Unmanned vehicle management system and unmanned vehicle management method

Abstract

To suppress the occurrence of traffic congestion at a work site.SOLUTION: A management system of an unmanned vehicle 10 includes: a congestion prediction unit that predicts the occurrence of traffic congestion from the travel conditions of a plurality of unmanned vehicles traveling on a travel road 36 at a work site; and a guidance command unit that outputs a first guidance command so that an unmanned vehicle that causes traffic congestion enters a turnaround road 38 that branches off from the travel road when the occurrence of traffic congestion is predicted.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present disclosure relates to a management system for unmanned vehicles and a method for managing unmanned vehicles.

Background Art

[0002] As disclosed in Patent Document 1, unmanned vehicles operate at a wide work site such as a mine.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] At a work site, there may be a situation where unmanned vehicles running at high speed and unmanned vehicles running at low speed operate mixedly. Due to the unmanned vehicles running at low speed, traffic jams of unmanned vehicles may occur at the work site.

[0005] An object of the present disclosure is to suppress the occurrence of traffic jams at a work site.

Means for Solving the Problems

[0006] According to the present disclosure, there is provided a management system for unmanned vehicles, including a traffic jam prediction unit that predicts the occurrence of a traffic jam from the running states of a plurality of unmanned vehicles running on a road at a work site, and a guidance command unit that outputs a first guidance command so that when the occurrence of a traffic jam is predicted, the unmanned vehicle causing the traffic jam enters a bypass road that branches off from the road.

Effects of the Invention

[0007] According to the present disclosure, the occurrence of traffic jams at a work site can be suppressed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. Also, some components may not be used.

[0010] [Overview of the Management System] FIG. 1 is a schematic diagram showing a management system 1 for an unmanned vehicle according to an embodiment. The management system 1 manages unmanned vehicles operating at a work site. An unmanned vehicle refers to a work vehicle that operates without a driver's operation. In the embodiment, the unmanned vehicles operating 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 watering vehicle. In the following description, the first unmanned vehicle 10 is appropriately referred to as the unmanned transport vehicle 10, and the second unmanned vehicle 20 is appropriately referred to as the unmanned watering vehicle 20.

[0012] The unmanned transport vehicle 10 travels through the work site without a driver and transports loads. An example of the unmanned transport vehicle 10 is an unmanned dump truck. An example of the load transported by the unmanned transport vehicle 10 is the excavated material excavated at the work site.

[0013] The unmanned watering vehicle 20 travels through the work site without a driver and waters. An example of the unmanned watering vehicle 20 is an unmanned watering truck. The unmanned watering vehicle 20 waters to suppress the diffusion 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 the work site. There is a manager in the control facility 4.

[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 perform wireless communication via the 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] [Unmanned Transport Vehicle] FIG. 2 is a perspective view showing the unmanned transport vehicle 10 according to the embodiment. As shown in FIGS. 1 and 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 body frame. The vehicle body 12 is supported by the traveling device 13. The vehicle body 12 supports the dump body 14.

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

[0019] The dump body 14 is a member on which a load is loaded. At least a part of the dump body 14 is disposed above the vehicle 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 vehicle 10. The position of the unmanned 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 vehicle 10 in the global coordinate system. The orientation sensor 15B detects the orientation of the unmanned vehicle 10. As the orientation sensor 15B, a gyro sensor is exemplified. The speed sensor 15C detects the traveling speed of the unmanned vehicle 10. As the speed sensor 15C, a pulse sensor that detects the rotation of the wheels 16 is exemplified. The obstacle sensor 15D detects obstacles around the unmanned vehicle 10. The obstacle sensor 15D detects obstacles non-contactingly. As the obstacle sensor 15D, a laser sensor (LIDAR: Light Detection and Ranging) or a radar sensor (RADAR: Radio Detection and Ranging) is exemplified.

[0021] [Unmanned watering vehicle] FIG. 3 is a perspective view showing an unmanned watering vehicle 20 according to an embodiment. As shown in FIGS. 1 and 3, the unmanned watering vehicle 20 includes a wireless communicator 3C, a control device 21, a vehicle body 22, a traveling device 23, a tank 24, a sensor system 25, and a watering spray 28.

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

[0023] In the embodiment, a cab 29 is provided on the vehicle body 22. The cab 29 is provided at the front of the vehicle body 22. The driver can board the cab 29 and perform the driving operation of the unmanned watering vehicle 20. For example, when performing maintenance or inspection of the unmanned watering vehicle 20, the driver performs the driving operation of the unmanned watering vehicle 20. In the embodiment, the unmanned watering vehicle 20 operates unmanned at least when watering at the work site. Note that the cab 29 may not be provided on the unmanned watering vehicle 20.

[0024] The traveling device 23 generates a driving force for driving 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. A tire 27 is mounted on the wheel 26. The wheel 26 includes a front wheel 26F and a rear wheel 26R. The front wheel 26F is a steering wheel, and the rear wheel 26R is a driving wheel. Note that both the front wheel 26F and the rear wheel 26R may be steering wheels. Both the front wheel 26F and the rear wheel 26R may be driving wheels. The front wheel 26F may be a driving wheel and the rear wheel 26R may be a steering wheel. The tire 27 includes a front tire 27F mounted on the front wheel 26F and a rear tire 27R mounted on the rear wheel 26R. When the wheel 26 rotates with the tire 27 in contact with the road surface at the work site, the unmanned watering vehicle 20 travels on the work site.

[0025] The tank 24 is a member for storing water for watering. At least a part 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 the global coordinate system. The orientation sensor 25B detects the orientation of the unmanned watering vehicle 20. As the orientation sensor 25B, a gyro sensor is exemplified. The speed sensor 25C detects the traveling speed of the unmanned watering vehicle 20. As the speed sensor 25C, a pulse sensor that detects the rotation of the wheels 26 is exemplified. The obstacle sensor 25D detects obstacles around the unmanned watering vehicle 20. The obstacle sensor 25D detects obstacles non - contact. As the obstacle sensor 25D, a laser sensor (LIDAR: Light Detection and Ranging) or a radar sensor (RADAR: Radio Detection and Ranging) is exemplified.

[0027] The watering spray 28 sprays the water in the tank 24. The watering spray 28 is arranged at the rear of the tank 24. The watering spray 28 waters the area behind the unmanned watering vehicle 20. In an 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 in a straight - running state.

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

[0029] In an embodiment, the work site is a mine. As the mine, a metal mine that mines metals, a non - metal mine that mines limestone, or a coal mine that mines coal is exemplified.

[0030] At the work site, a loading area 31, a dumping area 32, a parking area 33, a refueling area 34, a water supply area 35, a driving path 36, an intersection 37, and a bypass 38 are provided.

[0031] The loading area 31 refers to an area where a loading operation of loading a load onto the unmanned transport vehicle 10 is carried out. In the loading area 31, the loader 5 operates. As the loader 5, a hydraulic excavator is exemplified.

[0032] The dumping area 32 refers to an area where a discharging operation of discharging a load from the unmanned transport vehicle 10 is carried out. A crusher 6 is provided in the dumping area 32.

[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 refueling area 34 refers to an area where at least one of the unmanned transport vehicle 10 and the unmanned watering vehicle 20 is refueled. A fuel dispenser 7 for supplying fuel is provided in the refueling area 34.

[0035] The water supply area 35 refers to an area where the unmanned watering vehicle 20 is supplied with water. In the water supply area 35, water for watering is supplied to the tank 24. A water supply machine 8 for supplying water to the tank 24 is provided in the water supply area 35.

[0036] The driving path 36 refers to an area where an unmanned vehicle traveling toward at least one of the loading area 31, the dumping area 32, the parking area 33, the refueling area 34, and the water supply area 35 travels. The driving path 36 is provided so as to connect at least the loading area 31 and the dumping area 32. In the embodiment, the driving path 36 is connected to each of the loading area 31, the dumping area 32, the parking area 33, the refueling area 34, and the water supply area 35.

[0037] The intersection 37 refers to an area where a plurality of driving paths 36 intersect or an area where one driving path 36 branches into a plurality of driving paths 36.

[0038] The bypass path 38 refers to an area provided so as to branch off from the traveling path 36. In the embodiment, the bypass path 38 is provided beside the traveling path 36. A plurality of bypass paths 38 are provided at intervals beside the traveling path 36. The unmanned watering vehicle 20 traveling on the traveling path 36 can enter from the traveling path 36 into the bypass path 38. The unmanned watering vehicle 20 present in the bypass path 38 can enter from the bypass path 38 into the traveling path 36.

[0039] [Management System] FIG. 5 is a functional block diagram showing a management system 1 at a work site according to the embodiment. The management system 1 includes a management device 2, a communication system 3, a control device 11, and a control device 21.

[0040] The management device 2 includes a computer system. The management device 2 is connected to an input device 9. The management device 2 has a communication interface 41, a storage circuit 42, and a processing circuit 43.

[0041] 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 operation of the administrator. 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. Note that the input device 9 may be a non-contact input device including an optical sensor or a voice input device.

[0042] 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.

[0043] The memory circuit 42 is connected to the processing circuit 43. The memory circuit 42 stores data. Examples of the memory circuit 42 include a non-volatile memory or a volatile memory. Examples of the non-volatile memory include a ROM (Read Only Memory) or a storage. Examples of the storage include a hard disk drive (HDD) or a solid state drive (SSD). Examples of the volatile memory include a RAM (Random Access Memory).

[0044] The processing circuit 43 performs arithmetic processing and output processing of control commands. Examples of the processing circuit 43 include a processor. Examples of the processor include a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). A computer program is stored in the memory circuit 42. The processing circuit 43 exhibits a predetermined function by acquiring and executing the computer program from the memory circuit 42.

[0045] The processing circuit 43 includes a first course data generation unit 61, a second course data generation unit 62, a traffic jam prediction unit 63, a guidance command unit 64, a watering data generation unit 65, a first output unit 66, and a second output unit 67.

[0046] The first course data generation unit 61 generates first course data indicating the traveling conditions of the unmanned transport vehicle 10 set at the work site. The first course data generation unit 61 may generate the first course data based on the input data from the input device 9.

[0047] FIG. 6 is a diagram for explaining the first course data according to the embodiment. The first course data defines the traveling conditions of the unmanned transport vehicle 10. The first course data includes a course point 101, a traveling course 102, the target position of the unmanned transport vehicle 10, the target orientation of the unmanned transport vehicle 10, and the target traveling speed of the unmanned transport vehicle 10.

[0048] A plurality of course points 101 are set on the traveling path 36 including the intersection 37. Also, a plurality of course points 101 are set at each of the loading yard 31, the dumping yard 32, the parking apron 33, and the refueling yard 34. The course point 101 defines the target position of the driverless transport vehicle 10. For each of the plurality of course points 101, the target orientation and the target traveling speed of the driverless transport vehicle 10 are set. The plurality of course points 101 are set at intervals. The interval of the course points 101 is set, for example, to be 1 [m] or more and 5 [m] or less. The interval of the course points 101 may be uniform or non-uniform.

[0049] The traveling course 102 refers to a virtual line indicating the target traveling route of the driverless transport vehicle 10. The traveling course 102 is defined by a locus passing through a plurality of course points 101. The driverless transport vehicle 10 travels through the work site according to the traveling course 102.

[0050] The target position of the driverless transport vehicle 10 refers to the target position of the driverless transport vehicle 10 when passing through the course point 101. The target position of the driverless transport vehicle 10 may be defined in the local coordinate system of the driverless transport vehicle 10 or in the global coordinate system.

[0051] The target orientation of the driverless transport vehicle 10 refers to the target orientation of the driverless transport vehicle 10 when passing through the course point 101.

[0052] The target traveling speed of the driverless transport vehicle 10 refers to the target traveling speed of the driverless transport vehicle 10 when passing through the course point 101. The target traveling speed of the driverless transport vehicle 10 includes the upper limit speed (limiting speed) indicating the upper limit value of the traveling speed of the driverless transport vehicle 10. The driverless transport vehicle 10 travels through the work site at a traveling speed not exceeding the upper limit speed.

[0053] The second course data generation unit 62 generates second course data indicating the traveling conditions of the driverless watering vehicle 20 set in the work site. The second course data generation unit 62 may generate the second course data based on the input data from the input device 9.

[0054] FIG. 7 is a diagram for explaining second course data according to an embodiment. The second course data defines 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. A plurality of course points 201 are set on the driving path 36. Also, a plurality of course points 201 are set at each of the loading yard 31, the dumping yard 32, the parking area 33, the refueling yard 34, the water supply yard 35, and the bypass road 38. The driving course 202 of the unmanned watering vehicle 20 refers to an imaginary line indicating the target driving route of the unmanned watering vehicle 20. The target driving speed of the unmanned watering vehicle 20 refers to the target driving speed of the unmanned watering vehicle 20 when passing through the course point 201. The target driving speed of the unmanned watering vehicle 20 includes an upper limit speed (limiting speed) indicating the upper limit value of the driving speed of the unmanned watering vehicle 20. The unmanned watering vehicle 20 travels on the work site at a driving speed not exceeding the upper limit speed. The functions of the first course data and the second course data are the same. The description of the second course data is omitted.

[0055] Note that the target driving speed (upper limit speed) of the unmanned transport vehicle 10 is different from the target driving speed (upper limit speed) of the unmanned watering vehicle 20. The target driving speed (upper limit speed) of the unmanned watering vehicle 20 is lower than the target driving speed of the unmanned transport vehicle 10.

[0056] The traffic jam prediction unit 63 predicts the occurrence of a traffic jam on the driving path 36 from the driving situations of a plurality of unmanned vehicles traveling on the driving path 36 of the work site.

[0057] The traffic jam prediction unit 63 predicts that a traffic jam will occur due to the unmanned watering vehicle 20 when it is predicted that the distance between the unmanned transport vehicle 10 and the unmanned watering vehicle 20 will be equal to or less than a predetermined distance threshold after a predetermined time, based on the respective driving situations of the unmanned transport vehicle 10 traveling on the driving path 36 and the unmanned watering vehicle 20 traveling ahead of the unmanned transport vehicle 10.

[0058] When a predetermined first condition is satisfied, the guidance instruction unit 64 outputs a first guidance instruction so that the unmanned watering vehicle 20 traveling on the travel path 36 enters the bypass path 38 from the travel path 36. For example, when the occurrence of congestion is predicted by the congestion prediction unit 63, the guidance instruction unit 64 outputs a first guidance instruction so that the unmanned vehicle causing the congestion enters the bypass path 38 that branches off from the travel path 36. When the occurrence of congestion caused by the unmanned watering vehicle 20 is predicted, the guidance instruction unit 64 outputs a first guidance instruction so that the unmanned watering vehicle 20 causing the congestion enters the bypass path 38 from the travel path 36. When a predetermined second condition is satisfied, the guidance instruction unit 64 outputs a second guidance instruction so that the unmanned watering vehicle 20 present on the bypass path 38 enters the travel path 36 from the bypass path 38.

[0059] The watering data generation unit 65 generates watering data for controlling the watering spray 28. The watering data includes at least one of execution and stop of watering from the watering spray 28, a watering position where the watering spray 28 waters at the work site, and an amount of watering per unit time from the watering spray 28. The watering position where the watering spray 28 waters includes a watering area where the watering spray 28 waters. When a plurality of watering sprays 28 are provided on the unmanned watering vehicle 20, the watering data includes the number of watering sprays 28 that execute watering. When the watering spray 28 is installed at each of a plurality of positions of the unmanned watering vehicle 20, the watering data includes the installation positions of the watering sprays 28 that execute watering. The watering data generation unit 65 may generate watering data based on the input data from the input device 9.

[0060] The first output unit 66 outputs the first course data generated by the first course data generation unit 61 to the unmanned carrier 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 carrier vehicle 10.

[0061] 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.

[0062] The second output unit 67 outputs at least one of the first guidance command and the second guidance command output from the guidance command unit 64 to the unmanned watering vehicle 20. The second output unit 67 transmits at least one of the first guidance command and the second guidance command from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20.

[0063] 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.

[0064] The control device 11 includes a computer system. Similar to the management device 2, the control device 11 has a communication interface, a storage circuit, and a processing circuit. The control device 11 has a travel control unit 71 that controls the travel device 13. The travel control unit 71 controls the travel device 13 based on the first course data transmitted from the management device 2.

[0065] The control device 21 includes a computer system. Similar to the management device 2, the control device 21 has a communication interface, a storage circuit, and a processing circuit. The control device 21 has a travel control unit 81 that controls the travel device 23 and a watering control unit 82 that controls the watering spray 28. The travel control unit 81 controls the travel device 23 based on the second course data transmitted from the management device 2. The travel control unit 81 controls the travel device 23 based on at least one of the first guidance command and the second guidance command 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.

[0066] The travel control unit 71 controls the travel device 13 based on the first course data and the detection data of the sensor system 15. The travel control unit 71 controls the travel device 13 so that the unmanned transport vehicle 10 travels along the travel course 102 based on the detection data of the position sensor 15A and the detection data of the azimuth sensor 15B.

[0067] That is, the travel control unit 71 controls the travel device 13 so that the deviation between the detected position of the unmanned transport vehicle 10 detected by the position sensor 15A when passing through the course point 101 and the target position of the unmanned transport vehicle 10 set at the course point 101 becomes small.

[0068] Also, the travel control unit 71 controls the travel device 13 so that the deviation between the detected azimuth of the unmanned transport vehicle 10 detected by the azimuth sensor 15B when passing through the course point 101 and the target azimuth of the unmanned transport vehicle 10 set at the course point 101 becomes small.

[0069] Also, the travel control unit 71 controls the travel device 13 based on the detection data of the speed sensor 15C so that the unmanned transport vehicle 10 travels at the target travel speed. That is, the travel control unit 71 controls the travel device 13 so that the deviation between the detected travel speed of the unmanned transport vehicle 10 detected by the speed sensor 15C when passing through the course point 101 and the target travel speed of the unmanned transport vehicle 10 set at the course point 101 becomes small.

[0070] As described above, the target travel speed of the unmanned transport vehicle 10 includes the upper limit speed of the unmanned transport vehicle 10. The travel control unit 71 controls the travel device 13 based on the detection data of the speed sensor 15C so that the unmanned transport vehicle 10 travels at a travel speed that does not exceed the upper limit speed. That is, the travel control unit 71 controls the travel device 13 so that the detected travel speed of the unmanned transport 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 transport vehicle 10 set at the course point 101.

[0071] The travel control unit 81 controls the travel device 23 based on the second course data and the detection data of the sensor system 25. The travel control unit 81 controls the travel device 23 so that the unmanned sprinkler vehicle 20 travels along the travel course 202 based on the detection data of the position sensor 25A and the detection data of the azimuth sensor 25B.

[0072] That is, the travel control unit 81 controls the travel device 23 so that the deviation between the detected position of the unmanned sprinkler vehicle 20 detected by the position sensor 25A when passing through the course point 201 and the target position of the unmanned sprinkler vehicle 20 set at the course point 201 becomes small.

[0073] Also, the travel control unit 81 controls the travel device 23 so that the deviation between the detected azimuth of the unmanned sprinkler vehicle 20 detected by the azimuth sensor 25B when passing through the course point 201 and the target azimuth of the unmanned sprinkler vehicle 20 set at the course point 201 becomes small.

[0074] Also, the travel control unit 81 controls the travel device 23 based on the detection data of the speed sensor 25C so that the unmanned sprinkler vehicle 20 travels at the target travel speed. That is, the travel control unit 81 controls the travel device 23 so that the deviation between the detected travel speed of the unmanned sprinkler vehicle 20 detected by the speed sensor 25C when passing through the course point 101 and the target travel speed of the unmanned sprinkler vehicle 20 set at the course point 201 becomes small.

[0075] As described above, the target travel speed of the unmanned sprinkler vehicle 20 includes the upper limit speed of the unmanned sprinkler vehicle 20. The travel control unit 81 controls the travel device 23 based on the detection data of the speed sensor 25C so that the unmanned sprinkler vehicle 20 travels at a travel speed that does not exceed the upper limit speed. That is, the travel control unit 81 controls the travel device 23 so that the detected travel speed of the unmanned sprinkler 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 sprinkler vehicle 20 set at the course point 201.

[0076] [Processing of the guidance command unit] Each of FIGS. 8, 9, and 10 is a diagram for explaining the processing of the guidance command unit 64 according to the embodiment.

[0077] The unmanned transport vehicle 10 travels on the traveling path 36 at the first traveling speed V1. The first traveling speed V1 is the actual traveling speed of the unmanned transport vehicle 10. The first course data generation unit 61 generates first course data so that the unmanned transport vehicle 10 travels on the traveling path 36 at the target traveling speed. The unmanned transport vehicle 10 travels on the traveling path 36 at the first traveling speed V1 based on the first course data transmitted from the first course data generation unit 61.

[0078] The unmanned watering vehicle 20 travels on the traveling path 36 at the second traveling speed V2. The second traveling speed V2 is the actual traveling speed of the unmanned watering vehicle 20. The second course data generation unit 62 generates second course data so that the unmanned watering vehicle 20 travels on the traveling path 36 at the target traveling speed. The unmanned watering vehicle 20 travels on the traveling path 36 at the second traveling speed V2 based on the second course data transmitted from the second course data generation unit 62.

[0079] Further, the unmanned watering vehicle 20 travels on the traveling path 36 at the second traveling speed V2 while watering the traveling path 36. The watering data generation unit 65 generates watering data so that the unmanned watering vehicle 20 travels while watering the traveling path 36. The unmanned watering vehicle 20 travels on the traveling path 36 while watering the traveling path 36 at the second traveling speed V2 based on the watering data transmitted from the watering data generation unit 65. Note that the unmanned watering vehicle 20 may travel on the traveling path 36 at the second traveling speed V2 without watering.

[0080] Note that the first traveling speed V1, which is the actual traveling speed of the unmanned transport vehicle 10, and the target traveling speed of the unmanned transport vehicle 10 may not necessarily match. For example, when the unmanned transport vehicle 10 travels uphill, the actual traveling speed of the unmanned transport vehicle 10 may be lower than the target traveling speed. Similarly, the second traveling speed V2, which is the actual traveling speed of the unmanned watering vehicle 20, and the target traveling speed of the unmanned watering vehicle 20 may not necessarily match.

[0081] When the predetermined first condition is satisfied, the guidance instruction unit 64 outputs a first guidance instruction so that the unmanned watering vehicle 20 traveling on the traveling path 36 enters the bypass path 38 from the traveling path 36.

[0082] FIG. 8 shows a state where the first condition is satisfied. The first condition includes a case where traffic congestion is predicted from the traveling states of the unmanned carrier vehicle 10 and the unmanned watering vehicle 20 traveling on the traveling path 36 at the work site.

[0083] The fact that the unmanned watering vehicle 20 travels in front of the unmanned carrier vehicle 10 includes that the traveling course 102 of the unmanned carrier vehicle 10 and the traveling course 202 of the unmanned watering vehicle 20 are set on the same traveling path 36. Further, the fact that the unmanned watering vehicle 20 travels in front of the unmanned carrier vehicle 10 includes that on the same traveling path 36, the traveling course 102 and the traveling course 202 are set in parallel, or the traveling course 102 and the traveling course 202 are set to overlap.

[0084] When traffic congestion is predicted, it includes a case where it is predicted that the distance between the unmanned carrier vehicle 10 and the unmanned watering vehicle 20 will be equal to or less than a predetermined distance threshold after a predetermined time based on the traveling states of the unmanned carrier vehicle 10 traveling on the traveling path 36 and the unmanned watering vehicle 20 traveling in front of the unmanned carrier vehicle 10.

[0085] When traffic congestion is predicted from the traveling states of the unmanned carrier vehicle 10 traveling on the traveling path 36 at the work site at the first traveling speed V1 and the unmanned watering vehicle 20 traveling in front of the unmanned carrier vehicle 10 at the second traveling speed V2 lower than the first traveling speed V1, the guidance instruction unit 64 outputs a first guidance instruction to the unmanned watering vehicle 20 so that the unmanned watering vehicle 20 enters the bypass path 38 that branches off from the traveling path 36.

[0086] FIG. 9 shows a state where the unmanned watering vehicle 20 has entered the bypass road 38. The second course data generation unit 62 generates the second course data so that the second course data (travel course 202) of the unmanned watering vehicle 20 is set on the bypass road 38. The travel course 202 of the unmanned watering vehicle 20 is set on each of the travel road 36 and the bypass road 38.

[0087] The second course data generation unit 62 generates the second course data so that the unmanned watering vehicle 20 travels on the bypass road 38 at a travel speed lower than the first travel speed V1. The unmanned watering vehicle 20 travels on the bypass road 38 at the second travel speed V2 or a travel speed lower than the first travel speed V1 based on the second course data transmitted from the second course data generation unit 62.

[0088] Note that the second course data generation unit 62 may generate the second course data so that the unmanned watering vehicle 20 stops on the bypass road 38. The unmanned watering vehicle 20 may stop on the bypass road 38 based on the second course data transmitted from the second course data generation unit 62.

[0089] When the unmanned watering vehicle 20 travels on the bypass road 38 at the second travel speed V2 or a travel speed lower than the first travel speed V1, the bypass road 38 functions as a low-speed travel lane. When the unmanned watering vehicle 20 stops on the bypass road 38, the bypass road 38 functions as a bypass.

[0090] The unmanned transport vehicle 10 travels on the travel road 36 at the first travel speed V1 based on the first course data. The first course data is not set on the bypass road 38. The unmanned transport vehicle 10 travels on the travel road 36 at the first travel speed V1 without entering the bypass road 38.

[0091] Since the unmanned transport vehicle 10 travels on the travel road 36 at a high speed while the unmanned watering vehicle 20 is traveling or stopped at a low speed on the bypass road 38, the unmanned transport vehicle 10 can overtake the unmanned watering vehicle 20.

[0092] When the predetermined second condition is satisfied, the guidance instruction unit 64 outputs a second guidance instruction so that the unmanned watering vehicle 20 present on the bypass path 38 enters the traveling path 36 from the bypass path 38.

[0093] FIG. 10 shows a state in which the second condition is satisfied. The second condition includes that the unmanned carrier vehicle 10 has overtaken the unmanned watering vehicle 20 present on the bypass path 38.

[0094] The fact that the unmanned carrier vehicle 10 has overtaken the unmanned watering vehicle 20 means that the unmanned carrier vehicle 10 travels according to the travel course 102 set on the traveling path 36, and after the unmanned watering vehicle 20 enters the traveling path 36 from the bypass path 38 and travels according to the travel course 202 set on the traveling path 36, the unmanned carrier vehicle 10 travels at the first traveling speed V1 in front of the unmanned watering vehicle 20 traveling at the second traveling speed V2.

[0095] The guidance instruction unit 64 can determine whether or not the unmanned carrier vehicle 10 has overtaken the unmanned watering vehicle 20 based on the detection data of the position sensor 15A of the unmanned carrier vehicle 10 and the detection data of the position sensor 25A of the unmanned watering vehicle 20. That is, the guidance instruction unit 64 determines whether or not the unmanned carrier vehicle 10 has overtaken the unmanned watering vehicle 20 based on the relative positions of the unmanned carrier vehicle 10 and the unmanned watering vehicle 20 at the work site.

[0096] The fact that the unmanned carrier vehicle 10 travels in front of the unmanned watering vehicle 20 includes that the travel course 102 of the unmanned carrier vehicle 10 and the travel course 202 of the unmanned watering vehicle 20 are set on the same traveling path 36. Further, the fact that the unmanned carrier vehicle 10 travels in front of the unmanned watering vehicle 20 includes that the travel course 102 and the travel course 202 are set in parallel or overlap on the same traveling path 36.

[0097] The guidance instruction unit 64 outputs a second guidance instruction so that the unmanned watering vehicle 20, which is present on the bypass path 38, is overtaken by the unmanned carrier vehicle 10 and then enters the travel path 36 from the bypass path 38. The second course data generation unit 62 generates second course data for causing the unmanned watering vehicle 20 to enter the travel path 36 from the bypass path 38.

[0098] The unmanned watering vehicle 20 receives the second course data and the second guidance instruction from the management device 2. After receiving the second guidance instruction, the unmanned watering vehicle 20 enters the travel path 36 from the bypass path 38 based on the second course data.

[0099] Since the unmanned carrier vehicle 10 traveling at high speed can overtake the unmanned watering vehicle 20 traveling at low speed, traffic jams are suppressed on the travel path 36 at the work site.

[0100] [Method for managing unmanned vehicles] FIG. 11 is a flowchart showing a method for managing an unmanned vehicle according to an embodiment.

[0101] The first course data generation unit 61 generates first course data for the unmanned carrier vehicle 10. The first output unit 66 transmits the first course data generated by the first course data generation unit 61 to the unmanned carrier vehicle 10. The unmanned carrier vehicle 10 travels on the travel path 36 at the first travel speed V1 based on the first course data (step S1).

[0102] The second course data generation unit 62 generates second course data for the unmanned watering vehicle 20. The second output unit 67 transmits the second course data generated by the second course data generation unit 62 to the unmanned watering vehicle 20. When watering data is generated by the watering data generation unit 65, the second output unit 67 transmits the watering data to the unmanned watering vehicle 20. The unmanned watering vehicle 20 travels on the travel path 36 at the second travel speed V2 based on the second course data. Further, when the unmanned watering vehicle 20 receives the watering data, it waters the travel path 36 while traveling on the travel path 36 based on the watering data (step S2).

[0103] The traffic jam prediction unit 63 predicts the occurrence of a traffic jam from the respective driving states of the driverless transport vehicle 10 traveling on the driving route 36 at the work site and the driverless watering vehicle 20 traveling ahead of the driverless transport vehicle 10 (step S3).

[0104] For example, based on the respective driving states of the driverless transport vehicle 10 traveling on the driving route 36 at the work site and the driverless watering vehicle 20 traveling ahead of the driverless transport vehicle 10, when it is predicted that the distance between the driverless transport vehicle 10 and the driverless watering vehicle 20 will be equal to or less than a predetermined distance threshold after a predetermined time, the traffic jam prediction unit 63 predicts that a traffic jam will occur due to the driverless watering vehicle 20.

[0105] The guidance command unit 64 determines whether the first condition is satisfied. That is, the guidance command unit 64 determines whether the driverless watering vehicle 20 is traveling ahead of the driverless transport vehicle 10 on the driving route 36 and whether the distance between the driverless transport vehicle 10 and the driverless watering vehicle 20 on the driving route 36 after a predetermined time is equal to or less than a predetermined distance threshold, and determines whether it is predicted that a traffic jam will occur (step S4).

[0106] If it is determined in step S4 that the first condition is not satisfied (step S4: No), the process returns to the processes of steps S1 and S2.

[0107] If it is determined in step S4 that the first condition is satisfied (step S4: Yes), the guidance command unit 64 outputs a first guidance command to the driverless watering vehicle 20 so that the driverless watering vehicle 20 enters the bypass route 38 from the driving route 36 (step S5).

[0108] The driverless watering vehicle 20 enters the bypass route 38 based on the first guidance command. The driverless watering vehicle 20 travels on the bypass route 38 at a traveling speed lower than the second traveling speed V2 or the first traveling speed lower than the second traveling speed V2. Note that the driverless watering vehicle 20 may stop on the bypass route 38 (step S6).

[0109] The driverless transport vehicle 10 travels on the travel path 36 at the first travel speed V1 without entering the bypass path 38.

[0110] The guidance command unit 64 determines whether the second condition is satisfied. That is, the guidance command unit 64 determines whether the driverless transport vehicle 10 has overtaken the driverless watering vehicle 20 present in the bypass path 38 (step S7).

[0111] If it is determined in step S7 that the second condition is not satisfied (step S7: No), the process returns to the process of step S6.

[0112] If it is determined in step S7 that the second condition is satisfied (step S7: Yes), the guidance command unit 64 outputs a second guidance command to the driverless watering vehicle 20 so that the driverless watering vehicle 20 enters the travel path 36 from the bypass path 38 (step S8).

[0113] The driverless watering vehicle 20 enters the travel path 36 from the bypass path 38 based on the second guidance command. On the travel path 36, the driverless watering vehicle 20 travels behind the driverless transport vehicle 10 (step S9).

[0114] [Effect] As described above, according to the embodiment, the occurrence of congestion is predicted from the traveling states of a plurality of driverless vehicles traveling on the travel path 36 at the work site. When it is predicted that the cause of the congestion is the driverless watering vehicle 20, a first guidance command is output so that the driverless watering vehicle 20 that causes the congestion enters the bypass path 38 that branches from the travel path 36. Thereby, the driverless transport vehicle 10 can overtake the driverless watering vehicle 20 by continuing to travel on the travel path 36. Therefore, the occurrence of congestion on the travel path 36 at the work site is suppressed.

[0115] When it is predicted that the driverless transport vehicle 10 traveling on the working site travel path 36 at the first traveling speed V1 approaches the driverless watering vehicle 20 traveling ahead of the driverless transport vehicle 10, a first guidance command is output to the driverless watering vehicle 20 so that the driverless watering vehicle 20 enters the bypass path 38 that branches off from the travel path 36. As a result, the driverless transport vehicle 10 can overtake the driverless watering vehicle 20 by continuing to travel on the travel path 36. Therefore, traffic jams are suppressed on the travel path 36 of the working site.

[0116] The first condition for outputting the first guidance command includes that the distance between the driverless transport vehicle 10 and the driverless watering vehicle 20 on the travel path 36 after a predetermined time becomes equal to or less than a predetermined distance threshold. Thereby, the first condition is properly determined, and when the driverless watering vehicle 20 needs to overtake the driverless transport vehicle 10, the first guidance command is output.

[0117] The second condition for outputting the second guidance command includes that the driverless transport vehicle 10 traveling on the travel path 36 has overtaken the driverless watering vehicle 20 present on the bypass path 38. Thereby, the second condition is properly determined, and the driverless watering vehicle 20 can travel behind the driverless transport vehicle 10 on the travel path 36.

[0118] [Other Embodiments] In the above-described embodiment, the first course data may not be generated. The driverless transport vehicle 10 may travel on the travel path 36 at the first traveling speed V1 without relying on the first course data. In the above-described embodiment, the second course data may not be generated. The driverless watering vehicle 20 may travel on the travel path 36 at the second traveling speed V2 without relying on the second course data. The driverless watering vehicle 20 may travel on the bypass path 38 at the second traveling speed V2 or at a traveling speed lower than the first traveling speed V1, or may decelerate or stop on the bypass path 38.

[0119] In the above-described embodiment, at least a part of the functions of the control device 11 and the control device 21 may be provided in the management device 2, or at least a part 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 first course data generation unit 61 and the traffic jam prediction unit 63. The control device 21 may have the functions of the second course data generation unit 62, the traffic jam prediction unit 63, the guidance command unit 64, and the watering data generation unit 65.

[0120] In the above-described embodiment, each of the first course data generation unit 61, the second course data generation unit 62, the traffic jam prediction unit 63, the guidance command unit 64, the watering data generation unit 65, the first output unit 66, and the second output unit 67 may be configured by separate hardware.

[0121] In the above-described embodiment, the first unmanned vehicle 10 is an unmanned transport vehicle, and the second unmanned vehicle 20 is an unmanned watering 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 that travels on the traveling path 36 at the first traveling speed V1, and the second unmanned vehicle 20 may be an unmanned transport vehicle that travels on the traveling path 36 at the second traveling speed V2. Also, both the first unmanned vehicle 10 and the second unmanned vehicle 20 may be unmanned watering vehicles. The first unmanned vehicle 10 may be an unmanned watering vehicle that travels on the traveling path 36 at the first traveling speed V1, and the second unmanned vehicle 20 may be an unmanned watering vehicle that travels on the traveling path 36 at the second traveling speed V2.

Explanation of Reference Numerals

[0122] 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... Fuel dispenser, 8... Water supply machine, 9... Input device, 10... Unmanned transport vehicle (first unmanned vehicle), 11... Control device, 12... Vehicle body, 13... Travel device, 14... Dump body, 15... Sensor system, 15A... Position sensor, 15B... Azimuth sensor, 15C... Speed sensor, 15D... Obstacle sensor, 16... Wheels, 16F... Front wheels, 16R... Rear wheels, 17... Tires, 17F... Front tires, 17R... Rear tires, 20... Unmanned sprinkler vehicle (second unmanned vehicle), 21... Control device, 22... Vehicle body, 23... Travel device, 24... Tank, 25... Sensor system, 25A... Position sensor, 25B... Azimuth sensor, 25C... Speed sensor, 25D... Obstacle sensor, 26... Wheels, 26F... Front wheels, 26R... Rear wheels, 27... Tires, 27F... Front tires, 27R... Rear tires, 28... Sprinkler spray, 29... Cab, 31... Loading area, 32... Waste dump, 33... Parking area, 34... Fueling area, 35... Water supply area, 36... Roadway, 37... Intersection, 38... Evacuation route, 41... Communication interface, 42... Memory circuit, 43... Processing circuit, 61... First course data generation unit, 62... Second course data generation unit, 63... Traffic jam prediction unit, 64... Guidance command unit, 65... Sprinkler data generation unit, 66... First output unit, 67... Second output unit, 71... Travel control unit, 81... Travel control unit, 82... Sprinkler control unit, 101... Course point, 102... Travel course, 201... Course point, 202... Travel course.

Claims

1. A first course data generation unit that generates first course data indicating the driving conditions of a first driverless vehicle that is a driverless transport vehicle traveling on a driving path at a work site; A second course data generation unit that generates second course data indicating the driving conditions of a second driverless vehicle that is a driverless watering vehicle traveling on the driving path; Based on the driving conditions of the first driverless vehicle traveling on the driving path based on the first course data and the second driverless vehicle traveling in front of the first driverless vehicle based on the second course data, a congestion prediction unit that predicts the occurrence of congestion; A guidance command unit that outputs a first guidance command so that when the occurrence of congestion is predicted, the second driverless vehicle that causes the congestion enters a bypass road that branches off from the driving path, and The first course data is set on the driving path and not set on the bypass road, The second course data is set on each of the driving path and the bypass road, A management system for driverless vehicles.

2. When the congestion prediction unit predicts that the distance between the first driverless vehicle and the second driverless vehicle will be equal to or less than a predetermined distance threshold after a predetermined time based on the driving conditions of the first driverless vehicle and the second driverless vehicle, it predicts that congestion will occur due to the second driverless vehicle. The management system for driverless vehicles according to claim 1.

3. The first course data generation unit generates the first course data so that the first driverless vehicle travels on the driving path at a first driving speed. The management system for driverless vehicles according to claim 2.

4. The second course data generation unit generates the second course data so that the second driverless vehicle travels on the driving path at a second driving speed. The management system for driverless vehicles according to claim 3.

5. The second course data includes a driving course indicating a target driving route of the second unmanned vehicle, The driving course is set for each of the driving road and the bypass road, The unmanned vehicle management system according to claim 4.

6. The second course data generation unit generates the second course data so that the second unmanned vehicle travels on the bypass road at a traveling speed lower than the second traveling speed or the first traveling speed, The unmanned vehicle management system according to claim 4 or claim 5.

7. The second course data generation unit generates the second course data so that the second unmanned vehicle stops on the bypass road, The unmanned vehicle management system according to claim 4 or claim 5.

8. After the first unmanned vehicle overtakes the second unmanned vehicle existing on the bypass road, the guidance command unit outputs a second guidance command so that the second unmanned vehicle enters the driving road from the bypass road, The unmanned vehicle management system according to any one of claims 2 to 7.

9. A computer, generating first course data indicating driving conditions of a first unmanned vehicle, which is an unmanned carrier vehicle traveling on a driving road at a work site, generating second course data indicating driving conditions of a second unmanned vehicle, which is an unmanned watering vehicle traveling on the driving road, predicting the occurrence of congestion based on the driving conditions of the first unmanned vehicle traveling on the driving road based on the first course data and the driving conditions of the second unmanned vehicle traveling in front of the first unmanned vehicle based on the second course data, when the occurrence of congestion is predicted, causing the second unmanned vehicle that causes the congestion to enter a bypass road that branches off from the driving road, and The first course data is set on the driving road and not set on the bypass road, The second course data is set for each of the traveling route and the bypass route. Method for managing unmanned vehicles.

10. When the computer predicts that traffic congestion will occur due to the second unmanned vehicle when it is predicted that the distance between the first unmanned vehicle and the second unmanned vehicle will be equal to or less than a predetermined distance threshold after a predetermined time based on the traveling conditions of each of the first unmanned vehicle and the second unmanned vehicle. The method for managing unmanned vehicles according to claim 9.

11. The first unmanned vehicle travels on the traveling route at a first traveling speed based on the first course data. The second unmanned vehicle travels on the traveling route at a second traveling speed based on the second course data. The method for managing unmanned vehicles according to claim 10.

12. The second course data includes a traveling course indicating the target traveling route of the second unmanned vehicle. The traveling course is set for each of the traveling route and the bypass route. The method for managing unmanned vehicles according to claim 11.

13. The second unmanned vehicle travels on the bypass route at a traveling speed lower than the second traveling speed or the first traveling speed. The method for managing unmanned vehicles according to claim 11 or claim 12.

14. The second unmanned vehicle stops on the bypass route. The method for managing unmanned vehicles according to any one of claims 10 to 13.

15. When the computer after the first unmanned vehicle overtakes the second unmanned vehicle present on the bypass route, allows the second unmanned vehicle to enter the traveling route from the bypass route. The method for managing unmanned vehicles according to any one of claims 10 to 14.

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