Program and Method
The program and method improve the usability of multiple mobile devices by using proximity communication to detect cooperation information and adjust communication frequency, addressing operational burdens and coordination challenges.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- JDC INC
- Filing Date
- 2024-12-23
- Publication Date
- 2026-07-03
Smart Images
Figure 2026111305000001_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a program and a method.
Background Art
[0002] Conventionally, a scraper vehicle equipped with a scraper for excavating the ground surface or the like has been used at a civil engineering site. The scraper vehicle has a towed type that is towed from the front and a self-propelled type. Both types of scraper vehicles are moved forward by being pushed from the rear. The towed type scraper is disclosed in Patent Document 1 and the like.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] When the scraping cost of the ground by the towed type scraper is large, the blade of the scraper may bite into the ground surface, and the running resistance may increase. In this case, the drive wheels of the towing vehicle may spin or the like, and the towing vehicle alone cannot tow the scraper vehicle. Therefore, the scraper vehicle may be pushed from the rear using another moving device (referred to as a pusher device).
[0005] However, at present, in order to appropriately cooperate the towing vehicle, the scraper, and the pusher device, the operation burden on the operator is large, and further, it is very difficult to check the vehicle and the surroundings. Note that not only the scraper and the pusher device but also when a plurality of moving devices cooperate, there are similar problems.
[0006] Therefore, an object of the present invention is to provide a program and a method that can improve the usability when a plurality of moving devices cooperate. [Means for solving the problem]
[0007] The program according to the present invention causes a computer to repeatedly perform the following processes: acquire location information of a first mobile device, acquire location information of a second mobile device via proximity communication, and detect information regarding cooperation between the first mobile device and the second mobile device based on the location information of the first mobile device and the location information of the second mobile device, with the frequency of detecting the information regarding cooperation varying depending on the distance between the first mobile device and the second mobile device.
[0008] The method according to the present invention involves a computer repeatedly performing the following steps: acquiring location information of a first mobile device; acquiring location information of a second mobile device via proximity communication; and detecting information relating to cooperation between the first mobile device and the second mobile device based on the location information of the first mobile device and the location information of the second mobile device. The frequency at which the information relating to cooperation is detected varies depending on the distance between the first mobile device and the second mobile device. [Effects of the Invention]
[0009] The program and method according to the present invention have the effect of improving usability when coordinating multiple mobile devices. [Brief explanation of the drawing]
[0010] [Figure 1] Figure 1 is a schematic diagram showing a work site where a scraper device and a pusher device according to one embodiment are used. [Figure 2] Figure 2 shows the scraper device viewed from the side. [Figure 3] Figure 3 is a block diagram showing the control system of a towing vehicle, a scraper vehicle, and a first support unit according to one embodiment. [Figure 4] Figure 4 is a schematic diagram showing a pusher device according to one embodiment, viewed from the side. [Figure 5] Figure 5 is a block diagram showing the control system of a pusher device and a second support unit according to one embodiment. [Figure 6] Figure 6(a) shows the scraper vehicle viewed from the rear, and Figure 6(b) is a schematic diagram showing the pusher device viewed from the front. [Figure 7] Figure 7 is a flowchart illustrating the exchange of information between the first support unit and the second support unit. [Figure 8] Figure 8(a) shows a configuration where the towing vehicle and scraper vehicle are aligned in a straight line, Figure 8(b) shows a configuration where the towing vehicle and scraper vehicle are not aligned in a straight line, and Figure 8(c) shows an example where the pusher device is equipped with two GNSS units. [Figure 9] Figure 9 is an example screen showing the relative positions of the scraper device and the pusher device. [Figure 10] Figure 10(a) is a diagram illustrating the communication range, and Figure 10(b) is a diagram showing the relationship between distance and communication interval. [Figure 11] Figure 11 is a flowchart showing the process flow that is executed concurrently with Figure 7. [Figure 12] Figures 12(a) and 12(b) are diagrams (part 1) illustrating step S156 in Figure 11. [Figure 13] Figures 13(a) and 13(b) are diagrams (part 2) illustrating step S156 in Figure 11. [Figure 14] Figure 14 shows a modified example. [Modes for carrying out the invention]
[0011] One embodiment will be described in detail below with reference to the drawings. However, the present invention is not limited to the embodiment described below.
[0012] FIG. 1 schematically shows a site where an operation (process) using a scraper device 100 (second moving device) and a pusher device 200 (first moving device) according to an embodiment is performed. In FIG. 1, the scraper devices indicated by reference numerals 100A to 100D are shown for convenience of explanation and do not actually exist at the site. However, this is not limited thereto, and a plurality of scraper devices 100 and / or a plurality of pusher devices 200 may exist at one site. If a plurality of scraper devices 100 or a plurality of pusher devices 200 exist at the site, the processing of one cycle described later can be executed simultaneously and in parallel, so that efficiency can be improved.
[0013] In the present embodiment, the scraper device 100 moves along a path as shown in FIG. 1 and executes a one-cycle process (operation). The path is indicated by an arrow in FIG. 1. The scraper device 100 includes a scraper vehicle 20 and a towing vehicle 1 that tow the scraper vehicle 20 and travels.
[0014] In the moving area of FIG. 1, the scraper device 100 (scraper vehicle 20) is in an empty load state and does not excavate the ground surface or the like (see reference numeral 100A). The moving area in FIG. 1 can also be said to be a conveying area that the scraper device 100 conveys, and the moving process in which the scraper device 100 moves in the moving area can also be said to be a conveying process.
[0015] In the excavation area of FIG. 1, the scraper device 100 travels while leveling the traveling surface such as the ground surface by excavating. In this excavation area, it travels while storing the excavated soil or the like in the scraper vehicle 20 (see reference numerals 100 and 100B). In the excavation area, it can be said that the scraper device 100 is performing an excavation process.
[0016] In the transport area shown in Figure 1, the scraper device 100 travels with excavated material such as soil contained in the scraper vehicle 20. The scraper device 100 then travels to transport the excavated material to the unloading area (unloading area (soil accumulation area)) (see reference numeral 100C). In this transport area, the tip of the scraper 25 does not come into contact with the ground surface and does not excavate the ground surface (scraper 25 is retracted). It can be said that the scraper vehicle 20 is performing the transport process in the transport area.
[0017] In the unwinding region of Figure 1, the scraper device 100 unloads the excavated material from the scraper vehicle 20 and unwinds (spreads out) the unloaded excavated material (see reference numeral 100D). In the unwinding region of Figure 1, the scraper device 100 is performing an unwinding process, which can also be described as a discharge process in which the excavated material is discharged from the scraper device 100.
[0018] Here, the excavation process → transportation process → unwinding process → movement process constitutes one cycle, and the time required for one cycle is called the cycle time.
[0019] (Scraper device 100) Figure 2 shows the scraper device 100 viewed from the side. As mentioned above, the scraper device 100 includes a towing vehicle 1 and a scraper vehicle 20. The scraper vehicle 20 is the towed vehicle towed by the towing vehicle 1. A first support unit 80 (see Figure 3) is provided near the driver's seat of the towing vehicle 1 (described later). In Figure 2, the direction in front of the towing vehicle 1 in the direction of travel is indicated as the -X direction, the direction behind is indicated as the +X direction, the left side of the towing vehicle 1 in the direction of travel is indicated as the -Y direction, the right side is indicated as the +Y direction, the upper vertical side is indicated as the +Z direction, and the lower vertical side is indicated as the -Z direction.
[0020] (Towing vehicle 1) The towing vehicle 1 tows the scraper vehicle 20, and the scraper vehicle 20 is connected to the towing vehicle 1 via a coupling part (hitch 21) on the scraper vehicle 20. A flexible ball joint 22 is provided at one end of the hitch 21 (the end on the -X direction), and the ball joint 22 is detachably attached to the towing vehicle 1. A flexible ball joint (not shown) is also provided at the other end of the hitch 21 (the end on the +X direction).
[0021] (Scraper vehicle 20) As shown in Figure 2, the scraper vehicle 20 comprises the aforementioned hitch 21, frame 23, bowl 24, scraper 25, axle 26, and wheel 27.
[0022] Frame 23 is a metal frame that supports structures such as bowl 24. Bowl 24 is open on the top side (+Z direction side) and is used to contain excavated materials such as soil and sand excavated by scraper 25.
[0023] The scraper 25, also known as a cutter, is a blade-shaped or spatula-shaped component used to excavate soil and sand from the ground surface or other running surface. In this embodiment, the scraper 25 is integrally provided with the bowl 24 at the bottom of the bowl 24.
[0024] Since the bowl 24 and the scraper 25 are integrally provided, the cutter drive device (hydraulic cylinder) 32 in Figure 3 tilts the bowl 24 toward the ground surface (-Z direction), allowing the scraper 25 to bite into the ground surface and excavate soil. Furthermore, by adjusting the degree to which the scraper 25 bites into the ground surface using the cutter drive device 32, the depth (degree of excavation) of the scraper 25 in relation to the ground surface (soil) and the movement speed of the scraper 25 (scraper device 100) can be adjusted. In addition, the bowl 24 is provided with an opening (not shown), and when the bowl 24 is tilted toward the ground surface (-Z direction), the excavated material from the scraper 25 is contained within the bowl 24 through this opening.
[0025] Once the excavation by the scraper 25 is complete, the cutter drive device 32 tilts the bowl 24 toward the +Z direction relative to the ground surface, so that the scraper 25 is lifted away from the ground surface.
[0026] The bowl 24 is provided with a gate (not shown) for discharging (unwinding) the excavated material contained within the bowl 24, and this gate is opened and closed by a gate drive device (hydraulic cylinder) 34 shown in Figure 3. The bowl 24 also contains an ejector (not shown) for pushing the excavated material contained within the bowl 24 out of the bowl 24. The ejector is driven in the X-axis direction by an ejector drive device (hydraulic cylinder) 36 shown in Figure 3.
[0027] The axle 26 rotates due to the traction force of the towing vehicle 1. Wheels 27 are connected to both ends of the axle 26. The wheels 27 are a pair of driven wheels that rotate in conjunction with the rotation of the axle 26. Multiple pairs of wheels 27 may be provided at the front and rear of the scraper vehicle 20 (i.e., front and rear wheels).
[0028] Figure 6(a) shows the scraper vehicle 20 as viewed from the rear (+X direction). Two markers 28 are provided near the wheels 27 of the scraper vehicle 20. As an example, the markers 28 are sheet-like members with a checkerboard pattern as shown in Figure 6(a). Note that the markers 28 may also be drawn directly onto a part of the scraper vehicle 20. The number of markers 28 is not limited to two; at least one or more are required, and two or more may be provided.
[0029] Figure 3 is a block diagram showing the control systems of the towing vehicle 1, scraper vehicle 20, and first support unit 80 according to one embodiment.
[0030] As shown in Figure 3, the scraper vehicle 20 includes a control device 30, a cutter drive device 32, a gate drive device 34, an ejector drive device 36, a weight measuring device 38, a speed measuring device 40, a cylinder stroke detection device 44, a communication device 46, and a storage device 48.
[0031] The control device 30, including a CPU, comprehensively controls the operation of each part of the scraper vehicle 20. The control device 30 is an example of a computer that executes processing. The weight measuring device 38 is a sensor such as a strain gauge that measures the weight of the excavated material in the bowl 24. The speed measuring device 40 is a sensor such as a GNSS (Global Navigation Satellite System) sensor or a sensor that detects the rotation speed of the axle 26, and measures the speed of the scraper vehicle 20. The cylinder stroke detection device 44 is a sensor that detects the stroke of the hydraulic cylinder provided on the scraper vehicle 20. The communication device 46 exchanges information with the communication device 50 of the towing vehicle 1. The storage device 48 is a non-volatile memory, etc., that stores and manages data acquired by the control device 30. The storage device 48 stores a program for the control device 30 to execute processing.
[0032] As shown in Figure 3, the towing vehicle 1 includes a communication device 50, a display device 52, an operating device 54, a drive device 56, and a rotation speed detection device 58. The towing vehicle 1 may also include a control device (not shown). The control device (not shown) includes a CPU and the like, and comprehensively controls the operation of each part of the towing vehicle 1. The control device (not shown) is an example of a computer that performs processing.
[0033] The communication device 50 exchanges information with the communication device 46 of the scraper vehicle 20. The display device 52 displays the information transmitted from the scraper vehicle 20 via the communication devices 46 and 50. The scraper vehicle 20 transmits instruction information (such as how much the bowl 24 should be tilted) to the operator (driver) of the towing vehicle 1. The display device 52 can display the instruction information transmitted from the scraper vehicle. By checking the instruction information, the operator (driver) can easily operate the towing vehicle 1 and the scraper vehicle 20.
[0034] The operating device 54 includes a handle, accelerator, and buttons for operating the scraper vehicle 20, which are operated by the operator. Operation information for the scraper vehicle 20 is notified to the control device 30 of the scraper vehicle 20 via communication devices 50 and 46. Operation information for the scraper vehicle 20 is, for example, information generated by operating the buttons for operating the scraper vehicle 20.
[0035] The drive unit 56 drives various parts of the towing vehicle 1 in response to steering wheel and accelerator operations by the operator. The rotation speed detection device 58 is a sensor that detects the rotation speed of the axle on which the wheels of the towing vehicle 1 are attached.
[0036] (First Support Unit 80) The first support unit 80 is partially or entirely implemented by a terminal device such as a tablet terminal. That is, some components of the first support unit 80 may be externally attached to the terminal device. The first support unit 80 includes a display device 81, a position detection device 82, an accelerometer 83, a control device 85, a storage device 86, and a communication device 87.
[0037] The display device 81 displays various information, including support information to assist the driver (operator) of the towing vehicle 1 in their driving (operation).
[0038] The position detection device 82 is a GNSS sensor that detects the position information of the scraper device 100. In this embodiment, the position detection device 82 has, for example, two GNSS sensors, one of which is installed on the towing vehicle 1 and the other on the scraper vehicle 20. As will be described in detail later, by using the position information detected by the two GNSS sensors, attitude information of the towing vehicle 1 and the scraper vehicle 20 can also be obtained. If the speed measuring device 40 is a GNSS sensor, that GNSS sensor may be used as the position detection device 82. When a GNSS sensor is used as the position detection device 82, the number of sensor parts can be reduced, which in turn reduces the cost of manufacturing the device and makes it easier to secure space for the device.
[0039] The accelerometer 83 is used to detect the attitude information (attitude information relative to the horizontal plane) of the scraper vehicle 20.
[0040] The control device 85, equipped with a CPU and other components, controls the display on the display device 81 based on the detection results from the position detection device 82, the detection results from the accelerometer 83, and information acquired from the second support unit 90 via the communication device 87. The control device 85 is an example of a computer that performs processing. The storage device 86 stores and manages various information acquired by the control device 85. The storage device 86 stores the program for the control device 85 to perform processing.
[0041] The communication device 87 communicates with the second support unit 90 via proximity communication to exchange various information. Bluetooth® or Wi-Fi can be used for proximity communication. The communication interval (time interval between communications) of the communication device 87 varies depending on the distance between the scraper vehicle 20 (scraper device 100) and the pusher device 200. The communication interval is an example of the frequency at which information related to the cooperation between the scraper device 100 and the pusher device 200 is detected.
[0042] (Pusher device 200) Figure 4 is a schematic diagram showing the pusher device 200 according to this embodiment as viewed from the side. In this embodiment, the pusher device 200 is a bulldozer. The pusher device 200 has a vehicle body 213, a left-side track 151, a right-side track 152, a blade 215, and a ripper workpiece 216.
[0043] The vehicle body 213 is supported by the left-side track 151 and the right-side track 152. The left-side track 151 and the right-side track 152 support the vehicle body 213 as it moves. The vehicle body 213 is equipped with a driver's seat, and a second support unit 90 (see Figure 5) is provided near the driver's seat (described later).
[0044] The blade 215 performs excavation, pushing, and leveling of soil, and also contacts the scraper device 100 (scraper vehicle 20) from the rear, pushing it and moving it forward. The blade 215 is mounted on the front of the vehicle body 213. The blade 215 is operated by a hydraulic cylinder 155 (see Figure 5).
[0045] The ripper implement 216 performs ripping operations (for example, crushing soil). The work area of the ripper implement 216 includes the ground surface of the work site. The ripper implement 216 is mounted on the vehicle body 213. At least a portion of the ripper implement 216 is positioned at the rear of the vehicle body 213.
[0046] Figure 5 is a block diagram showing the control system of the pusher device 200 and the second support unit 90 according to one embodiment.
[0047] The pusher device 200 includes a left track operating unit 153 and a right track operating unit 154 for operating the left track 151 and the right track 152, a hydraulic cylinder 155 for driving the blade 215 and the ripper work machine 216, a hydraulic device 156 for supplying hydraulic pressure to brakes (not shown), the hydraulic cylinder 155, etc., a storage device 158 for storing various data, and a control device 159 for controlling the entire pusher device 200.
[0048] The left-side track 151 and the right-side track 152 are each driven by a drive motor (not shown, for example, a hydraulic motor) that operates in accordance with the operation of the left-side track operating unit 153 and the right-side track operating unit 154, respectively.
[0049] The hydraulic cylinder 155 adjusts the height and angle of the blade 215 and operates the ripper work implement 216. The hydraulic system 156 has multiple hydraulic circuits and switches the oil passages of the switching control valve to supply hydraulic pressure to a brake device (not shown), the hydraulic cylinder 155, etc.
[0050] The control device 159 is equipped with a CPU and controls the entire pusher device 200. The control device 159 is an example of a computer that performs processing.
[0051] Any type of storage device may be used for the storage device 158, and in this embodiment, a non-volatile semiconductor memory (for example, flash memory) is used. The storage device 158 stores programs for the control device 159 to execute processes, and various programs for driving the pusher device 200.
[0052] (Second Support Unit 90) The second support unit 90 is partially or entirely implemented by a terminal device such as a tablet terminal. That is, some components of the second support unit 90 may be externally attached to the terminal device. The second support unit 90 includes a display device 91, a position detection device 92, an accelerometer 93, an imaging device 94, a control device 95, a storage device 96, and a communication device 97.
[0053] The display device 91 displays various information, including support information, to assist the driver (operator) operating the pusher device 200.
[0054] The position detection device 92 is a GNSS sensor that detects the position information of the pusher device 200. In this embodiment, the position detection device 92 has, for example, two GNSS sensors, which are provided on the pusher device 200 along the direction of travel of the pusher device 200. As will be described in detail later, the orientation (direction of movement) of the pusher device 200 can be obtained by using the position information detected by the two GNSS sensors.
[0055] The accelerometer 93 is used to detect the attitude information (attitude information relative to the horizontal plane) of the pusher device 200. A gyro sensor may also be used as the accelerometer.
[0056] The imaging device 94 is a device that images the area in front of the pusher device 200 in the direction of travel. Figure 6(b) is a schematic diagram showing the pusher device 200 as viewed from the front. As shown in Figure 6(b), two imaging devices 94 are provided, for example, near the blades 215 of the pusher device 200. The distance between the two imaging devices 94 is assumed to be approximately the same as the distance between the two markers 28 shown in Figure 6(a). Depending on how the markers 28 are photographed by the imaging devices 94, it is possible to determine whether the pusher device 200 and the scraper vehicle 20 are in an appropriate state. For example, if the pusher device 200 is located directly behind the scraper device 100, the markers 28 will be photographed in the center of the field of view of each of the two imaging devices 94.
[0057] The control device 95, equipped with a CPU and the like, controls the display on the display device 91 based on the detection results from the position detection device 92, the detection results from the accelerometer 93, the imaging results from the imaging device 94, and information acquired from the first support unit 80 via the communication device 97. The storage device 96 stores and manages various types of information acquired by the control device 95.
[0058] The communication device 97 communicates with the first support unit 80 via proximity communication to exchange various information. Bluetooth® or Wi-Fi can be used for proximity communication. The communication interval of the communication device 97 changes according to the distance between the scraper vehicle 20 (scraper device 100) and the pusher device 200.
[0059] (Regarding the process in Figure 7) Next, the information exchange between the first support unit 80 and the second support unit 90 will be explained in detail, following the flowchart in Figure 7 and referring to other diagrams. In Figure 7, the first support unit 80 and the second support unit 90 perform parallel processing.
[0060] When the process shown in Figure 7 begins, in step S10, the control device 85 of the first support unit 80 determines whether communication with the second support unit 90 is possible, that is, whether communication between the communication device 87 and the communication device 97 is possible. The determination in step S10 is denied if, as shown in Figure 10(a), there is a communication range around the pusher device 200, and the scraper device 100 is located outside the communication range. The control device 85 repeatedly executes step S10 until the determination in step S10 is affirmed.
[0061] If the decision in step S10 is affirmed and the process proceeds to step S12, the control device 85 of the first support unit 80 acquires the position and orientation information of the scraper device 100 and transmits it to the second support unit 90.
[0062] Figure 8(a) shows a state in which the towing vehicle 1 and the scraper vehicle 20 are aligned in a straight line (a state in which the towing vehicle 1 is towing the scraper vehicle 20 in one direction). In this case, assuming that the two GNSS sensors included in the position detection device 82 are installed at points A and B, the control device 85 acquires the position information (latitude and longitude) of points A and B, and the distance D0 between points A and B. The position information is not limited to latitude and longitude, but may be information defined by any coordinates. If the distance D0 matches the maximum value Dmax of the predetermined distance between points A and B, then it can be said that the towing vehicle 1 and the scraper vehicle 20 are aligned in a straight line as shown by the dashed line, and the direction of travel of the towing vehicle 1 and the scraper vehicle 20 is the direction in which the dashed line extends.
[0063] On the other hand, Figure 8(b) shows a situation where the towing vehicle 1 and the scraper vehicle 20 are not aligned in a straight line (when the towing vehicle 1 is moving in a curve (turning, etc.)). In this case, the control device 85 acquires the position information of points A and B, and the distance D1 between points A and B. If the distance D1 does not match the maximum value Dmax of the distance between points A and B which is predetermined, it can be said that the towing vehicle 1 and the scraper vehicle 20 are not aligned in a straight line, as shown by the dashed line (polyline). In this case, the angle α formed by the polyline can be calculated from the distance D1.
[0064] Returning to Figure 7, the control device 95 of the second support unit 90 waits in step S110 until position information of the scraper device 100 is received. In this case, when step S12 is executed in the first support unit 80, the control device 95 proceeds to step S112. Upon proceeding to step S112, the control device 95 receives position and orientation information of the scraper device 100 sent from the first support unit 80.
[0065] Subsequently, when the system moves to step S114, the control device 95 of the second support unit 90 acquires the position and attitude information of the pusher device 200 and transmits it to the first support unit 80. Assuming that the two GNSS sensors of the position detection device 92 are located at points E and F as shown in Figure 8(c), the control device 85 acquires the position information (latitude and longitude) of points E and F and the direction (direction of travel) of the straight line (dashed line) connecting points E and F as the position and attitude information of the pusher device 200.
[0066] Returning to Figure 7, the control device 85 of the first support unit 80 waits in step S14, after step S12, until position and orientation information of the pusher device 200 is received. In this case, when step S114 is executed on the second support unit 90 side, the control device 85 moves to step S16 and receives position and orientation information of the pusher device 200.
[0067] Next, in step S18, the control device 85 of the first support unit 80 displays the relative positional relationship between the scraper device 100 and the pusher device 200 on the display device 81. For example, the control device 85 displays a screen on the display device 81 showing the positional relationship between the scraper device 100 and the pusher device 200, as shown in Figure 9. This allows the operator of the scraper device 100 to easily check the positional relationship between the scraper device 100 and the pusher device 200, as well as the direction of movement and orientation of each device, from an overhead perspective. Therefore, it is possible to improve the usability when coordinating multiple mobile devices, including the scraper device 100 and the pusher device 200.
[0068] Meanwhile, in the second support unit 90, at step S116 in Figure 7, the control device 95 displays a screen (similar to the screen in Figure 9) on the display device 91 showing the positional relationship between the scraper device 100 and the pusher device 200. This allows the operator of the pusher device 200 to easily check the positional relationship between the scraper device 100 and the pusher device 200, as well as the direction of movement and orientation of each device, from an overhead perspective. Therefore, the ease of use when coordinating multiple mobile devices, including the scraper device 100 and the pusher device 200, can be improved. After that, the process returns to step S110.
[0069] After step S18, the control device 85 of the first support unit 80 calculates the distance between the scraper device 100 and the pusher device 200 in step S20. For example, based on the positional relationship in Figure 9, it calculates the distance between the rear of the scraper device 100 and the front of the pusher device 200.
[0070] Next, in step S22, the control device 85 of the first support unit 80 sets a communication interval according to the calculated distance. For example, the relationship between distance and communication interval is predetermined as shown in Figure 10(b). The communication interval is set to vary (change) depending on the distance between the scraper device 100 and the pusher device 200. In the example in Figure 10(b), the further the distance between the scraper device 100 and the pusher device 200, the longer the communication interval. For example, if the distance between the scraper device 100 and the pusher device 200 exceeds 50m, communication is performed at 10-second intervals; if it is between 50m and 10m, communication is performed at 3-second intervals; and if it is between 10m and 0m (less than 10m), communication is performed at 1-second intervals. For example, if the distance calculated in step S20 is 45m, the communication interval is set to 3 seconds.
[0071] Next, in step S24, the control device 85 of the first support unit 80 waits until the communication timing arrives. That is, the control device 85 returns to step S12 when the time set in step S22 has elapsed since the previous communication with the second support unit 90. After that, the processing from step S12 onwards is repeatedly executed. As a result, the displays on the display devices 81 and 91 (screens in Figure 9) are updated at each communication interval (S18, S116). In this embodiment, the displays on the display devices 81 and 91 are updated more frequently the closer the scraper device 100 and the pusher device 200 are. As a result, the image is updated more frequently when there is a higher possibility of contact between the scraper device 100 and the pusher device 200, and when the scraper device 100 and the pusher device 200 must be operated more appropriately.
[0072] (Regarding the process in Figure 11) Next, we will explain the process shown in Figure 11, which is executed concurrently with the process shown in Figure 7. In Figure 11, as in Figure 7, the first support unit 80 and the second support unit 90 perform parallel processing. As a prerequisite for the process in Figure 11, it is assumed that the range of the excavation area (latitude and longitude range) in Figure 1 is predefined, and that information regarding this range is stored in the storage devices 86 and 96. The range of the excavation area is not limited to latitude and longitude and may be defined by arbitrary coordinates. Furthermore, the process in Figure 11 is assumed to begin with the scraper device 100 being located within the moving area.
[0073] When the process shown in Figure 11 begins, first, in steps S50 and S150, the control device 85 of the first support unit 80 and the control device 95 of the second support unit 90 wait until the scraper device 100 enters the excavation area. In this case, the control device 85 of the first support unit 80 determines whether the scraper device 100 has entered the excavation area based on the position information of the scraper device 100 (position information of points A and B) acquired in step S12 of Figure 7. The control device 95 of the second support unit 90 also determines whether the scraper device 100 has entered the excavation area based on the position information of the scraper device 100 (position information of points A and B) received from the first support unit 80 in step S112 of Figure 7. For example, only the control device 85 of the first support unit 80 may determine whether the scraper device 100 has entered the excavation area and transmit the result to the second support unit 90. When the scraper device 100 enters the excavation area, the process proceeds to steps S52 and S152.
[0074] In step S52, the control device 85 of the first support unit 80 displays an instruction to start excavation on the display device 81. This allows the operator of the scraper device 100 to recognize that they have entered the excavation area and should start excavating. In this case, the operator of the scraper device 100 operates the scraper vehicle 20 to start excavating.
[0075] Meanwhile, in step S152, the control device 95 of the second support unit 90 displays a follow instruction to the scraper device 100 on the display device 91. This allows the operator of the pusher device 200 to recognize that it is time to start making the pusher device 200 follow the scraper device 100.
[0076] Next, in step S154, the control device 95 of the second support unit 90 waits based on the latest position information (position information of points A, B, E, and F) of the scraper device 100 and the pusher device 200 until the distance between the scraper device 100 and the pusher device 200 (the distance between the rear of the scraper vehicle 20 and the front of the pusher device 200) becomes less than or equal to a first distance. The first distance is the distance at which the marker 28 can be imaged using the imaging device 94, and is, for example, about 10 m.
[0077] Furthermore, if the scraper vehicle 20 scrapes a large amount of ground surface, the scraper 25 (blade) of the scraper vehicle 20 may bite into the ground surface, increasing the driving resistance. In this case, around the time the judgment in step S154 is confirmed (around the time the distance between the pusher device 200 and the scraper device 100 becomes less than or equal to the first distance), the wheels 27 of the towing vehicle 1 may slip, and the towing force of the towing vehicle 1 alone will no longer be able to tow the scraper vehicle 20. In such cases, it becomes necessary to push the scraper vehicle 20 from behind using the pusher device 200.
[0078] If the determination in step S154 is affirmed, the control device 95 of the second support unit 90 detects the positional relationship and orientation of the scraper device 100 and the pusher device 200 in step S156 and displays the assist information on the display device 91. In this case, the control device 95 may detect the positional relationship and orientation of the scraper device 100 and the pusher device 200 based on the latest positional information of the scraper device 100 and the pusher device 200 (positional information of points A, B, E, and F), or it may detect the positional relationship and orientation of the scraper device 100 and the pusher device 200 based on the imaging results of the imaging device 94, either together with or instead of this.
[0079] For example, suppose the relative positions and orientations of the scraper device 100 and the pusher device 200 are as shown in Figure 12(a). In this case, the marker 28 is imaged at a position shifted to the right of the center in both the field of view of the left imaging device 94 and the field of view of the right imaging device 94. Also, as shown in Figure 12(a), if the direction of travel of the scraper device 100 (direction of the dashed line) and the direction of travel of the pusher device 200 (direction of the dashed line) coincide, the marker 28 will be imaged in a square shape. Furthermore, the size of the imaged marker 28 will also be the same on both sides. The relative positions and orientations shown in Figure 12(a) are an example of a relative position and orientation where the position of the pusher device 200 in the direction of travel is shifted to the right relative to the position of the scraper device 100 in the direction of travel.
[0080] In contrast, suppose the relative positions and orientations of the scraper device 100 and the pusher device 200 are as shown in Figure 13(a). In this case, the marker 28 is imaged at a position shifted to the left of the center, both in the field of view of the left imaging device 94 and the field of view of the right imaging device 94. Also, as shown in Figure 13(b), when the direction of travel of the scraper device 100 (direction of the dashed line) and the direction of travel of the pusher device 200 (direction of the dashed line) intersect, the shape of the marker 28 is imaged as a trapezoid. Furthermore, the size of the imaged marker 28 is also different. The relative positions and orientations shown in Figure 13(a) are an example of a relative position and orientation where the position and / or angle of the direction of travel of the pusher device 200 is shifted to the left with respect to the position and / or angle of the direction of travel of the scraper device 100.
[0081] If imaging results are obtained from the imaging device 94 as described above, in step S156, the positional relationship and orientation of the scraper device 100 and the pusher device 200 are detected from these imaging results, and based on the detection results, the amount of displacement in the direction of travel (angle difference) and the amount of displacement in the left-right direction are determined and displayed on the display device 91 as assist information. Alternatively, information from accelerometers 83 and 93 (tilt relative to the horizontal plane) may be used as orientation information for the scraper device 100 and the pusher device 200. If the tilt of the scraper device 100 relative to the horizontal plane and the tilt of the pusher device 200 relative to the horizontal plane are different, an instruction may be output (displayed) to adjust the angle of the blade 215 of the pusher device 200 (angle relative to the horizontal plane) to cancel out the difference.
[0082] Next, in step S158, the control device 95 of the second support unit 90 waits based on the latest position information of the scraper device 100 and the pusher device 200 and the imaging results of the imaging device 94 until the distance between the scraper device 100 and the pusher device 200 is less than or equal to the second distance (< first distance, the second distance is, for example, 2m) and the device is in a proper orientation. The distance between the scraper device 100 and the pusher device 200 may be determined from the position information (points A, B, E, F) of the scraper device 100 and the pusher device 200, or from the size of the marker 28 imaged by the imaging device 94. Furthermore, a proper orientation means that the deviation between the scraper device 100 and the pusher device 200 in the direction of travel is within an acceptable range, and the deviation in the left-right direction is also within an acceptable range.
[0083] If the judgment in step S158 is affirmed, the process proceeds to step S160. At the stage of proceeding to step S160, it is acceptable to push the scraper device 100 from the rear using the pusher device 200. Therefore, the control device 95 of the second support unit 90 displays the pushing start information on the display device 91 and transmits the pushing start information to the first support unit 80.
[0084] Here, the control device 85 of the first support unit 80 waits after step S52 until it receives pushing start information from the second support unit 90 in step S54. When the control device 85 receives the pushing start information, it moves to step S56 and displays the pushing start information on the display device 81. The operator of the scraper device 100, having confirmed the pushing start information on the display device 81, turns on the accelerator. This generates a driving force in the scraper device 100 that moves it away from the pusher device 200. The operator of the pusher device 200, having also confirmed the pushing start information on the display device 91, operates the pusher device 200 to push the scraper device 100 from behind. In this way, at the moment when the pusher device 200 pushes the scraper device 100 from behind, the operator of the scraper device 100 applies a driving force in the direction of travel to the scraper device 100, thereby mitigating the impact that occurs to the scraper device 100 when the pusher device 200 is pushed from behind or collides with (contacts) the scraper device 100.
[0085] Subsequently, the scraper vehicle 20 (scraper device 100) performs excavation while the distance between the pusher device 200 and the scraper device 100 remains at 0 (with the pusher device 200 pushing the scraper device 100). When the operator of the scraper device 100 determines that the excavation is complete, the operator lifts the scraper 25 off the ground. This reduces the running resistance of the scraper vehicle 20. As a result, the movement speed of the scraper device 100 increases, and the distance between the scraper device 100 and the pusher device 200 increases. At this point, the control device 95 of the second support unit 90 waits in step S162, after step S160, until the distance between the scraper device 100 and the pusher device 200 becomes greater than or equal to the third distance. The third distance can be determined as appropriate, for example, to be approximately the same distance as the second distance.
[0086] Then, when the distance between the scraper device 100 and the pusher device 200 becomes the third distance or greater, the system proceeds to step S164, and the control device 95 of the second support unit 90 displays the pushing completion information on the display device 91. This allows the operator of the pusher device 200, upon seeing the pushing completion information, to know that it is no longer necessary to push the scraper device 100 from behind. In this case, the operator of the pusher device 200 can perform operations other than pushing using the pusher device 200 (such as ripping in the excavation area using a ripper work machine) while the scraper device 100 is performing the transport, unwinding, and moving processes. After step S164, the control device 95 of the second support unit 90 returns to step S150.
[0087] Meanwhile, the control device 85 of the first support unit 80 waits in step S58, after step S56, until the scraper device 100 leaves the excavation area. Once the scraper device 100 leaves the excavation area, the judgment in step S58 is affirmed, and the process returns to step S50.
[0088] Returning to steps S50 and S150, the subsequent processes described above are repeated. In other words, one cycle of processing using the scraper device 100 and the pusher device 200 is repeatedly executed.
[0089] In this embodiment, as explained with reference to Figure 7, the communication interval between the first support unit 80 and the second support unit 90 varies depending on the distance between the scraper device 100 and the pusher device 200. The control device 95 of the second support unit 90 detects the positional relationship between the pusher device 200 and the scraper device 100, which is used when making the pusher device 200 follow the scraper device 100 or when using the pusher device 200 to push the scraper device 100 from behind, from the position information of the scraper device 100 acquired from the first support unit 80 (S116, S156). In this case, the detection frequency (the frequency of performing steps S116 and S156) can be said to vary depending on the distance between the scraper device 100 and the pusher device 200.
[0090] As described in detail above, according to this embodiment, the control device 95 of the second support unit 90 acquires position information of the pusher device 200 (position information of points E and F) and acquires position information of the scraper device 100 (position information of points A and B) via proximity communication. The control device 85 also detects information regarding the cooperation between the scraper device 100 and the pusher device 200 based on the position information of the scraper device 100 and the position information of the pusher device 200 (in this embodiment, control information used to set the positional relationship between the pusher device 200 and the scraper device 100 to a predetermined relationship, such as when making the pusher device 200 follow the scraper device 100 or when using the pusher device 200 to push the scraper device 100 from behind) (S116, S156). At this time, the detection frequency (the frequency of performing steps S116 and S156) differs depending on the distance between the scraper device 100 and the pusher device 200 (Figure 10(b)). This allows for the detection of information regarding the collaboration between the scraper device 100 and the pusher device 200 at an appropriate timing according to the distance between them, thereby improving the ease of use for the operator operating the pusher device 200. In this case, the operator's burden and the burden of checking the vehicle and surroundings can be reduced. Furthermore, the required skill level of the operator can be lowered. In addition, in this embodiment, the detection frequency can be increased when detection should be performed frequently, such as when detection accuracy is required, and decreased when detection is not particularly necessary, such as when detection accuracy is not required, thereby improving the efficiency of detection.
[0091] Furthermore, in this embodiment, when the distance between the scraper device 100 and the pusher device 200 falls below a predetermined distance (below the first distance), the amount of displacement in the direction of travel and the amount of displacement to the left and right between the scraper device 100 and the pusher device 200 are detected using the imaging results of the marker by the imaging device 94. This makes it possible to detect the necessary information at the appropriate timing (in this embodiment, the timing when the pusher device 200 needs to prepare to push the scraper device 100 from behind).
[0092] Furthermore, in this embodiment, when the pusher device 200 pushes the scraper device 100 from behind, the first support unit 80 displays pushing start information (information that the accelerator of the scraper device 100 should be turned ON because pushing will begin) on the display device 81. This reduces the load (impact) on the scraper device 100 when it is pushed by the pusher device 200.
[0093] Furthermore, in this embodiment, since proximity communication is used for communication between the first support unit 80 and the second support unit 90, it is possible to appropriately exchange information between units in situations where it is difficult to use public lines (such as when the site is in a mountainous area).
[0094] Furthermore, in this embodiment, when pushing by the pusher device 200 is required, the pusher device 200 can be brought closer to the scraper device 100 in advance. This minimizes the waiting time for the scraper device 100 when pushing is required.
[0095] Furthermore, in this embodiment, when pushing the scraper device 100 using the pusher device 200, the angle between the pusher device 200 and the scraper device 100 can be appropriately adjusted. This allows the pusher device 200 to push from the appropriate direction.
[0096] Furthermore, some of the processing of the second support unit 90 described in the above embodiment may be performed on the first support unit 80 side. Alternatively, conversely, some of the processing of the first support unit 80 described in the above embodiment may be performed on the first support unit 80 side.
[0097] In the above embodiment, the case where the control device of each device is a CPU was described, but it is not limited to this, and may be an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).
[0098] In the above embodiment, the combination of the marker 28 and the imaging device 94 was described in which the marker 28 is provided on the scraper vehicle 20 and the imaging device 94 is provided on the pusher device 200, but it is not limited to this. As shown in Figure 14(a), the imaging device 94 may be provided on the scraper vehicle 20, and as shown in Figure 14(b), the marker 28 may be provided on the pusher device 200.
[0099] In the above embodiment, the scraper device 100 and the pusher device 200 are operated by an operator, and the first support unit 80 and the second support unit 90 output (display) information to assist the operator's operation. However, the embodiment is not limited to this, and at least one of the scraper device 100 and the pusher device 200 may be an autonomous vehicle, and the first support unit 80 and the second support unit 90 may automatically control the autonomous vehicle. For example, in the above embodiment, in step S156 of Figure 11, assist information is displayed to the operator operating the pusher device 200, but if the pusher device 200 is an autonomous vehicle, the pusher device 200 may be automatically controlled based on the assist information. Also, if the scraper device 100 is an autonomous vehicle, instead of the process of displaying the pushing start information in step S56, the operation of turning on the accelerator of the scraper device 100 may be automatically controlled.
[0100] In addition, the operation to turn on the accelerator by the operator of the scraper device 100, as described in the above embodiment, may be performed on the towing vehicle 1 side. In this case, the control device 95 of the second support unit 90 transmits pushing start information to a control device (not shown) of the towing vehicle 1. When the control device (not shown) of the towing vehicle 1 receives the pushing start information from the second support unit 90, it controls the drive device 56 based on the pushing start information to turn on the accelerator (control the accelerator) and perform automatic driving. This makes it possible to generate a driving force in the scraper device 100 in the direction away from the pusher device 200 during automatic driving.
[0101] Furthermore, as described in the above embodiment, the pusher device 200 may be operated by an operator to push the scraper device 100 from behind. In this case, the control device 159 of the pusher device 200, upon receiving the pushing start information, can perform automatic operation by controlling the left and right tracks 151 and 152 based on the pushing start information. This allows for the generation of a driving force in the direction of pushing the scraper device 100 from behind during automatic operation. In this way, at the moment the pusher device 200 pushes the scraper device 100 from behind, the pusher device 200 can automatically apply a driving force in the direction of travel to the scraper device 100. Therefore, the impact on the scraper device 100 when the pusher device 200 is pushed from behind or collides with (contacts) the scraper device 100 can be automatically mitigated without operator intervention.
[0102] Furthermore, as information regarding the cooperation between the scraper device 100 and the pusher device 200 as described in the above embodiment, weight information of the scraper vehicle 20 may also be included. The weight information of the scraper vehicle 20 may include information such as the weight of the scraper vehicle 20, the weight of the scraper vehicle 20 with excavated material such as soil contained in the bowl 24, the maximum weight (maximum load capacity) that can be contained (loaded) with excavated material such as soil in the bowl 24, and the weight of the excavated material such as soil contained in the bowl 24. For example, in this embodiment, weight information of 15,000 to 22,000 kg for the scraper vehicle 20, 46,000 to 70,000 kg for the scraper vehicle 20 with excavated material such as soil contained in the bowl 24, and 31,000 to 47,000 kg for the weight of the excavated material such as soil contained in the bowl 24 and the maximum weight (maximum load capacity) that can be contained (loaded) with excavated material such as soil in the bowl 24 can be used.
[0103] For example, if the pusher device 200 is an autonomous vehicle, the driving force of the pusher device 200 may be controlled automatically based on the weight information of the scraper vehicle 20. This allows for increased efficiency of autonomous driving by increasing the driving force of the pusher device 200, even when the bowl 24 contains a large amount of excavated material such as soil and the scraper vehicle 20 is heavy.
[0104] Furthermore, if the scraper device 100 is an autonomous vehicle, the driving force of the scraper device 100 may be controlled automatically based on the weight information of the scraper vehicle 20. This allows for increased efficiency of autonomous driving even when the bowl 24 contains a large amount of excavated material such as soil and the scraper vehicle 20 is heavy, by increasing the driving force of the scraper device 100.
[0105] On the other hand, when the bowl 24 contains little excavated material such as soil and the weight of the scraper vehicle 20 is light, the energy efficiency of the scraper device 100 and / or pusher device 200 can be increased by reducing the driving force of the scraper device 100 and / or pusher device 200. The weight of the scraper vehicle 20, the weight of the scraper vehicle 20 with excavated material such as soil contained in the bowl 24, the weight of the excavated material such as soil contained in the bowl 24, and the maximum weight of excavated material such as soil that can be contained in the bowl 24 may be stored in advance in the storage devices 86 and 96. The weight of the scraper vehicle 20 with excavated material such as soil contained in the bowl 24 and the weight of the excavated material such as soil contained in the bowl 24 may be detected by sensors such as imaging devices or LiDAR (not shown).
[0106] In the above embodiment, the case in which a marker 28 and an imaging device 94 are used to detect the positional relationship and orientation of the scraper device 100 and the pusher device 200 was described, but it is not limited to this. Instead of the imaging device 94, a LiDAR (Light Detection And Ranging) may be installed on the pusher device 200, for example. In this case, the positional relationship and orientation of the scraper device 100 and the pusher device 200 may be detected based on the point cloud data of the scraper device 100 (the rear of the scraper vehicle 20) obtained by the LiDAR. The LiDAR may also be installed on the scraper device 100 side. If the LiDAR is installed on the pusher device 200, for example, the LiDAR may be used to assist in operations other than pushing of the pusher device 200. For example, the shape of the area excavated by the scraper vehicle 20 may be acquired using the LiDAR. Furthermore, if point cloud data from within the bowl 24 of the scraper vehicle 20 can be acquired using LiDAR, the load amount within the bowl 24 may be detected using LiDAR.
[0107] The embodiments described above are preferred examples of the present invention. However, the invention is not limited thereto, and various modifications are possible without departing from the spirit of the invention. [Explanation of Symbols]
[0108] 1. Towing vehicle 20 Scraper Vehicles 28 Marker 94 Imaging device 100 Scraper device (second moving device) 200 Pusher device (first moving device)
Claims
1. The position information of the first mobile device is acquired, The position information of the second mobile device is acquired via proximity communication. The computer is repeatedly made to perform a process that detects information regarding the cooperation between the first mobile device and the second mobile device based on the position information of the first mobile device and the position information of the second mobile device. A program in which the frequency of detecting the information relating to the aforementioned cooperation varies depending on the distance between the first mobile device and the second mobile device.
2. The program according to claim 1, wherein the frequency of detecting information regarding the cooperation is higher when the distance between the first moving device and the second moving device is a second distance that is shorter than the first distance, compared to when the distance between the first moving device and the second moving device is a first distance.
3. The position information of the first mobile device is acquired along with the orientation information of the first mobile device. The program according to claim 1, wherein the position information of the second mobile device is acquired along with the attitude information of the second mobile device by proximity communication.
4. The program according to claim 1, wherein the information relating to the cooperation is control information for setting the positional relationship between the first moving device and the second moving device to a predetermined relationship.
5. The detection results are obtained from a detection device that detects the relative positional relationship between the first moving device and the second moving device. The program according to claim 1 or claim 2, wherein, in the detection process, information relating to the collaboration is detected based on the detection result.
6. The program according to claim 5, wherein the detection device detects the relative positional relationship when the distance between the first moving device and the second moving device falls below a predetermined value.
7. The program according to claim 5, wherein the detection device is a marker provided on either the first moving device or the second moving device, and an imaging device provided on the other of the first moving device or the second moving device for imaging either the first moving device or the second moving device.
8. The program according to claim 1, wherein the program outputs the information relating to the cooperation detected in the detection process when the second moving device comes into contact with the first moving device.
9. The program according to claim 8, wherein the information relating to the cooperation is information for generating a driving force in a direction away from the second moving device.
10. The program according to claim 1, wherein the program outputs the information relating to the cooperation detected in the detection process to an operator operating at least one of the first mobile device and the second mobile device, or outputs control information to at least one of the first mobile device and the second mobile device.
11. The process of acquiring the position information of the first mobile device, The process involves acquiring the position information of the second mobile device via proximity communication, The computer repeatedly performs a process of detecting information regarding the cooperation between the first mobile device and the second mobile device based on the position information of the first mobile device and the position information of the second mobile device. A method wherein the frequency at which information regarding the cooperation is detected varies depending on the distance between the first mobile device and the second mobile device.