JP3489746B2 - Operation management system for work machines - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for remotely operating a working machine used in, for example, a construction site.

[0002]

2. Description of the Related Art For example, at a large earthmoving site such as construction of a large-scale residential land or road laying in a mountain area, excavation, loading, and transportation of earth and sand by using a work machine such as a dump truck, a bulldozer, and a power shovel. Work such as spreading and leveling is performed. And when operating these work machines at a remote location such as a construction office away from the site,
Conventionally, the operator of each work machine and a management person at a remote location each have a transceiver, and the management person has grasped the current position of each work machine through mutual calls.

[0003]

However, in the above-described conventional operation management system, the operator has to operate the work machine while talking with the management staff through the transceiver, which is distracting. It tended to happen and there was a problem in safely maneuvering. In addition, in the conventional method,
There was a problem that the management personnel could not grasp the operating status of multiple work machines at the same time, and it was difficult to perform centralized management of each work machine. The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an operation management system capable of grasping the operation status of a work machine at a remote location without hindering the operation of the work machine. Moreover,
An object of the present invention is to provide an operation management system capable of grasping the operation status of those work machines at the same time when there are a plurality of work machines.

[0004]

In order to achieve the above object, the present invention is a system for managing the operation status of a plurality of work machines moved in a site at a remote location apart from the site, Three-dimensional position coordinates provided at the site are provided at known reference points, and first receiving means for receiving radio waves from a global positioning system satellite and the reference points are provided.
The radio wave received by the first receiving means is used as a coordinate correction signal.
And a plurality of the above-mentioned work
Each of the machines is provided with the transfer means for transfer.
Transfer receiving means for receiving a coordinate correction signal; second receiving means provided in each of the plurality of work machines for receiving radio waves from the global positioning system satellite ;
Provided in each of the working machine, based on the three-dimensional position coordinates of the radio wave and the reference point received by the first receiving means and said second receiving means, calculates the position coordinates to calculate a three-dimensional position coordinates of the work machine And means provided for each of the plurality of work machines
And wirelessly transmit the three-dimensional position coordinates of the work machine.
Position coordinate transmission means, provided at the remote location,
3 from the position coordinate transmitting means of each of the plurality of work machines
Position coordinate receiving means for receiving the three-dimensional position coordinates;
Provided隔箇office, and terrain data holding means for holding the three-dimensional topographical data of said site, provided in the remote location,
Based on the three-dimensional position coordinates of each of the plurality of work machines and the three-dimensional topographical data of the site, a three-dimensional image indicating the position of each of the plurality of work machines in the site is generated. An image generating means and a display means provided at the remote location for displaying the three-dimensional image are provided.

[0005]

In addition, the present invention provides a plurality of the working machines .
And those the working machine driving means provided in each of the a remote control device of each of the plurality of work machine provided in a remote location, the remote that is provided to the remote location in response to the operation of the remote operation device Remote operation transmitting means for wirelessly transmitting an operation signal, remote operation receiving means provided in each of the plurality of work machines for receiving the remote operation signal from the remote operation transmitting means, and the plurality of works The machine further includes control means provided on each machine for controlling the drive means of the working machine based on the remote control signal received by the remote control receiving means.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing a schematic configuration of a work machine operation management system according to an embodiment of the present invention. In the figure, 1 is a site, 3 is a reference point provided in the site 1, 5,
7 and 9 are dump trucks, power shovels, and bulldozers movably arranged in the site 1, 11 is a construction office (corresponding to a remote place) installed in a place away from the site 1, and 13 is Each of the GPS (Global Positioning System) satellites that orbits the earth along a predetermined orbit is shown, and a plurality of GPS satellites 13 are arranged above the earth.

The reference point 3 has three-dimensional position coordinates known by obtaining national coordinates (plane rectangular coordinates) and elevation by a known surveying method. Instead of obtaining the altitude of the reference point 3, the coordinate value in the height direction of the three-dimensional position coordinates may be set to zero. Antenna 1 is attached to the reference point 3.
First receiving means 15 including 501 and receiver 1503
And a transmitting means 17 for transfer comprising an antenna 1701 and a specific low power radio 1703 are installed, and the first receiving means 15 receives GPS radio waves coming from four or more GPS satellites 13 and receives them. The GPS radio wave is transmitted as a coordinate correction signal by the transmission means 17 for transfer by a specific low power radio.

The dump truck 5, the power shovel 7, and the bulldozer 9 have drive wheels 501 and steered wheels 50.
3, loading platform 505, crawlers 701, 901, arm 70
3, 903, and drive parts such as buckets 705, 905. Further, inside the dump truck 5, the power shovel 7, and the bulldozer 9, drive means for driving the respective drive parts such as an engine, an engine drive circuit, a hydraulic source, and a hydraulic circuit (none of which is shown) are provided. A radio control box (not shown) that outputs a drive command signal to the drive means and a personal computer (hereinafter abbreviated as a personal computer) 19 for calculating three-dimensional position coordinates (see FIG. 2) are respectively provided. .
In this embodiment, the dump truck 5, the power shovel 7, and the bulldozer 9 correspond to a working machine, and the position coordinate calculating means is composed of the personal computer 19.

Further, a transmission / reception unit 21 is arranged above the dump truck 5, the power shovel 7, and the bulldozer 9. As shown in FIG. 2, the transmitting / receiving unit 21 includes a second receiving unit 23 including an antenna 2301 and a receiver 2303, and an antenna 25.
01 and a specific small power radio device 2503 for receiving, an antenna 2701 and a specific small power radio device 2
Position coordinate transmitting means 27 comprising 703 and antenna 2
901 and a remote control receiving unit 29 including a specific low power radio 2903.

The second receiving means 23 receives GPS radio waves coming from four or more GPS satellites 13,
In the transfer receiving means 25, the transfer transmitting means 17
The coordinate correction signal from is received. The GPS radio wave received by the second receiving means 23 and the coordinate correction signal received by the transfer receiving means 25 are both output to the personal computer 19, and these and the three-dimensional position coordinates of the reference point 3 are stored. Based on this, the personal computer 19 calculates the three-dimensional position coordinates of the dump truck 5, the power shovel 7, and the bulldozer 9.

In the position coordinate transmitting means 27, the three-dimensional position coordinates of the dump truck 5, the power shovel 7, and the bulldozer 9 calculated by the personal computer 19 are transmitted by specific low power radio for the remote operation. Receiving means 2
At 9, the remote control signals of the dump truck 5, the power shovel 7, and the bulldozer 9 are received from the construction office 11 side by specific low power radio. The remote control signal received by the remote control receiving means 29 is output to the radio control box via the personal computer 19, and the radio control box outputs the drive command signal to the drive means based on the remote control signal. To do. In this embodiment, the control means is composed of the personal computer 19 and the radio control box.

The construction office 11 is provided with a position coordinate receiving means 31, a personal computer 33, a radio control box 35 (corresponding to a remote control device), and a remote control transmitting means 37. The position-coordinate receiving unit 31 includes an antenna 3101 arranged above the construction office 11,
Specified low power radio device 3 installed inside the construction office 11
And the position coordinate receiving means 31,
The respective three-dimensional position coordinates of the dump truck 5, the power shovel 7, and the bulldozer 9 are received from the position coordinate transmitting means 27, and the respective three-dimensional position coordinates are output to the personal computer 33.

The personal computer 33 is arranged inside the construction office 11. The personal computer 33 includes a main body 3301 having a CPU, and an external storage device 3303 connected to the main body 3301 via an interface (not shown).
(Corresponding to topographical data holding means) and CRT 3305 (corresponding to display means), and the external storage device 33 is provided.
In 03, the three-dimensional topographical data of the site 1 is stored.

The CPU of the main body 3301 generates a three-dimensional image 39 of the site 1 as shown in FIG. 3 based on the three-dimensional topographical data of the site 1 stored in the external storage device 3303. Further, the CPU, based on the three-dimensional position coordinates of the dump truck 5, the power shovel 7, and the bulldozer 9 received by the position coordinate receiving means 31, as shown in FIG. ,
An image 41 showing the positions of the power shovel 7 and the bulldozer 9 by symbols is generated. The two images 39 and 41 thus generated are superposed and synthesized under the control of the CPU, and as shown in FIG. 5, the dump truck 5, the power shovel 7, and the bulldozer 9 in the site 1 are combined.
Is a three-dimensional image 43 showing the position of the symbol by a symbol, and the three-dimensional image 43 is displayed on the CRT 3305. In this embodiment, the image generating means is composed of the CPU.

The radio control box 35 is arranged inside the construction office 11 side by side with the personal computer 33. The radio control box 35 includes a plurality of levers and switches (not shown), and when driving each driving portion of the dump truck 5, the power shovel 7, and the bulldozer 9 by remote control, the driving portion to be driven. The levers and switches corresponding to the above are operated. When the levers and switches are operated, drive command signals for specific drive parts of the dump truck 5, the power shovel 7, and the bulldozer 9 are generated according to the operated levers and switches, and the generated drive is generated. The command signal is output to the remote control transmission means 37.

The remote control transmission means 37 includes an antenna 3701 arranged above the construction office 11 and a specific low power radio 37 arranged inside the construction office 11.
In the remote control reception means 37, the drive command signal from the radio control box 35 is directed to the corresponding remote control reception means 29 of the dump truck 5, the power shovel 7, and the bulldozer 9. Then, it is transmitted by a specific low power radio.

As described above, according to this embodiment, the GP in the sky is
Based on the radio waves received from the S satellite 13, the three-dimensional position coordinates of the dump truck 5, the power shovel 7, and the bulldozer 9 at the site 1 are calculated, and the PC 33 of the construction office 11 remote from the site 1 is calculated. External storage device 3303
A three-dimensional image 43 showing the positions of the dump truck 5, the power shovel 7, and the bulldozer 9 in the site 1, based on the three-dimensional topographical data of the site 1 stored in CR the 3D image 43
Displayed on T3305.

Therefore, by observing the three-dimensional image 43 displayed on the CRT 3305 without arranging communication personnel on the dump truck 5, the power shovel 7, and the bulldozer 9, the dump truck 5, the power shovel can be obtained. 7 and each operation status of the bulldozer 9 can be grasped at the same time by the construction office 11 side. Also,
For example, when carrying out a series of operations such as loading and unloading the earth and sand excavated by the power shovel 7 on the dump truck 5 and laying the earth and sand on the bulldozer 9 at the transfer destination, the dump truck 5, the power shovel 7 and the bulldozer 9 can be operated remotely from the construction office 11 side by operating the radio control box 35 while grasping the respective operating conditions on the display screen of the CRT 3305. This is advantageous in saving labor. Further, since the remote control personnel of the dump truck 5, the power shovel 7, and the bulldozer 9 do not need to operate while talking with the transceiver as in the conventional case in order to inform them of the operation status thereof, they can concentrate on the operation and safety. You can make maneuvers.

The three-dimensional position coordinates of the reference point 3, the dump truck 5, the power shovel 7, and the bulldozer 9 are obtained by a GPS positioning system.
It may be a PS geodetic system, or a coordinate system converted into a Japanese geodetic system or the like. Further, in the present embodiment, the case where the dump truck 5, the power shovel 7, and the bulldozer 9 are remotely operated from the construction office 11 side has been described, but the configuration therefor may be omitted.

[0021]

[0022]

As described above, according to the present invention, there is provided a system for managing the operation status of a plurality of working machines moved in a site at a remote location apart from the site, and provided in the site. First receiving means arranged at a reference point whose three-dimensional position coordinates are known and receiving radio waves from a satellite for the global positioning system; and first receiving means provided at the reference point.
The radio wave received at is sent wirelessly as a coordinate correction signal.
And a transmission means for transfer that is provided in each of the plurality of work machines.
And receives the coordinate correction signal from the transmission means for transfer.
Receiving transfer means and second receiving means provided in each of the plurality of work machines for receiving radio waves from the global positioning system satellite , and each of the plurality of work machines.
Provided, based on the three-dimensional position coordinates of the radio wave and the reference point received by the first receiving means and said second receiving means, the position coordinate calculating means for calculating the three-dimensional position coordinates of the <br/> work machine And the work machine provided in each of the plurality of work machines.
Position coordinate transmitter that wirelessly transmits the three-dimensional position coordinates of the machine
And a plurality of working machines provided at the remote location.
The three-dimensional position coordinates are received from each of the position coordinate transmitting means.
Receiving position coordinate receiving means and a remote location
Is, and terrain data holding means for holding the three-dimensional topographical data of said site, the provided remote locations, based on the 3-dimensional topography data of the three-dimensional position coordinates and the site of each of the plurality of work machine, wherein A configuration including image generation means for generating a three-dimensional image showing the position of each of the plurality of work machines in the field, and display means provided at the remote location for displaying the three-dimensional image. did. Therefore, without causing a trouble in steering of each of the work machine, the operation status of a plurality of working machines can be grasped simultaneously by the remote location.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a schematic configuration of a work machine operation management system according to an embodiment of the present invention.

FIG. 2 is a dump truck, a power shovel, shown in FIG.
It is also a schematic configuration diagram of a transmission / reception unit provided in each bulldozer.

FIG. 3 is an explanatory diagram showing a three-dimensional image of a site generated by a personal computer of the construction office shown in FIG.

4 is an explanatory diagram of an image showing positions of a dump truck, a power shovel, and a bulldozer, which are generated by a personal computer of the construction office shown in FIG.

FIG. 5 is an explanatory diagram of a three-dimensional image showing positions on the spot of a dump truck, a power shovel, and a bulldozer, which are obtained by synthesizing the images of FIGS. 3 and 4.

[Explanation of symbols]

1 Field 3 Reference point 5 Dump truck (working machine) 501 Driving wheel (driving part) 503 Steering wheel (driving part) 505 Loading platform (driving part) 7 Power shovel (working machine) 701,901 Crawler (driving part) 703,903 Arm (driving part) 705,905 Bucket (driving part) 9 Bulldozer (working machine) 11 Construction office (remote location) 13 GPS satellite (satellite) 15 First receiving means 17 Transmitting means 19 for transfer Personal computer (position coordinate detection) Means, control means) 23 second receiving means 25 transfer receiving means 27 position coordinate transmitting means 29 remote control receiving means 31 position coordinate receiving means 33 personal computer 3301 personal computer main body (image generating means) 3303 external storage device (terrain data) Holding means) 3305 CRT (display means) 35 Radio control box Remote operation device) 37 remote control transmission unit 43 three-dimensional image

─────────────────────────────────────────────────── --Continued from the front page (56) References JP-A-4-296683 (JP, A) JP-A-2-252825 (JP, A) JP-A-5-280983 (JP, A) JP-A-61- 243586 (JP, A) JP 59-106634 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G08G 1/00-1/16 E02F 9/20 G01S 5/14

Claims (2)

(57) [Claims] 1. A system for managing the operation status of a plurality of work machines moved on-site at a remote location away from the site, wherein three-dimensional position coordinates provided on the site are known reference points. A first receiving means that is provided and that receives radio waves from a global positioning system satellite; and the first receiving means that is provided at the reference point and that receives the first receiving means.
Transmitter for transfer that sends radio waves as coordinate correction signals wirelessly
And a transmission provided for each of the plurality of work machines and for transfer.
Receiving means for transfer for receiving the coordinate correction signal from the means
When the plurality of provided in each of the working machine, said second receiving means for receiving radio waves from Global Positioning System satellite, provided in each of the plurality of work machine, said first receiving means and said based on the three-dimensional position coordinates of the radio wave and the reference point received by the second receiving means, and the position coordinate calculating means for calculating the three-dimensional position coordinates of the working machine, is provided to each of the plurality of work machine, the Working machine
Position coordinate transmitting means for wirelessly transmitting three-dimensional position coordinates
And, provided at the remote location, for each of the plurality of work machines.
Receives three-dimensional position coordinates from the position coordinate transmitting means.
And position coordinates for the receiving means, wherein provided in the remote location, and terrain data holding means for holding the three-dimensional topographical data of said site, the provided remote locations, and the three-dimensional position coordinates of each of the plurality of work machine Based on the three-dimensional topographic data of the site,
An image generation unit configured to generate a three-dimensional image showing the position of each of the plurality of work machines in the site, and a display unit disposed at the remote location to display the three-dimensional image. Operation management system for working machines. 2. Each of the plurality of work machines is provided.
In a drive unit of this the working machine, a remote control device of each of the plurality of work machine provided in the remote location, the remote control signal corresponding to an operation of the remote operation device provided in the remote places radio a remote control transmitting means for transmitting the double
A plurality of working machines , each of which receives the remote control signal from the remote control transmitting means, and a plurality of the work machines , each of which receives the remote control receiving means. The work based on the remote control signal
Claim 1 Symbol mounting work machine operation control system further comprises a control means for controlling the drive means of the machine.