WO2020122212A1 - 運搬車両の管理システム及び運搬車両の管理方法 - Google Patents
運搬車両の管理システム及び運搬車両の管理方法 Download PDFInfo
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- WO2020122212A1 WO2020122212A1 PCT/JP2019/048815 JP2019048815W WO2020122212A1 WO 2020122212 A1 WO2020122212 A1 WO 2020122212A1 JP 2019048815 W JP2019048815 W JP 2019048815W WO 2020122212 A1 WO2020122212 A1 WO 2020122212A1
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- transport vehicle
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- 238000007726 management method Methods 0.000 title claims description 45
- 238000012937 correction Methods 0.000 claims description 31
- 238000011156 evaluation Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 25
- 238000005259 measurement Methods 0.000 description 16
- 238000012545 processing Methods 0.000 description 16
- 238000012876 topography Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000011960 computer-aided design Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
Definitions
- the present disclosure relates to a transport vehicle management system and a transport vehicle management method.
- unmanned transport vehicles are used for transport work.
- the course on which the transport vehicle runs is set at the work site.
- the haul vehicle is controlled to travel according to the course.
- the transport vehicle can be driven at an appropriate traveling speed. By causing the transport vehicle to travel at an appropriate traveling speed, it is possible to suppress a decrease in productivity at the work site.
- the aspect of the present invention is intended to suppress a decrease in productivity at a work site.
- a two-dimensional course generation unit that generates a two-dimensional course of a transportation vehicle on a two-dimensional plane set at a work site, and a three-dimensional data acquisition unit that acquires three-dimensional data of the work site.
- a three-dimensional course generation unit that generates a three-dimensional course of the transportation vehicle from the two-dimensional course based on the three-dimensional data is provided.
- FIG. 1 is a diagram schematically illustrating an example of a management system for a transportation vehicle and a work site where the transportation vehicle operates according to an embodiment.
- FIG. 2 is a perspective view of the transport vehicle according to the embodiment as seen from the rear.
- FIG. 3 is a functional block diagram illustrating an example of the management device according to the embodiment.
- FIG. 4 is a schematic diagram for explaining processing by the two-dimensional course generation unit according to the embodiment.
- FIG. 5 is a schematic diagram for explaining processing by the three-dimensional curved surface generation unit according to the embodiment.
- FIG. 6 is a schematic diagram for explaining the processing by the three-dimensional course generation unit according to the embodiment.
- FIG. 7 is a schematic diagram for explaining the processing by the course determination unit according to the embodiment.
- FIG. 1 is a diagram schematically illustrating an example of a management system for a transportation vehicle and a work site where the transportation vehicle operates according to an embodiment.
- FIG. 2 is a perspective view of the transport vehicle according to the embodiment as seen from the rear
- FIG. 8 is a schematic diagram for explaining processing by the two-dimensional course correction unit according to the embodiment.
- FIG. 9 is a schematic diagram for explaining the process performed by the traveling speed determination unit according to the embodiment.
- FIG. 10 is a schematic diagram for explaining the process performed by the traveling speed determination unit according to the embodiment.
- FIG. 11 is a functional block diagram showing an example of the travel control device according to the embodiment.
- FIG. 12 is a flowchart showing an example of a management method for a transportation vehicle according to the embodiment.
- FIG. 13 is a schematic diagram for explaining the processing by the three-dimensional course generation unit according to the embodiment.
- FIG. 14 is a schematic diagram for explaining processing by the three-dimensional course generation unit according to the embodiment.
- FIG. 15 is a block diagram showing an example of a computer system according to the embodiment.
- FIG. 1 is a diagram schematically illustrating an example of a management system 1 for a transport vehicle 2 and a work site where the transport vehicle 2 operates according to an embodiment.
- the work site is a mine.
- the transport vehicle 2 is a dump truck that can travel a work site and transport a load.
- a mine means a place or a business place where a mineral is mined. Examples of the cargo transported to the transportation vehicle 2 include ore or earth and sand excavated in the mine.
- the work site may be a quarry.
- the transport vehicle 2 travels on at least part of the mine work site PA and the travel path HL leading to the work site PA.
- the work area PA includes at least one of the loading area LPA and the earth discharging area DPA.
- the traveling road HL includes an intersection IS.
- the loading area LPA is an area where loading work for loading a load on the transport vehicle 2 is performed.
- a loading machine 3 such as a hydraulic excavator operates in the loading field LPA.
- the dumping site DPA is an area where the discharging work is performed in which the cargo is discharged from the transport vehicle 2.
- the crusher 4 is arranged in the dumping site DPA.
- the management system 1 includes a management device 10 and a communication system 9.
- the management device 10 includes a computer system and is installed in the control facility 8 of the mine.
- the management device 10 outputs a control command for controlling the transport vehicle 2.
- the communication system 9 communicates between the management device 10 and the transport vehicle 2.
- the management device 10 and the transport vehicle 2 wirelessly communicate with each other via the communication system 9.
- the transport vehicle 2 is an unmanned dump truck that travels unmanned regardless of the driver's operation.
- the transport vehicle 2 travels according to the three-dimensional course DC set on the travel path HL and the work site PA based on the control command output from the management device 10.
- the transport vehicle 2 travels from the loading site LPA to the dumping site DPA or from the dumping site DPA to the loading site LPA according to the three-dimensional course DC.
- the three-dimensional course DC includes the target travel route of the transport vehicle 2 set at the work site.
- the absolute position of the transport vehicle 2 is detected using the Global Navigation Satellite System (GNSS).
- the Global Navigation Satellite System includes a Global Positioning System (GPS).
- GPS Global Positioning System
- the global navigation satellite system detects the absolute position of the transport vehicle 2 defined by coordinate data of latitude, longitude, and altitude.
- the global navigation satellite system detects the absolute position of the vehicle 2 defined in the global coordinate system.
- the global coordinate system is a coordinate system fixed to the earth.
- a local coordinate system is set at the work site.
- the local coordinate system refers to a coordinate system based on the origin and coordinate axes set at the work site.
- the local coordinate system is defined by the XYZ Cartesian coordinate system.
- the coordinate axes of the local coordinate system include an X axis, a Y axis orthogonal to the X axis, and a Z axis orthogonal to both the X axis and the Y axis.
- the two-dimensional plane set at the work site is the XY plane including the X axis and the Y axis.
- the three-dimensional space set at the work site is an XYZ space including an X axis, a Y axis, and a Z axis.
- the Y axis is orthogonal to the X axis on the XY plane.
- the Z axis is orthogonal to the XY plane.
- the position on the XY plane is defined by the X coordinate and the Y coordinate.
- the position in the XYZ space is defined by the X coordinate, the Y coordinate, and the Z coordinate.
- the position in the global coordinate system and the position in the local coordinate system can be converted using a conversion parameter.
- FIG. 2 is a perspective view of the transport vehicle 2 according to the embodiment as viewed from the rear.
- the transport vehicle 2 includes a vehicle body frame 21, a dump body 22 supported by the vehicle body frame 21, a traveling device 30 that travels while supporting the vehicle body frame 21, and traveling that controls the traveling device 30. And a control device 40.
- the traveling device 30 has wheels 25 on which tires 24 are mounted.
- the wheel 25 includes a front wheel 25F and a rear wheel 25R. Further, the traveling device 30 includes a drive device 31 that generates a driving force that rotates the rear wheels 25R, a brake device 32 that generates a braking force that stops the rotation of the wheels 25, and a steering device 33 that steers the front wheels 25F.
- a drive device 31 that generates a driving force that rotates the rear wheels 25R
- a brake device 32 that generates a braking force that stops the rotation of the wheels 25, and a steering device 33 that steers the front wheels 25F.
- the rear wheels 25R are not steered.
- the wheel 25 rotates around the rotation axis AX.
- the direction parallel to the rotation axis AX of the rear wheel 25R is appropriately referred to as the vehicle width direction, and the traveling direction of the transport vehicle 2 is appropriately referred to as the front-rear direction.
- the direction orthogonal to each other is appropriately referred to as a vertical direction.
- One of the front and rear directions is the front and the other is the rear.
- One of the vehicle width directions is on the right and the other is on the left.
- One in the vertical direction is on the top and the other is on the bottom.
- the front wheel 25F is arranged in front of the rear wheel 25R.
- the front wheels 25F are arranged on both sides in the vehicle width direction.
- the rear wheels 25R are arranged on both sides in the vehicle width direction.
- the dump body 22 is arranged above the vehicle body frame 21.
- the body frame 21 supports the traveling device 30.
- the dump body 22 is a member on which a load is loaded.
- the traveling device 30 has a rear axle 26 that transmits the driving force generated by the driving device 31 to the rear wheels 25R.
- the rear axle 26 includes an axle that supports the rear wheel 25R.
- the rear axle 26 transmits the driving force generated by the drive device 31 to the rear wheel 25R.
- the rear wheel 25R rotates about the rotation axis AX by the driving force supplied from the rear axle 26. Thereby, the traveling device 30 travels.
- the traveling control device 40 includes a computer system and is mounted on the transport vehicle 2.
- the travel control device 40 can control the travel device 30 of the transport vehicle 2 based on the control command transmitted from the management device 10.
- FIG. 3 is a functional block diagram showing an example of the management device 10 according to the embodiment.
- the management device 10 wirelessly communicates with the travel control device 40 of the transport vehicle 2 via the communication system 9.
- the management device 10 includes a three-dimensional data acquisition unit 11, a two-dimensional course generation unit 12, a three-dimensional curved surface generation unit 13, a three-dimensional course generation unit 14, a course determination unit 15, and a two-dimensional course correction unit 16. It has a traveling speed determination unit 17, an output unit 18, and a storage unit 19.
- the 3D data acquisition unit 11 acquires 3D data of the work site.
- the work site three-dimensional data indicates a three-dimensional shape of the work site topography.
- the three-dimensional data acquisition unit 11 is connected to the three-dimensional measuring device 5.
- the three-dimensional measuring device 5 can acquire three-dimensional data of a work site.
- An example of the three-dimensional measurement device 5 is a stereo camera or a laser range finder mounted on an unmanned aerial vehicle (UAV) such as a drone.
- UAV unmanned aerial vehicle
- the unmanned aerial vehicle flies over the work site and measures the topography of the work site using the three-dimensional measuring device 5.
- the measurement data of the three-dimensional measuring device 5 includes three-dimensional data of the work site.
- the three-dimensional data of the work site measured by the three-dimensional measuring device 5 is output to the three-dimensional data acquisition unit 11.
- the three-dimensional data acquisition unit 11 acquires three-dimensional data of the work site from the three-dimensional measuring device 5.
- the three-dimensional measuring device 5 may be, for example, a stereo camera or a laser range finder installed at the work site.
- the three-dimensional measuring device 5 may be a monocular camera, a laser sensor, or a radar sensor.
- the three-dimensional measuring device 5 may be mounted on the transport vehicle 2.
- the 3D data acquired by the 3D data acquisition unit 11 includes point cloud data indicating the 3D shape of the topography of the work site.
- the point cloud data is an aggregate of a plurality of measurement points MP by the three-dimensional measuring device 5 on the topographical surface of the work site.
- the position of each of the plurality of measurement points MP is defined by the X coordinate, the Y coordinate, and the Z coordinate.
- the two-dimensional course generation unit 12 generates the two-dimensional course UC of the transport vehicle 2 on the two-dimensional plane set at the work site.
- the two-dimensional course UC refers to the target travel route of the transport vehicle 2 set on the two-dimensional plane.
- the two-dimensional plane includes the XY plane.
- the two-dimensional course UC is two-dimensional data of the target travel route.
- the two-dimensional course generation unit 12 is connected to the input device 6.
- the input device 6 at least one of a computer keyboard, a mouse, and a touch panel is exemplified.
- the input data generated by operating the input device 6 is output to the two-dimensional course generation unit 12.
- By operating the input device 6, at least a part of the input data necessary for generating the two-dimensional course UC is input to the two-dimensional course generating unit 12.
- the starting point and the arrival point of the two-dimensional course UC are input as input data.
- FIG. 4 is a schematic diagram for explaining processing by the two-dimensional course generation unit 12 according to the embodiment.
- a traveling area AR in which the transport vehicle 2 can travel and a prohibited area ER in which the transport vehicle 2 cannot travel are set.
- the traveling area AR is an area in which the transportation vehicle 2 is permitted to travel.
- the prohibited area ER is an area where the traveling of the transport vehicle 2 is prohibited.
- the traveling area AR and the prohibited area ER are defined on a two-dimensional plane (XY plane) set at the work site.
- the traveling area AR and the prohibited area ER may be defined in the three-dimensional space set at the work site.
- the traveling area AR includes the traveling road HL and the work area PA.
- FIG. 4 shows a traveling area AR of the traveling road HL.
- the two-dimensional course UC is set in the traveling area AR.
- the traveling area AR is defined by the outline FL of the traveling area AR.
- the outer shape line FL is a division line that divides the traveling area AR and the prohibited area ER.
- the traveling area AR is an area on one side of the outline FL, and the prohibited area ER is an area on the other side of the outline FL.
- the outline FL at least one of the boundary line DL of the terrain of the work site and the survey line SL set based on the traveling locus of the survey vehicle 7 traveling along the boundary line DL is exemplified. That is, the outline FL may be defined by the boundary line DL of the terrain or the survey line SL.
- the terrain boundary line DL is a characteristic part that can divide a work site, such as a bank or a cliff.
- the boundary line DL may be a portion that divides the traveling area AR in which the transport vehicle 2 can travel and the prohibited area ER in which the transport vehicle 2 cannot travel.
- the boundary line DL may be derived from the survey result of the work site.
- the boundary line DL may be derived from terrain measurement data measured by a measuring device mounted on an unmanned aerial vehicle capable of flying over the work site.
- CAD computer aided design
- the boundary line DL may be derived from the design data of the work site.
- the survey line SL is a virtual line that divides the traveling area AR and the prohibited area ER derived using the survey vehicle 7.
- the survey vehicle 7 is a manned vehicle that travels based on the driving of a driver who is on board. Generally, the outer shape of the survey vehicle 7 is smaller than the outer shape of the transport vehicle 2.
- the position of the traveling survey vehicle 7 is detected using the Global Navigation Satellite System (GNSS).
- GNSS Global Navigation Satellite System
- the survey vehicle 7 is equipped with a position detector 7S that detects the position of the survey vehicle 7 in the global coordinate system.
- the position detector 7S includes a GNSS antenna that receives a GNSS signal from a GNSS satellite, a GNSS calculator that calculates the absolute position of the survey vehicle 7 based on the GNSS signal received by the GNSS antenna, and a position in the global coordinate system. And a local coordinate converter for converting to a position in the local coordinate system.
- the survey vehicle 7 travels along the boundary line DL of the terrain such as a bank or a cliff while detecting the absolute position of the survey vehicle 7 with the position detector 7S.
- the survey line SL is set based on the traveling locus of the survey vehicle 7.
- the contour line FL includes a set of contour points FP set at intervals.
- the intervals of the outline points FP may be uniform or different.
- the contour line FL is defined by the trajectory passing through the plurality of contour points FP.
- the position of each of the outer shape points FP in the local coordinate system is derived.
- the position data of the outline FL is defined in the local coordinate system.
- the outer shape line FL includes the outer shape line FL1 existing on one side and the outer shape line FL2 existing on the other side in the width direction of the traveling path HL.
- the outer shape line FL1 and the outer shape line FL2 are opposed to each other in the width direction of the traveling path HL.
- the traveling path HL exists between the outline FL1 and the outline FL2.
- the two-dimensional course generation unit 12 sets the reference line BL in the traveling area AR based on the outline FL of the traveling area AR.
- the reference line BL refers to a virtual line set to generate the two-dimensional course UC.
- the position data of the reference line BL is defined in the local coordinate system.
- the outline data indicating the outline FL is input to the management device 10.
- the contour line data indicating the contour line FL is generated based on the boundary line DL or the survey line SL at the work site.
- the outline data is input to the management device 10 by operating the terminal device mounted on the survey vehicle 7.
- the contour line data input to the management device 10 is stored in the storage unit 19.
- the outline data may be stored in the storage unit 19 by the administrator operating the input device 6.
- the two-dimensional course generation unit 12 acquires the contour line data from the storage unit 19.
- the administrator operates the input device 6 the starting point and the arrival point of the two-dimensional course UC are input as input data.
- the two-dimensional course generation unit 12 generates the reference line BL based on the acquired contour line data and input data.
- the reference line BL is set approximately at the center in the width direction of the traveling road HL.
- the reference line BL is set, for example, so that the pair of transport vehicles 2 can travel while passing each other on the traveling path HL.
- the reference line BL may be set at a portion different from the central portion in the width direction of the traveling road HL.
- the reference line BL may be set at an end portion in the width direction of the traveling road HL.
- the reference line BL is also set in the work area PA in the traveling area AR.
- the reference line BL is set so as to extend along the traveling road HL in the traveling road HL.
- the reference line BL is set so as to connect the starting point and the ending point of the transport vehicle 2 traveling on the traveling path HL.
- the starting point which is one end of the reference line BL, is defined, for example, at the exit of the work site PA that is the starting point.
- the reference line BL includes an aggregate of a plurality of reference points BP set at intervals.
- the intervals between the reference points BP may be uniform or different.
- the reference line BL is defined by the trajectory passing through the plurality of reference points BP.
- the position of each of the plurality of reference points BP in the local coordinate system is derived.
- the two-dimensional course generation unit 12 generates the two-dimensional course UC of the transport vehicle 2 in the traveling area AR based on the reference line BL.
- the two-dimensional course UC is generated in the two-dimensional plane.
- the position data of the two-dimensional course UC is specified in the local coordinate system.
- the position of the two-dimensional course UC is defined by the X coordinate and the Y coordinate of the two-dimensional plane.
- the two-dimensional course UC includes an imaginary line indicating the target travel route of the transport vehicle 2 set on the two-dimensional plane.
- the two-dimensional course UC is set substantially parallel to the reference line BL.
- the two-dimensional course UC is set on both sides of the reference line BL.
- the two-dimensional course UC includes a two-dimensional course UC1 set on one side of the reference line BL and a two-dimensional course UC2 set on the other side of the reference line BL.
- the two-dimensional course UC1 is set between the reference line BL and the outer shape line FL1 in the width direction of the traveling path HL.
- the two-dimensional course UC2 is set between the reference line BL and the outer shape line FL2 in the width direction of the traveling road HL.
- the two-dimensional course UC includes a plurality of course points UP set at intervals. The intervals between the course points UP may be uniform or different.
- the plurality of course points UP define the two-dimensional course UC of the transport vehicle 2.
- the two-dimensional course UC is defined in the two-dimensional plane by the trajectory passing through the plurality of course points UP.
- the position of the course point UP is defined by the X coordinate and the Y coordinate of the two-dimensional plane.
- the two-dimensional course UC includes traveling condition data indicating traveling conditions of the transport vehicle 2 traveling in the traveling area AR of the work site.
- the travel condition data includes at least target travel route data indicating the target travel route of the transport vehicle 2.
- the traveling condition data includes target position data indicating a target position of the transportation vehicle 2, target traveling speed data indicating a target traveling speed Vr of the transportation vehicle 2, target acceleration data indicating a target acceleration of the transportation vehicle 2, and a target reduction of the transportation vehicle 2.
- the target deceleration data indicating the speed, the target traveling direction data indicating the target traveling direction of the transport vehicle 2, the target stop position data indicating the target stop position of the transport vehicle 2, and the target departure position data indicating the target start position of the transport vehicle. Contains at least one.
- the target position data of the transport vehicle 2 at the position where the course point UP is set, the target traveling speed data of the transport vehicle 2 at the position where the course point UP is set, and the course point UP are set.
- the target traveling direction data of the transport vehicle 2 at the determined position is included.
- the target traveling speed Vr of the transport vehicle 2 at the position where the course point UP is set is defined based on the target traveling speed data.
- the target traveling direction of the transport vehicle 2 at the position where the course point UP is set is defined.
- the traveling route, traveling speed, acceleration, deceleration, traveling direction, stop position of the transport vehicle 2 are defined.
- the three-dimensional curved surface generation unit 13 generates a continuous three-dimensional curved surface from the three-dimensional data acquired by the three-dimensional data acquisition unit 11.
- the three-dimensional curved surface is a three-dimensional curved surface showing the topography of the work site.
- FIG. 5 is a schematic diagram for explaining processing by the three-dimensional curved surface generation unit 13 according to the embodiment.
- the three-dimensional data acquired by the three-dimensional data acquisition unit 11 includes Z coordinates orthogonal to the two-dimensional plane.
- the three-dimensional data acquired by the three-dimensional data acquisition unit 11 includes point cloud data indicating the three-dimensional shape of the topography of the work site.
- the point cloud data is an aggregate of a plurality of measurement points MP by the three-dimensional measuring device 5 on the topographical surface of the work site.
- the three-dimensional curved surface generation unit 13 interpolates point group data including a plurality of measurement points MP to generate a three-dimensional curved surface CS including a B-spline curved surface, for example.
- the three-dimensional curved surface generation unit 13 may interpolate the point cloud data including the plurality of measurement points MP to generate the three-dimensional curved surface CS including the approximate curved surface.
- the three-dimensional course generation unit 14 calculates the three-dimensional course of the transport vehicle 2 from the two-dimensional course UC generated by the two-dimensional course generation unit 12 based on the three-dimensional data of the work site acquired by the three-dimensional data acquisition unit 11. Generate DC.
- the three-dimensional course generation unit 14 generates the three-dimensional course DC based on the three-dimensional curved surface CS generated by the three-dimensional curved surface generation unit 13.
- the three-dimensional course DC means a target travel route of the transport vehicle 2 set on the surface of the terrain at the work site.
- the three-dimensional course DC is three-dimensional data of the target travel route.
- FIG. 6 is a schematic diagram for explaining processing by the three-dimensional course generation unit 14 according to the embodiment.
- an XY plane and an XYZ space are defined at the work site.
- the position on the XY plane is defined by the X coordinate and the Y coordinate.
- the position in the XYZ space is defined by the X coordinate, the Y coordinate, and the Z coordinate orthogonal to the XY plane.
- the two-dimensional plane on which the two-dimensional course UC is defined is the XY plane including the X axis and the Y axis.
- the two-dimensional course UC is defined by the X coordinate and the Y coordinate of the XY plane.
- the positions in the XY plane of the plurality of course points UP that define the two-dimensional course UC are defined by the X coordinate and the Y coordinate.
- the three-dimensional data acquired by the three-dimensional data acquisition unit 11 and the three-dimensional curved surface CS generated by the three-dimensional curved surface generation unit 13 include Z coordinates orthogonal to the XY plane.
- the measurement point MP and the three-dimensional curved surface CS that define the three-dimensional data are defined by the X coordinate, the Y coordinate, and the Z coordinate.
- the three-dimensional course generation unit 14 generates the three-dimensional course DC by mapping the two-dimensional course UC on the three-dimensional curved surface CS.
- the three-dimensional course generation unit 14 adds the Z coordinate of the three-dimensional data to the two-dimensional course UC to generate the three-dimensional course DC.
- the three-dimensional course generation unit 14 adds the Z coordinate of the three-dimensional curved surface CS that matches the X coordinate and the Y coordinate of the two-dimensional course UC to the two-dimensional course UC.
- the three-dimensional course generation unit 14 determines the three-dimensional curved surface.
- the Z coordinate (Z1) at (X1, Y1) is derived.
- the three-dimensional course generation unit 14 determines the coordinates of one course point DP1 among the plurality of course points DP defining the three-dimensional course DC to be (X1, Y1, Z1).
- the three-dimensional course generation unit 14 sets the Z coordinate (Z2) at (X2, Y2) on the three-dimensional curved surface CS.
- the coordinates of one course point DP2 are determined to be (X2, Y2, Z2).
- the three-dimensional course generation unit 14 generates the three-dimensional course when the X coordinate and the Y coordinate of the i-th course point UPi are (Xi, Yi) among the N course points UP that define the two-dimensional course UC.
- the unit 14 derives the Z coordinate (Zi) at (Xi, Yi) on the three-dimensional curved surface CS, and determines the coordinate of one course point DPi among the plurality of course points DP defining the three-dimensional course DC by (Xi, Yi, Zi).
- the three-dimensional course generation unit 14 adds the Z-coordinate of the three-dimensional curved surface CS, which coincides with the X-coordinate and the Y-coordinate of the course point UP of the two-dimensional course UC, to the course point UP, and thereby the plurality of three-dimensional courses DC.
- the respective X coordinate, Y coordinate, and Z coordinate of the course point DP can be determined.
- the three-dimensional course generation unit 14 can generate a three-dimensional course DC by connecting a plurality of course points DP.
- the three-dimensional course DC includes a three-dimensional curve defined in the XYZ rectangular coordinate system.
- the course determination unit 15 evaluates the three-dimensional course DC generated by the three-dimensional course generation unit 14.
- the course determination unit 15 evaluates the three-dimensional course DC based on the prescribed evaluation items.
- the evaluation item of the three-dimensional course DC includes at least one of the curvature of the three-dimensional course DC, the radius of curvature, and the minimum turning radius. In the following description, in order to simplify the description, it is assumed that the evaluation item of the three-dimensional course DC is the curvature of the three-dimensional course DC.
- the curvature includes the curvature of the three-dimensional course DC centered on each of the X axis, the Y axis, and the Z axis.
- the course determination unit 15 compares a predetermined curvature threshold with the curvature of the three-dimensional course DC generated by the three-dimensional course generation unit 14. When the curvature of the three-dimensional course DC is equal to or larger than the curvature threshold, that is, when the curvature of the three-dimensional course DC is large, the course determination unit 15 determines that the three-dimensional course DC generated by the three-dimensional course generation unit 14 is inappropriate. Judge that there is.
- the course determination unit 15 is appropriate for the three-dimensional course DC generated by the three-dimensional course generation unit 14. To determine.
- FIG. 7 is a schematic diagram for explaining the processing by the course determination unit 15 according to the embodiment.
- the course determination unit 15 can determine whether or not the three-dimensional course DC is appropriate by comparing the curvature of the three-dimensional course DC around the X axis or the Y axis with the curvature threshold.
- the two-dimensional course correction unit 16 outputs a correction data for correcting the two-dimensional course UC generated by the two-dimensional course generation unit 12 based on the evaluation by the course determination unit 15. That is, when the course determination unit 15 determines that the three-dimensional course DC is inappropriate, the two-dimensional course correction unit 16 outputs correction data for correcting the two-dimensional course UC.
- FIG. 8 is a schematic diagram for explaining the processing by the two-dimensional course correction unit 16 according to the embodiment.
- the curvature of the three-dimensional course DC is small on the XY plane
- the curvature of the three-dimensional course DC centering on the X axis is large due to, for example, a raised portion of the traveling road HL.
- the two-dimensional course correction unit 16 corrects the two-dimensional course UC so that the curvature of the three-dimensional course DC becomes small.
- the two-dimensional course correction unit 16 can reduce the curvature of the three-dimensional course DC around a portion having a large curvature of the three-dimensional course DC based on the three-dimensional data (three-dimensional curved surface CS) of the work site. To explore. That is, the two-dimensional course correction unit 16 searches for a flat portion around the raised portion. The two-dimensional course correction unit 16 calculates a difference in the Z-axis direction between adjacent course points DP, for example, and searches for a flat portion where the difference becomes small. Thereby, as shown in FIG. 8B, the two-dimensional course correction unit 16 can output correction data for correcting the two-dimensional course UC so as to bypass the raised portion.
- the three-dimensional course generation unit 14 corrects the two-dimensional course UC based on the correction data output from the two-dimensional course correction unit 16 and regenerates the three-dimensional course DC.
- the traveling speed determination unit 17 determines the target traveling speed Vr of the transport vehicle 2 based on the three-dimensional course DC generated by the three-dimensional course generation unit 14.
- the traveling speed determination unit 17 is based on the three-dimensional course DC generated by the three-dimensional course generation unit 14 and the traveling performance of the transportation vehicle 2 stored in the storage unit 19, and is the target traveling speed Vr of the transportation vehicle 2.
- the traveling performance of the transport vehicle 2 is known data that can be derived from design data or specification data of the transport vehicle 2, and is stored in the storage unit 19 in advance.
- the traveling performance of the transport vehicle 2 may be derived by preliminary experiments or simulations and stored in the storage unit 19 in advance.
- FIG. 9 is a schematic diagram for explaining the process performed by the traveling speed determination unit 17 according to the embodiment.
- the traveling speed determination unit 17 derives the maximum value of the target traveling speed Vr at which the transportation vehicle 2 can travel for each of a plurality of performance items of the traveling performance of the transportation vehicle 2.
- the horizontal axis represents the position of the three-dimensional course DC
- the vertical axis represents the maximum value of the target traveling speed Vr at which the transport vehicle 2 can travel according to the position of the three-dimensional course DC.
- the traveling speed determination unit 17 calculates the maximum value of the target traveling speed Vra at each position of the three-dimensional course DC based on the first performance item SPa.
- the traveling speed determination unit 17 calculates the maximum value of the target traveling speed Vrb at each position of the three-dimensional course DC based on the second performance item SPb.
- the traveling speed determination unit 17 calculates the maximum value of the target traveling speed Vrc at each position of the three-dimensional course DC based on the third performance item SPc.
- At least one of the maximum output of the drive device 31, the braking capacity of the brake device 32, the slip limit of the tire 24, and the ground contact force of the tire 24 is exemplified as the performance item.
- the traveling speed determination unit 17 determines, based on the maximum output of the drive device 31, the range in which the transport vehicle 2 does not deviate from the three-dimensional course DC and the transport vehicle 2.
- the highest maximum output ra is calculated in the range where is not overturned.
- the traveling speed determination unit 17 determines the highest braking force based on the braking ability of the brake device 32 within a range in which the transport vehicle 2 does not deviate from the three-dimensional course DC. Calculate the capability rb. For example, when the third performance item is the slip limit of the tire 24, the traveling speed determination unit 17 determines, based on the slip limit of the tire 24, the highest slip limit rc in the range in which the transport vehicle 2 does not deviate from the three-dimensional course DC. To calculate.
- the traveling speed determination unit 17 determines the maximum output ra, the braking ability rb, and the slip limit rc to be low values in a portion having a large curvature in the three-dimensional course DC.
- the maximum output ra, the braking ability rb, and the slip limit rc are determined to be high values in the portion of the three-dimensional course DC where the curvature is small.
- the three-dimensional course DC is defined by a plurality of course points DP.
- each of the course points DP includes not only the X coordinate, the Y coordinate, and the Z coordinate but also the slope data of the terrain.
- the landform inclination data includes a pitch angle indicating the inclination angle of the transportation vehicle 2 in the front-rear direction and a roll angle indicating the inclination angle of the transportation vehicle 2 in the vehicle width direction.
- the traveling speed determination unit 17 calculates the maximum output ra, the braking ability rb, and the slip limit rc based on the roll angle.
- FIG. 10 is a schematic diagram for explaining processing by the traveling speed determination unit 17 according to the embodiment.
- the transport vehicle 2 travels leftward on a travel path HL in which the roll angle is given to the transport vehicle 2 such that the left portion of the transport vehicle 2 is located below the right portion.
- the transport vehicle 2 can stably travel on the traveling path HL.
- the transport vehicle 2 when the transport vehicle 2 travels leftward on the travel path HL in which the roll angle is given to the transport vehicle 2 such that the right portion of the transport vehicle 2 is located below the left portion, the transport vehicle 2 If the target traveling speed Vr (Vra, Vrb, Vrc) is increased, the transport vehicle 2 cannot stably travel on the traveling path HL.
- the traveling speed determination unit 17 determines the maximum value of the target traveling speed Vr (Vra, Vrb, Vrc) on the basis of the roll angle defined for each of the plurality of course points DP, so that the transport vehicle 2 can be set to three. It is possible to calculate the highest target traveling speed Vrb within a range that does not deviate from the dimension course DC.
- the traveling speed determination unit 17 determines the lowest value of the target traveling speed Vra, the target traveling speed Vrb, and the target traveling speed Vrc at each of a plurality of positions of the three-dimensional course DC as the three-dimensional value.
- the target traveling speed Vr at the position of the course DC is determined.
- the output unit 18 outputs the three-dimensional course DC generated by the three-dimensional course generation unit 14 to the travel control device 40 of the transport vehicle 2.
- the output unit 18 outputs the target traveling speed Vr at each position of the three-dimensional course DC determined by the traveling speed determination unit 17 to the traveling control device 40 in a state of being given to the course point DP of the three-dimensional course DC.
- the course point DP output to the travel control device 40 includes respective data of the X coordinate, the Y coordinate, the Z coordinate, the inclination data (roll angle and pitch angle), and the target traveling speed Vr.
- the three-dimensional course DC generated by the three-dimensional course generation unit 14 may be stored in the storage unit 19.
- the output unit 18 may output the three-dimensional course DC stored in the storage unit 19 to the travel control device 40.
- FIG. 11 is a functional block diagram showing an example of the travel control device 40 according to the embodiment.
- the traveling control device 40 is connected to the traveling device 30.
- the traveling device 30 includes a drive device 31, a brake device 32, and a steering device 33.
- the travel control device 40 is also connected to the position sensor 34, the steering angle sensor 35, and the azimuth angle sensor 36.
- the drive device 31, the brake device 32, the steering device 33, the position sensor 34, the steering angle sensor 35, and the azimuth angle sensor 36 are mounted on the transport vehicle 2.
- the drive device 31 operates to drive the traveling device 30 of the transport vehicle 2.
- the drive device 31 generates a driving force for driving the traveling device 30.
- the drive device 31 generates a driving force for rotating the rear wheel 25R.
- the drive device 31 includes an internal combustion engine such as a diesel engine.
- the drive device 31 may include a generator that generates electric power by the operation of the internal combustion engine, and an electric motor that operates based on the electric power generated by the generator.
- the brake device 32 operates to brake the traveling device 30. By the operation of the brake device 32, the traveling of the traveling device 30 is decelerated or stopped.
- the steering device 33 operates to steer the traveling device 30.
- the transport vehicle 2 is steered by the steering device 33.
- the steering device 33 steers the front wheels 25F.
- the position sensor 34 detects the absolute position of the transport vehicle 2.
- the position sensor 34 includes a GNSS antenna that receives a GNSS signal from a GNSS satellite, a GNSS calculator that calculates the absolute position of the transport vehicle 2 based on the GNSS signal received by the GNSS antenna, and a position in the global coordinate system that is local.
- a local coordinate converter for converting to a position in a coordinate system.
- the steering angle sensor 35 detects the steering angle of the transport vehicle 2 by the steering device 33.
- the azimuth sensor 36 detects the azimuth of the transport vehicle 2.
- the steering angle sensor 35 includes, for example, a rotary encoder provided in the steering device 33.
- the azimuth sensor 36 includes, for example, a gyro sensor provided on the vehicle body frame 21.
- the traveling control device 40 has a three-dimensional course acquisition unit 41, a detection data acquisition unit 42, and an operation control unit 43.
- the 3D course acquisition unit 41 acquires the 3D course DC generated by the management device 10.
- the detection data acquisition unit 42 acquires position data indicating the position of the transport vehicle 2 from the position sensor 34.
- the detection data acquisition unit 42 acquires steering angle data indicating the steering angle of the steering device 33 from the steering angle sensor 35.
- the detection data acquisition unit 42 acquires the azimuth data indicating the azimuth of the transport vehicle 2 from the azimuth sensor 36.
- the operation control unit 43 issues a control command for controlling at least one of the drive device 31, the brake device 32, and the steering device 33 of the transport vehicle 2 based on the three-dimensional course DC acquired by the three-dimensional course acquisition unit 41. Output.
- the control command generated by the operation control unit 43 is output from the operation control unit 43 to the traveling device 30.
- the control command output from the operation control unit 43 includes an accelerator command output to the drive device 31, a brake command output to the brake device 32, and a steering command output to the steering device 33.
- the operation control unit 43 controls the drive device 31, the brake device 32, and the steering device 33 so that the transport vehicle 2 and the travel course CS travel in a matched state. Control.
- FIG. 12 is a flowchart showing an example of the management method of the transport vehicle 2 according to the embodiment.
- the three-dimensional measuring device 5 acquires three-dimensional data of the work site.
- the three-dimensional measuring device 5 transmits the three-dimensional data to the management device 10.
- the three-dimensional data acquisition unit 11 acquires three-dimensional data from the three-dimensional measuring device 5 (step S1).
- the 3D data includes point cloud data having a plurality of measurement points MP.
- the three-dimensional curved surface generation unit 13 generates a continuous three-dimensional curved surface CS from the three-dimensional data (step S2).
- the two-dimensional course generation unit 12 generates a two-dimensional course UC on the XY plane set at the work site (step S3).
- the two-dimensional course generation unit 12 acquires the contour line data indicating the contour line FL of the traveling area AR, acquires the position data of each of the entrance and the exit of the work place PA which is the starting point and the work place PA which is the arrival point, and the reference.
- the start point data and the end point data of the line BL are calculated, and the reference line BL is generated based on the outline FL. Further, the two-dimensional course generation unit 12 generates the two-dimensional course UC based on the reference line BL.
- the three-dimensional course generation unit 14 generates a three-dimensional course DC based on the three-dimensional curved surface CS generated in step S2 and the two-dimensional course UC generated in step S3 (step S4).
- the three-dimensional course generation unit 14 adds the Z coordinate of the three-dimensional curved surface CS that matches the X coordinate and the Y coordinate of the course point UP that defines the two-dimensional course UC to the course point UP of the two-dimensional course UC, thereby obtaining 3
- the course point DP of the dimension course DC is generated.
- the three-dimensional course generation unit 14 generates a continuous three-dimensional course DC by connecting the generated plurality of course points DP.
- the course determining unit 15 determines whether the three-dimensional course DC generated in step S5 is appropriate (step S5).
- the course determination unit 15 compares a predetermined curvature threshold with the curvature of the three-dimensional course DC, and if the curvature of the three-dimensional course DC is equal to or larger than the curvature threshold, the three-dimensional course DC is inappropriate. If it is determined that the curvature of the three-dimensional course DC is less than the curvature threshold, it is determined that the three-dimensional course DC is appropriate.
- step S5 When it is determined in step S5 that the three-dimensional course DC is appropriate (step S5: No), the traveling speed determination unit 17 determines the target traveling speed Vr of the transport vehicle 3 based on the three-dimensional course DC. (Step S6).
- the traveling speed determination unit 17 determines the target traveling speed Vr of the transportation vehicle 2 based on the three-dimensional course DC and the traveling performance of the transportation vehicle 2 stored in the storage unit 19.
- the three-dimensional course DC includes the curvature and the roll angle at the course point DP.
- the output unit 18 outputs the target traveling speed Vr at each position of the three-dimensional course DC determined in step S6 to the traveling control device 40 in a state of being attached to the course point DP of the three-dimensional course DC (step S7). ..
- the traveling control device 40 of the transport vehicle 2 travels on the work site according to the three-dimensional course DC transmitted from the management device 10.
- step S5 When it is determined in step S5 that the three-dimensional course DC is inappropriate (step S5: Yes), the two-dimensional course correction unit 16 outputs the correction data for correcting the two-dimensional course UC to the two-dimensional course generation unit. It outputs to 12 (step S8).
- the two-dimensional course correction unit 16 when it is determined that the curvature of at least part of the three-dimensional course DC is equal to or larger than the curvature threshold value, the two-dimensional course correction unit 16 reduces the curvature of the three-dimensional course DC. As described above, the correction data for correcting the two-dimensional course UC is output.
- the two-dimensional course correction unit 16 searches for a terrain that can reduce the curvature of the three-dimensional course DC around a portion where the curvature of the three-dimensional course DC is large, based on the three-dimensional data (three-dimensional curved surface CS). ..
- the two-dimensional course correction unit 16 outputs correction data for correcting the two-dimensional course UC so as to bypass the raised portion, for example. That is, since the two-dimensional course correction unit 16 can reduce the curvature by moving the control point, it is possible to output the correction data by using this characteristic.
- the three-dimensional course generation unit 14 corrects the two-dimensional course UC based on the correction data output from the two-dimensional course correction unit 16 and regenerates the three-dimensional course DC (step S4).
- the three-dimensional course DC is generated from the two-dimensional course UC based on the three-dimensional data of the work site.
- the three-dimensional course DC in which the topography of the work site is taken into consideration is generated.
- the transport vehicle 2 can be driven at an appropriate traveling speed V according to the three-dimensional course DC.
- the transport vehicle 2 By causing the transport vehicle 2 to travel at an appropriate traveling speed V, it is possible to suppress a decrease in productivity at the work site.
- the two-dimensional course UC and the three-dimensional course DC can be converted, for example, when it is desired to modify the three-dimensional course DC, the two-dimensional course UC can be modified or changed as usual. It can be done without time or cost.
- the three-dimensional course DC suitable for the topography of the work site is generated.
- the two-dimensional course UC is defined by the X coordinate and the Y coordinate.
- the three-dimensional data includes the Z coordinate.
- the three-dimensional course DC defined by the X coordinate, the Y coordinate, and the Z coordinate is generated.
- Each of the plurality of course points DP of the three-dimensional course DC includes not only the X coordinate, the Y coordinate, and the Z coordinate but also inclination data including a roll angle and a pitch angle.
- the transport vehicle 2 can travel at an appropriate traveling speed. As described with reference to FIG. 10, even if there is a roll angle, the traveling speed can be increased depending on the turning direction. Therefore, it is possible to suppress a decrease in productivity at the work site.
- the target traveling speed of the transportation vehicle 2 can be set in consideration of the performance or posture of the transportation vehicle 2.
- the three-dimensional curved surface generation unit 13 is configured to generate a three-dimensional curved surface CS from three-dimensional data as a three-dimensional model.
- the three-dimensional curved surface generator 13 may generate a three-dimensional mesh model such as a triangular mesh model from the three-dimensional data as a three-dimensional model.
- the three-dimensional curved surface generator 13 may generate the three-dimensional course CS based on the three-dimensional mesh model.
- FIGS. 13 and 14 are schematic diagrams for explaining the processing by the three-dimensional course generation unit 14 according to the embodiment.
- the three-dimensional curved surface CS is generated from the three-dimensional data
- the three-dimensional course generating unit 14 is configured to generate the three-dimensional course DC based on the three-dimensional curved surface CS.
- the three-dimensional curved surface CS may not be generated.
- the three-dimensional course generation unit 14 determines the Z coordinate (Za) of the measurement point MP that matches the X coordinate and the Y coordinate of the course point UP of the two-dimensional course UC of the two-dimensional course UC.
- the course point DP of the three-dimensional course DC can be generated.
- the X coordinate and Y coordinate (Xa, Ya) of the course point UP of the two-dimensional course UC may not match the X coordinate and Y coordinate of the plurality of measurement points MP.
- at least three measurement points MP existing around (Xa, Ya) in the XY plane are selected, and the average value (Zav) of the Z coordinates of these three measurement points MP is determined as the course of the two-dimensional course UC. It may be added to the point UP.
- the two-dimensional course UC is defined by the course point UP.
- the two-dimensional course UC may be defined by a function or a mathematical formula.
- FIG. 15 is a block diagram showing an example of a computer system 1000 according to the embodiment.
- the computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a nonvolatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), It has a storage 1003 and an interface 1004 including an input/output circuit.
- the functions of the management device 10 and the travel control device 40 described above are stored in the storage 1003 as programs.
- the processor 1001 reads the program from the storage 1003, expands it in the main memory 1002, and executes the above-described processing according to the program.
- the program may be distributed to the computer system 1000 via a network.
- the computer system 1000 acquires the three-dimensional data of the work site according to the above-described embodiment, and based on the three-dimensional data, the three-dimensional course DC from the two-dimensional course UC of the transport vehicle 2 defined at the work site. The generation and the output of the three-dimensional course DC to the travel control device 40 of the transport vehicle 2 are executed.
- the position data of the reference line BL is defined in the local coordinate system.
- the position data of the reference line BL may be defined in the global coordinate system.
- the traveling control device 40 may have some or all of the functions of the management device 10.
- the traveling control device 40 includes the three-dimensional data acquisition unit 11, the two-dimensional course generation unit 12, the three-dimensional curved surface generation unit 13, the three-dimensional course generation unit 14, the course determination unit 15, the two-dimensional course correction unit 16, and the traveling. You may have a part or all function of the speed determination part 17.
- the communication system 9 may be omitted.
- 1... Management system 2... Transport vehicle, 3... Loader, 4... Crusher, 5... Three-dimensional measuring device, 6... Input device, 7... Survey vehicle, 7S... Position detector, 8... Control facility, 9 ... communication system, 10... management device, 11... three-dimensional data acquisition unit, 12... two-dimensional course generation unit, 13... three-dimensional curved surface generation unit, 14... three-dimensional course generation unit, 15... course determination unit, 16... 2 Dimensional course correction unit, 17... Running speed determination unit, 18... Output unit, 19... Storage unit, 21... Body frame, 22... Dump body, 24... Tire, 25... Wheel, 25F... Front wheel, 25R... Rear wheel, 26 ... rear axle, 30... traveling device, 31... drive device, 32... brake device, 33... steering device, 34...
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Abstract
Description
図1は、実施形態に係る運搬車両2の管理システム1及び運搬車両2が稼働する作業現場の一例を模式的に示す図である。実施形態において、作業現場は、鉱山である。運搬車両2は、作業現場を走行して積荷を運搬可能なダンプトラックである。鉱山とは、鉱物を採掘する場所又は事業所をいう。運搬車両2に運搬される積荷として、鉱山において掘削された鉱石又は土砂が例示される。なお、作業現場は、採石場でもよい。
図2は、実施形態に係る運搬車両2を後方から見た斜視図である。図2に示すように、運搬車両2は、車体フレーム21と、車体フレーム21に支持されるダンプボディ22と、車体フレーム21を支持して走行する走行装置30と、走行装置30を制御する走行制御装置40とを備える。
図3は、実施形態に係る管理装置10の一例を示す機能ブロック図である。管理装置10は、運搬車両2の走行制御装置40と通信システム9を介して無線通信する。
図11は、実施形態に係る走行制御装置40の一例を示す機能ブロック図である。走行制御装置40は、走行装置30と接続される。走行装置30は、駆動装置31、ブレーキ装置32、及び操舵装置33を含む。また、走行制御装置40は、位置センサ34、操舵角センサ35、及び方位角センサ36と接続される。駆動装置31、ブレーキ装置32、操舵装置33、位置センサ34、操舵角センサ35、及び方位角センサ36は、運搬車両2に搭載される。
図12は、実施形態に係る運搬車両2の管理方法の一例を示すフローチャートである。3次元計測装置5により作業現場の3次元データが取得される。3次元計測装置5は、3次元データを管理装置10に送信する。3次元データ取得部11は、3次元計測装置5から3次元データを取得する(ステップS1)。
以上説明したように、実施形態によれば、2次元コースUCが生成された後、作業現場の3次元データに基づいて、2次元コースUCから3次元コースDCが生成される。これにより、作業現場の地形が考慮された3次元コースDCが生成される。作業現場の地形が考慮された3次元コースDCが生成されることにより、3次元コースDCに従って、運搬車両2を適切な走行速度Vで走行させることができる。運搬車両2を適切な走行速度Vで走行させることにより、作業現場の生産性の低下を抑制することができる。
図13及び図14は、実施形態に係る3次元コース生成部14による処理を説明するための模式図である。上述の実施形態においては、3次元データから3次元曲面CSが生成され、3次元コース生成部14は、3次元曲面CSに基づいて、3次元コースDCを生成することとした。3次元曲面CSは生成されなくてもよい。
図15は、実施形態に係るコンピュータシステム1000の一例を示すブロック図である。上述の管理装置10及び走行制御装置40のそれぞれは、コンピュータシステム1000を含む。コンピュータシステム1000は、CPU(Central Processing Unit)のようなプロセッサ1001と、ROM(Read Only Memory)のような不揮発性メモリ及びRAM(Random Access Memory)のような揮発性メモリを含むメインメモリ1002と、ストレージ1003と、入出力回路を含むインターフェース1004とを有する。上述の管理装置10の機能及び走行制御装置40の機能は、プログラムとしてストレージ1003に記憶されている。プロセッサ1001は、プログラムをストレージ1003から読み出してメインメモリ1002に展開し、プログラムに従って上述の処理を実行する。なお、プログラムは、ネットワークを介してコンピュータシステム1000に配信されてもよい。
Claims (11)
- 作業現場の3次元データを取得する3次元データ取得部と、
前記作業現場に設定された2次元平面に運搬車両の2次元コースを生成する2次元コース生成部と、
前記3次元データに基づいて、前記2次元コースから前記運搬車両の3次元コースを生成する3次元コース生成部と、
を備える運搬車両の管理システム。 - 前記3次元データは、点群データを含み、
前記3次元データから3次元モデルを生成する3次元曲面生成部を備え、
前記3次元コース生成部は、前記3次元モデルに基づいて、前記3次元コースを生成する、
請求項1に記載の運搬車両の管理システム。 - 前記2次元コースは、前記2次元平面の第1座標及び第2座標によって規定され、
前記3次元データは、前記2次元平面に直交する第3座標を含み、
前記3次元コース生成部は、前記3次元データの前記第3座標を前記2次元コースに付加して、前記3次元コースを生成する、
請求項1又は請求項2に記載の運搬車両の管理システム。 - 前記2次元コースは、前記2次元平面の第1座標及び第2座標によって規定され、
前記3次元データは、点群データを含み、
前記点群データは、前記2次元平面に直交する第3座標を含み、
前記3次元データから3次元曲面を生成する3次元曲面生成部を備え、
前記3次元コース生成部は、前記2次元コースの前記第1座標及び前記第2座標に一致する前記3次元曲面の前記第3座標を前記2次元コースに付加する、
請求項1に記載の運搬車両の管理システム。 - 前記3次元コースは、3次元曲線を含む、
請求項3又は請求項4に記載の運搬車両の管理システム。 - 前記3次元コースは、複数のコース点によって規定され、
前記コース点のそれぞれは、前記第1座標、前記第2座標、前記第3座標、及び傾斜データを含む、
請求項3から請求項5のいずれか一項に記載の運搬車両の管理システム。 - 前記3次元コースを評価するコース判定部を備える、
請求項1から請求項6のいずれか一項に記載の運搬車両の管理システム。 - 前記コース判定部による評価に基づいて、前記2次元コースを補正するための補正データを出力する2次元コース補正部を備え、
前記3次元コース生成部は、前記補正データに基づいて前記2次元コースを補正して、前記3次元コースを再生成する、
請求項7に記載の運搬車両の管理システム。 - 前記3次元コースに基づいて、前記運搬車両の目標走行速度を決定する走行速度決定部を備える、
請求項1から請求項8のいずれか一項に記載の運搬車両の管理システム。 - 前記3次元コースを前記運搬車両の走行制御装置に出力する出力部を備える、
請求項1から請求項9のいずれか一項に記載の運搬車両の管理システム。 - 作業現場の3次元データを取得することと、
前記3次元データに基づいて、前記作業現場に規定された運搬車両の2次元コースから3次元コースを生成することと、
前記3次元コースを前記運搬車両の走行制御装置に出力することと、
を含む運搬車両の管理方法。
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