Management System

Abstract

To provide a management system which causes carrying work of an object with a plurality of moving bodies to be performed well.SOLUTION: In a management system, a management device C includes: a predicted charging amount acquisition unit 58 which, when a first vehicle Va moves along a predetermined route from a departure place to a destination place, acquires a predicted charging amount which is a predicted electrical energy amount accumulated in a battery 32 of the first vehicle Va by regenerative braking; a predicted energy consumption amount acquisition unit 60 which acquires a predicted energy consumption amount which is a predicted energy amount to be consumed in each of the first vehicle Va and a second vehicle Vb; a predicted energy residual amount acquisition unit 62 which acquires a predicted energy residual amount which is an energy amount predicted to remain in each of the first vehicle and the second vehicle; and a carried object determination unit 56 which determines a carried object M which is an object to be carried by each of the first vehicle and the second vehicle on the basis of battery accumulation amount information and fuel accumulation amount information included in vehicle information, the predicted energy residual amount, and the predicted charging amount, etc.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a management system for managing a plurality of vehicles. [Background technology]

[0002] Patent Documents 1 and 2 describe management systems that include a management device capable of communicating with a plurality of vehicles and manage a plurality of vehicles. In the management system described in Patent Document 1, each of the multiple vehicles is an electric vehicle that runs on battery power. The amount of electric energy consumed by each of the multiple vehicles is estimated based on an operation plan provided by a management device. Then, when the battery needs to be charged, a charging station is secured through communication between the vehicle and the charging station.

[0003] The management system described in Patent Document 2 is used for a parcel delivery service, and a management device installed at a transportation company manages a plurality of delivery vehicles. The management device acquires the battery degradation state of each of the plurality of delivery vehicles by communicating with each of the plurality of delivery vehicles. The plurality of delivery vehicles are then deployed to a plurality of delivery areas based on the battery degradation state of each of the plurality of delivery vehicles, geographic information of the delivery route, power consumption when traveling along the delivery route, etc. For example, vehicles with advanced battery degradation can be deployed to delivery areas that do not require long driving distances, and vehicles with minor battery degradation can be deployed to delivery areas that require long driving distances. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-2215 [Patent Document 2] Patent Publication No. 2021-086570 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to enable a plurality of moving bodies to smoothly transport an object.

[0006] In the management system according to the present invention, the transport object to be transported by each of the plurality of mobile bodies is determined based on the energy storage amount, which is the amount of energy stored in each of the plurality of mobile bodies.

[0007] For example, when a mobile body includes a drive device equipped with an electric motor and the mobile body travels downhill, the weight of one or more objects (which indicates the total weight of one or more objects, i.e., the load weight of the mobile body) transported by the mobile body with a low amount of stored energy in the battery is increased. For example, the weight of one or more objects to be transported is increased by increasing the number of objects to be transported. As a result, it becomes possible to charge a large amount of electric energy into the battery through regenerative braking. This reduces the number of times the battery needs to be charged at a charging station during the mobile body's transport of objects. This improves work efficiency and enables the transport work to be carried out smoothly.

[0008] Furthermore, when a moving body includes a drive unit that does not have an electric motor, the weight of one or more objects transported by a moving body with a small amount of fuel stored in the tank (i.e., the amount of fuel stored in the tank, i.e., the energy storage amount) can be reduced. As a result, the number of times refueling is required during transportation can be reduced. This improves the efficiency of the object transportation work, allowing the transportation work to be performed smoothly. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram conceptually illustrating an entire work area to which a management system according to an embodiment of the present invention is applied; [Figure 2]FIG. 2 is a diagram conceptually illustrating the management system. [Figure 3] 10 is a flowchart illustrating a downhill transport object determination program stored in a storage unit of a management ECU of a management device of the management system. [Figure 4] 10 is a flowchart illustrating an uphill transport object determination program stored in a storage unit of the management ECU. [Figure 5] 10 is a flowchart showing a vehicle information creation program stored in a storage unit of an ECU of a plurality of moving bodies managed by the management device. [Figure 6] 10 is a diagram conceptually showing a transport object obtained by executing the downhill transport object determination program. FIG. [Figure 7] 10 is a diagram conceptually showing an object to be transported obtained by executing the uphill transport object determination program. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] A management system according to an embodiment of the present invention will be described below with reference to the drawings. [Example]

[0011] 1, the management system according to this embodiment includes, for example, a management device C capable of communicating with each of a plurality of vehicles V, which are mobile objects performing work in a mine or the like, and one or more antennas A. Wireless communication is performed between these vehicles V and the management device C directly or via the antennas A.

[0012] Each of the multiple vehicles V performs the task of transporting an object M from a departure point to a destination. The object M includes one or more of a person (worker), luggage (including one or more of a work machine, equipment such as a measuring instrument, earth and sand, etc.). In this embodiment, each of the multiple vehicles V may be, for example, a manually operated vehicle that can travel by a driver's operation, or an automatically operated vehicle that can travel based on information about the surroundings of the vehicle V acquired by a camera, a lidar, etc., and driving instruction information from a management device C. Furthermore, as shown in FIG. 2, the multiple vehicles V include one or more first vehicles Va as first moving bodies whose drive devices include electric motors and are capable of regenerative braking, and one or more second vehicles Vb as second moving bodies whose drive devices do not include electric motors and are not capable of regenerative braking.

[0013] As shown in FIG. 2, each of the one or more first vehicles Va includes a driving device Da that drives the first vehicle Va, a braking device Ba that brakes the first vehicle Va, a steering device Ta that steers the steering wheels of the first vehicle Va, a GPS (Global Positioning System) receiver 10a as a GNSS (Global Navigation Satellite System) receiver, a surrounding information acquisition device 12a, a first vehicle communication device 14a as a first mobile communication device that transmits and receives wireless information, a battery storage amount detection device 16a as an energy storage amount detection device, and a first vehicle ECU 20a as a mobile ECU mainly composed of a computer.

[0014] The drive device Da includes, for example, an electric motor as a drive source connected to a plurality of drive wheels among the plurality of wheels 30 of the first vehicle Va, and a drive circuit that controls the electric motor. The electric motor is driven by electrical energy supplied from a battery 32. The drive force applied to the drive wheels is controlled by controlling the drive circuit.

[0015] Furthermore, kinetic energy is converted into electrical energy by regenerative braking of the electric motor and stored (charged) in the battery 32. Furthermore, rotation of the drive wheels is suppressed by regenerative braking of the electric motor. The regenerative braking force applied to the drive wheels is controlled by controlling the drive circuit. The drive device Da functions as a regenerative braking device.

[0016] The braking device Ba may include, for example, a friction brake provided for each of the plurality of wheels 30, which suppresses rotation of the wheels 30 by pressing a friction engagement member against a brake rotor that rotates integrally with the wheels 30, and a pressing force control actuator that can control the pressing force of each of the plurality of friction brakes. If the friction brake is a fluid pressure brake that can be actuated by fluid pressure as the pressing force, the pressing force control actuator may be a fluid pressure control actuator. By controlling the pressing force control actuator, the pressing force of the friction brake provided for each of the plurality of wheels 30 is controlled, and the braking force applied to each of the plurality of wheels 30 is controlled.

[0017] The steering device Ta steers the left wheel 30L and the right wheel 30R, which are steered wheels among the plurality of wheels 30. The steering device Ta includes, for example, a pair of tie rods connecting the left wheel 30L and the right wheel 30R, a steering rod connecting the pair of tie rods, a steering actuator provided on the steering rod, etc. The steering actuator moves the steering rod in the width direction of the vehicle, thereby turning the left wheel 30L and the right wheel 30R.

[0018] The GPS receiver 10a receives GPS signals and acquires the position of the vehicle itself, which is the first vehicle Va, based on the GPS signals. The surrounding information acquisition device 12a includes a camera, a lidar, and the like, and recognizes objects around the host vehicle, which is the first vehicle Va, and acquires information such as the relative positional relationship between the objects and the host vehicle.

[0019] The first vehicle communication device 14a wirelessly transmits vehicle information as first moving body information created in the first vehicle ECU 20a, and receives management information, which is information wirelessly transmitted from the management device C. In addition, an administrator who manages the first vehicle Va may carry the information communication terminal 34. The information communication terminal 34 may be configured to receive management information from the first vehicle communication device 14a or from the management device C, for example.

[0020] The battery storage capacity detection device 16a detects, for example, the actual amount of electrical energy (which is an example of the battery storage capacity and may be referred to as the remaining battery capacity) stored in the battery 32. The battery storage capacity detection device 16a may include, for example, a voltage sensor that measures the voltage of the battery 32, or a current sensor that measures the current flowing through the battery 32.

[0021] The first vehicle ECU 20a is connected to the drive circuit of the drive device Da, the pressing force control actuator of the braking device Ba, the steering actuator of the steering device Ta, the GPS receiver 10a, the surrounding information acquisition device 12a, the first vehicle communication device 14a, the battery charge amount detection device 16a, etc. The first vehicle ECU 20a also includes an identification information storage unit 22a, a vehicle information creation unit 24a, a driving control unit 26a, etc.

[0022] The identification information storage unit 22a stores identification information etc. set for the host vehicle, which is the first vehicle Va. Each of the plurality of first vehicles Va and second vehicles Vb is assigned identification information that is different from one another.

[0023] The vehicle information creation unit 24a creates vehicle information including battery storage amount information, which is information indicating the battery storage amount acquired by the battery storage amount detection device 16a, vehicle position information, which is information indicating the position of the first vehicle Va acquired by the GPS receiver 10a based on the GPS signal, and identification information of the first vehicle Va. The created vehicle information is output to the first vehicle communication device 14a. The first vehicle communication device 14a wirelessly transmits the vehicle information.

[0024] The vehicle information creation program shown in Fig. 5 is executed at predetermined set time intervals by the vehicle information creation unit 24a. In step 101 (hereinafter abbreviated as S101, the same applies to the other steps), battery storage amount information is acquired as energy storage amount information. In S102, vehicle position information indicating the position of the first vehicle Va is acquired. In S103, identification information is read. Then, in S104, vehicle information including the identification information, vehicle position information, battery storage amount information, etc. is created and output to the first vehicle communication device 14a.

[0025] The traveling control unit 26a controls the traveling of the first moving body Va by controlling the drive device Da, the braking device Ba, the steering device Ta, etc. When the first vehicle Va is an autonomous vehicle, the traveling control unit 26a controls the drive device Da, the braking device Ba, the steering device Ta, etc. based on a traveling command included in the management information received by the first vehicle communication device 14a and information about the surroundings of the vehicle acquired by the surrounding information acquisition device 12a. When the first vehicle Va is a manually operated vehicle, the travel control unit 26a controls the drive device Da, the braking device Ba, the steering device Ta, etc. based on the operating state of an operating member (not shown) that can be operated by the driver.

[0026] The first vehicle Va may be provided with a battery degradation state detection device that detects the degree of degradation of the battery 32. The battery degradation state detection device detects the degree of degradation of the battery 32 based on changes in the current and voltage flowing through the battery 32. As the degradation of the battery 32 progresses, the amount of electrical energy that can be charged into the battery 32 decreases.

[0027] Furthermore, if the drive device Da includes an electric motor and an engine, the first vehicle Va may be provided with a fuel storage amount detection device that detects the amount of fuel stored in a fuel tank that stores fuel to be supplied to the engine. In this case, the sum of the amount of fuel stored and the amount of fuel stored in the battery corresponds to the amount of stored energy.

[0028] 2, each of the second vehicles Vb includes a drive device Db, a braking device Bb, a steering device Tb, a GPS receiver 10b, a peripheral information acquisition device 12b, a second vehicle communication device 14b, a fuel storage amount detection device 16b as an energy storage amount detection device, a second vehicle ECU 20b mainly consisting of a computer, etc. Among these, the braking device Bb, the steering device Tb, the GPS receiver 10b, the peripheral information acquisition device 12b, the second vehicle communication device 14b, and the second vehicle ECU 20b have substantially the same structures as the braking device Ba, the steering device Ta, the GPS receiver 10a, the peripheral information acquisition device 12a, the second vehicle communication device 14a, and the first vehicle ECU 20a included in the first vehicle Va, respectively, and therefore description thereof will be omitted.

[0029] The drive device Db includes an engine but does not include an electric motor. Therefore, the drive device Db does not function as a regenerative braking device. The engine is driven by the supply of fuel stored in the fuel tank 42. The amount of fuel stored in the fuel tank 42 is detected by the fuel storage amount detection device 16b.

[0030] The second vehicle ECU 20b includes an identification information storage unit 22b, a vehicle information creation unit 24b, a driving control unit 26b, and the like. In the vehicle information creation unit 24b, a vehicle information creation program represented by the flowchart shown in Fig. 5 is executed, similarly to the case in the vehicle information creation unit 24a. In S101, the fuel accumulation amount as the amount of accumulated energy is detected by the fuel accumulation amount detection device 16b, and fuel accumulation amount information representing the fuel accumulation amount is obtained. In S102 and S103, vehicle position information representing the position of the second vehicle Vb is obtained, and identification information is read. Then, in S104, vehicle information including the identification information, vehicle position information, fuel accumulation amount information, etc. is created and output to the second vehicle communication device 14b.

[0031] 2, the management device C includes a management ECU 50, which is mainly a computer, and a management communication device 52 connected to the management ECU 50. The management ECU 50 includes a management information creation unit 54, a transport object determination unit 56, a predicted charge amount acquisition unit 58, a predicted energy consumption acquisition unit 60, a predicted remaining energy amount acquisition unit 62, a work plan storage unit 64, a vehicle information storage unit 66, etc.

[0032] The management communication device 52 wirelessly transmits the management information created by the management information creation unit 54, and receives vehicle information wirelessly transmitted from the first vehicle Va and the second vehicle Vb.

[0033] The work plan storage unit 64 stores information about the work plan for each of the first vehicle Va and the second vehicle Vb. The work plan includes a movement plan (movement route) for each of the first moving body Va and the second moving body Vb, an object to be transported, etc. The information representing the movement plan is often stored in association with the identification information for each of the multiple first vehicles Va and second vehicles Vb.

[0034] The vehicle information storage unit 66 stores vehicle position information, energy storage amount information, etc., included in the vehicle information received by the management communication device 52. This information also stores past information. For example, for each of the first vehicle Va and the second vehicle Vb, based on past changes in position and changes in energy storage amount, it is possible to obtain information such as the travel distance per unit energy amount.

[0035] The predicted charge amount acquisition unit 58 acquires a predicted charge amount, which is the amount of electrical energy predicted to be stored in the battery 32 of the first vehicle Va by regenerative braking when the first vehicle Va moves from the departure point to the destination along a predetermined route. The predicted charge amount can be acquired based on the total weight, which is the sum of the vehicle weight as the moving body weight, which is the weight of the first vehicle Va, and the weight of the object M carried (transported) on the first vehicle Va (the load weight of the first vehicle Va), the elevation difference from the departure point to the destination, etc. The predicted charge amount increases as the total weight increases and as the elevation difference increases.

[0036] The predicted energy consumption acquisition unit 60 acquires predicted energy consumption, which is the amount of energy predicted to be consumed by each of the first vehicle Va and the second vehicle Vb when they travel along a predetermined route from the departure point to the destination. The predicted energy consumption can be acquired based on the total weight, which is the sum of the vehicle weight and the load weight, the elevation difference from the departure point to the destination, the traveling distance per unit energy, etc. The predicted energy consumption increases as the total weight and elevation difference increase, and increases as the traveling distance per unit energy decreases.

[0037] The predicted energy consumption amount for the first vehicle Va may be referred to as a predicted electric energy consumption amount, and the predicted energy consumption amount for the second vehicle Vb may be referred to as a predicted fuel consumption amount.

[0038] The predicted energy remaining amount acquisition unit 62 acquires a predicted energy remaining amount, which is the amount of energy predicted to remain in each of the first vehicle Va and the second vehicle Vb after each of the first vehicle Va and the second vehicle Vb has traveled along a predetermined route from the departure point to the destination. For the second vehicle Vb, for example, the predicted energy consumption amount can be obtained by subtracting the energy storage amount at the departure point from the predicted energy consumption amount. The predicted remaining energy amount can be referred to as the predicted remaining fuel amount. Predicted remaining energy (predicted remaining fuel) = Energy storage (fuel storage) - Predicted energy consumption (predicted fuel consumption)

[0039] For the first vehicle Va, for example, the predicted remaining energy amount can be obtained by adding the predicted charging amount to the energy storage amount at the departure point and subtracting the predicted energy consumption amount from the sum. The predicted remaining energy amount can be referred to as the predicted remaining electric energy amount. Predicted remaining energy (predicted remaining electrical energy) = Energy storage (battery storage) + Predicted charging amount - Predicted energy consumption (predicted electrical energy consumption)

[0040] The transported object determination unit 56 determines the transported object M, which is the object to be transported by each of the first vehicle Va and the second vehicle Vb, based on the battery storage amount information, fuel storage amount information contained in the vehicle information received by the management communication device 52, the predicted energy remaining amount (predicted electrical energy remaining amount, predicted fuel remaining amount) acquired by the predicted energy remaining amount acquisition unit 62, the predicted charge amount acquired by the predicted charge amount acquisition unit 58, etc.

[0041] A predetermined number of transported objects M to be transported from a departure point to a destination are divided into a first vehicle Va and a second vehicle Vb, and the transported objects M for each of the first vehicle Va and the second vehicle Vb are determined. For example, by determining the load weight of the transported objects M for each of the first vehicle Va and the second vehicle Vb, the first vehicle Va and the second vehicle Vb can determine the transported objects M for each of them.

[0042] The management information creation unit 54 creates management information including transported object information regarding the transported object M for each of the first vehicle Va and second vehicle Vb determined by the transported object determination unit 56, identification information of the vehicle V, etc.

[0043] In the management system configured as described above, in a mine or the like, for example, as shown in FIG. 1, before transportation work begins, multiple vehicles V gather at a departure point. Also, at the departure point, luggage to be transported to the destination is gathered, and people (including workers who will work at the destination, drivers who will drive the vehicles V, etc.) are also gathered. Information such as the number and weight of luggage to be transported, information such as the number and weight of people to be transported, and information on the route from the departure point to the destination, for example, information on the elevation difference of the route, etc., are stored in the work plan memory unit 64 of the management device C.

[0044] In this embodiment, the battery storage amount of the first vehicle Va and the fuel storage amount of the second vehicle Vb are acquired by the management device C through communication between the management communication device 52 of the management device C and the first vehicle communication devices 14a and second vehicle communication devices 14b of the plurality of first vehicles Va and second vehicles Vb. Then, the transported object determination unit 56 provisionally determines the object M (for example, the load weight of the object M) to be transported by each of the first vehicle Va and second vehicle Vb.

[0045] Next, the predicted charge amount acquisition unit 58 acquires the predicted charge amount that is predicted to be charged to the battery 32 when it is assumed that each of the first vehicles Va transports the transported object M (load weight) provisionally determined by the transported object determination unit 56 from the departure point to the destination. In addition, the predicted energy remaining amount acquisition unit 62 acquires the predicted energy remaining amount (predicted electrical energy remaining amount, predicted fuel remaining amount) that is predicted to remain in the battery 32 and the fuel tank 42 after the first vehicle Va and the second vehicle Vb have transported the transported object M provisionally determined by the transported object determination unit 56 from the departure point to the destination.

[0046] Then, based on the predicted charge amount and predicted remaining energy amount, the transported object M provisionally determined for each of the first vehicle Va and the second vehicle Vb is changed (adjusted) as appropriate, and finally, the object M to be transported by each of the first vehicle Va and the second vehicle Vb is determined. Management information including transported object information, which is information representing the finally determined object M, and identification information of the vehicle V is transmitted.

[0047] In the transport object determination unit 56 of the management device C, a downhill transport object determination program shown in the flowchart of FIG. 3 is executed at predetermined set time intervals. For example, the downhill transport object determination program shown in the flowchart of FIG. 3 is executed when the altitude of the destination is lower than the altitude of the starting point and most of the route is downhill.

[0048] In S21, it is determined whether vehicle information has been received by the management communication device 52, and in S22, it is determined whether the vehicle information includes battery charge amount information. If the determination in S22 is NO, the vehicle that transmitted the vehicle information is the second vehicle Vb, and therefore in S23, the priority of the vehicle that transmitted the vehicle information is determined to be fourth.

[0049] In this embodiment, the battery storage capacity Qv of the first vehicle Va is classified into multiple stages (for example, three stages) to determine the transported object M of the first vehicle Va. Therefore, for convenience, the priority of the second vehicle Vb, which is unable to perform regenerative braking and for which it is difficult to store energy through regenerative braking, is set to fourth. Note that it is also possible to classify the battery storage capacity Qv into two stages or four or more stages, but in either case, the priority of the second vehicle Vb is set to a rank outside the classification.

[0050] If the determination in S22 is YES, then in S24 and S25 it is determined whether the battery storage capacity Qv is less than a first set amount Q1, which is a predetermined set amount, or whether it is greater than a second set amount Q2, which is greater than the first set amount Q1. If the determination in S24 is YES, then in S26 the priority of the first vehicle Va that transmitted the vehicle information is set to first; if the determinations in S24 and S25 are NO, then in S27 the priority is set to second; and if the determination in S25 is YES, then in S28 the priority is set to third.

[0051] When traveling downhill, regenerative braking is often performed as braking of the drive source (so-called engine braking). Regenerative braking charges the battery 32 with electrical energy, increasing the battery storage capacity Qv. In this case, the predicted charge amount predicted to be charged in the battery 32 increases as the potential energy of the first vehicle Va increases. For the same height difference on the downhill slope, the potential energy increases as the total weight, which is the sum of the load weight of the object M carried on the first vehicle Va and the vehicle weight of the first vehicle Va, increases. Therefore, for a first vehicle Va with a small battery storage capacity Qv, it is desirable to increase the load weight of the object M.

[0052] 6, when multiple vehicles V are located at the departure point, the priority of a first vehicle Va whose battery storage capacity Qv is less than the first set amount Q1 is set to first, the priority of a first vehicle Va whose battery storage capacity Qv is equal to or greater than the first set amount Q1 and equal to or less than the second set amount Q2 is set to second, and the priority of a first vehicle Va whose battery storage capacity Qv is greater than the second set amount Q2 is set to third. Then, in S29, the object M or the load weight of the object M to be transported by each of the multiple first vehicles Va is provisionally determined according to the priority.

[0053] Next, in S30, the predicted charge amount acquisition unit 58 acquires a predicted charge amount that is predicted to be charged to the battery 32 by regenerative braking, assuming that each of the first vehicles Va transports the object M provisionally determined in S29 along a predetermined route from the starting point to the destination.

[0054] In S31, it is determined whether or not it is necessary to change the transported object M of the first vehicle Va provisionally determined in S29. For example, this applies when the first vehicle Va has a small battery storage capacity Qv, and the predicted charge amount is small, making it difficult to sufficiently increase the battery storage capacity Qv. In this case, it is desirable to increase the load weight of the transported object M provisionally determined in S29. Also, this applies when the predicted charge amount is greater than the amount of energy that can be charged to the battery 32. In this case, it is desirable to decrease the load weight of the transported object M provisionally determined in S29.

[0055] If the determination in S31 is YES, in S32, the load weight of the transported object M provisionally determined for each of the first vehicles Va is adjusted (corrected), etc., and the object M to be transported by each of the first vehicle Va and the second vehicle Vb is finally determined. In S33, management information including transported object information, which is information representing the finally determined transported object M, and identification information of the vehicle V, etc. is created for each of the first vehicle Va and the second vehicle Vb, and output to the management communication device 52. The management communication device 52 transmits the management information. On the other hand, if the determination in S31 is NO, S32 is not executed and S33 is executed.

[0056] When the first vehicle Va and the second vehicle Vb receive the management information in the first vehicle communication device 14a and the second vehicle communication device 14b, respectively, it is determined whether the identification information included in the management information matches the identification information representing the vehicle itself. If they match, the transported object information is read, and information including the transported object information is transmitted to the information communication terminal 34. The managers of the first vehicle Va and the second vehicle Vb load the object M (baggage or person) onto the vehicle V in accordance with the transported object information.

[0057] In this way, in the first vehicle Va, the transported object M is determined based on the amount of stored energy and the predicted charge amount of the battery 32. In the first vehicle Va with a small amount of stored energy, it is possible to efficiently charge the battery 32 with electrical energy, and it is possible to reduce the number of times charging is required at charging stations during the transport of the object M, thereby improving the efficiency of the transport work. Furthermore, for the first vehicle Va, which has a large amount of stored energy in the battery 32, the load weight of the object M is reduced. Therefore, even if regenerative braking cannot be applied when descending a downhill slope, fade is less likely to occur, and a decrease in running stability can be suppressed. This also makes it possible to effectively suppress a decrease in work efficiency.

[0058] When the altitude of the departure point is lower than the altitude of the destination and most of the route is uphill, an uphill transport object determination program shown in the flowchart of FIG. 4 is executed. In S51, the management communication device 52 of the management device C determines whether vehicle information has been received, and if the determination is YES, in S52, the battery storage amount Qv and the fuel storage amount Qt are acquired based on the battery storage amount information and the fuel storage amount information. In S53, it is determined whether either the battery storage amount Qv or the fuel storage amount Qt is less than either the corresponding first set amount Qav or Qat, and in S54 it is determined whether either is greater than either the second set amount Qbv or Qbt which is greater than the first set amount Qav or Qat.

[0059] 7, if the determination in S54 is YES, the priority of the vehicle V is set to first in S55, and if the determinations in S53 and S54 are NO, the priority is set to second in S56. If the determination in S53 is YES, it is further determined in S57 whether the battery storage amount Qv and the fuel storage amount Qt are less than third set amounts Qcv and Qct, which are smaller than the first set amounts Qav and Qat, respectively. If the determination in S57 is NO, the priority is set to third in S58, and if the determination in S57 is YES, the priority is set to fourth in S59.

[0060] When the vehicle V travels uphill, it consumes energy, so it is desirable to reduce the load weight of the transported object M on a vehicle with a small amount of stored energy.

[0061] Then, in S60, the object M (for example, the load weight of the object M) to be transported by each vehicle V is provisionally determined. A vehicle with priority No. 4 is configured not to transport a person (worker) as the object M. If the vehicle with priority No. 4 is an autonomous vehicle, there is a case where neither a driver nor a worker is on board. As for vehicles with priority Nos. 1 to 3, in principle, a person (worker or driver) is on board, but there is a case where no person is on board due to luggage or other reasons. In S61, the predicted remaining energy amount acquisition unit 62 acquires the predicted remaining energy amount (predicted remaining electrical energy amount, predicted remaining fuel amount).

[0062] In S62, it is determined whether or not it is necessary to change the transport object M (load weight) provisionally determined in S60. For example, if the predicted remaining energy amount is too low or becomes 0, and it is highly likely that the battery 32 will need to be charged or the fuel tank 42 will need to be refueled during transport, it is desirable to reduce the load weight of the transport object M provisionally determined in S60. Furthermore, for a vehicle V with a sufficiently large predicted remaining energy amount, it is possible to increase the load weight of the transport object M provisionally determined in S60.

[0063] If the determination in S62 is YES, in S63, the transported object M for each vehicle V provisionally determined in S60 is adjusted (corrected), etc., and finally determined. In S64, management information including transported object information, identification information, etc. representing the finally determined transported object M is created and output to the management communication device 52.

[0064] When a vehicle V goes uphill, it consumes energy. Therefore, by reducing the load weight of the transported object M of a vehicle V with a small amount of stored energy, it is possible to make it less likely that an energy shortage will occur. This makes it possible to reduce the number of times energy (electrical energy or fuel) needs to be replenished until the destination is reached, thereby preventing a decrease in work efficiency.

[0065] In the above embodiment, the management communication device 52 and the part of the management ECU 50 that stores and executes S22 and S52 in the flowcharts of FIGS. 3 and 4 constitute an energy storage amount acquisition part and a battery storage amount acquisition part.

[0066] In the above embodiment, the management system is used in mining work, but it can be used in various work sites other than mining work.

[0067] Furthermore, the management ECU 50 can use artificial intelligence (AI) to determine the transport object M for each of the multiple vehicles V. In this case, the AI can find an optimal solution for the transport object M for each of the multiple vehicles V based on, for example, the current amount of energy stored in each of the multiple vehicles V, information about the past movements of each of the multiple vehicles V, information about the past amount of energy stored, a work plan (for example, changes in the amount of energy stored in each of the multiple vehicles V can be predicted based on the work plan, etc.), etc.

[0068] Furthermore, it is not essential to consider the predicted charge amount, predicted remaining energy amount, etc., and the transported object can be determined based on the amount of stored energy, or based on the amount of stored energy and predicted energy consumption, etc.

[0069] In addition, in the above embodiment, the transported object information was transmitted from the management device C to the vehicle V, and then the transported object information was transmitted from the vehicle V to the information communication terminal 34, but it is also possible to transmit the transported object information from the management device C to the information communication terminal 34.

[0070] Furthermore, the contents of the management information can be output as voice from the management device C to the departure point. The objects to be transported are loaded onto the vehicles V in accordance with the voice.

[0071] Furthermore, the predicted charge amount, predicted energy consumption amount, predicted remaining energy amount, etc. can be acquired in the vehicle, and vehicle information including information representing them is created and transmitted to the management device C. In this case, the predicted charge amount acquisition unit, predicted energy consumption acquisition unit, and predicted remaining energy amount acquisition unit are each configured by the management communication device 52 and a part of the management ECU 50 that processes vehicle information, etc.

[0072] Furthermore, the present invention can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art, such as regardless of the structure of the drive devices Da, Db, braking devices Ba, Bb, and steering devices Ta, Tb. [Explanation of symbols]

[0073] 10a, 10b: GPS receiver 12a, 12b: Peripheral information acquisition device 14a: First vehicle communication device 14b: Second vehicle communication device 16a: Battery storage amount detection device 16b: Fuel storage amount detection device 20a: First vehicle ECU 20b: Second vehicle ECU 24a, 24b: Vehicle information creation unit 34: Information communication terminal 50: Management ECU 52: Management communication device 54: Management information creation unit 56: Transport object determination unit 58: Predicted charge amount acquisition unit 60: Predicted remaining energy amount acquisition unit 62: Predicted energy consumption amount acquisition unit 64: Work plan storage unit 66: Vehicle information storage unit Patentable invention

[0074] The following paragraphs describe patentable inventions: (1) A management system including a management device that manages multiple mobile objects, The management device an energy storage amount acquisition unit that acquires an energy storage amount, which is an amount of energy stored in each of the plurality of moving bodies; a transport object determination unit that determines a transport object that is an object transported by each of the plurality of moving bodies based on the amount of stored energy for each of the plurality of moving bodies acquired by the energy storage amount acquisition unit; management system including

[0075] When a mobile body includes a drive unit with an electric motor and a battery that stores power to supply to the electric motor, the amount of electrical energy stored in the battery corresponds to the amount of stored energy. When a mobile body includes a drive unit with an engine and a fuel tank that stores fuel to supply to the engine, the amount of stored fuel corresponds to the amount of stored energy.

[0076] A plurality of objects that are to be transported by a plurality of moving bodies from a departure point to a destination are determined in advance. The management device divides these plurality of objects into a plurality of moving bodies and determines transport objects that are objects to be transported by each moving body. "Determining the objects to be transported" includes, for example, (i) determining the number of objects to be transported, the weight of the objects to be transported (load weight of the moving body), etc.; (ii) determining that the weight of the objects to be transported by a specific moving body A among multiple moving bodies is greater than the weight of the objects to be transported by another moving body B; (iii) determining the priority of the multiple moving bodies in order to increase the load weight; and (iv) determining that moving body C among multiple moving bodies does not include people as objects to be transported, but that moving body D among multiple moving bodies does include people as objects to be transported.

[0077] (2) The plurality of moving bodies include one or more first moving bodies each including a drive device having an electric motor and a battery capable of supplying electric energy to the electric motor; the energy storage amount acquisition unit includes a battery storage amount acquisition unit that acquires, for each of the one or more first moving bodies, a battery storage amount that is an amount of electric energy stored in the battery; The management system described in item (1), wherein the transported object determination unit determines the transported object for each of the one or more first moving bodies based on the battery storage capacity of each of the one or more first moving bodies acquired by the battery storage capacity acquisition unit.

[0078] (2-1) When the first moving body is descending a downhill slope, the transported object determination unit determines that the transported object is heavier for a first moving body whose battery storage capacity acquired by the battery storage capacity acquisition unit is less than a predetermined downhill set amount than for a first moving body whose battery storage capacity is equal to or greater than the downhill set amount.

[0079] When the first moving body travels downhill, regenerative braking is normally performed. Furthermore, the amount of electrical energy charged to the battery during regenerative braking increases as the potential energy of the first moving body increases. Furthermore, given the same weight of the first moving body, the potential energy the first moving body has before traveling downhill increases as the weight of the transported object increases. Therefore, the object to be transported for a first moving body with a small battery charge is determined to be one with a large load weight. The downward set amount corresponds to the first set amount Q1 or the second set amount Q2 in the above embodiment.

[0080] (2-2) When the first moving body is going uphill, the transported object determination unit determines that the transported object is lighter in weight for a first moving body whose battery storage capacity acquired by the battery storage capacity acquisition unit is less than a predetermined uphill set amount than a first moving body whose battery storage capacity is equal to or greater than the uphill set amount.

[0081] When the first moving body goes uphill, it consumes electrical energy. Therefore, the first moving body with a large battery charge is designed to transport an object with a large load. As a result, the battery charge is less likely to run out during transportation, making it less likely that charging at a charging station or the like will be necessary. The upstream set amount corresponds to the first set amount Qav or the second set amount Qbv in the above embodiment.

[0082] (3) Each of the one or more first mobile bodies includes a battery charge amount detection device that detects the battery charge amount, and a first mobile communication device that wirelessly transmits first mobile body information that is information including battery charge amount information that is information representing the battery charge amount detected by the battery charge amount detection device, the management device includes a management communication device capable of receiving the first mobile object information, The management system according to item (2), wherein the battery storage capacity acquisition unit processes the first mobile object information received by the management communication device to acquire the battery storage capacity.

[0083] The management device acquires information about the first moving object through wireless communication.

[0084] (4) The management device includes a predicted charge amount acquisition unit that acquires, for each of the one or more first moving bodies, a predicted charge amount, which is the amount of electrical energy predicted to be charged to the battery by regenerative braking when the first moving body moves from a departure point to a destination along a predetermined route; The management system described in item (2) or (3), wherein the transported object determination unit determines the transported object for each of the one or more first moving bodies based on the battery storage capacity acquired by the battery storage capacity acquisition unit and the predicted charge capacity acquired by the predicted charge capacity acquisition unit.

[0085] (5) The management system described in (4), wherein the predicted charging amount acquisition unit acquires the predicted charging amount for each of the one or more first moving bodies based on at least one of the total weight, which is the sum of the moving body weight, which is the weight of the first moving body, and the load weight, which is the weight of the transported object determined by the transported object determination unit, and the elevation difference between the departure point and the destination.

[0086] The potential energy that the first moving body has before it starts to descend the downhill slope increases as the total weight of the first moving body increases and as the difference in elevation increases.

[0087] (6) A management system described in (4) or (5), in which the transported object determination unit changes the transported object determined based on the battery storage capacity for each of the one or more first moving bodies based on the predicted charge capacity acquired by the predicted charge capacity acquisition unit.

[0088] For example, if the predicted charge amount is low compared to the battery storage amount, it is desirable to increase the load weight of the transported objects by, for example, increasing the number of transported objects. Furthermore, if the predicted charge amount is excessive compared to the battery storage amount, it is desirable to reduce the load weight by, for example, reducing the number of transported objects.

[0089] (7) The management device includes a predicted remaining energy amount acquisition unit that acquires a predicted remaining energy amount, which is an amount of energy predicted to remain in each of the plurality of moving bodies after each of the plurality of moving bodies moves from a departure point to a destination along a predetermined route, A management system described in any one of items (1) to (6), wherein the transported object determination unit determines the transported object for each of the plurality of moving bodies based on the energy accumulation amount for each of the plurality of moving bodies acquired by the energy accumulation amount acquisition unit and the predicted energy remaining amount for each of the plurality of moving bodies acquired by the predicted energy remaining amount acquisition unit.

[0090] The predicted remaining energy amount can be obtained by subtracting the predicted energy consumption amount that the moving object will consume when traveling from the departure point to the destination along a predetermined route from the sum of the energy storage amount and the predicted charging amount. If the moving object is not the first moving object, the predicted charging amount will be 0.

[0091] The predicted remaining energy amount is the predicted remaining electrical energy amount, which is the amount of electrical energy predicted to remain in the battery, if the mobile body includes a drive device equipped with an electric motor, and is the predicted remaining fuel amount, which is the amount of fuel predicted to remain in the fuel tank, if the mobile body does not include a drive device equipped with an electric motor.

[0092] (8) The management system described in (7) above, wherein the transport object determination unit changes the transport object determined based on the energy storage amount for each of the plurality of moving bodies based on the predicted energy remaining amount acquired by the predicted energy remaining amount acquisition unit.

[0093] For example, when the predicted remaining energy amount for a moving object having a large weight determined based on the amount of stored energy is small, it is desirable to reduce the weight of the object, whereas when the predicted remaining energy amount for a moving object having a small weight determined based on the amount of stored energy is large, the weight of the object can be increased.

[0094] (9) A management system described in (7) or (8), in which the transport object determination unit determines that, for one or more of the plurality of moving bodies for which at least one of the predicted energy remaining amount acquired by the predicted energy remaining amount acquisition unit and the energy accumulated amount acquired by the energy accumulated amount acquisition unit is greater than a set amount, a person is to be included in the transport objects.

[0095] (10) The management system described in (9) is such that the transported object determination unit determines not to include people as the transported object in any of the plurality of moving bodies for which at least one of the predicted energy remaining amount acquired by the predicted energy remaining amount acquisition unit and the energy accumulated amount acquired by the energy accumulated amount acquisition unit is less than the set amount.

[0096] If the moving object is capable of automatic driving, the person as an object may include the driver. In the above embodiment, the set amounts correspond to the third set amounts Qcv and Qct, but they may also be the first set amounts Qav and Qat or the second set amounts Qbv and Qbt.

[0097] (11) A management system described in any one of items (7) to (10), wherein the predicted energy remaining amount acquisition unit acquires the predicted energy remaining amount for each of the plurality of moving bodies based on at least one of the total weight, which is the sum of the moving body weight, which is the weight of each of the plurality of moving bodies, and the load weight, which is the weight of the transported object determined by the transported object determination unit, and the elevation difference between the departure point and the destination.

[0098] Based on the total weight of the mobile object and the elevation difference between the departure point and the destination, the predicted energy consumption when the mobile object travels from the departure point to the destination can be obtained. When the energy storage amount at the departure point is the same and the predicted charge amount is 0, the predicted remaining energy amount decreases as the predicted energy consumption increases.

[0099] (12) A management system described in any one of (7) to (11), in which the predicted remaining energy amount acquisition unit acquires the remaining energy amount based on information regarding the past movements of each of the plurality of moving bodies and information regarding the amount of accumulated energy stored in the moving bodies.

[0100] The management device can acquire information about the position of the mobile object during transportation work and information about the amount of accumulated energy through communication. For example, based on information about the past movements of the mobile object and information about the amount of accumulated energy, the management device can acquire information such as the traveling distance per unit energy amount of the mobile object and can acquire the predicted energy consumption amount.

[0101] (13) A management system described in any one of items (1) to (12), wherein the management device includes a management communication device that transmits management information including transport object information, which is information representing the transport object for each of the plurality of moving bodies determined by the transport object determination unit.

[0102] The management device can also output the transported object information by voice.

[0103] (14) The management system according to (13), wherein the plurality of mobile objects each include a mobile communication device that receives the management information.

[0104] The mobile communication device transmits mobile information including information about the location of each mobile unit, information representing the amount of stored energy, and the like. The mobile communication device can be configured to transmit the transport object information included in the management information to an information communication terminal owned by the manager of the mobile object, while the information communication terminal can be configured to receive the management information without going through the mobile communication device.

[0105] (15) A management system according to any one of (1) to (14), wherein the transport object determination unit uses artificial intelligence (AI) to determine the transport object for each of the plurality of moving bodies based on one or more of the amount of energy stored in the moving body, information on the past movements of the moving body and information on the amount of energy stored, and the work plan for each of the moving bodies.

[0106] AI can obtain optimal solutions for transporting objects based on past information about each of multiple moving objects, predictions based on work plans, etc.

[0107] (16) A management system including a management device that manages a plurality of moving objects, the plurality of moving bodies include one or more first moving bodies equipped with a drive device having an electric motor, and one or more second moving bodies not equipped with a drive device having the electric motor, The management system includes a transport object determination unit that determines one or more objects to be transported by each of the plurality of moving bodies when the plurality of moving bodies are going downhill, so that the load weight of one or more objects transported by a first moving body among the plurality of moving bodies is greater than the load weight of one or more objects transported by a second moving body.

[0108] The management system described in this section may employ any of the technical features described in sections (1) to (15).

Claims

1. A management system including a management device that manages a plurality of mobile objects, the plurality of moving bodies include one or more first moving bodies each including a drive device having an electric motor and a battery capable of supplying electric energy to the electric motor, The management device a battery storage capacity acquisition unit that acquires a battery storage capacity, which is an amount of electric energy stored in each of the batteries of the one or more first moving bodies; a predicted charge amount acquisition unit that acquires, for each of the one or more first moving bodies, a predicted charge amount, which is an amount of electrical energy that is predicted to be charged in the battery by regenerative braking when the first moving body moves from a departure point to a destination along a predetermined route; a transfer object determination unit that determines a transfer object for each of the one or more first moving bodies based on the battery storage amount of each of the one or more first moving bodies acquired by the battery storage amount acquisition unit and the predicted charge amount of each of the plurality of first moving bodies acquired by the predicted charge amount acquisition unit; Including, the transported object determination unit includes a provisional determination unit that provisionally determines the transported object for each of the one or more first moving bodies based on the battery storage capacity of each of the one or more first moving bodies acquired by the battery storage capacity acquisition unit, and a final determination unit that adjusts the transported object for each of the plurality of first moving bodies provisionally determined by the provisional determination unit, and finally determines the transported object for each of the plurality of first moving bodies; the predicted charge amount acquisition unit acquires the predicted charge amount for each of the one or more first moving bodies based on a total weight that is the sum of a moving body weight that is the weight of the first moving body and a loaded weight that is the weight of the transported object provisionally determined by the provisional determination unit, and a difference in elevation between the departure point and the destination, A management system in which the final decision unit adjusts the transported object that has been provisionally determined to be transported by each of the plurality of first moving bodies based on the results of comparing the predicted charge amount for each of the plurality of first moving bodies acquired by the predicted charge amount acquisition unit with the battery charge amount acquired by the battery charge amount acquisition unit, thereby finally determining the transported object to be transported by each of the plurality of first moving bodies.

2. 2. The management system described in claim 1, wherein the final determination unit compares the predicted charge amount acquired by the predicted charge amount acquisition unit with the battery charge amount acquired by the battery charge amount acquisition unit for each of the one or more first moving bodies, and adjusts the weight of the transported object to be larger for a moving body among the plurality of first moving bodies whose predicted charge amount is smaller than the battery charge amount, and adjusts the weight of the transported object to be smaller for a moving body among the plurality of first moving bodies whose predicted charge amount is larger than the battery charge amount, thereby finally determining the transported object to be transported by each of the plurality of first moving bodies.

3. each of the one or more first mobile bodies includes a battery charge amount detection device that detects the battery charge amount, and a first mobile body communication device that wirelessly transmits first mobile body information that is information including battery charge amount information that is information representing the battery charge amount detected by the battery charge amount detection device; the management device includes a management communication device capable of receiving the first mobile object information, 3. The management system according to claim 1, wherein the battery charge amount acquisition unit processes the first mobile unit information received by the management communication device to acquire the battery charge amount.

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