Vehicle management system
View Patent ↗A vehicle management system 1 includes an unmanned vehicle 20 capable of autonomous traveling, a loading machine 10 performing a loading work for the unmanned vehicle 20 , and a management station 30 performing dispatch management and traffic control of the unmanned vehicle 20 . The loading machine 10 includes a bucket tip position calculator 111 that calculates a bucket tip position of a bucket based on information on a position, an orientation, and an angle of each joint of the loading machine. The management station 30 includes an unmanned vehicle instruction section 313 that calculates a loading zone of the unmanned vehicle 20 and issues a calling instruction or a departure instruction to the unmanned vehicle 20 based on the calculated loading zone and the bucket tip position of the loading machine 10.
1. A vehicle management system in which an unmanned vehicle, a loading machine, and a management station are configured to be communicative with one another, the unmanned vehicle being capable of autonomous traveling, a bucket being mounted on the loading machine by an articulated structure, the loading machine performing a loading work for the unmanned vehicle, and the management station performing dispatch management and traffic control of the unmanned vehicle, the vehicle management system comprising:
a vehicle information management section that obtains and stores information on a position, an orientation, and a tray dimension of the unmanned vehicle, and transmits the information to the management station;
an autonomous traveling control section that controls a travel of the unmanned vehicle based on instruction from the management station;
a bucket tip position calculator that calculates a bucket tip position of the bucket based on information on a position, an orientation, and an angle of each joint of the loading machine;
a machine information management section that obtains and stores the bucket tip position calculated by the bucket tip position calculator, and transmits information on the bucket tip position to the management station; and
an unmanned vehicle instruction section that calculates a loading zone obtained by projecting the tray of the unmanned vehicle onto a ground surface based on the information on the position, the orientation, and the tray dimension of the unmanned vehicle transmitted from the vehicle information management section, and issues a calling instruction or a departure instruction to the unmanned vehicle based on whether the bucket tip position transmitted from the machine information management section is in the calculated loading zone.
2. The vehicle management system according to claim 1 ,
wherein the unmanned vehicle instruction section issues the calling instruction to the unmanned vehicle when the bucket tip position is not present in the loading zone of the unmanned vehicle.
3. The vehicle management system according to claim 2 ,
wherein the unmanned vehicle instruction section issues the departure instruction to the unmanned vehicle when the bucket tip position is determined to be present in the loading zone of the unmanned vehicle and the unmanned vehicle is determined to be in a loading completed state based on a loaded amount of the unmanned vehicle.
4. The vehicle management system according to claim 1 ,
wherein the loading machine further includes an instruction input device that allows an operator to input an instruction to the unmanned vehicle,
wherein when the instruction input device receives an instruction input, the machine information management section further generates operation instruction information to the unmanned vehicle in response to the instruction input, and transmits the generated operation instruction information together with the information on the bucket tip position to the management station.
5. The vehicle management system according to claim 1 ,
wherein the unmanned vehicle instruction section issues the departure instruction to the unmanned vehicle when the bucket tip position is determined to be present in the loading zone of the unmanned vehicle and a number of loading operations performed by the loading machine is determined to be equal to or more than a required number of loading operations based on a number of movements of the bucket tip position in a separating direction away from the loading machine.
6. The vehicle management system according to claim 5 ,
wherein the unmanned vehicle instruction section sets the required number of loading operations based on a capacity of the bucket of the loading machine and a capacity of the tray of the unmanned vehicle.
7. The vehicle management system according to claim 1 ,
wherein the machine information management section further obtains and stores the information on the angle of each joint and transmits the information on the angle of each joint to the management station, and
wherein the unmanned vehicle instruction section issues the departure instruction to the unmanned vehicle closest to the bucket tip position when the loading machine is determined to be in a posture of unloading based on the information on the angle of each joint.