Work site management system and work site management method

Abstract

To execute highly efficient sprinkling in an area with high possibility in which powder dust or dust cloud spreads at a work site.SOLUTION: A management system for a work site includes a work site data acquisition unit for acquiring work site data set at a work site in which an unmanned transport vehicle runs and a sprinkling area setting unit for setting a sprinkling area in which the unmanned transport vehicle sprinkles at a work site on the basis of the work site data.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a work site management system and a work site management method. [Background technology]

[0002] As disclosed in Patent Document 1, water is sometimes sprinkled at work sites using a water sprinkler truck. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent Application Publication No. 2015 / 0233245 Summary of the Invention [Problem to be solved by the invention]

[0004] Sprinkling water prevents dust or sand from spreading at the work site. When sprinkling water at the work site, there is a demand for technology that can efficiently sprinkle water in areas where dust or sand is likely to spread.

[0005] The present disclosure aims to efficiently spray water in areas at work sites where dust or sand is likely to spread. [Means for solving the problem]

[0006] According to the present disclosure, a work site management system is provided that includes a work site data acquisition unit that acquires work site data set at a work site where an unmanned transport vehicle travels, and a watering area setting unit that sets a watering area at the work site where an unmanned watering vehicle will spray water based on the work site data. [Effects of the Invention]

[0007] According to the present disclosure, water can be efficiently sprayed in areas at work sites where dust or sand is likely to spread. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a work site management system according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing an unmanned guided vehicle according to the embodiment. [Figure 3] FIG. 3 is a perspective view showing the unmanned water sprinkler vehicle according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram showing a work site according to the embodiment. [Figure 5] FIG. 5 is a functional block diagram showing a work site management system according to the embodiment. [Figure 6] FIG. 6 is a diagram for explaining transportation travel data of the unmanned guided vehicle according to the embodiment. [Figure 7] FIG. 7 is a diagram for explaining water sprinkling travel data of the unmanned water sprinkling vehicle according to the embodiment. [Figure 8] FIG. 8 is a diagram for explaining an example of a travel area and a water spray area at a loading area according to the embodiment. [Figure 9] FIG. 9 is a diagram for explaining an example of a travel area and a water sprinkling area at a loading area according to the embodiment. [Figure 10] FIG. 10 is a diagram for explaining an example of a travel area and a water sprinkling area at a soil unloading site according to the embodiment. [Figure 11] FIG. 11 is a diagram for explaining an example of a travel area and a water sprinkling area at a soil unloading site according to the embodiment. [Figure 12] FIG. 12 is a flowchart showing a loading station management method according to the embodiment. [Figure 13] FIG. 13 is a flowchart showing a method for managing an earth unloading site 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] [Overview of the management system] FIG. 1 is a schematic diagram showing a work site management system 1 according to an embodiment. The management system 1 manages unmanned vehicles operating at the work site. An unmanned vehicle is a work vehicle that operates unmanned without being operated by a driver. In the embodiment, the unmanned vehicles operating at the work site include an unmanned transport vehicle 10 and an unmanned water sprinkler vehicle 20.

[0011] The unmanned guided vehicle 10 travels unmanned at a work site and transports a load. An unmanned dump truck is an example of the unmanned guided vehicle 10. An example of the load transported by the unmanned guided vehicle 10 is an excavated material excavated at a work site.

[0012] The unmanned water sprinkler vehicle 20 travels unmanned around a work site to sprinkle water. An example of the unmanned water sprinkler vehicle 20 is an unmanned water sprinkler truck. The unmanned water sprinkler vehicle 20 sprinkles water to prevent the spread of dust or sand at the work site.

[0013] The management system 1 includes a management device 2 and a communication system 3. The management device 2 is installed in a control facility 4 at a work site. The control facility 4 has an administrator.

[0014] The unmanned guided vehicle 10 has a control device 11. The unmanned watering vehicle 20 has a control device 21. The management device 2, the control device 11, and the control device 21 communicate wirelessly via a communication system 3. A wireless communication device 3A is connected to the management device 2. A wireless communication device 3B is connected to the control device 11. A wireless communication device 3C is connected to the control device 21. The communication system 3 includes the wireless communication device 3A, the wireless communication device 3B, and the wireless communication device 3C.

[0015] [Unmanned transport vehicle] 2 is a perspective view showing an automated guided vehicle 10 according to an embodiment. As shown in FIGS. 1 and 2, the automated guided vehicle 10 includes a wireless communication device 3B, a control device 11, a vehicle body 12, a traveling device 13, a dump body 14, and a sensor system 15.

[0016] The vehicle body 12 includes a body frame. The vehicle body 12 is supported by a traveling device 13. The vehicle body 12 supports a dump truck body 14.

[0017] The traveling device 13 generates a driving force for traveling the unmanned guided vehicle 10. The traveling device 13 generates a braking force for slowing down or stopping the unmanned guided vehicle 10. The traveling device 13 generates a steering force for turning the unmanned guided vehicle 10. The traveling device 13 moves the unmanned guided vehicle 10 forward or backward. The traveling device 13 includes wheels 16. Tires 17 are attached to the wheels 16. The wheels 16 include front wheels 16F and rear wheels 16R. The tires 17 include a front tire 17F attached to the front wheel 16F and a rear tire 17R attached to the rear wheel 16R. The unmanned guided vehicle 10 travels on the work site as the wheels 16 rotate with the tires 17 in contact with the road surface of the work site.

[0018] The dump body 14 is a member on which a load is loaded. At least a portion of the dump body 14 is disposed above the vehicle main body 12.

[0019] The sensor system 15 includes a position sensor 15A, an orientation sensor 15B, a speed sensor 15C, and an obstacle sensor 15D. The position sensor 15A detects the position of the automated guided vehicle 10. The position of the automated guided vehicle 10 is detected using a Global Navigation Satellite System (GNSS). The position sensor 15A includes a GNSS receiver and detects the position of the automated guided vehicle 10 in a global coordinate system. The orientation sensor 15B detects the orientation of the automated guided vehicle 10. An example of the orientation sensor 15B is a gyro sensor. The speed sensor 15C detects the traveling speed of the automated guided vehicle 10. An example of the speed sensor 15C is a pulse sensor that detects the rotation of the wheels 16. The obstacle sensor 15D detects obstacles around the automated guided vehicle 10. The obstacle sensor 15D detects obstacles in a non-contact manner. The obstacle sensor 15D is exemplified by a laser sensor (LIDAR: Light Detection and Ranging) or a radar sensor (RADAR: Radio Detection and Ranging).

[0020] [Unmanned watering vehicle] 3 is a perspective view showing the unmanned watering vehicle 20 according to the embodiment. As shown in FIGS. 1 and 3, the unmanned watering vehicle 20 includes a wireless communication device 3C, a control device 21, a vehicle body 22, a traveling device 23, a tank 24, a sensor system 25, and a watering sprayer 28.

[0021] The vehicle body 22 includes a body frame. The vehicle body 22 is supported by a traveling device 23. The vehicle body 22 supports a tank 24.

[0022] In the embodiment, a cab 29 is provided on the vehicle body 22. The cab 29 is provided at the front of the vehicle body 22. A driver can drive the unmanned sprinkler vehicle 20 by riding in the cab 29. For example, when performing maintenance or inspection of the unmanned sprinkler vehicle 20, the driver drives the unmanned sprinkler vehicle 20. In the embodiment, the unmanned sprinkler vehicle 20 operates unmanned at least when sprinkling water at a work site. Note that the unmanned sprinkler vehicle 20 does not necessarily have to be provided with a cab 29.

[0023] The traveling device 23 generates a driving force for traveling the unmanned watering vehicle 20. The traveling device 23 generates a braking force for slowing down or stopping the unmanned watering vehicle 20. The traveling device 23 generates a steering force for turning the unmanned watering vehicle 20. The traveling device 23 moves the unmanned watering vehicle 20 forward or backward. The traveling device 23 includes wheels 26. Tires 27 are attached to the wheels 26. The wheels 26 include front wheels 26F and rear wheels 26R. The front wheels 26F are steered wheels, and the rear wheels 26R are driven wheels. Note that both the front wheels 26F and the rear wheels 26R may be steered wheels. Both the front wheels 26F and the rear wheels 26R may be driven wheels. The front wheels 26F may be driven wheels, and the rear wheels 26R may be steered wheels. The tires 27 include front tires 27F mounted on the front wheels 26F and rear tires 27R mounted on the rear wheels 26R. The unmanned watering vehicle 20 travels around the work site as the wheels 26 rotate with the tires 27 in contact with the road surface of the work site.

[0024] The tank 24 is a member that stores water for watering. At least a portion of the tank 24 is disposed above the vehicle body 22.

[0025] The sensor system 25 includes a position sensor 25A, an orientation sensor 25B, a speed sensor 25C, and an obstacle sensor 25D. The position sensor 25A detects the position of the unmanned watering vehicle 20. The position of the unmanned watering vehicle 20 is detected using a Global Navigation Satellite System (GNSS). The position sensor 25A includes a GNSS receiver and detects the position of the unmanned watering vehicle 20 in a global coordinate system. The orientation sensor 25B detects the orientation of the unmanned watering vehicle 20. An example of the orientation sensor 25B is a gyro sensor. The speed sensor 25C detects the traveling speed of the unmanned watering vehicle 20. An example of the speed sensor 25C is a pulse sensor that detects the rotation of the wheels 26. The obstacle sensor 25D detects obstacles around the unmanned watering vehicle 20. The obstacle sensor 25D detects obstacles without contact. The obstacle sensor 25D is exemplified by a laser sensor (LIDAR: Light Detection and Ranging) or a radar sensor (RADAR: Radio Detection and Ranging).

[0026] The water sprayer 28 sprays water from the tank 24. The water sprayer 28 is arranged at the rear of the tank 24. The water sprayer 28 sprays water toward the rear of the unmanned watering vehicle 20. In this embodiment, multiple water sprayers 28 are provided. The multiple water sprayers 28 are arranged at intervals in the vehicle width direction of the unmanned watering vehicle 20 at the rear of the tank 24. The vehicle width direction refers to the direction parallel to the rotation axis of the wheels 26 when the unmanned watering vehicle 20 is traveling straight.

[0027] [Worksite] FIG. 4 is a schematic diagram showing a work site according to the embodiment. Examples of the work site include 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. An unmanned guided vehicle 10 and an unmanned watering vehicle 20 each operate at the work site.

[0028] In an embodiment, the work site is a mine, such as a metal mine where metals are mined, a non-metal mine where limestone is mined, or a coal mine where coal is mined.

[0029] The work site includes a work area 30, an aircraft parking area 33, a fuel station 34, a water station 35, a travel path 36, and an intersection 37. The work area 30 includes at least one of a loading area 31 and an earth unloading area 32.

[0030] The loading site 31 refers to an area where a loading operation is performed in which the loader 5 loads cargo onto the unmanned guided vehicle 10. The loader 5 operates in the loading site 31. An example of the loader 5 is a hydraulic excavator.

[0031] The soil unloading site 32 is an area where soil unloading work is carried out by the unmanned guided vehicle 10. A crusher 6 is provided at the soil unloading site 32.

[0032] The parking lot 33 refers to an area where at least one of the unmanned transport vehicle 10 and the unmanned watering vehicle 20 is parked.

[0033] The fuel station 34 refers to an area where at least one of the unmanned guided vehicle 10 and the unmanned water sprinkler vehicle 20 is refueled. A fuel dispenser 7 that supplies fuel is provided at the fuel station 34.

[0034] The water supply station 35 refers to an area where water is supplied to the unmanned sprinkler vehicle 20. At the water supply station 35, water for sprinkling is supplied to the tank 24. A water supply machine 8 that supplies water to the tank 24 is provided at the water supply station 35.

[0035] The travel path 36 refers to an area where unmanned vehicles travel to at least one of the work site 30, the parking lot 33, the fuel station 34, and the water supply station 35. The travel path 36 is provided to connect at least the loading site 31 and the soil unloading site 32. In the embodiment, the travel path 36 connects to each of the loading site 31, the soil unloading site 32, the parking lot 33, the fuel station 34, and the water supply station 35.

[0036] An intersection 37 refers to an area where multiple travel lanes 36 intersect or an area where one travel lanes 36 branches into multiple travel lanes 36.

[0037] [Management system] 5 is a functional block diagram showing a work site management system 1 according to an embodiment. The management system 1 includes a management device 2, a communication system 3, a control device 11, and a control device .

[0038] The management device 2 includes a computer system. The management device 2 is connected to an input device 9. The management device 2 includes a communication interface 41, a memory circuit 42, and a processing circuit 43.

[0039] The input device 9 is connected to the processing circuit 43. The input device 9 is operated by an administrator of the control facility 4. The input device 9 generates input data based on the administrator's operation. The input data generated by the input device 9 is input to the processing circuit 43. Examples of the input device 9 include a touch panel, a computer keyboard, a mouse, or an operation button. The input device 9 may be a non-contact input device including an optical sensor, or may be a voice input device.

[0040] The communication interface 41 is connected to the processing circuit 43. The communication interface 41 controls communication between the management device 2 and at least one of the control devices 11 and 21. The communication interface 41 communicates with at least one of the control devices 11 and 21 via the communication system 3.

[0041] The memory circuitry 42 is connected to the processing circuitry 43. The memory circuitry 42 stores data. The memory circuitry 42 may be, for example, a nonvolatile memory or a volatile memory. The nonvolatile memory may be, for example, a read-only memory (ROM) or a storage. The storage may be, for example, a hard disk drive (HDD) or a solid-state drive (SSD). The volatile memory may be, for example, a random-access memory (RAM).

[0042] The processing circuitry 43 performs calculation processing and control command output processing. An example of the processing circuitry 43 is a processor. An example of the processor is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). A computer program is stored in the storage circuitry 42. The processing circuitry 43 performs predetermined functions by obtaining and executing the computer program from the storage circuitry 42.

[0043] The processing circuit 43 has a transportation path generation unit 61, a work site data acquisition unit 62, a travel area identification unit 63, a watering area setting unit 64, a watering path generation unit 65, a first output unit 66, and a second output unit 67.

[0044] The transport path generation unit 61 generates transport travel data indicating the travel conditions of the unmanned guided vehicle 10 set at the work site. The travel conditions of the unmanned guided vehicle 10 include a transport path 102 indicating a target travel route of the unmanned guided vehicle 10. The transport path generation unit 61 may generate the transport travel data based on input data from the input device 9.

[0045] 6 is a diagram illustrating transportation traveling data of the unmanned guided vehicle 10 according to the embodiment. The transportation traveling data defines the traveling conditions of the unmanned guided vehicle 10. The transportation traveling data includes course points 101, a transportation path 102, a target position of the unmanned guided vehicle 10, a target orientation of the unmanned guided vehicle 10, and a target traveling speed of the unmanned guided vehicle 10.

[0046] A plurality of course points 101 are set at least in the work area 30. A plurality of course points 101 are also set on the travel path 36. The course points 101 define the target position of the automated guided vehicle 10. A target heading and a target travel speed of the automated guided vehicle 10 are set for each of the plurality of course points 101. The plurality of course points 101 are set at intervals. The intervals between the course points 101 are set to, for example, 1 m or more and 5 m or less. The intervals between the course points 101 may be uniform or non-uniform.

[0047] The transportation path 102 is a virtual line that indicates a target travel route of the automated guided vehicle 10. The transportation path 102 is defined by a trajectory that passes through a plurality of course points 101. The automated guided vehicle 10 travels through a work site according to the transportation path 102.

[0048] The target position of the automated guided vehicle 10 refers to the target position of the automated guided vehicle 10 when passing through the course point 101. The target position of the automated guided vehicle 10 may be defined in the local coordinate system of the automated guided vehicle 10 or in the global coordinate system.

[0049] The target orientation of the unmanned guided vehicle 10 refers to the target orientation of the unmanned guided vehicle 10 when passing through the course point 101 .

[0050] The target traveling speed of the unmanned guided vehicle 10 refers to the target traveling speed of the unmanned guided vehicle 10 when passing through the course point 101 .

[0051] The work site data acquisition unit 62 acquires work site data set for the work site 30 where the automated guided vehicle 10 travels. The work site data includes at least one of the positions where the automated guided vehicle 10 travels and the positions where the automated guided vehicle 10 stops in the work site 30. The work site data may be a factor that determines the travel trajectory of the automated guided vehicle 10 in the work site 30, or may be the transport path 102 set for the work site 30 or the travel area 300 set for the work site 30.

[0052] The work site data includes a target point indicating a position to which the automated guided vehicle 10 is heading in the work site 30. The target point is set in the work site 30. The target point includes a work point indicating a position where work related to the automated guided vehicle 10 is to be performed.

[0053] A plurality of work points are set in the work area 30. However, the number of work points set in the work area 30 may be one. A work point refers to a location where work related to the unmanned guided vehicle 10 is carried out. Work related to the unmanned guided vehicle 10 is carried out at the work point. Work related to the unmanned guided vehicle 10 includes a loading operation in which the loader 5 loads cargo onto the unmanned guided vehicle 10. Work related to the unmanned guided vehicle 10 includes an earth removal operation in which the unmanned guided vehicle 10 removes cargo.

[0054] The work point includes at least one of a loading point LP indicating the position of the automated guided vehicle 10 during loading work and a loader point LMP indicating the position of the loader 5 during loading work. The loading point LP and the loader point LMP are set at the loading site 31. Only one loading point LP may be set at the loading site 31, or multiple loading points LP may be set. The automated guided vehicle 10 may or may not stop at the loading point LP.

[0055] The work points also include a discharge point DP that indicates the position of the unmanned guided vehicle 10 during the unmanned guided vehicle operation. The discharge point DP is set at the unmanned guided vehicle site 32. Only one or more discharge points DP may be set at the unmanned guided vehicle site 32. The unmanned guided vehicle 10 may or may not stop at the discharge point DP.

[0056] The work site data also includes a dumping area DPA where the unmanned guided vehicle 10 can dump cargo. The dumping area DPA is set at the dump site 32. A dumping point DP is set inside the dumping area DPA.

[0057] The work site data also includes at least one of an entry point EP indicating the position at which the unmanned guided vehicle 10 enters the work site 30 and an exit point MP indicating the position at which the unmanned guided vehicle 10 leaves the work site 30. The entry point EP and the exit point MP are each set in the work site 30. When the unmanned guided vehicle 10 enters the work site 30 from the travel path 36, it passes through the entry point EP set in the work site 30. After passing the entry point EP, the unmanned guided vehicle 10 travels toward the work point set in the work site 30. When the unmanned guided vehicle 10 leaves the work site 30, it passes through the exit point MP set in the work site 30. After passing the exit point MP, the unmanned guided vehicle 10 travels on the travel path 36.

[0058] The work site data also includes a transportation path 102 in the work site 30 generated by the transportation path generating unit 61 .

[0059] The travel area identification unit 63 identifies a travel area 300 of the unmanned guided vehicle 10 in the work site 30 based on the work site data. The travel area 300 refers to an area in the work site 30 in which the unmanned guided vehicle 10 travels. The travel area 300 includes at least one of an area in which the unmanned guided vehicle 10 is scheduled to travel, an area in which the unmanned guided vehicle 10 may travel, and an area in which the unmanned guided vehicle 10 has already traveled.

[0060] The travel area specifying unit 63 can specify the travel area 300 of the unmanned guided vehicle 10, for example, based on the target point of the work site 30. In other words, the travel area specifying unit 63 can specify the travel area 300 of the unmanned guided vehicle 10 traveling toward the target point of the work site 30.

[0061] The travel area identification unit 63 can identify the travel area 300 of the unmanned guided vehicle 10 based on, for example, at least one of the entrance point EP and the exit point MP of the workshop 30. In other words, the travel area identification unit 63 can identify the travel area 300 of the unmanned guided vehicle 10 that passes through at least one of the entrance point EP and the exit point MP of the workshop 30.

[0062] The travel area specifying unit 63 can specify the travel area 300 of the unmanned guided vehicle 10, for example, based on the position of the soil unloading area DPA. In other words, the travel area specifying unit 63 can specify the travel area 300 of the unmanned guided vehicle 10 traveling toward the soil unloading area DPA of the work site 30.

[0063] The travel area identification unit 63 can identify the travel area 300 of the unmanned guided vehicle 10, for example, based on the position of the transportation path 102. In other words, the travel area identification unit 63 can identify the travel area 300 of the unmanned guided vehicle 10 that travels according to the transportation path 102 set in the work site 30.

[0064] When the workplace data acquisition unit 62 acquires the traveling area of ​​the unmanned transport vehicle 10 as workplace data from the input device 9 or the like, the traveling area identification unit 63 can identify the traveling area acquired by the workplace data acquisition unit 62 as the traveling area 300.

[0065] The watering area setting unit 64 sets watering data for controlling the water sprinkler sprayers 28. The watering data set by the watering area setting unit 64 includes the execution and stop of water sprinkling from the water sprinkler sprayers 28. The watering data set by the watering area setting unit 64 includes the amount of water sprinkled from the water sprinkler sprayers 28. If multiple water sprinkler sprayers 28 are provided on the unmanned watering vehicle 20, the watering data set by the watering area setting unit 64 includes the number of water sprinkler sprayers 28 that will perform watering. If water sprinkler sprayers 28 are installed at each of multiple positions on the unmanned watering vehicle 20, the watering data set by the watering area setting unit 64 includes the installation positions of the water sprinkler sprayers 28 that will perform watering.

[0066] The watering data set by the watering area setting unit 64 also includes a watering area 400 in the work site 30 where the unmanned watering vehicle 20 will spray water. The watering area 400 refers to an area in the work site 30 where water will be sprayed from the watering sprays 28 of the unmanned watering vehicle 20. The watering area setting unit 64 sets the watering area 400 in the work site 30 where the unmanned watering vehicle 20 will spray water, based on the work site data acquired by the work site data acquisition unit 62.

[0067] In the embodiment, the watering area setting unit 64 sets a watering area 400 in the work site 30 where the unmanned watering vehicle 20 will sprinkle water, based on the travel area 300 identified by the travel area identification unit 63. The watering area setting unit 64 sets the watering area 400 so that at least a portion of the travel area 300 identified by the travel area identification unit 63 is included in the watering area 400. In other words, the watering area setting unit 64 sets the watering area 400 so that at least a portion of the travel area 300 identified by the travel area identification unit 63 is watered.

[0068] In the embodiment, the watering area setting unit 64 sets the watering area 400 so that the entire traveling area 300 identified by the traveling area identification unit 63 is included in the watering area 400. In other words, the watering area setting unit 64 sets the watering area 400 so that the entire traveling area 300 identified by the traveling area identification unit 63 is watered.

[0069] The watering area setting unit 64 may set the watering area 400 so that a part of the travel area 300 identified by the travel area identification unit 63 is included in the watering area 400.

[0070] The watering path generation unit 65 generates watering travel data indicating the travel conditions of the unmanned watering vehicle 20 to be set at the work site. The travel conditions of the unmanned watering vehicle 20 include a watering path 202 indicating the target travel route of the unmanned watering vehicle 20. The watering path generation unit 65 generates the watering path 202 based on the work site data acquired by the work site data acquisition unit 62. The watering path generation unit 65 generates the watering path 202 for the unmanned watering vehicle 20 so that water is sprinkled in the watering area 400 set by the watering area setting unit 64. The watering path generation unit 65 may generate the watering path 202 based on the travel area 300 of the unmanned guided vehicle 10 identified by the travel area identification unit 63.

[0071] FIG. 7 is a diagram for explaining the water sprinkler traveling data of the unmanned watering vehicle 20 according to the embodiment. The water sprinkler traveling data specifies the traveling conditions of the unmanned watering vehicle 20. The water sprinkler traveling data includes a course point 201, a water sprinkler path 202, a target position of the unmanned watering vehicle 20, a target orientation of the unmanned watering vehicle 20, and a target traveling speed of the unmanned watering vehicle 20. A plurality of course points 201 are set in at least the work site 30. A plurality of course points 201 are also set on the traveling path 36. The water sprinkler path 202 refers to a virtual line that indicates the target traveling route of the unmanned watering vehicle 20. The function of the transport traveling data and the function of the water sprinkler traveling data are similar. A description of the water sprinkler traveling data will be omitted.

[0072] The first output unit 66 (transportation traveling data output unit) transmits the transportation traveling data generated by the transportation path generation unit 61 to the unmanned guided vehicle 10. The first output unit 66 transmits the transportation traveling data from the communication interface 41 to the control device 11 of the unmanned guided vehicle 10.

[0073] The second output unit 67 (watering travel data output unit) transmits the watering travel data generated by the watering path generation unit 65 to the unmanned watering vehicle 20. The second output unit 67 transmits the watering travel data from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20.

[0074] The second output unit 67 transmits watering data including the watering area 400 set by the watering area setting unit 64 to the unmanned watering vehicle 20. The second output unit 67 transmits the watering data including the watering area 400 from the communication interface 41 to the control device 21 of the unmanned watering vehicle 20.

[0075] The control device 11 includes a computer system. Like the management device 2, the control device 11 has a communication interface, a memory circuit, and a processing circuit. The control device 11 has a travel control unit 71 that controls the traveling device 13. The travel control unit 71 controls the traveling device 13 based on the transportation travel data transmitted from the management device 2.

[0076] The control device 21 includes a computer system. Like the management device 2, the control device 21 has a communication interface, a memory circuit, and a processing circuit. The control device 21 has a travel control unit 81 that controls the traveling device 23, and a water sprinkler control unit 82 that controls the water sprinkler sprayer 28. The travel control unit 81 controls the traveling device 23 based on the water sprinkler travel data transmitted from the management device 2. The water sprinkler control unit 82 controls the water sprinkler sprayer 28 based on the water sprinkler data transmitted from the management device 2.

[0077] The travel control unit 71 controls the travel device 13 based on the transportation travel data and the detection data of the sensor system 15. The travel control unit 71 controls the travel device 13 based on the detection data of the position sensor 15A and the detection data of the orientation sensor 15B so that the automated guided vehicle 10 travels along the transportation path 102. That is, the travel control unit 71 controls the travel device 13 so that the deviation between the detected position of the automated guided vehicle 10 detected by the position sensor 15A when passing through a course point 101 and the target position of the automated guided vehicle 10 set at the course point 101 is small. The travel control unit 71 also controls the travel device 13 so that the deviation between the detected orientation of the automated guided vehicle 10 detected by the orientation sensor 15B when passing through the course point 101 and the target orientation of the automated guided vehicle 10 set at the course point 101 is small. The travel control unit 71 also controls the travel device 13 based on the detection data of the speed sensor 15C so that the automated guided vehicle 10 travels at a target travel speed. In other words, the traveling control unit 71 controls the traveling device 13 so that the deviation between the detected traveling speed of the unmanned guided vehicle 10 detected by the speed sensor 15C when passing the course point 101 and the target traveling speed of the unmanned guided vehicle 10 set at the course point 101 is small.

[0078] The travel control unit 81 controls the travel device 23 based on the water sprinkler travel data and the detection data of the sensor system 25. The travel control unit 81 controls the travel device 23 based on the detection data of the position sensor 25A and the detection data of the orientation sensor 25B so that the unmanned water sprinkler vehicle 20 travels based on the water sprinkler path 202. The travel control unit 81 also controls the travel device 23 based on the detection data of the speed sensor 25C so that the unmanned water sprinkler vehicle 20 travels at a target travel speed.

[0079] [Water sprinkler control at loading docks] FIG. 8 is a diagram for explaining an example of a travel area 300 and a watering area 400 in a loading area 31 according to the embodiment.

[0080] As shown in FIG. 8(A), the transportation path generation unit 61 generates transportation travel data so that the unmanned guided vehicle 10 travels toward the loading point LP. The unmanned guided vehicle 10 travels in accordance with the transportation travel data at the loading site 31. An entrance point EP, a switchback point SP, a loading point LP, and an exit point MP are set at the loading site 31. Each of the entrance point EP, switchback point SP, loading point LP, and exit point MP may be set by an administrator. The administrator can set each of the entrance point EP, switchback point SP, loading point LP, and exit point MP by operating the input device 9.

[0081] After traveling along the travel path 36 and passing the entrance point EP, the unmanned guided vehicle 10 advances and enters the loading point 31. After entering the loading point 31, the unmanned guided vehicle 10 switches back at the switchback point SP, and then reverses and enters the loading point LP. A switchback is an operation in which the forward-moving unmanned guided vehicle 10 changes its direction of travel and reverses and proceeds toward the target direction. The switchback is performed based on the transportation travel data.

[0082] The unmanned guided vehicle 10 moves backward to enter the loading point LP, and after stopping at the loading point LP, the loading operation is carried out. The loader 5 loads the cargo into the dump body 14 of the unmanned guided vehicle 10.

[0083] After completing the loading operation, the unmanned guided vehicle 10 advances to the exit point MP. After passing the exit point MP while advancing, the unmanned guided vehicle 10 leaves the loading site 31.

[0084] 8(A), the travel area identification unit 63 identifies the travel area 300 based on the transportation path 102. The travel area identification unit 63 identifies the travel area 300 based on, for example, the transportation path 102 and the vehicle width of the unmanned guided vehicle 10. The travel area 300 is identified so that the entire transportation path 102 is included in the travel area 300.

[0085] It is also possible to set a plurality of switchback points SP at the loading site 31, and a plurality of transporting paths 102 at the loading site 31. In this case, each of the plurality of transporting paths 102 is set at the loading site 31 so as to be a mutually different target travel route. It is also possible not to set a switchback point SP at the loading site 31. In this case, the transporting path 102 is set at the loading site 31 so as to be a target travel route on which the unmanned guided vehicle 10 does not switch back.

[0086] After the travel area 300 has been identified, as shown in FIG. 8(B), the watering area setting unit 64 sets the watering area 400 so that the entire travel area 300 is included in the watering area 400. The watering area setting unit 64 sets the watering area 400 so that the edges of the watering area 400 surround the travel area 300. In the example shown in FIG. 8, the watering area setting unit 64 sets the watering area 400 so that the entire edges of the watering area 400 are located outside the edges of the travel area 300. The watering area 400 is smaller than the loading area 31.

[0087] As shown in Figure 8(C), the watering path generation unit 65 generates a watering path 202 so that the unmanned watering vehicle 20 sprays water over the watering area 400. The second output unit 67 transmits the watering travel data generated by the watering path generation unit 65 to the unmanned watering vehicle 20. As shown in Figure 8(C), the unmanned watering vehicle 20 travels through the loading area 31 based on the watering path 202 while spraying water from the watering sprayers 28 so that at least a portion of the watering area 400 is watered.

[0088] In an embodiment, the watering path generating unit 65 generates the watering path 202 so that the unmanned watering vehicle 20 sprays water on the watering area 400 while moving forward without reversing. If the watering sprayers 28 are provided at the rear of the unmanned watering vehicle 20, it is preferable that the unmanned watering vehicle 20 sprays water from the watering sprayers 28 while moving forward without reversing. The watering path generating unit 65 may also generate the watering path 202 so that the unmanned watering vehicle 20 sprays water on the watering area 400 while moving backward. The watering path generating unit 65 may also generate the watering path 202 so that the unmanned watering vehicle 20 sprays water on the watering area 400 while moving forward and backward.

[0089] The watering area setting unit 64 may set the watering area 400 so that a portion of the travel area 300 is included in the watering area 400. The watering area setting unit 64 may set the watering area 400 so that the edge of the travel area 300 is positioned inside the edge of the watering area 400.

[0090] The transport path generation unit 61 may generate the transport path 102 based on a loading point LP indicating the position of the unmanned guided vehicle 10 during loading work, or may generate the transport path 102 based on a loader point LMP indicating the position of the loader 5 during loading work. For example, the transport path generation unit 61 may predict the loading point LP from the loader point LMP and generate the transport path 102 based on the predicted loading point LP.

[0091] FIG. 9 is a diagram illustrating an example of a travel area 300 and a watering area 400 in a loading area 31 according to the embodiment.

[0092] As shown in FIG. 9(A), there are cases where a transportation path 102 is not set at a loading site 31, but a loading point LP, an entrance point EP, and an exit point MP are set. Even if a transportation path 102 is not set, the traveling area identification unit 63 can identify the traveling area 300 of the automated guided vehicle 10 based on the loading point LP, the entrance point EP, and the exit point MP. In an embodiment, the traveling area identification unit 63 estimates multiple traveling trajectories along which the automated guided vehicle 10 may travel, based on the relative positions of the loading point LP, the entrance point EP, and the exit point MP. The traveling area identification unit 63 can set the traveling area 300 so that the multiple estimated traveling trajectories are included. Note that if the distance between the switchback point SP and the loading point LP is too long, the efficiency of the loading operation decreases. The traveling area identification unit 63 sets the switchback point SP based on the loading point LP to prevent a decrease in the efficiency of the loading operation, and estimates multiple traveling trajectories based on the set switchback point SP.

[0093] The travel area specifying unit 63 may specify the travel area 300 of the automatic guided vehicle 10 based on the loading point LP, without using the entrance point EP and the exit point MP.

[0094] After the travel area 300 has been identified, as shown in FIG. 9(B), the watering area setting unit 64 sets the watering area 400 so that the entire travel area 300 is included in the watering area 400. The watering area setting unit 64 sets the watering area 400 so that the edges of the watering area 400 surround the travel area 300. In the example shown in FIG. 9, the watering area setting unit 64 sets the watering area 400 so that the edges of the watering area 400 coincide with the edges of the travel area 300. The watering area 400 is smaller than the loading area 31.

[0095] The watering area setting unit 64 may set the watering area 400 so that a portion of the travel area 300 is included in the watering area 400. The watering area setting unit 64 may set the watering area 400 so that the edge of the travel area 300 is positioned inside the edge of the watering area 400.

[0096] As shown in Figure 9(C), the watering path generation unit 65 generates a watering path 202 so that the unmanned watering vehicle 20 will spray water over the watering area 400. The second output unit 67 transmits the watering travel data generated by the watering path generation unit 65 to the unmanned watering vehicle 20. As shown in Figure 9(C), the unmanned watering vehicle 20 travels through the loading area 31 based on the watering path 202 while spraying water from the watering sprayers 28 so that the entire watering area 400 is watered.

[0097] In addition, the travel area identification unit 63 may identify the travel area 300 based on a loading point LP indicating the position of the unmanned transport vehicle 10 during loading operations, or may identify the travel area 300 based on a loading machine point LMP indicating the position of the loader 5 during loading operations.

[0098] [Water sprinkler control at soil discharge sites] FIG. 10 is a diagram for explaining an example of a travel area 300 and a watering area 400 in the soil unloading site 32 according to the embodiment.

[0099] As shown in FIG. 10(A), the transportation path generation unit 61 generates transportation travel data so that the unmanned guided vehicle 10 travels toward the unloading point DP. The unmanned guided vehicle 10 travels in accordance with the transportation travel data at the unloading site 32. An entrance point EP, a switchback point SP, a unloading point DP, and an exit point MP are set at the unloading site 32. In the embodiment, multiple unloading points DP are set. The unloading points DP are set inside the unloading area DPA. The entrance point EP, switchback point SP, unloading point DP, exit point MP, and unloading area DPA may each be set by an administrator. The administrator can operate the input device 9 to set the entrance point EP, switchback point SP, unloading point DP, exit point MP, and unloading area DPA.

[0100] After traveling on the travel path 36 and passing the entrance point EP, the unmanned guided vehicle 10 advances forward and enters the soil unloading site 32. After entering the soil unloading site 32, the unmanned guided vehicle 10 switches back at the switchback point SP, and then reverses and enters the soil unloading point DP. The switchback is performed based on the transportation travel data.

[0101] The unmanned guided vehicle 10 moves backward to enter the earth unloading point DP, and after stopping at the earth unloading point DP, the earth unloading operation is carried out. The unmanned guided vehicle 10 performs a dump operation on the dump body 14, and unloads the load from the dump body 14.

[0102] After completing the soil unloading operation, the unmanned guided vehicle 10 advances to the exit point MP. After passing the exit point MP while advancing, the unmanned guided vehicle 10 leaves the soil unloading site 32.

[0103] As shown in Figure 10(A), a plurality of switchback points SP are set at the dumping site 32. A plurality of transport paths 102 are set at the dumping site 32. Each of the plurality of transport paths 102 is set at the dumping site 32 so as to be a mutually different target travel route.

[0104] 10(A), the travel area identification unit 63 identifies a travel area 300 based on the multiple transportation paths 102. The travel area identification unit 63 identifies the travel area 300 based on, for example, the transportation path 102 and the vehicle width of the unmanned guided vehicle 10. The travel area 300 is identified so that all of the multiple transportation paths 102 are included in the travel area 300.

[0105] After the travel area 300 has been identified, as shown in Figure 10(B), the watering area setting unit 64 sets the watering area 400 so that the entire travel area 300 is included in the watering area 400. The watering area setting unit 64 sets the watering area 400 so that the edges of the watering area 400 surround the travel area 300. In the example shown in Figure 10, the watering area setting unit 64 sets the watering area 400 so that the entire edge of the watering area 400 is located outside the edges of the travel area 300. The watering area 400 is smaller than the dumping area 32.

[0106] As shown in Figure 10(C), the watering path generation unit 65 generates a watering path 202 so that the unmanned watering vehicle 20 sprays water over the watering area 400. The second output unit 67 transmits the watering travel data generated by the watering path generation unit 65 to the unmanned watering vehicle 20. As shown in Figure 10(C), the unmanned watering vehicle 20 travels through the soil discharge area 32 based on the watering path 202 while spraying water from the watering sprayers 28 so that at least a portion of the watering area 400 is watered.

[0107] In an embodiment, the watering path generating unit 65 generates the watering path 202 so that the unmanned watering vehicle 20 sprays water on the watering area 400 while moving forward without reversing. If the watering sprayers 28 are provided at the rear of the unmanned watering vehicle 20, it is preferable that the unmanned watering vehicle 20 sprays water from the watering sprayers 28 while moving forward without reversing. The watering path generating unit 65 may also generate the watering path 202 so that the unmanned watering vehicle 20 sprays water on the watering area 400 while moving backward. The watering path generating unit 65 may also generate the watering path 202 so that the unmanned watering vehicle 20 sprays water on the watering area 400 while moving forward and backward.

[0108] The transport path generation unit 61 may generate the transport path 102 based on the unloading point DP, which indicates the position of the unmanned transport vehicle 10 during the unloading operation, or may generate the transport path 102 based on the position of the unloading area DPA, where the unmanned transport vehicle 10 can unload cargo.

[0109] The watering area setting unit 64 may set the watering area 400 so that a portion of the travel area 300 is included in the watering area 400. The watering area setting unit 64 may set the watering area 400 so that the edge of the travel area 300 is positioned inside the edge of the watering area 400.

[0110] FIG. 11 is a diagram for explaining an example of a travel area 300 and a watering area 400 in the soil unloading site 32 according to the embodiment.

[0111] As shown in FIG. 11(A), there are cases where a transport path 102 is not set at the unloading site 32, but a unloading point DP, an entrance point EP, and an exit point MP are set. Even if a transport path 102 is not set, the traveling area identification unit 63 can identify the traveling area 300 of the unmanned guided vehicle 10 based on the unloading point DP, the entrance point EP, and the exit point MP. In the embodiment, the traveling area identification unit 63 estimates multiple traveling trajectories along which the unmanned guided vehicle 10 may travel, based on the relative positions of the unloading point DP, the entrance point EP, and the exit point MP. The traveling area identification unit 63 can set the traveling area 300 so that the estimated multiple traveling trajectories are included. Note that if the distance between the switchback point SP and the unloading point DP is too long, the efficiency of the unloading work will decrease. The traveling area identification unit 63 sets the switchback point SP based on the unloading point DP to prevent a decrease in the efficiency of the unloading work, and estimates multiple traveling trajectories based on the set switchback point SP.

[0112] The travel area specifying unit 63 may specify the travel area 300 of the automatic guided vehicle 10 based on the earth unloading point DP, without using the entrance point EP and the exit point MP.

[0113] After the travel area 300 has been identified, as shown in FIG. 11(B), the watering area setting unit 64 sets the watering area 400 so that the entire travel area 300 is included in the watering area 400. The watering area setting unit 64 sets the watering area 400 so that the edges of the watering area 400 surround the travel area 300. In the example shown in FIG. 11, the watering area setting unit 64 sets the watering area 400 so that the edges of the watering area 400 coincide with the edges of the travel area 300. The watering area 400 is smaller than the dumping area 32.

[0114] The watering area setting unit 64 may set the watering area 400 so that a portion of the travel area 300 is included in the watering area 400. The watering area setting unit 64 may set the watering area 400 so that the edge of the travel area 300 is positioned inside the edge of the watering area 400.

[0115] As shown in Figure 11(C), the watering path generation unit 65 generates a watering path 202 so that the unmanned watering vehicle 20 sprays water over the watering area 400. The second output unit 67 transmits the watering travel data generated by the watering path generation unit 65 to the unmanned watering vehicle 20. As shown in Figure 11(C), the unmanned watering vehicle 20 travels through the soil discharge area 32 based on the watering path 202 while spraying water from the watering sprayers 28 so that the entire watering area 400 is watered.

[0116] The travel area identification unit 63 may identify the travel area 300 based on the discharge point DP, which indicates the position of the unmanned transport vehicle 10 during the unloading operation, or may identify the travel area 300 based on the position of the discharge area DPA where the unmanned transport vehicle 10 can unload cargo.

[0117] [Loading area management method] FIG. 12 is a flowchart showing a method for managing the loading site 31 according to the embodiment.

[0118] The travel area identification unit 63 determines whether or not the transportation path 102 has been generated (step SL1).

[0119] If it is determined in step SL1 that the transportation path 102 has been generated (step SL1: Yes), the travel area identification unit 63 identifies the travel area 300 based on the transportation path 102. The watering area setting unit 64 sets the watering area 400 based on the travel area 300. That is, the watering area setting unit 64 sets the watering area 400 based on the transportation path 102 (step SL2).

[0120] In step SL1, if it is determined that the transportation path 102 has not been generated (step SL1: No), the travel area identification unit 63 determines whether or not there is a loader 5 that can perform loading work (step SL3).

[0121] If it is determined in step SL3 that a loader 5 capable of carrying out loading work exists (step SL3: Yes), the watering area setting unit 64 sets the watering area 400 based on the position of the loader 5 capable of carrying out loading work. A loading point LP is set near the position of the loader 5 capable of carrying out loading work. The watering area setting unit 64 sets the watering area 400 based on the loading point LP, the entrance point EP, and the exit point MP (step SL4).

[0122] In step SL3, if it is determined that there is no loader 5 that can perform loading work (step SL3: No), the watering area setting unit 64 sets the entire loading site 31 as the watering area 400 (step SL5).

[0123] The watering path generating unit 65 generates the watering path 202 based on the watering area 400 set based on the processing of one of steps SL2, SL4, and SL5 (step SL6).

[0124] The watering travel data including the watering path 202 generated by the watering path generation unit 65 is transmitted to the control device 21 of the unmanned watering vehicle 20 via the communication system 3. The control device 21 controls the unmanned watering vehicle 20 so that water is sprayed on the watering area 400 based on the watering path 202. The unmanned watering vehicle 20 travels through the loading area 31 based on the watering path 202 while spraying water from the watering sprays 28.

[0125] [Soil discharge site management method] FIG. 13 is a flowchart showing a method for managing the soil unloading site 32 according to the embodiment.

[0126] The travel area identification unit 63 determines whether or not the transportation path 102 has been generated (step SD1).

[0127] If it is determined in step SD1 that the transportation path 102 has been generated (step SD1: Yes), the travel area identification unit 63 identifies the travel area 300 based on the transportation path 102. The watering area setting unit 64 sets the watering area 400 based on the travel area 300. That is, the watering area setting unit 64 sets the watering area 400 based on the transportation path 102 (step SD2).

[0128] If it is determined in step SD1 that the transportation path 102 has not been generated (step SD1: No), the traveling area identification unit 63 determines whether or not a discharge point DP exists (step SD3).

[0129] If it is determined in step SD3 that the discharge point DP exists (step SD3: Yes), the watering area setting unit 64 sets the watering area 400 based on the discharge point DP, the entrance point EP, and the exit point MP (step SD4).

[0130] If it is determined in step SD3 that the discharge point DP does not exist (step SD3: No), the traveling area specification unit 63 determines whether or not there is a discharge area DPA where discharge work can be performed (step SD5).

[0131] If it is determined in step SD5 that there is an unloading area DPA where unloading work can be performed (step SD5: Yes), the watering area setting unit 64 sets the watering area 400 based on the position of the unloading area DPA, the entrance point EP, and the exit point MP (step SD6).

[0132] If it is determined in step SD5 that there is no dumping area DPA where dumping work can be performed (step SD5: No), the watering area setting unit 64 sets the entire dump site 32 as the watering area 400 (step SD7).

[0133] The watering path generating unit 65 generates the watering path 202 based on the watering area 400 set based on the processing of one of steps SD2, SD4, SD6, and SD7 (step SD8).

[0134] The watering travel data including the watering path 202 generated by the watering path generation unit 65 is transmitted to the control device 21 of the unmanned watering vehicle 20 via the communication system 3. The control device 21 controls the unmanned watering vehicle 20 so that water is sprayed on the watering area 400 based on the watering path 202. The unmanned watering vehicle 20 travels through the soil discharge area 32 based on the watering path 202 while spraying water from the watering sprays 28.

[0135] [effect] As described above, according to the embodiment, the watering area 400 is set based on the work site data set for the work site 30 where the automated guided vehicle 10 travels. The work site data for the loading site 31 includes at least one of the loading point LP, the loader point LMP, the entrance point EP of the loading site 31, the exit point MP of the loading site 31, the transport path 102 set for the loading site 31, and the travel area 300. The work site data for the soil unloading site 32 includes at least one of the soil unloading point DP, the soil unloading area DPA, the entrance point EP of the soil unloading site 32, the exit point MP of the soil unloading site 32, the transport path 102 set for the soil unloading site 32, and the travel area 300. The positions where the automated guided vehicle 10 travels or stops are areas in the work site 30 where dust or sand is likely to spread. By setting the watering area 400 based on work site data including the locations where the unmanned transport vehicle 10 will travel or stop, the unmanned watering vehicle 20 can efficiently spray water in areas where dust or sand is likely to spread.

[0136] In the embodiment, the travel area 300 of the unmanned guided vehicle 10 in the work site 30 is identified based on the work site data obtained by acquiring work site data set in the work site 30 where the unmanned guided vehicle 10 travels. A watering area 400 is set based on the identified travel area 300. The travel area 300 of the unmanned guided vehicle 10 is an area in the work site 30 where dust or sand is likely to spread. By setting the watering area 400 based on the travel area 300, the unmanned watering vehicle 20 can efficiently spray water on the travel area 300 where dust or sand is likely to spread.

[0137] When identifying the traveling area 300 at the loading site 31, not only the loading point LP but also at least one of the entrance point EP and the exit point MP are used, thereby enabling the traveling area 300 to be identified with high accuracy. Similarly, when identifying the traveling area 300 at the unloading site 32, not only the unloading point DP but also at least one of the entrance point EP and the exit point MP are used, thereby enabling the traveling area 300 to be identified with high accuracy.

[0138] When a transportation path 102 of the unmanned guided vehicle 10 has been generated in the work site 30, the travel area 300 is identified based on the transportation path 102, thereby allowing the travel area 300 to be identified with high accuracy.

[0139] A watering path 202 is generated for the unmanned watering vehicle 20 so that water is sprayed over the watering area 400 set by the watering area setting unit 64. The unmanned watering vehicle 20 can spray water evenly over the watering area 400 by traveling through the work site 30 while spraying water based on the watering data including the watering area 400 and the watering path 202.

[0140] [Other embodiments] In the above-described embodiment, the workplace data may include a work plan for the automated guided vehicles 10 in the workplace 30. For example, for a plurality of automated guided vehicles 10 and a plurality of workplaces 30 at a work site, the work plan may predetermine which transport path 102 of which workplace 30 each of the plurality of automated guided vehicles 10 will travel. The workplace data acquisition unit 62 may then acquire the work plan for the automated guided vehicles 10 in the workplace 30, and the watering area setting unit 64 may set the watering area 400 based on the work plan for the automated guided vehicles 10 in the workplace 30. The workplace data may also include topographical data for the workplace 30. For example, when the workplace data acquisition unit 62 acquires topographical data for the workplace 30, and the watering area setting unit 64 sets the watering area 400 based on the topographical data for the workplace 30 when setting the entire workplace 30 as the watering area 400,

[0141] In the above-described embodiment, at least some of the functions of control device 11 and control device 21 may be provided in management device 2, or at least some of the functions of management device 2 may be provided in one or both of control device 11 and control device 21. For example, in the above-described embodiment, control device 11 may have the functions of transportation path generation unit 61, workplace data acquisition unit 62, and travel area identification unit 63. Control device 21 may have the functions of watering area setting unit 64 and watering path generation unit 65.

[0142] In the above-described embodiment, each of the transportation path generation unit 61, workplace data acquisition unit 62, travel area identification unit 63, watering area setting unit 64, watering path generation unit 65, first output unit 66, and second output unit 67 may be configured as separate hardware. [Explanation of symbols]

[0143] 1...management system, 2...management device, 3...communication system, 3A...wireless communication device, 3B...wireless communication device, 3C...wireless communication device, 4...control facility, 5...loader, 6...crusher, 7...fueling machine, 8...watering machine, 9...input device, 10...unmanned transport vehicle, 11...control device, 12...vehicle body, 13...traveling device, 14...dump body, 15...sensor system, 15A...position sensor, 15B...direction sensor, 15C...speed sensor sensor, 15D...obstacle sensor, 16...wheel, 16F...front wheel, 16R...rear wheel, 17...tire, 17F...front tire, 17R...rear tire, 20...unmanned water sprinkler vehicle, 21...control device, 22...vehicle body, 23...traveling device, 24...tank, 25...sensor system, 25A...position sensor, 25B...orientation sensor, 25C...speed sensor, 25D...obstacle sensor, 26...wheel, 26F...front wheel, 26R...rear wheel, 2 7...Tire, 27F...Front tire, 27R...Rear tire, 28...Water spray, 29...Cab, 30...Work area, 31...Loading area, 32...Soil discharge area, 33...Parking area, 34...Fueling station, 35...Water supply station, 36...Travel path, 37...Intersection, 41...Communication interface, 42...Memory circuit, 43...Processing circuit, 61...Transport path generation unit, 62...Work area data acquisition unit, 63...Travel area identification unit, 64...Water spray area setting unit, 65...watering path generation unit, 66...first output unit, 67...second output unit, 71...travel control unit, 81...travel control unit, 82...watering control unit, 101...course point, 102...transport path, 201...course point, 202...watering path, 300...travel area, 400...watering area, DP...earth discharge point, DPA...earth discharge area, EP...entrance point, LP...loading point, LMP...loader point, MP...exit point, SP...switchback point.

Claims

1. a work site data acquisition unit that acquires work site data set in a work site where the unmanned guided vehicle travels; a watering area setting unit that sets a watering area in the work site where the unmanned watering vehicle will sprinkle water based on the work site data; a transportation path generation unit that generates a transportation path indicating a target travel route of the unmanned guided vehicle, The work site data includes the transport path. Workplace management system.

2. a work site data acquisition unit that acquires work site data set in a work site where the unmanned guided vehicle travels; a watering area setting unit that sets a watering area in the work site where the unmanned watering vehicle will sprinkle water based on the work site data, the work site data includes a target point indicating a location to which the automated guided vehicle is heading; Workplace management system.

3. The target point includes a work point indicating a position where work related to the automated guided vehicle is to be performed. The work site management system according to claim 2 .

4. the operation includes a loading operation in which a loader loads a load onto the automated guided vehicle; the work point includes at least one of a loading point indicating a position of the automated guided vehicle in the loading operation and a loader point indicating a position of a loader in the loading operation. The work site management system according to claim 3 .

5. the work includes an earth removal work in which the unmanned guided vehicle removes a load, The work point includes an earth unloading point indicating the position of the unmanned guided vehicle during the earth unloading work. The work site management system according to claim 3 or 4.

6. A plurality of the work points are set in the work area. The work site management system according to any one of claims 3 to 5.

7. a work site data acquisition unit that acquires work site data set in a work site where the unmanned guided vehicle travels; a watering area setting unit that sets a watering area in the work site where the unmanned watering vehicle will sprinkle water based on the work site data, the work site data includes at least one of an entrance point indicating a position where the unmanned guided vehicle enters the work site and an exit point indicating a position where the unmanned guided vehicle leaves the work site; Workplace management system.

8. a work site data acquisition unit that acquires work site data set in a work site where the unmanned guided vehicle travels; a watering area setting unit that sets a watering area in the work site where the unmanned watering vehicle will sprinkle water based on the work site data, The work site data includes an unloading area where the unmanned guided vehicle can unload cargo. Workplace management system.

9. a work site data acquisition unit that acquires work site data set in a work site where the unmanned guided vehicle travels; a watering area setting unit that sets a watering area in the work site where the unmanned watering vehicle will sprinkle water based on the work site data; a travel area specification unit that specifies a travel area of ​​the unmanned guided vehicle in the work site based on the work site data, The watering area setting unit sets the watering area based on the traveling area. Workplace management system.

10. The watering area setting unit sets the watering area so that at least a portion of the traveling area is included in the watering area. The work site management system according to claim 9.

11. a water sprinkler path generation unit that generates a water sprinkler path indicating a target travel path of the unmanned water sprinkler vehicle based on the work site data; The work site management system according to any one of claims 1 to 10.

12. The watering path generation unit generates the watering path so that water is sprayed onto the watering area. The work site management system according to claim 11.

13. setting a watering area in a work site where an unmanned guided vehicle travels based on work site data set in the work site; and controlling the unmanned watering vehicle so that water is sprayed on the watering area; the work site data includes a target point indicating a location to which the automated guided vehicle is heading; How to manage the work site.

14. The target point includes a work point indicating a position where work related to the automated guided vehicle is to be performed. The method for managing a work site according to claim 13.

15. the work site data includes at least one of an entrance point indicating a position where the unmanned guided vehicle enters the work site and an exit point indicating a position where the unmanned guided vehicle leaves the work site; The method for managing a work site according to claim 13.

16. The work site data includes an unloading area where the unmanned guided vehicle can unload cargo. The method for managing a work site according to claim 13.

17. The work site data includes a transport path indicating a target travel route of the automated guided vehicle. The method for managing a work site according to claim 13.

18. generating a watering path indicating a target travel route of the unmanned watering vehicle so that water is sprayed on the watering area based on the work site data; and controlling the unmanned watering vehicle to travel based on the watering path. The method for managing a work site according to any one of claims 13 to 17.

Images