JP2024092484A - Work site management system and work site management method - Google Patents

Abstract

To suppress productivity at a work site from decreasing.SOLUTION: A management system for a work site comprises a detection data acquisition part which acquires detection data when an obstacle sensor mounted on a work machine detects a work site leveled by the work machine and an obstacle setting part which sets an obstacle in the work site based upon the detection data from the obstacle sensor.SELECTED DRAWING: Figure 5

Description

This disclosure relates to a work site management system and a work site management method.

In the technical field related to work site management systems, a vehicle guidance device such as that disclosed in Patent Document 1 is known.

Japanese Patent Application Laid-Open No. 11-296229

Unmanned vehicles may travel at work sites. If there are obstacles at the work site, the travel of the unmanned vehicle may be hindered, which may result in reduced productivity at the work site. In order to prevent a decrease in productivity at the work site, it is necessary to properly recognize obstacles and operate the unmanned vehicle in accordance with the obstacles.

The purpose of this disclosure is to prevent declines in productivity at work sites.

In accordance with the present disclosure, a work site management system is provided that includes a detection data acquisition unit that acquires detection data when an obstacle sensor mounted on a work machine detects a work site that has been leveled by the work machine, and an obstacle setting unit that sets obstacles at the work site based on the detection data from the obstacle sensor.

This disclosure helps prevent declines in productivity at work sites.

FIG. 1 is a schematic diagram showing a work site management system according to an embodiment. FIG. 2 is a functional block diagram showing a work site management system according to the embodiment. FIG. 3 is a diagram for explaining a method for generating a travel path according to the embodiment. FIG. 4 is a diagram illustrating the operation of the work machine according to the embodiment. FIG. 5 is a diagram for explaining a method for determining an obstacle according to the embodiment. FIG. 6 is a diagram for explaining a method for setting a travel path according to the embodiment. FIG. 7 is a flowchart showing a work site management method according to the embodiment.

Below, 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. Also, some components may not be used.

[Management System]
FIG. 1 is a diagram showing a schematic diagram of a management system 1 for a work site according to an embodiment. In the embodiment, the work site is a mine. A mine refers to a place or business establishment where minerals are mined. Examples of mines include a metal mine for mining metals, a non-metal mine for mining limestone, and a coal mine for mining coal. A work machine 2 and an unmanned vehicle 3 operate at the work site. The management system 1 manages the work machine 2 and the unmanned vehicle 3. In the embodiment, the work machine 2 is a bulldozer. The work machine 2 performs a predetermined work at the work site. Examples of the work performed by the work machine 2 include excavation work, earth-pulling work, and ground leveling work. The unmanned vehicle 3 refers to a work vehicle that operates unmanned without being driven by a driver. In the embodiment, the unmanned vehicle 3 is an unmanned transport vehicle that travels unmanned at the work site to transport a load. An unmanned dump truck is an example of the unmanned vehicle 3. An example of the cargo to be transported by the unmanned vehicle 3 is material excavated at a work site.

The management system 1 comprises a management device 4 and a communication system 5. The management device 4 is installed in a control facility 6 at the work site. An administrator resides in the control facility 6. The management device 4, the work machine 2, and the unmanned vehicle 3 communicate wirelessly via the communication system 5. Examples of the communication system 5 include the Internet, a mobile phone communication network, a satellite communication network, and a local area network (LAN).

The work machine 2 includes a vehicle body 7, a traveling device 8, and a working implement 9. An engine is mounted on the vehicle body 7. The engine is the driving source of the work machine 2. The traveling device 8 supports the vehicle body 7 and travels. The traveling device 8 has a pair of tracks 10. The work machine 2 travels by rotating the tracks 10. The working implement 9 performs excavation work, earth-pulling work, or ground leveling work on the work target. The working implement 9 is attached to the vehicle body 7. At least a portion of the working implement 9 is disposed in front of the vehicle body 7. The working implement 9 has an excavation blade 11, a lift frame 12, a tilt cylinder 13, and a lift cylinder 14. The excavation blade 11 is disposed in front of the vehicle body 7. The lift frame 12 supports the excavation blade 11. One end of the lift frame 12 is connected to the back of the excavation blade 11 via a pivot mechanism. The other end of the lift frame 12 is connected to the vehicle body 7 via a pivot mechanism. The other end of the lift frame 12 may be connected to the traveling device 8 via a rotating mechanism. The tilt cylinder 13 and the lift cylinder 14 each operate the excavation blade 11. The tilt cylinder 13 drives the excavation blade 11 to tilt. The lift cylinder 14 drives the excavation blade 11 to move up and down. One end of the tilt cylinder 13 is connected to the back of the excavation blade 11 via a rotating mechanism. The other end of the tilt cylinder 13 is connected to the upper surface of the lift frame 12. The tilt cylinder 13 extends and retracts, changing the tilt angle of the excavation blade 11. One end of the lift cylinder 14 is connected to the lift frame 12 via a rotating mechanism. The other end of the lift cylinder 14 is connected to the vehicle body 7 via a rotating mechanism. The excavation blade 11 moves up and down as the lift cylinder 14 extends and retracts.

The unmanned vehicle 3 includes a vehicle body 15, a traveling device 16, and a dump body 17. The vehicle body 15 includes a vehicle frame. The vehicle body 15 is supported by the traveling device 16. The vehicle body 15 supports the dump body 17. The traveling device 16 travels through the work site while supporting the vehicle body 15. The traveling device 16 includes wheels, tires attached to the wheels, an engine, a brake device, and a steering device. The engine generates a driving force for driving the unmanned vehicle 3. The unmanned vehicle 3 travels as the tires rotate. The brake device generates a braking force for slowing down or stopping the unmanned vehicle 3. The steering device generates a steering force for turning the unmanned vehicle 3. The dump body 17 is a member on which a load is loaded. At least a portion of the dump body 17 is disposed above the vehicle body 15.

[Management System]
2 is a functional block diagram showing the work site management system 1 according to the embodiment. The work machine 2 has a control device 18, a work implement 9, a traveling device 8, and a sensor system 19. The unmanned vehicle 3 has a control device 22, a traveling device 16, and a sensor system 23.

The sensor system 19 includes a position sensor 20 and an obstacle sensor 21. The position sensor 20 detects the position of the work machine 2. The position of the work machine 2 is detected using the Global Navigation Satellite System (GNSS). The position sensor 20 includes a GNSS receiver and detects the position of the work machine 2 in the global coordinate system. The obstacle sensor 21 detects the periphery of the work machine 2. The obstacle sensor 21 detects obstacles to the work machine 2 that exist at the work site. The obstacle sensor 21 detects obstacles without contacting the obstacles. An example of the obstacle sensor 21 is a laser sensor (LIDAR: Light Detection and Ranging) that detects obstacles by emitting laser light. The obstacle sensor 21 may be a radar sensor (RADAR: Radio Detection and Ranging) that detects obstacles by emitting radio waves, or an infrared sensor that detects obstacles by emitting infrared light. The obstacle sensor 21 is arranged on the vehicle body 7.

The sensor system 23 includes a position sensor 24, an orientation sensor 25, and a speed sensor 26. The position sensor 24 detects the position of the unmanned vehicle 3. The position sensor 24 includes a GNSS receiver, and detects the position of the unmanned vehicle 3 in the global coordinate system. The orientation sensor 25 detects the orientation of the unmanned vehicle 3. An example of the orientation sensor 25 is a gyro sensor. The speed sensor 26 detects the traveling speed of the unmanned vehicle 3. An example of the speed sensor 26 is a pulse sensor that detects the rotation of the wheels.

The management system 1 includes a management device 4, a communication system 5, a control device 18, and a control device 22. The management device 4 includes a computer system. The management device 4 has a communication interface 41, a memory circuit 42, and a processing circuit 43. The communication interface 41 is connected to the processing circuit 43. The communication interface 41 controls communication between the management device 4 and at least one of the control device 18 and the control device 22. The communication interface 41 communicates with at least one of the control device 18 and the control device 22 via the communication system 5.

The memory circuit 42 is connected to the processing circuit 43. The memory circuit 42 stores data. Examples of the memory circuit 42 include non-volatile memory and volatile memory. Examples of the non-volatile memory include ROM (Read Only Memory) and storage. Examples of the storage include a hard disk drive (HDD) and a solid state drive (SSD). Examples of the volatile memory include RAM (Random Access Memory).

The processing circuit 43 performs calculation processing and control command output processing. An example of the processing circuit 43 is a processor. An example of the processor is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). A computer program is stored in the memory circuit 42. The processing circuit 43 performs a predetermined function by retrieving and executing the computer program from the memory circuit 42.

The processing circuit 43 has a driving data generation unit 61, a detection data acquisition unit 62, and an obstacle setting unit 63. The driving data generation unit 61 generates driving data indicating the driving conditions of the unmanned vehicle 3 set at the work site. The driving data of the unmanned vehicle 3 includes a driving path 31 indicating the target driving route of the unmanned vehicle 3.

FIG. 3 is a diagram for explaining a method for generating a travel path 31 according to an embodiment. A terrain boundary line 27 is defined at the work site. The terrain boundary line 27 refers to a characteristic part that can divide the work site, such as a bank or a cliff. The boundary line 27 may be derived from the survey results of the work site. The boundary line 27 may be derived from measurement data of the terrain measured by a measuring device mounted on an unmanned aerial vehicle that can fly above the work site. If the work site is designed using a design method such as computer-aided design (CAD), the boundary line 27 may be derived from design data of the work site. A survey line 28 is defined adjacent to the boundary line 27. The survey line 28 refers to a virtual line that divides a travel area and a prohibited area derived using a survey vehicle. The travel area refers to an area in which the unmanned vehicle 3 can travel at the work site. The prohibited area refers to an area in which the unmanned vehicle 3 cannot travel. The survey vehicle is a manned vehicle that travels under the driving of an onboard driver. In general, the outer shape of the survey vehicle is smaller than that of the unmanned vehicle 3. The position of the traveling survey vehicle is detected using the Global Navigation Satellite System (GNSS). The survey vehicle is equipped with a position sensor that detects the position of the survey vehicle in the global coordinate system. The position sensor of the survey vehicle includes a GNSS receiver. The survey vehicle travels along the boundary line 27 while detecting the absolute position of the survey vehicle with the position sensor. A survey line 28 is set based on the travel trajectory of the survey vehicle.

The travel data generation unit 61 generates a travel path 31 of the unmanned vehicle 3 at the work site based on the survey line 28. The travel data generation unit 61 may set the travel path 31 at a position where the survey line 28 is shifted a predetermined amount toward the center of the travel area. The travel data generation unit 61 may generate the travel path 31 from the shape of the survey line 28 based on a predetermined calculation method, for example.

The travel data of the unmanned vehicle 3 specifies the travel conditions of the unmanned vehicle 3. The travel data includes course points 30, travel paths 31, the target position of the unmanned vehicle 3, the target orientation of the unmanned vehicle 3, and the target travel speed of the unmanned vehicle 3. A plurality of course points 30 are set at the work site. The course points 30 specify the target position of the unmanned vehicle 3. The target orientation and target travel speed of the unmanned vehicle 3 are set for each of the plurality of course points 30. The plurality of course points 30 are set at intervals. The intervals between the course points 30 are set to, for example, 1 m or more and 5 m or less. The intervals between the course points 30 may be uniform or non-uniform. The travel path 31 refers to a virtual line indicating the target travel route of the unmanned vehicle 3. The travel path 31 is specified by a trajectory that passes through the plurality of course points 30. The unmanned vehicle 3 travels at the work site according to the travel path 31. The target position of the unmanned vehicle 3 refers to the target position of the unmanned vehicle 3 when passing through the course point 30. The target position of the unmanned vehicle 3 may be defined in the local coordinate system of the unmanned vehicle 3 or in the global coordinate system. The target orientation of the unmanned vehicle 3 refers to the target orientation of the unmanned vehicle 3 when passing through the course point 30. The target running speed of the unmanned vehicle 3 refers to the target running speed of the unmanned vehicle 3 when passing through the course point 30. The running data generated in the running data generation unit 61 is transmitted to the unmanned vehicle 3 via the communication system 5.

The detection data acquisition unit 62 acquires detection data from the sensor system 19. In this embodiment, the detection data acquisition unit 62 acquires detection data when the obstacle sensor 21 detects a work site that has been leveled by the work machine 2. The detection data acquisition unit 62 also acquires detection data from the position sensor 20 that detects the position of the work machine 2.

Figure 4 is a diagram showing a schematic of the operation of the work machine 2 according to the embodiment. The work machine 2 uses the work implement 9 to level the work site. The work machine 2 levels the work site so that, for example, an embankment 32 is generated at the work site. The obstacle sensor 21 mounted on the work machine 2 detects the periphery of the work machine 2 during the leveling work by the work machine 2. When an embankment 32 is generated by the leveling work of the work machine 2, the obstacle sensor 21 can detect the embankment 32. The obstacle sensor 21 detects the embankment 32 generated by the work machine 2 on which the obstacle sensor 21 is mounted. The position sensor 20 detects the position of the work machine 2 when the obstacle sensor 21 detects the embankment 32. The detection data of the position sensor 20 and the detection data of the obstacle sensor 21 are transmitted to the management device 4 via the communication system 5. The detection data acquisition unit 62 acquires the detection data of the position sensor 20 and the detection data of the obstacle sensor 21.

The obstacle setting unit 63 sets an obstacle 33 at the work site based on the detection data of the obstacle sensor 21 acquired by the detection data acquisition unit 62. The obstacle 33 is virtually set at the work site. When the obstacle sensor 21 detects the embankment 32 created by the work machine 2, the obstacle setting unit 63 sets the obstacle 33 at the work site based on the detection data when the obstacle sensor 21 detects the embankment 32. When the obstacle sensor 21 detects the embankment 32 created by the work machine 2, the obstacle setting unit 63 can calculate the position of the embankment 32 in the global coordinate system based on the detection data of the obstacle sensor 21 and the detection data of the position sensor 20 acquired at the same time. The obstacle setting unit 63 sets the obstacle 33 at the calculated position of the embankment 32. The obstacle setting unit 63 sets the obstacle 33 based on the detection data of the obstacle sensor 21 and predetermined obstacle conditions.

Figure 5 is a diagram for explaining the method of determining an obstacle according to the embodiment. The obstacle setting unit 63 calculates the difference D between the maximum height Ha and the minimum height Hb of a predetermined area Ar on the ground of the work site based on the detection data of the obstacle sensor 21. The predetermined area Ar is a predetermined width, for example, a circular area with a diameter of 5 m. If the difference D between the maximum height Ha and the minimum height Hb of the predetermined area Ar is equal to or greater than a predetermined threshold, the obstacle setting unit 63 sets an obstacle 33 in the predetermined area Ar. Even if the obstacle sensor 21 detects an object protruding from the ground of the work site, if the height of the object is too low, the obstacle 33 is not set. If the height of the object detected by the obstacle sensor 21 is high, the obstacle setting unit 63 sets the obstacle 33 at the position of the object. The obstacle 33 is virtually set in the work site by the management device 4. In the following description, satisfaction of the condition that the difference D between the maximum height Ha and the minimum height Hb of a specified area Ar of the ground at the work site is equal to or greater than a predetermined threshold value is referred to as "satisfying the obstacle condition."

When an obstacle 33 is set at the work site, the driving data generation unit 61 generates a driving path 31 that avoids the obstacle.

FIG. 6 is a diagram for explaining a method for setting a travel path 31 according to an embodiment. As described above, the travel path 31 is set based on the survey line 28. After the travel path 31 is set, an embankment 32 may be generated so as to overlap the travel path 31 by the ground leveling work of the work machine 2, and an obstacle 33 may be set so as to overlap the travel path 31. That is, as shown in [Before Update] in FIG. 6, an obstacle 33 may be set at the position where the travel path 31 is set. If the obstacle 33 overlaps with the travel path 31, the unmanned vehicle 3 traveling according to the travel path 31 may run up the embankment 32. If the obstacle 33 impedes the smooth travel of the unmanned vehicle 3, the productivity of the work site may decrease.

In the embodiment, the travel data generation unit 61 generates the travel path 31 so as to avoid the obstacle 33 set by the obstacle setting unit 63. That is, when an obstacle 33 is set so as to overlap with the travel path 31, the travel data generation unit 61 resets the travel path 31 so as to avoid the obstacle 33, as shown in [After Update] of FIG. 6. This prevents the unmanned vehicle 3 traveling according to the travel path 31 from running over the embankment 32. Since the smooth travel of the unmanned vehicle 3 is maintained, a decrease in productivity at the work site is prevented.

The control device 18 includes a computer system. Like the management device 4, the control device 18 has a communication interface, a memory circuit, and a processing circuit. The control device 18 controls the work machine 9 and the traveling device 8.

The control device 22 includes a computer system. Like the management device 4, the control device 22 has a communication interface, a memory circuit, and a processing circuit. The control device 22 controls the traveling device 16 based on the traveling data transmitted from the management device 4.

The control device 22 controls the traveling device 16 based on the traveling data and the detection data of the sensor system 23. The control device 22 controls the traveling device 16 based on the detection data of the position sensor 24 and the detection data of the orientation sensor 25 so that the unmanned vehicle 3 travels based on the traveling path 31. That is, the control device 22 controls the traveling device 16 so that the deviation between the detected position of the unmanned vehicle 3 detected by the position sensor 24 when passing the course point 30 and the target position of the unmanned vehicle 3 set at the course point 30 is reduced. The control device 22 also controls the traveling device 16 so that the deviation between the detected orientation of the unmanned vehicle 3 detected by the orientation sensor 25 when passing the course point 30 and the target orientation of the unmanned vehicle 3 set at the course point 30 is reduced. The control device 22 also controls the traveling device 16 based on the detection data of the speed sensor 26 so that the unmanned vehicle 3 travels at the target traveling speed. That is, the control device 22 controls the traveling device 16 so that the deviation between the detected traveling speed of the unmanned vehicle 3 detected by the speed sensor 26 when passing the course point 30 and the target traveling speed of the unmanned vehicle 3 set at the course point 30 is small.

[Management method]
7 is a flowchart showing a method for managing a work site according to an embodiment. The travel data generating unit 61 generates travel data including the travel path 31 (step S1). The detection data acquiring unit 62 acquires detection data from the position sensor 20 and the obstacle sensor 21 (step S2).

The obstacle setting unit 63 determines whether the object detected by the obstacle sensor 21 satisfies the obstacle condition (step S3). If it is determined in step S3 that the object detected by the obstacle sensor 21 satisfies the obstacle condition (step S3: Yes), the obstacle setting unit 63 sets an obstacle 33 in the specified area Ar (step S4). The travel data generation unit 61 updates the travel data including the travel path 31 so as to avoid the obstacle 33 (step S5). The updated travel data is transmitted to the unmanned vehicle 3 via the communication system 5 (step S6). The unmanned vehicle 3 travels based on the updated travel data. This suppresses interference between the unmanned vehicle 3 and the obstacle 33 (embankment 32). If it is determined in step S3 that the object detected by the obstacle sensor 21 does not satisfy the obstacle condition (step S3: No), the travel data is not updated. The unupdated travel data is transmitted to the unmanned vehicle 3 via the communication system 5 (step S6).

[effect]
As described above, the work site management system 1 includes a detection data acquisition unit 62 that acquires detection data when the obstacle sensor 21 mounted on the work machine 2 detects a work site leveled by the work machine 2, and an obstacle setting unit 63 that sets an obstacle 33 at the work site based on the detection data of the obstacle sensor 21. Since the embankment 32 created by the work machine 2 is detected by the obstacle sensor 21 mounted on the work machine 2, the embankment 32 is appropriately recognized and the obstacle 33 is appropriately set. Since the obstacle 33 is appropriately set, the unmanned vehicle 3 can be caused to travel in accordance with the obstacle 33 so that the travel of the unmanned vehicle 3 is not impeded by the obstacle 33. In the embodiment, a travel path 31 for the unmanned vehicle 3 is generated so as to avoid the obstacle 33. Since the smooth travel of the unmanned vehicle 3 is not impeded, a decrease in productivity at the work site is suppressed.

[Other embodiments]
In the above embodiment, the work machine 2 is a bulldozer. The work machine 2 may be another work machine such as a hydraulic excavator, a wheel loader, or a motor grader.

1...Management system, 2...Work machine, 3...Unmanned vehicle, 4...Management device, 5...Communication system, 6...Control facility, 7...Vehicle body, 8...Travel gear, 9...Work machine, 10...Crawler track, 11...Excavation blade, 12...Lift frame, 13...Tilt cylinder, 14...Lift cylinder, 15...Vehicle body, 16...Travel gear, 17...Dump body, 18...Control device, 19...Sensor system, 20...Position sensor, 21...Obstacle sensor, 22...Control device, 23...Sensor system, 24...Position sensor, 25...Orientation sensor, 26...Speed sensor, 27...Boundary line, 28...Survey line, 30...Course point, 31...Travel path, 32...Embankment, 33...Obstacle, 41...Communication interface, 42...Memory circuit, 43...Processing circuit, 61...Travel data generation unit, 62...Detection data acquisition unit, 63...Obstacle setting unit.

Claims (6)

a detection data acquisition unit that acquires detection data when an obstacle sensor mounted on a work machine detects a work site that has been leveled by the work machine;
and an obstacle setting unit that sets an obstacle in the work site based on the detection data of the obstacle sensor.
Work site management system. the obstacle setting unit calculates a difference between a maximum height and a minimum height of a predetermined area of the ground at the work site based on the detection data of the obstacle sensor, and sets an obstacle in the predetermined area when the difference is equal to or greater than a predetermined threshold value.
The work site management system according to claim 1 . The work machine levels the work site so as to generate an embankment at the work site;
The obstacle setting unit sets the obstacle based on detection data when the obstacle sensor detects the embankment.
The work site management system according to claim 1 . the detection data acquisition unit acquires detection data from a position sensor that detects the position of the work machine;
the obstacle setting unit calculates a position of the embankment based on the detection data of the obstacle sensor and the detection data of the position sensor, and sets the obstacle at the position of the embankment.
The work site management system according to claim 3. a travel data generation unit that generates a travel path of the unmanned vehicle in the work site;
The travel data generation unit generates the travel path so as to avoid the obstacle.
The work site management system according to claim 1 . Obtaining detection data when an obstacle sensor mounted on a work machine detects a work site leveled by the work machine;
Setting an obstacle in the work site based on the detection data of the obstacle sensor.
How to manage the work site.

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