Patent Publication Number: US-2022212597-A1

Title: System of controlling unmanned vehicle and method of controlling unmanned vehicle

Description:
FIELD 
     The present disclosure relates to a system of controlling an unmanned vehicle and a method of controlling the unmanned vehicle. 
     BACKGROUND 
     An unmanned vehicle may be used in a wide-area work site such as a mine. The unmanned vehicle can operate in either of a manual mode or an automatic mode. In the manual mode, the unmanned vehicle is operated by the driving operation of a driver. In the automatic mode, the unmanned vehicle operates in an unmanned manner without depending on the driving operation of the driver. 
     CITATION LIST 
     Patent Literature 
     
         
         Patent Literature 1: JP 2015 056134 A 
       
    
     SUMMARY 
     Technical Problem 
     At a work site, not only an unmanned vehicle but a manned vehicle operate. When a blinker is provided in the unmanned vehicle, an operator on board the manned vehicle can recognize the travel direction of the unmanned vehicle. In contrast, if the blinker does not correctly operate, the operator on board the manned vehicle cannot correctly recognize the travel direction of the unmanned vehicle. 
     Solution to Problem 
     According to an aspect of the present invention, a system of controlling an unmanned vehicle, the system comprises: a travel course data acquisition unit that acquires travel course data including blinker data for controlling a blinker provided in an unmanned vehicle; an operation data acquisition unit that acquires operation data of a blinker operation device provided in the unmanned vehicle; and a blinker control unit that controls the blinker based on the blinker data acquired by the travel course data acquisition unit when the operation data is acquired by the operation data acquisition unit at a time when the unmanned vehicle operates based on the travel course data. 
     Advantageous Effects of Invention 
     According to the disclosure, a blinker of an unmanned vehicle can be correctly operated. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  schematically illustrates one example of a control system, an unmanned vehicle, and a manned vehicle according to an embodiment. 
         FIG. 2  schematically illustrates one example of a work site according to the embodiment. 
         FIG. 3  is a functional block diagram illustrating one example of a management device and a control device according to the embodiment. 
         FIG. 4  is a flowchart illustrating one example of a method of controlling the unmanned vehicle according to the embodiment. 
         FIG. 5  is a block diagram illustrating one example of a computer system. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, although an embodiment of the disclosure will be described with reference to the drawings, the present invention is not limited to the embodiment. Components in the embodiment described below can be appropriately combined. Furthermore, some components are not used in some cases. 
     [Control System] 
       FIG. 1  schematically illustrates one example of a control system  1 , an unmanned vehicle  2 , and a manned vehicle  9  according to the embodiment. The unmanned vehicle  2  refers to a vehicle that can be operated in an unmanned manner without depending on a driving operation of a driver. The unmanned vehicle  2  operates at a work site. 
     The control system  1  includes a management device  3  and a communication system  4 . The management device  3  includes a computer system, and is installed in, for example, a mine control facility  5 . The communication system  4  performs communication between the management device  3  and the unmanned vehicle  2 . A wireless communication device  6  is connected to the management device  3 . The communication system  4  includes the wireless communication device  6 . The management device  3  and the unmanned vehicle  2  wirelessly communicate with each other via the communication system  4 . 
     [Unmanned Vehicle] 
     The unmanned vehicle  2  operates at a work site based on travel course data from the management device  3 . The unmanned vehicle  2  includes a blinker  20 , a travel device  21 , a vehicle body  22 , a dump body  23 , and a control device  30 . The travel device  21  supports the vehicle body  22 . The vehicle body  22  supports the dump body  23 . 
     The blinker  20  is a direction indicator that displays the travel direction of the unmanned vehicle  2 . The blinker  20  is disposed at each of the front portion and the rear portion of the vehicle body  22 . Operation of the blinker  20  notifies the surroundings of the travel direction of the unmanned vehicle  2 . The blinker  20  includes a blinker lamp. The operation of the blinker  20  includes lighting or blinking of the blinker lamp. The operation stop of the blinker  20  includes lights-out of the blinker lamp. The blinker  20  includes a right blinker lamp and a left blinker lamp. The right blinker lamp lights or blinks when the unmanned vehicle  2  turns right. The left blinker lamp lights or blinks when the unmanned vehicle  2  turns left. The right blinker lamp is disposed at the right portion of the vehicle body  22 . The left blinker lamp is disposed at the left portion of the vehicle body  22 . Furthermore, the blinker  20  can perform hazard lighting in which the right blinker lamp and the left blinker lamp simultaneously light or blink. 
     The travel device  21  includes a drive device  24 , a brake device  25 , a steering device  26 , and wheels  27 . The drive device  24  drives the travel device  21 . The brake device  25  brakes the travel device  21 . The steering device  26  adjusts a travel direction. 
     Rotation of the wheels  27  causes the unmanned vehicle  2  to be self-propelled. The wheels  27  include a front wheel  27 F and a rear wheel  27 R. Tires are mounted on the wheels  27 . 
     The drive device  24  generates driving force for accelerating the unmanned vehicle  2 . The drive device  24  includes an internal combustion engine such as a diesel engine. Note that the drive device  24  may include an electric motor. Power generated by the drive device  24  is transmitted to the rear wheel  27 R. The brake device  25  generates braking force for decelerating or stopping the unmanned vehicle  2 . The steering device  26  can adjust the travel direction of the unmanned vehicle  2 . The travel direction of the unmanned vehicle  2  includes the direction of the front portion of the vehicle body  22 . The steering device  26  adjusts the travel direction of the unmanned vehicle  2  by steering the front wheel  27 F. 
     The control device  30  is disposed in the unmanned vehicle  2 . The control device  30  can communicate with the management device  3  outside the unmanned vehicle  2 . The control device  30  outputs an accelerator command, a brake command, and a steering command. The accelerator command is output for operating the drive device  24 . The brake command is output for operating the brake device  25 . The steering command is output for operating the steering device  26 . The drive device  24  generates driving force for accelerating the unmanned vehicle  2  based on the accelerator command output from the control device  30 . The travel speed of the unmanned vehicle  2  is adjusted by adjusting the output of the drive device  24 . The brake device  25  generates braking force for decelerating the unmanned vehicle  2  based on the brake command output from the control device  30 . The steering device  26  generates force for changing the direction of the front wheel  27 F based on the steering command output from the control device  30  so that the unmanned vehicle  2  moves straight or turns. 
     Furthermore, the unmanned vehicle  2  includes a position detection device  28  that detects the position of the unmanned vehicle  2 . The position of the unmanned vehicle  2  is detected by using a global navigation satellite system (GNSS). The global navigation satellite system includes a global positioning system (GPS). The global navigation satellite system detects the absolute position of the unmanned vehicle  2  specified by coordinate data of latitude, longitude, and altitude. The position of the unmanned vehicle  2  specified in a global coordinate system is detected by the global navigation satellite system. The global coordinate system refers to a coordinate system fixed to the earth. The position detection device  28  includes a GNSS receiver, and detects the absolute position (coordinates) of the unmanned vehicle  2 . 
     Furthermore, the unmanned vehicle  2  includes a wireless communication device  29 . The communication system  4  includes the wireless communication device  29 . The wireless communication device  29  can wirelessly communicate with the management device  3 . 
     [Manned Vehicle] 
     The manned vehicle  9  is operated by a driving operation of an operator. The manned vehicle  9  includes a cab in which the operator boards. Furthermore, the manned vehicle  9  includes a control device  90  and a wireless communication device  91 . The communication system  4  includes the wireless communication device  91 . The wireless communication device  91  can wirelessly communicate with the management device  3 . 
     [Work Site] 
       FIG. 2  schematically illustrates one example of a work site according to the embodiment. In the embodiment, the work site is a mine or a quarry. The unmanned vehicle  2  is a dump truck that travels in the work site and transports a cargo. The mine refers to a place or business facilities for mining minerals. Examples of the cargo transported by the unmanned vehicle  2  include ore and earth and sand excavated in the mine or the quarry. 
     The unmanned vehicle  2  travels through at least a part of a workplace PA and a travel path HL leading to the workplace PA in a mine. The workplace PA includes at least one of a loading place LPA and a discharging place DPA. The travel path HL includes an intersection IS. 
     The loading place LPA refers to an area where loading operation for loading a cargo on the unmanned vehicle  2  is performed. In the loading place LPA, a loader  7  such as an excavator operates. The discharging place DPA refers to an area where discharging operation for discharging a cargo from the unmanned vehicle  2  is performed. The discharging place DPA is provided with, for example, a crusher  8 . 
     A target travel route Cr is set on the travel path HL and the workplace PA. The unmanned vehicle  2  travels on the travel path HL along the target travel route Cr. The target travel route Cr includes a target travel route Cr 1  and a target travel route Cr 2 . For example, the unmanned vehicle  2  travels from the discharging place DPA to the loading place LPA along the target travel route Cr 1 , and travels from the loading place LPA to the discharging place DPA along the target travel route Cr 2 . 
     [Management Device and Control Device] 
       FIG. 3  is a functional block diagram illustrating one example of the management device  3 , the control device  30 , and the control device  90  according to the embodiment. The control device  30  can communicate with the management device  3  via the communication system  4 . 
     The management device  3  includes a communication unit  3 A and a travel course data generation unit  3 B. 
     The communication unit  3 A receives data transmitted from the control device  30  via the communication system  4 . Furthermore, the communication unit  3 A transmits data to the control device  30  via the communication system  4 . 
     The travel course data generation unit  3 B generates travel course data including the target travel route Cr of the unmanned vehicle  2 . As illustrated in  FIG. 2 , the travel course data includes a plurality of points PI set at intervals. The target travel route Cr is specified by a line connecting the plurality of points PI. A target travel speed and a target travel orientation of the unmanned vehicle  2  are set at each of the plurality of points PI. Furthermore, the travel course data includes blinker data for controlling the blinker  20 . The blinker data is set at each of the plurality of points PI. The blinker data indicates an operation condition of the blinker  20  when the unmanned vehicle  2  passes through a point PI. The blinker data includes operation start data for starting the operation of the right blinker lamp, operation start data for starting the operation of the left blinker lamp, operation stop data for stopping the operation of the right blinker lamp, and operation stop data for stopping the operation of the left blinker lamp. The travel course data generation unit  3 B outputs the generated travel course data to the communication unit  3 A. The communication unit  3 A transmits the travel course data to the control device  30  of the unmanned vehicle  2 . 
     In the embodiment, the unmanned vehicle  2  can operate in either of a manual mode or an automatic mode. In the manual mode, the unmanned vehicle  2  is operated by the driving operation of a driver on board the cab of the unmanned vehicle  2 . In the automatic mode, the unmanned vehicle  2  operates in an unmanned manner based on the travel course data without depending on the driving operation of the driver. That is, the mode of the unmanned vehicle  2  is switched between the automatic mode and the manual mode. 
     The control device  30  is connected to each of a blinker operation device  31  and a travel operation device  32 . Each of the blinker operation device  31  and the travel operation device  32  is provided in the unmanned vehicle  2 . The unmanned vehicle  2  is provided with a cab on which the driver boards in the manual mode. Each of the blinker operation device  31  and the travel operation device  32  is disposed in the cab of the unmanned vehicle  2 . 
     The blinker operation device  31  is operated to operate the blinker  20  and stop the operation of the blinker  20 . A driver or an operator on board the cab of the unmanned vehicle  2  can operate the blinker operation device  31 . The blinker operation device  31  includes a blinker lever with which the blinker  20  can be operated and the operation of the blinker  20  can be stopped. Furthermore, the blinker operation device  31  includes a hazard switch that causes the hazard lighting of the blinker  20 . In the manual mode, the driver or the operator can operate the blinker  20  by operating the blinker operation device  31 . 
     The travel operation device  32  is operated to operate the travel device  21  and stop operation of the travel device  21 . The driver or the operator on board the cab of the unmanned vehicle  2  can operate the travel operation device  32 . The travel operation device  32  includes an accelerator pedal, a brake pedal, and a steering wheel. The accelerator pedal adjusts the output of the drive device  24 . The brake pedal operates the brake device  25 . The steering wheel operates the steering device  26 . In the manual mode, the driver or the operator can operate the travel device  21  by operating the travel operation device  32 . 
     The control device  30  includes a communication unit  30 A, a travel course data acquisition unit  30 B, an operation data acquisition unit  30 C, a blinker control unit  30 D, and a travel control unit  30 E. 
     The communication unit  30 A transmits data to the management device  3  via the communication system  4 . Furthermore, the communication unit  30 A receives data transmitted from the management device  3  via the communication system  4 . 
     The travel course data acquisition unit  30 B acquires travel course data. The travel course data is transmitted from the management device  3 , and includes blinker data for controlling the blinker  20  provided in the unmanned vehicle  2 . 
     The operation data acquisition unit  30 C acquires operation data of the blinker operation device  31  provided in the unmanned vehicle  2 . Furthermore, the operation data acquisition unit  30 C acquires operation data of the travel operation device  32  provided in the unmanned vehicle  2 . 
     The blinker control unit  30 D controls the blinker  20  of the unmanned vehicle  2 . The blinker control unit  30 D controls the operation of the blinker  20 . When the unmanned vehicle  2  operates based on the travel course data, the blinker control unit  30 D controls the blinker  20  based on the blinker data included in the travel course data. 
     For example, when the unmanned vehicle  2  is in the automatic mode, the blinker control unit  30 D controls the blinker  20  based on the blinker data included in the travel course data acquired by the travel course data acquisition unit  30 B. 
     When the unmanned vehicle  2  is in the manual mode, the blinker control unit  30 D controls the blinker  20  based on the operation data generated by operation of the blinker operation device  31 . 
     When the travel course data acquisition unit  30 B acquires the blinker data and the operation data acquisition unit  30 C acquires the operation data, that is, when both the blinker data and the operation data are simultaneously acquired, the blinker control unit  30 D controls the blinker  20  based on the blinker data. 
     For example, when the unmanned vehicle  2  is in the automatic mode and the operation data acquisition unit  30 C acquires the operation data of the blinker operation device  31 , the blinker control unit  30 D controls the blinker  20  based on the blinker data acquired by the travel course data acquisition unit  30 B without depending on the operation data of the blinker operation device  31 . That is, in the automatic mode, when the travel course data acquisition unit  30 B acquires the blinker data and the operation data acquisition unit  30 C acquires the operation data of the blinker operation device  31 , the blinker control unit  30 D controls the blinker  20  based on the blinker data without depending on the operation data. 
     For example, when the unmanned vehicle  2  operates based on the travel course data, the blinker operation device  31  may be operated. For example, when the unmanned vehicle  2  travels in the automatic mode for the first time in a work site, the unmanned vehicle  2  may travel in the automatic mode with a driver being on board the unmanned vehicle  2 . When the unmanned vehicle  2  travels in the automatic mode with the driver being on board the unmanned vehicle  2 , the driver may erroneously touch the blinker operation device  31  to move the blinker operation device  31 . Furthermore, for example, vibration of the vehicle body  22  may move the blinker operation device  31 . As described above, even when the blinker operation device  31  is operated in the automatic mode, the blinker control unit  30 D controls the blinker  20  based on the blinker data transmitted from the management device  3 . That is, when the unmanned vehicle  2  operates based on the travel course data and the operation data acquisition unit  30 C acquires the operation data of the blinker operation device  31 , the blinker control unit  30 D controls the blinker  20  based on the blinker data transmitted from the management device  3  without depending on the operation data of the blinker operation device  31 . 
     Note that, when the mode is switched from the manual mode to the automatic mode with the operation data of the blinker operation device  31  having been acquired by the operation data acquisition unit  30 C, the blinker control unit  30 D may control the blinker  20  by prioritizing the blinker data transmitted from the management device  3  over the operation data of the blinker operation device  31 . 
     The travel control unit  30 E controls the travel device  21  of the unmanned vehicle  2 . The travel control unit  30 E controls the travel of the unmanned vehicle  2 . When the unmanned vehicle  2  is in the manual mode, the travel control unit  30 E controls the travel of the unmanned vehicle  2  based on the operation data generated by operation of the travel operation device  32 . When the unmanned vehicle  2  is in the automatic mode, the travel control unit  30 E controls the travel of the unmanned vehicle  2  based on the travel course data acquired by the travel course data acquisition unit  30 B. 
     [Control Method] 
       FIG. 4  is a flowchart illustrating one example of a method of controlling the unmanned vehicle  2  according to the embodiment. For example, in maintenance or the like of the unmanned vehicle  2 , the unmanned vehicle  2  is set to the manual mode (Step SA 1 ). 
     The blinker operation device  31  may be operated in the manual mode. For example, when the unmanned vehicle  2  is moved to a parking lot for maintenance, a driver may move the unmanned vehicle  2  to the parking lot while operating the blinker operation device  31  and the travel operation device  32 . The operation data acquisition unit  30 C acquires operation data of the blinker operation device  31  (Step SA 2 ). 
     The blinker control unit  30 D controls the blinker  20  based on the operation data acquired by the operation data acquisition unit  30 C (Step SA 3 ). 
     The mode of the unmanned vehicle  2  is set to the automatic mode (Step SA 4 ). 
     In the management device  3 , the travel course data generation unit  3 B generates the travel course data including the blinker data. The communication unit  3 A transmits the generated travel course data to the control device  30  of the unmanned vehicle  2  via the communication system  4 . 
     In the control device  30 , the travel course data acquisition unit  30 B acquires the travel course data (Step SA 5 ). 
     The unmanned vehicle  2  whose mode is set to the automatic mode starts the operation based on the travel course data. The travel control unit  30 E controls the travel device  21  so that the unmanned vehicle  2  travels along the target travel route Cr specified by the travel course data. The blinker control unit  30 D controls the blinker  20  based on the blinker data included in the travel course data (Step SA 6 ). 
     Even when the blinker operation device  31  is operated and the operation data acquisition unit  30 C acquires the operation data in the automatic mode, the blinker control unit  30 D controls the blinker  20  based on the blinker data in the case where the unmanned vehicle  2  is operated based on the travel course data. That is, in the automatic mode, when the control device  30  acquires both the operation data and the blinker data of the blinker operation device  31 , the blinker control unit  30 D controls the blinker  20  based on the blinker data without depending on the operation data of the blinker operation device  31 . 
     [Effects] 
     As described above, according to the embodiment, when the unmanned vehicle  2  operates based on the travel course data, and the control device  30  acquires both the operation data of the blinker operation device  31  and the blinker data from the management device  3 , the blinker  20  is controlled based on the blinker data transmitted from the management device  3 . As a result, the control device  30  can correctly operate the blinker  20  of the unmanned vehicle  2 . 
     As described above, when the unmanned vehicle  2  operates based on the travel course data, the blinker operation device  31  may be operated by some reasons. If the blinker  20  is controlled based on the operation data of the blinker operation device  31 , the blinker  20  may fail to correctly operate. For example, when the travel course data acquisition unit  30 B acquires travel course data for turning the unmanned vehicle  2  to the left with the blinker operation device  31  being operated to operate the right blinker lamp, if the operation data of the blinker operation device  31  is prioritized in the automatic mode, the unmanned vehicle  2  turns left while the right blinker lamp is operated. As described above, if the blinker  20  does not correctly operate in the automatic mode, an operator on board the manned vehicle  9  or another operator in a work site may fail to correctly recognize the travel direction of the unmanned vehicle  2 . 
     In the embodiment, even when the blinker operation device  31  is operated in the case where the unmanned vehicle  2  operates based on the travel course data, the blinker  20  is controlled based on the blinker data included in the travel course data. Since the blinker  20  is controlled based on the blinker data adapted to the target travel route Cr, the blinker  20  can correctly operate so as to be adapted to the target travel route Cr. 
     [Computer System] 
       FIG. 5  is a block diagram illustrating one example of a computer system  1000 . Each of the management device  3 , the control device  30 , and the control device  90  described above includes the computer system  1000 . The computer system  1000  includes a processor  1001  such as a central processing unit (CPU), a main memory  1002 , a storage  1003 , and an interface  1004 . The main memory  1002  includes a nonvolatile memory such as a read only memory (ROM) and a volatile memory such as a random access memory (RAM). The interface  1004  includes an input/output circuit. The function of the above-described management device  3  and the function of the control device  30  are stored in the storage  1003  as a program. The processor  1001  reads the program from the storage  1003 , develops the program in the main memory  1002 , and executes the above-described processing in accordance with the program. Note that the program may be distributed to the computer system  1000  via a network. 
     According to the above-described embodiment, the computer system  1000  can perform: acquiring travel course data including blinker data for controlling the blinker  20  provided in the unmanned vehicle  2 ; acquiring operation data of the blinker operation device  31  provided in the unmanned vehicle  2 ; and controlling the blinker  20  based on the blinker data when the operation data is acquired at the time when the unmanned vehicle  2  operates based on the travel course data. 
     [Other Embodiments] 
     In the above-described embodiment, the mode of the unmanned vehicle  2  is switched between the automatic mode and the manual mode. The mode of the unmanned vehicle  2  is not required to be switched between the automatic mode and the manual mode. For example, when the operation data of the blinker operation device  31  is acquired in the case where the unmanned vehicle  2  operates based on the travel course data in the unmanned vehicle  2  that does not have the automatic mode and the manual mode, such as a case where the manned vehicle  9  is operated as the unmanned vehicle  2 , the blinker control unit  30 D controls the blinker  20  based on the blinker data acquired by the travel course data acquisition unit  30 B. 
     Note that, in the above-described embodiment, at least a part of the functions of the control device  30  of the unmanned vehicle  2  may be provided in the management device  3 , or at least a part of the functions of the management device  3  may be provided in the control device  30 . 
     Note that, in the above-described embodiment, the travel course data is generated in the management device  3 , and the unmanned vehicle  2  travels in accordance with the travel course data transmitted from the management device  3 . The control device  30  of the unmanned vehicle  2  may generate the travel course data. That is, the control device  30  may include the travel course data generation unit. Furthermore, each of the management device  3  and the control device  30  may include the travel course data generation unit. 
     Note that, in the above-described embodiment, the unmanned vehicle  2  is a dump truck, which is a type of transportation vehicle. The unmanned vehicle  2  may be a work machine including working equipment such as an excavator and a bulldozer. 
     REFERENCE SIGNS LIST 
     
         
         
           
               1  CONTROL SYSTEM 
               2  UNMANNED VEHICLE 
               3  MANAGEMENT DEVICE 
               3 A COMMUNICATION UNIT 
               3 B TRAVEL COURSE DATA GENERATION UNIT 
               4  COMMUNICATION SYSTEM 
               5  CONTROL FACILITY 
               6  WIRELESS COMMUNICATION DEVICE 
               7  LOADER 
               8  CRUSHER 
               9  MANNED VEHICLE 
               20  BLINKER 
               21  TRAVEL DEVICE 
               22  VEHICLE BODY 
               23  DUMP BODY 
               24  DRIVE DEVICE 
               25  BRAKE DEVICE 
               26  STEERING DEVICE 
               27  WHEEL 
               27 F FRONT WHEEL 
               27 R REAR WHEEL 
               28  POSITION DETECTION DEVICE 
               29  WIRELESS COMMUNICATION DEVICE 
               30  CONTROL DEVICE 
               30 A COMMUNICATION UNIT 
               30 B TRAVEL COURSE DATA ACQUISITION UNIT 
               30 C OPERATION DATA ACQUISITION UNIT 
               30 D BLINKER CONTROL UNIT 
               30 E TRAVEL CONTROL UNIT 
               31  BLINKER OPERATION DEVICE 
               32  TRAVEL OPERATION DEVICE 
               90  CONTROL DEVICE 
               91  WIRELESS COMMUNICATION DEVICE 
             Cr TARGET TRAVEL ROUTE 
             Cr 1  TARGET TRAVEL ROUTE 
             Cr 2  TARGET TRAVEL ROUTE 
             HL TRAVEL PATH 
             PA WORKPLACE 
             DPA DISCHARGING PLACE 
             LPA LOADING PLACE