Unmanned vehicle control system, unmanned vehicle, and unmanned vehicle control method

Abstract

To provide an unmanned vehicle control system capable of minimizing reduction in productivity of a worksite where an unmanned vehicle operates.SOLUTION: A control system 100 for an unmanned vehicle 2 is provided, comprising a travel control unit 104 configured to output a start command for getting the unmanned vehicle 2 to start moving, and a dump body control unit 107 configured to output a dump command to a valve device so that a dump body is operated in a dumping mode by a hoist cylinder of the unmanned vehicle 2 if a start determination unit 106 determines that the unmanned vehicle 2 does not start moving in spite of the start command.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Unmanned vehicles operate in wide-area work sites such as mines. As disclosed in Patent Document 1, unmanned vehicles may operate in oil sand mines. Oil sands refers to sandstone containing highly viscous mineral oil. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2016 / 080555 Summary of the Invention [Problem to be solved by the invention]

[0004] Oil sands are soft, like a sponge. The weight of an unmanned vehicle may cause at least a portion of the unmanned vehicle's tires to become embedded in the oil sands. If the unmanned vehicle's tires become embedded in the oil sands while the unmanned vehicle is stationary, it may be difficult for the unmanned vehicle to move forward. If the unmanned vehicle cannot move forward or if it takes a long time to remove the tires from the oil sands, productivity at the work site may decrease.

[0005] The present disclosure aims to suppress a decline in productivity at a work site where unmanned vehicles are operating. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a control system for an unmanned vehicle, comprising a driving control unit that outputs a start command to start the unmanned vehicle, and a dump body control unit that outputs a dump command to perform a dump operation on the dump body of the unmanned vehicle when it is determined that the unmanned vehicle will not start in response to the start command. [Effects of the Invention]

[0007] According to the present disclosure, a decrease in productivity at a work site where an unmanned vehicle is operating is suppressed. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a work site for an unmanned vehicle according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a work site management system according to the embodiment. [Figure 3] FIG. 3 is a functional block diagram showing a work site management system according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram for explaining the course data and the permitted area data according to the embodiment. [Figure 5] FIG. 5 is a configuration diagram showing an unmanned vehicle according to the embodiment. [Figure 6] FIG. 6 is a functional block diagram showing a control system for an unmanned vehicle according to the embodiment. [Figure 7] FIG. 7 is a diagram for explaining the starting conditions according to the embodiment. [Figure 8] FIG. 8 is a diagram showing the state of the unmanned vehicle according to the embodiment. [Figure 9] FIG. 9 is a diagram showing the state of the unmanned vehicle 2 when a dump command is output during start control according to this embodiment. [Figure 10] FIG. 10 is a diagram showing the vehicle state of the unmanned vehicle before starting the dumping operation according to the embodiment. [Figure 11] FIG. 11 is a diagram showing the surroundings of the unmanned vehicle before the dumping operation according to the embodiment is started. [Figure 12]FIG. 12 is a schematic diagram showing an allowed area according to the embodiment. [Figure 13] FIG. 13 is a diagram for explaining that the course data of other unmanned vehicles is changed in response to a notification from the notification unit according to the embodiment. [Figure 14] FIG. 14 is a diagram for explaining that course data of other unmanned vehicles is generated based on a notification from a notification unit according to the embodiment. [Figure 15] FIG. 15 is a diagram for explaining that the position of the cargo is output to the output device in response to a notification from the notification unit according to the embodiment. [Figure 16] FIG. 16 is a flowchart showing a control method for an unmanned vehicle according to this embodiment. [Figure 17] FIG. 17 is a diagram for explaining the start control according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of 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. In addition, some components may not be used.

[0010] [Worksite] FIG. 1 is a schematic diagram showing a work site 1 for an unmanned vehicle 2 according to an embodiment. The work site 1 is exemplified by a mine or a quarry. A mine refers to a place or business where minerals are mined. A quarry refers to a place or business where stone is mined. Multiple unmanned vehicles 2 operate at the work site 1. Additionally, an auxiliary vehicle 3 operates at the work site 1.

[0011] The unmanned vehicle 2 is a work vehicle that operates unmanned without being operated by a driver. The unmanned vehicle 2 is an unmanned dump truck that travels unmanned around the work site 1 to transport cargo. An example of the cargo transported by the unmanned vehicle 2 is excavated material excavated at the work site 1.

[0012] The auxiliary vehicle 3 refers to a manned vehicle that travels to the work site 1 for the purpose of maintenance, inspection, or management of the work site 1. The manned vehicle refers to a vehicle that operates based on the driving operation of an onboard driver.

[0013] In this embodiment, the work site 1 is a mine. Examples of mines include a metal mine where metals are mined, a non-metal mine where limestone is mined, and a coal mine where coal is mined.

[0014] A travel area 4 is set at the work site 1. The travel area 4 refers to an area in which the unmanned vehicle 2 can travel. The travel area 4 includes a loading area 5, a dumping area 6, a parking area 7, a fueling station 8, a travel route 9, and an intersection 10.

[0015] The loading site 5 refers to an area where loading work is carried out to load cargo onto the unmanned vehicle 2. A loader 11 operates at the loading site 5. An example of the loader 11 is a hydraulic excavator.

[0016] The soil unloading site 6 refers to an area where unloading work is carried out, in which cargo is unloaded from the unmanned vehicle 2. A crusher 12 is provided at the soil unloading site 6.

[0017] The parking lot 7 refers to the area where the unmanned vehicle 2 is parked.

[0018] The gas station 8 refers to an area where the unmanned vehicle 2 is refueled.

[0019] The travel path 9 refers to an area where the unmanned vehicle 2 travels toward at least one of the loading area 5, the dumping area 6, the parking area 7, and the fuel station 8. The travel path 9 is provided to connect at least the loading area 5 and the dumping area 6. In the embodiment, the travel path 9 connects to each of the loading area 5, the dumping area 6, the parking area 7, and the fuel station 8.

[0020] An intersection 10 refers to an area where multiple travel lanes 9 intersect or an area where one travel lanes 9 branches into multiple travel lanes 9.

[0021] [Management system] Fig. 2 is a schematic diagram showing a management system 20 for a work site 1 according to an embodiment. Fig. 3 is a functional block diagram showing a management system 20 for a work site 1 according to an embodiment.

[0022] The management system 20 includes a management device 21, an input device 22, an output device 23, and a communication system 24. The management device 21, the input device 22, and the output device 23 are each installed in a control facility 13 at the work site 1. An administrator resides in the control facility 13.

[0023] The unmanned vehicle 2 has a control device 30. The auxiliary vehicle 3 has a control device 40. The management device 21 and the control device 30 of the unmanned vehicle 2 communicate wirelessly via a communication system 24. The management device 21 and the control device 40 of the auxiliary vehicle 3 communicate wirelessly via the communication system 24. A wireless communication device 24A is connected to the management device 21. A wireless communication device 24B is connected to the control device 30. A wireless communication device 24C is connected to the control device 40. The communication system 24 includes the wireless communication device 24A, the wireless communication device 24B, and the wireless communication device 24C.

[0024] The input device 22 is operated by an administrator of the control facility 13. The input device 22 generates input data when operated by the administrator. Examples of the input device 22 include a touch panel, a computer keyboard, a mouse, and operation buttons.

[0025] The output device 23 outputs output data. Examples of the output device 23 include a display device and an audio output device. Examples of the display device include a flat panel display such as a liquid crystal display or an organic electroluminescent display.

[0026] The management device 21 includes a computer system. The management device 21 has a processor 21A, a main memory 21B, a storage 21C, and an interface 21D. The processor 21A is exemplified by a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The main memory 21B is exemplified by a non-volatile memory or a volatile memory. The non-volatile memory is exemplified by a ROM (Read Only Memory). The volatile memory is exemplified by a RAM (Random Access Memory). The storage 21C is exemplified by a hard disk drive (HDD) or a solid state drive (SSD). The interface 21D is exemplified by an input / output circuit or a communication circuit.

[0027] A computer program 21E is loaded into the main memory 21B. The processor 21A executes processing in accordance with the computer program 21E. The interface 21D is connected to the input device 22 and the output device 23, respectively.

[0028] The management device 21 includes a course data generation unit 211 , an allowed area setting unit 212 , and an output control unit 213 .

[0029] The course data generation unit 211 generates course data indicating the driving conditions of the unmanned vehicle 2. The course data generation unit 211 generates course data for each of the multiple unmanned vehicles 2. An administrator of the control facility 13 operates the input device 22 to input the driving conditions of the unmanned vehicle 2 to the management device 21. The course data generation unit 211 generates the course data based on the input data generated by the input device 22. The course data generation unit 211 transmits the course data to the unmanned vehicle 2 via the communication system 24.

[0030] The permitted area setting unit 212 generates permitted area data that indicates permitted areas for travel of the unmanned vehicle 2. The permitted area setting unit 212 generates permitted area data for each of the multiple unmanned vehicles 2. The permitted area setting unit 212 transmits the permitted area data to the unmanned vehicle 2 via the communication system 24.

[0031] The unmanned vehicle 2 operates at the work site 1 based on the course data and permitted area data transmitted from the management device 21.

[0032] 4 is a schematic diagram illustrating course data and permitted area data according to the embodiment. The course data defines the driving conditions of the unmanned vehicle 2. The course data includes course points 14, a driving course 15, a target position of the unmanned vehicle 2, a target driving speed of the unmanned vehicle 2, a target heading of the unmanned vehicle 2, and the topography at the course points 14.

[0033] A plurality of course points 14 are set in the travel area 4. The course points 14 define the target position of the unmanned vehicle 2. A target travel speed and a target heading of the unmanned vehicle 2 are set for each of the plurality of course points 14. The plurality of course points 14 are set at intervals. The intervals between the course points 14 are set to, for example, 1 m or more and 5 m or less. The intervals between the course points 14 may be uniform or uneven.

[0034] The travel course 15 refers to an imaginary line that indicates the target travel route of the unmanned vehicle 2. The travel course 15 is defined by a trajectory that passes through a plurality of course points 14. The unmanned vehicle 2 travels in the travel area 4 according to the travel course 15.

[0035] The target position of the unmanned vehicle 2 refers to the target position of the unmanned vehicle 2 when passing the course point 14. The target position of the unmanned vehicle 2 may be defined in the local coordinate system of the unmanned vehicle 2 or in the global coordinate system.

[0036] The target traveling speed of the unmanned vehicle 2 refers to the target traveling speed of the unmanned vehicle 2 when passing through the course point 14 .

[0037] The target heading of the unmanned vehicle 2 refers to the target heading of the unmanned vehicle 2 when passing through the course point 14 .

[0038] The topography at the course point 14 refers to the inclination angle of the surface of the travel area 4 at the course point 14 .

[0039] The permission area data specifies a permission area 16 in which the unmanned vehicle 2 is permitted to travel, and a stopping point 17 for the unmanned vehicle 2. The permission area 16 is set in the travel area 4. The permission area 16 is an area where other unmanned vehicles 2A are prohibited from entering. The permission area 16 is set in the direction of travel of the unmanned vehicle 2. When the unmanned vehicle 2 travels forward, at least a portion of the permission area 16 is set ahead of the unmanned vehicle 2. The permission area 16 is set in a strip shape to include the travel course 15. The permission area 16 is also set to include the unmanned vehicle 2. The length of the permission area 16 in the direction of travel of the unmanned vehicle 2 is, for example, between 100 m and 500 m. The stopping point 17 is set at the end of the permission area 16. The travel speed of the unmanned vehicle 2 is controlled so that the unmanned vehicle 2 can stop at the stopping point 17.

[0040] The permission area setting unit 212 sets a permission area 16 for each of the multiple unmanned vehicles 2. The permission area setting unit 212 sets the permission areas 16 so that the multiple permission areas 16 do not overlap with one another. The permission area setting unit 212 sequentially updates the permission area 16 as the unmanned vehicle 2 travels. The permission area setting unit 212 sequentially cancels the permission areas 16 after the unmanned vehicle 2 has passed. The permission area setting unit 212 sequentially extends the permission areas 16 before the unmanned vehicle 2 passed in the direction of travel of the unmanned vehicle 2. By canceling the permission areas 16 after the unmanned vehicle 2 has passed, other unmanned vehicles 2A are able to travel. By extending the permission areas 16 before the unmanned vehicle 2 has passed, the unmanned vehicle 2 can continue its travel. If an event occurs in which the permission area 16 cannot be extended, the unmanned vehicle 2 stops at a stop point 17. An example of an event in which the permission area 16 cannot be extended is an event in which another unmanned vehicle 2A is stopped in front of the permission area 16.

[0041] The output control unit 213 causes the output device 23 to output the output data. If the output device 23 includes a display device, the output control unit 213 causes the output device 23 to display the display data.

[0042] [Auxiliary vehicle] As shown in FIGS. 2 and 3, the auxiliary vehicle 3 includes a control device 40, a wireless communication device 24C, a position sensor 41, and an output device .

[0043] The control device 40 includes a computer system. The control device 40 has a processor 40A, a main memory 40B, a storage 40C, and an interface 40D. A computer program 40E is loaded in the main memory 40B. The interface 40D is connected to each of the position sensor 41 and the output device 42.

[0044] The position sensor 41 detects the position of the auxiliary vehicle 3. The position of the auxiliary vehicle 3 is detected using a Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes a Global Positioning System (GPS). The Global Navigation Satellite System detects the position in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The global coordinate system is a coordinate system fixed to the Earth. The position sensor 41 includes a GNSS receiver and detects the position of the auxiliary vehicle 3 in the global coordinate system.

[0045] The output device 42 is disposed in the driver's cab of the auxiliary vehicle 3. The output device 42 outputs output data. Examples of the output device 42 include a display device and an audio output device.

[0046] [Unmanned Vehicles] Fig. 5 is a configuration diagram showing an unmanned vehicle 2 according to an embodiment. As shown in Fig. 2, Fig. 3, and Fig. 5, the unmanned vehicle 2 includes a control device 30, a wireless communication device 24B, a vehicle main body 50, a traveling device 51, a dump body 52, a hydraulic device 60, a position sensor 71, a direction sensor 72, an inclination sensor 73, a speed sensor 74, and a steering sensor 75.

[0047] As shown in Figure 2, the local coordinate system of the unmanned vehicle 2 is defined by a pitch axis PA, a roll axis RA, and a yaw axis YA. The pitch axis PA extends in the left-right direction (vehicle width direction) of the unmanned vehicle 2. The roll axis RA extends in the front-rear direction of the unmanned vehicle 2. The yaw axis YA extends in the up-down direction of the unmanned vehicle 2. The pitch axis PA and the roll axis RA are perpendicular to each other. The roll axis RA and the yaw axis YA are perpendicular to each other. The yaw axis YA and the pitch axis PA are perpendicular to each other.

[0048] The control device 30 includes a computer system. As shown in Fig. 3, the control device 30 includes a processor 30A, a main memory 30B, a storage 30C, and an interface 30D. A computer program 30E is loaded into the main memory 30B.

[0049] The vehicle body 50 includes a body frame. The vehicle body 50 is supported by a traveling device 51. The vehicle body 50 supports a dump truck body 52.

[0050] The traveling device 51 causes the unmanned vehicle 2 to travel. The traveling device 51 causes the unmanned vehicle 2 to move forward or backward. At least a portion of the traveling device 51 is disposed below the vehicle body 50. The traveling device 51 has wheels 53, tires 54, a drive device 55, a brake device 56, a transmission device 57, and a steering device 58.

[0051] The tires 54 are attached to the wheels 53. The wheels 53 include a front wheel 53F and a rear wheel 53R. The tires 54 include a front tire 54F attached to the front wheel 53F and a rear tire 54R attached to the rear wheel 53R.

[0052] The drive device 55 generates a drive force for starting or accelerating the unmanned vehicle 2. An internal combustion engine or an electric motor is exemplified as the drive device 55. An example of an internal combustion engine is a diesel engine.

[0053] The braking device 56 generates a braking force to stop or decelerate the unmanned vehicle 2. Examples of the braking device 56 include a disc brake or a drum brake.

[0054] The transmission device 57 transmits the driving force generated by the drive device 55 to the wheels 53. The transmission device 57 has a forward clutch and a reverse clutch. The unmanned vehicle 2 switches between moving forward and reverse by switching the connection state of the forward clutch and the reverse clutch. The wheels 53 rotate due to the driving force generated by the drive device 55. With the tires 54 in contact with the road surface of the work site, the wheels 53 rotate, causing the unmanned vehicle 2 to travel around the work site 1.

[0055] The steering device 58 generates a steering force for adjusting the traveling direction of the unmanned vehicle 2. The traveling direction of a forward moving unmanned vehicle 2 refers to the direction of the front of the vehicle body 50. The traveling direction of a backward moving unmanned vehicle 2 refers to the direction of the rear of the vehicle body 50. The wheels 53 are steered by the steering device 58. The traveling direction of the unmanned vehicle 2 is adjusted by steering the wheels 53.

[0056] The wheels 53 include drive wheels to which drive force is transmitted from a drive unit 55 and steered wheels steered by a steering unit 58. In this embodiment, the drive wheels are rear wheels 53R, and the steered wheels are front wheels 53F.

[0057] The dump body 52 is a member on which cargo is loaded. At least a portion of the dump body 52 is positioned higher than the vehicle main body 50. The dump body 52 performs a dumping operation and a lowering operation. By the dumping operation and the lowering operation, the dump body 52 is adjusted to a dump position and a loaded position. The dump position refers to a position in which the dump body 52 is raised. The loaded position refers to a position in which the dump body 52 is lowered.

[0058] The dumping operation refers to an operation of moving the dump body 52 away from the vehicle main body 50 and tilting it in the dumping direction. The dumping direction is toward the rear of the vehicle main body 50. In the embodiment, the dumping operation includes lifting the front end of the dump body 52 and tilting the dump body 52 rearward. The dumping operation causes the loading surface of the dump body 52 to tilt downward toward the rear.

[0059] The lowering operation refers to an operation of bringing the dump body 52 closer to the vehicle main body 50. In the embodiment, the lowering operation includes lowering the front end of the dump body 52.

[0060] When performing an unloading operation, the dump body 52 performs a dumping operation to change from a loaded position to a dumping position. If a load is loaded on the dump body 52, the load is discharged rearward from the rear end of the dump body 52 by the dumping operation. When a loading operation is performed, the dump body 52 is adjusted to the loaded position.

[0061] The hydraulic device 60 includes a steering cylinder 61 , a hoist cylinder 62 , a hydraulic pump 63 , and a valve device 64 .

[0062] The steering cylinder 61 generates a steering force for steering the front wheels 53F in the steering device 58. The steering cylinder 61 is a hydraulic cylinder. The steering device 58 includes the steering cylinder 61. The front wheels 53F are connected to the steering cylinder 61 via a link mechanism of the steering device 58. The front wheels 53F are steered by the extension and contraction of the steering cylinder 61.

[0063] The hoist cylinder 62 generates a lifting force that moves the dump body 52. ​​The hoist cylinder 62 is a hydraulic cylinder. The dump body 52 is connected to the hoist cylinder 62. The extension and contraction of the hoist cylinder 62 causes the dump body 52 to perform a dumping operation and a lowering operation.

[0064] The hydraulic pump 63 is operated by the driving force generated by the drive unit 55. A part of the driving force generated by the drive unit 55 is transmitted to the hydraulic pump 63 via a power transmission mechanism 59. The hydraulic pump 63 discharges hydraulic oil for extending and retracting the steering cylinder 61 and the hoist cylinder 62, respectively.

[0065] The valve device 64 adjusts the flow state of hydraulic oil supplied to each of the steering cylinder 61 and the hoist cylinder 62. The valve device 64 operates based on a control command from the control device 30. The valve device 64 includes a first flow control valve capable of adjusting the flow rate and direction of hydraulic oil supplied to the steering cylinder 61, and a second flow control valve capable of adjusting the flow rate and direction of hydraulic oil supplied to the hoist cylinder 62. The steering cylinder 61 expands and contracts with the hydraulic oil supplied from the hydraulic pump 63 via the valve device 64. The hoist cylinder 62 expands and contracts with the hydraulic oil supplied from the hydraulic pump 63 via the valve device 64.

[0066] The position sensor 71 detects the position of the unmanned vehicle 2. The position of the unmanned vehicle 2 is detected using a global navigation satellite system (GNSS). The position sensor 71 includes a GNSS receiver, and detects the position of the unmanned vehicle 2 in a global coordinate system.

[0067] The orientation sensor 72 detects the orientation of the unmanned vehicle 2. The orientation of the unmanned vehicle 2 includes the yaw angle Yθ of the unmanned vehicle 2. The yaw angle Yθ refers to the tilt angle of the unmanned vehicle 2 around the yaw axis YA. An example of the orientation sensor 72 is a gyro sensor.

[0068] The inclination sensor 73 detects the attitude of the unmanned vehicle 2. The attitude of the unmanned vehicle 2 includes the inclination angle of the vehicle body 50. The inclination angle of the vehicle body 50 includes the pitch angle Pθ and roll angle Rθ of the vehicle body 50. The pitch angle Pθ refers to the inclination angle of the vehicle body 50 around the pitch axis PA. The roll angle Rθ refers to the inclination angle of the vehicle body 50 around the roll axis RA. An inertial measurement unit (IMU) is exemplified as the inclination sensor 73.

[0069] When the lower end 54B of the tire 54 is in contact with the ground parallel to the horizontal plane, the pitch axis PA and the roll axis RA are both parallel to the horizontal plane. When the lower end 54B of the tire 54 is in contact with the ground parallel to the horizontal plane, the pitch angle Pθ and the roll angle Rθ are both 0°. The lower end 54B of the tire 54 refers to a portion of the outer circumferential surface of the tire 54 that is located lowest in the up-down direction parallel to the yaw axis YA.

[0070] The speed sensor 74 detects the traveling speed of the unmanned vehicle 2. An example of the speed sensor 74 is a pulse sensor that detects the rotation of the wheels 53.

[0071] The steering sensor 75 detects the steering angle of the steering device 58. An example of the steering sensor 75 is a potentiometer.

[0072] The control device 30 is disposed in the vehicle body 50. The control device 30 outputs control commands to control the traveling device 51. The control commands output from the control device 30 include a drive command to operate the drive device 55, a braking command to operate the brake device 56, a forward / reverse command to operate the transmission device 57, and a steering command to operate the steering device 58. The drive device 55 generates a drive force to start or accelerate the unmanned vehicle 2 based on the drive command output from the control device 30. The brake device 56 generates a braking force to stop or decelerate the unmanned vehicle 2 based on the braking command output from the control device 30. The transmission device 57 switches between forward and reverse movement of the unmanned vehicle 2 based on the forward / reverse command output from the control device 30. The steering device 58 generates a steering force to cause the unmanned vehicle 2 to travel straight or turn based on the steering command output from the control device 30.

[0073] [Control System] 6 is a functional block diagram showing a control system 100 for an unmanned vehicle 2 according to an embodiment. The control system 100 includes a control device 30, a traveling device 51, a hydraulic device 60, a position sensor 71, an orientation sensor 72, an inclination sensor 73, a speed sensor 74, and a steering sensor 75.

[0074] The interface 30D is connected to each of the traveling device 51, the hydraulic device 60, the position sensor 71, the direction sensor 72, the tilt sensor 73, the speed sensor 74, and the steering sensor 75.

[0075] The control device 30 has a course data acquisition unit 101, an allowed area data acquisition unit 102, a sensor data acquisition unit 103, a driving control unit 104, a starting condition generation unit 105, a starting judgment unit 106, a dump body control unit 107, a vehicle situation judgment unit 108, a surrounding situation judgment unit 109, an allowed area change request unit 110, a notification unit 111, and a starting condition memory unit 112.

[0076] The processor 30A functions as a course data acquisition unit 101, an allowed area data acquisition unit 102, a sensor data acquisition unit 103, a traveling control unit 104, a starting condition generation unit 105, a starting determination unit 106, a dump body control unit 107, a vehicle situation determination unit 108, a surrounding situation determination unit 109, an allowed area change request unit 110, and a notification unit 111. The storage 30C functions as a starting condition storage unit 112.

[0077] The course data acquisition unit 101 acquires the course data transmitted from the course data generation unit 211 via the interface 30D. When the course data generation unit 211 updates the course data, the course data acquisition unit 101 acquires the updated course data. The course data acquisition unit 101 acquires the course data every time the course data is updated.

[0078] The allowed area data acquiring unit 102 acquires the allowed area data transmitted from the allowed area setting unit 212 via the interface 30D. When the allowed area setting unit 212 updates the allowed area data, the allowed area data acquiring unit 102 acquires the updated allowed area data. The allowed area data acquiring unit 102 acquires the allowed area data every time the allowed area data is updated.

[0079] The sensor data acquisition unit 103 acquires detection data from the position sensor 71 , the direction sensor 72 , the tilt sensor 73 , the speed sensor 74 , and the steering sensor 75 .

[0080] The traveling control unit 104 controls the traveling device 51 based on the course data acquired by the course data acquisition unit 101 and the permitted area data acquired by the permitted area data acquisition unit 102. When the permitted area 16 is not extended, the traveling control unit 104 controls the traveling speed of the unmanned vehicle 2 so that the unmanned vehicle 2 can stop at a stopping point 17 in the permitted area 16. When the permitted area 16 is extended, the traveling control unit 104 causes the unmanned vehicle 2 to continue traveling.

[0081] The travel control unit 104 controls the travel device 51 so that the unmanned vehicle 2 travels according to the travel course 15. In an embodiment, the travel control unit 104 controls the travel device 51 so that the unmanned vehicle 2 travels with the center of the unmanned vehicle 2 in the vehicle width direction aligned with the travel course 15.

[0082] The traveling control unit 104 controls the traveling device 51 based on the detection data of the position sensor 71 so that the actual position of the unmanned vehicle 2 when passing the course point 14 becomes the target position. The traveling control unit 104 controls the traveling device 51 based on the detection data of the position sensor 71 so that the unmanned vehicle 2 travels according to the traveling course 15.

[0083] The traveling control unit 104 controls the traveling device 51 based on the detection data of the orientation sensor 72 so that the actual orientation of the unmanned vehicle 2 when passing through the course point 14 coincides with the target orientation. The traveling control unit 104 controls the traveling device 51 so that there is no deviation between the actual position of the unmanned vehicle 2 and the target position of the unmanned vehicle 2 defined by the course point 14, and so that the actual orientation of the unmanned vehicle 2 when passing through the course point 14 coincides with the target orientation.

[0084] The travel control unit 104 calculates the attitude of the unmanned vehicle 2 at the course point 14 based on the detection data of the inclination sensor 73 when the unmanned vehicle 2 passes through the course point 14 and the topography at the course point 14 .

[0085] The travel control unit 104 controls the travel device 51 based on the detection data of the speed sensor 74 so that the actual travel speed of the unmanned vehicle 2 when passing through the course point 14 becomes the target travel speed.

[0086] The traveling control unit 104 controls the traveling device 51 based on the detection data of the steering sensor 75 so that the actual steering angle of the unmanned vehicle 2 when passing through the course point 14 becomes the target steering angle.

[0087] Furthermore, the travel control unit 104 performs start control of the unmanned vehicle 2. Start control refers to control for starting the unmanned vehicle 2 that is stopped. Start control of the unmanned vehicle 2 is started with the dump body 52 in the loaded position.

[0088] In the start control, the traveling control unit 104 outputs a start command Ca to start the unmanned vehicle 2 in a predetermined traveling direction. In this embodiment, the predetermined traveling direction is ahead of the unmanned vehicle 2. In other words, the start command Ca causes the unmanned vehicle 2 to move forward.

[0089] The start condition generation unit 105 generates start conditions used for start control of the unmanned vehicle 2. The start conditions include a control program related to the start control. The start conditions generated by the start condition generation unit 105 are stored in the start condition storage unit 112. The traveling control unit 104 performs start control of the unmanned vehicle 2 based on the start conditions stored in the start condition storage unit 112.

[0090] FIG. 7 is a diagram for explaining the starting conditions according to the embodiment. When starting the unmanned vehicle 2, a starting command Ca is output from the traveling control unit 104. In FIG. 7, the vertical axis indicates the command value of the starting command Ca, and the horizontal axis indicates the time elapsed from time ta when output of the starting command Ca begins. Time ta is the start time of starting control based on the starting command Ca. The starting conditions indicate the relationship between the starting command Ca that starts the unmanned vehicle 2 and the time elapsed from time ta of the starting control. The starting command Ca is output for a specified time T from time ta to time tb. Time tb is the end time of starting control based on the starting command Ca.

[0091] The departure command Ca includes a drive command that causes the drive device 55 of the unmanned vehicle 2 to generate a drive force Da. The larger the command value of the departure command Ca, the larger the drive force Da generated by the drive device 55, and the smaller the command value of the departure command Ca, the smaller the drive force Da generated by the drive device 55. When the command value is 100[%], the drive device 55 outputs the maximum value of the drive force that the drive device 55 can generate. In other words, when the command value is 100[%], the drive device 55 operates in a full accelerator state.

[0092] In the example shown in FIG. 7, the start conditions are set so that the command value of the start command Ca does not reach 100[%]. The command value Va of the start command Ca at time ta is smaller than 50[%]. Note that the command value Va of the start command Ca at time ta may be 50[%] or may be larger than 50[%]. The command value Vb of the start command Ca at time tb is larger than the command value Va and smaller than 100[%]. The command value of the start command Ca is set to monotonically increase from time ta to time tb. At time tb, when a specified time T has elapsed since the output of the start command Ca began, the output of the start command Ca is stopped.

[0093] A command value Va of a start command Ca is calculated so that the unmanned vehicle 2 in a stopped state will start at time ta. The start condition generation unit 105 calculates a target acceleration of the unmanned vehicle 2 based on a target traveling speed of the unmanned vehicle 2 defined by the course data. The start condition generation unit 105 calculates a target driving force of the drive unit 55 that generates the target acceleration based on equations of motion that model each of the unmanned vehicle 2 and the traveling area 4. Correlation data (table) that indicates the relationship between the target driving force and the command value is determined in advance. The start condition generation unit 105 determines a command value Va that generates the target driving force at time ta based on the correlation data.

[0094] When controlling start based on the start conditions, the traveling control unit 104 starts outputting the start command Ca at time ta. The start command Ca is output, allowing the unmanned vehicle 2 to start. The drive device 55 generates a driving force Da based on the start command Ca.

[0095] It should be noted that the command value Va at time ta is a theoretical value calculated based on the equation of motion described above. For example, depending on the actual state of the unmanned vehicle 2 or the actual state of the traveling area 4, even if the output of the departure command Ca begins, there is a possibility that the unmanned vehicle 2 will not be able to start at time ta. In this embodiment, the command value of the departure command Ca monotonically increases from time ta to time tb, so the unmanned vehicle 2 will be able to start at the specified time T.

[0096] The command value of the start command Ca may reach 100%. For example, the command value Vb of the start command Ca at time tb may be 100%. The command value Va of the start command Ca at time ta may be 100%.

[0097] The departure determination unit 106 determines whether the unmanned vehicle 2 has started moving in response to the departure command Ca. The departure determination unit 106 determines whether the unmanned vehicle 2 has started moving based on the specified time T and the detection data of the speed sensor 74. The departure determination unit 106 can determine whether the unmanned vehicle 2 has started accelerating based on the detection data of the speed sensor 74. If the departure determination unit 106 determines that the unmanned vehicle 2 has started accelerating at the specified time T, it determines that the unmanned vehicle 2 has started moving. If the departure determination unit 106 determines that the unmanned vehicle 2 has not started accelerating at the specified time T, it determines that the unmanned vehicle 2 has not started moving.

[0098] The departure determination unit 106 may determine whether or not the unmanned vehicle 2 has started based on the traveling speed of the unmanned vehicle 2, the acceleration of the unmanned vehicle 2, and the travel distance of the unmanned vehicle 2. The departure determination unit 106 may estimate the traveling speed of the unmanned vehicle 2 from at least one of the detection data from the speed sensor 74 including a pulse sensor, the detection data from the position sensor 71 including a GNSS receiver, and the detection data from the tilt sensor 73 including an inertial measurement unit. The departure determination unit 106 may determine whether or not the unmanned vehicle 2 has started, taking into account the slippage state of the tires 54.

[0099] 8 is a diagram showing the states of the unmanned vehicle 2 that is subjected to start control according to the embodiment. The states of the unmanned vehicle 2 include a normal state and an abnormal state. Before the unmanned vehicle 2 starts, the dump body 52 is in a loaded position.

[0100] As shown in Figure 8(A), the normal state of the unmanned vehicle 2 includes a state in which the lower end 54B of the tire 54 is in contact with the road surface 81. In other words, the normal state of the unmanned vehicle 2 refers to a state in which the tire 54 is not buried under the road surface 81 or the tire 54 is not stuck in a groove in the road surface 81. If the road surface 81 is solid, the unmanned vehicle 2 is likely to be in the normal state.

[0101] As shown in Figure 8(B), abnormal states of the unmanned vehicle 2 include a state in which at least a portion of the tire 54 is buried under the road surface 81 or is stuck in a groove in the road surface 81. If the road surface 81 is soft, the unmanned vehicle 2 is likely to enter an abnormal state. Furthermore, if the dump body 52 is loaded with cargo 82 and the weight of the unmanned vehicle 2 is heavy, the unmanned vehicle 2 is likely to enter an abnormal state. Examples of soft road surfaces 81 include oil sand road surfaces and road surfaces that have become muddy due to rainwater.

[0102] The start conditions shown in Figure 7 are start conditions that are used when the unmanned vehicle 2 is in a normal state. That is, the start command Ca is used when starting an unmanned vehicle 2 in a normal state. If the unmanned vehicle 2 is in an abnormal state, there is a possibility that the unmanned vehicle 2 will not start in response to the start command Ca.

[0103] When the start determination unit 106 determines that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body control unit 107 outputs a dump command Cd to perform a dump operation on the dump body 52 of the unmanned vehicle 2. The dump body control unit 107 outputs the dump command Cd to the valve device 64 so that the hoist cylinder 62 performs a dump operation on the dump body 52.

[0104] 9 is a diagram showing the state of the unmanned vehicle 2 when a dump command Cd is output during start control according to this embodiment. If it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body control unit 107 outputs a dump command Cd to perform a dump operation on the dump body 52. ​​The dump body 52 performs a dump operation from the loaded posture based on the dump command Cd.

[0105] The dump body control unit 107 outputs a dump command Cd when the load 82 is loaded on the dump body 52. ​​The dump body 52 performs a dumping operation to change from the loaded posture to the dump posture, whereby the load 82 is discharged from the dump body 52. ​​The load 82 is discharged rearward of the vehicle main body 50.

[0106] The dump body 52 performs a dumping operation so as to tilt backward, which is the dumping direction. As the dump body 52 performs a dumping operation, an assist force Dc is generated that moves the unmanned vehicle 2 forward. The assist force Dc is determined based on the tilt angle θ of the dump body 52 with respect to the horizontal plane and the weight M of the load 82, among other factors. Even if the unmanned vehicle 2 does not move forward in response to a start command Ca, the dumping operation of the dump body 52 generates an assist force Dc that moves the unmanned vehicle 2 forward, allowing the unmanned vehicle 2 to start. Even if the tires 54 are buried under the road surface 81 or in a groove in the road surface 81, the dumping operation of the dump body 52 allows the tires 54 to escape from the buried state. Once the tires 54 have escaped from the buried state, the unmanned vehicle 2 can start.

[0107] The traveling control unit 104 outputs a start command Cb to start the unmanned vehicle 2 in a state where a dump command Cd is being output from the dump body control unit 107. The start command Cb to start the unmanned vehicle 2 includes a drive command to generate a drive force Db in the drive device 55 of the unmanned vehicle 2. In other words, the dump body control unit 107 outputs the dump command Cd in a state where a drive force Db to start the unmanned vehicle 2 is being generated. Because an assist force Dc to move the unmanned vehicle 2 forward is generated in a state where a drive force Db to move the unmanned vehicle 2 forward is generated, the unmanned vehicle 2 can start even in a state where the tires 54 are buried under the road surface 81 or where the tires 54 are stuck in a groove in the road surface 81.

[0108] The driving force Db generated by the start command Cb starts the unmanned vehicle 2 in a predetermined traveling direction. The dumping operation includes tilting the dump body 52 in a dumping direction opposite to the traveling direction of the unmanned vehicle 2. In this embodiment, the traveling direction of the unmanned vehicle 2 is forward. The dumping direction is rearward of the unmanned vehicle 2.

[0109] The start command Ca is output when the dump body 52 is in the loaded position. The start command Cb is output when the dump body 52 is in the dump position. The start command Ca and the start command Cb may be output consecutively. Note that the start command Ca may be output, and when it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the output of the start command Ca may be stopped, and after the output of the start command Ca is stopped, the start command Cb may be output.

[0110] The driving force Db output by the start command Cb may be equal to the driving force Da output by the start command Ca. The driving force Db may be greater than the driving force Da. In the embodiment, the driving force Db is the maximum driving force that can be generated by the drive device 55 of the unmanned vehicle 2. In other words, the command value of the start command Cb is 100[%].

[0111] The period during which the driving force Db is generated may be longer than the specified time T during which the driving force Da is generated. In this embodiment, the traveling control unit 104 continues to generate the driving force Db until the start determination unit 106 determines that the unmanned vehicle 2 has started moving.

[0112] During the dumping operation, the dump body 52 rotates about a rotation axis AX. The rotation axis AX is defined at the rear of the dump body 52. ​​The rotation axis AX extends in the vehicle width direction. When the dump body 52 performs the dumping operation from the loaded position, the center of gravity of the dump body 52 moves rearward. As the center of gravity of the dump body 52 moves rearward, the vertical load Ld applied to the rear wheel 53R increases. In other words, the load Ld applied to the rear wheel 53R in the dump position after the start of the dumping operation is greater than the load Ld applied to the rear wheel 53R in the loaded position before the start of the dumping operation. Because the load Ld applied to the rear wheel 53R increases due to the dumping operation, the frictional force between the rear tire 54R and the road surface 81 increases. As a result, slip of the rear tire 54R is suppressed during the start control.

[0113] During start control, when the dump body 52 performs a dumping operation, the travel control unit 104 controls the steering device 58 so that the front wheels 53F are in a straight-ahead state. The travel control unit 104 controls the steering device 58 so that the front wheels 53F are in a straight-ahead state, based on the detection data of the steering sensor 75. The dump body control unit 107 outputs a dump command Cd when the front wheels 53F are in a straight-ahead state. If the dump body 52 is in a dump position when the front wheels 53F are not in a straight-ahead state, the weight balance of the unmanned vehicle 2 may become unstable. If the weight balance of the unmanned vehicle 2 becomes unstable, it may become difficult for the unmanned vehicle 2 to start smoothly. By performing a dumping operation on the dump body 52 with the front wheels 53F in a straight-ahead state, the unmanned vehicle 2 can start smoothly.

[0114] The vehicle state determination unit 108 determines whether or not the dumping operation can be started based on the vehicle state of the unmanned vehicle 2 before the dumping operation is started. The dump body control unit 107 outputs a dump command Cd based on the determination result of the vehicle state determination unit 108.

[0115] FIG. 10 is a diagram showing the vehicle status of the unmanned vehicle 2 before the start of a dumping operation according to this embodiment. The vehicle status includes the attitude of the vehicle body 50 of the unmanned vehicle 2 supporting the dump body 52. ​​The attitude of the vehicle body 50 includes the tilt angle of the vehicle body 50 with respect to the horizontal plane. In this embodiment, the tilt angle of the vehicle body 50 with respect to the horizontal plane includes the roll angle Rθ of the vehicle body 50 with respect to the horizontal plane. As shown in FIG. 10 , before the start of a dumping operation, the vehicle body 50 may tilt in the direction of rotation about the roll axis RA. If a dumping operation is started while the vehicle body 50 is tilted in the direction of rotation about the roll axis RA, the weight balance of the unmanned vehicle 2 may become unstable. If the weight balance of the unmanned vehicle 2 becomes unstable, it may become difficult for the unmanned vehicle 2 to start smoothly, and the work efficiency of the unmanned vehicle 2 may decrease.

[0116] The vehicle situation determination unit 108 recognizes the roll angle Rθ based on the detection data of the inclination sensor 73. A threshold value is set in advance for the roll angle Rθ. If the roll angle Rθ is less than the threshold value, the vehicle situation determination unit 108 determines that it is possible to start a dumping operation. If the roll angle Rθ is equal to or greater than the threshold value, the vehicle situation determination unit 108 determines that it is not possible to start a dumping operation. If the vehicle situation determination unit 108 determines that it is possible to start a dumping operation, the dump body control unit 107 outputs a dump command Cd. If the vehicle situation determination unit 108 determines that it is not possible to start a dumping operation, the dump body control unit 107 does not output a dump command Cd. This prevents a decrease in the work efficiency of the unmanned vehicle 2.

[0117] The vehicle situation may include the pitch angle Pθ of the vehicle body 50 with respect to the horizontal plane. The vehicle situation determination unit 108 may determine that the dumping operation can be started when the pitch angle Pθ is less than a threshold value, and may determine that the dumping operation cannot be started when the pitch angle Pθ is equal to or greater than the threshold value. The vehicle situation may also include the situation of the hydraulic device 60. The vehicle situation determination unit 108 may determine that the dumping operation can be started when the hydraulic device 60 is normal, and may determine that the dumping operation cannot be started when the hydraulic device 60 is abnormal.

[0118] The surrounding condition determination unit 109 determines whether or not it is possible to start the dumping operation based on the surrounding conditions of the unmanned vehicle 2 before the dumping operation is started. The dump body control unit 107 outputs a dump command Cd based on the determination result of the surrounding condition determination unit 109.

[0119] Before the dumping operation begins, the surrounding condition determination unit 109 calculates an estimated area 83 of the cargo 82 to be discharged from the dump body 52 by the dumping operation. The estimated area 83 refers to the area on the road surface 81 that is estimated by the dumping operation. The surrounding condition determination unit 109 can calculate the estimated area 83 based on the position and orientation of the unmanned vehicle 2. The position of the unmanned vehicle 2 is detected by the position sensor 71. The orientation of the unmanned vehicle 2 is detected by the orientation sensor 72. The surrounding condition determination unit 109 can calculate the estimated area 83 based on the detection data of the position sensor 71 and the detection data of the orientation sensor 72.

[0120] The surrounding conditions include, for example, the positions of moving objects around the unmanned vehicle 2 relative to the estimated area 83. The moving objects include other unmanned vehicles 2A or auxiliary vehicles 3. The surrounding conditions include, for example, the positions of non-moving objects around the unmanned vehicle 2 relative to the estimated area 83. The non-moving objects include, for example, electric lights, stones, banks, fueling equipment, and signs that are present at the work site. The surrounding conditions include, for example, the course data of other unmanned vehicles 2A around the unmanned vehicle 2 relative to the estimated area 83.

[0121] FIG. 11 is a diagram showing the surrounding conditions of the unmanned vehicle 2 before the start of a dumping operation according to this embodiment. FIG. 11 shows an example in which the surrounding conditions are course data of another unmanned vehicle 2A. As shown in FIG. 11, before the start of a dumping operation, the travel course 15 of the other unmanned vehicle 2A may be set within the estimated area 83. If a dumping operation is started with the travel course 15 set within the estimated area 83, the discharged load 82 may impede the progress of the other unmanned vehicle 2A. As a result, productivity at the work site may decrease.

[0122] The surrounding situation determination unit 109 acquires the course data of the other unmanned vehicle 2A from the course data generation unit 211. If the travel course 15 of the other unmanned vehicle 2A is not set in the estimation area 83, the surrounding situation determination unit 109 determines that it is possible to start a dumping operation. If the travel course 15 of the other unmanned vehicle 2A is set in the estimation area 83, the surrounding situation determination unit 109 determines that it is not possible to start a dumping operation. If the surrounding situation determination unit 109 determines that it is possible to start a dumping operation, the dump body control unit 107 outputs a dump command Cd. If the surrounding situation determination unit 109 determines that it is not possible to start a dumping operation, the dump body control unit 107 does not output a dump command Cd. This suppresses a decrease in productivity at the work site.

[0123] Furthermore, if a dumping operation is initiated while another unmanned vehicle 2A or auxiliary vehicle 3 is approaching the estimated area 83 before the dumping operation begins, the discharged load 82 may impede the progress of the other unmanned vehicle 2A or auxiliary vehicle 3. As a result, productivity at the work site may decrease.

[0124] The position of the other unmanned vehicle 2A is detected by a position sensor 71 that the other unmanned vehicle 2A has. The position of the auxiliary vehicle 3 is detected by a position sensor 41. The surrounding situation determination unit 109 can determine whether the other unmanned vehicle 2A or the auxiliary vehicle 3 is approaching the estimated area 83 based on the detection data of the position sensor 71 of the other unmanned vehicle 2A and the detection data of the position sensor 41 of the auxiliary vehicle 3. If the other unmanned vehicle 2A and the auxiliary vehicle 3 are not approaching the estimated area 83, or if the other unmanned vehicle 2A and the auxiliary vehicle 3 are away from the estimated area 83, the surrounding situation determination unit 109 determines that it is possible to start a dumping operation. If the other unmanned vehicle 2A or the auxiliary vehicle 3 is approaching the estimated area 83, the surrounding situation determination unit 109 determines that it is not possible to start a dumping operation. If the surrounding situation determination unit 109 determines that it is possible to start a dumping operation, the dump body control unit 107 outputs a dump command Cd. If the surrounding situation determination unit 109 determines that the dump operation cannot be started, the dump body control unit 107 does not output the dump command Cd, thereby suppressing a decrease in productivity at the work site.

[0125] If the start determination unit 106 determines that the unmanned vehicle 2 will not start in response to the start command Ca, the permission area change request unit 110 requests the permission area setting unit 212 to expand the permission area 16 before the dump operation begins. The permission area change request unit 110 transmits a request command Cr requesting expansion of the permission area 16 to the permission area setting unit 212 via the communication system 24. After the permission area 16 has been expanded, the dump body control unit 107 outputs a dump command Cd.

[0126] Fig. 12 is a schematic diagram showing the permission area 16 according to the embodiment. As shown in Fig. 12, when it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the permission area change request unit 110 outputs a request command Cr so that the permission area 16 is changed from the initial state to an expanded state before the dumping operation starts.

[0127] The initial state permission area 16 is set when a departure command Ca is output from the traveling control unit 104. The initial state permission area 16 is also set when the unmanned vehicle 2 is traveling normally in the traveling area 4. The permission area setting unit 212 sets the initial state permission area 16 for the unmanned vehicle 2 before the start of a dumping operation.

[0128] When the unmanned vehicle 2 does not start in response to the start command Ca and a dumping operation is performed, an expanded permission area 16 is set. The expanded permission area 16 is larger than the initial permission area 16. When it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the permission area setting unit 212 expands the initial permission area 16 based on the request command Cr from the permission area change request unit 110 before the dumping operation begins, and sets the expanded permission area 16.

[0129] The dimensions of the expanded permission area 16 in the traveling direction of the unmanned vehicle 2 are larger than the dimensions of the initial permission area 16. Furthermore, the dimensions of the expanded permission area 16 in the vehicle width direction of the unmanned vehicle 2 are larger than the dimensions of the initial permission area 16. If it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the permission area setting unit 212 expands the initial permission area 16 in both the traveling direction and the vehicle width direction based on the request command Cr from the permission area change requesting unit 110. Note that the permission area setting unit 212 may expand the initial permission area 16 in either the traveling direction or the vehicle width direction.

[0130] When a dump operation is initiated during start control, an assist force Dc is added to the driving force Db. As a result, there is a possibility that the unmanned vehicle 2 will start off with force. The permission area 16 prohibits entry of other unmanned vehicles 2A. By expanding the permission area 16, even if the unmanned vehicle 2 starts off with force, it is prevented from going outside the permission area 16. Therefore, contact between the unmanned vehicle 2 and other unmanned vehicles 2A is prevented.

[0131] If the start determination unit 106 determines that the unmanned vehicle 2 will not start in response to the start command Ca, the notification unit 111 notifies an object outside the unmanned vehicle 2 that a dumping operation will be initiated.

[0132] An example of an object outside the unmanned vehicle 2 is the course data generation unit 211 of the management device 21. Further, an example of an object outside the unmanned vehicle 2 is another unmanned vehicle 2A or an auxiliary vehicle 3.

[0133] FIG. 13 is a diagram for explaining that the course data of another unmanned vehicle 2A is changed in response to a notification from the notification unit 111 according to the embodiment.

[0134] When it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the notification unit 111 notifies the course data generation unit 211 that a dumping operation will start before the dumping operation begins. The notification unit 111 also notifies the course data generation unit 211 of an estimated area 83 of the cargo 82 to be discharged from the dump body 52 by the dumping operation.

[0135] The course data generation unit 211 generates course data for the other unmanned vehicle 2A based on the estimated area 83 notified by the notification unit 111. In an embodiment, the course data generation unit 211 determines whether the travel course 15 of the other unmanned vehicle 2A is set in the estimated area 83, based on the position of the estimated area 83 notified by the notification unit 111. If it is determined that the travel course 15 of the other unmanned vehicle 2A is set in the estimated area 83, the course data generation unit 211 generates course data for the other unmanned vehicle 2A so that the travel course 15 of the other unmanned vehicle 2A is spaced away from the estimated area 83. The travel course 15 of the other unmanned vehicle 2A is changed to avoid the estimated area 83. In addition, the travel course 15 of the other unmanned vehicle 2A is changed so as not to overlap with the other estimated areas 83 in which the unmanned vehicle 2A travels according to the travel course 15. The course data generation unit 211 transmits the changed course data to the other unmanned vehicle 2A. The other unmanned vehicle 2A travels according to the changed travel course 15. The changed travel course 15 is away from the estimated area 83, so the other unmanned vehicle 2A can travel in a manner that avoids the estimated area 83. After changing the travel course 15 of the other unmanned vehicle 2A so that it is away from the estimated area 83, the dump body control unit 107 can output a dump command Cd so that the load 82 is dumped into the estimated area 83. Since the load 82 is prevented from obstructing the progress of the other unmanned vehicle 2A, a decrease in productivity at the work site is suppressed.

[0136] Note that, when the start determination unit 106 determines that the unmanned vehicle 2 will not start in response to the start command Ca, the notification unit 111 may notify the auxiliary vehicle 3 that a dumping operation will be started and of the estimated area 83 of the load 82 before the dumping operation begins. The control device 40 of the auxiliary vehicle 3 outputs the position of the estimated area 83 notified by the notification unit 111 to the output device 42 of the auxiliary vehicle 3. The driver of the auxiliary vehicle 3 can check the position of the estimated area 83 output to the output device 42, and travel through the traveling area 4 so as to avoid the estimated area 83. Since the load 82 is prevented from obstructing the progress of the auxiliary vehicle 3, a decrease in productivity at the work site is suppressed.

[0137] Furthermore, the notification unit 111 notifies a target outside the unmanned vehicle 2 that the dumping operation has ended.

[0138] The course data generation unit 211 and the output control unit 213 of the management device 21 are exemplified as targets external to the unmanned vehicle 2. Further, the other unmanned vehicle 2A or the auxiliary vehicle 3 are exemplified as targets external to the unmanned vehicle 2.

[0139] FIG. 14 is a diagram for explaining that course data for another unmanned vehicle 2A is generated based on a notification from the notification unit 111 according to the embodiment.

[0140] When a dumping operation is performed during start control, the notification unit 111 notifies the course data generation unit 211 that the dumping operation has ended after the dumping operation has ended. After the dumping operation has ended, the surrounding situation determination unit 109 calculates a discharge area 84 for the cargo 82 discharged from the dump body 52 by the dumping operation. The discharge area 84 refers to the area occupied by the cargo 82 on the road surface 81 generated by the dumping operation. The surrounding situation determination unit 109 can calculate the discharge area 84 for the cargo 82 based on the detection data of the position sensor 71 and the detection data of the orientation sensor 72 when the dumping operation was performed. The notification unit 111 notifies the course data generation unit 211 of the discharge area 84.

[0141] The course data generation unit 211 generates course data for the other unmanned vehicle 2A based on the discharge area 84 for the cargo 82 notified by the notification unit 111. In an embodiment, the course data generation unit 211 generates course data for the other unmanned vehicle 2A based on the position of the discharge area 84 for the cargo 82 notified by the notification unit 111 so that the travel course 15 of the other unmanned vehicle 2A is separated from the discharge area 84. The travel course 15 of the other unmanned vehicle 2A is generated so as to avoid the discharge area 84. The course data generation unit 211 transmits the generated course data to the other unmanned vehicle 2A. The other unmanned vehicle 2A travels according to the travel course 15. Because the travel course 15 of the other unmanned vehicle 2A is separated from the discharge area 84, the other unmanned vehicle 2A can travel so as to avoid the discharge area 84. This prevents the cargo 82 in the discharge area 84 from obstructing the progress of the other unmanned vehicle 2A.

[0142] After the dumping operation is completed, the notification unit 111 may notify the auxiliary vehicle 3 that the dumping operation has been completed and of the discharge area 84 for the load 82. The control device 40 of the auxiliary vehicle 3 outputs the position of the discharge area 84 notified by the notification unit 111 to the output device 42 of the auxiliary vehicle 3. The driver of the auxiliary vehicle 3 can check the position of the discharge area 84 output to the output device 42 and drive through the traveling area 4 so as to avoid the discharge area 84. This prevents the load 82 in the discharge area 84 from obstructing the progress of the auxiliary vehicle 3.

[0143] FIG. 15 is a diagram for explaining that the discharge area 84 of the cargo 82 is output to the output device 23 in response to a notification from the notification unit 111 according to the embodiment.

[0144] When a dumping operation is performed during the start control, the notification unit 111 notifies the output control unit 213 after the dumping operation has ended that the dumping operation has ended and the discharge area 84 of the cargo 82.

[0145] The output control unit 213 outputs the discharge area 84 of the cargo 82 transmitted from the notification unit 111 to the output device 23. As shown in Fig. 15 , the output control unit 213 displays a map image showing the position of the discharge area 84 in the travel area 4 on the output device 23. By displaying the map image showing the discharge area 84 on the output device 23, the manager of the control facility 13 can recognize the position of the discharge area 84.

[0146] The output control unit 213 may also cause the output device 23 to output a signal that the dumping operation has been completed. The output control unit 213 may also cause the output device 23 to output a signal that the traveling area 4 in the discharge area 84 needs to be maintained. The output control unit 213 may also notify the operator of the motor grader or dozer that the traveling area 4 in the discharge area 84 needs to be maintained.

[0147] [Control method] 16 is a flowchart showing a method for controlling an unmanned vehicle 2 according to this embodiment. In the following explanation, the start control when an unmanned vehicle 2 that is stopped at a work site 1 starts to move forward will be described.

[0148] The traveling control unit 104 outputs a start command Ca to the driving device 55 in order to start the start of the unmanned vehicle 2 (step S1).

[0149] The departure determination unit 106 determines whether or not the unmanned vehicle 2 has started in response to the departure command Ca, based on the specified time T and the detection data of the speed sensor 74 (step S2).

[0150] In step S2, if it is determined that the unmanned vehicle 2 has started in response to the start command Ca (step S2: Yes), the start control ends. The unmanned vehicle 2 travels through the work site 1 according to the course data.

[0151] In step S2, if it is determined that the unmanned vehicle 2 will not start in response to the start command Ca (step S2: No), the vehicle state determination unit 108 recognizes the vehicle state of the unmanned vehicle 2 before the dumping operation begins (step S3).

[0152] In the embodiment, the vehicle state determination unit 108 acquires, as the vehicle state, the roll angle Rθ of the vehicle body 50 from the tilt sensor 73. The vehicle state determination unit 108 recognizes the roll angle Rθ of the vehicle body 50.

[0153] The vehicle state determination unit 108 determines whether or not it is possible to start a dumping operation based on the recognized vehicle state (step S4).

[0154] The vehicle state determination unit 108 determines that the dumping operation can be started when the roll angle Rθ is less than a threshold value, and determines that the dumping operation cannot be started when the roll angle Rθ is equal to or greater than a threshold value.

[0155] If it is determined in step S4 that the dumping operation can be started (step S4: Yes), the surrounding situation determination unit 109 recognizes the surrounding situation of the unmanned vehicle 2 before the dumping operation is started (step S5).

[0156] The surrounding situation determination unit 109 calculates an estimated area 83 of the cargo 82 to be discharged from the dump body 52 by the dumping operation, based on the position and direction of the unmanned vehicle 2. The surrounding situation determination unit 109 recognizes the course data of other unmanned vehicles 2A relative to the estimated area 83 as the surrounding situation.

[0157] The surrounding situation determination unit 109 determines whether or not it is possible to start a dump operation based on the recognized surrounding situation (step S6).

[0158] The surrounding condition determination unit 109 determines that it is possible to start a dumping operation when the travel course 15 of another unmanned vehicle 2A is not set in the estimation area 83. The surrounding condition determination unit 109 determines that it is not possible to start a dumping operation when the travel course 15 of another unmanned vehicle 2A is set in the estimation area 83.

[0159] The surrounding condition determination unit 109 may determine that it is not possible to start a dumping operation when another unmanned vehicle 2A or an auxiliary vehicle 3 is approaching or present in the estimated area 83, and may determine that it is possible to start a dumping operation when the other unmanned vehicle 2A or the auxiliary vehicle 3 has moved away from the estimated area 83. The surrounding condition determination unit 109 can determine whether or not another unmanned vehicle 2A is approaching or present in the estimated area 83 based on detection data from the position sensor 71 of the other unmanned vehicle 2A. The surrounding condition determination unit 109 can determine whether or not the auxiliary vehicle 3 is approaching or present in the estimated area 83 based on detection data from the position sensor 41 of the auxiliary vehicle 3.

[0160] In step S6, if it is determined that the dumping operation can be started (step SA6: Yes), the permission area change request unit 110 outputs a request command Cr requesting the expansion of the permission area 16 to the permission area setting unit 212 (step S7).

[0161] After the permission area 16 is expanded, the dump body control unit 107 outputs a dump command Cd to perform a dump operation on the dump body 52 of the unmanned vehicle 2. In the embodiment, the dump body control unit 107 outputs the dump command Cd in parallel with the output of the start command Cb from the traveling control unit 104 (step S8).

[0162] The output of the start command Cb generates a driving force Db that starts the unmanned vehicle 2. The dump body control unit 107 outputs a dump command Cd in a state where the driving force Db that starts the unmanned vehicle 2 is being generated. In a state where the driving force Db that starts the unmanned vehicle 2 is being generated, the dump body 52 performs a dumping operation, thereby generating an assist force Dc that starts the unmanned vehicle 2. This allows the unmanned vehicle 2 to start.

[0163] The driving force Db generated when the dump body 52 performs the dumping operation may be greater than or equal to the driving force Da generated in step S1. In this embodiment, the driving device 55 outputs the maximum driving force that the driving device 55 can generate. The driving device 55 operates in a full accelerator state.

[0164] After the unmanned vehicle 2 starts moving, the allowed area change request unit 110 outputs a request command Cr to the allowed area setting unit 212 so that the allowed area 16 is returned to its initial state (step S9).

[0165] After the unmanned vehicle 2 starts moving, the dump body control unit 107 outputs a lowering command Ce to lower the dump body 52 (step S10).

[0166] After the dumping operation is completed, the notification unit 111 notifies a target outside the unmanned vehicle 2 that the dumping operation has been completed. In the embodiment, the notification unit 111 notifies the course data generation unit 211 and the output control unit 213 that the dumping operation has been completed (step S11).

[0167] This allows the course data generation unit 211 to generate course data for the other unmanned vehicles 2A so that the other unmanned vehicles 2A avoid the discharge area 84. The output control unit 213 can cause the output device 23 to output the discharge area 84.

[0168] The unmanned vehicle 2 that has started under the start control travels through the work site 1 according to the course data.

[0169] If it is determined in step S6 that the dumping operation cannot be started (step S6: No), the notification unit 111 notifies a target outside the unmanned vehicle 2 that the dumping operation will be started. In an embodiment, the notification unit 111 notifies the course data generation unit 211 that the dumping operation will be started and of the estimated area 83. Also, in an embodiment, the notification unit 111 notifies the auxiliary vehicle 3 that the dumping operation will be started and of the estimated area 83 (step S12).

[0170] By notifying the course data generation unit 211 that a dump operation has begun and the estimated area 83, the course data generation unit 211 can generate course data for the other unmanned vehicle 2A so that the other unmanned vehicle 2A avoids the estimated area 83.

[0171] By notifying the auxiliary vehicle 3 that a dumping operation has started and the estimated area 83 , the auxiliary vehicle 3 can travel so as to avoid the estimated area 83 .

[0172] After being notified that a dumping operation will be started and the estimated area 83, the surrounding situation determination unit 109 recognizes the surrounding situation of the unmanned vehicle 2 (step S13).

[0173] The surrounding situation determination unit 109 determines whether or not it is possible to start a dump operation based on the recognized surrounding situation (step S14).

[0174] For example, if the driving course 15 of the other unmanned vehicle 2A is generated to avoid the estimated area 83 due to notification that a dumping operation is to be initiated and the estimated area 83, if the other unmanned vehicle 2A drives away from the estimated area 83, or if the auxiliary vehicle 3 drives to avoid the estimated area 83, the surrounding situation determination unit 109 determines that a dumping operation can be initiated.

[0175] In step S14, if it is determined that the dumping operation can be started (step S14: Yes), the processes of steps S7 to S11 are carried out.

[0176] In step S14, if it is determined that the dumping operation cannot be started (step S14: No), the process of step S12 is performed. The process of step S12, the process of step S13, and the process of step S14 are performed until it is determined that the dumping operation can be started.

[0177] If it is determined in step S4 that the dumping operation cannot be started (step S4: No), the dumping operation is not performed, and the start control is ended.

[0178] [effect] As described above, according to the embodiment, when it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body control unit 107 outputs a dump command Cd to perform a dumping operation on the dump body 52 of the unmanned vehicle 2. The dumping operation of the dump body 52 generates an assist force Dc that starts the unmanned vehicle 2. The generation of the assist force Dc enables the unmanned vehicle 2, which was not able to start in response to the start command Ca, to start. Because the unmanned vehicle 2 can be started, a decrease in productivity at the work site is suppressed.

[0179] The dump body control unit 107 outputs a dump command Cd in a state where the load 82 is loaded on the dump body 52. ​​This generates a large assist force Dc.

[0180] The dump body control unit 107 outputs a dump command Cd in a state in which a driving force Db is being generated to start the unmanned vehicle 2. This allows the unmanned vehicle 2 to start based on the driving force Db and the assist force Dc.

[0181] The driving force Db starts the unmanned vehicle 2 in a predetermined traveling direction. The dumping operation tilts the dump body 52 in a dumping direction opposite to the traveling direction of the unmanned vehicle 2. In this embodiment, the driving force Db starts the unmanned vehicle 2 forward. The dumping direction is rearward of the unmanned vehicle 2. As a result, while the driving force Db that moves the unmanned vehicle 2 forward is being generated, an assist force Dc that moves the unmanned vehicle 2 forward is generated.

[0182] In this embodiment, the dump body 52 performs a dumping operation with a load 82 loaded thereon. When the dumping operation is initiated with the load 82 loaded on the dump body 52, the center of gravity of the load 82 moves to the rear of the unmanned vehicle 2. When the center of gravity of the load 82 moves to the rear of the unmanned vehicle 2, the moment about the center of gravity of the vehicle main body 50 changes, and the load distribution acting on the hoist cylinder 62 changes, causing the load applied to the front wheels 53F and the rear wheels 53R to change, and the load Ld applied to the rear wheels 53R, which are the drive wheels, to increase. That is, in this embodiment, the relative positions of the rear wheels 53R and the pivot axis AX of the dump body 52 are determined so that the load Ld applied to the rear wheels 53R after the start of the dumping operation is greater than the load Ld applied to the rear wheels 53R before the start of the dumping operation. Because the load Ld applied to the rear wheels 53R increases due to the dumping operation, the frictional force between the rear tires 53R and the road surface 81 increases. As a result, slip of the rear tire 54R is suppressed during start control.

[0183] The unmanned vehicle 2 has front wheels 53F that are steered wheels. The dump body control unit 107 outputs a dump command Cd when the front wheels 53F are in a straight-ahead state. With the front wheels 53F in a straight-ahead state, the dump body 52 is in a dump position, which prevents the weight balance of the unmanned vehicle 2 from becoming unstable. This allows the unmanned vehicle 2 to start moving smoothly.

[0184] The dump body control unit 107 outputs a dump command Cd based on the vehicle condition of the unmanned vehicle 2 before the dump operation is started. The appropriateness of the dump operation of the dump body 52 is determined based on the vehicle condition of the unmanned vehicle 2. If it is determined that the dump operation is inappropriate, the dump operation is not performed. If it is determined that the dump operation is appropriate, the dump operation is performed. This prevents a decrease in the work efficiency of the unmanned vehicle 2.

[0185] The dump body control unit 107 outputs a dump command Cd based on the surrounding conditions of the unmanned vehicle 2 before the dumping operation is started. The appropriateness of the dumping operation of the dump body 52 is determined based on the surrounding conditions of the unmanned vehicle 2. If the dumping operation is determined to be inappropriate, the dumping operation is not performed. If the dumping operation is determined to be appropriate, the dumping operation is performed. This prevents a decrease in productivity at the work site.

[0186] If it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the permission area 16 is expanded before the dumping operation begins. If an assist force Dc is generated by the dumping operation, the unmanned vehicle 2 may start off with force. The permission area 16 prohibits other unmanned vehicles 2A from entering. By expanding the permission area 16, even if the unmanned vehicle 2 starts off with force, it is prevented from going outside the permission area 16. Therefore, contact between the unmanned vehicle 2 and other unmanned vehicles 2A is prevented.

[0187] Before the dumping operation begins, the notification unit 111 notifies a target outside the unmanned vehicle 2 that the dumping operation is about to begin. This prevents the load 82 from interfering with the progress of other unmanned vehicles 2A or auxiliary vehicles 3. This prevents a decrease in productivity at the work site.

[0188] The notification unit 111 notifies a target outside the unmanned vehicle 2 that the dumping operation has ended. This prevents the load 82 from interfering with the progress of other unmanned vehicles 2A or auxiliary vehicles 3. This prevents a decrease in productivity at the work site.

[0189] [Other embodiments] 17 is a diagram for explaining the start control according to the embodiment. In the above-described embodiment, the dump body 52 performs a dumping operation while the driving force Db is being generated. The traveling control unit 104 may generate the driving force Db to start the unmanned vehicle 2 after the dumping operation is completed.

[0190] If it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body control unit 107 outputs a dump command Cd. When the dump command Cd is output, the dump body 52 performs a dump operation from the loaded posture. The cargo 82 loaded in the dump body 52 is discharged from the dump body 52. ​​In the dump operation, the start command Cb is not output. That is, in the dump operation, the driving force Db is not generated.

[0191] When the dumping operation is completed and the dump body 52 assumes the dumping position, the load Ld applied to the rear wheel 53R increases.

[0192] After the dumping operation is completed and the dump body 52 is in the dumping position, the traveling control unit 104 outputs a departure command Cb. The output of the departure command Cb generates a driving force Db that starts the unmanned vehicle 2. The generation of the driving force Db when the load Ld applied to the rear wheels 53R is large allows the unmanned vehicle 2 to start moving.

[0193] In the above-described embodiment, if it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body 52 performs the dumping operation while it is loaded with the cargo 82. If it is determined that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body 52 may perform the dumping operation while it is not loaded with the cargo 82. Even if the cargo 82 is not loaded on the dump body 52, the dumping operation of the dump body 52 in the loaded posture changes the moment about the center of gravity of the vehicle main body 50 and the load distribution acting on the hoist cylinder 62, which changes the load applied to the front wheels 53F and rear wheels 53R, and the load Ld applied to the rear wheels 53R, which are the drive wheels, increases.

[0194] In the above-described embodiment, the dump body control unit 107 tilts the dump body 52 rearward while a driving force Db is being generated that moves the unmanned vehicle 2 forward, thereby generating an assist force Dc that moves the unmanned vehicle 2 forward. The dump direction of the dump body 52 does not have to be rearward of the vehicle main body 50. The dump body 52 only needs to perform a dumping operation in a dumping direction opposite the traveling direction of the unmanned vehicle 2 caused by the driving force Db.

[0195] In the above-described embodiment, the dump body control unit 107 outputs the dump command Cd when the front wheels 53F are in a straight-ahead state. The dump body control unit 107 may also output the dump command Cd when the front wheels 53F are in a non-straight-ahead state.

[0196] In the above-described embodiment, the drive wheels are rear wheels 53R and the steered wheels are front wheels 53F. The drive wheels may be front wheels 53F, or both front wheels 53F and rear wheels 53R. The steered wheels may be rear wheels 53R, or both front wheels 53F and rear wheels 53R.

[0197] In the above-described embodiment, when the start determination unit 106 determines that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body control unit 107 outputs a dump command Cd to cause the dump body 52 to perform a dump operation. The dump body control unit 107 may output the dump command Cd based on a control command transmitted from the management device 21. For example, when the administrator of the control facility 13 determines that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body control unit 107 can cause the dump body 52 to perform a dump operation based on the control command transmitted from the management device 21. Furthermore, the dump body control unit 107 may output the dump command Cd based on an operation command transmitted from the auxiliary vehicle 3. For example, when the driver of the auxiliary vehicle 3 determines that the unmanned vehicle 2 will not start in response to the start command Ca, the dump body control unit 107 can cause the dump body 52 to perform a dump operation based on a control command transmitted from the control device 40 of the auxiliary vehicle 3.

[0198] In the above-described embodiment, the starting conditions are generated by the starting condition generating unit 105. The starting conditions may be generated by a processing device different from the control device 30. The starting conditions generated by the processing device may be stored in the starting condition storage unit 112. The traveling control unit 104 can use the starting conditions stored in the starting condition storage unit 112 to perform starting control of the unmanned vehicle 2.

[0199] In the above-described embodiment, at least some of the functions of the control device 30 may be provided in the management device 21, or at least some of the functions of the management device 21 may be provided in the control device 30. For example, in the above-described embodiment, the management device 21 may have the functions of the start condition generation unit 105. The start conditions may be transmitted from the management device 21 to the control device 30 of the unmanned vehicle 2 via the communication system 24. The traveling control unit 104 can perform start control of the unmanned vehicle 2 using the start conditions transmitted from the management device 21. Furthermore, the management device 21 may have the functions of, for example, a start determination unit 106, a vehicle situation determination unit 108, and a surrounding situation determination unit 109.

[0200] In the above-described embodiment, each of the course data acquisition unit 101, the permitted area data acquisition unit 102, the sensor data acquisition unit 103, the driving control unit 104, the starting condition generation unit 105, the starting judgment unit 106, the dump body control unit 107, the vehicle situation judgment unit 108, the surrounding situation judgment unit 109, the permitted area change request unit 110, the notification unit 111, and the starting condition memory unit 112 may be configured as separate hardware.

[0201] In the above-described embodiment, the unmanned vehicle 2 may be a mechanically driven dump truck or an electrically driven dump truck. [Explanation of symbols]

[0202] 1...work site, 2...unmanned vehicle, 2A...other unmanned vehicle, 3...auxiliary vehicle, 4...driving area, 5...loading area, 6...soil discharge area, 7...parking area, 8...fuel station, 9...driving path, 10...intersection, 11...loader, 12...crusher, 13...control facility, 14...course point, 15...driving course, 16...permitted area, 17...stopping point, 20...management system, 21...management device, 21A...processor, 21B...main memory, 21C...storage, 21D...interface, 21E...computer program, 22...input device, 23...output device, 24...communication system, 24A...wireless communication device, 24B...unmanned Wire communication device, 24C...wireless communication device, 30...control device, 30A...processor, 30B...main memory, 30C...storage, 30D...interface, 30E...computer program, 40...control device, 40A...processor, 40B...main memory, 40C...storage, 40D...interface, 40E...computer program, 41...position sensor, 42...output device, 50...vehicle body, 51...traveling device, 52...dump body, 53...wheels, 53F...front wheels, 53R...rear wheels, 54...tires, 54B...lower end, 54F...front tires, 54R...rear tires, 55...drive device, 56...brake device, 57...transmission device, 58...steering device, 59...power transmission mechanism, 60...hydraulic device, 61...steering cylinder, 62...hoist cylinder, 63...hydraulic pump, 64...valve device, 71...position sensor, 72...direction sensor, 73...inclination sensor, 74...speed sensor, 75...steering sensor, 81...road surface, 82...load, 83...estimated area, 84...discharge area, 100...control system, 101...course data acquisition unit, 102...permitted area data acquisition unit, 103...sensor data acquisition unit, 104...travel control unit, 105 ...Start condition generation unit, 106...Start determination unit, 107...Dump body control unit, 108...Vehicle situation determination unit, 109...Surrounding situation determination unit, 110...Permission area change request unit, 111...Notification unit, 112...Start condition memory unit, 211...Course data generation unit, 212...Permission area setting unit, 213...Output control unit, Ca...Start command, Cb...Start command, Cd...Dump command, Ce...Lowering command, Cr...Request command, Da...Driving force, Db...Driving force, Dc...Assist force, Ld...Load, PA...Pitch axis, Pθ...Pitch angle, RA...Roll axis, Rθ...Roll angle, T...Specified time, ta...Time point, tb...Time point,Va...command value, Vb...command value, YA...yaw axis, Yθ...yaw angle, θ...tilt angle.

Claims

1. a computer having a processor, The computer a travel control unit that outputs a start command to start the unmanned vehicle; a dump body control unit that, when it is determined that the unmanned vehicle will not start in response to the start command, outputs a dump command to generate an assist force by performing a dump operation on a dump body of the unmanned vehicle and discharging a load rearward, The traveling control unit outputs the start command in a state in which the dump command is output from the dump body control unit. Unmanned vehicle control system.

2. The dump body control unit outputs the dump command when a load is loaded on the dump body. The unmanned vehicle control system according to claim 1 .

3. The dump body control unit outputs the dump command in a state where a driving force for starting the unmanned vehicle is generated.

3. The unmanned vehicle control system according to claim 1 or 2.

4. the travel control unit generates a driving force for starting the unmanned vehicle after the dumping operation is completed.

3. The unmanned vehicle control system according to claim 1 or 2.

5. The driving force causes the unmanned vehicle to start moving in a predetermined traveling direction, The dumping operation includes tilting the dump body in a dumping direction opposite to the direction of travel.

5. The unmanned vehicle control system according to claim 3 or 4.

6. the unmanned vehicle has drive wheels; a load applied to the drive wheels after the dumping operation starts is greater than a load applied to the drive wheels before the dumping operation starts; The unmanned vehicle control system according to claim 5 .

7. the unmanned vehicle has a steering wheel; The dump body control unit outputs the dump command when the steering wheels are in a straight-ahead state. The unmanned vehicle control system according to any one of claims 1 to 6.

8. the computer includes a vehicle status determination unit that determines whether or not the dumping operation can be started based on a vehicle status of the unmanned vehicle before the dumping operation is started, The dump body control unit outputs the dump command based on the determination result of the vehicle state determination unit. The unmanned vehicle control system according to any one of claims 1 to 7.

9. The vehicle situation includes an attitude of a vehicle body of the unmanned vehicle supporting the dump body. The unmanned vehicle control system according to claim 8.

10. the computer includes a surrounding situation determination unit that determines whether or not the dumping operation can be started based on a surrounding situation of the unmanned vehicle before the dumping operation is started, The dump body control unit outputs the dump command based on the determination result of the surrounding situation determination unit. The unmanned vehicle control system according to any one of claims 1 to 9.

11. The surrounding situation determination unit calculates, before the dump operation starts, an estimated area of ​​a cargo to be discharged from the dump body by the dump operation, the surrounding situation includes at least one of course data of moving objects around the unmanned vehicle with respect to the estimation area and positions of moving objects around the unmanned vehicle with respect to the estimation area; The unmanned vehicle control system according to claim 10.

12. An allowed area is set where the unmanned vehicle is permitted to travel; the computer comprises an allowed area change request unit that requests an expansion of the allowed area when it is determined that the unmanned vehicle will not start in response to the start command, The dump body control unit outputs the dump command after expanding the permitted area.

12. The unmanned vehicle control system according to claim 1.

13. the computer includes a notification unit that notifies an object outside the unmanned vehicle that the dumping operation will be started before the dumping operation is started, 13. The unmanned vehicle control system according to any one of claims 1 to 12.

14. the target includes a course data generation unit that generates course data for a moving object; The notification unit notifies an estimated area of ​​a cargo to be discharged from the dump body by the dump operation, the course data generation unit generates the course data based on the estimated area.

14. The unmanned vehicle control system according to claim 13.

15. the computer includes a notification unit that notifies an object outside the unmanned vehicle that the dumping operation has been completed.

13. The unmanned vehicle control system according to any one of claims 1 to 12.

16. the target includes a course data generation unit that generates course data for a moving object; The notification unit notifies a discharge area of ​​the cargo discharged from the dump body by the dump operation, the course data generation unit generates the course data based on the discharge area.

14. The unmanned vehicle control system according to claim 13.

17. An unmanned vehicle control system according to any one of claims 1 to 16, Unmanned vehicle.

18. a computer having a processor, outputting a start command to start the unmanned vehicle; when it is determined that the unmanned vehicle will not start in response to the start command, outputting a dump command to generate an assist force by performing a dump operation on a dump body of the unmanned vehicle and discharging a load rearward; The start command is output in a state in which the dump command is output. A method for controlling an unmanned vehicle.

19. outputting the dump command in a state where a load is loaded on the dump body; 20. The method for controlling an unmanned vehicle according to claim 18.

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