Driver assistance systems and driver assistance methods

Abstract

To provide a driver support system and driver support method that enables efficient earthworks. [Solution] The receiving surface information acquisition unit (130) acquires receiving surface information, including the position and shape of the receiving surface (A1) on the loading platform (4a) of the transport machine (4) that stops within the stopping range (P), based on the height (H) of the loading platform (4a). The soil discharge space information acquisition unit (140) acquires soil discharge space information, including the position and shape of the soil discharge space (S) by the excavation machine (3) positioned at a predetermined position (Q) at the work site (2). The target position setting unit (180) sets the target position of the transport machine (4) so ​​that the loading platform (4a) is positioned in an area (A2) that includes a part of the soil discharge space (S) within the receiving surface (A1). The target position output unit (190) outputs information indicating the target position.

Description

Technical Field

[0001] The present disclosure relates to a driving assistance system and a driving assistance method that can be used for driving a transport vehicle at an earthwork construction site.

Background Art

[0002] Earthwork construction is performed as follows: an excavator such as a backhoe scoops earth and sand piled up at a specified position into a bucket provided at the tip of an arm, swings the arm, and dumps the earth and sand onto the bed of a transport vehicle such as a dump truck.

Summary of the Invention

Problem to be Solved by the Invention

[0003] The efficiency of earthwork construction may be impaired for reasons such as an inappropriate position of the transport vehicle relative to the excavator. For example, when the bucket cannot reach the target dumping position on the cargo bed, it may become difficult to load sufficient earth and sand onto the cargo bed.

[0004] The present invention has been made in view of the above problem, and an object thereof is to provide a driving assistance system and a driving assistance method that can realize efficient earthwork construction.

Means for Solving the Problem

[0005] The driving support system according to this disclosure is characterized by including: a loading platform information acquisition means for acquiring loading platform information including the height and shape of the loading platform of a transport machine that stops within a stopping range provided at a work site; a receiving surface information acquisition means for acquiring receiving surface information including the position and shape of the receiving surface on the loading platform of the transport machine that stops within the stopping range, based on the height of the loading platform; a discharge space information acquisition means for acquiring discharge space information including the position and shape of the discharge space, which is a three-dimensional space from which earth can be discharged by an excavating machine placed at a predetermined position at the work site; a target position setting means for setting a target position of the transport machine so that the loading platform is positioned in an area of ​​the receiving surface that includes a part of the discharge space; and an output means for outputting information indicating the target position. According to this, the position of the loading platform of the transport machine can be appropriately set relative to the excavating machine, and earthworks in which the excavating machine discharges earth onto the loading platform of the transport machine can be carried out efficiently.

[0006] The driving support method according to this disclosure is characterized by comprising: a step of a loading platform information acquisition means acquiring loading platform information including the height and shape of the loading platform of a transport machine that stops within a stopping range provided at the work site; a step of a receiving surface information acquisition means acquiring receiving surface information including the position and shape of a receiving surface that can accept soil and sand on the loading platform of the transport machine that stops within the stopping range, based on the height of the loading platform; a step of a discharging space information acquisition means acquiring discharging space information including the position and shape of a discharging space, which is a three-dimensional space where discharging of soil by an excavating machine placed at a predetermined position at the work site is possible; a step of a target position setting means setting a target position of the transport machine so that the loading platform is positioned in an area of ​​the receiving surface that includes a part of the discharging space; and a step of an output means outputting information indicating the target position. According to this, by using specific means in which software and hardware resources cooperate, the position of the loading platform of the transport machine relative to the excavating machine can be appropriately determined, and earthworks in which the excavating machine discharges soil onto the loading platform of the transport machine can be carried out efficiently. [Brief explanation of the drawing]

[0007] [Figure 1] This figure shows an example of a work site for an excavating machine. [Figure 2] This diagram shows the hardware configuration of the driver assistance system. [Figure 3] This is a functional block diagram showing an example of a function implemented in a driver assistance system. [Figure 4A] This is a magnified view of the work site shown in Figure 1. [Figure 4B] Figure 1 is a plan view of the work site. [Figure 5A] This is an enlarged view of the plan of work site 2 shown in Figure 4B. [Figure 5B] This is an enlarged view of the plan of work site 2 shown in Figure 4B. [Figure 6] This flowchart shows an example of the flow of driver assistance processing performed by the driver assistance system. [Modes for carrying out the invention]

[0008] The embodiments of the driver assistance system and driver assistance method proposed in this disclosure will be described below with reference to the drawings.

[0009] [1. Work Site] Figure 1 shows an example of a work site 2 for an excavator 3 using the driver support system 1 (see Figures 2 and 3). In the outdoor work site 2 shown in Figure 1, the excavator 3 and transport machine 4 are positioned on the ground. The excavator 3 is, for example, a backhoe (a so-called shovel), and uses a bucket 3a located at the tip of its arm 3b to excavate a pile of soil 5 piled up at a designated location on the ground. The transport machine 4 is, for example, a dump truck, and uses its cargo bed 4a to transport the soil. The excavator 3 takes the soil from the pile 5 into the bucket 3a, rotates its arm 3b, and discharges the soil onto the cargo bed 4a of the transport machine 4.

[0010] As shown in Figure 1, the transport machine 4 stops (for example, stops or parks) in a stopping area P that is predetermined near the position of the excavation machine 3 at the work site 2. The driving support system 1 proposed in this disclosure sets and outputs the target position of the transport machine 4 within the stopping area P. This makes it possible to properly position the loading platform 4a of the transport machine 4 relative to the excavation machine 3, and to efficiently carry out earthworks by having the excavation machine 3 discharge soil onto the loading platform 4a.

[0011] [2. Hardware Configuration] Figure 2 shows the hardware configuration of the driver assistance system 1. As shown in Figure 2, the driver assistance system 1 may include a first information processing device 10 and a second information processing device 20. The first information processing device 10 may be located in a remote location at the work site 2. The second information processing device 20 may be located within the premises of the work site 2, or in a location where the user can see the work site 2, as shown in Figure 1. The first information processing device 10 may be a computer such as a desktop personal computer, a server device, or a general-purpose computer. The second information processing device 20 may be a computer such as a laptop personal computer or a mobile terminal (e.g., a tablet or smartphone). The driver assistance system 1 may also include information processing devices other than the first information processing device 10 and the second information processing device 20. Furthermore, the driver assistance system 1 may include an excavation machine 3 located at the work site 2 and a measuring device 6 (see Figure 1) located near the loading platform 4a of the transport machine 4.

[0012] As shown in Figure 2, the first information processing device 10 may include a processor 11, a storage unit 12, a communication unit 13, a display unit 14, and an operation unit 15. The second information processing device 20 may include a processor 21, a storage unit 22, a communication unit 23, a display unit 24, and an operation unit 25. The transport machine 4 may have a processor 41, a storage unit 42, a communication unit 43, and a display unit 44. The first information processing device 10 and the second information processing device 20 may also include an optical disc drive for reading optical discs and terminals for data input / output such as a USB (Universal Serial Bus) port.

[0013] The processors 11, 21, and 41 may be program control devices such as CPUs (Central Processing Units). The memory units 12, 22, and 42 may be memory elements such as ROMs (Read Only Memory) and RAMs (Random Access Memory), as well as solid-state drives and hard disk drives. The memory unit 12 of the first information processing device 10 may store data such as programs executed by the processor 11. The memory unit 22 of the second information processing device 20 may store data such as programs executed by the processor 21. In addition, the memory unit 42 of the transport machine 4 may store data such as programs executed by the processor 41.

[0014] The communication units 13, 23, and 43 may be communication interfaces such as network boards. The communication units 13, 23, and 43 may be capable of wired or wireless communication. The communication units 13 and 23 may be capable of communication via a communication network such as the Internet. The display units 14, 24, and 44 may be display devices such as liquid crystal displays or organic EL (electroluminescence) displays. The display unit 14 of the first information processing device 10 may display various images according to instructions from the processor 11. The display unit 24 of the second information processing device 20 may display various images according to instructions from the processor 21. In addition, the display unit 44 of the transport machine 4 may display various images according to instructions from the processor 41. The operation units 15 and 25 may be input devices such as keyboards, mice, touch panels, and gamepads.

[0015] The measuring device 6 may have sensors such as a camera or LiDAR (light detection and ranging). The measuring device 6 may also have a communication interface similar to that of the communication units 13, 23, and 33. As shown in Figure 1, the measuring device 6 may be positioned near the stopping range P of the transport machine 4. The measuring device 6 may be supported on the ground at the work site 2 by a tripod 6a. However, the measuring device 6 may also be fixed to a tangible object such as a pillar at the work site 2, or it may be mounted on a worker, vehicle, or drone, allowing it to move within the work site 2.

[0016] [3. Functional Blocks] Figure 3 is a functional block diagram showing an example of functions implemented in the driver assistance system 1. As shown in Figure 3, the driver assistance system 1 may have the following functions: a cargo bed information acquisition unit 110, a terrain information acquisition unit 120, a receiving surface information acquisition unit 130, a soil discharge space information acquisition unit 140, a region division unit 150, a capture point acquisition unit 160, a prohibited region acquisition unit 170, a target position setting unit 180, and a target position output unit 190. Not all of the functions shown in Figure 3 are implemented in the driver assistance system 1, and functions other than those shown in Figure 3 are also implemented. The cargo bed information acquisition unit 110, terrain information acquisition unit 120, receiving surface information acquisition unit 130, soil discharge space information acquisition unit 140, area division unit 150, intake point acquisition unit 160, prohibited area acquisition unit 170, and target position setting unit 180 may be mainly implemented by the processor 11 of the first information processing device 10 or the processor 21 of the second information processing device 20. The target position output unit 190 may be mainly implemented by the processor 11 or processor 21 and the processor 41 of the transport machine 4.

[0017] Hereinafter, the details of the functions implemented in the driving support system 1 will be described based on FIGS. 4A to 5B. FIG. 4A is an enlarged view of the work site 2 shown in FIG. 1. FIG. 4B is a plan view of the work site 2 shown in FIG. 1. FIGS. 5A and 5B are enlarged plan views of the work site 2 shown in FIG. 4B. FIG. 4A shows a state where the transporting machine 4 is not stopped in the stoppable range P. FIGS. 4B, 5A, and 5B show the shape of the loading platform 4a of the transporting machine 4. As shown in FIG. 4B, the loading platform 4a may be formed in a box shape with the bottom surface 4b exposed upward.

[0018] [3-1. Loading Platform Information Acquisition Unit] The loading platform information acquisition unit 110 acquires loading platform information including the height H and shape of the loading platform 4a of the transporting machine 4 that stops in the stoppable range P (see FIG. 1) provided at the work site 2. The loading platform information acquisition unit 110 may acquire, as the loading platform information, information including the height H from the ground contact surface of the transporting machine 4 (for example, the lower end portion of the tire 4c of the transporting machine 4) to the upper end portion of the loading platform 4a (for example, the upper end portion of the side gate). Further, the loading platform information acquisition unit 110 may acquire, as the loading platform information, information including the shape of the transporting machine 4 having the loading platform 4a.

[0019] For example, the loading platform information acquisition unit 110 may acquire, as the loading platform information including the height H and shape of the loading platform 4a of the transporting machine 4, information of the transporting machine 4 pre-stored in the storage unit 12 of the first information processing apparatus 10 or the storage unit 22 of the second information processing apparatus 20 (that is, information of the transporting machine 4 pre-registered in the driving support system 1 as the transporting machine 4 stopping in the stoppable range P of the work site 2), and information stored in association with identification information (for example, type) of the transporting machine 4. In addition, the loading platform information acquisition unit 110 may acquire loading platform information including the height H and shape of the loading platform 4a of the transporting machine 4 by measuring the transporting machine 4 actually stopped in the stoppable range P with the measuring device 6. That is, the loading platform information acquisition unit 110 may acquire the loading platform information by analyzing data generated based on detection results from sensors such as a camera and LiDAR provided in the measuring device 6.

[0020] The three-dimensional data generated based on the detection results by the measuring device 6 may include positions in a local coordinate system set at the work site 2 (for example, positions in the front-rear direction, positions in the left-right direction, and positions in the height direction in the local coordinate system). The loading platform information acquiring unit 110 may convert the positions of the data in the local coordinate system into positions in a survey coordinate system in the real world (for example, latitude, longitude, and elevation), and acquire the data thus converted as loading platform information. In addition, the loading platform information acquiring unit 110 may acquire the position of the measuring device 6 in the survey coordinate system, and generate data indicating the relationship between the positions in the local coordinate system and the positions in the survey coordinate system based on this position. Then, this data and the data in the local coordinate system generated based on the detection result by the measuring device 6 may be acquired as loading platform information.

[0021] [3-2. Receiving surface information acquiring unit, topographic information acquiring unit] As shown in FIG. 4A and FIG. 4B, the receiving surface information acquiring unit 130 acquires receivable surface information including the position and shape of the receivable surface A1 for receiving earth and sand on the loading platform 4a of the transporting machine 4 stopped in the stoppable range P, based on the height H of the loading platform 4a (see FIG. 4A) included in the loading platform information acquired by the loading platform information acquiring unit 110. As shown in FIG. 4A, the receivable surface A1 may be a surface spaced upward from the ground surface 2a of the work site 2 by a distance of the height H, and may be a surface parallel to the ground surface 2a. As shown in FIG. 4B, the receivable surface A1 may be arranged inside the stoppable range P in a plan view. Further, the receivable surface A1 may be a virtual surface larger than the actual bottom surface 4b of the loading platform 4a.

[0022] The acceptance surface information acquisition unit 130 may acquire acceptance surface information, including the position and shape of the acceptance surface A1, based on the shape of the ground surface 2a (see Figure 4A) in the stopping range P and the height H of the loading platform 4a. The terrain information acquisition unit 120 may acquire terrain information, including the shape of the ground surface 2a in the stopping range P. The acceptance surface information acquisition unit 130 may acquire acceptance surface information, including the position and shape of this acceptance surface A1, by calculating the position and shape of a virtual acceptance surface A1 based on the terrain information acquired by the terrain information acquisition unit 120 and the height H of the loading platform 4a acquired by the loading platform information acquisition unit 110. In this way, the accuracy of the position and shape of the acceptance surface A1 can be improved. For example, even if the ground surface 2a in the stopping range P is sloped with respect to the ground surface on which the excavation machine 3 is placed, acceptance surface information including the accurate position and shape of the acceptance surface A1 can be acquired.

[0023] The terrain information acquisition unit 120 may acquire information including the shape of the ground surface 2a within the stopping range P, as well as the location and shape of the mountain 5 into which the excavation machine 3 takes in soil. The terrain information acquisition unit 120 may also convert the local coordinate system position of the 3D data generated based on the detection results of the measuring device 6 to the position in the survey coordinate system in the real world (e.g., latitude, longitude, and elevation), and acquire the converted data as terrain information. In addition, the terrain information acquisition unit 120 may generate data showing the relationship between the local coordinate system position and the survey coordinate system position based on the position of the measuring device 6 in the survey coordinate system, and acquire this data and the local coordinate system data generated based on the detection results of the measuring device 6 as terrain information.

[0024] [3-3.Earth release spatial information acquisition department] The soil discharge space information acquisition unit 140 acquires soil discharge space information, including the location and shape of the soil discharge space S (see Figure 4A), which is a three-dimensional space where soil can be discharged by the excavation machine 3 positioned at a predetermined location in the work site 2. The soil discharge space information acquisition unit 140 may acquire as soil discharge space information information stored in the storage unit 12 or storage unit 22, or information stored in association with the identification information (e.g., type) of the transport machine 4. The soil discharge space information acquisition unit 140 may identify the type of transport machine 4 by performing pattern matching between the shape of the transport machine 4 included in the cargo bed information and the shape stored in the storage unit 12 or storage unit 22 in association with the type of transport machine 4, and acquire soil discharge space information stored in association with this type.

[0025] As shown in Figure 4A, the space S from which soil can be discharged may be defined based on the range of motion of the bucket 3a provided at the tip of the arm 3b of the excavation machine 3. In the example shown in Figure 4A, the ranges of motion of the arm 3b and the bucket 3a are indicated by reference numerals 3b' and 3a', respectively. The soil discharge space information acquisition unit 140 may acquire information on the space S in which the arm 3b and the bucket 3a of the excavation machine 3 do not interfere with each other as soil discharge space information.

[0026] Furthermore, as shown in Figure 4A, the excavation machine 3 may have a swivel section 3c to which the base of the arm 3b is attached and which rotates together with the arm 3b. For this reason, as shown in Figures 4A and 4B, the excavation space information acquisition unit 140 may acquire the space defined by the outer edge centered on the rotation center position Q (see Figure 4A) of the swivel section 3c as the excavation space S. The excavation space information acquisition unit 140 may acquire the space obtained by rotating the cross section S' shown in Figure 4A around the rotation center position Q as the excavation space S.

[0027] [3-4. Target position setting unit, target position output unit] As shown in Figure 5A, the target position setting unit 180 sets the target position of the transport machine 4 so that the loading platform 4a of the transport machine 4 is positioned in a region A2 of the acceptable surface A1 (see Figures 4A and 4B) that includes a portion of the soil discharge space S, as indicated in the acceptable surface information acquired by the acceptance surface information acquisition unit 130. The target position setting unit 180 may set the target position of the transport machine 4 so that region A2 of the acceptable surface A1 that includes a portion of the soil discharge space S occupies a predetermined or greater proportion (for example, 70% or more, more preferably 80% or more, and even more preferably 90% or more) of the bottom surface 4b of the loading platform 4a.

[0028] The target position output unit 190 outputs information indicating the target position of the transport machine 4 set by the target position setting unit 180. The target position output unit 190 may output information indicating the target position by generating data indicating the target position and transmitting this data to the communication unit 43 of the transport machine 4 via the communication unit 13 of the first information processing device 10 or the communication unit 23 of the second information processing device 20. In this case, the processor 41 of the transport machine 4 may output information indicating the target position of the transport machine 4 by displaying an image indicated by the received data on the display unit 44. Alternatively, the target position output unit 190 may output information indicating the target position by displaying an image indicating the target position on the display unit 14 of the first information processing device 10 or the display unit 24 of the second information processing device 20.

[0029] In this way, the target position of the transport machine 4 is set so that the loading platform 4a is positioned in area A2 which includes a portion of the space S where the excavation machine 3 can discharge soil, and this target position is output, thereby enabling the loading platform 4a to be positioned appropriately relative to the excavation machine 3. This makes it possible to efficiently carry out earthwork by having the excavation machine 3 discharge soil onto the loading platform 4a.

[0030] The functions of the target position setting unit 180 are not limited to those described above. The target position setting unit 180 may, for example, set the target position of the transport machine 4 based on the results of processing by the capture point acquisition unit 160, the prohibited area acquisition unit 170, and the area division unit 150, which will be described below.

[0031] [3-5. Capture Point Acquisition Section] As shown in Figure 5A, the intake point acquisition unit 160 acquires intake point information indicating the intake point Q1 (for example, the location of the pile of soil 5 shown in Figure 4B) where the excavation machine 3 takes in the soil discharged onto the loading platform 4a. The intake point acquisition unit 160 may acquire information indicating the position of the survey coordinate system (for example, latitude, longitude, and elevation) which is pre-stored in the storage unit 12 or storage unit 22 as intake point information. Alternatively, the intake point acquisition unit 160 may acquire intake point information indicating the intake point Q1 based on the location and shape of the pile 5 included in the information generated based on the measurement results from the measuring device 6 (for example, topographic information acquired by the topographic information acquisition unit 120).

[0032] The target position setting unit 180 may set the target position of the transport machine 4 based on the distance d from the soil intake point Q1 to the loading platform 4a (for example, the center of gravity Q2 of the bottom surface 4b of the loading platform 4a). The target position setting unit 180 may set the target position of the transport machine 4 so that the distance d from the intake point Q1 to the loading platform 4a is smaller. The target position setting unit 180 may set the target position of the transport machine 4 so that the area A2 of the receiving surface A1, which includes a part of the soil discharge space S, occupies a predetermined or greater proportion of the bottom surface 4b of the loading platform 4a, and the distance d is minimized.

[0033] Furthermore, as shown in Figure 5A, the target position setting unit 180 may set the target position of the transport machine 4 based on the angle θ between the direction R1 from a predetermined position where the excavation machine 3 is positioned (more specifically, the rotation center position Q of the rotation unit 3c) toward the intake point Q1, and the direction R2 from that predetermined position toward the loading platform 4a (for example, the center of gravity position Q2 of the bottom surface 4b of the loading platform 4a). The target position setting unit 180 may also set the target position of the transport machine 4 so that the angle θ becomes smaller. The target position setting unit 180 may also set the target position of the transport machine 4 so that the area A2 of the receiving surface A1, which includes a portion of the soil discharge space S, occupies a predetermined or greater proportion of the bottom surface 4b of the loading platform 4a, and the angle θ is minimized.

[0034] The target position setting unit 180 may set the target position of the transport machine 4 based on at least one of the distance d and angle θ described above. In this way, by setting the target position of the transport machine 4 based on the intake point Q1 where the excavation machine 3 takes in soil, the time required for the repeated operation of the excavation machine 3 taking in soil and transporting it to the loading platform 4a can be shortened. This makes it possible to carry out earthworks by the excavation machine 3 efficiently.

[0035] [3-6. Forbidden area acquisition part] The prohibited area acquisition unit 170 may acquire prohibited area information indicating a prohibited area A3 (see Figure 4B) where stopping of the transport machine 4 is prohibited. The prohibited area A3 may be set based on the rotation range of the rotation unit 3c centered on the position of the excavator 3 when the bucket 3a of the excavator 3 takes in soil and discharges it onto the loading platform 4a (more specifically, the rotation range of the rotation unit 3c centered on the rotation center position Q). The prohibited area A3 may coincide with the rotation range of the rotation unit 3c, or it may be slightly wider than the rotation range of the rotation unit 3c. The prohibited area acquisition unit 170 may acquire the prohibited area A3 based on the rotation range of the rotation unit 3c that is pre-stored in the storage unit 12 or storage unit 22.

[0036] The target position setting unit 180 may set the target position of the transport machine 4 so that the transport machine 4 is not positioned in the no-stop area A3 indicated in the no-stop area information. In this way, when the excavating machine 3 takes in soil and discharges it onto the loading platform 4a, the excavating machine 3 can be prevented from hitting the transport machine 4. For example, the slewing section 3c of the excavating machine 3 can be prevented from hitting the transport machine 4.

[0037] [3-7. Area division part] The area division section 150 may divide the area A2 along the receiving surface A1 (see Figures 4A and 4B) of the soil dischargeable space S into a plurality of sub-areas B (see Figure 5B). As shown in Figure 5B, the plurality of sub-areas B may all have the same shape and size. Each sub-area B may be a rectangle or a square. The plurality of sub-areas B may be arranged without spacing in two directions (for example, the latitude direction and the longitude direction) along the receiving surface A1. The plurality of sub-areas B may be squares, for example. However, they are not limited to this, and the plurality of sub-areas B may be rectangles, polygons such as triangles or hexagons, regular polygons, etc.

[0038] The target position setting unit 180 may set the target position of the transport machine 4 based on the number of sub-regions B that are included in the loading platform 4a (for example, the bottom surface 4b of the loading platform 4a) out of a plurality of sub-regions B. The target position setting unit 180 may set the target position of the transport machine 4 based on the number of sub-regions B that are included in the loading platform 4a at least in part, or the number of sub-regions B that are included in the loading platform 4a entirely. In the example shown in Figure 5B, the sub-regions B that are included in the loading platform 4a entirely are drawn with diagonal lines. The target position setting unit 180 may set the target position of the transport machine 4 so that the loading platform 4a is positioned at a location where the number of sub-regions B included in the loading platform 4a is equal to or greater than a threshold. Alternatively, the target position setting unit 180 may set the target position of the transport machine 4 so that the loading platform 4a is positioned at a location where the number of sub-regions B included in the loading platform 4a is maximized.

[0039] In this way, the process of setting the target position of the transport machine 4 can be simplified compared to setting the target position of the transport machine 4 by calculating the proportion of the area A2 of the soil-dischargeable space S on the loading platform 4a. This reduces the processing load on processor 11 or processor 21, making it possible to set the target position more quickly.

[0040] [4. Driving support processing] Figure 6 is a flowchart showing an example of the flow of driver support processing performed by the driver support system 1. As shown in Figure 6, first, the cargo bed information acquisition unit 110 acquires cargo bed information, including the height H (see Figure 1) and shape of the cargo bed 4a of the transport machine 4 that stops within the stopping range P of the work site 2 (step S101). In step S101, the cargo bed information acquisition unit 110 acquires cargo bed information, including, for example, the height H from the ground surface of the transport machine 4 to the upper end of the cargo bed 4a. In step S101, the cargo bed information acquisition unit 110 may acquire information about the transport machine 4 that is pre-stored in the storage unit 12 or storage unit 22 (information about the transport machine 4 that is pre-registered in the driver support system 1), or information that is stored in association with the identification information of the transport machine 4 (for example, type), as cargo bed information including the height H and shape of the cargo bed 4a of the transport machine 4. Furthermore, in step S101, the cargo bed information acquisition unit 110 may acquire cargo bed information, including the height H and shape of the cargo bed 4a of the transport machine 4, by measuring the transport machine 4 using the measuring device 6.

[0041] Next, the terrain information acquisition unit 120 acquires terrain information including the shape of the ground surface 2a (see Figure 4A) within the stopping range P (step S102). In step S102, the terrain information acquisition unit 120 may acquire terrain information including the shape of the ground surface 2a by measuring the ground surface 2a within the stopping range P using the measuring device 6.

[0042] Next, the receiving surface information acquisition unit 130 acquires receiving surface information, including the position and shape of the receiving surface A1 (see Figures 4A and 4B), which is the surface on which soil and sand can be accepted by the loading platform 4a of the transport machine 4 that stops within the stopping range P, based on the height H of the loading platform 4a (see Figure 4A) included in the loading platform information acquired in step S101 (step S103). In step S103, the receiving surface information acquisition unit 130 may acquire receiving surface information, including the position and shape of the receiving surface A1, based on the height H of the loading platform 4a and the shape of the ground surface 2a of the stopping range P shown in the topographic information acquired in step S102.

[0043] Next, the soil discharge space information acquisition unit 140 acquires soil discharge space information, including the location and shape of the soil discharge space S (see Figures 4A and 4B) (step S104). In step S104, the soil discharge space information acquisition unit 140 may acquire soil discharge space information from information about the transport machine 4 stored in the storage unit 12 or storage unit 22, or information stored in association with the identification information of the transport machine 4 (for example, type). In step S104, the soil discharge space information acquisition unit 140 may acquire as soil discharge space information information the space S in which soil discharge by the excavation machine 3 is possible and in which the arm 3b and bucket 3a of the excavation machine 3 do not interfere with each other.

[0044] Next, the region division unit 150 divides the region A2 (see Figures 4A and 5A) along the acceptable surface A1, which is shown in the acceptable surface information acquired in step S103, from the dischargeable space S shown in the dischargeable space information acquired in step S104, into a plurality of sub-regions B (see Figure 5B) (step S105). In step S105, the region division unit 150 may divide the dischargeable space S along the acceptable surface A1 into a plurality of sub-regions B that have the same shape and size and are arranged without any gaps between them.

[0045] Next, the intake point acquisition unit 160 acquires intake point information indicating the intake point (for example, the location of the pile of soil 5) where soil will be taken in using the bucket 3a of the excavation machine 3 (step S106). In step S106, the intake point acquisition unit 160 may acquire information indicating the location of the survey coordinate system, which is pre-stored in the storage unit 12 or storage unit 22, as intake point information. Alternatively, in step S106, the intake point acquisition unit 160 may acquire intake point information indicating the intake point Q1 based on the location and shape of the pile 5 included in the information indicating the topography of the work site 2 (for example, topographic information acquired by the topographic information acquisition unit 120).

[0046] Next, the prohibited area acquisition unit 170 acquires stop prohibited area information indicating the stop prohibited area A3 of the transport machine 4 (see Figure 4B) (step S107). In step S107, the prohibited area acquisition unit 170 may acquire the stop prohibited area A3 based on the rotation range of the rotation unit 3c which is stored in advance in the storage unit 12 or storage unit 22.

[0047] Next, the target position setting unit 180 sets the target position of the transport machine 4 so that the loading platform 4a is positioned in a region A2 (see Figures 4A and 5) that includes a portion of the soil discharge space S shown in the soil discharge space information acquired in step S104, among the receivable surface A1 shown in the receivable surface information acquired in step S103 (step S108). Then, the target position output unit 190 outputs the target position set in step S108 (step S109).

[0048] In step S109, the target position output unit 190 may output information indicating the target position by generating data indicating the target position of the transport machine 4 and transmitting this data to the communication unit 43 of the transport machine 4. In this case, the processor 41 of the transport machine 4 may output information indicating the target position of the transport machine 4 by displaying an image indicated by the received data on the display unit 44 of the transport machine 4. Alternatively, in step S109, the target position output unit 190 may output information indicating the target position of the transport machine 4 by displaying an image indicating the target position of the transport machine 4 on the display unit 14 of the first information processing device 10 or the display unit 24 of the second information processing device 20.

[0049] In this way, the target position of the transport machine 4 is set so that the loading platform 4a is positioned in area A2 which includes a portion of the space S where the excavation machine 3 can discharge soil, and the target position set in this way is output, thereby enabling the loading platform 4a to be positioned appropriately relative to the excavation machine 3. This makes it possible to efficiently carry out earthwork by having the excavation machine 3 discharge soil onto the loading platform 4a.

[0050] Furthermore, in step S108, the target position setting unit 180 may set the target position of the transport machine 4 based on at least one of the distance d from the soil intake point Q1 to the loading platform 4a (for example, the center of gravity position Q2 of the bottom surface 4b of the loading platform 4a) and the angle θ between the direction R1 from the pivot center position Q of the rotating unit 3c toward the intake point Q1 and the direction R2 from the pivot center position Q toward the loading platform 4a (for example, the center of gravity position Q2 of the bottom surface 4b of the loading platform 4a). By doing so, the time required for the excavation machine 3 to repeatedly take in soil and transport it to the loading platform 4a can be shortened, making it possible to perform earthworks by the excavation machine 3 efficiently.

[0051] Furthermore, in step S108, the target position setting unit 180 may set the target position of the transport machine 4 so that the transport machine 4 is not positioned in the stop-prohibition area A3 indicated in the stop-prohibition area information acquired in step S107. In this way, when the excavation machine 3 takes in soil and discharges it onto the loading platform 4a, the slewing part 3c of the excavation machine 3 will not come into contact with the transport machine 4.

[0052] In step S108, the target position setting unit 180 may set the target position of the transport machine 4 such that the area A2 of the receiving surface A1, which includes a portion of the soil discharge space S, occupies a predetermined or greater proportion of the bottom surface 4b of the loading platform 4a. Alternatively, in step S108, the target position setting unit 180 may set the target position of the transport machine 4 based on the number of small areas B included in the loading platform 4a from among the multiple small areas B divided in step S105. This simplifies the process of setting the target position of the transport machine 4 and reduces the processing load on the processor 11 or processor 21. This makes it possible to set the target position quickly.

[0053] [5. Variant] It should be noted that the present invention is not limited to the embodiments described above. For example, the driving support system 1 does not necessarily have to include the terrain information acquisition unit 120, area division unit 150, acquisition point acquisition unit 160, and prohibited area acquisition unit 170 described in the embodiments. The driving support system 1 may omit the processing of step S102 and at least one of the processing of steps S105 to S107 described in the embodiments. Even in this case, the target position of the transport machine 4 is set and output so that the loading platform 4a is positioned in area A2 which includes a part of the space S where soil can be discharged by the excavating machine 3, thereby making the position of the loading platform 4a relative to the excavating machine 3 appropriate.

[0054] Furthermore, in the embodiment, an example was described in which the driving support system 1 includes a first information processing device 10 and a second information processing device 20. However, the driving support system 1 is not limited to this, and may be a so-called standalone system composed of a single information processing device. Alternatively, the processor 11 of the first information processing device 10 or the processor 21 of the second information processing device 20 may generate movement control data for the transport machine 4 based on the target position of the transport machine 4 and output the movement control data by transmitting it to the communication unit 43 of the transport machine 4. The processor 41 of the transport machine 4 may control the movement of the transport machine 4 based on the movement control data received via the communication unit 43. In this way, it becomes possible to automatically control the position of the transport machine 4 so that the position of the loading platform 4a of the transport machine 4 relative to the excavation machine 3 in earthworks is appropriate.

[0055] [6. Summary] (1) As described above, the driving support system 1 includes: a cargo bed information acquisition unit 110 that acquires cargo bed information including the height H and shape of the cargo bed 4a of the transport machine 4 that stops within the stopping range P provided at the work site 2; a receiving surface information acquisition unit 130 that acquires receiving surface information including the position and shape of the receiving surface A1 that accepts soil and sand on the cargo bed 4a of the transport machine 4 that stops within the stopping range P, based on the height H of the cargo bed 4a; a soil discharge space information acquisition unit 140 that acquires soil discharge space information including the position and shape of the soil discharge space S, which is a three-dimensional space from which soil can be discharged by the excavation machine 3 positioned at a predetermined position Q at the work site 2; a target position setting unit 180 that sets a target position for the transport machine 4 so that the cargo bed 4a is positioned in a region A2 that includes a part of the soil discharge space S among the receiving surface A1; and a target position output unit 190 that outputs information indicating the target position. According to this, the position of the loading platform 4a of the transport machine 4 relative to the excavating machine 3 can be properly determined, and earthworks in which the excavating machine 3 discharges soil onto the loading platform 4a of the transport machine 4 can be carried out efficiently.

[0056] (2) The driving support system 1 described in (1) above may further include a terrain information acquisition unit 120 that acquires terrain information including the shape of the ground surface 2a within the stopping range P. The acceptance surface information acquisition unit 130 may acquire acceptance surface information based on the shape of the ground surface 2a within the stopping range P and the height H of the cargo bed 4a. This improves the accuracy of the position and shape of the acceptance surface A1 included in the acceptance surface information.

[0057] (3) The driving support system 1 described in (1) or (2) above may further include an intake point acquisition unit 160 that acquires intake point information indicating an intake point Q1 such as a pile of soil 5 into which the excavating machine 3 will take up soil that it will discharge onto the loading platform 4a. The target position setting unit 180 may set the target position based on the distance d from the intake point Q1 to the loading platform 4a and at least one of the angle θ between the direction R1 from a predetermined position Q where the excavating machine 3 is positioned toward the intake point Q1 and the direction R2 from the predetermined position Q toward the loading platform 4a. This makes it possible to shorten the time required for the excavating machine 3 to take up soil and transport it to the loading platform 4a, and to perform earthworks by the excavating machine 3 efficiently.

[0058] (4) In any of the above (1) to (3) driving support systems 1, the excavating machine 3 may have a bucket 3a for excavating soil, an arm 3b to which the bucket 3a is attached at its tip, and a slewing part 3c to which the base of the arm 3b is attached and which rotates together with the arm 3b. The driving support system 1 may further include a prohibited area acquisition unit 170 that acquires prohibited area information indicating a prohibited area A3 in which the transport machine 4 is prohibited from stopping, which is set based on the slewing range of the slewing part 3c centered on a predetermined position Q when the bucket 3a takes in soil and discharges it onto the loading platform 4a. The target position setting unit 180 may set a target position so that the transport machine 4 is not positioned in the prohibited area A3. This makes it possible to prevent the excavating machine 3 from hitting the transport machine 4 when the excavating machine 3 takes in soil and discharges it onto the loading platform 4a.

[0059] (5) Any of the above driving support systems 1 (1) to (4) may further include a region division unit 150 that divides a region A2 along the acceptable surface A1 of the soil discharge space S into a plurality of sub-regions B. The target position setting unit 180 may set the target position based on the number of sub-regions B included in the loading platform 4a among the plurality of sub-regions B. In this way, the process of setting the target position can be simplified and the processing load on the processor 11 or processor 21 can be reduced.

[0060] (6) Furthermore, the driving support method proposed in this disclosure includes the steps of: a loading platform information acquisition unit 110 acquiring loading platform information including the height H and shape of the loading platform 4a of a transport machine 4 that stops within a stopping range P provided at the work site 2; a receiving surface information acquisition unit 130 acquiring receiving surface information including the position and shape of the receiving surface A1 that accepts soil and sand on the loading platform 4a of the transport machine 4 that stops within the stopping range P, based on the loading platform height H; a soil discharge space information acquisition unit 140 acquiring soil discharge space information including the position and shape of the soil discharge space S, which is a three-dimensional space where soil can be discharged by an excavation machine 3 positioned at a predetermined position Q at the work site 2; a target position setting unit 180 setting a target position of the transport machine 4 such that the loading platform 4a is positioned in a region A2 that includes a part of the soil discharge space S among the receiving surface A1; and a target position output unit 190 outputting information indicating the target position. According to this, by using specific means in which software and hardware resources work together, the position of the loading platform of the transport machine 4 relative to the excavating machine 3 can be properly determined, and earthworks in which the excavating machine 3 discharges soil onto the loading platform 4a of the transport machine 4 can be carried out efficiently. [Explanation of symbols]

[0061] 1 Driving support system, 2 Work site, 2a Ground surface, 3 Excavation machine, 3a Bucket, 3b Arm, 3c Swivel section, 4 Transport machine, 4a Loading bed, 4b Bottom surface, 4c Tires, 5 Mountain, 6 Measuring device, 6a Tripod, 10 First information processing device, 20 Second information processing device, 11, 21, 41 Processor, 12, 22, 42 Memory unit, 13, 23, 43 Communication unit, 14, 24, 44 Display unit, 15, 25 Operation unit, 110 Loading bed information acquisition unit, 120 Terrain information acquisition unit, 130 Receiving surface information acquisition unit, 140 Soil discharge space information acquisition unit, 150 Area division unit, 160 Take-in point acquisition unit, 170 Prohibited area acquisition unit, 180 Target position setting unit, 190 Target position output unit, P Stoppable range, Q Turning center position, Q1 Intake point, Q2 Center of gravity position, S Space where earth can be released, A1 Acceptable surface, A2 Area, A3 No stopping area, B Small area, d Distance, θ angle.

Claims

1. A means for acquiring cargo bed information, which acquires cargo bed information including the height and shape of the cargo bed of a transport machine that stops within a stopping range provided at the work site, A means for acquiring receiving surface information that acquires receiving surface information, including the position and shape of the receiving surface on the loading platform of the transport machine that stops within the stopping range, based on the height of the loading platform, A means for acquiring information on a dischargeable space, which acquires information on a dischargeable space including the location and shape of a dischargeable space, which is a three-dimensional space where excavation can be carried out by an excavation machine placed at a predetermined location at the aforementioned work site. A target position setting means for setting the target position of the transport machine such that the loading platform is positioned in an area of ​​the receiving surface that includes a portion of the space where soil can be discharged, Includes an output means for outputting information indicating the target position. A driver assistance system characterized by the following features.

2. In the driver assistance system according to claim 1, The system further includes a topographic information acquisition means for acquiring topographic information including the shape of the ground surface within the stopping range, The receiving surface information acquisition means acquires the receiving surface information based on the shape of the ground surface within the stopping range and the height of the loading platform. A driver assistance system characterized by the following features.

3. In the driver assistance system according to claim 1, The system further includes means for acquiring intake point information that indicates the intake point where the excavating machine takes in the soil and sand it discharges onto the loading platform. The target position setting means sets the target position based on at least one of the distance from the loading point to the loading platform and the angle between the direction from the predetermined position toward the loading point and the direction from the predetermined position toward the loading platform. A driver assistance system characterized by the following features.

4. In the driver assistance system according to claim 1, The excavation machine comprises a bucket for excavating soil and sand, an arm to which the bucket is attached at its tip, and a swivel part to which the base of the arm is attached and which rotates together with the arm. The system further includes a means for acquiring prohibited areas information that indicates a prohibited area where stopping the transport machine is prohibited, which is set based on the rotation range of the rotation unit centered on the predetermined position when the bucket takes in soil and discharges it onto the loading platform. The target position setting means sets the target position such that the transport machine is not placed in the prohibited area. A driver assistance system characterized by the following features.

5. In the driver assistance system according to claim 1, The system further includes a region division means for dividing the region along the receiving surface of the space from which soil can be discharged into a plurality of sub-regions, The target position setting means sets the target position based on the number of sub-regions included in the cargo bed among the plurality of sub-regions. A driver assistance system characterized by the following features.

6. The means for acquiring cargo bed information includes the step of acquiring cargo bed information, including the height and shape of the cargo bed of a transport machine that stops within a stopping range provided at the work site, The receiving surface information acquisition means acquires receiving surface information, including the position and shape of the receiving surface on the loading platform of the transport machine that stops within the stopping range, based on the height of the loading platform. The means for acquiring information on the discharge space includes the step of acquiring information on the discharge space, which is a three-dimensional space where excavation can be carried out by an excavation machine placed at a predetermined location in the work site, including the location and shape of the discharge space. The steps include: setting the target position of the transport machine using a target position setting means such that the loading platform is positioned in an area of ​​the receiving surface that includes a portion of the space where soil can be discharged; The output means outputs information indicating the target position, A driving assistance method characterized by including the following.

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