Unmanned vehicle management system and unmanned vehicle management method

Abstract

To suppress influence that a sprinkling vehicle in the middle of sprinkling has on an unmanned vehicle around the sprinkling vehicle.SOLUTION: A management system for an unmanned vehicle includes: a protection area setting unit for setting a protective area where an unmanned vehicle running around a sprinkling vehicle is prohibited to enter, on the basis of the state of sprinkling from a sprinkling spray of the sprinkling vehicle moving forward in a work site; and an output unit for outputting the protective area set by the protective area setting unit.SELECTED DRAWING: Figure 10

Description

[Technical field]

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

[0002] In order to suppress the spread of dust or sand at a work site, water is sometimes sprinkled by a water sprinkler vehicle. Patent Document 1 discloses a mobile fluid transport machine that transports a fluid to the work site. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2013-516557 Summary of the Invention [Problem to be solved by the invention]

[0004] In wide-area work sites such as mines, unmanned vehicles are in operation. If an unmanned vehicle gets too close to a water sprinkler vehicle that is spraying water, it may cause a disruption to the operation of the unmanned vehicles around the water sprinkler vehicle.

[0005] The present disclosure aims to reduce the impact that a watering vehicle has on surrounding unmanned vehicles while sprinkling water. [Means for solving the problem]

[0006] According to the present disclosure, there is provided an unmanned vehicle management system comprising a protection area setting unit that sets a protection area prohibiting the entry of unmanned vehicles traveling around a sprinkler vehicle based on the watering condition from a watering spray provided on the sprinkler vehicle proceeding through a work site, and an output unit that outputs the protection area set by the protection area setting unit. Effect of the Invention

[0007] According to the present disclosure, it is possible to reduce the impact that a watering vehicle having a watering operation has on surrounding unmanned vehicles. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a work site management system 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 work site management system according to the embodiment. [Figure 6] FIG. 6 is a diagram for explaining the first course data and the protection area of ​​the unmanned guided vehicle according to the embodiment. [Figure 7] FIG. 7 is a diagram for explaining the second course data and the protected area of ​​the unmanned watering vehicle according to the embodiment. [Figure 8] FIG. 8 is a diagram for explaining the state of water spraying from the water spray according to the embodiment. [Figure 9] FIG. 9 is a diagram for explaining the process of the second protection area setting unit according to the embodiment. [Figure 10] FIG. 10 is a diagram for explaining the process of the second protection area setting unit according to the embodiment. [Figure 11] FIG. 11 is a diagram showing the relationship between the unmanned water sprinkling vehicle and the unmanned transport vehicle according to the embodiment. [Figure 12] FIG. 12 is a flowchart showing the unmanned vehicle management method according to the embodiment. [Figure 13] FIG. 13 is a diagram for explaining the state of water spraying from the water spray according to the embodiment. [Figure 14] FIG. 14 is a diagram for explaining the state of water spraying from the water spray 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 is 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.

[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 unmanned watering vehicle 20. In this embodiment, the watering spray 28 is arranged at the rear of the tank 24. The watering spray 28 sprays water to 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 a work site 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 processing circuit 43 has a first course data generation unit 61, a second course data generation unit 62, a first protection area setting unit 63, a second protection area setting unit 64, a watering data generation unit 65, a first output unit 66, and a second output unit 67.

[0045] The first course data generating unit 61 generates first course data indicating the travel conditions of the unmanned guided vehicle 10 set at a work site. The first course data generating unit 61 may generate the first course data based on input data from the input device 9.

[0046] The second course data generating unit 62 generates second course data indicating the driving conditions of the unmanned watering vehicle 20 set at the work site. The second course data generating unit 62 may generate the second course data based on input data from the input device 9.

[0047] The first protection area setting unit 63 sets a protection area 103 at least in front of the unmanned guided vehicle 10 in which the unmanned guided vehicle 10 is permitted to travel.

[0048] The second protected area setting unit 64 sets a protected area 203 at least in front of the unmanned watering vehicle 20 in which the unmanned watering vehicle 20 is permitted to travel.

[0049] 6 is a diagram for explaining the first course data and the protection area 103 of the unmanned guided vehicle 10 according to the embodiment. The first course data specifies the traveling conditions of the unmanned guided vehicle 10. The first course data includes course points 101, a traveling course 102, a target position of the unmanned guided vehicle 10, a target orientation of the unmanned guided vehicle 10, and a target traveling speed of the unmanned guided vehicle 10.

[0050] A plurality of course points 101 are set on the travel path 36 including the intersection 37. A plurality of course points 101 are also set at each of the loading area 31, the dumping area 32, the parking area 33, and the fueling area 34. The course points 101 define the target position of the unmanned guided vehicle 10. A target orientation and a target travel speed of the unmanned guided vehicle 10 are set at each of the plurality of course points 101. The plurality of course points 101 are set with intervals between them. 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.

[0051] The travel course 102 refers to a virtual line that indicates a target travel route of the automated guided vehicle 10. The travel course 102 is defined by a trajectory that passes through a plurality of course points 101. The automated guided vehicle 10 travels in a work site according to the travel course 102.

[0052] The target position of the unmanned guided vehicle 10 refers to the target position of the unmanned guided vehicle 10 when passing the course point 101. The target position of the unmanned guided vehicle 10 may be defined in the local coordinate system of the unmanned guided vehicle 10 or in the global coordinate system.

[0053] The target orientation of the unmanned guided vehicle 10 refers to the target orientation of the unmanned guided vehicle 10 when passing through the course point 101 .

[0054] The target travel speed of the unmanned guided vehicle 10 refers to the target travel speed of the unmanned guided vehicle 10 when passing through the course point 101. The target travel speed of the unmanned guided vehicle 10 includes an upper limit speed (speed limit) that indicates the upper limit of the travel speed of the unmanned guided vehicle 10. The unmanned guided vehicle 10 travels through the work site at a travel speed that does not exceed the upper limit speed.

[0055] The protected area 103 is an area in which the unmanned guided vehicle 10 is permitted to travel. The protected area 103 is also an area in which other unmanned guided vehicles 10 and unmanned water sprinkler vehicles 20 traveling around the unmanned guided vehicle 10 are prohibited from entering. That is, the protected area 103 functions as an allowed area in which the unmanned guided vehicle 10 is permitted to travel. The protected area 103 functions as a no-entry area in which other unmanned guided vehicles 10 and unmanned water sprinkler vehicles 20 traveling around the unmanned guided vehicle 10 are prohibited from entering. The protected area 103 is set in the traveling direction of the unmanned guided vehicle 10. When the unmanned guided vehicle 10 moves forward, at least a part of the protected area 103 is set ahead of the unmanned guided vehicle 10. The protected area 103 is set in a strip shape so as to include the traveling course 102. The protected area 103 is also set so as to include the unmanned guided vehicle 10. The length of the protection area 103 in the traveling direction of the unmanned guided vehicle 10 is, for example, not less than 20 [m] and not more than 500 [m].

[0056] A stop point 104 for the unmanned guided vehicle 10 is set inside the protected area 103. The stop point 104 is set at the tip of the protected area 103. The travel speed of the unmanned guided vehicle 10 is controlled so that the unmanned guided vehicle 10 can stop at the stop point 104.

[0057] The first protection area setting unit 63 sequentially updates the protection area 103 as the unmanned guided vehicle 10 travels. The first protection area setting unit 63 sequentially cancels the protection area 103 after the unmanned guided vehicle 10 has passed. The first protection area setting unit 63 sequentially extends the protection area 103 before the unmanned guided vehicle 10 has passed in the traveling direction of the unmanned guided vehicle 10. By canceling the protection area 103 after the unmanned guided vehicle 10 has passed, other unmanned guided vehicles 10 and the unmanned water sprinkler vehicle 20 become able to travel. By extending the protection area 103 before the unmanned guided vehicle 10 has passed, the unmanned guided vehicle 10 continues traveling. If an event occurs in which the protection area 103 cannot be extended, the unmanned guided vehicle 10 stops at a stop point 104. An example of an event in which the protected area 103 cannot be extended is an event in which another unmanned transport vehicle 10 or an unmanned water-sprinkling vehicle 20 is stopped in front of the protected area 103.

[0058] 7 is a diagram for explaining the second course data and the protection area 203 of the unmanned watering vehicle 20 according to the embodiment. The second course data specifies the driving conditions of the unmanned watering vehicle 20. The second course data includes course points 201, a driving course 202, a target position of the unmanned watering vehicle 20, a target orientation of the unmanned watering vehicle 20, and a target driving speed of the unmanned watering vehicle 20.

[0059] A plurality of course points 201 are set on the travel path 36 including the intersection 37. A plurality of course points 201 are also set at each of the loading area 31, the dumping area 32, the parking area 33, the fueling area 34, and the water supply area 35. The course points 201 define the target position of the unmanned watering vehicle 20. A target orientation and a target travel speed of the unmanned watering vehicle 20 are set at each of the plurality of course points 201. The plurality of course points 201 are set with intervals between them. The intervals between the course points 201 are set to, for example, 1 m or more and 5 m or less. The intervals between the course points 201 may be uniform or non-uniform.

[0060] The travel course 202 refers to an imaginary line that indicates a target travel route of the unmanned watering vehicle 20. The travel course 202 is defined by a trajectory that passes through a plurality of course points 201. The unmanned watering vehicle 20 travels in the work site according to the travel course 202.

[0061] The target position of the unmanned watering vehicle 20 refers to the target position of the unmanned watering vehicle 20 when passing the course point 201. The target position of the unmanned watering vehicle 20 may be defined in the local coordinate system of the unmanned watering vehicle 20 or in the global coordinate system.

[0062] The target orientation of the unmanned watering vehicle 20 refers to the target orientation of the unmanned watering vehicle 20 when passing through the course point 201.

[0063] The target running speed of the unmanned watering vehicle 20 refers to the target running speed of the unmanned watering vehicle 20 when passing through the course point 201. The target running speed of the unmanned watering vehicle 20 includes an upper limit speed (speed limit) that indicates the upper limit of the running speed of the unmanned watering vehicle 20. The unmanned watering vehicle 20 runs through the work site at a running speed that does not exceed the upper limit speed.

[0064] The protected area 203 is an area in which the unmanned watering vehicle 20 is permitted to travel. The protected area 203 is also an area in which other unmanned watering vehicles 20 and unmanned transport vehicles 10 traveling around the unmanned watering vehicle 20 are prohibited from entering. That is, the protected area 203 functions as an allowed area that permits the unmanned watering vehicle 20 to travel. The protected area 203 functions as a no-entry area that prohibits the entry of other unmanned watering vehicles 20 and unmanned transport vehicles 10 traveling around the unmanned watering vehicle 20. The protected area 203 is set in the traveling direction of the unmanned watering vehicle 20. When the unmanned watering vehicle 20 moves forward, at least a part of the protected area 203 is set in front of the unmanned watering vehicle 20. The protected area 203 is set in a strip shape so as to include the traveling course 202. The protected area 203 is also set so as to include the unmanned watering vehicle 20. The length of the protected area 203 in the traveling direction of the unmanned watering vehicle 20 is, for example, not less than 20 [m] and not more than 500 [m].

[0065] A stop point 204 of the unmanned watering vehicle 20 is set inside the protected area 203. The stop point 204 is set at the tip of the protected area 203. The travel speed of the unmanned watering vehicle 20 is controlled so that the unmanned watering vehicle 20 can stop at the stop point 204.

[0066] The second protection area setting unit 64 sequentially updates the protection area 203 as the unmanned watering vehicle 20 travels. The second protection area setting unit 64 sequentially cancels the protection area 203 after the unmanned watering vehicle 20 has passed. The second protection area setting unit 64 sequentially extends the protection area 203 before the unmanned watering vehicle 20 has passed in the traveling direction of the unmanned watering vehicle 20. By canceling the protection area 203 after the unmanned watering vehicle 20 has passed, other unmanned watering vehicles 20 and the unmanned transport vehicle 10 become able to travel. By extending the protection area 203 before the unmanned watering vehicle 20 has passed, the unmanned watering vehicle 20 continues traveling. If an event occurs in which the protection area 203 cannot be extended, the unmanned watering vehicle 20 stops at the stop point 204. An example of an event in which the protected area 203 cannot be extended is an event in which another unmanned water sprinkler vehicle 20 or unmanned transport vehicle 10 is stopped in front of the protected area 203.

[0067] The first protection area setting unit 63 sets a protection area 103 for each of a plurality of unmanned guided vehicles 10 operating at the work site. The second protection area setting unit 64 sets a protection area 203 for each of a plurality of unmanned water sprinkler vehicles 20 operating at the work site. The first protection area setting unit 63 sets the protection area 103 such that the plurality of protection areas 103 do not overlap with each other. The second protection area setting unit 64 sets the protection area 203 such that the plurality of protection areas 203 do not overlap with each other. The first protection area setting unit 63 and the second protection area setting unit 64 set the protection area 103 and the protection area 203 such that the protection area 103 and the protection area 203 do not overlap with each other.

[0068] The second protection area setting unit 64 sets a protection area 203 that prohibits the entry of unmanned vehicles (other unmanned watering vehicles 20 and unmanned transport vehicles 10) traveling around the unmanned watering vehicle 20 based on the watering condition from the watering sprays 28 provided on the unmanned watering vehicle 20 proceeding through the work site.

[0069] The water sprinkling data generating unit 65 generates water sprinkling data for controlling the water sprinkler spray 28. The water sprinkling data includes at least one of execution and stop of water sprinkling from the water sprinkler spray 28, water sprinkling positions at the work site where the water sprinkler spray 28 sprinkles water, and the amount of water sprinkled per unit area from the water sprinkler spray 28. The water sprinkling positions at which the water sprinkler spray 28 sprinkles water include water sprinkling areas indicating areas on the travel path 36 (work site) where water is sprinkled from the water sprinkler spray 28. In addition, when a plurality of water sprinkler sprays 28 are provided on the unmanned water sprinkler vehicle 20, the water sprinkling data includes the number of water sprinkler sprays 28 that perform water sprinkling. In addition, when the water sprinkler sprays 28 are installed at each of a plurality of positions on the unmanned water sprinkler vehicle 20, the water sprinkling data includes the installation positions of the water sprinkler sprays 28 that perform water sprinkling. The water sprinkling data generating unit 65 may generate the water sprinkling data based on input data from the input device 9.

[0070] The watering state from the water sprayer 28 is defined by the watering data. The second protection area setting unit 64 can obtain the watering state from the water sprayer 28 by obtaining the watering data generated by the watering data generating unit 65.

[0071] The first output unit 66 outputs the first course data generated by the first course data generation unit 61 to the unmanned guided vehicle 10. The first output unit 66 transmits the first course data from the communication interface 41 to the control device 11 of the unmanned guided vehicle 10.

[0072] The first output unit 66 outputs each of the protected area 103 set by the first protected area setting unit 63 and the protected area 203 set by the second protected area setting unit 64 to the unmanned guided vehicle 10. The first output unit 66 transmits the protected area 103 and the protected area 203 from the communication interface 41 to the control device 11 of the unmanned guided vehicle 10.

[0073] The second output unit 67 outputs the second course data generated by the second course data generation unit 62 to the unmanned watering vehicle 20. The second output unit 67 transmits the second course data from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20.

[0074] The second output unit 67 outputs each of the protected area 203 set by the second protected area setting unit 64 and the protected area 103 set by the first protected area setting unit 63 to the unmanned watering vehicle 20. The second output unit 67 transmits the protected area 203 and the protected area 103 from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20.

[0075] The second output unit 67 outputs the watering data generated by the watering data generation unit 65 to the unmanned watering vehicle 20. The second output unit 67 transmits the watering data from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20.

[0076] The control device 11 includes a computer system. Like the management device 2, the control device 11 has a communication interface, a memory circuit, and a processing circuit. The control device 11 has a traveling control unit 71 that controls the traveling device 13. The traveling control unit 71 controls the traveling device 13 based on the first course data, the protected area 103, and the protected area 203 transmitted from the management device 2.

[0077] 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 water sprinkler control unit 82 that controls the water sprinkler spray 28. The travel control unit 81 controls the traveling device 23 based on the second course data, the protected area 203, and the protected area 103 transmitted from the management device 2. The water sprinkler control unit 82 controls the water sprinkler spray 28 based on the water sprinkler data transmitted from the management device 2.

[0078] The traveling control unit 71 controls the traveling device 13 based on the first course data and the detection data of the sensor system 15. The traveling control unit 71 controls the traveling device 13 based on the detection data of the position sensor 15A and the detection data of the orientation sensor 15B so that the unmanned guided vehicle 10 travels along the traveling course 102.

[0079] In other words, the driving control unit 71 controls the driving device 13 so as to reduce the deviation between the detected position of the unmanned guided vehicle 10 detected by the position sensor 15A when passing the course point 101 and the target position of the unmanned guided vehicle 10 set at the course point 101.

[0080] In addition, the driving control unit 71 controls the driving device 13 so that the deviation between the detected orientation of the unmanned transport vehicle 10 detected by the orientation sensor 15B when passing the course point 101 and the target orientation of the unmanned transport vehicle 10 set at the course point 101 is small.

[0081] Furthermore, 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 target traveling speed. In other words, the traveling control unit 71 controls the traveling device 13 so that the deviation between the detected traveling speed of the unmanned guided vehicle 10 detected by the speed sensor 15C when passing the course point 101 and the target traveling speed of the unmanned guided vehicle 10 set at the course point 101 becomes small.

[0082] 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.

[0083] Furthermore, the traveling control unit 71 controls the traveling device 13 based on the protected area 103 and the protected area 203 transmitted from the management device 2. As described above, if an event occurs in which the protected area 103 cannot be extended, the traveling control unit 71 controls the traveling device 13 so that the unmanned guided vehicle 10 stops at the stop point 104. The traveling control unit 71 controls the traveling device 13 so that the unmanned guided vehicle 10 does not enter inside the protected area 203 set for the unmanned watering vehicle 20.

[0084] The traveling control unit 81 controls the traveling device 23 based on the second course data and the detection data of the sensor system 25. The traveling control unit 81 controls the traveling device 23 so that the unmanned watering vehicle 20 travels along the traveling course 202 based on the detection data of the position sensor 25A and the detection data of the orientation sensor 25B.

[0085] In other words, the driving control unit 81 controls the driving device 23 so as to reduce the deviation between the detected position of the unmanned watering vehicle 20 detected by the position sensor 25A when passing the course point 201 and the target position of the unmanned watering vehicle 20 set at the course point 201.

[0086] In addition, the driving control unit 81 controls the driving device 23 so that the deviation between the detected direction of the unmanned watering vehicle 20 detected by the direction sensor 25B when passing the course point 201 and the target direction of the unmanned watering vehicle 20 set at the course point 201 is small.

[0087] 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. In other words, the traveling control unit 81 controls the traveling device 23 so that the deviation between the detected traveling speed of the unmanned watering vehicle 20 detected by the speed sensor 25C when passing the course point 201 and the target traveling speed of the unmanned watering vehicle 20 set at the course point 201 becomes small.

[0088] 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 201 does not exceed the upper limit speed of the unmanned watering vehicle 20 set at the course point 201.

[0089] Furthermore, the traveling control unit 81 controls the traveling device 23 based on the protected area 203 and the protected area 103 transmitted from the management device 2. As described above, when an event occurs in which the protected area 203 cannot be extended, the traveling control unit 81 controls the traveling device 23 so that the unmanned watering vehicle 20 stops at the stop point 204. The traveling control unit 81 controls the traveling device 23 so that the unmanned watering vehicle 20 does not enter inside the protected area 103 set for the unmanned transport vehicle 10.

[0090] The water sprinkling control unit 82 controls the water sprinkling sprayer 28 based on the water sprinkling data transmitted from the management device 2. The water sprinkling state from the water sprinkling sprayer is defined by the water sprinkling data.

[0091] [Watering from the water spray] Fig. 8 is a diagram for explaining the state of water sprinkling from the water sprinkler sprayer 28 according to the embodiment. As shown in Fig. 8, the water sprinkler sprayer 28 is disposed at the rear of the unmanned water sprinkler vehicle 20. The water sprinkler sprayer 28 sprinkles water behind the unmanned water sprinkler vehicle 20 when the unmanned water sprinkler vehicle 20 moves forward.

[0092] The water sprinkling control unit 82 controls the water sprinkling sprayer 28 based on the water sprinkling data transmitted from the management device 2. The water sprinkling state from the water sprinkling sprayer is defined by the water sprinkling data.

[0093] The water sprinkling state from the water sprinkler spray 28 includes execution and stop of water sprinkling by the water sprinkler spray 28. Fig. 8(A) shows a state in which water sprinkling by the water sprinkler spray 28 is being executed. Fig. 8(B) shows a state in which water sprinkling by the water sprinkler spray 28 is stopped.

[0094] [Processing of the second protection area setting section] 9 and 10 are diagrams for explaining the processing of the second protected area setting unit 64 according to the embodiment. Fig. 9 shows the protected area 203 that is set when the water sprayer 28 is stopped from spraying water. Fig. 10 shows the protected area 203 that is set when the water sprayer 28 is spraying water.

[0095] As shown in FIGS. 9 and 10, the second protection area setting unit 64 sets a protection area 203 so as to include the unmanned water-sprinkling vehicle 20.

[0096] As shown in Figures 9 and 10, the second protection area setting unit 64 sets the protection area 203 so that the protection area 203 when watering is being performed by the watering spray 28 is larger than the protection area 203 when watering by the watering spray 28 is stopped.

[0097] As shown in Figure 9, when watering by the watering spray 28 is stopped, the second protection area setting unit 64 sets the protection area 203 so that the rear end of the unmanned watering vehicle 20 and the rear end of the protection area 203 substantially coincide with each other.

[0098] As shown in FIG. 10, when water sprinkling by the water sprayer 28 is being performed, the second protected area setting unit 64 sets the protected area 203 to include a water sprinkling area 205 indicating an area to be watered by the water sprinkler spray 28. That is, when water sprinkling by the water sprinkler spray 28 is being performed, the second protected area setting unit 64 enlarges the protected area 203 more than when water sprinkling by the water sprinkler spray 28 is stopped so that the water sprinkling area is located inside the protected area 203. The second protected area setting unit 64 extends the rear end of the protected area 203 further rearward from the unmanned water sprinkler vehicle 20 than when water sprinkling by the water sprinkler spray 28 is stopped. The second protected area setting unit 64 extends the rear end of the protected area 203 rearward so that the unmanned transport vehicle 10 does not enter the water sprinkling area 205.

[0099] The dimensions of the protected area 203 defined in front of the unmanned sprinkler vehicle 20 are the same when sprinkling by the water spray 28 is being performed and when sprinkling is stopped. That is, the distance between the front end of the unmanned sprinkler vehicle 20 and the front end of the protected area 203 when sprinkling by the water spray 28 is stopped is equal to the distance between the front end of the unmanned sprinkler vehicle 20 and the front end of the protected area 203 when sprinkling by the water spray 28 is being performed. The distance between the front end of the unmanned sprinkler vehicle 20 and the front end of the protected area 203 when sprinkling by the water spray 28 is stopped may be different from the distance between the front end of the unmanned sprinkler vehicle 20 and the front end of the protected area 203 when sprinkling by the water spray 28 is being performed.

[0100] When sprinkling water by the water sprinkler spray 28 is being performed, the protection area 203 is set to include the water sprinkling area 205. This prevents the unmanned guided vehicle 10 traveling around the unmanned water sprinkler vehicle 20 from entering the water sprinkling area 205. That is, the unmanned guided vehicle 10 is prevented from traveling on a road surface immediately after water has been sprayed. If the unmanned guided vehicle 10 travels on a road surface immediately after water has been sprayed, the tires 17 of the unmanned guided vehicle 10 are more likely to slip, which may cause problems with the travel of the unmanned guided vehicle 10. In the embodiment, when sprinkling water by the water sprinkler spray 28 is being performed, the protection area 203 is set to include the water sprinkling area 205, and the unmanned guided vehicle 10 is prohibited from entering the water sprinkling area 205, so that the tires 17 of the unmanned guided vehicle 10 are prevented from slipping. Therefore, the unmanned guided vehicle 10 can travel smoothly.

[0101] Furthermore, when water is being sprinkled by the water sprayer 28, the unmanned guided vehicle 10 is prohibited from entering the watering area 205, so that the water sprayed from the water sprayer 28 is prevented from splashing on the obstacle sensor 15D provided on the unmanned guided vehicle 10. Therefore, a decrease in the detection accuracy of the obstacle sensor 15D is prevented.

[0102] In this way, when watering is being performed by the watering spray 28, the protection area 203 is set to include the watering area 205, and the running device 13 of the unmanned guided vehicle 10 is controlled so that the unmanned guided vehicle 10 does not enter the watering area 205. This prevents the tires 17 of the unmanned guided vehicle 10 from slipping, allowing the unmanned guided vehicle 10 to travel smoothly.

[0103] Fig. 11 is a diagram showing the relationship between the unmanned water sprinkler vehicle 20 and the unmanned guided vehicle 10 according to the embodiment. As shown in Fig. 11, the obstacle sensors 15D of the unmanned guided vehicle 10 are attached to the front and rear of the unmanned guided vehicle 10. The detection area 150 of the obstacle sensor 15D attached to the front of the unmanned guided vehicle 10 is defined in front of the unmanned guided vehicle 10. The detection area 150 of the obstacle sensor 15D attached to the rear of the unmanned guided vehicle 10 is defined behind the unmanned guided vehicle 10. The obstacle sensor 15D detects obstacles present in the detection area 150.

[0104] 11, if water sprayed from the water sprayer 28 falls on the obstacle sensor 15D provided on the unmanned guided vehicle 10 or enters the detection area 150 of the obstacle sensor 15D, the detection accuracy of the obstacle sensor 15D may decrease. In the embodiment, when water sprinkling is being performed by the water sprayer 28, the protection area 203 is set to include the water sprinkling area 205, and the traveling device 13 of the unmanned guided vehicle 10 is controlled so that the unmanned guided vehicle 10 does not enter the water sprinkling area 205. Therefore, water sprayed from the water sprayer 28 is prevented from falling on the obstacle sensor 15D provided on the unmanned guided vehicle 10 or entering the detection area 150 of the obstacle sensor 15D, and thus a decrease in the detection accuracy of the obstacle sensor 15D is suppressed.

[0105] For example, if the water sprayer 28 starts to spray water when the unmanned guided vehicle 10 travels behind the unmanned guided vehicle 20 after the water sprayer 28 has stopped spraying water, the protected area 203 is enlarged. The protected area 203 is enlarged so as to change from the state shown in Fig. 9 to the state shown in Fig. 10. The travel control unit 71 of the unmanned guided vehicle 10 controls the traveling device 13 so as to prevent the unmanned guided vehicle 10 from entering the protected area 203.

[0106] For example, when water sprinkling by the water sprayer 28 is being performed and the unmanned guided vehicle 10 is controlled not to travel behind the unmanned water sprinkler vehicle 20, if the water sprinkling by the water sprayer 28 is stopped, the protected area 203 is reduced. The protected area 203 is reduced so as to change from the state shown in Fig. 10 to the state shown in Fig. 9. The travel control unit 71 of the unmanned guided vehicle 10 can control the traveling device 13 so that the unmanned guided vehicle 10 passes behind the unmanned water sprinkler vehicle 20.

[0107] [How to manage unmanned vehicles] FIG. 12 is a flowchart showing the unmanned vehicle management method according to the embodiment.

[0108] The first course data generating unit 61 generates first course data for the unmanned guided vehicle 10 (step S1).

[0109] The first protection area setting unit 63 sets the protection area 103 for the unmanned guided vehicle 10 (step S2).

[0110] The process of step S2 may be executed before the process of step S1, or the process of step S2 may be executed in parallel with at least a part of the process of step S1.

[0111] The first output unit 66 transmits the first course data generated by the first course data generating unit 61 and the protection area 103 set by the first protection area setting unit 63 to the automated guided vehicle 10 (step S3).

[0112] The automated guided vehicle 10 travels along the travel path 36 based on the first course data and the protection area 103.

[0113] The second course data generating unit 62 generates second course data for the unmanned watering vehicle 20 (step S4).

[0114] Furthermore, the second protection area setting unit 64 sets the protection area 203 for the unmanned watering vehicle 20 (step S5).

[0115] The watering data generating unit 65 generates watering data by the watering sprayer 28 (step S6).

[0116] The process of steps S4, S5, and S6 may be performed in any order.

[0117] The second output unit 67 transmits the second course data generated by the second course data generation unit 62, the protection area 203 set by the second protection area setting unit 64, and the watering data generated by the watering data generation unit 65 to the unmanned watering vehicle 20 (step S7).

[0118] The unmanned water-sprinkling vehicle 20 travels along the travel path 36 based on the second course data and the protection area 203. In addition, the water-sprinkling sprayer 28 performs or stops water sprinkling based on the water-sprinkling data.

[0119] The second protected area setting unit 64 acquires the water spray state from the water sprayer 28 (step S8).

[0120] The watering state from the watering sprayer 28 is defined by the watering data generated by the watering data generating unit 65. The second protection area setting unit 64 can obtain the watering state from the watering sprayer 28 by obtaining the watering data generated by the watering data generating unit 65.

[0121] The second protected area setting unit 64 sets the size of the protected area 203 based on the water spray condition from the water sprayer 28 (step S9).

[0122] 9, when the water sprinkling by the water sprinkler sprayer 28 is stopped, the second protected area setting unit 64 reduces the dimensions of the protected area 203 defined behind the unmanned water sprinkler vehicle 20. In other words, when the water sprinkling by the water sprinkler sprayer 28 is stopped, the second protected area setting unit 64 sets the protected area 203 so that the rear end of the unmanned water sprinkler vehicle 20 and the rear end of the protected area 203 substantially coincide with each other.

[0123] As described with reference to Fig. 10, when water sprinkling by the water sprinkler sprayer 28 is being performed, the second protected area setting unit 64 enlarges the dimensions of the protected area 203 defined behind the unmanned water sprinkler vehicle 20. That is, when water sprinkling by the water sprinkler sprayer 28 is being performed, the second protected area setting unit 64 sets the protected area 203 so that the water sprinkler area 205 indicating the area sprayed with water from the water sprinkler sprayer 28 is included in the protected area 203. The second protected area setting unit 64 enlarges the protected area 203 so that the rear end of the protected area 203 moves rearward relative to the rear end of the unmanned water sprinkler vehicle 20.

[0124] The second output unit 67 transmits the protection area 203 set in step S9 to the unmanned watering vehicle 20. If the size of the protection area 203 is changed in step S9, the second output unit 67 outputs a control command indicating the change in the protection area 203 to the unmanned watering vehicle 20 (step S10).

[0125] The travel control unit 71 of the unmanned guided vehicle 10 controls the traveling device 13 so as not to enter the protected area 203.

[0126] [effect] As described above, according to the embodiment, the protection area 203 into which the unmanned transport vehicle 10 traveling around the unmanned water sprinkler vehicle 20 is prohibited from entering is set based on the water sprinkling state from the water sprinkler sprayer 28.

[0127] When water sprinkling by the water sprinkler spray 28 is being performed, the protection area 203 is set to include the water sprinkler area 205, thereby preventing the unmanned guided vehicle 10 from entering the water sprinkler area 205. Therefore, the tires 17 of the unmanned guided vehicle 10 are prevented from slipping, and the unmanned guided vehicle 10 can move forward smoothly. Furthermore, when water sprinkling by the water sprinkler spray 28 is performed, the protection area 203 is set to include the water sprinkler area 205, thereby preventing the unmanned guided vehicle 10 from entering the water sprinkler area 205. Therefore, the water sprayed from the water sprinkler spray 28 is prevented from splashing on the obstacle sensor 15D provided at the front of the unmanned guided vehicle 10 or entering the detection area 150 of the obstacle sensor 15D. Therefore, a decrease in the detection accuracy of the obstacle sensor 15D is prevented.

[0128] When the sprinkling of water by the water sprinkler sprayer 28 is stopped, the protection area 203 is reduced. When the sprinkling of water by the water sprinkler sprayer 28 is stopped, the protection area 203 is reduced, which prevents the travel of the unmanned guided vehicle 10 from being unnecessarily restricted. This reduces the impact of the unmanned water sprinkler vehicle 20 spraying water on the surrounding unmanned guided vehicles 10. In addition, the unmanned guided vehicle 10 can travel smoothly on the travel path 36, which prevents a decrease in productivity at the work site.

[0129] [Other embodiments] FIG. 13 is a diagram for explaining the water sprinkling state from the water sprinkler spray 28 according to the embodiment. In the above-described embodiment, the water sprinkling state from the water sprinkler spray 28 includes the execution of water sprinkling by the water sprinkler spray 28 and the stop of water sprinkling. As shown in FIG. 13, the water sprinkling state from the water sprinkler spray 28 may include the water sprinkling amount from the water sprinkler spray 28. The water sprinkling amount refers to the amount of water sprinkled from the water sprinkler spray 28 per unit area. As shown in FIG. 13(A), the water sprinkler control unit 82 can control the water sprinkler spray 28 so that the water sprinkler spray 28 sprinkles water at a first water sprinkling amount. As shown in FIG. 13(B), the water sprinkler control unit 82 can control the water sprinkler spray 28 so that the water sprinkler spray 28 sprinkles water at a second water sprinkling amount that is less than the first water sprinkling amount.

[0130] The second protected area setting unit 64 sets the protected area 203 so that the protected area 203 when water is sprayed from the water spray 28 at a first water spray rate is larger than the protected area 203 when water is sprayed at a second water spray rate that is smaller than the first water spray rate.

[0131] When the water is sprayed from the water sprayer 28 at the first water spray amount, the water from the water sprayer 28 is sprayed far away from the unmanned water sprinkler vehicle 20. When the water is sprayed from the water sprayer 28 at the first water spray amount, the second protected area setting unit 64 expands the protected area 203 defined behind the unmanned water sprinkler vehicle 20 rearward so that the water sprinkler area 205 is included in the protected area 203. By expanding the protected area 203, the unmanned transport vehicle 10 is prevented from entering the water sprinkler area 205. This prevents the tires 17 of the unmanned transport vehicle 10 from slipping, and the unmanned transport vehicle 10 can move forward smoothly. In addition, when the water is sprayed from the water sprayer 28 at the first water spray amount, by expanding the protected area 203, the water sprayed from the water sprayer 28 is prevented from hitting the obstacle sensor 15D provided at the front of the unmanned transport vehicle 10 or entering the detection area 150 of the obstacle sensor 15D. This suppresses a decrease in the detection accuracy of the obstacle sensor 15D.

[0132] When the water is sprayed from the water sprayer 28 at the second water spraying amount, the water from the water sprayer 28 is prevented from being sprayed far from the unmanned water sprinkler vehicle 20. When the water is sprayed from the water sprayer 28 at the second water spraying amount, the second protected area setting unit 64 makes the protected area 203 smaller than when the water is sprayed from the water sprayer 28 at the first water spraying amount. That is, the second protected area setting unit 64 reduces the protected area 203 defined behind the unmanned water sprinkler vehicle 20. The second protected area setting unit 64 sets the protected area 203 so that the water sprinkling area 205 is included in the protected area 203. When the water is sprayed from the water sprayer 28 at the second water spraying amount, the protected area 203 is prevented from becoming unnecessarily large. Since the protected area 203 is prevented from becoming unnecessarily large, the travel of the unmanned transport vehicle 10 is prevented from being unnecessarily restricted. The unmanned guided vehicle 10 can travel smoothly along the travel path 36, and a decrease in productivity at the work site is suppressed.

[0133] Fig. 14 is a diagram for explaining the state of water sprinkling from the water sprinkler sprayer 28 according to the embodiment. As shown in Fig. 14, a plurality of water sprinkler sprayers 28 are provided at the rear of the unmanned water sprinkler vehicle 20. The water sprinkler sprayers 28 are installed at each of a plurality of positions in the vehicle width direction of the unmanned water sprinkler vehicle 20 at the rear of the unmanned water sprinkler vehicle 20. In the example shown in Fig. 14, the plurality of water sprinkler sprayers 28 are arranged at intervals in the vehicle width direction at the rear of the unmanned water sprinkler vehicle 20. The obstacle sensor 25D is arranged in the center in the vehicle width direction.

[0134] The water sprinkling state from the water sprinkler sprays 28 includes the number of the water sprinkler sprays 28 that perform water sprinkling. In addition, the water sprinkler state from the water sprinkler sprays 28 includes the installation positions of the water sprinkler sprays 28 that perform water sprinkling. As shown in FIG. 14(A), the water sprinkler control unit 82 can control the water sprinkler sprays 28 so that water is sprinkled from a first number of the water sprinkler sprays 28. In the example shown in FIG. 14(A), the first number is four. In addition, the water sprinkler control unit 82 can control the water sprinkler sprays 28 so that water is sprinkled from at least the water sprinkler sprays 28 installed in the center of the unmanned water sprinkler vehicle 20 in the vehicle width direction. As shown in FIG. 14(B), the water sprinkler control unit 82 can control the water sprinkler sprays 28 so that water is sprinkled from a second number of the water sprinkler sprays 28 that is less than the first number. In the example shown in FIG. 14(B), the second number is two. In addition, the water sprinkler control unit 82 can control the water sprinkler sprays 28 installed at the ends of the unmanned water sprinkler vehicle 20 in the vehicle width direction to sprinkle water from the water sprinkler sprays 28.

[0135] The second protected area setting unit 64 sets the protected area 203 so that the protected area 203 when water is sprayed from a first number of water sprayers 28 is different from the protected area 203 when water is sprayed from a second number of water sprayers 28 that is less than the first number.

[0136] When water is sprayed from the first number of water sprayers 28, the watering area 205 may be larger than when water is sprayed from the second number of water sprayers 28. In this case, the second protected area setting unit 64 sets the protected area 203 such that the protected area 203 when water is sprayed from the first number of water sprayers 28 is larger than the protected area 203 when water is sprayed from a second number of water sprayers 28 that is less than the first number.

[0137] When water is sprayed from the first number of water sprayers 28, the protection area 203 is set large enough to include the water spray area 205, which prevents the tires 17 of the unmanned guided vehicle 10 from slipping, allowing the unmanned guided vehicle 10 to move forward smoothly. Furthermore, when water is sprayed from the first number of water sprayers 28, the protection area 203 is set large enough to include the water spray area 205, which prevents water sprayed from the water sprayers 28 from splashing on the obstacle sensor 15D provided on the unmanned guided vehicle 10 or entering the detection area 150 of the obstacle sensor 15D. This prevents a decrease in the detection accuracy of the obstacle sensor 15D.

[0138] When water is being sprayed from the second number of water sprayers 28, the protection area 203 is set small, thereby preventing the travel of the unmanned guided vehicle 10 from being unnecessarily restricted. The unmanned guided vehicle 10 can travel smoothly on the travel path 36, and a decrease in productivity at the work site is prevented.

[0139] The second protection area setting unit 64 sets the protection area 203 so that the protection area 203 when the installation position of the watering spray 28 that performs watering is in the center of the unmanned watering vehicle 20 in the vehicle width direction is different from the protection area 203 when the installation position of the watering spray 28 that performs watering is at the end of the unmanned watering vehicle 20 in the vehicle width direction.

[0140] When the installation position of the water sprinkler spray 28 that performs water sprinkling is an end portion in the vehicle width direction of the unmanned water sprinkler vehicle 20, the water sprinkler area 205 may be larger in the vehicle width direction compared to when the installation position of the water sprinkler spray 28 that performs water sprinkling is the center portion in the vehicle width direction of the unmanned water sprinkler vehicle 20. In this case, the second protected area setting unit 64 sets the protected area 203 such that the protected area 203 when the installation position of the water sprinkler spray 28 that performs water sprinkling is an end portion in the vehicle width direction of the unmanned water sprinkler vehicle 20 is larger than the protected area 203 when the installation position of the water sprinkler spray 28 that performs water sprinkling is the center portion in the vehicle width direction of the unmanned water sprinkler vehicle 20.

[0141] When the installation position of the water sprinkler spray 28 that performs water sprinkling is an end of the unmanned water sprinkler vehicle 20 in the vehicle width direction, the protection area 203 is expanded in the vehicle width direction, thereby preventing the tires 17 of the unmanned guided vehicle 10 from slipping, and the unmanned guided vehicle 10 can move forward smoothly. In addition, water sprayed from the water sprinkler spray 28 is prevented from splashing on the obstacle sensor 15D provided on the unmanned guided vehicle 10 or entering the detection area 150 of the obstacle sensor 15D. Therefore, a decrease in the detection accuracy of the obstacle sensor 15D is suppressed.

[0142] When the installation position of the water sprinkler sprayer 28 that performs water sprinkling is the center in the vehicle width direction of the unmanned water sprinkler vehicle 20, the protected area 203 is reduced in the vehicle width direction compared to when the installation position of the water sprinkler sprayer 28 that performs water sprinkling is an end of the unmanned water sprinkler vehicle 20 in the vehicle width direction. This prevents the travel of the unmanned transport vehicle 10 from being unnecessarily restricted. The unmanned transport vehicle 10 can travel smoothly on the travel path 36, and a decrease in productivity at the work site is prevented.

[0143] In the above-described embodiment, the first course data may not be generated. The unmanned guided vehicle 10 may travel along the travel path 36 without being based on the first course data. In the above-described embodiment, the second course data may not be generated. The unmanned watering vehicle 20 may travel along the travel path 36 without being based on the second course data.

[0144] 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 function of the first course data generation unit 61 and the function of the first protection area setting unit 63. The control device 21 may have the function of the second course data generation unit 62, the function of the second protection area setting unit 64, and the function of the watering data generation unit 65.

[0145] In the above-described embodiment, each of the first course data generation unit 61, the second course data generation unit 62, the first protection area setting unit 63, the second protection area setting unit 64, the watering data generation unit 65, the first output unit 66, and the second output unit 67 may be configured as separate hardware.

[0146] In the above-described embodiment, the first unmanned vehicle 10 is an unmanned transport vehicle, and the second unmanned vehicle 20 is an unmanned water-sprinkling vehicle. The first unmanned vehicle 10 may also be an unmanned water-sprinkling vehicle. [Explanation of symbols]

[0147] 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...Water supply machine, 9...Input device, 10...Unmanned transport vehicle (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 (water sprinkler vehicle), 21...control device, 22...vehicle body, 23...running mechanism, 24...tank, 25...sensor system, 25A...position sensor, 25B...orientation sensor, 25C...speed sensor, 25D...obstacle sensor, 26...wheel, 26F...front wheel, 26R...rear wheel, 27...tire, 27F...front tire, 27R...rear tire, 28...water spray, 29...cab, 31...loading area, 32...soil discharge area, 33...parking area, 34...fuel station, 35...water station, 36...traveling path, 37...intersection, 41...communication interface, 42...memory circuit, 43...processing circuit, 61...first course data generation unit, 62...second course data generation unit, 63...first protection Area setting unit, 64...second protection area setting unit, 65...watering data generation unit, 66...first output unit, 67...second output unit, 71...driving control unit, 81...driving control unit, 82...watering control unit, 101...course point, 102...driving course, 103...protection area, 104...stopping point, 150...detection area, 201...course point, 202...driving course, 203...protection area, 204...stopping point, 205...watering area.

Claims

1. a protection area setting unit that sets a protection area into which unmanned vehicles traveling around a water sprinkler vehicle are prohibited from entering, based on a water sprinkler state from a water sprinkler spray provided on the water sprinkler vehicle traveling around the work site; and an output unit that outputs the protection area set by the protection area setting unit. Unmanned vehicle management system.

2. The protection area setting unit sets the protection area to include a watering area indicating an area to be watered from the water spray. The unmanned vehicle management system according to claim 1 .

3. the protection area setting unit extends the protection area to prevent the unmanned vehicle from entering the watering area. The unmanned vehicle management system according to claim 2 .

4. The protection area setting unit sets the protection area to include the water sprinkler vehicle. An unmanned vehicle management system according to any one of claims 1 to 3.

5. The water sprayer is disposed at the rear of the water sprinkler vehicle, and sprays water to the rear of the water sprinkler vehicle when the water sprinkler vehicle moves forward. An unmanned vehicle management system according to any one of claims 1 to 4.

6. The watering state includes execution of watering by the watering spray and stopping of watering, The protection area setting unit sets the protection area so that the protection area when water sprinkling is being performed is larger than the protection area when water sprinkling is stopped. An unmanned vehicle management system according to any one of claims 1 to 5.

7. The water spray state includes a water spray amount from a water spray, The protected area setting unit sets the protected area when water is being sprayed at a first watering rate so that the protected area is larger than the protected area when water is being sprayed at a second watering rate that is smaller than the first watering rate. An unmanned vehicle management system according to any one of claims 1 to 5.

8. The water spray is provided in plurality, The water spraying state includes the number of the water sprays that perform water spraying, The protection area setting unit sets the protection area such that the protection area when water is sprayed from a first number of the water sprayers is different from the protection area when water is sprayed from a second number of the water sprayers that is less than the first number. An unmanned vehicle management system according to any one of claims 1 to 5.

9. The water sprinklers are installed at a plurality of positions in a vehicle width direction of the water sprinkler vehicle, The water sprinkling state includes an installation position of the water sprinkler that performs water sprinkling, the protection area setting unit sets the protection area such that the protection area when the installation position is a center part in the vehicle width direction is different from the protection area when the installation position is an end part in the vehicle width direction. An unmanned vehicle management system according to any one of claims 1 to 5.

10. A travel control unit that controls a travel device of the unmanned vehicle, The travel control unit controls the travel device so that the unmanned vehicle does not enter the protected area. An unmanned vehicle management system according to any one of claims 1 to 9.

11. The unmanned vehicle is an unmanned transport vehicle. An unmanned vehicle management system according to any one of claims 1 to 10.

12. Based on a water sprinkling state from a water sprinkling spray provided on a water sprinkling vehicle traveling in a work site, a protection area is set in which an unmanned vehicle traveling around the water sprinkling vehicle is prohibited from entering; and outputting the protection area. How to manage unmanned vehicles.

13. controlling a traveling device of the unmanned vehicle so as to prevent the unmanned vehicle from entering the protected area; The method for managing an unmanned vehicle according to claim 12.

14. The protection area is set to include a watering area indicating an area to be watered from the water spray. The unmanned vehicle management method according to claim 12 or 13.

15. The protection area is extended so that the unmanned vehicle does not enter the watering area. The method for managing an unmanned vehicle according to claim 14.

16. The protection area is set to include the water sprinkler vehicle. The method for managing an unmanned vehicle according to any one of claims 12 to 15.

17. The protection area when the water spray is being sprayed is larger than the protection area when the water spray is stopped. The method for managing an unmanned vehicle according to any one of claims 12 to 16.

18. The protected area when the water is sprayed from the water spray at a first water spray rate is larger than the protected area when the water is sprayed at a second water spray rate that is smaller than the first water spray rate. The method for managing an unmanned vehicle according to any one of claims 12 to 16.

19. The water spray is provided in plurality, A protected area when water is sprayed from a first number of the water sprayers is different from a protected area when water is sprayed from a second number of the water sprayers that is less than the first number. The method for managing an unmanned vehicle according to any one of claims 12 to 16.

20. The water sprinklers are installed at a plurality of positions in a vehicle width direction of the water sprinkler vehicle, The protection area when the installation position of the water sprayer is the center of the vehicle width direction is different from the protection area when the installation position is an end of the vehicle width direction. The method for managing an unmanned vehicle according to any one of claims 12 to 16.

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