Conveying vehicle
Provided is a conveying vehicle that ensures efficiently travelling while suppressing vehicle slip. A dump truck 100 includes a vehicle body 101 provided with wheels 103 and a vehicle control device 300 and travels on a travel route. The vehicle control device 300 calculates and stores slip limit values at a plurality of positions on the travel route, reads out the slip limit values to calculate at least one of a maximum acceleration and a maximum deceleration of the dump truck 100 at which the wheels 103 is capable of maintaining a grip state against a road surface, and sets a target travel speed at a travel position between the dump truck 100 and a target position according to a target speed at the target position and at least one of the maximum acceleration and the maximum deceleration.
1. A conveying vehicle comprising:
a vehicle body provided with a wheel; and
a vehicle control device,
wherein the conveying vehicle travels on a travel route,
the vehicle control device:
calculates slip rates of the wheel at a plurality of positions on the travel route;
calculates and stores a slip limit value from each of the slip rates, the slip limit value being a friction coefficient value between a road surface and the wheel at a boundary of a grip state and a slip state of the wheel against the road surface at each of the plurality of positions;
reads out the slip limit value to calculate at least one of a maximum acceleration and a maximum deceleration of the conveying vehicle at which the wheel is capable of maintaining the grip state against the road surface at each of the plurality of positions; and
during travelling to a target position on the travel route, sets a target travel speed at a travel position between the conveying vehicle and the target position according to a target speed at the target position and at least one of the maximum acceleration and the maximum deceleration calculated from the slip limit value when the conveying vehicle travels at the travel position.
2. The conveying vehicle according to claim 1 ,
wherein the wheels include a driving wheel and a driven wheel, and
the slip rate is a slip rate of the driven wheel.
3. The conveying vehicle according to claim 1 ,
wherein the vehicle control device:
updates the slip limit value by repeatedly passing the plurality of positions by the conveying vehicle,
detects a change in slipperiness of the road surface from a change of the slip limit value by updating, and
changes at least one of the maximum acceleration and the maximum deceleration according to the change in slipperiness of the road surface.
4. The conveying vehicle according to claim 1 ,
wherein the vehicle control device:
divides the travel route into a plurality of sections, and
calculates at least one of the one maximum acceleration and the one maximum deceleration from a plurality of the slip limit values in each of the sections.
5. The conveying vehicle according to claim 1 ,
wherein the vehicle control device sets the target travel speed in an order from the travel position close to the target position in a case where the target travel speed at a plurality of the travel positions between the conveying vehicle and the target position are set.
6. The conveying vehicle according to claim 1 , further comprising
a communication device capable of communicating with a control system,
wherein the vehicle control device calculates at least one of the maximum acceleration and the maximum deceleration from slip limit values at a plurality of positions acquired by a plurality of conveying vehicles.