JP4728974B2 - Engine remote starter and method in unmanned vehicle control system - Google Patents

Description

  The present invention relates to an unmanned vehicle control system, and more particularly, to an apparatus and method for remotely starting an unmanned vehicle.

An engine remote starter that starts an engine from a remote place away from an automobile is already known in the field of general automobiles.

In Patent Document 1, when an engine start request command is received from a remote place away from the automobile, the parking position of the automobile is detected by a GPS sensor incorporated in the navigation system, and the detected position is on a public road or indoors. For example, an invention is described in which remote starting of the engine is prohibited or reserved when the position is inappropriate for starting the engine.

In the field of unmanned vehicles, there is a demand to start the engine remotely as well.
The unmanned vehicle control system performs unmanned vehicles, that is, unmanned dump trucks, carry out earth and sand transport work under the control of a control station at a wide-area work site such as a crushed stone site or a mine. The control station acquires information on the vehicle position measured by the position measurement device mounted on the unmanned vehicle and controls the unmanned vehicle. In addition, there are manned site management vehicles in a wide-area work site every time there is an event such as a failure or periodically visiting the work site. In order to avoid dangers such as collisions between unmanned vehicles and manned site management vehicles, a position measurement device is installed in the site management vehicle, and the vehicle position information measured by the site management vehicle at the control station is displayed. Acquired and managed the field management vehicle.
Japanese Patent Laid-Open No. 2005-163702

Confirmation of safety is an important issue when starting the engine of an unmanned vehicle remotely.

  Therefore, by applying the invention described in Patent Document 1 described above, an engine of the unmanned vehicle is wirelessly transmitted from the control station on the condition that the control station has confirmed that the unmanned vehicle exists at a safe position. Can be remotely started.

  However, the control station can only grasp the position of the vehicle and the operating state of the equipment inside the vehicle.In most cases, the control station cannot visually see the area around the unmanned vehicle. It is impossible to confirm the safety of human existence.

Therefore, the operator of the site management vehicle is obliged to run the site management vehicle to the place where the unmanned vehicle exists and visually check whether there is a human around the unmanned vehicle. It is conceivable that the engine of the unmanned vehicle is remotely started on condition that safety has been confirmed.

However, even if it is obliged to visually confirm safety in operator education or manuals, it is not always observed. For example, the operator may give an instruction to start the engine from a place far away from the unmanned vehicle without going to the place where the unmanned vehicle exists, due to familiarity or laziness. At this time, if there is a human being in a place that cannot be confirmed from a location far away from the unmanned vehicle, such as a serviceman checking the engine room of the unmanned vehicle, a serious accident may be caused by starting the engine.

The present invention has been made in view of the above circumstances, and by remotely starting the engine of the unmanned vehicle on the condition that the safety confirmation is further performed by the operator of the on-site management vehicle, the unmanned vehicle The problem to be solved is to increase the safety when the engine is remotely started.

The first invention is
An unmanned vehicle having a vehicle body provided with position measuring means, a field management vehicle having a vehicle body provided with position measuring means, vehicle position information measured by the position measuring means of each vehicle, and the unmanned vehicle and Applied to an unmanned vehicle control system provided with a control station for controlling the vehicle for site management,
On site management vehicle,
An input means for inputting an engine start request command specifying an unmanned vehicle to start the engine remotely;
Transmission means for transmitting the input engine start request command to the control station,
To the control station
Receiving means for receiving the engine start request command;
When the engine start request command is received, based on the vehicle position measured by the field management vehicle that transmitted the engine start request command, and the vehicle position measured by the unmanned vehicle to remotely start the engine, Judgment means for judging that the on-site management vehicle that has transmitted the engine start request command exists in an engine start availability judgment area capable of judging whether or not an unmanned vehicle that should start the engine remotely can be started. When,
Transmitting means for transmitting the engine start command to the unmanned vehicle on condition that it is determined that the on-site management vehicle that has transmitted the engine start request command is present in the engine start permission determination area And
For unmanned vehicles,
Receiving means for receiving the engine start command;
When the engine start command is received, the engine is a remote engine starter in an unmanned vehicle control system provided with engine starting means for starting an engine of the own vehicle.

The second invention is the first invention,
Vehicle information on unmanned vehicles is shared between the on-site management vehicle and the control station.

The third invention is the first invention,
The unmanned vehicle is provided with engine start detection means for detecting that the engine has been started in the unmanned vehicle, and transmission means for transmitting information that the engine has been started to the control station when the engine start is detected. It is characterized by that.

The fourth invention is
It is applied to an unmanned vehicle control system provided with an unmanned vehicle, a vehicle for site management, and a control station that acquires information on the vehicle position measured by each vehicle and controls the unmanned vehicle and the site management vehicle. ,
In the field management vehicle,
A process of inputting an engine start request command specifying an unmanned vehicle to remotely start the engine;
Processing to send the input engine start request command to the control station is performed,
In the control station,
Processing for receiving the engine start request command;
When the engine start request command is received, based on the vehicle position measured by the field management vehicle that transmitted the engine start request command, and the vehicle position measured by the unmanned vehicle to remotely start the engine, A process for determining that the on-site management vehicle that has transmitted the engine start request command exists in an engine start enable / disable determination area in which it is possible to determine whether or not the unmanned vehicle to start the engine remotely can be started. ,
A process of transmitting the engine start command to the unmanned vehicle on the condition that it is determined that the on-site management vehicle that has transmitted the engine start request command exists in the engine start availability determination area; Is done,
In unmanned vehicles,
Receiving the engine start command;
The engine remote start method in the unmanned vehicle control system is such that when the engine start command is received, a process of starting the engine of the own vehicle is performed.

As shown in FIG. 1, the first invention acquires unmanned vehicle 10, site management vehicle 20, and vehicle position information measured by each vehicle 10, 20 to obtain unmanned vehicle 10 and site management vehicle 20. The present invention is applied to an unmanned vehicle control system provided with a control station 30 that controls the vehicle.

In the on-site management vehicle 20, as shown in FIG. 2, a process (step 103) for inputting an engine start request command S1 specifying the unmanned vehicle 20 whose engine should be remotely started is performed. Next, a process of transmitting the input engine start request command S1 to the control station 30 (step 104) is performed.

In the control station 30, as shown in FIG. 3, a process of receiving an engine start request command S1 (step 201) is performed. When the engine start request command S1 is received, the vehicle position P2 measured by the field management vehicle 20 that transmitted the engine start request command S1 and the vehicle position P1 measured by the unmanned vehicle 10 that should remotely start the engine. (Steps 202 and 203), and based on these vehicle positions P1 and P2, the on-site management vehicle 20 that has transmitted the engine start request command S1 performs engine start of the unmanned vehicle 10 that should remotely start the engine. A process (step 204) is performed for determining whether the engine is present in the engine start availability determination area AR where the availability can be determined. Next, the engine start command is sent to the unmanned vehicle 10 on the condition that the on-site management vehicle 20 that has transmitted the engine start request command S1 is present in the engine start availability determination area AR. A process of transmitting S2 (step 207) is performed.

In the unmanned vehicle 10, as shown in FIG. 4, a process of receiving an engine start command S2 (step 301) is performed. When the engine start command S2 is received, a process of starting the engine of the vehicle 10 (step 304) is performed.

According to the first invention, the engine of the unmanned vehicle 10 is started on the condition that the on-site management vehicle 20 that has transmitted the engine start request command S1 exists in the engine start availability determination area AR. The engine of the unmanned vehicle 10 is started after further confirmation by the control station 30 that safety has been confirmed by the operator of the on-site management vehicle 20. For this reason, the safety | security at the time of carrying out the remote start of the engine of the unmanned vehicle 10 can be improved further.

In the second invention, the vehicle information of the unmanned vehicle 10 is shared between the on-site management vehicle 20 and the control station 30. Therefore, the operator of the on-site management vehicle 20 can transmit an appropriate and appropriate engine start request command S1 to the control station 30 based on the unmanned vehicle information.

In the third invention, it is detected that the engine is started in the unmanned vehicle 10. When engine start is detected, information that the engine has been started is transmitted to the control station 30. Therefore, unmanned vehicle information that the engine of the unmanned vehicle 10 is in operation can be given to the control station 30, and the unmanned vehicle information stored in the control station 30 can be updated.

  The fourth invention is a method invention corresponding to the device invention of the first invention.

  Hereinafter, embodiments of an engine remote starter and method in an unmanned vehicle control system according to the present invention will be described with reference to the drawings. In the present embodiment, a dump truck is assumed as the unmanned vehicle.

FIG. 6 conceptually shows the configuration of the unmanned vehicle control system of the embodiment. A configuration common to the conventional unmanned vehicle control system and the unmanned vehicle control system of the present embodiment will be described with reference to FIG.

An unmanned vehicle 10 and an on-site management vehicle 20 exist in the wide area work site. In general, a plurality of unmanned vehicles operate in a wide-area work site. In this embodiment, the unmanned vehicle 10 is representative. Similarly, with respect to the on-site management vehicle, a plurality of on-site management vehicles will be described as “the on-site management vehicle 20”.

A control station 30 is installed at a predetermined place overlooking the wide-area work site.

The vehicle body of the unmanned vehicle 10 includes a position measurement system 11 that measures the position P1 of the vehicle 10 and a wireless system 12 that transmits and receives data between the vehicle 10 and the control station 30 by wireless communication. An unmanned controller 13 for controlling the traveling and steering of the vehicle 10 is provided. The position measurement system 11 includes a GPS sensor, for example.

On the vehicle body of the site management vehicle 20, a position measurement system 21 that measures the position P2 of the own vehicle 20 and a wireless system that transmits and receives data between the own vehicle 20 and the control station 30 by wireless communication. 22 is provided. The position measurement system 21 includes, for example, a GPS sensor.

A control system 31 is provided in the control station 30. The control system 31 includes a wireless system 32 that transmits and receives data between the control station 30 and the unmanned vehicle 10 and the site management vehicle 20 by wireless communication. The control system 31 controls the unmanned vehicle 10 and the on-site management vehicle 20 by acquiring information on the vehicle positions P1 and P2 measured by the vehicles 10 and 20 by wireless communication.

An example of processing performed in the unmanned vehicle control system will be described.

That is, in the control system 31, a steering control command and a speed control command for the unmanned vehicle 10 are generated, and the steering control command and the speed control command are transmitted to the unmanned vehicle 10 via the wireless system 32 of the control system 31.

In the wireless system 12 of the unmanned vehicle 10, the steering control command and the speed control command are received, and data is sent to the unmanned controller 13. The unmanned controller 13 controls the travel mechanism and the steering mechanism so that the host vehicle 10 travels at the target speed along the target travel course. That is, while comparing the current vehicle position P1 and the vehicle traveling direction of the own vehicle 10 measured by the position measurement system 11 with the target position and the target traveling direction of successive passing points on the target traveling course, the own vehicle 10 The traveling and the steering are controlled so that the successive passing point positions on the target traveling course are traced without deviation from the target position and the target traveling direction.

Further, in order to allow the unmanned vehicle 10 to travel while avoiding a collision with the other vehicle 20, in the control system 31, a steering control command and a speed control command are issued based on the positions P1 and P2 of the vehicles 10 and 20. The steering control command and the speed control command are transmitted to the unmanned vehicle 10 via the wireless system 32.

In the wireless system 12 of the unmanned vehicle 10, the steering control command and the speed control command are received, and data is sent to the unmanned controller 13. The unmanned controller 13 controls the traveling mechanism and the steering mechanism so that the host vehicle 10 travels while avoiding a collision with the other vehicle 20.

Further, in order to allow the on-site management vehicle 20 to travel while avoiding a collision with another vehicle 10, the control system 31 avoids the avoidance command that instructs the avoidance based on the positions P1 and P2 of the vehicles 10 and 20. Is generated, and an avoidance command is transmitted to the field management vehicle 20 via the wireless system 32.

In the radio system 22 of the on-site management vehicle 20, the avoidance command is received, and in response to this, the operator drives the own vehicle 10 while paying attention to the collision with the unmanned vehicle 10.

In this embodiment, an engine remote start system is further added. As will be described later, the engine remote start system determines whether or not the engine can be started after the operator of the on-site management vehicle 20 visually confirms the surroundings of the unmanned vehicle 10 and then starts the engine. If it is determined that the engine start request command S1 is transmitted from the field management vehicle 20 to the control station 30, and the control station 20 receives the engine start request command S1, the engine is started. The vehicle position P2 measured by the on-site management vehicle 20 that transmitted the start request command S1 and the vehicle position P1 measured by the unmanned vehicle 10 that should remotely start the engine are acquired, and based on these vehicle positions P1 and P2. Thus, the on-site management vehicle 20 that has transmitted the engine start request command S1 can determine whether or not the unmanned vehicle 10 whose engine should be remotely started can be started. It is determined whether or not the vehicle management vehicle 20 for transmitting the engine start request command S1 exists in the engine start availability determination area AR. If so, the engine is started remotely by transmitting an engine start command S2 to the unmanned vehicle 10 on condition that another start condition is satisfied.

The engine start availability determination area AR is set to a range in which confirmation that safety confirmation around the unmanned vehicle 10 has been performed by the operator of the on-site management vehicle 20 can be reliably ensured. For example, a circle having a predetermined radius centered on the position P1 of the unmanned vehicle 10 is set, and the site management vehicle 20 determines whether or not the engine can be started depending on whether the position P2 of the site management vehicle 20 is inside or outside the circle. It is determined whether or not the area AR exists. A circle with a predetermined radius centered on the position P2 of the site management vehicle 20 is set, and the site management vehicle 20 determines whether the engine can be started according to whether the position P1 of the unmanned vehicle 10 is within or outside the circle. It is determined whether or not it exists in the AR.

FIG. 1 shows a configuration according to an engine remote start system of an embodiment. FIGS. 1A, 1 </ b> B, and 1 </ b> C respectively show the internal configuration of the on-site management vehicle 20, the internal configuration of the unmanned vehicle 10, and the internal configuration of the control station 30. The description of the same components as those described in FIG. 6 will be omitted as appropriate.

The site management vehicle 20 is provided with an input device 23, an unmanned vehicle information storage device 24, and a monitor device 25 in addition to the position measurement system 21 and the wireless system 22.

The input device 23 constitutes input means for inputting an engine start request command S1 that specifies the unmanned vehicle 10 that should remotely start the engine, and data is input by operating a keyboard or the like. Here, the engine start request command S1 identifies the machine number S11 for identifying the unmanned vehicle to start the engine, the request content S12 for "start the engine remotely", and the field management vehicle 20 that is the transmission source. The data consists of the machine number S13.

The wireless system 22 constitutes transmission means for transmitting the input engine start request command S1 to the control station 30.

The unmanned vehicle information storage device 24 includes memory means for storing and storing information of unmanned vehicles shared between the site management vehicle 20 and the control station 30. Here, the unmanned vehicle information is information including the number S11 for identifying the unmanned vehicle 10, the position P1 of the unmanned vehicle 10, the operation mode M of the unmanned vehicle 10, and the engine state E of the unmanned vehicle 10. The operation mode M includes an automatic operation mode M1 in which the unmanned vehicle 10 is automatically travel-controlled by a command sent from the control station 30, and a manual operation mode M2 in which the operator is on the vehicle 10 and travels by the operator's operation. Each mode consists of: The engine state E is an engine operating state E1 in which the engine is started and the engine is operating, an engine stopped state E2 in which the engine is stopped, or an engine failure state E3 in which the engine is in failure. Each status.

The monitor device 25 is a device that displays unmanned vehicle information on a display screen.

The control system 31 of the control station 30 includes an unmanned control system 33 and an engine start command unit 34 in addition to the wireless system 32.

The wireless system 32 constitutes receiving means for receiving the engine start request command S1 and transmitting means for transmitting the generated engine start command S2 to the unmanned vehicle 10.

The unmanned control system 33 includes a work site unmanned vehicle information storage device 35, a work site vehicle information monitor 36, and an engine start availability determination device 37.

The engine start command unit 34 includes an engine start determination system 38 and an engine start command system 39.

When the engine start request command S1 is received, the engine start request command S1 is taken into the engine start permission determination device 37 of the unmanned control system 33. The engine start permission determination device 37 specifies the on-site management vehicle 20 that has transmitted the engine start request command S1 based on the number data S13 of the engine start request command S1, and is unmanned to remotely start the engine based on the number data S11. The vehicle 10 is specified, and a request command is sent to the wireless system 32 to send the current vehicle information to the specific vehicles 10 and 20. As a result, the current vehicle information of the vehicles 10 and 20 transmitted from the unmanned vehicle 10 and the on-site management vehicle 20 is taken into the engine start availability determination device 37. Based on the latest vehicle positions P1 and P2 acquired in this way, it is determined whether or not the on-site management vehicle 20 that has transmitted the engine start request command S1 exists in the engine start permission determination area AR. . As a result, when it is determined that the on-site management vehicle 20 that has transmitted the engine start request command S1 exists in the engine start availability determination area AR, the first start condition ST1 has been satisfied. Is sent to the engine start command unit 34.

The work site unmanned vehicle information storage device 35 includes memory means for storing and storing vehicle information of all unmanned vehicles 10 in the work site and vehicle information of all site management vehicles 20 in the work site. The Here, the vehicle information of the site management vehicle 20 is information including the position P2 of the site management vehicle 20.

The on-site vehicle information monitor 36 is a device that displays the vehicle information of the unmanned vehicle 10 in the work site and the vehicle information of the on-site management vehicle 20 in the work site on a display screen.

When the engine start unit 34 receives a signal indicating that the first start condition ST1 is satisfied, the engine start determination system 38 further satisfies other second start conditions ST2 and third start conditions ST3. Determine that. The second start condition ST2 is a condition that the operation mode M of the unmanned vehicle 10 is in the automatic operation mode M1. The third start condition ST3 is a condition that the engine of the unmanned vehicle 10 is in a startable state, that is, a condition that the engine state E is in the status of the engine stop state E2.

The engine start determination system 38 sends a determination result of whether or not all the start conditions ST1, ST2, and ST3 are satisfied to the engine start command system 39.

When the engine start command system 39 receives a determination result as to whether or not all the start conditions ST1, ST2, and ST3 are satisfied, the engine start command system 39 generates a command corresponding to the determination result and sends it to the wireless communication system 32. When all the start conditions ST1, ST2, ST3 are satisfied, an engine start command S2 is generated and sent to the wireless communication system 32. The engine start command S2 is data including a machine number S21 for identifying the unmanned vehicle 10 and a command content S22 for “start the engine”.

When at least one of the start conditions ST1, ST2, and ST3 is not satisfied, a notification S3 of “engine cannot be started” is generated and sent to the wireless communication system 32. The notification S3 of “engine cannot be started” is data consisting of a car number S31 for identifying the on-site management vehicle 20 and a notification content S32 of “engine cannot be started”.

In addition to the position measurement system 11, the wireless system 12, and the unmanned controller 13, the unmanned vehicle 10 is provided with an engine start unit 14.

The engine start unit 14 includes an engine start circuit 15 and an engine state detection system 16.

The radio system 12 includes receiving means for receiving the engine start command S2 and transmitting means for transmitting vehicle information that the engine has been started or vehicle information that the engine has not been started to the control station 30. .

The engine state detection system 16 detects an engine state E based on detection values of various sensors provided in the own vehicle 10. The engine state detection system 16 determines whether or not the engine can be started. If the engine is stopped, it is determined that the engine can be started. If the engine is running or the engine is faulty, it is determined that the engine cannot be started. As a result, if it is determined that the engine cannot be started, a notification S4 indicating that the engine cannot be started is sent to the wireless system 12. The notification S4 of “engine cannot be started” is data including a car number S41 for identifying the unmanned vehicle 10 and an engine operating state E1 or an engine failure state E3.

If the engine state detection system 16 determines that the engine can be started, a starter start signal is sent to the engine start circuit 15.

When the engine start circuit 15 receives the starter start signal, the engine start circuit 15 starts the starter. A starter is comprised including the electric motor which starts an engine, for example.

In the engine state detection system 16, it is confirmed whether or not the engine has been started by starting the starter by detecting whether or not the engine has been started.

When it is confirmed that the engine has been started by starting the starter, the engine state detection system 16 sends an “engine start” notification S5 to the wireless system 12. The “engine start” notification S5 is data including a machine number S51 for identifying the unmanned vehicle 10 and an engine operating state E1.

Further, when it is confirmed that the engine has not been started even when the starter is started, the engine state detection system 16 sends a notification S6 to the effect that the engine could not be started to the wireless system 12. The notification S6 that “the engine could not be started” is data composed of a car number S61 that identifies the unmanned vehicle 10 and information S62 that “the engine could not be started even if the starter was started”.

The operation of this embodiment will be described below with reference to the flowcharts shown in FIGS. 2, 3, 4, and 5.

FIG. 2 shows a procedure of processing performed in the site management vehicle 20.

That is, in the field management vehicle 20, the unmanned vehicle information storage device 24 stores the unmanned vehicle information shared by the field management vehicle 20 and the control station 30, that is, the machine number S 11 for identifying the unmanned vehicle 10, Information including the position P1, the operation mode M of the unmanned vehicle 10, the engine state E of the unmanned vehicle 10, and the machine number S11 is stored and stored, and the unmanned vehicle information is read (step 101). The read unmanned vehicle information is displayed on the display screen of the monitor device 25 (step 102).

The operator of the site management vehicle 20 causes the site management vehicle 20 to travel to the location of the unmanned vehicle 10 where the engine is to be started, according to the information on the position P1 of the unmanned vehicle 10 displayed on the display screen of the monitor device 25. In addition, the operation mode M of the unmanned vehicle 10 displayed on the display screen of the monitor device 25 is the automatic operation mode M1, and the engine state E of the unmanned vehicle 10 is the engine stop state E2. Can be determined to be remotely started.

The operator of the on-site management vehicle 20 visually checks safety around the unmanned vehicle 10 to determine whether the engine can be started. As a result, if it is determined that the engine may be started, an engine start request in which the number S11 of the unmanned vehicle 10 and the number S13 of the own vehicle 20 displayed on the display screen of the monitor device 25 are incorporated. A command S1 is created and input from the input device 23 (step 103). The engine start request command S <b> 1 input to the input device 23 is sent to the wireless system 22. The wireless system 22 transmits an engine start request command S1 to the control station 30 (step 104). As described above, the operator of the on-site management vehicle 20 can transmit an appropriate and appropriate engine start request command S1 to the control station 30 based on the unmanned vehicle information shared with the control station 30.

FIG. 3 shows a procedure of processing performed in the control station 30.

That is, in the control station 30, the wireless system 32 performs a process of receiving the engine start request command S1 (step 201). When the engine start request command S1 is received, the engine start request command S1 is taken into the engine start permission determination device 37 of the unmanned control system 33. The engine start permission determination device 37 specifies the on-site management vehicle 20 that has transmitted the engine start request command S1 based on the number data S13 of the engine start request command S1, and is unmanned to remotely start the engine based on the number data S11. The vehicle 10 is specified, and a request command is sent to the wireless system 32 to send the current vehicle information to the specific vehicles 10 and 20. Thereby, the latest vehicle information is transmitted from each of the vehicles 10 and 20. The latest vehicle information is received by the wireless system 32. As a result, the transmitted current vehicle information of the vehicles 10 and 20 is taken into the engine start availability determination device 37. The vehicle information of the unmanned vehicle 10 includes the position P1 of the unmanned vehicle 10, the operation mode M of the unmanned vehicle 10, the engine state E of the unmanned vehicle 10 (step 202). The vehicle information of the site management vehicle 20 is the position P2 of the site management vehicle 20 (step 203). The work site unmanned vehicle information storage device 35 stores and stores the vehicle information of the unmanned vehicle 10 in the work site and the vehicle information of the site management vehicle 20 in the work site. The on-site vehicle information monitor 36 takes in data stored in the unattended on-site unmanned vehicle information storage device 35, and obtains vehicle information on the unmanned vehicle 10 on the on-site and on-site management vehicle 20 on the work site. Display on the display screen.

Next, based on the latest acquired vehicle positions P1 and P2, it is determined whether or not the site management vehicle 20 that has transmitted the engine start request command S1 exists in the engine start permission determination area AR. (Step 204). As a result, when it is determined that the on-site management vehicle 20 that has transmitted the engine start request command S1 exists in the engine start availability determination area AR, the first start condition ST1 has been satisfied. Is sent to the engine start command unit 34 (determination Y in step 204).

When the engine start command unit 34 receives a signal indicating that the first start condition ST1 is satisfied, the engine start determination system 38 further satisfies the second start condition ST2 and the third start condition ST3. It is judged that it was done.

First, it is determined whether or not the second start condition ST2 that the operation mode M of the unmanned vehicle 10 is the automatic operation mode M1 is satisfied (step 205). Next, it is determined whether or not a condition that the engine of the unmanned vehicle 10 is in a startable state, that is, a third start condition ST3 in which the engine state E is in the engine stop state E2 is satisfied. Step 206).

The engine start determination system 38 sends a determination result of whether or not all the start conditions ST1, ST2, and ST3 are satisfied to the engine start command system 39.

When the engine start command system 39 receives a determination result as to whether or not all the start conditions ST1, ST2, and ST3 are satisfied, the engine start command system 39 generates a command corresponding to the determination result and sends it to the wireless communication system 32. When all the start conditions ST1, ST2, ST3 are satisfied (determination Y in step 204, determination Y in step 205, determination Y in step 206), an engine start command S2 is generated and the wireless communication system 32 is set. Send it out. The engine start command S2 is data including a machine number S21 for identifying the unmanned vehicle 10 and a command content S22 for “start the engine”. The wireless system 32 takes in the engine start command S2 and transmits the engine start command S2 to the unmanned vehicle 10 corresponding to the number S21 incorporated in the engine start command S2 (step 207).

If at least one of the start conditions ST1, ST2, and ST3 is not satisfied (the determination result of at least one of the determinations of Step 204, Step 205, and Step 206 is N), “Engine” A “not startable” notification S 3 is generated and sent to the wireless communication system 32. The wireless system 32 captures the “engine cannot be started” notification S3 and transmits the “engine cannot be started” notification S3 to the on-site management vehicle 20 corresponding to the unit number S31 incorporated in the “engine cannot be started” notification S3. (Step 208). As a result, the operator of the on-site management vehicle 20 can quickly know that the engine start condition is not satisfied, and can quickly deal with it. For example, the own vehicle 20 can be caused to travel so that the on-site management vehicle 20 enters the engine start availability determination area AR.

In this embodiment, the second start condition ST2 and the third start condition ST3 are determined as the engine start condition in addition to the first start condition ST1, but the first start is performed in the implementation of the present invention. The contents of the start conditions other than the condition ST1 can be arbitrarily set.

FIG. 4 shows a procedure of processing performed in the unmanned vehicle 10.

That is, in the wireless system 12 of the unmanned vehicle 10, the engine start command S2 is received (step 301). The engine start command S2 is taken into the engine state detection system 16 of the engine start unit 14. When the engine state detection system 16 receives the engine start command S2, the engine state detection system 16 detects the state E of the engine based on the detection values of various sensors provided in its own vehicle 10 (step 302). Then, the engine state detection system 16 determines whether or not the engine can be started. If the engine is stopped, it is determined that the engine can be started. If the engine is running or the engine is faulty, it is determined that the engine cannot be started ( Step 303). As a result, when it is determined that the engine cannot be started (determination N in step 303), the notification S4 of “engine cannot be started” including the status of the engine operating state E1 or the engine failure state E3 is sent to the wireless system 12. Is sent out. The radio system 12 takes in the notification S4 of “engine cannot be started” and transmits the “engine cannot be started” notification S4 to the control station 30 (step 307).

As a result of the determination made by the engine state detection system 16, if the engine can be started (determination Y in step 303), a starter start signal is sent to the engine start circuit 15.

When the engine start circuit 15 receives the starter start signal, it starts the starter (step 304).

The engine state detection system 16 detects whether or not the engine has been started by detecting whether or not the engine has been started (step 305).

When it is confirmed that the starter has been started and the engine has been started (determination Y in step 305), the engine state detection system 16 sends an “engine start” notification S5 to the wireless system 12. The wireless system 12 captures the “engine start” notification S5 and transmits the “engine start” notification S5 to the control station 30 (step 306).

Further, when it is confirmed that the engine has not been started even when the starter is started (determination N in Step 305), the engine state detection system 16 sends a notification S6 to the effect that the engine could not be started to the wireless system 12. To send. The wireless system 12 captures the notification S6 that “the engine could not be started” and transmits the notification S6 that “the engine could not be started” to the control station 30 (step 308).

FIG. 5 shows a procedure of processing performed in the control station 30 after the engine of the unmanned vehicle 10 is started.

That is, the wireless system 32 of the control station 30 performs a process of receiving the “engine start” notification S5 sent from the unmanned vehicle 10 (step 401). When the “engine start” notification S5 is received, it is taken into the unmanned vehicle information storage device 35 in the work site of the unmanned control system 33 and is incorporated in the “engine start” notification S5 according to the unit number S51 and the engine operating state E1. The status of the engine state E of the unmanned vehicle 10 corresponding to the unit number S51 is rewritten to “engine operating state E1”. Thereby, the unmanned vehicle information stored in the unmanned vehicle information storage device 35 in the work site is updated. Accordingly, the unmanned vehicle information displayed on the display screen of the on-site vehicle information monitor 36 is updated (step 402). The updated unmanned vehicle information, that is, the vehicle information that “the vehicle state E of the unmanned vehicle 10 identified by the machine number S51 is the engine operating state E1” is sent to the wireless system 32. The wireless system 32 transmits the updated unmanned vehicle information to the field management vehicle 20 (step 403).

Similarly, the control station 30 also receives an “engine start impossible” notification S4 comprising the status of the engine operating state E1 or the engine failure state E3, and the content of the unmanned vehicle information stored in the control station 30 is updated. The updated unmanned vehicle information is transmitted toward the on-site management vehicle 20.

Similarly, the control station 30 receives the notification S6 that “the engine could not be started”, and the content of the unmanned vehicle information stored in the control station 30 is updated. The update contents are as follows, for example. That is, it is determined as a failure “starting failure” based on the information S62 “engine could not be started even if the starter was started” incorporated in the notification S6 that “the engine could not be started”, and the unit number S61 The engine state E of the unmanned vehicle 10 specified by is rewritten to the status of “engine failure state E3”, and the unmanned vehicle information is updated. The unmanned vehicle information updated in this way is transmitted toward the on-site management vehicle 20.

In the field management vehicle 20, the updated unmanned vehicle information is received by the wireless system 22 and taken into the unmanned vehicle information storage device 24. Thereby, the unmanned vehicle information stored in the unmanned vehicle information storage device 24 is updated (step 101 in FIG. 2). Similarly, the unmanned vehicle information displayed on the display screen of the monitor device 25 is updated (step 102 in FIG. 2).

In this way, in the unmanned vehicle information storage device 24 of the on-site management vehicle 20, the latest updated unmanned vehicle information is shared with the control station 30. Also, the operator of the on-site management vehicle 20 answers the start request issued by him / herself (“it could not be started without starting the starter”, “started”, or “started even if the starter was started) I couldn't get it ") quickly.

As described above, according to this embodiment, the engine of the unmanned vehicle 10 is started on the condition that the on-site management vehicle 20 that has transmitted the engine start request command S1 exists in the engine start availability determination area AR. As a result, the engine of the unmanned vehicle 10 is started after further confirmation by the control station 30 that safety has been confirmed by the operator of the on-site management vehicle 20. For this reason, the safety | security at the time of carrying out the remote start of the engine of the unmanned vehicle 10 can be improved further.

In the embodiment described above, the site management vehicle 20 shares unmanned vehicle information with the control station 30, and the operator of the site management vehicle 20 determines whether or not the engine can be started based on the shared unmanned vehicle information. Although it has been described that the determination or the like is performed, if the unmanned vehicle information can be acquired directly by the operator's visual observation or by a device mounted on the site management vehicle 20, the site management vehicle 20 is controlled by the control station 30. It is far from sharing unmanned vehicle information with. For example, an operator number for identifying the unmanned vehicle 10 may be displayed visually on the side of the vehicle body of the unmanned vehicle 10 so that the operator can visually discriminate it, or between the unmanned vehicle 10 and the site management vehicle 20. The vehicle information of the unmanned vehicle 10 may be directly taken into the field management vehicle 20 without going through the control station 30 by performing wireless communication.

In the above-described embodiment, the control station 30 is described as assuming that the control station 30 is a separate station from the site management vehicle 20 and is a fixed station installed at a predetermined location. In this case, it is possible to construct the system as a mobile station in which the function of the control station 30 is mounted on the field management vehicle 20 and the control station 30 moves together with the field management vehicle 20.

FIG. 1 is a diagram showing a configuration relating to an engine remote start system of an embodiment. FIGS. 1A, 1B, and 1C are respectively an internal configuration of a vehicle for site management, an internal configuration of an unmanned vehicle, It is the figure which showed the internal structure of the control station. FIG. 2 is a flowchart showing a procedure of processing performed in the field management vehicle. FIG. 3 is a flowchart showing a procedure of processing performed in the control station. FIG. 4 is a flowchart showing a procedure of processing performed in the unmanned vehicle. FIG. 5 is a flowchart showing a procedure of processing performed in the control station after starting the engine of the unmanned vehicle. FIG. 6 is a diagram conceptually showing the configuration of the unmanned vehicle control system of the embodiment.

Explanation of symbols

  10 unmanned vehicles, 20 on-site management vehicles, 30 control stations

Claims (4)

An unmanned vehicle having a vehicle body provided with position measuring means, a field management vehicle having a vehicle body provided with position measuring means, vehicle position information measured by the position measuring means of each vehicle, and the unmanned vehicle and Applied to an unmanned vehicle control system provided with a control station for controlling the vehicle for site management,
On site management vehicle,
An input means for inputting an engine start request command specifying an unmanned vehicle to start the engine remotely;
Transmission means for transmitting the input engine start request command to the control station,
To the control station
Receiving means for receiving the engine start request command;
When the engine start request command is received, based on the vehicle position measured by the field management vehicle that transmitted the engine start request command, and the vehicle position measured by the unmanned vehicle to remotely start the engine, Judgment means for judging that the on-site management vehicle that has transmitted the engine start request command exists in an engine start availability judgment area capable of judging whether or not an unmanned vehicle that should start the engine remotely can be started. When,
Transmitting means for transmitting the engine start command to the unmanned vehicle on condition that it is determined that the on-site management vehicle that has transmitted the engine start request command is present in the engine start permission determination area And
For unmanned vehicles,
Receiving means for receiving the engine start command;
An engine remote starter in an unmanned vehicle control system, comprising: an engine starter that starts an engine of its own vehicle when the engine start command is received. 2. The engine remote starter in an unmanned vehicle control system according to claim 1, wherein vehicle information on the unmanned vehicle is shared between the field management vehicle and the control station. The unmanned vehicle is provided with engine start detection means for detecting that the engine has been started in the unmanned vehicle, and transmission means for transmitting information that the engine has been started to the control station when the engine start is detected. The engine remote starter in the unmanned vehicle control system according to claim 1. It is applied to an unmanned vehicle control system provided with an unmanned vehicle, a vehicle for site management, and a control station that acquires information on the vehicle position measured by each vehicle and controls the unmanned vehicle and the site management vehicle. ,
In the field management vehicle,
A process of inputting an engine start request command specifying an unmanned vehicle to remotely start the engine;
Processing to send the input engine start request command to the control station is performed,
In the control station,
Processing for receiving the engine start request command;
When the engine start request command is received, based on the vehicle position measured by the field management vehicle that transmitted the engine start request command, and the vehicle position measured by the unmanned vehicle to remotely start the engine, A process for determining that the on-site management vehicle that has transmitted the engine start request command exists in an engine start enable / disable determination area in which it is possible to determine whether or not the unmanned vehicle to start the engine remotely can be started. ,
A process of transmitting the engine start command to the unmanned vehicle on the condition that it is determined that the on-site management vehicle that has transmitted the engine start request command exists in the engine start availability determination area; Is done,
In unmanned vehicles,
Receiving the engine start command;
A method for remotely starting an engine in an unmanned vehicle control system, wherein when the engine start command is received, a process for starting an engine of the own vehicle is performed.

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