System and method for managing work site

Abstract

To prevent increase in a storage unit for storing driving courses.SOLUTION: A work site management system is provided, comprising a driving data generation unit for generating a driving course for a transport vehicle operating at a work site, a division unit for dividing the driving course, and a storage unit for storing divided course data representing the divided driving course.SELECTED DRAWING: Figure 15

Description

[Technical field]

[0001] The present disclosure relates to a work site management system and a work site management method. [Background technology]

[0002] In a wide-area work site such as a mine, a transport vehicle is operated. Patent Document 1 discloses a technique for generating a travel course for the transport vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-036073 A Summary of the Invention [Problem to be solved by the invention]

[0004] The driving courses are stored in a storage unit such as a database. Since the conditions at the work site change daily, the driving courses used must also be changed daily. If unnecessary driving courses that are no longer used continue to be stored in the storage unit, this will cause the storage unit to become bloated.

[0005] The present disclosure aims to prevent an increase in size of a memory unit that stores driving courses. [Means for solving the problem]

[0006] In accordance with the present disclosure, a work site management system is provided that includes a driving data generation unit that generates a driving course for a transport vehicle operating at a work site, a division unit that divides the driving course, and a memory unit that stores divided course data indicating the divided driving courses. Effect of the Invention

[0007] According to the present disclosure, the memory unit that stores the driving course is prevented from becoming bloated. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a schematic diagram of a work site according to the present embodiment. [Diagram 2] FIG. 2 is a diagram showing a schematic diagram of a work site management system according to the present embodiment. [Diagram 3] FIG. 3 is a block diagram showing a work site management system according to this embodiment. [Figure 4] FIG. 4 is a hardware configuration diagram of the management device according to this embodiment. [Diagram 5] FIG. 5 is a diagram for explaining the traveling data of the unmanned dump truck according to this embodiment. [Figure 6] FIG. 6 is a flowchart showing a method for generating a driving course according to this embodiment. [Figure 7] FIG. 7 is a flowchart showing a method for generating an initial course according to this embodiment. [Figure 8] FIG. 8 is a diagram for explaining a method for generating an initial course according to the present embodiment. [Figure 9] FIG. 9 is a diagram for explaining the constraint conditions according to this embodiment. [Figure 10] FIG. 10 is a flowchart showing a method for generating a driving course according to this embodiment. [Figure 11] FIG. 11 is a diagram for explaining a method for generating a driving course according to this embodiment. [Figure 12] FIG. 12 is a diagram showing a driving course displayed on the display device according to this embodiment. [Figure 13] FIG. 13 is a diagram for explaining a method for changing a driving course according to this embodiment. [Figure 14] FIG. 14 is a diagram for explaining a method of dividing a driving course according to this embodiment. [Figure 15] FIG. 15 is a diagram for explaining a method of dividing a driving course according to this embodiment. [Figure 16]FIG. 16 is a flowchart showing a method for dividing a driving course according to this embodiment. [Figure 17] FIG. 17 is a diagram for explaining the divided course data stored in the storage unit according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiment. The components of the embodiments described below can be appropriately combined. In addition, some components may not be used.

[0010] <Work site> FIG. 1 is a diagram showing a schematic diagram of a work site 10 according to the present embodiment. Examples of the work site 10 include a mine or a quarry. A mine is a place or business where minerals are mined. A quarry is a place or business where stone materials are mined. Examples of mines include a metal mine where metals are mined, a non-metal mine where limestone is mined, and a coal mine where coal is mined.

[0011] At a work site 10, a manned vehicle 1 and an unmanned vehicle 2 are in operation. A driver is on board the manned vehicle 1. No driver is on board the unmanned vehicle 2. The manned vehicle 1 refers to a vehicle that operates based on driving operations by a driver. The unmanned vehicle 2 refers to a vehicle that operates unmanned without being driven by a driver.

[0012] In the embodiment, the manned vehicle 1 is a lightweight vehicle that travels through a work site 10. The manned vehicle 1 is used to measure the work site 10. The manned vehicle 1 may also be used to patrol the work site 10 or to transport workers therethrough. In the embodiment, the manned vehicle 1 is appropriately referred to as a survey vehicle 1.

[0013] In the embodiment, the unmanned vehicle 2 is a heavy vehicle that travels unmanned at the work site 10. The unmanned vehicle 2 is a transport vehicle that performs transport work to transport a load. In the embodiment, the unmanned vehicle 2 is appropriately referred to as an unmanned dump truck 2.

[0014] A loading area 3, an earth unloading area 4, and a transport path 5 are provided at a work site 10. The loading area 3 and the earth unloading area 4 are work sites where work related to the unmanned dump truck 2 is carried out.

[0015] The loading site 3 refers to a work site where loading work is carried out to load a load onto the unmanned dump truck 2. An example of the load is an excavated material excavated at the loading site 3. At the loading site 3, a loader 7 is operated to load the load onto the unmanned dump truck 2. An example of the loader 7 is a hydraulic excavator. The unmanned dump truck 2 can travel at the loading site 3. Note that the survey vehicle 1 may also travel at the loading site 3.

[0016] The soil unloading site 4 refers to a work site where soil unloading work is carried out, in which the load is unloaded from the unmanned dump truck 2. The soil unloading site 4 is provided with, for example, a crusher 8 that crushes the load unloaded from the unmanned dump truck 2. The unmanned dump truck 2 can travel through the soil unloading site 4. Note that the survey vehicle 1 may also travel through the soil unloading site 4.

[0017] The conveying path 5 refers to a traveling path on which at least one of the survey vehicle 1 and the unmanned dump truck 2 travels. The conveying path 5 leads to a work site. That is, the conveying path 5 is connected to each of the loading site 3 and the soil unloading site 4. The conveying path 5 is provided so as to connect at least the loading site 3 and the soil unloading site 4. The unmanned dump truck 2 heading toward at least one of the loading site 3 and the soil unloading site 4 travels on the conveying path 5. The unmanned dump truck 2 travels on the conveying path 5, for example, to travel back and forth between the loading site 3 and the soil unloading site 4.

[0018] The transport paths 5 include intersections 6. The intersections 6 refer to areas where a plurality of transport paths 5 intersect, or areas where one transport path 5 branches into a plurality of transport paths 5.

[0019] [Management system] 2 is a diagram that illustrates a management system 11 for a work site 10 according to this embodiment. The management system 11 manages at least an unmanned dump truck 2 that operates at the work site 10.

[0020] The management system 11 includes a management device 12 and a communication system 13. The management device 12 is disposed outside the survey vehicle 1 and the unmanned dump truck 2. The management device 12 is installed in a control facility 14 at the work site 10. The management device 12 includes a computer system. Examples of the communication system 13 include the Internet, a mobile phone communication network, a satellite communication network, or a local area network (LAN).

[0021] The survey vehicle 1 has a vehicle body 101, a traveling device 102, a control device 15, and a wireless communication device 13A. The vehicle body 101 includes a vehicle body frame. The vehicle body 101 is supported by the traveling device 102. The traveling device 102 supports the vehicle body 101 and travels. The traveling device 102 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device. The control device 15 includes a computer system. The wireless communication device 13A is connected to the control device 15.

[0022] The unmanned dump truck 2 has a vehicle body 201, a traveling device 202, a dump body 203, a control device 16, and a wireless communication device 13B. The vehicle body 201 includes a vehicle body frame. The vehicle body 201 is supported by the traveling device 202. The traveling device 202 supports the vehicle body 201 and travels. The traveling device 202 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device. The dump body 203 is a member on which a load is loaded. The dump body 203 is supported by the vehicle body 201. The dump body 203 performs a dumping operation and a lowering operation. The dumping operation refers to an operation of moving the dump body 203 away from the vehicle body 201 and tilting it in the dumping direction. The lowering operation refers to an operation of moving the dump body 203 closer to the vehicle body 201. When a loading operation is performed, the dump body 203 performs a lowering operation. When performing an earth removal operation, the dump body 203 performs a dumping operation. The control device 16 includes a computer system. The wireless communication device 13B is connected to the control device 16.

[0023] The communication system 13 includes a wireless communication device 13A connected to the control device 15, a wireless communication device 13B connected to the control device 16, and a wireless communication device 13C connected to the management device 12. The management device 12 and the control device 15 of the survey vehicle 1 communicate wirelessly via the communication system 13. The management device 12 and the control device 16 of the unmanned dump truck 2 communicate wirelessly via the communication system 13.

[0024] FIG. 3 is a block diagram showing a management system 11 of a work site 10 according to the present embodiment. A management device 12, a wireless communication device 13C, an input device 31, and a display device 32 are arranged in a control facility 14. The wireless communication device 13C, the input device 31, and the display device 32 are each connected to the management device 12. An administrator is present in the control facility 14. When the input device 31 is operated by the administrator, input data is generated. Examples of the input device 31 include a touch panel, a computer keyboard, and an input button. The display device 32 outputs display data and provides it to the administrator. Examples of the display device 32 include a flat panel display such as a liquid crystal display or an organic EL display. The management device 12 has a travel data generation unit 121, a display control unit 122, an input data acquisition unit 123, a division unit 124, and a storage unit 125.

[0025] The travel data generation unit 121 generates travel data indicating the travel conditions of the unmanned dump truck 2. The travel data includes a travel course 42 of the unmanned dump truck 2. The travel data generation unit 121 transmits the travel data to the unmanned dump truck 2 via the communication system 13.

[0026] The display control unit 122 controls the display device 32. The display control unit 122 causes the display device 32 to display the display data.

[0027] The input data acquisition unit 123 acquires input data from the input device 31 .

[0028] The dividing unit 124 divides the traveling course 42 generated by the traveling data generating unit 121. In the following description, the divided traveling course 42 will be appropriately referred to as a divided course.

[0029] The storage unit 125 stores divided course data indicating the divided course.

[0030] The survey vehicle 1 has a control device 15, a wireless communication device 13A, a position sensor 17, and an orientation sensor 18. Each of the wireless communication device 13A, the position sensor 17, and the orientation sensor 18 can communicate with the control device 15.

[0031] The position sensor 17 detects the position of the survey vehicle 1. The position of the survey vehicle 1 is detected using a Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes a Global Positioning System (GPS). The Global Navigation Satellite System detects the position of the survey vehicle 1 in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The global coordinate system is a coordinate system fixed to the earth. The position sensor 17 includes a GNSS receiver and detects the absolute position of the survey vehicle 1 in the global coordinate system.

[0032] The orientation sensor 18 detects the orientation of the survey vehicle 1. The orientation sensor 18 includes a calculator that calculates the orientation from the position data detected by the two GNSS antennas. The calculator calculates the orientation from a vector connecting the two GNSS antennas. The orientation sensor 18 may include a gyro sensor.

[0033] The control device 15 transmits detection data from a position sensor 17 indicating the position of the survey vehicle 1 and detection data from a direction sensor 18 indicating the direction of the survey vehicle 1 to the management device 12 via the communication system 13.

[0034] The unmanned dump truck 2 has a control device 16, a wireless communication device 13B, a position sensor 22, an orientation sensor 23, a speed sensor 24, and a traveling device 202. Each of the wireless communication device 13B, the position sensor 22, the orientation sensor 23, and the speed sensor 24 can communicate with the control device 16. The traveling device 202 is controlled by the control device 16.

[0035] The position sensor 22 detects the position of the unmanned dump truck 2. The position sensor 22 includes a GNSS receiver, and detects the absolute position of the unmanned dump truck 2 in the global coordinate system.

[0036] The orientation sensor 23 detects the orientation of the unmanned dump truck 2. An example of the orientation sensor 23 is a gyro sensor.

[0037] The speed sensor 24 detects the traveling speed of the unmanned dump truck 2. An example of the speed sensor 24 is a pulse sensor that detects the rotation of the wheels of the unmanned dump truck 2.

[0038] The control device 16 acquires the traveling data of the unmanned dump truck 2 generated in the management device 12 via the communication system 13. The control device 16 acquires detection data from a position sensor 22 indicating the position of the unmanned dump truck 2, detection data from a direction sensor 23 indicating the direction of the unmanned dump truck 2, and detection data from a speed sensor 24 indicating the traveling speed of the unmanned dump truck 2. The control device 16 controls the traveling device 202 based on the traveling data, the detection data from the position sensor 22, the detection data from the direction sensor 23, and the detection data from the speed sensor 24.

[0039] FIG. 4 is a hardware configuration diagram of the management device 12 according to this embodiment. The management device 12 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the management device 12 described above are stored in the storage 1003 as computer programs. The processor 1001 reads the computer program from the storage 1003, expands it in the main memory 1002, and executes processing according to the program. The computer program may be distributed to the computer system 1000 via a network. Each of the control device 15 and the control device 16 also includes a computer system 1000 as shown in FIG. 4. The functions of the control device 15 and the control device 16 described above are stored in the storage 1003 as computer programs.

[0040] <Driving data> 5 is a diagram for explaining the traveling data of the unmanned dump truck 2 according to this embodiment. The traveling data of the unmanned dump truck 2 specifies the traveling conditions of the unmanned dump truck 2. The traveling data of the unmanned dump truck 2 includes a traveling point 41, a traveling course 42, a target position of the unmanned dump truck 2, a target orientation of the unmanned dump truck 2, and a target traveling speed of the unmanned dump truck 2. The traveling data of the unmanned dump truck 2, including the traveling course 42, is generated in the traveling data generating unit 121.

[0041] A plurality of travel points 41 are set at a work site. The travel points 41 define a target position of the unmanned dump truck 2. A target orientation of the unmanned dump truck 2 and a target travel speed of the unmanned dump truck 2 are set for each of the plurality of travel points 41. The plurality of travel points 41 are set at intervals. The intervals between the travel points 41 may be uniform or non-uniform.

[0042] The target position of the unmanned dump truck 2 refers to the target position of the unmanned dump truck 2 when passing the travel point 41. The target position of the unmanned dump truck 2 may be defined in a local coordinate system of the unmanned dump truck 2 or in a global coordinate system. The target orientation of the unmanned dump truck 2 refers to the target orientation of the unmanned dump truck 2 when passing the travel point 41. The target traveling speed of the unmanned dump truck 2 refers to the target traveling speed of the unmanned dump truck 2 when passing the travel point 41.

[0043] The travel course 42 refers to a virtual line that indicates a target travel route of the unmanned dump truck 2. The travel course 42 is defined by a trajectory that passes through a plurality of travel points 41. The unmanned dump truck 2 travels in the work site according to the travel course 42. The unmanned dump truck 2 travels such that the center of the unmanned dump truck 2 and the travel course 42 coincide with each other in the vehicle width direction of the unmanned dump truck 2.

[0044] The control device 16 controls the traveling device 202 so that the unmanned dump truck 2 travels along the travel course 42 based on the detection data of the position sensor 22 and the detection data of the orientation sensor 23. That is, the control device 16 controls the traveling device 202 so that the deviation between the detected position of the unmanned dump truck 2 detected by the position sensor 22 when passing the travel point 41 and the target position of the unmanned dump truck 2 set at the travel point 41 becomes small. In addition, the control device 16 controls the traveling device 202 so that the deviation between the detected orientation of the unmanned dump truck 2 detected by the orientation sensor 23 when passing the travel point 41 and the target orientation of the unmanned dump truck 2 set at the travel point 41 becomes small. In addition, the control device 16 controls the traveling device 202 so that the unmanned dump truck 2 travels at a target travel speed based on the detection data of the speed sensor 24. That is, the control device 16 controls the traveling device 202 so that the deviation between the detected traveling speed of the unmanned dump truck 2 detected by the speed sensor 24 when passing the traveling point 41 and the target traveling speed of the unmanned dump truck 2 set at the traveling point 41 is reduced.

[0045] In this embodiment, the traveling course 42 includes a first traveling course 421 and a second traveling course 422. The second traveling course 422 is generated next to the first traveling course 421. Each of the first traveling course 421 and the second traveling course 422 is generated on the conveying path 5. The first traveling course 421 is generated in parallel with at least a part of the second traveling course 422. At least a part of the first traveling course 421 and the second traveling course 422 are substantially parallel. The traveling direction of the unmanned dump truck 2 traveling according to the first traveling course 421 and the traveling direction of the unmanned dump truck 2 traveling according to the second traveling course 422 are substantially opposite to each other. The unmanned dump truck 2 traveling according to the first traveling course 421 and the unmanned dump truck 2 traveling according to the second traveling course 422 pass each other on the conveying path 5. The unmanned dump truck 2 travels from the loading site 3 to the soil unloading site 4 according to a first traveling course 421 , and travels from the soil unloading site 4 to the loading site 3 according to a second traveling course 422 .

[0046] <How to generate a driving course> Fig. 6 is a flowchart showing a method for generating the travel course 42 according to this embodiment. As shown in Fig. 6, the travel data generating unit 121 generates an initial course using Voronoi points (step SA), generates two optimal courses using an optimization formula for model predictive control based on the initial course (step SB), and generates two travel courses 42 (421, 422) using spline curve conversion based on the two optimal courses (step SC).

[0047] Fig. 7 is a flowchart showing a method (step SA) for generating the initial course 53 according to this embodiment. Fig. 8 is a diagram for explaining the method for generating the initial course 53 according to this embodiment.

[0048] A travelable area 50 for the unmanned dump truck 2 is set at the work site 10. The travelable area 50 refers to an area at the work site 10 in which the unmanned dump truck 2 can travel. The travel course 42 is generated in the travelable area 50.

[0049] The drivable area 50 is defined by an outline line 51 of the drivable area 50. Outside the outline line 51 is a no-drivable area. The outline line 51 includes a boundary line of the terrain of the work site 10. The boundary line of the terrain refers to a characteristic part that can divide the work site, such as a bank or a cliff.

[0050] The survey vehicle 1 travels in the drivable area 50 along the outline line 51. The survey vehicle 1 travels in the vicinity of the outline line 51 along the outline line 51. A survey line 52 is set based on the travel trajectory of the survey vehicle 1 traveling along the outline line 51. The survey line 52 refers to a virtual line that divides the drivable area 50 derived using the survey vehicle 1 from the no-drivable area.

[0051] The survey vehicle 1 is a manned vehicle that travels based on driving operations by a driver. During the travel of the survey vehicle 1, the position of the survey vehicle 1 is detected by the position sensor 17, and the direction of the survey vehicle 1 is detected by the direction sensor 18. The survey vehicle 1 travels along the outline line 51 while the position sensor 17 detects the position of the survey vehicle 1 and the direction sensor 18 detects the direction of the survey vehicle 1. During the travel of the survey vehicle 1, the position sensor 17 detects the position of the survey vehicle 1 at a predetermined time interval, and the direction sensor 18 detects the direction of the survey vehicle 1 at a predetermined time interval. The detection of the position of the survey vehicle 1 by the position sensor 17 and the detection of the direction of the survey vehicle 1 by the direction sensor 18 are performed simultaneously. In the following description, the point where the position sensor 17 detects the position of the survey vehicle 1 and the point where the direction sensor 18 detects the direction of the survey vehicle 1 are appropriately referred to as a survey point 61.

[0052] The multiple survey points 61 are provided at intervals. Each of the multiple survey points 61 is associated with the position of the survey vehicle 1 detected by the position sensor 17 and the orientation of the survey vehicle 1 detected by the orientation sensor 18. The survey line 52 is defined by a trajectory passing through the multiple survey points 61. The multiple survey points 61 detected by the survey vehicle 1 are appropriately referred to as survey line data.

[0053] The control device 15 of the survey vehicle 1 transmits the survey line data to the management device 12. The traveling data generation unit 121 acquires the survey line data from the survey vehicle 1. In addition, the traveling data generation unit 121 acquires vehicle data related to the specifications of the unmanned dump truck 2 (step SA1).

[0054] The travel data generation unit 121 generates Voronoi points and center points in the travelable area 50 based on the survey line data and vehicle data acquired in step SA1 (step SA2). The Voronoi points are generated at the center of two survey lines 52 defined in the road width direction. A plurality of Voronoi points are generated along the transport path 5.

[0055] The travel data generation unit 121 generates the shortest route connecting the starting point and the arrival point of the unmanned dump truck 2 on the conveying path 5 by the Dijkstra algorithm based on the Voronoi points generated in step SA2 (step SA3). An example of the starting point is the loading area 3. An example of the arrival point is the dumping area 4. The starting point may be the dumping area 4 and the arrival point may be the loading area 3. At least one of the starting point and the arrival point does not have to be a work site (the loading area 3 or the dumping area 4). At least one of the starting point and the arrival point may be, for example, a parking lot or a fuel station.

[0056] The travel data generating unit 121 performs B-spline approximation of the shortest route generated in step SA2 to generate an initial course 53 (step SA4). The initial course 53 is generated on the transport path 5 so as to connect the starting point and the arrival point of the unmanned dump truck 2. As shown in FIG. 8, the initial course 53 is generated so as to pass through the center of two survey lines 52 defined in the road width direction. The initial course 53 is generated along the transport path 5.

[0057] The traveling data generation unit 121 generates an optimum course based on the initial course 53 generated in step SA4. The optimum course refers to a route consisting of a sequence of points that serves as the basis for the traveling course 42. The optimum courses are generated on both sides of the initial course 53. The first optimum course generated on one side of the initial course 53 is the route that serves as the basis for the first traveling course 421. The second optimum course generated on the other side of the initial course 53 is the route that serves as the basis for the second traveling course 422.

[0058] In this embodiment, the traveling data generating unit 121 generates two optimal courses on both sides of one initial course 53 by an optimization formula of model predictive control (MPC). In the model predictive control, a dynamic model of the system and an optimization technique (optimization algorithm) are used.

[0059] The travel data generating unit 121 generates two optimal courses on either side of a single initial course 53 using an optimization equation for model predictive control.

[0060] In the model predictive control, the traveling data generating unit 121 calculates two optimal courses so as to minimize the evaluation function, with the vehicle data and course parameters as constraint conditions.

[0061] 9 is a diagram for explaining the constraint conditions according to this embodiment. The constraint conditions include vehicle data and course parameters. Examples of the vehicle data include the maximum turning angle of the unmanned dump truck 2 and the dimensions of the unmanned dump truck 2. Examples of the course parameters include the target relative distance G between the first traveling course 421 and the second traveling course 422.

[0062] 9, the dimensions of the unmanned dump truck 2 include the vehicle width W and length L of the unmanned dump truck 2. In this embodiment, the length L is the distance between the axle of the rear wheels and the front end of the vehicle body 201 in the front-rear direction of the unmanned dump truck 2.

[0063] As shown in FIG. 9, the target relative distance G is a value that is the shortest within a range in which the unmanned dump truck 2 traveling on the first traveling course 421 and the unmanned dump truck 2 traveling on the second traveling course 422 can pass each other. The target relative distance G is set in consideration of a travel control error D (position deviation amount) in the vehicle width direction of the unmanned dump truck 2 traveling at a target traveling speed. The travel control error D refers to the deviation amount in the vehicle width direction between the target position and the actual position of the unmanned dump truck 2 traveling along the traveling course 42. The travel control error D becomes larger as the traveling speed of the unmanned dump truck 2 becomes higher, and becomes smaller as the traveling speed of the unmanned dump truck 2 becomes lower. In addition, a margin value (for example, 2 m) is added to the target relative distance G.

[0064] Fig. 10 is a flowchart showing a method (step SC) for generating the travel course 42 according to this embodiment. Fig. 11 is a diagram for explaining the method for generating the travel course 42 according to this embodiment.

[0065] The travel data generation unit 121 generates two travel courses 42 (421, 422) based on the two optimal courses generated in step SB. The optimal courses are routes consisting of a sequence of points. The travel data generation unit 121 converts the optimal courses consisting of a sequence of points into an editable travel course 42.

[0066] The travel data generation unit 121 extracts the interpolation points (step SC1), and generates the travel course 42 from the optimum course by B-spline approximation using the interpolation points (step SC2). The travel course 42 is a smooth curve defined based on the interpolation points. As shown in FIG. 11, the optimum course is approximated by B-spline, so that the travel course 42 consisting of a smooth curve is generated on both sides of the initial course 53. A first travel course 421 is generated on one side of the initial course 53 in the road width direction, and a second travel course 422 is generated on the other side of the initial course 53.

[0067] Fig. 12 is a diagram showing a traveling course 42 displayed on the display device 32 according to this embodiment. As shown in Fig. 12, a first traveling course 421 and a second traveling course 422 are generated between a pair of outline lines 51. The first traveling course 421 and the second traveling course 422 are generated without being significantly affected by the shape of the outline line 51 (survey line 52). The first traveling course 421 and the second traveling course 422 are generated to be substantially parallel. Each of the first traveling course 421 and the second traveling course 422 is generated so as to connect the starting point and the arrival point over a short distance.

[0068] <Changing the course> 13 is a diagram for explaining a method for changing the traveling course 42 according to this embodiment. The traveling data generating unit 121 can change the shape of the traveling course 42 based on input data from the input device 31. If the input device 31 is a touch panel provided on the display device 32, the manager can change the traveling course 42 to any shape by touching a part of the traveling course 42 with his / her finger and moving his / her finger.

[0069] <Divide the course> Fig. 14 and Fig. 15 are diagrams for explaining a method for dividing a travel course 42 according to this embodiment. Fig. 14 shows an example of a display device 32 that displays the travel course 42 before it is divided. Fig. 15 shows an example of a display device 32 that displays the travel course 42 after it has been divided.

[0070] The dividing unit 124 divides the travel course 42. The dividing unit 124 divides the travel course 42 based on input data from the input device 31. In the example shown in FIG. 14, a first loading site 3A, a second loading site 3B, a first soil discharge site 4A, and a second soil discharge site 4B are provided at the work site 10. The travel course 42 is generated on the conveying path 5 so as to connect the first loading site 3A and the first soil discharge site 4A. In addition, the conveying path 5 includes a first intersection 6A and a second intersection 6B.

[0071] The situation at the work site 10 changes daily. For example, when work at the first dumping site 4A is completed, there is a possibility that the first dumping site 4A will become unnecessary. When work at at least one of the multiple work sites present at the work site 10 is completed, the manager operates the input device 31 so that the travel course 42 is divided. Input data generated by operating the input device 31 is transmitted to the management device 12. The input data acquisition unit 123 acquires input data indicating that the travel course 42 is to be divided. The division unit 124 divides the travel course 42 based on the input data indicating that the travel course 42 is to be divided.

[0072] As shown in FIG. 15, the division unit 124 divides the traveling course 42 based on the intersection 6 of the conveying path 5. In the example shown in FIG. 15, the traveling course 42 is divided to generate a divided course 4201, a divided course 4202, a divided course 4203, and a divided course 4204. The divided course 4201 includes the traveling course 42 that was generated at the first intersection 6A. The divided course 4202 includes the traveling course 42 that was generated on the conveying path 5 between the first intersection 6A and the second intersection 6B. The divided course 4203 includes the traveling course 42 that was generated at the second intersection 6B. The divided course 4204 includes the traveling course 42 that was generated on the conveying path 5 between the second intersection 6B and the first loading site 3A. The divided course data indicating the divided courses (4201, 4202, 4203, 4204) is stored in the storage unit 125.

[0073] Furthermore, the division unit 124 deletes at least one of the multiple divided courses. For example, when the first dumping site 4A becomes unnecessary, the division unit 124 deletes the divided course connected to the first dumping site 4A. In the example shown in Fig. 15, the division unit 124 deletes the divided course consisting of the traveling course 42 that was generated on the conveying path 5 between the first dumping site 4A and the first intersection 6A.

[0074] <Management method> 16 is a flowchart showing a method for dividing the travel course 42 according to this embodiment. When work is completed in at least one of the multiple work areas present in the work site 10, the manager operates the input device 31 so as to generate input data indicating that a work area where work has been completed has been created. By operating the input device 31, input data indicating that a work area where work has been completed has been created is generated. The input data acquisition unit 123 acquires the input data indicating that a work area where work has been completed has been created (step SD1).

[0075] The dividing unit 124 divides the traveling course 42 based on the input data indicating that a work site where work has been completed has occurred (step SD2). For example, when input data indicating that work at the first dumping site 4A has been completed is generated, the dividing unit 124 divides the traveling course 42 based on the input data indicating that work at the first dumping site 4A has been completed. The dividing unit 124 divides the traveling course 42 for each of a plurality of intersections 6.

[0076] The manager may operate the input device 31 so as to divide the travel course 42. The dividing unit 124 may divide the travel course 42 based on input data indicating that the travel course 42 is to be divided.

[0077] 15, the dividing unit 124 divides the traveling course 42 based on the intersections 6 of the conveying path 5. The divided course data indicating the divided courses (4201, 4202, 4203, 4204) is stored in the memory unit 125 (step SD3). The dividing unit 124 may also delete at least one divided course from among the multiple divided courses.

[0078] Fig. 17 is a diagram for explaining the divided course data stored in the storage unit 125 according to this embodiment. As shown in Fig. 17, the storage unit 125 stores the data name of the divided course data, the update date and time (division date and time), the position of the divided course, and the length of the divided course.

[0079] <Effects> As described above, according to this embodiment, when the situation at the work site 10 changes, the travel course 42 is divided into a plurality of divided courses. In this embodiment, when a work site where work has been completed occurs, the travel course 42 is divided into a plurality of divided courses. By dividing the travel course 42 into a plurality of divided courses and managing each divided course, the expansion of the memory unit 125 that stores the travel course 42 is suppressed. In addition, by deleting unnecessary divided courses, the expansion of the memory unit 125 is effectively suppressed. In addition, by storing the travel course 42 in a state in which it is divided into a plurality of divided courses in the memory unit 125, the travel data generation unit 121 can generate a new travel course 42 by combining any divided courses.

[0080] <Other embodiments> In the above-described embodiment, the dividing unit 124 divides the traveling course 42 based on the intersection 6 of the transport path 5. The dividing unit 124 may divide the traveling course 42 based on the work site. That is, the dividing unit 124 may divide the traveling course 42 based on the loading site 3. The dividing unit 124 may divide the traveling course 42 based on the discharge site 4.

[0081] In the above-described embodiment, the unmanned vehicle is the unmanned dump truck 2. The unmanned vehicle may be, for example, an unmanned water sprinkler truck.

[0082] In the above-described embodiment, at least a part of the functions of the management device 12 may be provided in the control device 16. For example, the control device 16 may have at least one function of the travel data generation unit 121, the display control unit 122, the input data acquisition unit 123, the division unit 124, and the storage unit 125.

[0083] In the above-described embodiment, the functions of the management device 12 may be configured by separate hardware. That is, the travel data generation unit 121, the display control unit 122, the input data acquisition unit 123, the division unit 124, and the storage unit 125 may each be configured by separate hardware. [Explanation of symbols]

[0084] 1...Survey vehicle (manned vehicle), 2...Unmanned dump truck (unmanned vehicle, transport vehicle), 3...Loading area, 4...Soil discharge area, 5...Transportation route, 6...Intersection, 7...Loader, 8...Crusher, 10...Work site, 11...Management system, 12...Management device, 13...Communication system, 13A...Wireless communication device, 13B...Wireless communication device, 13C...Wireless communication device, 14...Control facility, 15...Control device, 16...Control device, 17...Position sensor, 18...Orientation sensor, 22...Position sensor, 23...Orientation sensor, 24...Speed ​​sensor, 31...Input device, 32...Display device, 41...Travel point, 42...driving course, 50...drivable area, 51...outline line, 52...survey line, 53...initial course, 101...vehicle body, 102...running gear, 121...driving data generation unit, 122...display control unit, 123...input data acquisition unit, 124...division unit, 125...memory unit, 201...vehicle body, 202...running gear, 203...dump body, 421...first driving course, 422...second driving course, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface.

Claims

1. A travel data generating unit that generates a travel course of a transport vehicle operating at a work site; A dividing unit that divides the travel course; A storage unit that stores divided course data indicating the divided traveling course. Work site management system.

2. An input data acquisition unit that acquires input data from an input device, The dividing unit divides the traveling course based on the input data. The work site management system according to claim 1 .

3. The transport vehicle travels along at least a portion of a transport path leading to a work site; The travel course is generated on the transport path, The dividing unit divides the traveling course based on at least one of an intersection of the transport path and the work area. The work site management system according to claim 1 .

4. An input data acquisition unit that acquires input data from an input device, The division unit deletes the divided course data stored in the storage unit based on the input data. The work site management system according to claim 1 .

5. Generating a travel course for a transport vehicle operating at a work site; Dividing the travel course; and storing divided course data indicating the divided traveling course in a storage unit. How to manage the work site.

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