Vehicle management system
In a case where a travel permission request regarding a queuing zone for a first unmanned vehicle stopped in a queuing zone is received, on the basis of a time length taken for the first unmanned vehicle arriving at a deceleration start position and a time length taken for a second unmanned vehicle positioned in a loading zone going out of the loading zone from reception of a loading completion notification, a travel start time difference after which the second unmanned vehicle goes out of the loading zone before the first unmanned vehicle arrives at a deceleration start position is calculated, a travel start time of the first unmanned vehicle is calculated on the basis of a reception time of the loading completion notification and the travel start time difference, and a travel permission regarding the queuing zone for the first unmanned vehicle is output after the travel start time has come. As a result, it is possible to shorten a time length required for replacement of unmanned vehicles at a loading position and enhance productivity.
1. A vehicle management system in which a plurality of unmanned vehicles including at least a first unmanned vehicle and a second unmanned vehicle that haul to-be-hauled objects and are capable of traveling autonomously, a loading machine that performs loading work of loading the to-be-hauled objects onto each of the plurality of unmanned vehicles, and a traffic management station that performs traffic management control of the loading machine and the plurality of unmanned vehicles are wirelessly connected to each other in a mutually communicable manner, the vehicle management system comprising:
an unmanned vehicle controller that acquires vehicle body information including positional information representing positions of the plurality of unmanned vehicles at a work site and orientation information representing orientations of the plurality of unmanned vehicles at the work site, controls autonomous traveling of the plurality of unmanned vehicles on a basis of a travel permission for the plurality of unmanned vehicles, and outputs a travel permission request for requesting a travel permission, for each of the plurality of unmanned vehicles, regarding a predetermined travel zone among a plurality of travel zones included in a travel route where the plurality of unmanned vehicles travel;
a loading completion notification input device that outputs, according to input operation by an operator of the loading machine, a loading completion notification indicating that loading work of loading the to-be-hauled objects onto corresponding one of the unmanned vehicles that is stopped at a loading position preset on the travel route as a position where the loading work is performed by the loading machine for the unmanned vehicles has been completed; and
a traffic management controller that sets a travel route where the plurality of unmanned vehicles travel, on a basis of a work schedule predetermined for the work site and map information including information regarding positions and velocity limits of a plurality of travel routes and that outputs a travel permission regarding a predetermined travel zone of the travel route set for the plurality of unmanned vehicles, on a basis of a travel permission request from the unmanned vehicle controller, wherein
the traffic management controller is configured to,
in a case where a loading zone which is a travel zone including the loading position and in which only one unmanned vehicle is allowed to enter at once and a queuing zone which is a travel zone adjacent to the loading zone and in which an unmanned vehicle heading toward the loading zone queues are set, and
where a travel permission request regarding the queuing zone by the first unmanned vehicle stopped in the queuing zone is received,
calculate such a travel start time difference between the first unmanned vehicle and the second unmanned vehicle positioned in the loading zone that the second unmanned vehicle goes out of the loading zone a predetermined spare time length before the first unmanned vehicle arrives at a deceleration start position where the first unmanned vehicle should start decelerating for stopping before entering the loading zone, on a basis of a time length for arriving at the deceleration start position that is a time length taken for the first unmanned vehicle arriving at the deceleration start position after starting traveling, and
on a basis of a time length for arriving at a loading zone releasing position that is a time length taken for the second unmanned vehicle going out of the loading zone after starting traveling in response to reception of the loading completion notification to the second unmanned vehicle,
calculate a travel start time of the first unmanned vehicle on a basis of a reception time of the loading completion notification to the second unmanned vehicle and the travel start time difference, and
output a travel permission regarding the queuing zone for the first unmanned vehicle after the travel start time has come.
2. The vehicle management system according to claim 1 , wherein
each of the plurality of unmanned vehicles has the unmanned vehicle controller,
the loading machine has the loading completion notification input device, and
the traffic management station has the traffic management controller.
3. The vehicle management system according to claim 1 , wherein
the traffic management controller is configured to
calculate the number of times of loading actions that is necessary until loading work for the second unmanned vehicle is completed, on a basis of a loaded amount of the to-be-hauled objects loaded onto the second unmanned vehicle at one loading action by the loading machine and a planned loaded amount of the second unmanned vehicle,
estimate a reception time of the loading completion notification on a basis of the number of times of loading actions and a loading action start time in a case where the travel start time difference is negative,
calculate a travel start time of the first unmanned vehicle on a basis of the estimated reception time of the loading completion notification and the travel start time difference, and
output a travel permission regarding the queuing zone for the first unmanned vehicle after the travel start time has come.
4. The vehicle management system according to claim 3 , wherein
the traffic management controller is configured to estimate the reception time of the loading completion notification on a basis of a pre-learned time difference between a loading time and the reception time of the loading completion notification.
5. The vehicle management system according to claim 1 , wherein
the traffic management controller is configured to set a velocity of entry of the first unmanned vehicle into the loading zone.
6. The vehicle management system according to claim 5 , wherein
the traffic management controller is configured to set the velocity of entry of the first unmanned vehicle into the loading zone on a basis of a distance across the loading zone.
7. The vehicle management system according to claim 5 , wherein
the traffic management controller is configured to set the velocity of entry of the first unmanned vehicle into the loading zone such that a time length for travel in the loading zone is minimized.
8. The vehicle management system according to claim 1 , wherein
the traffic management controller is configured to,
in a case where a loading zone which is a travel zone including the loading position and in which only one of the unmanned vehicles is allowed to enter at once and a queuing zone which is a travel zone adjacent to the loading zone and in which corresponding one of the unmanned vehicles heading toward the loading zone queues are set, and
where a travel permission request regarding the queuing zone for the first unmanned vehicle stopped in the queuing zone is received,
calculate such a travel start time difference between the first unmanned vehicle and the second unmanned vehicle positioned in the loading zone that the second unmanned vehicle goes out of the loading zone a predetermined spare time length before the first unmanned vehicle arrives at a deceleration start position where the first unmanned vehicle should start decelerating for stopping before entering the loading zone, on a basis of a time length for arriving the deceleration start position that is a time length taken for the first unmanned vehicle arriving at the deceleration start position after starting traveling, and
on a basis of a time length for arriving at a loading zone releasing position that is a time length taken for the second unmanned vehicle going out of the loading zone after starting traveling in response to reception of the loading completion notification to the second unmanned vehicle,
calculate a target arrival position where the second unmanned vehicle arrives after the travel start time difference, and
output a travel permission regarding the queuing zone for the first unmanned vehicle when the second unmanned vehicle arrives at the target arrival position.