Unmanned vehicle management system and unmanned vehicle management method

Abstract

To provide an unmanned vehicle which can properly run on a travel road, while the required cost to develop the road is suppressed.SOLUTION: An unmanned vehicle management system comprises a travel area definition part to define a travel area in a track of a work site and a determination part to determine if an unmanned vehicle can enter the travel area or not, based on a vehicle width indicating the width of the unmanned vehicle and a runway width indicating the width of the travel area.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to an unmanned vehicle management system and an unmanned vehicle management method. [Background technology]

[0002] As disclosed in Patent Document 1, unmanned vehicles travel in wide-area work sites such as mines. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-210378 A Summary of the Invention [Problem to be solved by the invention]

[0004] A travel path is constructed at a work site. The unmanned vehicle travels on the travel path. For example, if a travel path that is unnecessarily wide is constructed, it becomes difficult to suppress the costs required for constructing the travel path.

[0005] The present disclosure aims to reduce the costs required for constructing a driving path and to enable unmanned vehicles to travel on the driving path properly. [Means for solving the problem]

[0006] According to the present disclosure, there is provided an unmanned vehicle management system comprising a driving area definition unit that defines a driving area on a driving path at a work site, and a determination unit that determines whether the unmanned vehicle can enter the driving area based on a vehicle width that indicates the width of the unmanned vehicle and a road width that indicates the width of the driving area. Effect of the Invention

[0007] According to the present disclosure, the costs required for constructing a driving path can be reduced, and unmanned vehicles can travel on the driving path properly. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a management system for an unmanned vehicle according to an embodiment. [Diagram 2] FIG. 2 is a perspective view showing an unmanned guided vehicle according to the embodiment. [Diagram 3] FIG. 3 is a perspective view showing the unmanned water sprinkling vehicle according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram showing a work site according to the embodiment. [Diagram 5] FIG. 5 is a functional block diagram showing a management system for an unmanned vehicle according to the embodiment. [Figure 6] FIG. 6 is a diagram for explaining the first traveling area according to the embodiment. [Figure 7] FIG. 7 is a diagram for explaining the second traveling area according to the embodiment. [Figure 8] FIG. 8 is a flowchart showing a method for defining a traveling area according to the embodiment. [Figure 9] FIG. 9 is a schematic diagram showing a driving course defined on a driving road according to the embodiment. [Figure 10] FIG. 10 is a schematic diagram showing a first travel area and a second travel area defined on a travel path according to the embodiment. [Figure 11] FIG. 11 is a flowchart showing a method for determining whether an unmanned vehicle can travel according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0010] [Overview of the management system] FIG. 1 is a schematic diagram showing an unmanned vehicle management system 1 according to an embodiment. The management system 1 manages unmanned vehicles that operate at a work site. An unmanned vehicle refers to a work vehicle that operates unmanned without being driven by a driver. In the embodiment, the unmanned vehicles that operate at the work site include a first unmanned vehicle 10 and a second unmanned vehicle 20. The external dimensions of the first unmanned vehicle 10 and the second unmanned vehicle 20 are different. The external dimensions of the second unmanned vehicle 20 are smaller than the external dimensions of the first unmanned vehicle 10.

[0011] In the embodiment, the first unmanned vehicle 10 is an unmanned transport vehicle. The second unmanned vehicle 20 is an unmanned water-spraying vehicle. In the following description, the first unmanned vehicle 10 will be appropriately referred to as the unmanned transport vehicle 10, and the second unmanned vehicle 20 will be appropriately referred to as the unmanned water-spraying vehicle 20.

[0012] The unmanned transport vehicle 10 travels unmanned at a work site and transports a load. An unmanned dump truck is an example of the unmanned transport vehicle 10. An example of the load transported by the unmanned transport vehicle 10 is an excavated material excavated at the work site.

[0013] The unmanned water sprinkling vehicle 20 travels unmanned at a work site to sprinkle water. An unmanned water sprinkling truck is an example of the unmanned water sprinkling vehicle 20. The unmanned water sprinkling vehicle 20 sprinkles water to suppress the spread of dust or sand at the work site.

[0014] The management system 1 includes a management device 2 and a communication system 3. The management device 2 is installed in a control facility 4 at a work site. The control facility 4 has an administrator.

[0015] The unmanned transport vehicle 10 has a control device 11. The unmanned watering vehicle 20 has a control device 21. The management device 2, the control device 11, and the control device 21 wirelessly communicate with each other via a communication system 3. A wireless communication device 3A is connected to the management device 2. A wireless communication device 3B is connected to the control device 11. A wireless communication device 3C is connected to the control device 21. The communication system 3 includes the wireless communication device 3A, the wireless communication device 3B, and the wireless communication device 3C.

[0016] [Autonomous transport vehicle] 2 is a perspective view showing an unmanned transport vehicle 10 according to an embodiment. As shown in FIG. 1 and FIG. 2, the unmanned transport vehicle 10 includes a wireless communication device 3B, a control device 11, a vehicle body 12, a traveling device 13, a dump body 14, and a sensor system 15.

[0017] The vehicle body 12 includes a vehicle frame. The vehicle body 12 is supported by a traveling device 13. The vehicle body 12 supports a dump body 14.

[0018] The traveling device 13 generates a driving force for traveling the unmanned guided vehicle 10. The traveling device 13 generates a braking force for decelerating or stopping the unmanned guided vehicle 10. The traveling device 13 generates a steering force for turning the unmanned guided vehicle 10. The traveling device 13 moves the unmanned guided vehicle 10 forward or backward. The traveling device 13 includes wheels 16. Tires 17 are attached to the wheels 16. The wheels 16 include front wheels 16F and rear wheels 16R. The tires 17 include front tires 17F attached to the front wheels 16F and rear tires 17R attached to the rear wheels 16R. The wheels 16 rotate with the tires 17 in contact with the road surface of the work site, causing the unmanned guided vehicle 10 to travel at the work site.

[0019] The dump body 14 is a member on which a load is loaded. At least a portion of the dump body 14 is disposed above the vehicle main body 12.

[0020] The sensor system 15 includes a position sensor 15A, an orientation sensor 15B, a speed sensor 15C, and an obstacle sensor 15D. The position sensor 15A detects the position of the unmanned guided vehicle 10. The position of the unmanned guided vehicle 10 is detected using a global navigation satellite system (GNSS). The position sensor 15A includes a GNSS receiver and detects the position of the unmanned guided vehicle 10 in a global coordinate system. The orientation sensor 15B detects the orientation of the unmanned guided vehicle 10. An example of the orientation sensor 15B is a gyro sensor. The speed sensor 15C detects the traveling speed of the unmanned guided vehicle 10. An example of the speed sensor 15C is a pulse sensor that detects the rotation of the wheels 16. The obstacle sensor 15D detects obstacles around the unmanned guided vehicle 10. The obstacle sensor 15D detects obstacles in a non-contact manner. The obstacle sensor 15D is exemplified by a laser sensor (LIDAR: Light Detection and Ranging) or a radar sensor (RADAR: Radio Detection and Ranging).

[0021] [Unmanned water sprinkler vehicle] 3 is a perspective view showing the unmanned water sprinkler vehicle 20 according to the embodiment. As shown in Fig. 1 and Fig. 3, the unmanned water sprinkler vehicle 20 includes a wireless communication device 3C, a control device 21, a vehicle body 22, a traveling device 23, a tank 24, a sensor system 25, and a water sprinkler sprayer 28.

[0022] The vehicle body 22 includes a vehicle frame. The vehicle body 22 is supported by a traveling device 23. The vehicle body 22 supports a tank 24.

[0023] In the embodiment, a cab 29 is provided in the vehicle body 22. The cab 29 is provided in the front part of the vehicle body 22. A driver can drive the unmanned sprinkler vehicle 20 by getting into the cab 29. For example, when performing maintenance or inspection of the unmanned sprinkler vehicle 20, the driver drives the unmanned sprinkler vehicle 20. In the embodiment, the unmanned sprinkler vehicle 20 operates unmanned at least when sprinkling water at a work site. Note that the cab 29 does not have to be provided in the unmanned sprinkler vehicle 20.

[0024] The traveling device 23 generates a driving force for traveling the unmanned watering vehicle 20. The traveling device 23 generates a braking force for decelerating or stopping the unmanned watering vehicle 20. The traveling device 23 generates a steering force for turning the unmanned watering vehicle 20. The traveling device 23 moves the unmanned watering vehicle 20 forward or backward. The traveling device 23 includes wheels 26. Tires 27 are attached to the wheels 26. The wheels 26 include front wheels 26F and rear wheels 26R. The front wheels 26F are steered wheels, and the rear wheels 26R are driven wheels. Note that both the front wheels 26F and the rear wheels 26R may be steered wheels. Both the front wheels 26F and the rear wheels 26R may be driven wheels. The front wheels 26F may be driven wheels, and the rear wheels 26R may be steered wheels. The tires 27 include front tires 27F mounted on the front wheels 26F and rear tires 27R mounted on the rear wheels 26R. The wheels 26 rotate with the tires 27 in contact with the road surface of the work site, causing the unmanned watering vehicle 20 to travel on the work site.

[0025] The tank 24 is a member that stores water for watering. At least a portion of the tank 24 is disposed above the vehicle body 22.

[0026] The sensor system 25 includes a position sensor 25A, an orientation sensor 25B, a speed sensor 25C, and an obstacle sensor 25D. The position sensor 25A detects the position of the unmanned watering vehicle 20. The position of the unmanned watering vehicle 20 is detected using a global navigation satellite system (GNSS). The position sensor 25A includes a GNSS receiver and detects the position of the unmanned watering vehicle 20 in a global coordinate system. The orientation sensor 25B detects the orientation of the unmanned watering vehicle 20. An example of the orientation sensor 25B is a gyro sensor. The speed sensor 25C detects the traveling speed of the unmanned watering vehicle 20. An example of the speed sensor 25C is a pulse sensor that detects the rotation of the wheels 26. The obstacle sensor 25D detects obstacles around the unmanned watering vehicle 20. The obstacle sensor 25D detects obstacles in a non-contact manner. The obstacle sensor 25D is exemplified by a laser sensor (LIDAR: Light Detection and Ranging) or a radar sensor (RADAR: Radio Detection and Ranging).

[0027] The watering spray 28 sprays water from the tank 24. The watering spray 28 is arranged at the rear of the tank 24. The watering spray 28 sprays water toward the rear of the unmanned watering vehicle 20. In this embodiment, a plurality of watering sprays 28 are provided. The plurality of watering sprays 28 are arranged at intervals in the vehicle width direction of the unmanned watering vehicle 20 at the rear of the tank 24. The vehicle width direction refers to the direction parallel to the rotation axis of the wheels 26 when the unmanned watering vehicle 20 is traveling straight.

[0028] [Worksite] FIG. 4 is a schematic diagram showing a work site according to the embodiment. Examples of the work site include a mine and a quarry. A mine refers to a place or business where minerals are mined. A quarry refers to a place or business where stone is mined. At the work site, an unmanned transport vehicle 10 and an unmanned watering vehicle 20 each operate.

[0029] In an embodiment, the work site is a mine, such as a metal mine for extracting metals, a non-metal mine for extracting limestone, or a coal mine for extracting coal.

[0030] At the work site, a loading area 31, a soil unloading area 32, a parking area 33, a fueling area 34, a water supply area 35, a travel path 36, and an intersection 37 are provided.

[0031] The loading site 31 refers to an area where a loading operation is carried out to load cargo onto the unmanned guided vehicle 10. A loader 5 operates in the loading site 31. An example of the loader 5 is a hydraulic excavator.

[0032] The soil unloading site 32 refers to an area where an unloading operation is carried out in which a load is unloaded from the unmanned guided vehicle 10. In the soil unloading site 32, a crusher 6 is provided.

[0033] The parking area 33 refers to an area where at least one of the unmanned transport vehicle 10 and the unmanned watering vehicle 20 is parked.

[0034] The fuel station 34 refers to an area where at least one of the unmanned transport vehicle 10 and the unmanned water sprinkler vehicle 20 is refueled. A fuel tanker 7 that supplies fuel is provided at the fuel station 34.

[0035] The water supply station 35 refers to an area where water is supplied to the unmanned watering vehicle 20. In the water supply station 35, water for sprinkling is supplied to the tank 24. In the water supply station 35, a water supply machine 8 that supplies water to the tank 24 is provided.

[0036] The travel path 36 refers to an area where an unmanned vehicle travels toward at least one of the loading site 31, the soil unloading site 32, the parking lot 33, the fuel station 34, and the water supply station 35. The travel path 36 is provided so as to connect at least the loading site 31 and the soil unloading site 32. In the embodiment, the travel path 36 connects to each of the loading site 31, the soil unloading site 32, the parking lot 33, the fuel station 34, and the water supply station 35.

[0037] An intersection 37 refers to an area where multiple travel lanes 36 intersect or an area where one travel lane 36 branches into multiple travel lanes 36.

[0038] [Management system] 5 is a functional block diagram showing an unmanned vehicle management system 1 according to an embodiment. The management system 1 includes a management device 2, a communication system 3, a control device 11, and a control device .

[0039] The management device 2 includes a computer system. The management device 2 is connected to an input device 9. The management device 2 includes a communication interface 41, a memory circuit 42, and a processing circuit 43.

[0040] The input device 9 is connected to the processing circuit 43. The input device 9 is operated by an administrator of the control facility 4. The input device 9 generates input data based on the administrator's operation. The input data generated by the input device 9 is input to the processing circuit 43. Examples of the input device 9 include a touch panel, a computer keyboard, a mouse, or an operation button. The input device 9 may be a non-contact input device including an optical sensor, or may be a voice input device.

[0041] The communication interface 41 is connected to the processing circuit 43. The communication interface 41 controls communication between the management device 2 and at least one of the control device 11 and the control device 21. The communication interface 41 communicates with at least one of the control device 11 and the control device 21 via the communication system 3.

[0042] The memory circuit 42 is connected to the processing circuit 43. The memory circuit 42 stores data. The memory circuit 42 is exemplified by a non-volatile memory or a volatile memory. The non-volatile memory is exemplified by a read only memory (ROM) or a storage. The storage is exemplified by a hard disk drive (HDD) or a solid state drive (SSD). The volatile memory is exemplified by a random access memory (RAM).

[0043] The processing circuitry 43 performs calculation processing and control command output processing. An example of the processing circuitry 43 is a processor. An example of the processor is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). A computer program is stored in the memory circuitry 42. The processing circuitry 43 performs a predetermined function by acquiring the computer program from the memory circuitry 42 and executing it.

[0044] The memory circuit 42 has a vehicle width memory unit 51 .

[0045] The vehicle width storage unit 51 stores a vehicle width indicating the width of the unmanned vehicle. The vehicle width of the unmanned vehicle includes a first vehicle width WV1 indicating the width of the unmanned transport vehicle 10 and a second vehicle width WV2 indicating the width of the unmanned watering vehicle 20. The vehicle width storage unit 51 stores the first vehicle width WV1 indicating the width of the unmanned transport vehicle 10 and the second vehicle width WV2 indicating the width of the unmanned watering vehicle 20. The first vehicle width WV1 refers to the external dimension of the unmanned transport vehicle 10 in a direction parallel to the rotation axis of the wheel 16 in the unmanned transport vehicle 10 in a straight-traveling state. The second vehicle width WV2 refers to the external dimension of the unmanned watering vehicle 20 in a direction parallel to the rotation axis of the wheel 26 in the unmanned watering vehicle 20 in a straight-traveling state. The first vehicle width WV1 is known data derived from the specifications of the unmanned transport vehicle 10. The second vehicle width WV2 is known data derived from the specifications of the unmanned watering vehicle 20. The first vehicle width WV1 and the second vehicle width WV2 are each input to the memory circuit 42 via the input device 9. The vehicle width memory unit 51 stores the first vehicle width WV1 and the second vehicle width WV2 input from the input device 9. In the embodiment, the external dimensions of the unmanned watering vehicle 20 are smaller than the external dimensions of the unmanned transport vehicle 10. The second vehicle width WV2 of the unmanned watering vehicle 20 is narrower than the first vehicle width WV1 of the unmanned transport vehicle 10.

[0046] The processing circuit 43 has a driving area definition unit 61 , a driving vehicle definition unit 62 , a driving control error acquisition unit 63 , a judgment unit 64 , a guidance unit 65 , a watering data generation unit 66 , and an output unit 67 .

[0047] The travel area definition unit 61 defines a travel area on the travel path 36 at the work site. A travel area refers to an area in which an unmanned vehicle is permitted to travel according to a target travel trajectory (travel course). In the embodiment, the travel area defined by the travel area definition unit 61 includes a first travel area 103 with a first travel path width WL1 and a second travel area 203 with a second travel path width WL2 narrower than the first travel path width WL1.

[0048] The traveling vehicle definition unit 62 defines unmanned vehicles that travel in a travel area of ​​a work site. In the embodiment, the unmanned vehicles defined by the traveling vehicle definition unit 62 include an unmanned transport vehicle 10 having a first vehicle width WV1 and an unmanned watering vehicle 20 having a second vehicle width WV2 narrower than the first vehicle width WV1.

[0049] The travel control error acquisition unit 63 acquires a travel control error (position deviation amount Δ) in the vehicle width direction of the unmanned vehicle traveling at a target travel speed (first travel speed). The travel control error (position deviation amount Δ) in the vehicle width direction of the unmanned vehicle refers to the deviation amount in the vehicle width direction between the target position and the actual position of the unmanned vehicle traveling according to the target travel trajectory (travel course). The travel control error acquisition unit 63 acquires a travel control error (position deviation amount Δ) according to the target travel speed of each of the unmanned transport vehicle 10 and the unmanned water sprinkler vehicle 20. The travel control error (position deviation amount Δ) is stored in advance in the memory circuit 42. The travel control error (position deviation amount Δ) is stored in advance in the memory circuit 42 based on, for example, the results of a travel test. The travel control error (position deviation amount Δ) becomes larger as the travel speed of the unmanned vehicle increases, and becomes smaller as the travel speed of the unmanned vehicle decreases.

[0050] The determination unit 64 determines whether or not the unmanned vehicle can enter the travel area based on the vehicle width indicating the width of the unmanned vehicle and the road width indicating the width of the travel area. When the determination unit 64 determines that the vehicle width of the unmanned vehicle is narrower than the road width of the travel area, it determines that the unmanned vehicle can enter the travel area.

[0051] Furthermore, the determination unit 64 determines that the unmanned vehicle is permitted to enter the traveling area when it determines that the unmanned vehicle traveling at the target traveling speed will not deviate from the traveling area based on the position deviation amount Δ acquired by the traveling control error acquisition unit 63. Furthermore, the determination unit 64 determines that the unmanned vehicle is permitted to enter the traveling area when it determines that the unmanned vehicle traveling at the target traveling speed will not deviate from the traveling area when traveling at a traveling speed (second traveling speed) lower than the target traveling speed even if it deviates from the traveling area.

[0052] The guiding unit 65 guides the unmanned guided vehicle 10 so that the unmanned guided vehicle 10 enters the first traveling area 103 and does not enter the second traveling area 203. The guiding unit 65 guides the unmanned watering vehicle 20 so that the unmanned guided vehicle 20 enters each of the first traveling area 103 and the second traveling area 203. The guiding unit 65 outputs a guidance command to guide the unmanned guided vehicle 10 so that the unmanned guided vehicle 10 enters the first traveling area 103 and does not enter the second traveling area 203. The guiding unit 65 outputs a guidance command to guide the unmanned guided vehicle 20 so that the unmanned watering vehicle 20 enters each of the first traveling area 103 and the second traveling area 203.

[0053] The water sprinkling data generating unit 66 generates water sprinkling data for controlling the water sprinkler sprayer 28. The water sprinkling data includes at least one of execution and stop of water sprinkling from the water sprinkler sprayer 28, water sprinkling positions at the work site where the water sprinkler sprayer 28 sprinkles water, and the amount of water sprinkled from the water sprinkler sprayer 28 per unit time. The water sprinkling positions at which the water sprinkler sprayer 28 sprinkles water include water sprinkling areas indicating areas on the travel path 36 (work site) where water is sprinkled from the water sprinkler sprayer 28. In addition, when a plurality of water sprinkler sprayers 28 are provided, the water sprinkling data includes the number of water sprinkler sprayers 28 that perform water sprinkling. In addition, when the water sprinkler sprayers 28 are installed at each of a plurality of positions of the unmanned water sprinkler vehicle 20, the water sprinkling data includes the installation positions of the water sprinkler sprayers 28 that perform water sprinkling. The water sprinkling data generating unit 66 may generate the water sprinkling data based on input data from the input device 9.

[0054] The output unit 67 transmits the course data defined by the travel area definition unit 61 to the unmanned vehicle. The output unit 67 transmits the course data from the communication interface 41 to each of the control device 11 of the unmanned transport vehicle 10 and the control device 21 of the unmanned watering vehicle 20. The output unit 67 also transmits the watering data generated by the watering data generation unit 66 to the unmanned watering vehicle 20. The output unit 67 transmits the watering data from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20.

[0055] The control device 11 includes a computer system. Like the management device 2, the control device 11 includes a communication interface, a storage circuit, and a processing circuit. The control device 11 includes a traveling control unit 71 that controls the traveling device 13. The traveling control unit 71 controls the traveling device 13 based on the course data transmitted from the management device 2.

[0056] The control device 21 includes a computer system. Like the management device 2, the control device 21 has a communication interface, a memory circuit, and a processing circuit. The control device 21 has a travel control unit 81 that controls the traveling device 23, and a watering control unit 82 that controls the watering spray 28. The travel control unit 81 controls the traveling device 23 based on the course data transmitted from the management device 2. The watering control unit 82 controls the watering spray 28 based on the watering data transmitted from the management device 2.

[0057] [Driving area] FIG. 6 is a diagram for explaining the first traveling area 103 according to the embodiment.

[0058] The travel area definition unit 61 defines a first travel area 103 on the travel path 36. The first travel area 103 is defined based on course data that specifies the travel conditions of the unmanned vehicles (the unmanned transport vehicle 10 and the unmanned watering vehicle 20). The travel area definition unit 61 defines each of the course data and the first travel area 103.

[0059] In the embodiment, the course data is shared by the unmanned transport vehicle 10 and the unmanned water sprinkler vehicle 20.

[0060] The course data is defined by the travel area definition unit 61. The course data includes course points 101, a travel course 102, a target position of the unmanned vehicle, a target orientation of the unmanned vehicle, and a target travel speed of the unmanned vehicle.

[0061] A plurality of course points 101 are set on the travel path 36. The course points 101 define the target position of the unmanned vehicle. A target orientation and a target travel speed of the unmanned vehicle are set for each of the plurality of course points 101. The plurality of course points 101 are set at intervals. The intervals between the course points 101 are set to, for example, 1 m or more and 5 m or less. The intervals between the course points 101 may be uniform or non-uniform.

[0062] The travel course 102 is a virtual line indicating a target travel trajectory of the unmanned vehicle. The travel course 102 is defined by a trajectory that passes through a plurality of course points 101. The unmanned vehicle travels on the travel path 36 according to the travel course 102.

[0063] The target position of the unmanned vehicle refers to the target position of the unmanned vehicle when passing the course point 101. The target position of the unmanned vehicle may be defined in the local coordinate system of the unmanned vehicle or in the global coordinate system.

[0064] The target heading of the unmanned vehicle refers to the target heading of the unmanned vehicle when passing through course point 101 .

[0065] The target travel speed of the unmanned vehicle refers to the target travel speed of the unmanned vehicle when passing through course point 101. The target travel speed of the unmanned vehicle includes an upper limit speed (speed limit) that indicates the upper limit of the travel speed of the unmanned vehicle. The unmanned vehicle travels through the work site at a travel speed that does not exceed the upper limit speed.

[0066] The travel control unit 71 of the unmanned guided vehicle 10 controls the traveling device 13 based on the course data and the detection data of the sensor system 15. The travel control unit 71 controls the traveling device 13 so that the unmanned guided vehicle 10 travels along the travel course 102 based on the detection data of the position sensor 15A and the detection data of the orientation sensor 15B. That is, the travel control unit 71 controls the traveling device 13 so that the position deviation amount Δ indicating the deviation between the target position of the unmanned guided vehicle 10 set at the course point 101 and the detected position 108 of the unmanned guided vehicle 10 detected by the position sensor 15A when passing the course point 101 is reduced. In addition, the travel control unit 71 controls the traveling device 13 so that the deviation between the target orientation of the unmanned guided vehicle 10 set at the course point 101 and the detected orientation of the unmanned guided vehicle 10 detected by the orientation sensor 15B when passing the course point 101 is reduced. In addition, the travel control unit 71 controls the traveling device 13 so that the unmanned guided vehicle 10 travels at the target traveling speed based on the detection data of the speed sensor 15C. In other words, the driving control unit 71 controls the driving device 13 so as to reduce the deviation between the target driving speed of the unmanned transport vehicle 10 set at the course point 101 and the detected driving speed of the unmanned transport vehicle 10 detected by the speed sensor 15C when passing the course point 101.

[0067] As described above, the target traveling speed of the unmanned guided vehicle 10 includes the upper limit speed of the unmanned guided vehicle 10. The traveling control unit 71 controls the traveling device 13 based on the detection data of the speed sensor 15C so that the unmanned guided vehicle 10 travels at a traveling speed that does not exceed the upper limit speed. In other words, the traveling control unit 71 controls the traveling device 13 so that the detected traveling speed of the unmanned guided vehicle 10 detected by the speed sensor 15C when passing through the course point 101 does not exceed the upper limit speed of the unmanned guided vehicle 10 set at the course point 101.

[0068] The travel control unit 81 of the unmanned watering vehicle 20 controls the traveling device 23 based on the course data and the detection data of the sensor system 25. The travel control unit 81 controls the traveling device 23 so that the unmanned watering vehicle 20 travels along the travel course 102 based on the detection data of the position sensor 25A and the detection data of the orientation sensor 25B. That is, the travel control unit 81 controls the traveling device 23 so that the position deviation amount Δ indicating the deviation between the target position of the unmanned watering vehicle 20 set at the course point 101 and the detected position 208 of the unmanned watering vehicle 20 detected by the position sensor 25A when passing the course point 101 is reduced. In addition, the travel control unit 81 controls the traveling device 23 so that the deviation between the target orientation of the unmanned watering vehicle 20 set at the course point 101 and the detected orientation of the unmanned watering vehicle 20 detected by the orientation sensor 25B when passing the course point 101 is reduced. Furthermore, the traveling control unit 81 controls the traveling device 23 based on the detection data of the speed sensor 25C so that the unmanned watering vehicle 20 travels at a target traveling speed. That is, the traveling control unit 81 controls the traveling device 23 so that the deviation between the target traveling speed of the unmanned watering vehicle 20 set at the course point 101 and the detected traveling speed of the unmanned watering vehicle 20 detected by the speed sensor 25C when passing the course point 101 is reduced.

[0069] As described above, the target running speed of the unmanned watering vehicle 20 includes the upper limit speed of the unmanned watering vehicle 20. The running control unit 81 controls the running device 23 based on the detection data of the speed sensor 25C so that the unmanned watering vehicle 20 runs at a running speed that does not exceed the upper limit speed. In other words, the running control unit 81 controls the running device 23 so that the detected running speed of the unmanned watering vehicle 20 detected by the speed sensor 25C when passing through the course point 101 does not exceed the upper limit speed of the unmanned watering vehicle 20 set at the course point 101.

[0070] The travel area definition unit 61 defines a first travel area 103 based on the travel course 102 and the first vehicle width WV1 of the unmanned guided vehicle 10. The travel area definition unit 61 defines the first travel area 103 so that the travel course 102 passes through the center of the first travel area 103 in the vehicle width direction of the unmanned guided vehicle 10. The travel area definition unit 61 defines the first travel area 103 so that a first travel width WL1 of the first travel area 103 is wider than the first vehicle width WV1 of the unmanned guided vehicle 10.

[0071] In the embodiment, the travel area definition unit 61 defines the first track width WL1 of the first travel area 103 based on the position deviation amount Δ of the unmanned guided vehicle 10 traveling at the upper limit speed. That is, the travel area definition unit 61 defines the first track width WL1 of the first travel area 103 so that the unmanned guided vehicle 10 traveling at the upper limit speed according to the travel course 102 does not deviate from the first travel area 103 even if it deviates from the travel course 102. In the embodiment, the first track width WL1 is the sum of the first vehicle width WV1 of the unmanned guided vehicle 10 and the travel control error of the unmanned guided vehicle 10. The travel control unit 71 controls the travel device 13 based on the target position of the unmanned guided vehicle 10 set at the course point 101 and the detected position 108 of the unmanned guided vehicle 10 detected by the position sensor 15A when passing the course point 101 so that the unmanned guided vehicle 10 does not deviate from the first travel area 103.

[0072] The travel area definition unit 61 defines the first travel area 103 so that a first road width WL1 of the first travel area 103 is narrower than the width of the travel path 36.

[0073] FIG. 7 is a diagram for explaining the second traveling area 203 according to the embodiment.

[0074] The driving area definition unit 61 defines a second driving area 203 on the driving road 36. The second driving area 203 is defined based on the course data.

[0075] The traveling area definition unit 61 defines the second traveling area 203 based on the traveling course 102 and the second vehicle width WV2 of the unmanned watering vehicle 20. The traveling area definition unit 61 defines the second traveling area 203 so that the traveling course 102 passes through the center of the second traveling area 203 in the vehicle width direction of the unmanned watering vehicle 20. The traveling area definition unit 61 defines the second traveling area 203 so that the second running width WL2 of the second traveling area 203 is wider than the second vehicle width WV2 of the unmanned watering vehicle 20.

[0076] In the embodiment, the travel area definition unit 61 defines the second running width WL2 of the second running area 203 based on the position deviation amount Δ of the unmanned watering vehicle 20 traveling at the upper limit speed. That is, the travel area definition unit 61 defines the second running width WL2 of the second running area 203 so that the unmanned watering vehicle 20 traveling at the upper limit speed according to the traveling course 102 does not deviate from the second running area 203 even if it deviates from the traveling course 102. In the embodiment, the second running width WL2 is the sum of the second vehicle width WV2 of the unmanned watering vehicle 20 and the traveling control error of the unmanned watering vehicle 20. The traveling control unit 81 controls the traveling device 13 based on the target position of the unmanned watering vehicle 20 set at the course point 101 and the detected position 208 of the unmanned watering vehicle 20 detected by the position sensor 25A when passing the course point 101 so that the unmanned watering vehicle 20 does not deviate from the second running area 203.

[0077] The traveling area definition unit 61 defines the second traveling area 203 so that the second traveling path width WL2 of the second traveling area 203 is narrower than the width of the traveling path 36.

[0078] [How to define driving area] FIG. 8 is a flowchart showing a method for defining a traveling area according to the embodiment.

[0079] The travel area definition unit 61 generates course data for the unmanned vehicle. The travel area definition unit 61 defines a travel course 102 on the travel path 36 of the work site (step SA1).

[0080] Fig. 9 is a schematic diagram showing a travel course 102 defined on the travel path 36 according to the embodiment. In the example shown in Fig. 9, the travel course 102 is defined to connect the loading site 31, the soil unloading site 32, and the fuel station 34 or the water supply station 35.

[0081] The traveling vehicle definition unit 62 defines the unmanned vehicles that travel in the travel area. In the embodiment, the traveling vehicle definition unit 62 defines the unmanned transport vehicle 10 and the unmanned watering vehicle 20 as the unmanned vehicles that travel in the travel area (step SA2).

[0082] The travel area definition unit 61 acquires the vehicle width of the unmanned vehicle from the vehicle width storage unit 51. In the embodiment, the travel area definition unit 61 acquires the first vehicle width WV1 of the unmanned transport vehicle 10 and the second vehicle width WV2 of the unmanned watering vehicle 20 (step SA3).

[0083] The travel area definition unit 61 calculates a first road width WL1 of the first travel area 103 in which the unmanned transport vehicle 10 and the unmanned watering vehicle 20 can travel, based on the first vehicle width WV1. The travel area definition unit 61 also calculates a second road width WL2 of the second travel area 203 in which the unmanned watering vehicle 20 can travel, based on the second vehicle width WV2 (step SA4).

[0084] A first road width WL1 along which the unmanned transport vehicle 10 can travel is wider than the first vehicle width WV1. A second road width WL2 along which the unmanned watering vehicle 20 can travel is wider than the second vehicle width WV2.

[0085] The driving area definition unit 61 defines the first driving area 103 so that it has the first lane width WL1 calculated in step SA4. The driving area definition unit 61 defines the second driving area 203 so that it has the second lane width WL2 calculated in step SA4 (step SA5).

[0086] Fig. 10 is a schematic diagram showing a first traveling area 103 and a second traveling area 203 defined on a traveling path 36 according to the embodiment. As shown in Fig. 10, each of the first traveling area 103 and the second traveling area 203 is defined so as to include a traveling course 102. In the example shown in Fig. 10, the first traveling area 103 is defined on the traveling path 36 connecting the loading area 31 and the soil unloading area 32. The second traveling area 203 is defined on the traveling path 36 connecting an intersection 37 and a fuel station 34 or a water supply station 35.

[0087] [Method of determining whether an unmanned vehicle can be driven] FIG. 11 is a flowchart showing a method for determining whether an unmanned vehicle can travel according to the embodiment.

[0088] The determination unit 64 determines whether or not a specific unmanned vehicle can enter a traveling area (103, 203) defined by the traveling area definition unit 61. That is, the determination unit 64 determines whether or not a specific unmanned vehicle can travel in a traveling area defined by the traveling area definition unit 61. The determination unit 64 determines an unmanned vehicle to be determined from among a plurality of unmanned vehicles defined by the traveling vehicle definition unit 62 (step SB1).

[0089] As an example, the target of judgment is an unmanned transport vehicle 10 that travels from an unloading area 32 via an intersection 37 toward a fuel station 34, and then travels from the fuel station 34 toward a loading area 31 via the intersection 37.

[0090] The determination unit 64 acquires the traveling area (103, 203) defined by the traveling area definition unit 61 as described with reference to FIG. 10 (step SB2).

[0091] The determination unit 64 determines whether or not the first vehicle width WV1 of the unmanned guided vehicle 10 is narrower than both the first travel path width WL1 of the first travel area 103 and the second travel path width WL2 of the second travel area 203 (step SB3).

[0092] In step SB3, if it is determined that the first vehicle width WV1 is narrower than each of the first road width WL1 and the second road width WL2 (step SB3: Yes), the judgment unit 64 determines whether the unmanned transport vehicle 10 will not deviate from each of the first traveling area 103 and the second traveling area 203 even if it travels through each of the first traveling area 103 and the second traveling area 203 at the upper limit speed (first traveling speed) (step SB4).

[0093] In step SB4, if it is determined that the unmanned guided vehicle 10 traveling at the upper limit speed can travel without deviating from each of the first traveling area 103 and the second traveling area 203 (step SB4: Yes), the guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as to enter the second traveling area 203 at the upper limit speed. That is, the guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as to travel from the unloading area 32 via the intersection 37 toward the fueling station 34, and then travel from the fueling station 34 toward the loading area 31 via the intersection 37. The guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as to travel at the upper limit speed in each of the first traveling area 103 and the second traveling area 203 (step SB5).

[0094] In step SB4, if it is determined that the unmanned transport vehicle 10 traveling at the upper limit speed will depart from the second traveling area 203 even if it does not depart from the first traveling area 103 (step SB4: No), the judgment unit 64 determines whether the unmanned transport vehicle 10 will not depart from the second traveling area 203 if the traveling speed (second traveling speed) is lower than the upper limit speed (step SB6).

[0095] In step SB6, if it is determined that the unmanned guided vehicle 10 will not depart from the second traveling area 203 if the traveling speed is lower than the upper limit speed (step SB6: Yes), the guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as to enter the second traveling area 203 at a traveling speed lower than the upper limit speed. That is, the guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as to travel from the unloading site 32 via the intersection 37 toward the fuel station 34, and then travel from the fuel station 34 toward the loading site 31 via the intersection 37. The guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as to travel at the upper limit speed in the first traveling area 103, and travel at a traveling speed lower than the upper limit speed in the second traveling area 203 between the intersection 37 and the fuel station 34 (step SB7).

[0096] If it is determined in step SB6 that the unmanned guided vehicle 10 will depart from the second traveling area 203 even at a traveling speed lower than the upper limit speed (step SB6: No), or if it is determined in step SB3 that the first vehicle width WV1 is wider than the second traveling width WL2 (step SB3: No), the guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as not to enter the second traveling area 203 (step SB8).

[0097] That is, the guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as not to head toward the fuel station 34. The guiding unit 65 outputs a guidance command to the unmanned guided vehicle 10 so as to travel from the unloading site 32 toward the loading site 31.

[0098] The method for determining whether the unmanned transport vehicle 10 can travel has been described above with reference to FIG. 11. The same applies to the unmanned watering vehicle 20. In the embodiment, the unmanned watering vehicle 20 can enter both the first traveling area 103 and the second traveling area 203. That is, the second vehicle width WV2 is narrower than the first traveling path width WL1 and narrower than the second traveling path width WL2. The guiding unit 65 can output a guidance command to guide the unmanned watering vehicle 20 so that the unmanned watering vehicle 20 enters both the first traveling area 103 and the second traveling area 203.

[0099] [effect] As described above, according to the embodiment, the travel area (103, 203) is defined on the travel path 36 at the work site. Whether or not the unmanned vehicle can enter the travel area is determined based on the vehicle width of the unmanned vehicle and the road width of the travel area. Therefore, construction of the travel path 36 with an unnecessarily wide road width is suppressed. Therefore, the cost required for construction of the travel path 36 is suppressed. The first travel area 103 in which both the unmanned transport vehicle 10 and the unmanned watering vehicle 20 travel is defined according to the first vehicle width WV1 of the unmanned transport vehicle 10. Therefore, each of the unmanned transport vehicle 10 and the unmanned watering vehicle 20 can travel smoothly in the first travel area 103. Based on the first vehicle width WV1 of the unmanned transport vehicle 10 and the second vehicle width WV2 of the unmanned watering vehicle 20, a first travel area 103 in which both the unmanned transport vehicle 10 and the unmanned watering vehicle 20 travel is defined, and a second travel area 203 in which the unmanned transport vehicle 10 does not travel and the unmanned watering vehicle 20 travels is defined. By defining the first travel area 103 and the second travel area 203, the travel conditions of the unmanned transport vehicle 10 and the unmanned watering vehicle 20 are appropriately determined based on the first travel area 103 and the second travel area 203. Therefore, each of the unmanned transport vehicle 10 and the unmanned watering vehicle 20 can appropriately travel through the work site.

[0100] When the determination unit 64 determines that the vehicle width is narrower than the road width, it determines that the unmanned vehicle can enter the travel area. This allows the unmanned vehicle to travel without going beyond the travel area.

[0101] Even if the vehicle width is narrower than the road width, if the unmanned vehicle travels through the travel area at high speed, there is a high possibility that it will deviate from the travel area. If the determination unit 64 determines that the unmanned vehicle traveling at the upper limit speed (first travel speed) will not deviate from the travel area, it determines that the unmanned vehicle can enter the travel area. This allows the unmanned vehicle to travel at high speed without deviating from the travel area.

[0102] The determination unit 64 determines that the unmanned vehicle can enter the traveling area when it determines that the unmanned vehicle traveling at the upper limit (first traveling speed) deviates from the traveling area but does not deviate from the traveling area when traveling at a traveling speed (second traveling speed) lower than the upper limit speed. This allows the unmanned vehicle to travel without going beyond the traveling area.

[0103] [Other embodiments] In the above-described embodiment, at least some of the functions of the control device 11 and the control device 21 may be provided in the management device 2, or at least some of the functions of the management device 2 may be provided in one or both of the control device 11 and the control device 21. For example, in the above-described embodiment, the control device 11 may have the functions of the travel area definition unit 61, the function of the travel vehicle definition unit 62, the function of the travel control error acquisition unit 63, the function of the judgment unit 64, and the function of the guidance unit 65. The control device 21 may have the functions of the travel area definition unit 61, the function of the travel vehicle definition unit 62, the function of the travel control error acquisition unit 63, the function of the judgment unit 64, the function of the guidance unit 65, and the function of the watering data generation unit 66.

[0104] In the above-described embodiment, each of the driving area definition unit 61, the driving vehicle definition unit 62, the driving control error acquisition unit 63, the judgment unit 64, the guidance unit 65, the watering data generation unit 66, and the output unit 67 may be configured as separate hardware.

[0105] In the above-described embodiment, the first unmanned vehicle 10 is an unmanned transport vehicle, and the second unmanned vehicle 20 is an unmanned sprinkler vehicle. Both the first unmanned vehicle 10 and the second unmanned vehicle 20 may be unmanned transport vehicles. The first unmanned vehicle 10 may be an unmanned transport vehicle with a first vehicle width, and the second unmanned vehicle 20 may be an unmanned transport vehicle with a second vehicle width. [Explanation of symbols]

[0106] 1...Management system, 2...Management device, 3...Communication system, 3A...Wireless communication device, 3B...Wireless communication device, 3C...Wireless communication device, 4...Control facility, 5...Loader, 6...Crusher, 7...Fueling machine, 8...Watering machine, 9...Input device, 10...Unmanned transport vehicle (first unmanned vehicle), 11...Control device, 12...Vehicle body, 13...Traveling device, 14...Dump body, 15...Sensor system, 15A...Position sensor, 15B...Orientation sensor 15C...speed sensor, 15D...obstacle sensor, 16...wheel, 16F...front wheel, 16R...rear wheel, 17...tire, 17F...front tire, 17R...rear tire, 20...unmanned water sprinkler vehicle (second unmanned vehicle), 21...control device, 22...vehicle body, 23...traveling device, 24...tank, 25...sensor system, 25A...position sensor, 25B...orientation sensor, 25C...speed sensor, 25D...obstacle sensor, 26 ...wheels, 26F...front wheels, 26R...rear wheels, 27...tires, 27F...front tires, 27R...rear tires, 28...water spray, 29...cab, 31...loading area, 32...earth removal area, 33...parking area, 34...fuel station, 35...water station, 36...travel path, 37...intersection, 41...communication interface, 42...storage circuit, 43...processing circuit, 51...vehicle width storage unit, 61...travel area definition unit, 62...traveling vehicle definition unit, 6 3...driving control error acquisition unit, 64...judgment unit, 65...guidance unit, 66...watering data generation unit, 67...output unit, 71...driving control unit, 81...driving control unit, 82...watering control unit, 101...course point, 102...driving course, 103...first driving area, 108...detection position, 203...second driving area, 208...detection position, WL1...first road width, WL2...second road width, WV1...first vehicle width, WV2...second vehicle width.

Claims

1. A travel area definition unit that defines a travel area on a travel path at a work site; a determination unit that determines whether or not the unmanned vehicle can enter the travel area based on a vehicle width that indicates a width of the unmanned vehicle and a road width that indicates a width of the travel area, the driving area definition unit defines course data that specifies driving conditions of the unmanned vehicle; The traveling area defined by the traveling area definition unit includes a first traveling area having a first road width and a second traveling area having a second road width narrower than the first traveling area width, The unmanned vehicles include a first unmanned vehicle having a first vehicle width and a second unmanned vehicle having a second vehicle width narrower than the first vehicle width, The course data is shared by the first unmanned vehicle and the second unmanned vehicle, a guidance unit that guides the first unmanned vehicle so that the first unmanned vehicle enters the first traveling area and does not enter the second traveling area, and guides the second unmanned vehicle so that the second unmanned vehicle enters both the first traveling area and the second traveling area, Unmanned vehicle management system.

2. When the determination unit determines that the vehicle width is narrower than the road width, the determination unit determines that the unmanned vehicle can enter the travel area. The unmanned vehicle management system according to claim 1 .

3. a travel control error acquisition unit that acquires a position deviation amount in a vehicle width direction of the unmanned vehicle traveling at a first travel speed, when it is determined that the unmanned vehicle traveling at the first traveling speed will not deviate from the traveling area, the determination unit determines that the unmanned vehicle is allowed to enter the traveling area.

3. An unmanned vehicle management system according to claim 1 or 2.

4. the determination unit determines that the unmanned vehicle is permitted to enter the traveling area when it is determined that the unmanned vehicle traveling at the first traveling speed will not deviate from the traveling area when traveling at a second traveling speed lower than the first traveling speed, even if the unmanned vehicle traveling at the first traveling speed deviates from the traveling area. The unmanned vehicle management system according to claim 3.

5. The first unmanned vehicle is an unmanned transport vehicle, The second unmanned vehicle is an unmanned water sprinkler vehicle. The unmanned vehicle management system according to claim 1 .

6. determining whether or not the unmanned vehicle can enter a travel area based on a vehicle width indicating a width of the unmanned vehicle and a travel path width indicating a width of a travel area defined on a travel path at a work site; When it is determined that the unmanned vehicle is allowed to enter the travel area, controlling the unmanned vehicle so that the unmanned vehicle enters the travel area; when it is determined that the unmanned vehicle cannot enter the travel area, controlling the unmanned vehicle so as not to enter the travel area; Defining course data that specifies driving conditions of the unmanned vehicle; The traveling area includes a first traveling area having a first running path width and a second traveling area having a second running path width narrower than the first running path width, The unmanned vehicles include a first unmanned vehicle having a first vehicle width and a second unmanned vehicle having a second vehicle width narrower than the first vehicle width, The course data is shared by the first unmanned vehicle and the second unmanned vehicle, Guiding the first unmanned vehicle so that the first unmanned vehicle enters the first traveling area and does not enter the second traveling area; and guiding the second unmanned vehicle so that the second unmanned vehicle enters each of the first traveling area and the second traveling area. How to manage unmanned vehicles.

7. When it is determined that the vehicle width is narrower than the road width, it is determined that the unmanned vehicle is capable of entering the travel area. The method for managing an unmanned vehicle according to claim 6.

8. when it is determined that the unmanned vehicle traveling at a first traveling speed will not deviate from the traveling area based on the positional deviation amount in the vehicle width direction of the unmanned vehicle traveling at the first traveling speed, it is determined that the unmanned vehicle is able to enter the traveling area. The method for managing an unmanned vehicle according to claim 6 or 7.

9. when it is determined that the unmanned vehicle traveling at the first traveling speed deviates from the traveling area but will not deviate from the traveling area when traveling at a second traveling speed lower than the first traveling speed, it is determined that the unmanned vehicle is permitted to enter the traveling area. The unmanned vehicle management method according to claim 8.

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