Handling vehicle and handling system

Abstract

Provided is a transport vehicle equipped with a vehicle body, a distance meter that measures a distance to an obstacle, a vehicle-mounted controller that controls the vehicle body, and a communication device that communicates with a regulation controller that regulates the vehicle body, in the transport vehicle, the vehicle-mounted controller performs a first determination of whether or not a determination of contamination of an object surface of the distance meter is a determined contaminated state, in the case where the determined contaminated state is determined by the first determination, an instruction is issued to the vehicle body to stop the vehicle body at a current position, after a set time elapses from when the first determination is performed, a second determination of whether or not the determined contaminated state is performed, in the case where the determined contaminated state is determined by the second determination, an alarm is transmitted to the regulation controller via the communication device, in the case where the determined contaminated state is removed by the second determination, an instruction is issued to the vehicle body to restart travel of the vehicle body.

Description

Technical Field

[0001] This invention relates to a transport vehicle and transport system that can autonomously perform actions such as driving and unloading in mines and the like. Background Technology

[0002] There are cases where dump trucks and other transport vehicles equipped with distance meters that measure the distance to an obstacle, such as LiDAR (Light Detection and Ranging), are equipped with systems that detect dirt on the surface of objects using the distance meters (Patent Documents 1, 2, etc.).

[0003] In recent years, unmanned transport vehicles have become increasingly common in mines and other facilities. In such unmanned transport vehicles, if the distance measuring device's contact surface is found to be dirty, the distance measurement to the obstacle will be inaccurate. This may trigger a stop and an alarm to be sent to the control center requesting maintenance. When the distance measuring device's contact surface is dirty, manual cleaning is required to restore normal distance measurement functionality. Upon receiving an alarm, an operator travels to the stopped transport vehicle in a vehicle and visually assesses the dirt level to determine if cleaning is necessary. If cleaning is required, the operator boards the transport vehicle and manually drives it away from the convoy. After cleaning the distance measuring device in the designated maintenance area, the transport vehicle returns to the convoy and resumes autonomous operation.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-3541

[0007] Patent Document 2: Japanese Patent No. 6684244 Summary of the Invention

[0008] However, in systems that detect dirt on the target surface of a distance measuring instrument, there are instances where the instrument misinterprets floating dust as dirt and sends an alarm to the control center. Such erroneous detections lead to alarms that force operators to respond unnecessarily and prolong the downtime of transport vehicles, thus reducing their operational efficiency. This is especially problematic in mines where multiple unmanned transport vehicles often operate autonomously in convoys; if one vehicle stops, the others will also stop, resulting in a decrease in overall productivity at the work site.

[0009] The purpose of this invention is to provide a transport vehicle and transport system that can suppress the decrease in operating efficiency caused by erroneous detection of dirt on the distance measuring instrument.

[0010] To achieve the above objectives, the present invention provides a transport vehicle comprising a vehicle body, a distance meter measuring the distance to an obstacle, a position sensor acquiring position data of the vehicle body, an on-board controller controlling the vehicle body based on the output of the position sensor, and a communication device communicating with the control controller controlling the vehicle body. In the transport vehicle, the on-board controller performs a first judgment based on the output of the distance meter to determine whether the distance meter infers the state of dirt on the object surface. If the first judgment determines that the state of dirt is indeed dirt, the controller issues a command to the vehicle body to stop the vehicle body at its current position. After a set time has elapsed since the first judgment, the controller performs a second judgment based on the output of the distance meter to determine whether the state of dirt is indeed dirt. If the second judgment determines that the state of dirt is indeed dirt, the controller sends an alarm to the control controller via the communication device. If the second judgment determines that the state of dirt is resolved, the controller issues a command to the vehicle body to restart the vehicle body's movement.

[0011] Invention Effects

[0012] According to the present invention, it is possible to suppress the decrease in the operating rate of transport vehicles caused by erroneous detection of dirt in the distance measuring instrument. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the transport system according to the first embodiment of the present invention.

[0014] Figure 2 This is a functional block diagram of the transport system according to the first embodiment of the present invention.

[0015] Figure 3 This is a perspective view schematically showing the appearance of a dump truck belonging to the handling system of the first embodiment of the present invention.

[0016] Figure 4 This is a diagram of an example data table representing regional data.

[0017] Figure 5 This is a diagram showing an example of a data table representing vehicle dispatch management data.

[0018] Figure 6 This is a diagram showing an example of a data table representing traffic control data.

[0019] Figure 7 This is a flowchart illustrating the processing sequence of the distance meter's monitoring function.

[0020] Figure 8 This is a flowchart showing the processing sequence of the alarm function.

[0021] Figure 9 This is a flowchart illustrating the processing sequence of the time calculation function in the first embodiment of the present invention.

[0022] Figure 10 This is a diagram illustrating an example of a data table for setting time in the first embodiment of the present invention.

[0023] Figure 11 This is a flowchart illustrating the processing sequence of the vehicle body control functions.

[0024] Figure 12 This is an example of an alarm screen displayed on a monitor via a control controller.

[0025] Figure 13 This is a flowchart illustrating the processing sequence of the control controller when an alarm is notified from the vehicle controller.

[0026] Figure 14 This diagram illustrates the situation where the distance meter is incorrectly detected as dirty in the loading area.

[0027] Figure 15 This diagram illustrates the condition of a dirty distance meter that is incorrectly detected in an intersection area.

[0028] Figure 16 This is a diagram illustrating an example of a data table for setting time in the second embodiment of the present invention.

[0029] Figure 17 This is a flowchart illustrating the processing sequence of the time calculation function in the second embodiment of the present invention.

[0030] Figure 18 This is a conceptual diagram of the dust generation area in the third embodiment of the present invention.

[0031] Figure 19 This is an example of a conceptual diagram of the dust generation area in the fourth embodiment of the present invention.

[0032] Figure 20 This is another example of a conceptual diagram of the dust generation area in the fourth embodiment of the present invention.

[0033] Figure 21 This is a flowchart illustrating the processing sequence of the time calculation function in the fourth embodiment of the present invention.

[0034] Figure 22 This is a functional block diagram of the transport system according to the fifth embodiment of the present invention. Detailed Implementation

[0035] The embodiments of the present invention are described below using the accompanying drawings.

[0036] <First Embodiment>

[0037] -Transportation System-

[0038] Figure 1 This is a schematic diagram of a transport system according to a first embodiment of the present invention. The transport system 1 shown in the figure is used for transporting sand or ore (hereinafter referred to as sand) in a work site, such as an open-pit mine. The transport system 1 is configured to include at least one hydraulic excavator 10, at least one dump truck 20, and a control controller 30.

[0039] Hydraulic excavator 10 is an example of a loading machine, performing the excavation of sand and soil within a designated loading area on the work site and loading it into dump truck 20. Dump truck 20 is an example of a transport vehicle, loaded with sand and soil by hydraulic excavator 10, traveling along travel path 60 to transport and unload it into a designated unloading area. Although in Figure 1 There is no illustration, but bulldozers are arranged in the loading and unloading areas, and the bulldozers are used to level the site where the hydraulic excavator 10 has carried out excavation work and the dump truck 20 has carried out unloading work.

[0040] The hydraulic excavator 10, dump truck 20, and control controller 30 are bidirectionally connected via wireless communication line 40. In the example shown in the figure, at least one wireless base station 41 is set up at the work site, and the hydraulic excavator 10, dump truck 20, and control controller 30 send and receive data to each other via the wireless base station 41.

[0041] In this embodiment, a so-called permitted driving section control method is used as the traffic control method based on the control controller 30. The permitted driving section control method refers to a control method that does not simultaneously provide driving permits for each section of the driving path 60 segmented by nodes on the map data to multiple dump trucks 20. Under this control method, the driving permit for each section is always exclusively provided to at most one dump truck 20. For example, when the control controller 30 requests a driving permit for the next section b from dump truck A currently traveling in section a, it will not provide a driving permit for section b to dump truck A while the driving permit for section b has already been provided to another dump truck B. Furthermore, if section b is set as a prohibited section, the control controller 30 will not respond to the request for a driving permit for section b from dump truck A and will not allow dump truck A to travel in section a. Therefore, dump truck A will temporarily stop at the end of section a, where a driving permit has currently been provided, and wait until a driving permit for the next section b is provided.

[0042] Figure 2This is a functional block diagram of the material handling system 1. In this diagram, one hydraulic excavator 10 and one dump truck 20 are shown, but even if multiple hydraulic excavators 10 and their respective dump trucks 20 are included in the system, they have the same structure.

[0043] Next, the hydraulic excavator 10, the dump truck 20, and the control controller 30 will be described in turn.

[0044] Hydraulic Excavator

[0045] The hydraulic excavator 10 is configured to include a front-end machine, on which a bucket is mounted on a multi-jointed boom comprising a boom and a stick. The hydraulic excavator 10 is also configured to include an onboard controller 11, a position sensor 12, and a communication device 13.

[0046] Position sensor 12 is, for example, a GNSS (Global Navigation Satellite System) receiver, which will receive data from an artificial satellite ST (Speed ​​Satellite System). Figure 1 The received antenna position data is output to the vehicle controller 11.

[0047] Communication device 13 is a wireless device connected to wireless communication line 40. Communication device 13 transmits and receives data with dump truck 20 and control controller 30 via wireless communication line 40.

[0048] The on-board controller 11 is configured as a computer including a CPU and other computing devices, RAM, ROM and other memory. It controls the movement of the hydraulic excavator 10 by executing programs stored in the memory through the CPU. The on-board controller 11 has a data management function F0. The data management function F0 includes the following functions: calculating the position data of the hydraulic excavator 10 (the machine itself) based on the data received from the position sensor 12, and transmitting the position data of the hydraulic excavator 10 to the control controller 30 in real time or at predetermined time intervals via the communication device 13.

[0049] The position data of the hydraulic excavator 10 calculated by the data management function F0 is based on the antenna position input in real time from the position sensor 12, calculated using a geodetic coordinate system (or a user-defined coordinate system). This position data is the position data of the hydraulic excavator 10's reference point (e.g., the vehicle's center of gravity). Even when a location other than the antenna position is set as the reference point, it can still be calculated based on known data regarding the antenna position and the machine's dimensions. In this case, it is possible to... Figure 3 The azimuth data of the hydraulic excavator 10 is obtained based on the position data of the two GNSS antennas, as shown in the dump truck 20.

[0050] -Dump Truck-

[0051] Figure 3 This is a schematic perspective view of the appearance of a dump truck 20. The dump truck 20 is configured to include a body 21, a distance meter 22, a position sensor 23, and an onboard controller 24. Figure 2 ), communication device 25 ( Figure 2 ).

[0052] The vehicle body 21 comprises a chassis 21a with left and right front wheels and left and right rear wheels, a cab 21b mounted at the front of the chassis 21a, and a cargo box (hopper) 21c mounted at the rear of the chassis 21a. The dump truck 20 loads cargo such as sand into the cargo box 21c and travels via the chassis 21a. The cargo is discharged (unloaded) by tilting the cargo box 21c backwards. The dump truck 20 is an unmanned vehicle, controlled by an onboard controller 24 based on data input from the control controller 30 and position data obtained from the position sensor 23. However, it can also be manually driven by an operator sitting in the cab 21b. The speed of the vehicle body 21 is measured by the speed sensor 26 and output to the onboard controller 24.

[0053] The distance sensor 22 is a sensor that measures the distance to an obstacle located in front of the vehicle body 21. In this embodiment, the distance sensor 22 is a 3D-LiDAR (Light Detection and Ranging) system that uses a laser to measure the distance to the obstacle. However, 2D-LiDAR, stereo cameras, millimeter-wave radar, lidar, ultrasonic sensors, monocular cameras, etc., can also be used as the distance sensor 22. The distance sensor 22 is positioned relatively low in the front of the vehicle body 21 to ensure good sensitivity in detecting obstacles on the ground surface. Figure 3 In the illustrated structure, it is positioned lower than the highest point of the front wheel.

[0054] Position sensor 23 is, for example, a GNSS (Global Navigation Satellite System) receiver. This position sensor 23 will receive data from an artificial satellite (ST). Figure 1 The received location data of the dump truck 20 (antenna 23a of the dump truck 20) ​​is output to the vehicle controller 24 in real time.

[0055] Communication device 25 is connected to wireless communication line 40 ( Figure 1 The wireless device 13 is connected to the dump truck 20. The communication device 13 transmits and receives data with external controllers such as the on-board controller 11 and the control controller 30 of the dump truck 20 via the wireless communication line 40.

[0056] -Onboard controller for dump trucks-

[0057] Vehicle controller 24 ( Figure 2 The computer is configured to include a CPU (processor) 24a and a memory 24b such as RAM or ROM, and controls the operation of the dump truck 20 by executing the program stored in the memory 24b through the CPU 24a.

[0058] The memory 24b stores the OS (Operating System), various control programs, and various data. Additionally, the memory 24b stores the outputs (after AD conversion as needed) of the position sensor 23, distance meter 22, and speed sensor 26, as well as data input from the control controller 30 via the communication device 25. Furthermore, map data M representing various locations at the work site in coordinates is also pre-stored in the memory 24b.

[0059] CPU 24a executes the function of enabling the dump truck 20 to operate autonomously according to the program stored in memory 24b. Specifically, based on the output of position sensor 23, CPU 24a performs the function of controlling the vehicle body 21 without leaving the permitted driving area, and the function of driving or stopping the vehicle body 21 without interfering with obstacles detected by position sensor 23.

[0060] In addition, details will be explained later, but the CPU 24a, following the program stored in the memory 24b, performs the function of determining if the object-facing surface of the distance meter 22 is dirty and, if so, notifying the control controller 30 of a cleaning alarm. The object-facing surface of the distance meter 22 refers to the outermost surface of the distance meter 22 used for measuring the distance to an obstacle by the inspection wave entering and exiting. For example, in the case of LiDAR, it is the outer surface of the foremost glass plate used for laser entry and exit.

[0061] In this embodiment, during the process of issuing an alarm requesting the cleaning of the distance meter 22, if it is deduced that the surface of the distance meter 22 is dirty, this is treated as a provisional initial judgment, and the vehicle body 21 is stopped at its current position, but the alarm is suspended at that point. After a set time has elapsed since the initial judgment that the distance meter 22 is suspected of being dirty, a second judgment is made regarding the dirtiness of the distance meter 22. If the second judgment also deduces that the surface of the distance meter 22 is dirty, and the distance meter 22 is actually dirty, then an alarm is notified to the control controller 30 at this stage. Even if an initial judgment that the distance meter 22 is suspected of being dirty has been made, as long as the dirtiness is deduced to be cleared during the second judgment, autonomous operation is allowed, and the vehicle body 21 resumes driving.

[0062] In addition, although Figure 2The diagram is omitted, but the system has the function of calculating the position data of the reference point (e.g., the center of gravity of the machine body) of the dump truck 20 (this vehicle) in real time based on input data from the position sensor 23 using the CPU 24a. The calculated reference point position data is transmitted to the control controller 30 in real time via the communication device 25. The reference point position data of the hydraulic excavator 10 calculated by the on-board controller 24 is position data in the Earth coordinate system (or a self-defined coordinate system). When a position other than the antenna position is set as the reference point, it can also be calculated based on known data of the antenna position and the vehicle body size. In this case, it is possible to calculate based on... Figure 3 The azimuth data of the dump truck 20 can be obtained from the position data of the two GNSS antennas 23a shown.

[0063] -Functions of the onboard controller for dump trucks-

[0064] The functions executed by CPU24a include obstacle detection function F1, distance meter monitoring function F2, alarm function F3, set time calculation function F4, and vehicle body control function F5. These functions work together appropriately during the autonomous operation of the dump truck 20.

[0065] First, the obstacle detection function F1 is a function that detects obstacles that may collide with the vehicle (the dump truck 20 equipped with the distance meter 22) based on the output data of the distance meter 22.

[0066] The distance meter monitoring function F2 infers the dirt level of the object surface based on the output data of the distance meter 22. Further details regarding the distance meter monitoring function F2 will follow. Figure 7 Let's illustrate with a specific example.

[0067] Alarm function F3 generates an alarm requiring the cleaning of the object surface of the distance meter 22 based on the judgment value obtained through the distance meter monitoring function F2 and the set time calculated through the set time calculation function F4, and sends the alarm to the control controller 30 via the communication device 25. Regarding alarm function F3, further details will follow. Figure 8 Let's illustrate with a specific example.

[0068] The setting time calculation function F4 is a function that calculates the set time from the time the distance meter 22 is deduced to be dirty on the object surface by the distance meter monitoring function F2 (first judgment) until the distance meter 22 is actually dirty again in the alarm function F3 (second judgment). Regarding the setting time calculation function F4, we will use it later. Figure 9 and Figure 10 Let's illustrate with a specific example.

[0069] Body control function F5 is a function that executes or stops the autonomous operation of the dump truck 20 based on the judgment value obtained through distance monitoring function F2. The body 21 operates autonomously based on the control signal generated by body control function F5. The output of the control signal is to various drive devices mounted on the body 21, such as the steering motor for changing the steering angle of the dump truck 20, the travel motor for driving the dump truck 20, the brakes for braking, and the hydraulic circuit for driving the cargo box 21c. The judgment in body control function F5 regarding whether to allow or prohibit the autonomous operation of the dump truck 20 is then used... Figure 11 Let's illustrate with a specific example.

[0070] -Control Controller-

[0071] The control controller 30 is a computer that manages vehicle dispatching and traffic control for the dump trucks 20. It is located within the control station building that controls the hydraulic excavator 10 and the dump trucks 20. The control station may be located at, for example, the work site (open-pit mine), but it may also be located outside the work site and connected via wireless communication line 40. Figure 1 ) or the Internet and other networks, and the office (not shown) or base station 41 at the work site. Figure 1 (Connection status)

[0072] The control controller 30 includes a CPU 31 and a memory 32. The CPU 31 and memory 32 are the same hardware as the CPU 24a and memory 24b of the onboard controller 24 of the dump truck 20. A communication device 33 and a monitor 34 are connected to the control controller 30. The communication device 33 is connected to the wireless communication line 40 (…). Figure 1 The communication device 33 connects to the wireless device 40. The communication device 33 transmits and receives data between itself and the onboard controllers 24 and 11 of the dump truck 20 and the hydraulic excavator 10 via wireless communication line 40. The monitor 34 is an example of an output device, but it can also be used simultaneously with other types of output devices, such as printers or speakers, or replaced by other types of output devices.

[0073] Similar to the memory 24b of the dump truck 20, memory 32 stores various programs and map data. In addition, memory 32 stores vehicle dispatch management data and traffic control data calculated by the CPU 31. Furthermore, data on areas within the work site, such as excavation areas, unloading areas, and parking areas, are also stored in memory 32 in the form of, for example, data tables. Figure 4 ).exist Figure 4 In the data table of the illustrated area data, for each area ID in the work site, the coordinates (area coordinates) and attributes (loading, unloading, parking, etc.) of the points that divide the area are entered.

[0074] CPU24a executes prescribed functions, including vehicle dispatch management function F7 and traffic control function F8, in accordance with the program stored in memory 32.

[0075] Vehicle dispatch management function F7 is used to set the travel routes for each dump truck 20 up to its next destination. For example, if dump truck A is located in the loading area, vehicle dispatch management function F7 can be used to set the travel route up to the unloading area, which will become its next destination. Similarly, if dump truck A arrives at the unloading area, vehicle dispatch management function F7 can be used to set the travel route up to the loading area, which will become its next destination. The travel routes set by vehicle dispatch management function F7 are used as vehicle dispatch management data, for example... Figure 5 The table format shown is stored in memory 32.

[0076] exist Figure 5 In the illustrated vehicle dispatch management data table, the driving path set through the vehicle dispatch management function F7 is entered for each dump truck 20's vehicle ID. In this example, a driving path is set for each dump truck 20, either from the loading position node_LP to the unloading position node_DP, or from the unloading position node_DP to the loading position node_LP. Each driving path is defined as a column of coordinate points (nodes) used by the dump truck 20 as the target trajectory to follow. At this time, the map data stored in memory 32 includes data on prohibited driving areas within the work site, and the driving path is set by avoiding prohibited driving areas through the vehicle dispatch management function F7.

[0077] Based on the traffic control data stored in memory 32, traffic control function F8 grants a driving permit to at most one dump truck 20 for each section obtained by dividing the driving route into multiple parts, so that multiple dump trucks 20 are not granted driving permits for the same section at the same time.

[0078] Figure 6This is a diagram illustrating an example of a traffic control data table. The data table shows the node IDs for each section and the IDs of the dump trucks 20 that have been granted current driving permission for each section. For example, if dump truck A is traveling on a section a of its path, and no other dump truck is traveling on the next section b, traffic control function F8 grants driving permission to dump truck A for the next section b. Alternatively, if driving permission is granted to other dump trucks for the next section b, under the control of traffic control function F8, driving permission for the next section b is not granted to dump truck A. In this case, dump truck A stops to avoid crossing the end node of the currently permitted section a and waits until driving permission for the next section b is granted. Each dump truck 20 travels according to the nodes of the sections set in this way.

[0079] -Distance meter monitoring function-

[0080] Figure 7 This is a flowchart illustrating the processing sequence of the distance meter monitoring function F2. During power-on periods, the onboard controller 24 of the dump truck 20 repeatedly executes the process via CPU 24a at short cycle times (e.g., 0.1 s). Figure 7 The process involves using the output of the distance meter 22 to determine in real time whether the distance meter 22 has inferred the dirt state of the object surface.

[0081] Specifically, when starting Figure 7 After the process, firstly, the CPU 24a reads from the memory 24b in real time the ranging data (latest data) of each ranging point in the ranging field of view of the vehicle controller 24, which is constantly input from the 3D-LiDAR, which is the distance meter 22, to the ranging field of view (step S11).

[0082] Next, based on the ranging data of each ranging point read in step S11, CPU24a determines whether the distance measuring device 22 is inferred to be dirty on the object surface (step S12). In this example, the ranging data is compared with a preset threshold. If the ranging data is lower than the threshold at more than a predetermined number (e.g., about 5%) of all ranging points, CPU24a determines that it is inferred to be dirty. The threshold set for the ranging data is set to be larger than a predetermined margin relative to, for example, the distance from the light-receiving surface of the laser of the distance measuring device 22 to the object surface. In addition to the ranging data of dust adhering to the object surface being lower than the threshold, the ranging data of dust flying at a distance very close to the object surface may also be lower than the threshold.

[0083] Regarding the judgment result of step S12, if the judgment is that the state is inferred to be dirty, CPU 24a records the judgment value indicating that the state is inferred to be dirty along with the data at the current moment into memory 24b (step S13). The judgment value recorded in memory 24b in step S13 is not particularly limited, for example, it can be set to "1".

[0084] Regarding the judgment result in step S12, if it is determined that the object surface of the distance meter 22 is not dirty, the CPU 24a records the judgment value indicating that the object surface of the distance meter 22 is not dirty along with the time data to the memory 24b (step S14). The judgment value recorded in the memory 24b in step S14 is not particularly limited, for example, it can be set to "0".

[0085] After executing step S13 or step S14, CPU24a terminates. Figure 7 This is a loop of the process. By repeatedly executing the above loop, while the vehicle controller 24 is powered on, it is determined in real time whether the object surface of the distance meter 22 is dirty or clean. For example, if dust adheres to a portion of the object surface of the distance meter 22 above a specified area when it is clean, or if the field of view of the distance meter 22 is obstructed by floating dust, the judgment value changes from 0 to 1. Conversely, if the distance meter 22 is not dirty, even if it is temporarily determined that the object surface of the distance meter 22 is dirty, for example, if the dust settles and the field of view of the distance meter 22 becomes clear, the judgment value returns from 1 to 0.

[0086] -Alarm Function-

[0087] Figure 8 This is a flowchart illustrating the processing sequence of alarm function F3. During the power-on period of the vehicle controller 24, if CPU 24a... Figure 7 In step S13, the judgment value 1, indicating the inferred state of dirtiness, is recorded in memory 24b, then the following steps are executed. Figure 8 The process.

[0088] For example, at time t1... Figure 7 In step S13, if the judgment value is 1, CPU24a is paused. Figure 7 The determination of time t1 in step S12 first reads the set time calculated by the set time calculation function F4 from memory 24b (step S21).

[0089] Next, at time t2, after a set time has elapsed since time t1, CPU 24a reads from memory 24b the data at time t2... Figure 7The judgment value recorded in step S13 or S14. Furthermore, CPU 24a determines whether the judgment value recorded at time t2 is the value of the inferred distance meter 22 for surface dirt (e.g., 1) (step S22). In this case, the judgment in step S12 executed at time t1 is a first judgment, and the judgment in step S12 executed at time t2 is a second judgment.

[0090] If, in step S22, the determination result is that the surface of the distance meter 22 is still determined to be dirty at time t2, the CPU 24a records the alarm data requesting cleaning of the surface of the distance meter 22 along with the data at the current time into the memory 24b. The CPU 24a then sends the alarm data recorded in the memory 24b from the vehicle controller 24 to the control controller 30 via the communication device 25 and terminates the process. Figure 8 The process (step S23).

[0091] If the judgment result in step S12 is that the judgment value at time t2 returns to 0 and the distance meter 22's inferred dirt state of the object surface is cleared, then CPU 24a will not record the alarm data in memory 24b and will end the process. Figure 8 The process.

[0092] -Set time calculation function-

[0093] Figure 9 This is a flowchart illustrating the processing sequence of the time-setting calculation function F4. During the power-on period, the onboard controller 24 of the dump truck 20 repeatedly executes the function via CPU 24a at short cycle times (e.g., 0.1s). Figure 9 The process, and calculates in real time the set time corresponding to the current position of the dump truck 20. Or, Figure 9 The process can also be executed in real time (i.e., always), but only when the alarm function F3 is executed, i.e., each time... Figure 7 Step S13 indicates that the judgment value 1, which infers the state of dirtiness, is recorded in memory 24b and is executed.

[0094] When it begins Figure 9 After the process, CPU 24a reads the current position data of the dump truck 20 (the latest output of position sensor 23) from memory 24b (step S31). Then, CPU 24a calculates the set time corresponding to the read current position (step S32), records the calculated set time into memory 24b, and ends the process. Figure 9 The process (step S33).

[0095] In this embodiment, data on multiple regions defined along the driving path of the vehicle body 21, and the set time for each of these regions, are pre-stored in the memory 24b in the form of, for example, a data table. A region corresponds to... Figure 4 Example data. In Figure 9 In step S32, the current location of the dump truck 20 (this vehicle) is determined based on the location data of the vehicle body 21, and based on the data table ( Figure 10 The calculation corresponds to the set time of the area where the dump truck 20 is currently located.

[0096] Figure 10 This is a diagram illustrating an example of a data table representing the set times corresponding to different areas. The data table shown in this example diagram includes dust-generating areas along the travel path of the dump truck 20, as well as other areas besides the dust-generating areas. Dust-generating areas refer to areas where large amounts of dust are frequently raised, such as loading areas (ID=1), unloading areas (ID=2), and intersection areas (ID=3). In this embodiment, the dust-generating areas defined in the data table are fixed areas (that do not move). In the loading area, large amounts of dust are frequently raised due to sand digging and loading operations based on the hydraulic excavator 10, or soil unloading operations based on a bulldozer (not shown). Similarly, in the unloading area, large amounts of dust are raised each time another dump truck 20 performs an unloading operation. In the intersection area, large amounts of dust are likely to be raised each time another dump truck 20 crosses the travel path. The set times for these dust-generating areas are as follows: Figure 10 As shown, the setting time for the loading and unloading areas is set to be longer than that for other areas. In the example shown in the figure, the setting time for the loading and unloading areas is set to 60 seconds, the setting time for the intersection area is set to 30 seconds, and the setting time for other areas is set to 10 seconds.

[0097] -Body control functions-

[0098] Figure 11 This is a flowchart illustrating the processing sequence of the vehicle control function F5. During the period when the vehicle controller 24 is powered on, in principle, the CPU 24a enables the vehicle body 21 to move autonomously based on the outputs of the position sensor 23, the distance meter 22, the speed sensor 26, map data M, and traffic control data. However, the CPU 24a... Figure 7 In step S13, if a judgment is made that the distance meter 22 is dirty and the judgment value indicating the inferred dirt state is recorded in the memory 24b, then the following steps are executed. Figure 11 The process.

[0099] When it begins Figure 11After the initial process, CPU 24a reads the current value (latest data) of the dump truck 20's speed data input from speed sensor 26 to vehicle controller 24 from memory 24b (step S41), and determines whether the speed is 0 (step S42). If the dump truck 20 is moving and its speed is greater than 0, CPU 24a controls vehicle body 21 to stop the dump truck 20's movement (step S45). If the dump truck 20 stops and its speed is 0, CPU 24a determines whether unloading is in progress (step S43). If unloading is in progress, CPU 24a controls vehicle body 21 to continue unloading (step S44), and after unloading is completed, the sequence is transferred to step S45 to stop the dump truck 20's movement. If unloading is not in progress, CPU 24a transfers the sequence from step S43 to step S45 to stop the dump truck 20's movement.

[0100] Next, with the dump truck 20 stopped, CPU 24a reads the data from... Figure 7 In step S13 or S14, the latest judgment value is recorded in memory 24b, and a judgment is made on whether the deduced dirt state has been resolved (step S46). If the deduced dirt state has been resolved, CPU 24a controls vehicle body 21 to restart and stop the autonomous operation of dump truck 20. Figure 11 The process (step S47). In addition, in step S47, CPU24a notifies the control controller 30 that the deduced dirt state has been cleared.

[0101] If the dirt condition is still inferred in step S46, CPU 24a refers to memory 24b to determine whether the autonomous operation of dump truck 20 is prohibited (step S48). The prohibition or permission of autonomous operation is provided according to instructions from the control controller 30 (described later). If the autonomous operation is not prohibited, CPU 24a returns to step S46. By returning to step S46, the autonomous operation of dump truck 20 automatically resumes if the dirt condition is deferred. Conversely, if the autonomous operation is prohibited during the determination in step S48, CPU 24a moves to step S49 and waits until the autonomous operation is permitted. During this period, dump truck 20 will not operate autonomously; for example, it will not start operating while the distance meter 22 is being cleaned. If the autonomous operation of dump truck 20 is permitted through a specified operation, CPU 24a returns to step S46, and the autonomous operation of dump truck 20 automatically resumes if the dirt condition is deferred.

[0102] Summary Figures 7-9 and Figure 11The key points of vehicle control of the dump truck 20 based on the on-board controller 24, as described in the text, firstly involve a judgment based on the output of the distance meter 22 to determine whether the distance meter 22 infers the state of dirt on the object surface. Figure 7 Step S12). If the vehicle body 21 stops when it is determined to be in a dirty state through this judgment ( Figure 11 Step S45). Furthermore, after a set time has elapsed since the first judgment was performed, a second judgment is performed based on the output of the distance meter 22 to determine whether the inferred dirt state of the object surface has been determined. Figure 8 Step S22). Only when the secondary judgment determines that the state is dirty will the alarm requesting cleaning distance meter 22 be sent to the control controller 30 via the communication device 25. Figure 8 Step S23). If, after a second judgment, it is determined that the dirt condition has been resolved, the vehicle body 21 automatically resumes driving. Figure 11 Step S47). However, regarding the unloading action of the dump truck 20 without moving, if it is determined through a single judgment that the condition is inferred to be dirty, the unloading action will be allowed to be completed without interruption (stop). Figure 11 Step S44).

[0103] -Alarm screen-

[0104] Figure 12 This diagram illustrates an example of an alarm screen displayed on a monitor 34 via a control controller 30. The alarm screen 90 shown in this diagram is based on... Figure 8 In step S23, the alarm data sent from the vehicle controller 24 is displayed in a window on the monitor 34 by the control controller 30. On the monitor 34, the dump truck 20 (ID: "Truck01"), which is determined to be in a dirty state, is highlighted on the map image. The loading area is represented by the dashed line L in the map. Figure 10 ),exist Figure 10 In the example, the time from the first judgment to the second judgment is set to 60 seconds.

[0105] The alarm screen 90 displays the Vehicle ID of the dump truck 20 that issued the alarm, the reason for the alarm, and the waiting time. The waiting time is the elapsed time from when the truck stopped to the present. Additionally, the alarm screen 90 includes a first button 91 and a second button 92. The first button 91 is an icon for responding to a cleaning request from the distance meter 22. The second button 92 is an icon for suspending (observing) the cleaning request from the distance meter 22.

[0106] When button 91 is activated, a signal is sent from the control controller 30 to the vehicle controller 24 that issued the alarm, prohibiting the autonomous operation of the dump truck 20 (this vehicle). During the period when the autonomous operation of the dump truck 20 is prohibited (repeatedly executed)... Figure 11 During step S49, the operator travels by vehicle, for example, manually driving the dump truck 20 away from the travel path 60, and performs the cleaning operation on the distance meter 22. After cleaning the distance meter 22, the operator manually drives the dump truck 20 back to the travel path, and resumes autonomous operation by performing appropriate operations that allow autonomous operation. Figure 11 Steps S49, S46, and S47.

[0107] When button 2 92 is activated, the alarm screen 90 is temporarily turned off, and a preset pause time (e.g., 60 seconds) begins timing. During this pause time, if the vehicle controller 24 notifies that the dirt condition has been cleared ( Figure 11 If step S47 is executed, the alarm screen 90 is canceled from being displayed again. If no notification indicates that the dirt condition has been resolved, the alarm screen 90 will be displayed again after a set-off period.

[0108] -Control controller processing-

[0109] Figure 13 This is a flowchart showing the processing sequence of the control controller 30 when an alarm is notified from the vehicle controller 24. Figure 13 The process of the control controller 30 shown will be... Figure 8 In step S23, the input of alarm data sent from the vehicle controller 24 serves as the trigger, and the program stored in the memory 32 is executed by the CPU 31.

[0110] When it begins Figure 13 After the process, CPU 31 reads the alarm data received from vehicle controller 24 from memory 32 (step S101), and displays alarm screen 90 based on the read alarm data. Figure 12 The alarm screen 90 is then displayed on monitor 34 (step S102). Next, it is determined whether button 1 91 or button 2 92 of the alarm screen 90 is operated (steps S103, S104). If neither button is operated, steps S103 and S104 are repeated while updating the display of the parking time on the alarm screen 90.

[0111] When the second button 92 on the alarm screen 90 is activated, the CPU 31 temporarily disables the alarm screen 90 (step S105) and reads the preset pause time from the memory 32 (step S106). Then, the CPU 31, based on the... Figure 11In step S47, if there is a notification from the vehicle controller 24, a judgment is made as to whether the deduced dirt state has been resolved (step S107). If there is no notification from the vehicle controller 24 and the deduced dirt state has not been resolved, the CPU 31 determines whether a pause period has elapsed since the second button 92 was operated (step S108). If the pause period has not elapsed, the CPU 31 returns the sequence from step S108 to step S107 and repeats the judgment on whether the deduced dirt state has persisted for the pause period since the second button 92 was operated. Even if a pause period has elapsed since the second button 92 was operated but the deduced dirt state still persists, the CPU 31 returns the sequence from step S108 to step S102 and displays the alarm screen 90 again on the monitor 34.

[0112] If the dirt condition is deduced to have been resolved after the settling time since the operation of button 2 92, CPU 31 cancels the re-display of alarm screen 90 and ends the process. Figure 13 The process (step S109). The re-display process refers to the job of re-displaying the alarm screen 90 after a set-off time, which occurs when the operation of the second button 92 on the alarm screen is performed. Therefore, if it is inferred that the dirt condition has been resolved during the set-off time, the dump truck 20 will automatically resume its autonomous operation, and the alarm screen 90 will not be displayed until a separate alarm is notified.

[0113] Additionally, when the first button 91 of the alarm screen 90 is activated, the CPU 31 closes the alarm screen 90 (step S110). Simultaneously, the CPU 31 sends a signal prohibiting autonomous operation to the onboard controller 24 of the dump truck 20 that sent the alarm data via the communication device 33, and terminates the process. Figure 13 The process (step S111). Steps S110 and S111 can be reversed.

[0114] Furthermore, the vehicle controller 24, upon receiving the signal sent in step S111, records the signal in memory 24b, and then... Figure 11 The judgment in step S48 is referenced. The prohibition command for autonomous action, such as after the cleaning distance meter 22, is lifted through the operator's prescribed operation. Figure 11 Step S49).

[0115] -Incorrect detection of dirt on the distance meter-

[0116] Figure 14 This diagram illustrates the situation where the distance meter is incorrectly detected as dirty in the loading area. Figure 15 This diagram illustrates the situation where a distance meter erres in an intersection area due to dirt or malfunction. Figure 14 and Figure 15In the diagram, the loading area and intersection area are defined by dashed lines L. Additionally, in... Figure 14 To illustrate the movement of dump truck D1 along its travel path 60 within the loading area, two dump trucks D1 are displayed inside the loading area; however, in reality, not both dump trucks D1 are simultaneously located within the loading area. Similarly, in Figure 15 The image shows another dump truck D2 that caused the dust 80 to be generated in the intersection area, but it is not meant to show that two dump trucks D1 and D2 entered the intersection area at the same time.

[0117] In non-contact distance meters using electromagnetic or acoustic waves, when visibility is significantly impaired due to dust, rain, fog, snow, etc., dust or other particles extremely close to the object surface may be measured, even if they are not actually attached to the surface. For example, in the loading area of ​​an open-pit mine... Figure 14 As shown, the excavation of sand and soil by the large hydraulic excavator E and the loading of the dump truck D1 frequently generate a large amount of dust 80, which can easily lead to erroneous detection of dirt on the object surface by the distance measuring instrument. As mentioned above, because the distance measuring instrument 22 is positioned at a relatively low position, it is easily affected by dust. The unloading area where the large dump truck D1 performs unloading operations, and the intersection area where the large dump truck D1 crosses the transport path (…). Figure 15 The same applies.

[0118] If a distance meter, a crucial element for autonomous driving, is detected as having a dirty contact surface, the dump truck D1 must be stopped and an operator must be dispatched to visually confirm the distance meter's dirt level. In mines, multiple dump trucks D1 travel on the same path; if one truck stops, all other trucks on that path will also stop. Therefore, frequent truck stops due to erroneous distance meter detection significantly impact operational efficiency and productivity.

[0119] -Effect-

[0120] (1) According to this embodiment, when the distance measuring device 22 is in a presumed dirty state, the dump truck 20 equipped with the distance measuring device 22 will stop, but will not immediately notify the control controller 30 of an alarm; instead, it will remain in standby mode for a set time. If the object being measured is not attached to the distance measuring device 22 but is floating dust, even if it is temporarily in a presumed dirty state, the presumed dirty state can be cleared by observing the distance measuring device 22's field of vision for a set time. If the presumed dirty state is cleared, the control controller 30 will not be notified of an alarm to request cleaning by the operator; instead, the dump truck 20 will automatically resume its autonomous operation. Therefore, the impact on the overall productivity of the mine and the operating rate of the dump truck 20 caused by false detection of dirt on the distance measuring device 22 can be suppressed. In addition, if the presumed dirty state is not cleared even after a set time has elapsed after stopping, the possibility that the distance measuring device 22's surface is actually dirty is high. In cases where the distance meter 22 is indeed found to be dirty, it can be properly addressed by requesting the operator to perform the inspection. This increases the likelihood of the operator conducting the inspection, thus reducing unnecessary trips by the operator.

[0121] (2) Furthermore, even when the distance meter 22 is deduced to be dirty, unloading operations can still be performed with the dump truck 20 remaining in its current position. Even in a state where dirt is deduced, the dump truck 20's actions are not abruptly stopped; instead, the unloading operation is completed, allowing the unloading operation to end before it is permitted to resume driving. For example, if the unloading operation is interrupted by stopping the cargo box 21c during lifting, and then resumed when driving is permitted, driving cannot resume in time even after permission is granted. However, by ending the unloading operation beforehand, driving can resume in a timely manner. This aspect also contributes to improved operating rates and productivity.

[0122] (3) In addition, the set time from the first judgment that the condition is judged to be dirty to the execution of the second judgment is set to a value that varies depending on the position of the dump truck 20. For example, when the dump truck 20 stops in a dust-generating area such as the loading or unloading area or the intersection area based on the judgment of the condition of dirt by the distance meter 22, the set time is longer than when it stops in other areas other than the dust-generating area.

[0123] In dust-generating areas, where large amounts of dust are frequently produced, setting a longer timeout allows for a more measured period of time before the dust settles, thus preventing the alarm from being triggered prematurely even when the distance meter 22 is not actually dirty. Conversely, in other areas where large amounts of dust cannot be foreseen, setting a shorter timeout reduces the time until an alarm is issued or the autonomous operation of the dump truck 20 resumes.

[0124] (4) In addition, when dust-generating areas with fixed locations such as loading and unloading areas and intersections are set, it is possible to achieve the following: Figure 3 The fixed-point area coordinates shown indicate the dust generation area. Therefore, it is easy to determine the area to which the dump truck 20 is parked, and thus it is also easy to perform the calculation of the set time accordingly.

[0125] <Second Implementation>

[0126] Figure 16 This is a diagram illustrating an example of a data table for setting time in the second embodiment of the present invention. Figure 16 Compared with the first embodiment Figure 10 Correspondingly.

[0127] The difference between this embodiment and the first embodiment is that, even in the same dust-generating area, the set time from the first judgment to the second judgment varies depending on the operating state of the machinery configured in that dust-generating area. Specifically, in this embodiment, the set time data table stored in the memory 24b is as follows: Figure 16 As illustrated, even in the same type of dust-generating area, different set times will be set depending on the operating status of the configured machinery. When the dump truck 20 stops in the dust-generating area after a judgment has been made regarding the degree of dirtiness, the on-board controller 24 calculates the set time based on the current operating status of the machinery operating in that area.

[0128] Furthermore, the operating status of the machinery can be categorized according to the operational status of the various actuators mounted on the machinery, allowing for judgment based on the operational status of each actuator. The operational status of the actuators can be determined based on the outputs of various sensors measuring the actuator's operating speed and magnitude, as well as the control signals sent to the actuators.

[0129] Figure 16This is an example of the set time for the loading area. However, considering hydraulic excavators and bulldozers operating in the loading area, if these machines are performing a prescribed operation, the set time is set longer compared to other operating conditions. For example, for a hydraulic excavator performing digging or loading operations that generate a lot of dust, the set time is 60 seconds, while for other operating conditions such as being stopped or moving, the set time is as short as 10 seconds. Similarly, for bulldozers, the set time for excavation operations is 30 seconds, while for other operating conditions, the set time is 10 seconds. Furthermore, since there are situations where excavators or other machines are not in the loading area due to maintenance, a set time corresponding to this situation is also set (10 seconds in the example shown in the figure). Similarly, for unloading areas, a data table setting the set time according to the operating condition of the configured machinery is stored in memory 42b.

[0130] Figure 17 This is a flowchart illustrating the processing sequence of the time setting calculation function F4 in the second embodiment of the present invention. Figure 17 Compared with the first embodiment Figure 9 Correspondingly. Figure 17 The order shown is the same as that in the first embodiment. Figure 9 Similarly, during the period when the onboard controller 24 is powered on, the process is repeated by the CPU 24a with a short cycle time (e.g., 0.1 s). Thus, the set time is calculated in real time based on the current position of the dump truck 20. Alternatively, Figure 17 The process can also be executed in real time (i.e., always), but only when the alarm function F3 is executed, i.e., each time... Figure 7 Step S13 indicates that the judgment value 1, which infers the state of dirt, is executed when it is recorded in memory 24b. Figure 17 In the process, the content of steps S31 and S33 is the same as... Figure 9 Steps S31 and S33 are identical.

[0131] When it begins Figure 17 After the process, CPU 24a reads the current (latest) location data of the dump truck 20 from memory 24b (step S31). Then, CPU 24a refers to a data table of set times corresponding to the current location (e.g., ...). Figure 16 The CPU determines whether the current location is a dust-generating area where machinery such as a hydraulic excavator 10, which is a dust source, is located (step S31a). If the parking location is a dust-generating area where machinery is located, which is a dust source, the CPU 24a sends an inquiry signal to the control controller 30 and receives data from the control controller 30 on the current operating status of the machinery operating in the area at the current location (step S31b).

[0132] Upon receiving the work status data, CPU 24a refers to a table of set times corresponding to the current position and calculates the set time corresponding to the work status data of the machine (step S32'). If the parking position is an area where no machine is configured as a dust source, CPU 24a sequentially transitions from step S31a to step S32', and calculates the set time based on the data table corresponding to the current position, similar to the first embodiment. After calculating the set time in step S32', CPU 24a records the calculated set time to memory 24b and ends the process. Figure 17 The process (step S33).

[0133] Regarding other controller-based processing content and hardware structure, this implementation is the same as the first implementation.

[0134] Furthermore, in the case where there are multiple machines that become sources of dust in the area where the dump truck 20 is parked, for example, data on the operating status of these machines is received, and the maximum value corresponding to the operating status of each machine on the data table at the set time is calculated as the set time.

[0135] In this embodiment, the same effects as in the first embodiment can be obtained. Furthermore, in this embodiment, even in dust-generating areas such as loading areas, if the machinery operating there, such as the hydraulic excavator 10, which is a dust source, is not in scheduled operation but is presumed to have a low level of dust generation, the timing of the secondary judgment will be advanced. This shortens the delay time in determining whether to notify the control controller 30 of an alarm or to restart the autonomous operation, and in this respect, it is expected to suppress the decrease in operating rate and productivity.

[0136] <Third Implementation>

[0137] In the second embodiment, if the vehicle is stopped due to a presumed state of dirt, the parking position is applied to an area where a fixed location has been set, and it is determined whether there is machinery that could be a source of dust generation in the area where the vehicle is currently parked. However, when calculating the set time considering the operating status of machinery that could be a source of dust generation, the method of setting the area can be changed.

[0138] For example, the machine (model, machine ID, etc.) that becomes a dust source is pre-entered, and the vehicle controller 24 calculates the distance R between the vehicle and the nearest machine when the vehicle is parked, and determines whether the distance R is below a predetermined set distance R1. The set distance R1 is set based on the distance from which dust generated by the machine that becomes a dust source will disperse. If the distance R is below the set distance R1, the vehicle controller 24 calculates a set time based on the received operating status of the machine. In this example, such as... Figure 18As shown, the area within a set distance R1 from the hydraulic excavator 10 and other machinery that becomes a dust source is designated as the dust generation area X. The dust generation area X is not limited to a stationary area; for example, if the hydraulic excavator 10 moves along with the digging position within the digging area, the dust generation area X will also move accordingly. This embodiment is the same as the second embodiment except for the method for determining such a parking area. When the machine is parked in the dust generation area X, a set time is calculated based on the corresponding machine's operating status.

[0139] Furthermore, when there are multiple machines near the parking location, and any of these multiple dust-generating areas includes the parking location, it is possible to calculate the maximum value corresponding to the operating status of each machine in these dust-generating areas as the set time.

[0140] Alternatively, it can be set to calculate a longer time for parking in dust-generating area X, regardless of the operating status of the machinery running in dust-generating area X, compared to parking in other areas.

[0141] <Fourth Implementation>

[0142] Figure 19 This is an example of a conceptual diagram of the dust generation area in the fourth embodiment of the present invention. Figure 20 This is another example of a conceptual diagram of the dust-generating region in the fourth embodiment of the present invention. Figure 19 The example illustrates a situation where dump truck D2 crossed the path of dump truck 20 (this vehicle) within a specified time period at an intersection. Figure 20 The example shows a situation where dump truck D2 is leading the way on the path of dump truck 20.

[0143] The difference between this embodiment and the first embodiment is that the dust-generating area is a moving area, and the dust-generating area Y is defined as the area within a set distance R1 of the trajectory (line segment) O of other transport vehicles (here, dump truck D2) over a predetermined period of time. The set distance R1 is assumed to be the distance the dust generated at a certain location due to the passing of dump truck D2. The predetermined time is assumed to be the time it takes for the dust raised by dump truck D2 at a certain location to largely subside.

[0144] In this embodiment, the dust-generating area Y is a moving area that moves along with the dump truck D2, and its shape and length change accordingly with the trajectory and speed of the dump truck D2. If the trajectory of the dump truck D2 over a predetermined period of time is a straight line, then... Figure 19 and Figure 20The dust-generating area Y is a rounded rectangle. If the dump truck D2 turns, the dust-generating area Y also turns. Furthermore, the faster the dump truck D2 travels within a specified time, the longer the trajectory O becomes during that period, and correspondingly, the longer the dust-generating area Y also becomes. Within the dust-generating area Y, it is assumed that the large amount of dust generated by the dump truck D2, as a moving dust source, has not yet settled.

[0145] In addition, although Figure 19 and Figure 20 Not shown in the text, but as another scenario where dump truck 20 enters the dust-generating area Y, there is also a scenario where it meets dump truck D2, which is an oncoming vehicle, on a reciprocating route.

[0146] Figure 21 This is a flowchart illustrating the processing sequence of the time setting calculation function F4 in the fourth embodiment of the present invention. Figure 21 Compared with the first embodiment Figure 9 Correspondingly. Figure 21 The order shown is the same as that in the first embodiment. Figure 9 Similarly, during the period when the onboard controller 24 is powered on, the process is repeated by the CPU 24a with a short cycle time (e.g., 0.1 s). Thus, the set time is calculated in real time based on the current position of the dump truck 20. Alternatively, Figure 21 The process can also be executed in real time (i.e., always), but only when the alarm function F3 is executed, i.e., each time... Figure 7 Step S13 indicates that the judgment value 1, which infers the state of dirt, is executed when it is recorded in memory 24b. Figure 21 In the process, the content of steps S31 and S33 is the same as... Figure 9 Steps S31 and S33 are identical.

[0147] When it begins Figure 21 After the process, CPU 24a reads the current (latest) position data of dump truck 20 from memory 24b (step S31). Then, CPU 24a determines whether there are other dump trucks D2 that have passed through a location within a set distance R1 from the parking position (current position) within a past predetermined time period (step S31A). Here, for example, position data of each sampling time (e.g., 1 second) within a past predetermined time period (e.g., 10 seconds) of each dump truck D2, which is another vehicle, is received from the control controller 30 or the respective dump truck D2. Furthermore, the distance R between the position of each dump truck 20 at each moment and the current position of the dump truck (this vehicle) is compared with the set distance R1. For example, for a certain dump truck D2, as long as any one of the distances R at each moment within the past predetermined time period is within the set distance R1, the dump truck D2 will be determined as a matching vehicle.

[0148] Regarding the judgment result of step S31A, if a matching dump truck D2 exists, CPU 24a sends an inquiry signal to the control controller 30 and receives historical data of the matching dump truck D2 over a specified period from the control controller 30 (step S31B). The received historical data here is, for example, a dataset of the location, speed, and time of the matching dump truck D2 at each sampling time interval over the specified period. If multiple matching dump trucks D2 exist, historical data is received for all of them.

[0149] After receiving historical data from dump truck D2, CPU 24a calculates a set time based on the historical data as described later (step S32”). If multiple matching dump trucks D2 exist, multiple set times are calculated based on their respective historical data, and the maximum value is set as the set time. If no matching dump truck D2 exists, CPU 24a skips step S31B and in step S32”, calculates the set time based on the data table corresponding to the current position (e.g., ...). Figure 10 , Figure 16 The set time is calculated. After the set time is calculated in step S32, the CPU 24a records the calculated set time to the memory 24b and ends the process. Figure 21 The process (step S33).

[0150] This section describes an example of the method for calculating the set time based on the historical data of the dump truck D2 in step S32. Regarding the dust-generating area Y associated with the dump truck D2, since it is a moving area, the onboard controller 24 changes the length of the set time according to the speed of the dump truck D2 and the elapsed time after passing through it. In this embodiment, the dust-generating area Y is calculated in such a way that the faster the dump truck D2 travels through the dust-generating area Y, the longer the set time, and the longer the elapsed time of the dump truck D2 from passing through the dust-generating area Y, the shorter the set time.

[0151] Specifically, based on the data from each sampling time in the past specified time, the set time Tt can be calculated for each time using the following example formula (1), and the statistical values ​​(e.g., maximum value, average value, etc.) of the set time Tt for each time can be calculated as the set time T.

[0152] Tt=T0+αV / (L×Δt)…(1)

[0153] Here, Tt: the set time based on data from time t within a specified past time period; T0: the baseline set time; V: the speed of the corresponding dump truck D2 at time t; L: the distance between the corresponding dump truck D2 at time t; Δt: the elapsed time from time t to the present; α: a coefficient. The baseline set time T0 is the minimum set time and is for the area outside the dust generation area Y (e.g., Figure 10 The set time for other areas.

[0154] Regarding other controller-based processing content and hardware structure, this implementation is the same as the first implementation.

[0155] In this embodiment, the same effects as in the first embodiment can be obtained. Furthermore, the dust-generating area Y caused by other dump trucks D2, which are mobile dust-generating sources, can be considered, allowing for a more appropriate calculation of the setting time T. Additionally, when calculating the setting time for the dust-generating area Y, the appropriateness of the setting time T is further improved by adjusting the setting time based on the speed and passage time of the dump trucks D2 in that dust-generating area Y.

[0156] However, when calculating the set time only considering the positional relationship with other dump trucks D2 that are mobile dust sources, it is not necessarily necessary to increase or decrease the set time based on the speed and passage period of the dump trucks D2. For example, the set time for dust source Y can also be set to the same fixed value.

[0157] <Fifth Implementation>

[0158] Figure 22 This is a functional block diagram of the transport system according to the fifth embodiment of the present invention. This diagram is different from that of the first embodiment. Figure 2 Correspondingly, in Figure 22 The annotations for elements that are the same as or corresponding to those in the first embodiment are as follows: Figure 2 The same reference numerals are used in the accompanying drawings, and the descriptions are omitted.

[0159] The difference between this embodiment and the first embodiment is that the time calculation function F4 is not executed by the on-board controller 24 of the dump truck 20, but by the CPU 31 of the control controller 30.

[0160] Specifically, the memory 32 of the control controller 30, similar to the memory 24b of the vehicle controller 24 in the first embodiment, stores multiple regions set along the driving path of the dump truck 20 and setting times for each of these regions. Figure 16 In this embodiment, in Figure 9The process described herein is executed by the CPU 31 of the control controller 30 based on the request signal from the vehicle controller 24, and the set time is sent to the vehicle controller 24 via the communication device 33.

[0161] Similar to the first embodiment, the vehicle controller 24 performs an initial judgment on the estimated dirt status of the object surface based on the distance meter 22, causing the dump truck 20 to stop. After a set time obtained from the control controller 30, a second judgment is performed, and an alarm notification or the resumption of autonomous operation is executed. The calculation of setting the dust generation area and the setting time is not limited to the first embodiment, and the methods of the second to fourth embodiments can also be applied. Regarding the... Figure 13 The alarm suspension process described in the previous section is also the same, and of course, it can be executed in the same way in this implementation.

[0162] As in this embodiment, the same effect can be achieved even if the onboard controller 24 of the dump truck 20 is not equipped with the function of calculating the set time, but an external computer is equipped with the function.

[0163] <Variation Example>

[0164] In the above embodiments, an example was described where the dump truck 20 calculates a different value based on the parking position as the set time when it infers that the surface of its distance meter 22 is dirty. However, it is not necessarily necessary to make the set time a variable value. That is, it is also possible to set the set time to the same value regardless of the parking position, and after parking due to the inferred dirt condition, perform a second judgment after the same set time. In this case, although the scenario where the parking time in areas other than the dust generation area exceeds the necessary length may increase, it can prevent the situation where dust or the like is mistakenly detected as dirt adhering to the surface, requiring unnecessary operation of the operator.

[0165] Furthermore, a hydraulic excavator 10 is exemplified as a loading machine for loading sand, soil, etc., into the dump truck 20 in the loading area. However, the loading machine is not limited to a hydraulic excavator; wheel loaders, for example, may also be used. Additionally, the dump truck 20 is exemplified as a transport vehicle for moving the cargo loaded by such a loading machine. However, for example, a tracked transport vehicle with a cargo box mounted on a tracked vehicle can be used instead of the dump truck 20. The distance estimation device 22 and the systems of various embodiments of its dirt-related features can also be applied to the tracked transport vehicle, achieving the same effect.

[0166] In addition, Figure 7The description provides an example of determining whether the surface of the object being measured by the distance measuring device 22 is dirty, but the method of determining dirt can be changed. As an example, it is possible to measure the distance to an object whose reflected light intensity relative to the laser is known, and infer whether the surface of the object being dirty is dirty if the measured signal strength is lower than a set value. Alternatively, it is possible to measure the laser light scattered by foreign objects attached to the object surface, and infer whether the surface of the object being dirty is dirty if the scattered light intensity exceeds a set value.

[0167] Explanation of reference numerals in the attached figures

[0168] 1…Transportation system, 10…Hydraulic excavator (machinery), 11…On-board controller, 20…Dump truck (transportation vehicle), 21…Body, 22…Distance meter, 23…Position sensor, 24…On-board controller, 24b…Memory, 25…Communication device (first communication device), 30…Control controller, 32…Memory, 33…Communication device (second communication device), 34…Monitor, 90…Alarm screen, 91…First button, 92…Second button, O…Trajectory, R1…Set distance, T…Set time, X, Y…Dust generation area.

Claims

1. A transport vehicle comprising a vehicle body, a distance meter for measuring the distance to an obstacle, a position sensor for acquiring position data of the vehicle body, an onboard controller for controlling the vehicle body based on the output of the position sensor, and a communication device for communicating with the control controller that controls the vehicle body, characterized in that... The vehicle controller performs the following actions: The judgment performed based on the output of the distance meter is a determination of whether the distance meter infers the state of dirt on the object surface. If the vehicle is determined to be in the presumed state of dirt through the aforementioned judgment, a command is issued to the vehicle body to stop at the current position. After a set time has elapsed since the first judgment was performed, a second judgment is performed based on the output of the distance meter to determine whether the condition is the inferred state of dirt. If the secondary judgment determines that the condition is indeed dirty, an alarm is sent to the control controller via the communication device. If the inferred dirt condition is determined to be resolved through the secondary judgment, a command is issued to the vehicle body to restart its operation. The vehicle controller includes a memory that stores multiple regions set along the vehicle's driving path and corresponding set times for each of these regions. The vehicle controller determines the current location of the vehicle based on the vehicle's location data. And calculate the set time corresponding to the area where the vehicle body is currently located.

2. The transport vehicle as described in claim 1, characterized in that, If the vehicle controller determines that the vehicle body is in the presumed dirty state based on the first judgment, it will not stop the unloading operation but will allow the unloading operation.

3. The transport vehicle as described in claim 1, characterized in that, The plurality of regions includes dust-generating areas and other areas besides the dust-generating areas. The set time for the dust-generating area is set longer than the set time for the other areas.

4. The transport vehicle as described in claim 3, characterized in that, The dust-generating area is a fixed area with a fixed location.

5. The transport vehicle as described in claim 4, characterized in that, The dust-generating areas are the loading area, unloading area, or intersection area.

6. The transport vehicle as described in claim 3, characterized in that, The set time for the dust generation zone varies depending on the operating status of the machinery configured in the dust generation zone. The vehicle controller receives data from the control controller or the machinery via the communication device regarding the operating status of the machinery operating in the dust-generating area, and calculates the set time for the dust-generating area based on the operating status of the machinery.

7. The transport vehicle as described in claim 3, characterized in that, The dust-generating area is the region located at a distance below a set distance from the recorded machine.

8. The transport vehicle as described in claim 3, characterized in that, The dust-generating area is a moving area where the location changes.

9. The transport vehicle as described in claim 8, characterized in that, The moving area is the area within a set distance of the trajectory of other transport vehicles over a specified period of time.

10. The transport vehicle as described in claim 9, characterized in that, The vehicle controller calculates the set time in such a way that the faster the other transport vehicles travel, the longer the set time is, and the longer the transit time after the other transport vehicles pass, the shorter the set time is.

11. A transport system comprising: a transport vehicle, the transport vehicle having a body, a distance meter for measuring the distance to an obstacle, a position sensor for acquiring position data of the body, an on-board controller for controlling the body based on the output of the position sensor, and a first communication device for communicating with a control controller that controls the body; and The control controller includes a second communication device for communicating with the vehicle-mounted controller. The transport system is characterized in that... The vehicle controller performs the following actions: The judgment performed based on the output of the distance meter is a determination of whether the distance meter infers the state of dirt on the object surface. If the vehicle is determined to be in the presumed state of dirt through the aforementioned judgment, a command is issued to the vehicle body to stop at the current position. The system receives a set time from the control controller via the first communication device, wherein the set time is the time difference between the second judgment (determining whether the state of contamination is as inferred) and the first judgment. After the set time has elapsed since the first judgment was performed, the second judgment is performed based on the output of the distance meter. If the condition is determined to be the inferred state of dirt through the secondary judgment, an alarm is sent to the control controller via the first communication device. If the inferred dirt condition is determined to be resolved through the secondary judgment, a command is issued to the vehicle body to restart its operation. The control controller includes a memory that stores multiple zones set along the vehicle's driving path and set times for each of these zones. The control system determines the current location of the vehicle based on its position data. The set time corresponding to the area where the vehicle body is currently located is calculated. The set time is sent to the vehicle controller via the second communication device.

12. The conveying system as claimed in claim 11, characterized in that, The control controller performs the following actions: An alarm screen containing a first button that operates in response to an alarm from the vehicle controller and a second button that operates when the alarm is ignored is displayed on the monitor. When the second button is pressed, the alarm screen will be turned off. Determine whether the inferred state of dirt persists during the preset set-off time. If the inferred dirt condition persists even after the stated set-off time, the alarm screen will be displayed again on the monitor. If the inferred dirt condition is resolved during the said standby time, the process of re-displaying the alarm screen is cancelled.

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