JP2711620B2 - Automatic traveling equipment for moving vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling apparatus for a mobile vehicle that automatically travels along a predetermined traveling route, such as a crawler dump used for earth and sand transport in earthworks.

[0002]

2. Description of the Related Art In dangerous places with bad environment such as disaster prevention work of construction sites, tunnel works, quarry quarries, etc., or soil works with many repetitive works, the productivity such as labor saving and efficiency improvement is improved. As a measure to achieve this, the size of construction machines has been mainly increased. However, new countermeasures have been demanded in order to cope with a decrease in the number of workers and aging in recent years, or to secure safety and improve the work environment. On the other hand, with the recent development of electronics and mechatronics, by making full use of these latest technologies,
Labor savings and unmanned operations have become possible, and the above-mentioned demands are becoming possible.

[0003] Conventionally, an unmanned traveling system of a dump truck has been known as a soil and sand transport system in earthworks. In this unmanned traveling system, a traveling course set in advance is stored in a storage medium such as an IC card, and a large number of laser reflectors are installed along a traveling path of the dump truck, and a laser generated from the dump truck is provided. Calculate the direction and distance from the reception angle of the reflected laser when the light is irradiated to the reflector, compare the calculated data with the travel route data of the storage medium to check the travel position of the dump truck, and The unmanned traveling of the dump truck is performed along the stored course while correcting.

[0004]

However, in the above-described conventional transportation system, the laser reflector must be installed along the traveling route of the transport vehicle. The installation position of the laser reflector must also be changed, which complicates the operation and has a problem that the setting of the traveling route is complicated.

Therefore, the present applicant has filed a Japanese Patent Application No. 4-1268.
As shown in No. 24, an automatic tracking device is provided in each of the fixed station and the moving vehicle, and by controlling the automatic tracking devices to face each other, the traveling position of the moving vehicle is constantly monitored on the fixed station side, Thus, an automatic transport system has been proposed in which a moving vehicle is automatically driven along a traveling route. However, in such an automatic transport system, it is necessary to be in a state where the entire traveling route of the mobile vehicle can be seen from the fixed station. , Trees and other obstacles will block communication in both directions,
Automatic traveling along the traveling route of the moving vehicle becomes impossible. SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a mobile vehicle with a predetermined traveling route even if a communication path between a fixed station and a mobile vehicle is interrupted by a communication obstacle. It is an object of the present invention to provide an automatic traveling device for a mobile vehicle that can surely automatically travel along the vehicle.

[0006]

In order to achieve the above object, the present invention provides a fixed station installed at a reference position in a work area, and a moving vehicle traveling along a predetermined travel route in the work area. And an automatic tracking device that is provided in each of the fixed station and the moving vehicle, and operates so as to always face each other by light waves transmitted from both, and a target provided in the one automatic tracking device to the other automatic tracking device. Distance measuring means for measuring the distance between the fixed station and the moving vehicle by irradiating light waves, and angle detecting means for detecting the horizontal swing angle and the vertical tilt angle of the automatic tracking device of the fixed station, A communication unit that is installed on each of the automatic tracking devices and performs data communication between the fixed station and the mobile vehicle; distance information from the distance measurement unit and angle information from the angle detection unit; Calculating means for calculating coordinates on the traveling route of the moving vehicle based on the predetermined traveling route information and the coordinate values calculated by the computing means, and causing the moving vehicle to automatically travel along the traveling route. Operation control means for moving the automatic tracking device on the fixed station side toward an end point of a blind section caused by a communication obstacle when a communication path between the communication means is interrupted by a communication obstacle in a work area; Control means, a positioning sensor that is provided in the moving vehicle and operates when the communication path is cut off to detect the direction and position of the moving vehicle; and the detected direction and position data and the traveling route data of the blind section. Second control means for automatically moving a moving vehicle in a blind section while comparing the automatic tracking device after the moving vehicle has passed through the blind section. Characterized in that a third control means for bidirectional tracking.

According to the present invention, the traveling position of a moving vehicle is monitored from a fixed station side using a two-way automatic tracking device, and when the moving vehicle is automatically traveling along a predetermined traveling route, the fixed station is monitored. When the communication path between the mobile station and the moving vehicle is temporarily interrupted by a communication obstacle, the automatic tracking device of the fixed station is moved to the end point of the blind section by the first control means and made to stand by, and travels in the blind section. The second control means automatically moves the moving vehicle while comparing the azimuth and position data detected by the positioning sensor provided on the moving vehicle with the traveling route data of the blind section, and the moving vehicle passes through the blind section. After that, the vehicle is returned to the two-way automatic tracking state, and the moving vehicle is automatically driven under the monitoring of the fixed station by the third control means. Thus, according to the present invention,
Even if the communication path between the fixed station and the mobile vehicle is interrupted by a communication obstacle, the mobile vehicle in the blind section of this communication can be automatically driven along the predetermined travel route without fail.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An automatic traveling apparatus for a moving vehicle according to the present invention will be described below with reference to FIGS. FIG. 1 is a schematic configuration diagram in a case where the automatic traveling device of the present invention is applied to residential land development work. In FIG. 1, reference numeral 9 denotes a sediment loading position P in the development site.
1 and a crawler dump that travels along a predetermined traveling route 10 between a loading position P2 for unloading earth and sand. The crawler dump 9 is a crawler 11 that automatically travels on the traveling route 10 and is provided on the crawler 11. And a driver's seat 13 capable of dumping up. Reference numeral 14 denotes a fixed station installed at a reference position overlooking the area to be created, 15 denotes a control center installed at a predetermined location in the created area, and a cable for performing communication and the like between the control center 15 and the fixed station 14. 16 are connected. Reference numeral 37 denotes a communication obstacle such as a mountain or a tree that serves as a blind for optical communication between the fixed station 14 and the crawler dump 9.

The crawler dump 9 and the fixed station 14 include:
As shown in FIGS. 1 and 2, the bidirectional automatic tracking device 1
7, 18 are provided respectively. The automatic tracking devices 17 and 18 transmit tracking light waves toward each other, and receive the light waves so that the respective light receiving positions on the two-dimensional light receiving element are always in the center direction. The tracking devices 17 and 18 are operated in the horizontal and vertical directions, thereby automatically controlling the automatic tracking devices 17 and 18 so that the front faces always face each other. In addition, the automatic tracking devices 17 and 18 are provided with optical communication devices 19 and 20 for spatial lightwave data transmission for performing data communication between them.

As shown in FIG. 2, an automatic tracking device 18 on the fixed station 14 transmits a lightwave for measuring the distance from the fixed station 14 to the target 21 of the crawler dump 9, that is, the current position of the crawler dump 9. A rangefinder 22, a horizontal angle measuring device 23 for measuring a deflection angle from a reference point of the automatic tracking device 18 when the automatic tracking device 17 turns in the horizontal direction so as to face the automatic tracking device 18 of the fixed station 14, and the vertical angle measuring instruments 24 is installed to the automatic tracking apparatus 17 measures the inclination angle from the reference point of the automatic tracking apparatus 18 when tilted forward against such in the vertical direction in the automatic tracking apparatus 18 of the fixed station 14 . Further, as shown in FIG. 2, the automatic tracking device 17 on the crawler dump 9 side has a lightwave distance meter 22 on the fixed station 14 side.
A target 21 for reflecting a lightwave transmitted from the camera to the crawler dump 9 to a lightwave distance meter 22 is provided.

As shown in FIG. 2, the fixed station 14 is provided with a control circuit 25 (corresponding to the arithmetic means and the first control means in the claims) for managing and controlling the entire fixed station. The control circuit 25 includes the optical communication device 2
0, lightwave distance meter 22, data communication circuit 26, horizontal angle measuring device 23, vertical angle measuring device 24, and their control programs, traveling route data of mobile vehicles, communication data, and data between fixed station 14 and crawler dump 9. A storage circuit 27 for storing a control program or the like for directing the automatic tracking device 18 on the fixed station side to the coordinate position on the traveling route 10 where the blind is released when the communication path of the fixed station is blinded is connected, and the data communication is performed. The circuit 26 is connected to the control center 15 through a cable 16.

As shown in FIG. 2, the crawler dump 9 is provided with a main control circuit (corresponding to second and third control means) comprising a microcomputer for managing and controlling the entire crawler dump. The main control circuit 28 includes an optical communication device 19, a safety monitoring device 29, a positioning sensor 30 such as an optical gyro for detecting the current position of the crawler dump 9, an operation control circuit 31 for the crawler dump 9, and control for controlling these. A storage circuit 32 for storing programs, travel route data, and the like is connected to each other.

The safety monitoring device 29 is for preventing rear-end collision with on-site workers and other obstacles and for preventing the crawler dump 9 from tipping over, and includes an ultrasonic sensor and sensors for detecting a pitching angle and a rolling angle. Is done. The operation control circuit 31 performs traveling / stop of the crawler dump 9, change of direction, start / stop of the engine, up / down control of the bed 12, and the like. The section 34, the engine start / stop operation section 35, and the up / down drive section 36 of the carrier 12 are connected to each other.

As shown in FIG. 1, a host computer 40 which processes various data transmitted from the crawler dump 9 and processes and sends data such as a start command to the crawler dump 9 as shown in FIG. A monitoring monitor 41 for displaying the work status of the crawler dump 9 and the like, a VR display unit 42 for remotely controlling the crawler dump 9 using a VR (virtual reality) method, and the like are provided. It should be noted that the crawler dump 9 by the VR method.
When remotely controlling the crawler dump 9, a stereoscopic camera and a microphone (not shown) are attached to the crawler dump 9, and a video of a traveling route photographed by the stereoscopic camera and an engine sound of the crawler dump 9 picked up by the microphone are displayed on a VR display unit. 42.

Next, the operation of the present embodiment configured as described above will be described with reference to the flowchart shown in FIG.
First, in step S1, the control center 15
Using a keyboard or other input device, input the position coordinates of the fixed station 14 and the traveling route data of the crawler dump 9 in the work area, and store them via the cable 16, the data communication circuit 26, and the control circuit 25. 27. The travel route data is transmitted to the crawler dump 9 by the optical communication devices 19 and 20 and stored in a predetermined area of the storage circuit 32 through the main control circuit 28. In the next step S2, the automatic tracking devices 18 and 17 of the fixed station 14 and the crawler dump 9 are set to the operation mode and the automatic tracking devices 18 and 17 are set.
And 17 are in a two-way tracking state in which the front faces of the two move in opposition to each other.

When a start command is given from a not-shown earth shovel loading shovel, for example, when loading of the earth and sand into the crawler dump 9 waiting at the loading position P1 is completed, the main control circuit 28 sends an operation control circuit 31. Then, the crawler dump 9 is started by driving the crawler drive unit 33 in response to the start command (step S3). Then, the crawler dump 9 automatically travels on the traveling route 10 according to the route data stored in the storage circuit 32 (Step S4). At this time, the current traveling position of the crawler dump 9 is measured by the lightwave distance meter 22, the horizontal angle measuring device 23, and the vertical angle measuring device 24 of the fixed station 14 with the fixed station 14 as a base point, and stored in the storage circuit 27. Is compared with the route data. If there is a deviation between the current position of the crawler dump 9 and the corresponding traveling route coordinates, the deviation data is stored in the optical communication devices 19 and 2.
0 and transmitted to the operation control circuit 31 through the main control circuit 28, and controls the steering unit 34 so that the deviation becomes zero so that the traveling direction of the crawler dump 9 is put on the traveling route.

In the next step S5, the crawler dump 9
It is determined whether optical communication has been disabled due to interruption of communication between the optical communication devices 19 and 20 for a predetermined period of time due to being behind a communication obstacle 37 such as a mountain or a tree. If it is determined that the communication path between the optical communication devices 19 and 20 is blinded by the communication obstacle 37, the process proceeds to step S6, and the automatic tracking device 18 on the fixed station 14 side is blinded by the communication obstacle 37. Move toward the end point of the section and wait at that position. At this time, the communication obstacle 37
Since the blind section is known in advance, it is easy to direct the automatic tracking device 18 to the end point position of the blind section by putting this in the travel route data. In the next step S7, the tracking operation of the automatic tracking device 17 on the crawler dump 9 side is stopped, and the positioning sensor 3
Set 0 to active state. Then, the next step S8
, The azimuth and position of the crawler dump 9 are detected by the positioning sensor 30, and the azimuth and position data,
The crawler dump 9 is caused to automatically travel along the travel route of the blind section while comparing with the travel path data of the blind section known in advance.

In the next step S9, the crawler dump 9
It is determined from the position of the crawler dump 9 whether the vehicle has passed through the blind section by traveling by the positioning sensor 30. here,
When a negative determination is made, the process returns to step S8, and when an affirmative determination is made, the process proceeds to the next step S10. In step S10, the automatic tracking devices 17 and 18 are returned to the operating state, and are set in the bidirectional tracking state. Then, the next step S
At 11, the crawler dump 9 detected by the positioning sensor 30 is reset, and the position data of the crawler dump 9 is transmitted to the lightwave distance meter 22 and the horizontal angle measuring device 2 of the automatic tracking device 18.
3 and correct to the accurate position data measured by the vertical angle measuring device 24, and then return to step S4.

If it is determined in step S5 that optical communication is possible, the flow advances to step S12 to determine whether the crawler dump 9 is at the unloading position P2 from the traveling route data. Here, when a negative determination is made, the process returns to step S4, and when an affirmative determination is made, the process proceeds to step S13. In step S13, the crawler dump 9 is moved to the unloading position P2.
Then, the rear part of the bed 12 is turned in the discharge direction, and the up / down drive unit 36 is moved up to raise the bed 12, and the earth and sand in the bed 12 is discharged. Also,
When the unloading is completed, the crawler dump 9 starts moving again on the traveling route 10 toward the loading position P1 (step S14). In the next step S15, it is determined from the traveling route data whether the crawler dump 9 has arrived at the loading position P1. Here, when a negative determination is made, the process returns to step S4, and when an affirmative determination is made, the process proceeds to step S16. In step S16, the crawler dump 9 is stopped at the loading position P1, and the process ends.

The work status data of the crawler dump 9 is transmitted to the control center 15 through a communication system and monitored through a monitor 41.

In this embodiment, the traveling position of the crawler dump is constantly monitored on the fixed station side by using the bidirectional automatic tracking device, so that the crawler dump is automatically driven along the traveling route. When the optical communication path between the crawler dump and the fixed station is blinded by the crawler dump behind a communication obstacle, the automatic tracking device on the fixed station side is moved to the end point of the blind section to be on standby, and the crawler dump is stopped. Automatically traveling the crawler dump while comparing the direction and position data of the crawler dump detected by the positioning sensor and the traveling route data of the blind section,
Also, after the crawler dump has passed through the blind section, the automatic tracking device on the fixed station and the automatic tracking device on the crawler dump side, which wait again at the blind end point, are returned to the bidirectional tracking state. Even if a blind section exists due to a communication obstacle on the traveling route and the communication route with the fixed station is temporarily interrupted, the crawler dump can be accurately and automatically traveled along the traveling route.
In addition, since the position error of the crawler dump generated when traveling in the blind section is automatically corrected when passing through the blind section, an optical gyro such that the positioning error is accumulated in the positioning sensor over time, It is sufficient to use a vibrating gyroscope or the like. Therefore, it is not necessary to dispose a mirror for correcting the self-position along the traveling route unlike the related art, which is advantageous in terms of cost and maintenance, and also facilitates changing the traveling route.

In the above embodiment, the automatic traveling of the crawler dump has been described. However, the present invention is not limited to this and can be applied to a dump truck and other moving vehicles. Further, the present invention is not limited to the configuration shown in the above embodiment, and various modifications can be made without departing from the scope described in claims.

[0022]

As described above, according to the present invention, the traveling position of a moving vehicle is monitored from a fixed station using a two-way automatic tracking device, and the moving vehicle is automatically driven along a predetermined traveling route. If the communication path between the fixed station and the moving vehicle is temporarily interrupted by a communication obstacle while the vehicle is running, the azimuth and position data detected by the positioning sensor provided on the moving vehicle during the blind section. The traveling vehicle automatically travels while comparing the traveling route data of the blind section with the traveling path data.After the traveling vehicle passes through the blind section, the traveling vehicle is returned to the two-way automatic tracking state and the traveling vehicle is automatically monitored under the monitoring of the fixed station. Because it is made to run, the moving vehicle can be automatically driven along a predetermined travel route including the blind section of the communication, and at the time of traveling in the blind section Position errors without even without using a special position measuring means can be corrected easily and at low cost.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an automatic traveling device of the present invention.

FIG. 2 is a configuration diagram showing the entirety of the automatic traveling device of the present invention.

FIG. 3 is a flowchart illustrating an operation procedure of automatic traveling in the present embodiment.

[Explanation of symbols]

 9 Crawler dump (moving vehicle) 10 Travel route 14 Fixed station 15 Control center 17, 18 Automatic tracking device 19, 20 Optical communication device 22 Lightwave distance meter 23 Horizontal angle measuring device 24 Vertical angle measuring device 25 Control circuit 26 Data communication circuit 28 Main control circuit 31 Operation control circuit

Claims (1)

(57) [Claims] 1. A fixed station installed at a reference position in a work area; a moving vehicle traveling along a predetermined traveling route in the work area; An automatic tracking device that operates so as to always face each other by the transmitted light wave, and by irradiating a light wave from the other automatic tracking device to a target provided in the one automatic tracking device, the distance between the fixed station and the moving vehicle is reduced. A distance measuring means for measuring, an angle detecting means for detecting a horizontal deflection angle and a vertical tilt angle of the automatic tracking device of the fixed station, and each of which is installed on each of the automatic tracking devices and moves with the fixed station. Communication means for performing data communication between vehicles; and calculating coordinates on a traveling route of the moving vehicle based on distance information from the distance measuring means and angle information from the angle detecting means. Operating means for automatically moving the moving vehicle along the travel route based on the predetermined travel route information and coordinate values calculated by the arithmetic means; and a communication path between the communication means. First control means for moving the automatic tracking device on the fixed station side toward an end point of a blind section caused by a communication obstacle when interrupted by a communication obstacle in a work area; and A positioning sensor that operates when the road is blocked to detect the direction and position of the moving vehicle; and automatically moves the moving vehicle in the blind section while comparing the detected direction and position data with the traveling route data of the blind section. Second control means for causing the automatic tracking device to perform bidirectional tracking after the moving vehicle passes through a blind section. Automatic traveling apparatus for a mobile vehicle, characterized in that.