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US-20260126812-A1 - MANAGEMENT SYSTEM FOR UNMANNED VEHICLE AND MANAGEMENT METHOD FOR UNMANNED VEHICLE

US20260126812A1US 20260126812 A1US20260126812 A1US 20260126812A1US-20260126812-A1

Abstract

A management system for an unmanned vehicle includes: a traveling path generation unit, configured to generate a traveling path of an unmanned vehicle; a speed calculation unit, configured to calculate a target traveling speed of the unmanned vehicle traveling along the traveling path, based on the traveling path; and a detection unit, configured to detect a deceleration position indicating a position where the target traveling speed drops in the traveling path.

Inventors

  • Kenta Shinohara
  • Atsushi Sakai
  • Misato Maeda

Assignees

  • KOMATSU LTD.

Dates

Publication Date
20260507
Application Date
20231020
Priority Date
20221114

Claims (20)

  1. 1 . A management system for an unmanned vehicle, comprising: a traveling path generation unit, configured to generate a traveling path of an unmanned vehicle; a speed calculation unit, configured to calculate a target traveling speed of the unmanned vehicle traveling along the traveling path, based on the traveling path; and a detection unit, configured to detect a deceleration position indicating a position where the target traveling speed drops in the traveling path.
  2. 2 . The management system for an unmanned vehicle according to claim 1 , wherein the detection unit is configured to detect a position where the target traveling speed becomes equal to or lower than a speed threshold, as the deceleration position.
  3. 3 . The management system of an unmanned vehicle according to claim 1 , wherein the traveling path generation unit is configured to generate the traveling path so as to connect a departure position and an arrival position of the unmanned vehicle, the speed calculation unit is configured to calculate a speed profile indicating a relationship between a distance from the departure position in the traveling path and the target traveling speed, and the detection unit is configured to detect the deceleration position in the speed profile.
  4. 4 . The management system of an unmanned vehicle according to claim 3 , wherein the unmanned vehicle is an unmanned dump truck traveling between a loading area and a discharging area, the departure position is defined to be one of the loading area and the discharging area, and the arrival position is defined to be the other of the loading area and the discharging area.
  5. 5 . The management system for an unmanned vehicle according to claim 3 , further comprising: an output unit, configured to output the speed profile and the deceleration position in the speed profile.
  6. 6 . The management system for an unmanned vehicle according to claim 5 , wherein the output unit is configured to cause a display device to display the speed profile and the deceleration position.
  7. 7 . The management system of an unmanned vehicle according to claim 6 , wherein the output unit is configured to cause the display device to display the deceleration position in a different display form from other positions in the speed profile.
  8. 8 . The management system of an unmanned vehicle according to claim 7 , further comprising: an input data acquisition unit, configured to acquire an input data from an input device, wherein the input data includes a designation data indicating the deceleration position displayed on the display device, and the output unit is configured to cause the display device to display the traveling path and the deceleration position in the traveling path, based on the designation data.
  9. 9 . The management system of an unmanned vehicle according to claim 1 , further comprising: an input data acquisition unit, configured to acquire an input data from an input device, wherein the traveling path generation unit is configured to generate at least a part of the traveling path, based on the input data.
  10. 10 . The management system for an unmanned vehicle according to claim 9 , wherein the traveling path generation unit is configured to generate the traveling path at a point of intersection at which the unmanned vehicle travels, based on the input data.
  11. 11 . The management system of an unmanned vehicle according to claim 1 , further comprising: an outline storage unit, configured to store an outline data indicating an outline of a traveling track where the unmanned vehicle travels, wherein the traveling path generation unit is configured to generate at least a part of the traveling path, based on the outline data.
  12. 12 . The management system of an unmanned vehicle according to claim 1 , further comprising: a speed data storage unit, configured to store an upper limit speed data indicating a relationship between a gradient of a traveling track where the unmanned vehicle travels and an upper limit value of a traveling speed of the unmanned vehicle, wherein the speed calculation unit is configured to calculate the target traveling speed, based on the gradient of the traveling track and the upper limit speed data.
  13. 13 . The management system of an unmanned vehicle according to claim 1 , further comprising: an input data acquisition unit, configured to acquire an input data from an input device, wherein the input data includes a correction data to correct the traveling path, and the management system further includes a travel data transmission unit, configured to transmit a corrected traveling path indicating the traveling path corrected based on the correction data, and a target traveling speed of the unmanned vehicle calculated based on the corrected traveling path, to the unmanned vehicle.
  14. 14 . A management method for an unmanned vehicle, comprising: generating a traveling path of an unmanned vehicle; calculating a target traveling speed of the unmanned vehicle traveling along the traveling path, based on the traveling path; and detecting a deceleration position indicating a position where the target traveling speed drops in the traveling path.
  15. 15 . The management method for an unmanned vehicle according to claim 14 , wherein a position where the target traveling speed becomes equal to or lower than a speed threshold is detected as the deceleration position.
  16. 16 . The management method for an unmanned vehicle according to claim 14 , wherein the traveling path is generated so as to connect a departure position and an arrival position of the unmanned vehicle, a speed profile indicating a relationship between a distance from the departure position in the traveling path and the target traveling speed is calculated, and the deceleration position is detected in the speed profile.
  17. 17 . The management method for an unmanned vehicle according to claim 16 , wherein the unmanned vehicle is an unmanned dump truck traveling between a loading area and a discharging area, the departure position is defined to be one of the loading area and the discharging area, and the arrival position is defined to be the other of the loading area and the discharging area.
  18. 18 . The management method for an unmanned vehicle according to claim 16 , further comprising: outputting the speed profile and the deceleration position in the speed profile.
  19. 19 . The management method for an unmanned vehicle according to claim 18 , wherein the outputting the deceleration position includes causing a display device to display the speed profile and the deceleration position.
  20. 20 . The management method for an unmanned vehicle according to claim 19 , wherein the deceleration position is displayed on the display device in a different display form from other positions in the speed profile.

Description

TECHNICAL FIELD The present disclosure relates to a management system for an unmanned vehicle and a management method for an unmanned vehicle. BACKGROUND ART In a technical field related to unmanned vehicles, a management system for an unmanned vehicle including a transport device as disclosed in Patent Literature 1 is known. CITATION LIST Patent Literature Patent Literature 1: JP 2021-174325A SUMMARY OF INVENTION Technical Problem At a work site, an unmanned vehicle travels along a traveling path. If the traveling path has a part with a locally large curvature, the unmanned vehicle needs to decelerate in the part with the larger curvature. As the unmanned vehicle decelerates, productivity at the work site may decrease. An object of the present disclosure is to suppress a decrease in productivity at the work site. Solution to Problem According to the present disclosure, a management system for an unmanned vehicle is provided, the management system including: a traveling path generation unit, configured to generate a traveling path of an unmanned vehicle; a speed calculation unit, configured to calculate a target traveling speed of the unmanned vehicle traveling along the traveling path, based on the traveling path; and a detection unit, configured to detect a deceleration position indicating a position where the target traveling speed drops in the traveling path. Advantageous Effects of Invention According to the present disclosure, a decrease in productivity at the work site is suppressed. BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a schematic diagram illustrating a work site according to an embodiment. FIG. 2 is a schematic diagram illustrating a management system for an unmanned vehicle according to the embodiment. FIG. 3 is a block diagram illustrating the management system for the unmanned vehicle according to the embodiment. FIG. 4 is a diagram showing the hardware configuration of a management device according to the embodiment. FIG. 5 is a schematic diagram illustrating the traveling conditions of the unmanned vehicle according to the embodiment. FIG. 6 is a diagram illustrating a method for generating a traveling path according to the embodiment. FIG. 7 is a diagram illustrating a method for calculating a target traveling speed of the unmanned vehicle according to the embodiment. FIG. 8 is a diagram illustrating upper limit speed data stored in a speed data storage unit according to the embodiment. FIG. 9 is a diagram illustrating a speed profile displayed on a display device according to the embodiment. FIG. 10 is a diagram illustrating an example of the traveling path according to the embodiment. FIG. 11 is a diagram illustrating a speed profile and a deceleration position displayed on the display device according to the embodiment. FIG. 12 is a diagram illustrating a traveling path and a deceleration position displayed on the display device according to the embodiment. FIG. 13 is a diagram illustrating a management method for an unmanned vehicle according to the embodiment. DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiment. The elements of the embodiment described below can be combined as appropriate. Also, in some cases, some elements are not used. Work Site FIG. 1 is a schematic diagram illustrating a work site 1 according to the embodiment. Examples of the work site 1 include a mine or a quarry. The mine refers to a place or a place of business where minerals are mined. The quarry refers to a place or a place of business where stones are mined. Examples of the mine include a metal mine for mining metal, a non-metal mine for mining limestone, or a coal mine for mining coal. At the work site 1, a plurality of unmanned vehicles 2 operate. The unmanned vehicle refers to a vehicle that operates in an unmanned state without depending on a driving operation by a driver. The unmanned vehicle 2 may be a work vehicle that performs predetermined work or may not be a work vehicle. In the embodiment, the unmanned vehicle 2 is a work vehicle traveling in an unmanned state in the work site 1. The unmanned vehicle 2 is a transport vehicle that performs transport work of transporting a load. In the embodiment, the unmanned vehicle 2 is referred to as an unmanned dump truck 2 as appropriate. The work site 1 is provided with a loading area 3, a discharging area 4, a parking area 5, a fueling area 6, and a traveling track 7. A point of intersection 8 is provided at a part of the traveling track 7. The loading area 3 refers to an area where loading work of loading a load on the unmanned dump truck 2 is performed. Examples of the load include excavated material excavated in the loading area 3. In the loading area 3, a loader 9 operates. Examples of the loader 9 include a hydraulic shovel. The discharging area 4 refers to an area where discharging work of discharging a l