Worksite management system and worksite management method

Abstract

This worksite management system comprises: a travel data generation unit that generates a travel course of a transport vehicle on the basis of a survey line indicating a travel trajectory of a survey vehicle capable of detecting an inclination angle of the road surface of a worksite; a determination unit that determines whether or not there is a first range, in which a relative value with respect to the survey line satisfies a predetermined condition, in the travel course; and a travel course data adjustment unit that adds, to the first range, inclination data indicating the inclination angle detected by the survey vehicle.

Description

Work site management system and work site management method

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

[0002] In a wide-area work site such as a mine, a transport vehicle operates. Patent Document 1 discloses a technology for generating a travel course for the transport vehicle. In the technology described in Patent Document 1, the travel course for the transport vehicle is generated based on the travel trajectory of a survey vehicle.

[0003] Japanese Patent Application Laid-Open No. 2019-036073

[0004] When assigning inclination data indicating the inclination angle of the road surface to a travel course, it is possible to have a first haulage vehicle travel along the travel course and assign the inclination data detected by the first haulage vehicle to the travel course. A second haulage vehicle traveling after the first haulage vehicle can travel based on the inclination data detected by the first haulage vehicle. The first haulage vehicle must travel at a low speed because it travels without knowing the inclination data of the road surface. In other words, the first haulage vehicle traveling along the travel course cannot travel at a high speed, which may reduce productivity at the work site.

[0005] The present disclosure aims to suppress a decline in productivity at a work site.

[0006] According to the present disclosure, there is provided a work site management system comprising: a driving data generation unit that generates a driving course for a transport vehicle based on a survey line that indicates the driving trajectory of a survey vehicle that can detect the inclination angle of the road surface at the work site; a determination unit that determines whether a first range exists in the driving course in which the relative value with the survey line satisfies a predetermined condition; and a driving course data adjustment unit that assigns inclination data that indicates the inclination angle detected by the survey vehicle to the first range.

[0007] According to the present disclosure, a decrease in productivity at a work site is suppressed.

[0008] FIG. 1 is a diagram schematically showing a work site according to the first embodiment. FIG. 2 is a diagram schematically showing a work site management system according to the first embodiment. FIG. 3 is a block diagram showing a work site management system according to the first embodiment. FIG. 4 is a hardware configuration diagram of a management device according to the first embodiment. FIG. 5 is a diagram for explaining travel data of an unmanned dump truck according to the first embodiment. FIG. 6 is a flowchart showing a method for generating a travel course according to the first embodiment. FIG. 7 is a flowchart showing a method for generating an initial course according to the first embodiment. FIG. 8 is a diagram for explaining a method for generating an initial course according to the first embodiment. FIG. 9 is a diagram for explaining a constraint condition according to the first embodiment. FIG. 10 is a flowchart showing a method for generating a travel course according to the first embodiment. FIG. 11 is a diagram for explaining a method for generating a travel course according to the first embodiment. FIG. 12 is a diagram showing a travel course displayed on a display device according to the first embodiment. FIG. 13 is a diagram for explaining a method for changing a travel course according to the first embodiment. FIG. 14 is a diagram showing a survey vehicle according to the first embodiment. FIG. 15 is a diagram for explaining a method for assigning inclination data to a travel course according to the first embodiment. Fig. 16 is a diagram for explaining the relative value between the traveling course and the survey line according to the first embodiment. Fig. 17 is a flowchart showing a method for assigning inclination data to the traveling course 42 according to the first embodiment. Fig. 18 is a diagram for explaining a method for assigning inclination data to the traveling course 42 according to the first embodiment. Fig. 19 is a diagram for explaining a method for assigning inclination data to the traveling course 42 according to the second embodiment.

[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] First Embodiment A first embodiment will be described.

[0011] <Worksite> Fig. 1 is a diagram schematically illustrating a worksite 10 according to this embodiment. An example of the worksite 10 is 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. 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.

[0012] At a work site 10, a manned vehicle 1 and an unmanned vehicle 2 are in operation. A driver is on board the manned vehicle 1. No driver is on board the unmanned vehicle 2. The manned vehicle 1 is a vehicle that operates based on driving operations by a driver. The unmanned vehicle 2 is a vehicle that operates without a driver, without being driven by a driver.

[0013] In the embodiment, the manned vehicle 1 is a lightweight vehicle that travels through the work site 10. The manned vehicle 1 is used to measure the work site 10. The manned vehicle 1 may also be used to patrol the work site 10 or to transport workers. In the embodiment, the manned vehicle 1 is appropriately referred to as a survey vehicle 1.

[0014] In the embodiment, the unmanned vehicle 2 is a heavy vehicle that travels unmanned at the work site 10. The unmanned vehicle 2 is a transport vehicle that performs transport work to transport cargo. In the embodiment, the unmanned vehicle 2 is appropriately referred to as an unmanned dump truck 2.

[0015] A loading site 3, a dumping site 4, and a transport path 5 are provided at the work site 10. The loading site 3 and the dumping site 4 are work sites where work related to the unmanned dump truck 2 is carried out.

[0016] The loading site 3 refers to a work site where loading work is carried out to load cargo onto the unmanned dump truck 2. An example of the cargo is an excavated material excavated at the loading site 3. At the loading site 3, a loader 7 operates to load cargo onto the unmanned dump truck 2. An example of the loader 7 is a hydraulic excavator. The unmanned dump truck 2 can travel at the loading site 3. Note that the survey vehicle 1 may also travel at the loading site 3.

[0017] The soil unloading site 4 refers to a work site where soil unloading work is carried out, where a load is unloaded from the unmanned dump truck 2. The soil unloading site 4 is provided with, for example, a crusher 8 that crushes the load unloaded from the unmanned dump truck 2. The unmanned dump truck 2 can travel through the soil unloading site 4. It should be noted that the survey vehicle 1 may also travel through the soil unloading site 4.

[0018] The transport path 5 refers to a travel path on which at least one of the survey vehicle 1 and the unmanned dump truck 2 travels. The transport path 5 leads to a work site. That is, the transport path 5 is connected to each of the loading site 3 and the unloading site 4. The transport path 5 is provided to connect at least the loading site 3 and the unloading site 4. The unmanned dump truck 2 heading toward at least one of the loading site 3 and the unloading site 4 travels on the transport path 5. The unmanned dump truck 2 travels on the transport path 5, for example, to go back and forth between the loading site 3 and the unloading site 4.

[0019] The transport paths 5 include intersections 6. An intersection 6 refers to an area where a plurality of transport paths 5 intersect or an area where one transport path 5 branches into a plurality of transport paths 5.

[0020] 2 is a diagram that schematically shows a management system 11 for the work site 10 according to this embodiment. The management system 11 manages at least the unmanned dump trucks 2 that operate at the work site 10.

[0021] The management system 11 includes a management device 12 and a communication system 13. The management device 12 is arranged outside the survey vehicle 1 and the unmanned dump truck 2. The management device 12 is installed in a control facility 14 at the work site 10. The management device 12 includes a computer system. Examples of the communication system 13 include the Internet, a mobile phone communication network, a satellite communication network, or a local area network (LAN).

[0022] The survey vehicle 1 has a body 101, a traveling device 102, a control device 15, and a wireless communication device 13A. The body 101 includes a body frame. The body 101 is supported by the traveling device 102. The traveling device 102 supports the body 101 and travels. The traveling device 102 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device. The control device 15 includes a computer system. The wireless communication device 13A is connected to the control device 15.

[0023] The unmanned dump truck 2 has a vehicle body 201, a traveling device 202, a dump body 203, a control device 16, and a wireless communication device 13B. The vehicle body 201 includes a vehicle body frame. The vehicle body 201 is supported by the traveling device 202. The traveling device 202 supports the vehicle body 201 and travels. The traveling device 202 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device. The dump body 203 is a member on which a load is carried. The dump body 203 is supported by the vehicle body 201. The dump body 203 performs a dumping operation and a lowering operation. The dumping operation refers to an operation in which the dump body 203 is moved away from the vehicle body 201 and tilted in the dumping direction. The lowering operation refers to an operation in which the dump body 203 is moved closer to the vehicle body 201. When a loading operation is performed, the dump body 203 performs a lowering operation. When the earth removal operation is performed, the dump body 203 performs a dumping operation. The control device 16 includes a computer system. The wireless communication device 13B is connected to the control device 16.

[0024] The communication system 13 includes a wireless communication device 13A connected to the control device 15, a wireless communication device 13B connected to the control device 16, and a wireless communication device 13C connected to the management device 12. The management device 12 and the control device 15 of the survey vehicle 1 communicate wirelessly via the communication system 13. The management device 12 and the control device 16 of the unmanned dump truck 2 communicate wirelessly via the communication system 13.

[0025] FIG. 3 is a block diagram showing a management system 11 for a work site 10 according to this embodiment. A management device 12, a wireless communication device 13C, an input device 31, and a display device 32 are disposed in a control facility 14. The wireless communication device 13C, the input device 31, and the display device 32 are each connected to the management device 12. An administrator is located in the control facility 14. When the administrator operates the input device 31, input data is generated. Examples of the input device 31 include a touch panel, a computer keyboard, or input buttons. The display device 32 outputs display data and provides it to the administrator. Examples of the display device 32 include a flat panel display such as a liquid crystal display or an organic EL display. The management device 12 includes a travel data generation unit 121, a determination unit 122, a travel course data adjustment unit 123, and a display control unit 124.

[0026] The travel data generation unit 121 generates travel data that indicates the travel conditions of the unmanned dump truck 2. The travel data includes the travel course of the unmanned dump truck 2. The travel data generation unit 121 generates the travel course 42 of the unmanned dump truck 2 based on a survey line 52 that indicates the travel trajectory of the survey vehicle 1 that is capable of detecting the inclination angle of the road surface at a work site. The travel data generation unit 121 transmits the travel data to the unmanned dump truck 2 via the communication system 13.

[0027] The determination unit 122 determines whether a first range exists in which the relative value with respect to the survey line 52 satisfies a predetermined condition in the traveling course 42 generated by the traveling data generation unit 121. The relative value is a relative value relating to the positions of the traveling course 42 and the survey line 52.

[0028] The driving course data adjustment unit 123 changes at least a part of the driving data generated by the driving data generation unit 121. The driving course data adjustment unit 123 assigns inclination data indicating the inclination angle of the road surface detected by the survey vehicle 1 to a first range AR1 in which the relative value of the driving course 42 to the survey line 52 satisfies a predetermined condition.

[0029] The display control unit 124 controls the display device 32. The display control unit 124 causes the display device 32 to display the display data.

[0030] The survey vehicle 1 has a control device 15, a wireless communication device 13A, a position sensor 17, and an orientation sensor 18. Each of the wireless communication device 13A, the position sensor 17, and the orientation sensor 18 can communicate with the control device 15.

[0031] The position sensor 17 detects the position of the survey vehicle 1. The position of the survey vehicle 1 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 17 includes a GNSS receiver and detects the absolute position of the survey vehicle 1 in the global coordinate system.

[0032] The orientation sensor 18 detects the orientation of the survey vehicle 1. The orientation sensor 18 includes a calculator that calculates the orientation from the position data detected by the two GNSS antennas. The calculator calculates the orientation from a vector connecting the two GNSS antennas. The orientation sensor 18 may include a gyro sensor.

[0033] The control device 15 transmits detection data from the position sensor 17 indicating the position of the survey vehicle 1 and detection data from the orientation sensor 18 indicating the orientation of the survey vehicle 1 to the management device 12 via the communication system 13 .

[0034] The unmanned dump truck 2 has a control device 16, a wireless communication device 13B, a position sensor 22, a direction sensor 23, a speed sensor 24, and a traveling device 202. Each of the wireless communication device 13B, the position sensor 22, the direction sensor 23, and the speed sensor 24 can communicate with the control device 16. The traveling device 202 is controlled by the control device 16.

[0035] The position sensor 22 detects the position of the unmanned dump truck 2. The position sensor 22 includes a GNSS receiver and detects the absolute position of the unmanned dump truck 2 in the global coordinate system.

[0036] The orientation sensor 23 detects the orientation of the unmanned dump truck 2. An example of the orientation sensor 23 is a gyro sensor.

[0037] The speed sensor 24 detects the traveling speed of the unmanned dump truck 2. An example of the speed sensor 24 is a pulse sensor that detects the rotation of the wheels of the unmanned dump truck 2.

[0038] The control device 16 acquires traveling data of the unmanned dump truck 2 generated in the management device 12 via the communication system 13. The control device 16 acquires the permitted area generated in the management device 12 via the communication system 13. The control device 16 acquires detection data from the position sensor 22 indicating the position of the unmanned dump truck 2, detection data from the orientation sensor 23 indicating the orientation of the unmanned dump truck 2, and detection data from the speed sensor 24 indicating the traveling speed of the unmanned dump truck 2. The control device 16 controls the traveling device 202 based on the traveling data, the permitted area, the detection data from the position sensor 22, the detection data from the orientation sensor 23, and the detection data from the speed sensor 24.

[0039] FIG. 4 is a hardware configuration diagram of the management device 12 according to this embodiment. The management device 12 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including a nonvolatile memory such as a read-only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the management device 12 described above are stored in the storage 1003 as computer programs. The processor 1001 reads the computer program from the storage 1003, loads it into the main memory 1002, and executes processing according to the program. The computer program may be distributed to the computer system 1000 via a network. The control devices 15 and 16 each include a computer system 1000 as shown in FIG. 4. The functions of the control devices 15 and 16 described above are stored in the storage 1003 as computer programs.

[0040] <Traveling Data> Fig. 5 is a diagram for explaining the travel data of the unmanned dump truck 2 according to this embodiment. The travel data of the unmanned dump truck 2 defines the travel conditions of the unmanned dump truck 2. The travel data of the unmanned dump truck 2 includes a travel point 41, a travel course 42, a target position of the unmanned dump truck 2, a target orientation of the unmanned dump truck 2, and a target travel speed of the unmanned dump truck 2. The travel data of the unmanned dump truck 2, including the travel course 42, is generated by the travel data generation unit 121.

[0041] A plurality of travel points 41 are set at the work site. The travel points 41 define the target position of the unmanned dump truck 2. A target heading and a target travel speed of the unmanned dump truck 2 are set for each of the plurality of travel points 41. The plurality of travel points 41 are set at intervals. The intervals between the travel points 41 may be uniform or may be uneven.

[0042] The target position of the unmanned dump truck 2 refers to the target position of the unmanned dump truck 2 when passing the travel point 41. The target position of the unmanned dump truck 2 may be defined in the local coordinate system of the unmanned dump truck 2 or may be defined in the global coordinate system. The target orientation of the unmanned dump truck 2 refers to the target orientation of the unmanned dump truck 2 when passing the travel point 41. The target traveling speed of the unmanned dump truck 2 refers to the target traveling speed of the unmanned dump truck 2 when passing the travel point 41.

[0043] The travel course 42 refers to a virtual line that indicates a target travel route for the unmanned dump truck 2. The travel course 42 is defined by a trajectory that passes through a plurality of travel points 41. The unmanned dump truck 2 travels through the work site according to the travel course 42. The unmanned dump truck 2 travels such that the center of the unmanned dump truck 2 and the travel course 42 coincide with each other in the vehicle width direction of the unmanned dump truck 2.

[0044] The control device 16 controls the traveling device 202 based on the detection data of the position sensor 22 and the detection data of the orientation sensor 23 so that the unmanned dump truck 2 travels along the traveling course 42. In other words, the control device 16 controls the traveling device 202 so that the deviation between the detected position of the unmanned dump truck 2 detected by the position sensor 22 when passing through the traveling point 41 and the target position of the unmanned dump truck 2 set for the traveling point 41 becomes small. The control device 16 also controls the traveling device 202 so that the deviation between the detected orientation of the unmanned dump truck 2 detected by the orientation sensor 23 when passing through the traveling point 41 and the target orientation of the unmanned dump truck 2 set for the traveling point 41 becomes small. The control device 16 also controls the traveling device 202 based on the detection data of the speed sensor 24 so that the unmanned dump truck 2 travels at a target traveling speed. That is, the control device 16 controls the traveling device 202 so that the deviation between the detected traveling speed of the unmanned dump truck 2 detected by the speed sensor 24 when passing the traveling point 41 and the target traveling speed of the unmanned dump truck 2 set at the traveling point 41 becomes small.

[0045] In the present embodiment, the travel course 42 includes a first travel course 421 and a second travel course 422. The second travel course 422 is generated adjacent to the first travel course 421. The first travel course 421 and the second travel course 422 are each generated on the transport path 5. The first travel course 421 is generated in parallel with at least a portion of the second travel course 422. At least a portion of the first travel course 421 and the second travel course 422 are substantially parallel. The traveling direction of the unmanned dump truck 2 traveling according to the first travel course 421 is substantially opposite to the traveling direction of the unmanned dump truck 2 traveling according to the second travel course 422. The unmanned dump truck 2 traveling according to the first travel course 421 and the unmanned dump truck 2 traveling according to the second travel course 422 pass each other on the transport path 5. The unmanned dump truck 2 travels from the loading site 3 to the unloading site 4 according to a first traveling course 421 , and travels from the unloading site 4 to the loading site 3 according to a second traveling course 422 .

[0046] <Method of generating traveling courses> Figure 6 is a flowchart showing a method of generating the traveling course 42 according to this embodiment. As shown in Figure 6, the traveling data generation unit 121 generates an initial course using Voronoi points (step SA), generates two optimal courses based on the initial course using an optimization formula for model predictive control (step SB), and generates two traveling courses 42 (421, 422) using spline curve transformation based on the two optimal courses (step SC).

[0047] Fig. 7 is a flowchart showing a method (step SA) for generating the initial course 53 according to this embodiment. Fig. 8 is a diagram for explaining the method for generating the initial course 53 according to this embodiment.

[0048] A travelable area 50 for the unmanned dump truck 2 is set at the work site 10. The travelable area 50 refers to an area at the work site 10 in which the unmanned dump truck 2 can travel. A travel course 42 is generated in the travelable area 50.

[0049] The drivable area 50 is defined by an outline line 51 of the drivable area 50. The area outside the outline line 51 is a no-drivable area. The outline line 51 includes the boundary line of the terrain of the work site 10. The boundary line of the terrain refers to a characteristic part that can divide the work site, such as a bank or a cliff.

[0050] The survey vehicle 1 travels in the drivable area 50 along an outline line 51. The survey vehicle 1 travels in the vicinity of the outline line 51 along the outline line 51. A survey line 52 is set based on the travel trajectory of the survey vehicle 1 traveling along the outline line 51. The survey line 52 is a virtual line that divides the drivable area 50 and the prohibited area, which are derived using the survey vehicle 1.

[0051] The survey vehicle 1 is a manned vehicle that travels based on driving operations by a driver. As the survey vehicle 1 travels, the position of the survey vehicle 1 is detected by a position sensor 17, and the orientation of the survey vehicle 1 is detected by an orientation sensor 18. The survey vehicle 1 travels along the outline line 51 while the position sensor 17 detects the position of the survey vehicle 1 and the orientation sensor 18 detects the orientation of the survey vehicle 1. As the survey vehicle 1 travels, the position sensor 17 detects the position of the survey vehicle 1 at predetermined time intervals, and the orientation sensor 18 detects the orientation of the survey vehicle 1 at predetermined time intervals. The detection of the position of the survey vehicle 1 by the position sensor 17 and the detection of the orientation of the survey vehicle 1 by the orientation sensor 18 are performed simultaneously. In the following description, the point where the position sensor 17 detects the position of the survey vehicle 1 and the point where the orientation sensor 18 detects the orientation of the survey vehicle 1 will be referred to as a survey point 61, as appropriate.

[0052] The multiple survey points 61 are provided at intervals. Each of the multiple survey points 61 is associated with the position of the survey vehicle 1 detected by the position sensor 17 and the orientation of the survey vehicle 1 detected by the orientation sensor 18. The survey line 52 is defined by a trajectory that passes through the multiple survey points 61. The multiple survey points 61 detected by the survey vehicle 1 are appropriately referred to as survey line data.

[0053] The control device 15 of the survey vehicle 1 transmits the survey line data to the management device 12. The traveling data generation unit 121 acquires the survey line data from the survey vehicle 1. The traveling data generation unit 121 also acquires vehicle data related to the specifications of the unmanned dump truck 2 (step SA1).

[0054] The travel data generation unit 121 generates Voronoi points and center points in the drivable area 50 based on the survey line data and vehicle data acquired in step SA1 (step SA2). The Voronoi points are generated at the centers of two survey lines 52 defined in the road width direction. Multiple Voronoi points are generated along the transport path 5.

[0055] The traveling data generation unit 121 generates the shortest route connecting the departure point and arrival point of the unmanned dump truck 2 on the conveyance path 5 by the Dijkstra algorithm based on the Voronoi points generated in step SA2 (step SA3). An example of the departure point is the loading site 3. An example of the arrival point is the unloading site 4. Note that the departure point may be the unloading site 4 and the arrival point may be the loading site 3. Note that at least one of the departure point and the arrival point does not have to be a work site (the loading site 3 or the unloading site 4). At least one of the departure point and the arrival point may be, for example, an airplane parking lot or a fuel station.

[0056] The traveling data generation unit 121 performs B-spline approximation on the shortest route generated in step SA2 to generate an initial course 53 (step SA4). The initial course 53 is generated on the transport path 5 so as to connect the departure point and arrival point of the unmanned dump truck 2. As shown in Fig. 8, the initial course 53 is generated so as to pass through the centers of two survey lines 52 defined in the road width direction. The initial course 53 is generated along the transport path 5.

[0057] The traveling data generation unit 121 generates an optimum course based on the initial course 53 generated in step SA4. The optimum course is a route consisting of a sequence of points that serves as the basis for the traveling course 42. Optimum courses are generated on both sides of the initial course 53. The first optimum course generated on one side of the initial course 53 is the route that serves as the basis for the first traveling course 421. The second optimum course generated on the other side of the initial course 53 is the route that serves as the basis for the second traveling course 422.

[0058] In this embodiment, the traveling data generation unit 121 generates two optimal courses on either side of a single initial course 53 using an optimization formula for model predictive control (MPC). Model predictive control uses a dynamic model of the system and an optimization algorithm.

[0059] The travel data generating unit 121 generates two optimal courses on either side of the single initial course 53 using an optimization formula for model predictive control.

[0060] In the model predictive control, the traveling data generating unit 121 calculates two optimal courses so as to minimize the evaluation function, using the vehicle data and course parameters as constraints.

[0061] 9 is a diagram for explaining constraint conditions according to this embodiment. The constraint conditions include vehicle data and course parameters. Examples of the vehicle data include the maximum turning angle of the unmanned dump truck 2 and the dimensions of the unmanned dump truck 2. Examples of the course parameters include the target relative distance G between the first traveling course 421 and the second traveling course 422.

[0062] 9 , the dimensions of the unmanned dump truck 2 include the vehicle width W and length L of the unmanned dump truck 2. In this embodiment, the length L is the distance between the axle of the rear wheels and the front end of the vehicle body 201 in the longitudinal direction of the unmanned dump truck 2.

[0063] As shown in Fig. 9, the target relative distance G is a value that is the shortest within the range in which the unmanned dump truck 2 traveling on the first traveling course 421 and the unmanned dump truck 2 traveling on the second traveling course 422 can pass each other. The target relative distance G is set in consideration of a travel control error D (amount of positional deviation) in the vehicle width direction of the unmanned dump truck 2 traveling at the target traveling speed. The travel control error D refers to the amount of deviation in the vehicle width direction between the target position and the actual position of the unmanned dump truck 2 traveling along the traveling course 42. The travel control error D increases as the traveling speed of the unmanned dump truck 2 increases, and decreases as the traveling speed of the unmanned dump truck 2 decreases. In addition, a margin value (for example, 2 m) is added to the target relative distance G.

[0064] Fig. 10 is a flowchart showing a method (step SC) for generating the travel course 42 according to this embodiment. Fig. 11 is a diagram for explaining the method for generating the travel course 42 according to this embodiment.

[0065] The travel data generation unit 121 generates two travel courses 42 (421, 422) based on the two optimum courses generated in step SB. The optimum courses are routes made up of sequences of points. The travel data generation unit 121 converts the optimum courses made up of sequences of points into editable travel courses 42.

[0066] The travel data generation unit 121 extracts interpolation points (step SC1) and uses the interpolation points to generate a travel course 42 from the optimal course through B-spline approximation (step SC2). The travel course 42 is a smooth curve defined based on the interpolation points. As shown in FIG. 11 , by B-spline approximating the optimal course, travel courses 42 consisting of smooth curves are generated on both sides of the initial course 53. A first travel course 421 is generated on one side of the initial course 53 in the road width direction, and a second travel course 422 is generated on the other side of the initial course 53.

[0067] 12 is a diagram showing a travel course 42 displayed on the display device 32 according to this embodiment. As shown in FIG. 12, a first travel course 421 and a second travel course 422 are generated between a pair of outline lines 51. The first travel course 421 and the second travel course 422 are generated without being significantly affected by the shape of the outline line 51 (survey line 52). The first travel course 421 and the second travel course 422 are generated to be substantially parallel. Each of the first travel course 421 and the second travel course 422 is generated to connect the starting point and the destination point by a short distance.

[0068] <Changing the Travel Course> Figure 13 is a diagram for explaining a method for changing the travel course 42 according to this embodiment. The travel course data adjustment unit 123 can change the shape of the travel course 42 based on input data from the input device 31. If the input device 31 is a touch panel provided on the display device 32, the administrator can change the shape of the travel course 42 to any desired shape by touching a part of the travel course 42 with their finger and moving their finger.

[0069] <Slope Data> Figure 14 is a diagram showing the survey vehicle 1 according to this embodiment. As described above, the survey vehicle 1 travels in the drivable area 50 along the outline line 51. A survey line 52 is set based on the travel trajectory of the survey vehicle 1 traveling along the outline line 51. The survey line 52 is a virtual line derived using the survey vehicle 1 that separates the drivable area 50 from the prohibited area.

[0070] As the survey vehicle 1 travels, the position of the survey vehicle 1 is detected by the position sensor 17, and the orientation of the survey vehicle 1 is detected by the orientation sensor 18. As described above, a survey point 61 is a point where the position sensor 17 detects the position of the survey vehicle 1 and the orientation sensor 18 detects the orientation of the survey vehicle 1. The multiple survey points 61 are provided at intervals. Each of the multiple survey points 61 is associated with the position of the survey vehicle 1 detected by the position sensor 17 and the orientation of the survey vehicle 1 detected by the orientation sensor 18. The survey line 52 is defined by a trajectory that passes through the multiple survey points 61.

[0071] The position sensor 17 provided on the survey vehicle 1 includes a GNSS receiver. The position sensor 17 detects a position in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The survey vehicle 1 can use the position sensor 17 to detect the inclination angle of the road surface of the work site 10. The inclination angle of the road surface of the work site 10 includes the inclination angle of the road surface of the transport path 5. The inclination data indicating the inclination angle of the road surface includes the difference in altitude associated with a pair of adjacent survey points 61.

[0072] 15 is a diagram for explaining a method of assigning inclination data to a travel course 42 according to this embodiment. As described above, the travel data generation unit 121 generates the travel course 42 of the unmanned dump truck 2 based on the survey line 52 indicating the travel trajectory of the survey vehicle 1. The determination unit 122 determines whether or not the travel course 42 includes a first range AR1 whose relative value with respect to the survey line 52 satisfies a predetermined condition.

[0073] 16 is a diagram for explaining the relative values ​​between the traveling course 42 and the survey line 52 according to this embodiment. The relative values ​​between the traveling course 42 and the survey line 52 include the relative distance ΔE between the traveling course 42 and the survey line 52 and the relative angle Δθ between the traveling course 42 and the survey line 52.

[0074] In this embodiment, the relative distance ΔE is the distance between a certain traveling point 41 that defines the traveling course 42 and the survey point 61 that is closest to the certain traveling point 41. As shown in FIG. 16 , when multiple survey points 61 (61A, 61B, 61C) are placed near a certain traveling point 41, the relative distance ΔE is the distance between the certain traveling point 41 and the survey point 61B that is closest to the certain traveling point 41.

[0075] The relative angle Δθ is the angular difference between the target orientation Fb of the unmanned dump truck 2 at a certain traveling point 41 and the detected orientation Fa of the survey vehicle 1 at a survey point 61B that is closest to the certain traveling point 41. The detected orientation Fa is the orientation detected by the orientation sensor 18 provided on the survey vehicle 1 when the survey vehicle 1 passes through the survey point 61. In the example shown in FIG. 16 , the relative angle Δθ for a certain traveling point 41 is the angular difference between the target orientation Fb at the certain traveling point 41 and the detected orientation Fa at the survey point 61B.

[0076] In the embodiment, the predetermined conditions related to the relative value between the traveling course 42 and the survey line 52 include a condition that the relative distance ΔE is equal to or less than a predetermined distance threshold, and a condition that the relative angle Δθ is equal to or less than a predetermined angle threshold. The first range AR1 of the traveling course 42 in which the relative value with the survey line 52 satisfies the predetermined conditions is a range in which the relative distance ΔE between the traveling course 42 and the survey line 52 is equal to or less than the distance threshold, and the relative angle Δθ between the traveling course 42 and the survey line 52 is equal to or less than the angle threshold.

[0077] 15 , the determination unit 122 determines whether or not a first range AR1 exists in the traveling course 42, where the relative value to the survey line 52 satisfies a predetermined condition. The traveling course data adjustment unit 123 assigns inclination data indicating the inclination angle of the road surface detected by the position sensor 17 of the survey vehicle 1 to the first range AR1 of the traveling course 42, where the relative value to the survey line 52 satisfies the predetermined condition.

[0078] Like the position sensor 17 of the survey vehicle 1, the position sensor 22 of the unmanned dump truck 2 can also detect the inclination angle of the road surface of the transport path 5. The traveling course data adjustment unit 123 assigns inclination data indicating the inclination angle of the road surface detected by the position sensor 22 of the unmanned dump truck 2 traveling along the traveling course 42 to the second range AR2 of the traveling course 42 that does not satisfy the predetermined conditions.

[0079] Because the first range AR1 of the traveling course 42 is close to the survey line 52, the inclination angle of the road surface in the first range AR1 of the traveling course 42 can be considered to be equal to the inclination angle of the road surface of the survey line 52. Therefore, by assigning inclination data indicating the inclination angle of the road surface detected by the survey vehicle 1 to the first range AR1 of the traveling course 42, correct inclination data is assigned to the first range AR1. Furthermore, because the inclination angle of the road surface of the survey line 52 is detected in advance before the traveling course 42 is generated, by assigning inclination data indicating the inclination angle of the road surface detected by the survey vehicle 1 to the first range AR1 of the traveling course 42, correct inclination data is assigned to the first range AR1 efficiently.

[0080] The second range AR2 of the traveling course 42, which is different from the first range AR1, is far from the survey line 52, so there is a possibility that the difference between the inclination angle of the road surface in the second range AR2 of the traveling course 42 and the inclination angle of the road surface in the survey line 52 is large. Therefore, when inclination data indicating the inclination angle of the road surface detected by the survey vehicle 1 is assigned to the second range AR2 of the traveling course 42, there is a possibility that incorrect inclination data will be assigned to the second range AR2. When assigning road surface inclination data to the second range AR2 of the traveling course 42, the unmanned dump truck 2 travels along the traveling course 42, and the inclination data detected by the position sensor 22 of the unmanned dump truck 2 is assigned to the second range AR2 of the traveling course 42. As a result, correct inclination data is assigned to the second range AR2.

[0081] <Management Method> FIG. 17 is a flowchart showing a method for assigning inclination data to the travel course 42 according to this embodiment.

[0082] The travel data generator 121 generates the travel course 42 using an optimization formula for model predictive control (step SD1).

[0083] The determination unit 122 determines whether or not a first range AR1 exists in the travel course 42, in which the relative value to the survey line 52 satisfies a predetermined condition (step SD2).

[0084] In step SD2, if it is determined that the first range AR1 exists (step SD2: Yes), the driving course data adjustment unit 123 assigns the inclination data detected by the survey vehicle 1 to the first range AR1 (step SD3).

[0085] The traveling course data adjustment unit 123 assigns the inclination data detected by the unmanned dump truck 2 to the second range AR2 of the traveling course 42 that does not satisfy the predetermined conditions (step SD4).

[0086] In step SD2, if it is determined that the first range AR1 does not exist (step SD2: No), the driving course data adjustment unit 123 assigns the inclination data detected by the unmanned dump truck 2 to the entire range of the driving course 42 (step SD4).

[0087] The traveling course data adjustment unit 123 determines the traveling data including the traveling course 42 to which the inclination data has been added as the traveling data to be transmitted to the unmanned dump truck 2 (step SD5).

[0088] The traveling course data adjustment unit 123 transmits the traveling data including the traveling course 42 to which the inclination data has been added to the control device 16 of the unmanned dump truck 2 (step SD6). The unmanned dump truck 2 travels on the conveying path 5 based on the traveling data transmitted from the traveling course data adjustment unit 123.

[0089] When the unmanned dump truck 2 travels uphill on the conveying path 5, the control device 16 sets the upper limit traveling speed of the unmanned dump truck 2 to a first speed. When the unmanned dump truck 2 travels downhill on the conveying path 5, the control device 16 sets the upper limit traveling speed of the unmanned dump truck 2 to a second speed that is lower than the first speed. When the unmanned dump truck 2 travels downhill on the conveying path 5, the greater the inclination angle of the downhill, the lower the speed that the control device 16 sets the upper limit traveling speed of the unmanned dump truck 2 to.

[0090] <Effects> As described above, according to this embodiment, the travel course 42 of the unmanned dump truck 2 is generated based on the survey line 52. When road surface inclination data is assigned to the travel course 42, the inclination data detected by the survey vehicle 1 is assigned to the first range AR1 of the travel course 42 that is close to the survey line 52. As a result, correct inclination data is assigned efficiently to the first range AR1.

[0091] 18 is a diagram illustrating a method for assigning inclination data to a traveling course 42 according to this embodiment. As shown in FIG. 18 , when assigning inclination data to the second range AR2 of the traveling course 42, the traveling course data adjustment unit 123 causes the unmanned dump truck 2 to travel according to the second range AR2 of the traveling course 42, and assigns the inclination data detected by the unmanned dump truck 2 to the traveling course 42. The unmanned dump truck 2 must travel at a low speed because it travels without knowing the inclination data of the road surface. In other words, the first unmanned dump truck 2 traveling according to the traveling course 42 in the second range AR2 cannot travel at a high speed, and therefore, if the inclination data detected by the unmanned dump truck 2 were to be assigned to the entire range of the traveling course 42, the productivity of the work site 10 may decrease.

[0092] In this embodiment, the inclination data detected by the survey vehicle 1 is assigned to the first range AR1 of the traveling course 42, thereby suppressing a decrease in productivity at the work site 10. The inclination data detected by the unmanned dump truck 2 is assigned to the second range AR2 of the traveling course 42, thereby assigning correct inclination data to the traveling course 42.

[0093] The relative value between the traveling course 42 and the survey line 52 includes the relative distance ΔE between the traveling course 42 and the survey line 52 and the relative angle Δθ between the traveling course 42 and the survey line 52. As a result, correct inclination data that also takes into account the inclination direction of the road surface is assigned to the first range AR1 of the traveling course 42.

[0094] Second Embodiment A second embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment will be denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0095] 19 is a diagram illustrating a method of assigning inclination data to the traveling course 42 according to this embodiment. As described with reference to FIG. 13 , the traveling course data adjustment unit 123 is capable of changing the shape of the traveling course 42 based on input data from the input device 31. In the example shown in FIG. 19 , the traveling course data adjustment unit 123 changes the shape of a portion AR3 of the traveling course 42 based on input data from the input device 31.

[0096] The traveling course data adjustment unit 123 maintains the inclination data for the remaining portion AR4 of the traveling course 42 that is not changed. In other words, even if the portion AR3 of the traveling course 42 is changed, the inclination data assigned to the remaining portion AR4 of the traveling course 42 is not changed.

[0097] If the part AR3 of the changed driving course 42 satisfies the specified conditions described in the above embodiment, the driving course data adjustment unit 123 assigns the slope data detected by the survey vehicle 1 to the part AR3 of the changed driving course 42.

[0098] If the part AR3 of the changed driving course 42 does not satisfy the specified conditions, the driving course data adjustment unit 123 assigns to the part AR3 of the changed driving course 42 the inclination data detected by the unmanned dump truck 2 traveling according to the part AR3 of the changed driving course 42.

[0099] As described above, according to this embodiment, even if part AR3 of the running course 42 is changed, the slope data assigned to the other part AR4 of the running course 42 is not changed, so that correct slope data is efficiently assigned to the running course 42.

[0100] If the portion AR3 of the changed driving course 42 satisfies the specified conditions, the slope data of the survey line 52 in the vicinity of the portion AR3 is assigned to the portion AR3, so that the correct slope data is efficiently assigned to the portion AR3 of the driving course 42.

[0101] Other Embodiments In the above-described embodiment, the unmanned vehicle is the unmanned dump truck 2. The unmanned vehicle may be, for example, an unmanned watering truck.

[0102] In the above-described embodiment, at least some of the functions of the management device 12 may be provided in the control device 16. For example, the control device 16 may have at least one function of the travel data generation unit 121, the determination unit 122, and the travel course data adjustment unit 123.

[0103] In the above-described embodiment, multiple functions of the management device 12 may be configured by separate hardware. That is, the travel data generation unit 121, the determination unit 122, the travel course data adjustment unit 123, and the display control unit 124 may each be configured by separate hardware.

[0104] 1...Survey vehicle (manned vehicle), 2...Unmanned dump truck (unmanned vehicle, transport vehicle), 2A...First unmanned dump truck, 2B...Second unmanned dump truck, 3...Loading area, 4...Soil discharge area, 5...Transport route, 6...Intersection, 7...Loader, 8...Crusher, 10...Work site, 11...Management system, 12...Management device, 13...Communication system, 13A...Wireless communication device, 13B...Wireless communication device, 13C...Wireless communication device, 14...Control facility, 15...Control device, 16...Control device, 17...Position sensor, 18...Orientation sensor, 22...Position sensor, 23...Orientation sensor, 24...Speed ​​sensor, 31...Input device, 32...Display device, 41...Travel point, 42... Driving course, 50...drivable area, 51...outline line, 52...survey line, 53...initial course, 61...survey point, 101...vehicle body, 102...traveling device, 121...traveling data generation unit, 122...determination unit, 123...traveling course data adjustment unit, 124...display control unit, 201...vehicle body, 202...traveling device, 203...dump truck body, 421...first driving course, 422...second driving course, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface, AR1...first range, AR2...second range, AR3...part, AR4...other part.

Claims

1. A work site management system comprising: a driving data generation unit that generates a driving course for a transport vehicle based on a survey line that indicates the driving trajectory of a survey vehicle that can detect the inclination angle of a road surface at a work site; a determination unit that determines whether a first range exists in the driving course in which the relative value with respect to the survey line satisfies a predetermined condition; and a driving course data adjustment unit that adds inclination data indicating the inclination angle detected by the survey vehicle to the first range.

2. A work site management system as described in claim 1, wherein the relative values ​​include a relative distance between the travel course and the survey line and a relative angle between the travel course and the survey line, and the specified conditions include a condition that the relative distance is equal to or less than a predetermined distance threshold and a condition that the relative angle is equal to or less than a predetermined angle threshold.

3. A work site management system as described in claim 1, wherein the transport vehicle is capable of detecting an inclination angle of a road surface at the work site, and the driving course data adjustment unit assigns inclination data indicating the inclination angle detected by the transport vehicle traveling along the driving course to a second range of the driving course that does not satisfy the specified condition.

4. The work site management system according to claim 1, wherein the travel course data adjustment unit changes a part of the travel course based on input data from an input device.

5. A work site management system according to claim 1, wherein the travel course data adjustment unit maintains inclination data for other parts of the travel course that are not changed.

6. A work site management system as described in claim 5, wherein the driving course data adjustment unit, when a changed portion of the driving course satisfies the specified condition, adds inclination data detected by the survey vehicle to the changed portion of the driving course.

7. A work site management system as described in claim 6, wherein the transport vehicle is capable of detecting slope data of the road surface at the work site, and the driving course data adjustment unit, if a portion of the changed driving course does not satisfy the specified condition, adds to the changed portion of the driving course the slope data detected by the transport vehicle traveling along the changed portion of the driving course.

8. A method for managing a work site, comprising: generating a driving course for a transport vehicle based on a survey line indicating the driving trajectory of a survey vehicle capable of detecting the inclination angle of a road surface at a work site; determining whether or not a first range exists in the driving course in which a relative value with respect to the survey line satisfies a predetermined condition; and assigning inclination data indicating the inclination angle detected by the survey vehicle to the first range.

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