JP6949798B2 - Driving support device - Google Patents

Description

The present invention relates to a driving support device, and more particularly to a driving support device that provides driving support for a work vehicle according to an uneven condition of an unpaved road surface provided in a mine.

At the mining site of a mine, the road surface on which a transport vehicle such as a dump truck travels is not paved, so the road surface deteriorates as the transport vehicle travels repeatedly. When traveling on a deteriorated road surface, a large load is applied to the vehicle body and the life is shortened. Therefore, there is a demand to provide driving support for a transport vehicle according to the uneven condition of the road surface.

As a conventional example of providing driving support for a transport vehicle according to the unevenness of the road surface, Patent Document 1 calculates the damage applied to the vehicle body based on the pressure of the suspension attached to the vehicle body, and the damage exceeds the permissible value. In that case, there is a description that a deceleration command is issued to reduce the damage, a place where the allowable damage value is exceeded is memorized, and a deceleration command is issued each time the place is passed.

Japanese Unexamined Patent Publication No. 9-267663

However, when the road surface is uneven, the damage applied to the vehicle body is insufficiently reduced even if the vehicle is decelerated and passed. Further, if the speed is further reduced, it is possible to further reduce the damage applied to the vehicle body, but the work efficiency is lowered due to the decrease in the traveling speed of the transport vehicle.

Therefore, in view of the above circumstances, it is an object of the present invention to provide a driving support device capable of reducing damage to a vehicle without lowering work efficiency.

In order to solve the above problems, the present invention includes the configurations described in the claims. To give an example, the present invention operates a work vehicle including a position detecting device for detecting a self-position, a weight detecting device for detecting a load capacity of luggage, and a speed detecting device for detecting a traveling speed. A road surface deterioration limit value calculation that is a driving support device that assists and calculates a road surface deterioration degree limit value that is a threshold value for whether or not the work vehicle is allowed to travel based on the traveling speed and the load capacity. The road surface data table, which is information in which the position information of the road surface on which the work vehicle travels and the road surface deterioration degree of the road surface are associated with each other, is acquired, and based on the road surface data table and the limit value, the said Whether the avoidability determination unit for determining whether or not the traveling of the work vehicle is an acceptable road surface and the road surface for which the traveling of the work vehicle is determined to be unacceptable can be avoided by steering the work vehicle. When the final determination unit for determining whether or not the vehicle and the road surface determined by the final determination unit to be unacceptable for traveling of the work vehicle are determined to be unavoidable by steering the work vehicle, the said operation. Based on the degree of road surface deterioration of the road surface determined to be unacceptable for the work vehicle to travel and the load capacity of the work vehicle, the traveling of the work vehicle to the road surface determined to be unacceptable is performed. A recommended traveling speed calculation unit for calculating an acceptable recommended traveling speed of the work vehicle is provided, and the avoidability determination unit determines that the traveling of the work vehicle is an unacceptable road surface. It is further determined whether or not there is a road surface that can be moved by steering the work vehicle in a region adjacent to the road surface and that allows the work vehicle to travel, and the final determination unit is determined by the avoidability determination unit. When it is determined that the traveling of the work vehicle is unacceptable and it is determined that there is a road surface to which the working vehicle can travel in the area adjacent to the road surface, the traveling of the work vehicle is permitted. It is characterized in that it is determined that the road surface determined to be impossible can be avoided by steering the work vehicle.

According to the present invention, it is possible to provide a driving support device capable of reducing damage to a vehicle without lowering work efficiency. Issues, configurations and effects other than those described above will be clarified by the description of the following embodiments.

Conceptual diagram showing the entire mine Side view showing the structure of the transport vehicle Block diagram showing the configuration of the driving support system Diagram showing the information structure of the road surface data table Diagram showing the threshold curve of the damage table based on the permissible value of damage applied to the vehicle body Block diagram showing the hardware configuration of the driving support device Flowchart showing the flow of the limit road surface deterioration degree calculation process Diagram exemplifying a road surface data table plotted on a two-dimensional plane Flowchart showing the flow of avoidance judgment processing Flow chart showing the flow of avoidance final judgment processing Flowchart showing the flow of recommended running speed calculation process

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all the drawings for explaining the embodiment, members having the same function are designated by the same or related reference numerals, and the repeated description thereof will be omitted. Further, in the following embodiments, the description of the same or similar parts is not repeated in principle except when it is particularly necessary.

<Mine site>
FIG. 1 is a diagram showing a schematic configuration of a mine site according to an embodiment of the present invention. At the mine site, as shown in FIG. 1, a plurality of loading machines 1 that perform excavation work, loading work, etc., and excavated objects such as crushed stones and earth and sand excavated by the loading machine 1 are loaded into the loading machine 1. A plurality of transport vehicles 2 for transporting from the loading yard where the vehicle is located to the excavation yard are in operation. Since the road surface on which the transport vehicle 2 travels is not paved and the weight of the transport vehicle 2 is large, the deterioration of the road surface deteriorates as the transport vehicle 2 travels. Therefore, a plurality of leveling vehicles 3 for repairing the deteriorated road surface are in operation. In the present embodiment, the transport vehicle 2 is used as an example of the work vehicle, but the work vehicle is not limited to the transport vehicle 2 and may be a light vehicle.

The management terminal 4 collects operation information such as position information and sensor information of vehicles operating in the mine, such as the loading machine 1, the transport vehicle 2, and the leveling vehicle 3, via the wireless relay station 5, and each vehicle travels. Manage information about road conditions. The mine manager monitors the operation information of each loading machine and each work vehicle via the management terminal 4.

<Structure>
The configuration of the operation support system 6 in the mine will be described with reference to FIGS. 2 to 3. FIG. 2 is a side view showing the structure of the transport vehicle 2. FIG. 3 is a block diagram showing the configuration of the driving support system 6.

The transport vehicle 2 includes a vehicle body frame 201, left and right front wheels 202FL and 202FR (only the front wheels 202FL are shown in FIG. 2) rotatably provided in the lower front portion of the vehicle body frame 201, and rear lower portions of the vehicle body frame 201. The left and right rear wheels 202BL and 202BR that are rotatably provided (only the rear wheels 202BL are shown in FIG. 2) and the rear upper portion of the vehicle body frame 201 are rotatably provided via a hinge pin 207 in the vertical direction. It is provided with a loading platform 203, a hoist cylinder 208 for rotating the loading platform 203, and a driver's cab 205 provided in the front upper portion of the vehicle body frame 201. The driver's cab 205 is provided with steering for controlling the steering angles of the front wheels 202FL and 202FR, an accelerator pedal for accelerating the transport vehicle 2, a brake pedal for braking the transport vehicle 2, and the like. Traveling motors 209L and 209R are attached to the rear wheels 202BL and 202BR, respectively, to generate driving force.

Further, the transport vehicle 2 includes a speed sensor 212 which is a speed detection device such as a wheel speed sensor attached to any of the front wheels 202FL, 202FR, rear wheels 202BL, and 202BR. Further, front wheel side suspensions 204FL and 204FR (only front wheel side suspension 204FL is shown in FIG. 2) are provided between the vehicle body frame 201 and the front wheels 202FL and 202FR, respectively, and the vehicle body frame 201 and the rear wheels are provided. Rear wheel side suspensions 204BL and 204BR (only the rear wheel side suspension 204BL is shown in FIG. 2) are provided between the wheels 202BL and 202BR.

The front wheel side suspensions 204FL and 204FR and the rear wheel side suspensions 204BL and 204BR are each composed of hydraulic cylinders, and the suspension pressure sensors 214FL, 214FR, 214BL and 214BR that detect their pressures (in FIG. 3). The suspension pressure sensor 214) is provided collectively.

Further, the transport vehicle 2 is a weight sensor 213 which is a weight detection device for measuring the load capacity of the load loaded on the loading platform 203, and a position detection device which receives GNSS satellite data from the GNSS satellite and detects its own position. A vehicle-side wireless communication device 206 that communicates with a certain position sensor 215 and the management terminal 4, a driving support device 216 that provides driving support according to the unevenness of the road surface when the transport vehicle 2 travels, and a notification device such as a display. It is equipped with 217. As the weight sensor 213, a device that indirectly estimates the load capacity, such as measuring the pressure of the suspension attached to the vehicle body frame 201 and converting the value into the weight of the load loaded on the loading platform 203, is used. You may.

The speed sensor 212, the weight sensor 213, the suspension pressure sensor 214, and the position sensor 215 are each connected to the driving support device 216 as shown in FIG.

<Driving support device>
The driving support device 216 is recommended as a road surface deterioration degree estimation unit 221, a road surface deterioration degree limit value calculation unit 222, a frame damage data table storage unit 223, a motor damage data table storage unit 224, and an avoidability determination unit 225. It includes a traveling speed calculation unit 226, a detection target distance calculation unit 227, a final determination unit 228, and a map data storage unit 230. As the transport vehicle 2, for example, a dump truck for mining can be rotated by a vehicle body frame 201 supported on wheels 202FL, 202FR, 202BL, 202BR via suspensions 240FL, 204FR, 204BL, 204BR, and the vehicle body frame 201. It is composed of a combined loading platform 203. Therefore, it is desirable that the damage data table does not have a single damage data table obtained by treating the transport vehicle 2 as one rigid body, but has a damage table corresponding to each of a plurality of elements constituting the transport vehicle 2. For example, as a damage data table corresponding to a plurality of components of the transport vehicle 2, at least the vehicle body frame 201 to which the mechanical load is the largest and the traveling motors 209L and 209R to which the unevenness of the road surface is directly transmitted are respectively. It is desirable to have a separate damage data table.

The road surface deterioration degree estimation unit 221 estimates the road surface deterioration state such as the unevenness of the road surface of the mine, that is, the road surface deterioration degree, based on the values acquired from the speed sensor 212, the weight sensor 213, and the suspension pressure sensor 214, respectively. The road surface deterioration degree limit value calculation unit 222 calculates the road surface deterioration degree limit value, which is a threshold value for whether or not the transport vehicle 2 is allowed to travel on the road surface, based on the values acquired from the weight sensor 213 and the speed sensor 212. do. The frame damage data table storage unit 223 is a data table in which the relationship between the degree of road surface deterioration, the load capacity of the transport vehicle 2, the traveling speed of the transport vehicle 2, and the damage applied to the vehicle body frame 201 is described. The motor damage data table storage unit 224 describes the relationship between the degree of road surface deterioration, the load capacity of the transport vehicle 2, the traveling speed of the transport vehicle 2, and the damage applied to the travel motors 209L and 209R of the transport vehicle 2. It is a non-volatile memory that stores a data table. The avoidability determination unit 225 determines whether or not the deteriorated road surface in the traveling direction of the transport vehicle 2 can be avoided by vehicle control such as steering of the transport vehicle 2, and determines the determination result on the road surface data table 260 with an avoidability flag. Output as. The recommended traveling speed calculation unit 226 calculates the traveling speed of the transport vehicle 2 that can avoid the deteriorated road surface in the traveling direction of the transport vehicle 2. The detection target distance calculation unit 227 has a deteriorated road surface in the traveling direction of the transport vehicle 2 based on the road surface map data stored in the speed sensor 212, the weight sensor 213, the position sensor 215, and the map data storage unit 230. The detection target distance l_th, which is the distance of the target for detecting whether or not to be detected, is calculated. The final determination unit 228 determines whether or not vehicle control such as steering the transport vehicle 2 is necessary for the road surface in the traveling direction of the transport vehicle 2, and outputs the result to the notification device 217. The map data storage unit 230 includes information on the position and slope of a slope or the like on the road surface of the mine.

The road surface deterioration degree estimation unit 221 has, for example, one of the pressure values of the front wheel side suspensions 204FL and 204FR and the rear wheel side suspensions 204BL and 204BR output by the suspension pressure sensors 214FL, 214FR, 214BL and 214BR. When it is out of the predetermined range and the remaining three values are within the predetermined range, it is determined that the road surface condition of the road surface at the position where the transport vehicle 2 is traveling is in a deteriorated state. Further, the road surface deterioration degree estimation unit 221 estimates that, for example, the larger the difference between the pressure value outside the predetermined range and the predetermined range, the higher the road surface deterioration degree. The road surface deterioration degree estimation unit 221 may be configured to estimate whether or not the road surface condition is in a deteriorated state based on the values of sensors other than the suspension pressure sensors 214FL, 214FR, 214BL, and 214BR.

Further, "the road surface condition is in a deteriorated state" is a road surface condition in which the vehicle body frame 201 may be twisted when the transport vehicle 2 travels on the road surface due to the formation of ruts on the road surface. be. Further, it is a road surface condition in which the traveling speed of the transport vehicle 2 decreases or the fuel consumption increases due to the unevenness of the road surface.

<Management terminal>
The management terminal 4 includes a management side wireless communication device 41 that communicates with a vehicle in the mine such as a transport vehicle 2, and a server 42. Further, the server 42 includes a vehicle position storage device 421 and a road surface condition storage device 422. The vehicle position storage device 421 stores the position information received from the vehicle traveling in the mine, such as the transport vehicle 2 received from the vehicle in the mine. The road surface condition storage device 422 stores the position information received from a vehicle traveling in the mine, such as the transport vehicle 2 received from the vehicle in the mine, in association with the road surface deterioration degree received from the vehicle.

As shown in FIG. 4A, the road surface condition storage device 422 includes the position information (operation information acquisition position) received from a vehicle traveling in the mine such as the transport vehicle 2, the road surface deterioration degree received from the vehicle, and the vehicle. A record associated with the time when these information are acquired (operation information acquisition time) is stored as the road surface data table 250. The road surface data table 250 may be configured to include records received from a plurality of vehicles. In addition, when a vehicle is traveling in the mine, it communicates with the vehicle at regular intervals and records are continuously added. Further, the road surface data table 250 may be configured so as to erase the record for which an arbitrary time has passed.

As shown in FIG. 4B, the road surface data table 260 with an avoidability flag is configured by adding an avoidability flag to each record included in the road surface data table 250. The avoidability flag sets the road surface in which the road surface condition is deteriorated by vehicle control such as steering of the transport vehicle 2 when the transport vehicle 2 travels on the road surface in which the road surface condition in the traveling direction of the transport vehicle 2 is in a deteriorated state. It is a flag indicating a determination result of whether or not it can be avoided. The avoidability flag is set to one of an avoidable flag, an avoidable flag, and an avoidance unnecessary flag.

<Damage data table>
As shown in FIG. 5, the frame damage data table storage unit 223 describes the relationship between the degree of road surface deterioration, the load capacity of the transport vehicle 2, the traveling speed of the transport vehicle 2, and the damage applied to the vehicle body frame 201. It is a non-volatile memory that stores the data table. FIG. 5A is a diagram showing an empty load data table 61 based on the traveling speed and the road surface deterioration degree of the transport vehicle 2 when the loading platform 203 is not loaded, that is, when the loading platform 203 is empty. FIG. 5B is a diagram showing a loading data table 62 based on the loading platform 203, that is, the traveling speed of the transport vehicle 2 at the time of loading and the degree of road surface deterioration.

In the empty load data table 61, the unacceptable curve 610 is determined based on the allowable value of damage to the vehicle body frame 201 when the carrier 203 is empty and the transport vehicle 2 travels on the road surface. The unacceptable region 611 indicated by the dot pattern indicates that unacceptable damage is applied to the vehicle body frame 201 when traveling on the road surface. The allowable region 612 shown by the white background indicates that the damage applied to the vehicle body frame 201 when traveling on the road surface is acceptable.

In the loading data table 62, the unacceptable curve 620 is determined based on the allowable value of damage to the vehicle body frame 201 when the transport vehicle 2 traveling on the road surface when the loading platform 203 is loaded. The unacceptable region 621 represented by the dot pattern indicates that unacceptable damage is applied to the vehicle body frame 201 when traveling on the road surface. The allowable region 622 shown by a white background indicates that the damage applied to the vehicle body frame 201 when traveling on the road surface is acceptable.

The frame damage data table storage unit 223 may be configured to store a further data table according to the load capacity of the loading platform 203. Further, the motor damage data table storage unit 224, like the frame damage data table storage unit 223, includes the degree of road surface deterioration, the load capacity of the loading platform 203, the traveling speed of the transport vehicle 2, and the traveling motor 209L of the transport vehicle 2. It is a non-volatile memory that stores a data table in which the relationship with the damage applied to the 209R is described. The data tables stored in the frame damage data table storage unit 223 and the motor damage data table storage unit 224 are created, for example, by prior experiments or simulations. Further, the driving support device 216 includes, for example, a non-volatile memory for storing a damage data table related to damage applied to the vehicle body frame 201 of the transport vehicle 2 and the traveling motors 209L and 209R of the transport vehicle 2, for example. A non-volatile memory for storing a damage data table may be provided based on the relationship between the degree of road surface deterioration at which the risk of rollover increases and the traveling speed of the transport vehicle 2.

The management side wireless communication device 41 of the management terminal 4 and the vehicle side wireless communication device 206 of the transport vehicle 2 are communicated and connected via a wireless communication line, and the driving support system 6 according to the present embodiment is configured.

FIG. 6 is a block diagram showing a hardware configuration of the driving support device 216. The operation support device 216 includes a CPU 21, a ROM 22, a RAM 23, an HDD 24, an input interface (I / F) 25, and an output I / F 26, and these are configured by using a control device connected to each other via a bus 27. The management terminal 4 also includes the same hardware configuration as the driving support device 216. In each functional unit included in the driving support device 216 and each functional unit included in the server 42 shown in FIG. 3, software and hardware cooperate with each other by executing a program stored in the ROM 22, RAM 23, and HDD 24 by the CPU 21. It may be realized by an integrated circuit. Further, the ROM 22, the RAM 23, and the HDD 24 function as a storage device.

<Processing>
The outline of the processing of the driving support system 6 will be described with reference to FIGS. 7 to 10. FIG. 7 is a flowchart showing an outline of the minimum road surface deterioration degree processing for calculating the minimum limit road surface deterioration degree h_th performed by the road surface deterioration degree limit value calculation unit 222. While the transport vehicle 2 is traveling, the road surface deterioration degree limit value calculation unit 222 acquires the travel speed vn of the transport vehicle 2 from the speed sensor 212 (S701). Next, the road surface deterioration degree limit value calculation unit 222 acquires the load capacity of the load loaded on the loading platform 203 of the transport vehicle 2 from the weight sensor 213 (S702). Here, as an example, it is assumed that no load is loaded on the loading platform 203, that is, the transport vehicle 2 is empty, and the following description will be given.

The road surface deterioration degree limit value calculation unit 222 selects the empty data table 61 from the data tables stored in the frame damage data table storage unit 223 (S703), and the traveling speed of the transport vehicle 2 acquired in S701. The critical road surface deterioration degree h_th (i) is calculated based on the unacceptable curve 610 of the vn and the empty data table 61 (S704). Specifically, the road surface deterioration degree limit value calculation unit 222 identifies a point on the unacceptable curve 610 corresponding to the traveling speed vn of the transport vehicle 2, and sets the road surface deterioration degree hn corresponding to the specified point to the limit road surface deterioration. Calculated as degree h_th (i). In other words, the road surface deterioration degree limit value calculation unit 222 calculates the road surface deterioration degree hn corresponding to the traveling speed vn of the transport vehicle 2 as the limit road surface deterioration degree h_th (i) on the unacceptable curve 610. That is, the road surface deterioration degree limit value calculation unit 222 calculates that the limit road surface deterioration degree h_th (i) = road surface deterioration degree hn in the processing of S704.

Next, the road surface deterioration degree limit value calculation unit 222 also sets S703 and S704 for all other damage data tables stored in the driving support device 216, for example, the damage data table stored in the motor damage data table storage unit 224. Is executed, and the limit road surface deterioration degree h_th (i) is calculated (S705). In the subsequent processing, among the plurality of limit road surface deterioration degrees h_ht (i) calculated in S703 to S705 repeatedly executed, the limit road surface deterioration degree h_th (i) = road surface deterioration degree hn in the empty data table 61 is the most. The explanation will be continued assuming that the value of the road surface deterioration degree is small.

The road surface deterioration degree limit value calculation unit 222 sets the minimum value of the calculated limit road surface deterioration degree h_th (i), that is, the road surface deterioration degree hn that the vehicle body frame 201 can tolerate, as the minimum limit road surface deterioration degree h_th. Is selected as (S706). The minimum limit road surface deterioration degree h_th selected in the process of S706 is the road surface deterioration degree that can be tolerated by the weakest component among the elements constituting the transport vehicle 2. Then, the road surface deterioration degree limit value calculation unit 222 outputs the operation information of the transport vehicle 2 and the road surface deterioration degree hn selected as the minimum limit road surface deterioration degree h_th in S706 to the avoidability determination unit 225 (S707). The road surface deterioration degree limit value calculation unit 222 repeatedly executes the processes S701 to S707 at regular intervals, and outputs the minimum limit road surface deterioration degree h_th to the avoidability determination unit 225.

The avoidability determination unit 225 determines, for each record of the road surface data table 250 stored in the road surface condition storage device 422, when there is a road surface in which the road surface condition is deteriorated at a point corresponding to each record, the transport vehicle 2 Based on the operation information of the The road surface data table 260 with the avoidability flag to which the flag of is added is output.

FIG. 8 is a plan view 800 in which the road surface data table 250 stored in the road surface condition storage device 422 is plotted on a two-dimensional plane. In the plan view 800, each of the points 801 to 813 corresponds to each record stored in the road surface data table 250. For example, when plotting the records of the road surface data table 250, it is assumed that the plan view 800 shows points 801 to 813 on the track having a width sufficient for the transport vehicles 2 to pass each other.

FIG. 9 is a flowchart showing the flow of the avoidance possibility determination process executed by the avoidance possibility determination unit 225. The avoidability determination unit 225 acquires the road surface data table 250 stored in the road surface condition storage device 422 via the vehicle-side wireless communication device 206 (S901), and the minimum limit output from the road surface deterioration degree limit value calculation unit 222. The road surface deterioration degree h_th is acquired (S902). Next, the avoidability determination unit 225 selects the i-th record of the road surface data table 250 (S903), and whether the road surface deterioration degree h_i of the i-th record is equal to or higher than the minimum limit road surface deterioration degree h_th acquired in S902. It is determined whether or not (S904).

When the road surface deterioration degree h_i of the i-th record is smaller than the minimum limit road surface deterioration degree h_th (S904 / NO), the avoidability determination unit 225 adds an avoidance unnecessary flag to the i-th record (S905), and sets the road surface data table. A series of processes from S904 is executed for 250 other unprocessed records (S913).

When the road surface deterioration degree h_i of the i-th record is equal to or higher than the minimum limit road surface deterioration degree h_th acquired in S902 (S904 / YES), the avoidability determination unit 225 is the road surface at the position where the operation information of the i-th record is acquired. It is determined that the weakest component among the elements constituting the transport vehicle 2 is in an unacceptable deterioration state, that is, a bad road (S906). Here, it is assumed that the point 804 corresponds to the i-th record, and it is assumed that the point 804 is a point on the plan view 800 in which the record having the road surface deterioration degree h_i exceeding the minimum limit road surface deterioration degree h_th is stored. Give an explanation.

Next, the avoidability determination unit 225 defines the evacuation area 511 for the point 804 (S907). When the region of the length L_0 in the direction along the route vector 540 of the transport vehicle 2 centered on the point 804 and the width W_0 in the direction orthogonal to the route vector 540 is set as the traveling region 510, the avoidability determination unit 225 determines the traveling region. The evacuation areas 511R and 511L adjacent to (near) 510 are defined. The retracted area 511R is an area defined by a length L_0 and a width W_1 adjacent to the right side of the traveling area 510. The evacuation area 511L is an area defined by a length L_0 and a width W_1 adjacent to the left side of the traveling area 510. As shown in FIG. 8, the retracted area 511R includes points 810 to 812.

Next, the avoidability determination unit 225 detects whether or not the record of the road surface data table 250 is included in the evacuation area 511L and the evacuation area 511R (S908). When the save area 511L and the save area 511R do not include any record of the road surface data table 250 (S909 / NO), the avoidability determination unit 225 adds an avoidance flag to the i-th record (S912). A series of processes from S904 are executed for other unprocessed records of the road surface data table 250 (S913).

When one or more records of the road surface data table 250 are included in the evacuation area 511L and the evacuation area 511R (S909 / YES), the avoidability determination unit 225 determines that all the records included in the evacuation area 511L and the evacuation area 511R are included. It is determined whether or not the road surface deterioration degree h, that is, the road surface deterioration degree h_j of each record of the road surface data table 250 corresponding to the points 810 to 812 is equal to or less than the minimum limit road surface deterioration degree h_th acquired in S902 (S910). ). When the road surface deterioration degree h_j of all the records included in the evacuation area 511L and the evacuation area 511R is equal to or less than the minimum limit road surface deterioration degree h_th (S910 / YES), the avoidability determination unit 225 sets the avoidable flag in the i-th record. (S911), and a series of processes from S904 are executed for other unprocessed records of the road surface data table 250 (S913). In the example of FIG. 8, if the road surface deterioration degree h_j of all the records included in the evacuation area 511R is equal to or less than the minimum limit road surface deterioration degree h_th, the transport vehicle 2 follows the route 520 shown on the plan view 800. As a result, it is possible to drive while avoiding the point 804 which is a rough road.

On the other hand, when at least one of the road surface deterioration degree h_j of the records included in the evacuation area 511L and the evacuation area 511R is larger than the minimum limit road surface deterioration degree h_th (S910 / NO), the avoidability determination unit 225 determines. An unavoidable flag is added to the i-th record (S912), and a series of processes from S904 are executed for the other unprocessed records of the road surface data table 250 (S913).

The avoidability determination unit 225 executes a series of processes from S904 for all the records included in the road surface data table 250 (S913 / YES), and when the transport vehicle 2 travels on the deteriorated road surface, the deteriorated road surface The final determination unit 228 is a road surface data table 260 with an avoidance flag added to the road surface data table 250 to indicate whether or not the upper point can be avoided by vehicle control such as steering of the transport vehicle 2. Is output to (S914).

The avoidability determination unit 225 repeatedly executes the process described above at regular intervals, and outputs the road surface data table 260 with the avoidability flag to the final determination unit 228. When the avoidability determination process is executed by the avoidability determination unit 225, any one of the "avoidable flag", the "avoidable flag", and the "avoidance unnecessary flag" is applied to all the records included in the road surface data table 250. Flags are added, and these data are output to the final determination unit 228 as a road surface data table 260 with an avoidability flag.

Next, the detection target distance calculation process performed by the detection target distance calculation unit 227 will be described. The detection target distance calculation unit 227 acquires map data of the target road surface from the map data storage unit 230 that includes information on the position and slope of a slope or the like on the road surface of the mine. Then, the detection target distance calculation unit 227 acquires from the acquired map data, the load capacity w of the loading platform 203 acquired from the weight sensor 213, the traveling speed v of the transport vehicle 2 acquired from the speed sensor 212, and the position sensor 215. Based on the position information of the transport vehicle 2, the distance that is the target for detecting whether or not a bad road exists on the road surface along the traveling direction of the transport vehicle 2 from the self-position of the transport vehicle 2, that is, The detection target distance l_th is calculated.

The detection target distance calculation unit 227 calculates the detection target distance l_th when a rough road exists in the traveling direction of the transport vehicle 2. The detection target distance l_th is a distance along the traveling direction of the transport vehicle 2, and is a distance to be detected as to whether or not there is a road surface on which the transport vehicle 2 is unacceptable to travel. Further, the detection target distance l_th is set to a distance that can sufficiently secure the time s for the transport vehicle 2 to perform an operation capable of avoiding a rough road. For example, the detection target distance calculation unit 227 calculates the detection target distance l_th based on the equation (1).
Detection target distance l_th = {a × v × (1 + bw) × (1 + cg) + d} × s ・ ・ ・ Expression (1)
In addition, a, b, c, d: constant, v: traveling speed v (m / sec) of transport vehicle 2, w: loading capacity (%) of loading platform 203, g: slope of road surface (%), s: Let it be time (seconds).

At this time, the detection target distance calculation unit 227 has a time s for the transport vehicle 2 to perform an operation capable of avoiding a rough road as the traveling speed v of the transport vehicle 2 is faster and the load capacity w of the loading platform 203 is larger. The detection target distance l_th is calculated so as to be longer. Further, the detection target distance calculation unit 227 detects that when the road surface of the mine indicated by the map data is a downhill, the time s for the transport vehicle 2 to perform an operation capable of avoiding a rough road becomes longer. The target distance l_th is calculated. On the other hand, when the road surface of the mine shown in the map data is an uphill, the detection target distance l_th is such that the time s for the transport vehicle 2 to perform an operation capable of avoiding a rough road is shorter than that in the case of a downhill. Is calculated. The constants a, b, c, and d are stored in the detection target distance calculation unit 227 in advance as values obtained by experiments or the like. The detection target distance calculation unit 227 repeatedly calculates the detection target distance l_th at regular intervals while the transport vehicle 2 is traveling, and outputs the calculated detection target distance l_th to the final determination unit 228.

FIG. 10 is a flowchart showing the flow of the final determination process executed by the final determination unit 228. First, the final determination unit 228 acquires the position information of the transport vehicle 2 from the position sensor 215 (S1001), and acquires the road surface data table 260 with the avoidability flag from the avoidability determination unit 225 (S1002). Next, the final determination unit 228 acquires the detection target distance l_th from the detection target distance calculation unit 227, and among the records included in the road surface data table 260 with the avoidability flag, the detection target distance l_th in the traveling direction of the transport vehicle 2 Acquires the record included in (S1003).

Next, the final determination unit 228 determines whether or not there is one or more records to which the unavoidable flag is added to the record acquired in S1003 (S1004). When the record acquired in S1003 has one or more records to which the unavoidable flag is added (S1004 / YES), the final determination unit 228 causes the recommended running speed calculation unit 226 to execute the recommended running speed calculation process (S1005). ). The record acquired in S1003 has one or more records to which the unavoidable flag is added when the rough road on the road surface in the traveling direction of the transport vehicle 2 cannot be avoided by steering the transport vehicle 2. ..

FIG. 11 is a flowchart showing the flow of the recommended running speed calculation process executed by the recommended running speed calculation unit 226. The recommended traveling speed calculation unit 226 acquires the road surface deterioration degree h of the record to which the unavoidable flag is added (S1101). Next, the recommended traveling speed calculation unit 226 acquires the load capacity of the load loaded on the loading platform 203 of the transport vehicle 2 (S1102). Here, as an example, it is assumed that no load is loaded on the loading platform 203, that is, the transport vehicle 2 is empty, and the following description will be given.

The recommended traveling speed calculation unit 226 selects the empty data table 61 from the data tables stored in the frame damage data table storage unit 223 (S1103), and the unavoidable flag acquired in S1101 is added. The recommended traveling speed vfrn is calculated based on the road surface deterioration degree h of the record and the unacceptable curve 610 of the empty data table 61 (S1104). Specifically, the recommended traveling speed calculation unit 226 identifies a point on the unacceptable curve 610 corresponding to the road surface deterioration degree h of the record to which the unavoidable flag is added, and corresponds to the specified nth point. The traveling speed v is calculated as the recommended traveling speed vfrn. In other words, the recommended running speed calculation unit 226 calculates the running speed v corresponding to the road surface deterioration degree h of the nth record to which the unavoidable flag is added as the recommended running speed vfrn on the unacceptable curve 610. do.

Next, the recommended running speed calculation unit 226 also describes all other damage data tables stored in the driving support device 216, for example, the damage data table stored in the motor damage data table storage unit 224 in S703 and S704. The process is executed and the recommended traveling speed vmrn is calculated (S1105). In the subsequent processing, among the recommended traveling speeds vfr1, vmr1, ..., vfrn, vmrn obtained from the plurality of damage data tables calculated in S1103 to S1105 to be repeatedly executed, the smallest in the empty data table 61. The description will be continued using the value of the recommended running speed rvmin.

When the recommended running speeds vfr1, vmr1, ..., vfrn, vmrn are calculated for the damage data table stored in the driving support device 216, the recommended running speed calculation unit 226 calculates the recommended running speeds vfr1, vmr1, ... The slowest speed among vfrn and vmrn is selected as the minimum recommended running speed vrmin (S1106), and the selected minimum recommended running speed vrmin is output to the final determination unit 228 (S1107). At this time, the recommended running speed calculation unit 226 outputs the recommended running speed vrmin to the final determination unit 228.

The explanation will be continued by returning to the flowchart of FIG. Upon receiving the recommended traveling speed vrmin from the recommended traveling speed calculation unit 226, the final determination unit 228 travels on a rough road that cannot be avoided by steering the transport vehicle 2 on the road surface in the travel direction of the transport vehicle 2. The recommended traveling speed vrmin of the transport vehicle 2 is output to the notification device 217 (S1006). The notification device 217 determines that there is a rough road on the road surface in the traveling direction of the transport vehicle 2 that cannot be avoided by steering the transport vehicle 2 and that the recommended travel speed vrmin of the transport vehicle 2 when traveling on the rough road is set by the transport vehicle 2. Notify the operator. The method of notification is not limited to the display of information on the display, and may be lighting or blinking of a lamp, or may be output of voice by a speaker.

On the other hand, in the processing of S1004, when there is no record to which the unavoidable flag is added to the record acquired in S1003 (S1004 / NO), the final determination unit 228 sets the avoidable flag among the records acquired in S1003. It is determined whether or not there is a record to which is added (S1007). In the processing of S1004, there is no record to which the unavoidable flag is added to the record acquired in S1003 when the avoidable flag or the avoidance unnecessary flag is added to all the records acquired in S1003. Is. When there is no record to which the avoidable flag is added to the record acquired in S1003 (S1007 / NO), all the records acquired in S1003 are the records to which the avoidable flag is added, so that the final determination unit 228 , This process ends without outputting any information.

The record acquired in S1003 has a record to which the avoidable flag is added when there is a rough road that can be avoided by steering the transport vehicle 2 at the detection target distance l_th in the traveling direction of the transport vehicle 2. At this time, for example, as shown in FIG. 8, by steering the transport vehicle 2 so as to follow the route 520, it is possible to avoid a rough road, that is, it is possible to move to an adjacent evacuation area, but on the route 520. There may be oncoming vehicles.

When there is a record to which the avoidable flag is added to the record acquired in S1003 (S1007 / YES), the final determination unit 228 is the other vehicle which is the position information of the other work vehicle stored in the vehicle position storage device 421. The information is received via the vehicle-side wireless communication device 206 (S1008). The vehicle-side wireless communication device 206 is one of other vehicle information acquisition devices. The final determination unit 228 determines whether or not another vehicle exists at the detection target distance l_th in the traveling direction of the transport vehicle 2 based on the other vehicle information acquired in S1008 (S1009). When another vehicle exists at the detection target distance l_th in the traveling direction of the transport vehicle 2 (S1009 / YES), the final determination unit 228 causes the recommended traveling speed calculation unit 226 to execute the recommended traveling speed calculation process (S1005), and transports the vehicle. There is a rough road that cannot be avoided by steering the transport vehicle 2 on the road surface in the travel direction of the vehicle 2, and the recommended travel speed vr1 of the transport vehicle 2 when traveling on the rough road is output to the notification device 217 (S1006).

On the other hand, when there is no other vehicle at the detection target distance l_th in the traveling direction of the transport vehicle 2 (S1009 / NO), the final determination unit 228 uses the rough road of the detection target distance l_th in the traveling direction of the transport vehicle 2 as the transport vehicle 2. It is determined that the road can be avoided by steering the vehicle 2, and it is output to the notification device 217 that there is a rough road that can be avoided by steering the vehicle 2 on the road surface in the traveling direction of the vehicle 2 (S1010). The notification device 217 notifies the operator of the transport vehicle 2 that there is a rough road that can be avoided by steering the transport vehicle 2 on the road surface in the traveling direction of the transport vehicle 2.

The operator of the transport vehicle 2 who sees the information notified in S1010 damages the transport vehicle 2 by traveling on the rough road by steering so as to avoid the rough road on the road surface in the travel direction of the transport vehicle 2. Can be avoided.

In the present embodiment, it is possible to avoid a point on the road surface where a large amount of damage is applied to the work vehicle without reducing the traveling speed of the work vehicle. This makes it possible to support the operation of work vehicles operating in the mine without lowering the transportation efficiency.

1: Loading machine 2: Transport vehicle 3: Ground leveling vehicle 4: Management terminal 5: Wireless relay station 6: Driving support system 41: Management side wireless communication device 42: Server 206: Vehicle side wireless communication device 212: Speed sensor 213: Weight sensor 214: Suspension pressure sensor 215: Position sensor 216: Driving support device

Claims (4)

It is a driving support device that supports the driving of a work vehicle equipped with a position detection device that detects its own position, a weight detection device that detects the load capacity of luggage, and a speed detection device that detects the running speed.
A road surface deterioration degree limit value calculation unit that calculates a road surface deterioration degree limit value, which is a threshold value for whether or not the work vehicle is allowed to travel, based on the traveling speed and the load capacity.
A road surface data table, which is information in which the position information of the road surface on which the work vehicle travels and the road surface deterioration degree of the road surface are associated with each other, is acquired, and based on the road surface data table and the limit value, the work vehicle An avoidance judgment unit that determines whether or not the road surface is acceptable for driving,
A final determination unit that determines whether or not the road surface that is determined to be unacceptable to travel by the work vehicle can be avoided by steering the work vehicle.
When it is determined by the final determination unit that the road surface determined to be unacceptable to travel by the work vehicle cannot be avoided by steering the work vehicle, it is determined that the travel of the work vehicle is unacceptable. Based on the degree of road surface deterioration of the road surface and the load capacity of the work vehicle, the recommended traveling speed of the work vehicle that allows the work vehicle to travel on the road surface that is determined to be unacceptable. Recommended running speed calculation unit to calculate
With
The avoidability determination unit
When it is determined that the traveling of the work vehicle is an unacceptable road surface, there is a road surface that can be moved by steering the work vehicle in a region adjacent to the road surface and the traveling of the work vehicle is permissible. Further determine whether or not
The final determination unit
When it is determined by the avoidability determination unit that the traveling of the work vehicle is unacceptable, and it is determined that the road surface on which the working vehicle can travel exists in the region adjacent to the road surface, the said A driving support device characterized in that a road surface determined to be unacceptable to travel by a work vehicle is determined to be avoidable by steering the work vehicle. In the driving support device according to claim 1,
The final determination unit
The position information of the other vehicle facing the work vehicle on the road surface is acquired, and when the other vehicle is present in the traveling direction of the work vehicle, it is determined that the traveling of the work vehicle is unacceptable. A driving support device characterized in that the road surface is determined to be unavoidable by steering the work vehicle. In the driving support device according to claim 1,
Detection target distance calculation for calculating the target distance for detecting whether or not there is a road surface where the work vehicle is unacceptable on the road surface along the travel direction of the work vehicle from the self-position of the work vehicle. With more parts
The final determination unit
With respect to the road surface along the traveling direction of the work vehicle at the target distance calculated from the self-position of the work vehicle, the road surface for which the traveling of the work vehicle is determined to be unacceptable can be avoided by steering the work vehicle. A driving support device characterized by determining whether or not the vehicle is. In the driving support device according to claim 1,
The road surface deterioration degree limit value calculation unit is characterized in that it corresponds to the component of the work vehicle and calculates the limit value based on a plurality of damage data tables in which the component and the limit value are associated with each other. Driving support device.

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