be performed based on the claw tip position designated by the operator of the loading machine 10.

[0093] On the other hand, in the case where it is determined in step S804 that the claw tip position exists within any one of the loading areas, the unmanned vehicle instruction unit 313 further determines whether the subject unmanned vehicle 20 is in a loading completion state in accordance with the load amount of the subject unmanned vehicle 20 (step S806). At this time, the unmanned vehicle instruction unit 313, for example, has a threshold value for the load amount set in advance, and determines that the subject unmanned vehicle 20 is in the loading completion state in the case where the load amount exceeds the threshold value.

[0094] Also, in the case where it is determined that the subject unmanned vehicle 20 is not in the loading completion state, the series of processes ends. On the other hand, in the case where it is determined that the subject unmanned vehicle 20 is in the loading completion state, the unmanned vehicle instruction unit 313 instructs the start of the subject unmanned vehicle 20 via the regulation control unit 312 (step S807). At this time, the regulation control unit 312 cooperates with the vehicle allocation management unit 311 to set at least the site exit side path corresponding to the loading position at which the unmanned vehicle 20 stopped and the conveyance path until the next destination as a new travel path.

[0095] Here, the case where the start of the unmanned vehicle is instructed will be described in detail using Figure 11 Figure 11 In the case where the loading machine 10 is in a state after the completion of the loading work on the unmanned vehicle 20 and the unmanned vehicle 20 is in the loading completion state, the following is assumed.

[0096] In the case where the operator operates the instruction input device 15 at the same time as the completion of the loading work, the claw tip position 103 becomes a state where it exists within the loading area of the unmanned vehicle 20. Therefore, the unmanned vehicle instruction unit 313 requests the start instruction of the subject unmanned vehicle 20 to the regulation control unit 312. The regulation control unit 312 cooperates with the vehicle allocation management unit 311 to set the section 62, which is a part of the generated in-site map information, as the site exit side path of the travel path of the unmanned vehicle 20, and to set the section 63 as the subsequent conveyance path. Then, the regulation control unit 312 transmits the call instruction, the set site exit side path, and the conveyance path to the unmanned vehicle 20 via the regulation office wireless communication device 33.

[0097] In the unmanned vehicle 20, the unmanned vehicle control device 21 receives the call instruction, the set site exit side path, and the conveyance path via the unmanned vehicle wireless communication device 27, and performs the travel of the unmanned vehicle 20 via the travel drive device 22. As a result, the unmanned vehicle 20 starts traveling following the section 62, that is, the set site exit side path. By doing so, the loading machine 10 can cause the unmanned vehicle 20 to start based on the claw tip position of the loading machine 10, taking into account the case where the loading machine 10 is in a state after the completion of the loading work.

[0098] ​In the vehicle management system 1 of this embodiment, the unmanned vehicle instructing section 313 of the control office 30 performs a call instruction or a start instruction for the unmanned vehicle 20 based on the claw tip position calculated from the information on the position, orientation, and work implement angle of the loading machine 10 and the loading area of the unmanned vehicle 20 calculated from the position, orientation, and box size of the unmanned vehicle 20. Thus, the work burden of the operator of the loading machine 10 can be reduced, and thus the efficiency of the loading work of the operator of the loading machine 10 for the unmanned vehicle 20 can be improved.

[0099] When the operator of the loading machine 10 wants to call the unmanned vehicle 20 to a specified position, in a state where the claw tip position of the bucket does not exist within the loading area of the unmanned vehicle 20, the claw tip position at that point in time is specified as the loading position by operation of the operator based on the operation of the instruction input device 15, and a call instruction for the unmanned vehicle 20 is performed. Thus, the unmanned vehicle 20 can be caused to travel to the specified loading position and stop, and thus the loading work for the unmanned vehicle 20 can be efficiently performed. In addition, the work position of the loading machine 10 always changes according to the progress of the excavation work and the loading work, but by only the operation of the operator on the instruction input device 15, the claw tip position of the bucket can be specified as the loading position, and the unmanned vehicle 20 can be caused to travel to the specified loading position and stop, the work burden of the operator can be reduced, and the efficiency of the loading work for the unmanned vehicle 20 can be further improved.

[0100] In addition, at the point in time when the loading work is completed, in a state where the claw tip position of the bucket exists within the loading area of the unmanned vehicle 20, a start instruction for the unmanned vehicle 20 is performed by operation of the operator based on the operation of the instruction input device 15. Thus, the start of the unmanned vehicle 20 after the completion of the loading work can be efficiently instructed. Therefore, even by the same operation (operation on the instruction input device 15) from the operator of the loading machine 10, the unmanned vehicle instructing section 313 can perform a call instruction or a start instruction for the unmanned vehicle 20 based on the claw tip position and the loading area of the unmanned vehicle 20, and the efficiency of the loading work can be improved.

[0101] Furthermore, by the same operation from the operator of the loading machine 10, the call instruction or the start instruction described above is performed, and the operation based on the input of the operator is simple, and thus it is possible to prevent the induction of a misoperation to an unskilled operator as in the past. As a result, the loading work can be more smoothly performed.

[0102] [2nd Embodiment]

[0103] Next, with reference to Figure 12 and Figure 13A second embodiment of the vehicle management system will be described. The vehicle management system of the second embodiment differs from the first embodiment described above in that the start instruction for the unmanned vehicle 20 is executed based on the claw tip position and the loading area of the unmanned vehicle 20 even when there is no input to the instruction input device 15 by the operator. The other configurations and processes are the same as those of the first embodiment, and thus repeated description is omitted. Hereinafter, only the differences will be described.

[0104] In the present embodiment, even when there is no input to the instruction input device 15 by the operator (in other words, no operation to the instruction input device 15), the machine information management section 112 of the loading machine 10 repeatedly transmits the information of the claw tip position to the control office 30 at a prescribed period (for example, 0.5 seconds).

[0105] Figure 12 is a flowchart showing the processing content of the control device in the second embodiment. As shown in Figure 12 , first, the unmanned vehicle instruction section 313 receives the information of the claw tip position of the loading machine 10 transmitted from the machine information management section 112 (step S1201). Then, the unmanned vehicle instruction section 313 extracts the unmanned vehicle 20 present around the loading machine 10 (step S1202) and calculates the loading area of the extracted unmanned vehicle (step S1203) as in steps S802 to S804 described in the first embodiment, and judges whether the claw tip position is present in the loading area (step S1204). Also, in the case where it is judged that the claw tip position is not present in the loading area, the process returns to step S1201.

[0106] On the other hand, in the case where it is judged that the claw tip position is present in the loading area, the unmanned vehicle instruction section 313 further judges whether the loading operation by the loading machine 10 has been performed for more than a necessary number of times (step S1205). Also, in the case where it is judged that the loading operation has been performed for more than the necessary number of times, the unmanned vehicle instruction section 313 transmits the start instruction to the target unmanned vehicle 20 via the control section 312 (step S1206). On the other hand, in the case where it is judged that the loading operation has not been performed for more than the necessary number of times, the process returns to step S1201.

[0107] The judgment of whether the loading operation has been performed for more than the necessary number of times is performed, for example, based on the number of times the claw tip position moves in the direction away from the loading machine 10 within a prescribed height range set in accordance with the type of the unmanned vehicle 20. Hereinafter, the details will be described. Figure 13

[0108] In Figure 13 ​In the illustrated state, the height of the claw tip position 103 is within a prescribed height range 205 based on the height of the cargo box of the unmanned vehicle 20, and the claw tip position 103 is present within the loading area of the unmanned vehicle 20. The prescribed height range is set based on the height information included in the position information of the unmanned vehicle 20, in accordance with the type of the unmanned vehicle 20. Further, the prescribed height range can also be set with a bias in consideration of the load of the cargo box.

[0109] The unmanned vehicle indication section 313 first calculates the difference between the point closest to the loading machine 10 in the horizontal direction, i.e., the claw tip position movement start point 104, and the point farthest from the loading machine 10, i.e., the claw tip position movement end point 105, based on the history of the claw tip position acquired and accumulated thus far, and takes this as the claw tip position movement distance 106. Then, the unmanned vehicle indication section 313 compares the calculated claw tip position movement distance 106 with a distance threshold value (e.g., 3 m or the like) set in advance, and in the case where the distance threshold value is exceeded, the claw tip position moves in the direction away from the loading machine 10, so it is judged that the loading operation is performed.

[0110] Further, in the case where the number of times of such movement in the direction away from the loading machine 10 reaches a prescribed number of times (e.g., four times or more), the unmanned vehicle indication section 313 judges that the loading machine 10 has performed the loading operation on the unmanned vehicle 20 for a necessary number of times or more, and has completed the loading work.

[0111] Here, the necessary number of times is set by the unmanned vehicle indication section 313 in accordance with the types of the loading machine 10 and the unmanned vehicle 20. For example, the unmanned vehicle indication section 313 stores in advance a table in which a vehicle ID indicating the type of the loading machine 10 and the capacity of the bucket, and a vehicle ID indicating the type of the unmanned vehicle 20 and the capacity of the cargo box are respectively associated, acquires the capacities of the bucket and the cargo box based on the IDs of the loading machine 10 and the unmanned vehicle 20 as the subjects, and sets the necessary number of times based on these acquired capacities. By doing so, it is possible to more correctly set the necessary number of times.

[0112] Further, the specific content of the start instruction of step S1206 is the same as in the first embodiment.

[0113] According to the vehicle management system of the present embodiment, in addition to obtaining the same effects as the first embodiment, the following effects can also be obtained. That is, even without the input to the instruction input device 15 made by the operator of the loading machine 10, the unmanned vehicle instruction unit 313 can perform the start instruction to the unmanned vehicle 20 based on the claw tip position of the loading machine 10 and the loading area of the unmanned vehicle 20. Thus, even if the operator of the loading machine 10 does not specifically perform the operation to the unmanned vehicle 20, the start instruction to the unmanned vehicle 20 can be automatically performed by just performing the usual loading work. By doing so, the work burden of the operator can be further reduced, and thus the efficiency of the loading work to the unmanned vehicle 20 can be further improved.

[0114] [Third Embodiment]

[0115] Next, the third embodiment of the vehicle management system will be described with reference to Figure 14 and Figure 15 . The vehicle management system of the third embodiment differs from the first embodiment described above in that the start instruction can be reliably performed even in a case where the operator forgets the input to the instruction input device 15 for performing the start instruction after the completion of the loading work. The other configurations and processes are the same as those of the first embodiment, and thus repeated description will be omitted. Hereinafter, only the differences will be described.

[0116] In the present embodiment, the machine information management unit 112 of the loading machine 10 acquires and stores information of the work device angle in addition to the claw tip position, and transmits the information of the claw tip position and the work device angle to the control office 30 via the loading machine wireless communication device 16.

[0117] Figure 14 is a flowchart showing the processing content of the control device in the third embodiment. As shown in Figure 14 , first, the unmanned vehicle instruction unit 313 receives the information of the claw tip position and the work device angle transmitted from the machine information management unit 112 (step S1401).

[0118] Then, the unmanned vehicle instruction unit 313 determines whether the loading machine 10 is in a dumping posture (for example, a posture in which the bucket is opened) based on the received work device angle (step S1402). Here, in a case where the loading machine 10 is a backhoe shovel, the unmanned vehicle instruction unit 313 determines that it is in the dumping posture when the relative angle a3 of the bucket to the arm is equal to or greater than a predetermined angle threshold. Further, in a case where the loading machine 10 is a front shovel, since the opening portion is provided at the lower portion of the bucket and the dumping is performed by opening the opening portion, the unmanned vehicle instruction unit 313 determines that it is in the dumping posture when the angle of the opening portion is equal to or greater than a predetermined threshold.

[0119] In step S1402, in a case where it is determined that the loading machine 10 is in the unloading posture, the unmanned vehicle instruction section 313 extracts the unmanned vehicle 20 in the loading completion state that is closest to the claw tip position of the loading machine 10 by the same method as that of step S802 described in the first embodiment (step S1403).

[0120] Here, the distance between the claw tip position 103 and the unmanned vehicle 20 is calculated using Figure 15 The processing of steps S1402 and S1403 will be further described. Figure 15 The upper part of FIG. 14 is a view for explaining the state of the loading machine after the loading operation is completed with respect to the unmanned vehicle. Figure 15 The upper part of FIG. 14 indicates the following state: the loading machine 10 has completed the loading operation with respect to the unmanned vehicle 20, the operator has not operated the instruction input device 15, that is, the start instruction with respect to the unmanned vehicle 20 has not been executed, and the claw tip position 103 is moved to the outside of the loading area 203 of the unmanned vehicle 20.

[0121] Figure 15 The lower part of FIG. 14 is a view for explaining the state of the loading machine with respect to which the start instruction is executed with respect to the unmanned vehicle. As Figure 15 As indicated in the lower part of FIG. 14, the loading machine 10 is in a state in which the relative angle a3 between the bucket and the boom is equal to or more than the angle threshold value (for example, 25 degrees or more of 30 degrees of full opening). At this time, the unmanned vehicle instruction section 313 determines that the loading machine 10 is in the unloading posture (step S1402), and extracts the unmanned vehicle 20 in the loading completion state that is closest to the claw tip position 103 (step S1403). Then, the unmanned vehicle instruction section 313 executes the start instruction with respect to the extracted vehicle (step S1409).

[0122] On the other hand, in a case where it is determined in step S1402 that the loading machine 10 is not in the unloading posture, the unmanned vehicle instruction section 313 extracts the unmanned vehicle present around the loading machine 10 (step S1404) in the same manner as that of step S802 described in the first embodiment. Steps S1405 to S1409 subsequent to step S1404 are the same as steps S803 to S807 described in the first embodiment, respectively, and the same processing is performed.

[0123] According to the vehicle management system of the present embodiment, in addition to obtaining the same effects as the first embodiment, the following effects can also be obtained. That is, in the case where the operator forgets the input to the instruction input device 15 for performing the start instruction after the loading work is completed, the unmanned vehicle instruction unit 313 can also perform the start instruction to the unmanned vehicle 20 when it is determined based on the relative angle a3 of the bucket and the arm that the loading machine 10 is in the unloading posture. Therefore, the operator can reliably perform the start instruction to the unmanned vehicle 20 by taking the unloading posture at that time, in other words, by performing only the minimum operation such as opening the bucket, even if the operator does not perform the operation of returning the claw tip position to the loading area of the unmanned vehicle 20.

[0124] The above describes the embodiments of the present application in detail, but the present application is not limited to the above-described embodiments, and various design changes can be made within the scope of the present application recited in the technical solution without departing from the spirit of the present application. For example, the vehicle information management unit and the autonomous travel control unit do not necessarily have to be provided in the unmanned vehicle, and for example, can be provided in an external server device or the like configured to be able to communicate with the unmanned vehicle and the control office, respectively. In addition, the claw tip position calculation unit and the machine information management unit do not necessarily have to be provided in the loading machine, and for example, can be provided in an external server device or the like configured to be able to communicate with the loading machine and the control office, respectively.

[0125] Explanation of Reference Numerals

[0126] 1 Vehicle management system

[0127] 10 Loading machine

[0128] 11 Loading machine information management device

[0129] 12 Loading machine position sensor

[0130] 13 Loading machine orientation sensor

[0131] 14 Work device angle sensor

[0132] 15 Instruction input device

[0133] 16 Loading machine wireless communication device

[0134] 20 Unmanned vehicle

[0135] 21 Unmanned vehicle control device

[0136] 22 Travel drive device

[0137] 23 Unmanned vehicle position sensor

[0138] 24 Unmanned vehicle orientation sensor

[0139] 25 Load sensor

[0140] 26 unmanned vehicle storage device

[0141] 27 unmanned vehicle wireless communication device

[0142] 28 cargo box

[0143] 29 cabin

[0144] 30 control office

[0145] 31 control device

[0146] 32 control office storage device

[0147] 33 control office wireless communication device

[0148] 40 wireless communication loop

[0149] 111 claw tip position calculation section

[0150] 112 mechanical information management section

[0151] 211 vehicle information management section

[0152] 212 autonomous travel control section

[0153] 261 map information storage section

[0154] 311 vehicle allocation management section

[0155] 312 control section

[0156] 313 unmanned vehicle instruction section

[0157] 321 vehicle allocation management information storage section

[0158] 322 control information storage section

[0159] 323 map information storage section

Claims

1. A vehicle management system comprising an unmanned vehicle, a loading machine, and a control station, wherein the unmanned vehicle is capable of autonomous driving, the loading machine is equipped with a bucket via a multi-jointed structure and performs loading operations relative to the unmanned vehicle, and the control station manages the allocation of the unmanned vehicle and controls traffic, wherein the vehicle management system is characterized by: The unmanned vehicle has: a vehicle information management unit that obtains and stores information on the location, orientation, and cargo box dimensions of the unmanned vehicle and transmits the information to the control bureau; and An autonomous driving control unit controls the driving of the unmanned vehicle based on instructions from the control bureau, The loading machine has: a claw tip position calculation unit that calculates the claw tip position of the bucket based on information on the position, orientation, and angles of the respective joints of the loading machine; and A machine information management unit acquires and stores the claw tip position calculated by the claw tip position calculation unit and transmits the claw tip position information to the control station. The control station includes an unmanned vehicle instruction unit. The unmanned vehicle instruction unit is configured as follows: extracting the unmanned vehicles existing around the loading machine based on the position of the loading machine sent from the machine information management unit and the position of the unmanned vehicles sent from the vehicle information management unit, Based on the extracted information of the position, orientation and cargo box size of the unmanned vehicle, a loading area is calculated as the area for loading cargo in the unmanned vehicle, which is obtained by projecting the cargo box of the unmanned vehicle onto the ground. determining whether the claw tip position sent from the machine information management unit is within the calculated loading area, If it is determined that the claw tip position is not within the loading area, the claw tip position is used as the loading position for the loading machine to load the unmanned vehicle, and a call instruction is issued to the unmanned vehicle to the loading position. If it is determined that the claw tip position is within the loading area, it is determined whether the unmanned vehicle is in a loading completed state. If it is determined that the unmanned vehicle is in a loading completed state, a start instruction is issued to the unmanned vehicle.

2. The vehicle management system according to claim 1, characterized in that: The unmanned vehicle instruction unit determines that the unmanned vehicle is in the loading completion state based on the cargo volume of the unmanned vehicle.

3. The vehicle management system according to claim 1, characterized in that: The loading machine further includes an instruction input device for an operator to input instructions to the unmanned vehicle. When there is an instruction input in the instruction input device, the mechanical information management unit further generates action instruction information for the unmanned vehicle based on the instruction input, and transmits the generated action instruction information together with the information on the claw tip position to the control station.

4. The vehicle management system according to claim 1, characterized in that: The unmanned vehicle instruction unit determines that the unmanned vehicle is in the loading completion state when it determines that the loading operation of the loader has been performed a required number of times or more based on the number of times the claw tip position has moved away from the loader.

5. The vehicle management system according to claim 4, characterized in that: The unmanned vehicle instruction unit sets the required number of loading times based on the capacity of the bucket of the loading machine and the capacity of a cargo box of the unmanned vehicle.

6. The vehicle management system according to claim 1, characterized in that: The mechanical information management unit also obtains and stores the angle information of each joint, and sends the angle information of each joint to the control bureau. When the unmanned vehicle instruction unit determines that the loading machine is in the unloading posture based on the information on the angles of the joints, the unmanned vehicle instruction unit issues a start instruction to the unmanned vehicle in the loading completed state closest to the claw tip position.

Images