JPH05143158A - Method and device for radio monitoring communication of unmanned traveling body - Google Patents

Abstract

PURPOSE:To prevent the generation of collision between respective unmanned traveling bodies and to allow a mobile communication station to operate the traveling bodies by remote control in a remote control area by transmitting positional data detected by each unmanned traveling body in order to self-guiding together with an inherent code, allowing a ground radio station to repeat the data and code and send the repeated contents to another unmanned traveling body existing on the outside of an unmanned traveling body communication area. CONSTITUTION:Each unmanned traveling body 11 has a position detector 12, a receiver 13, a transmitter 14, and a controller 15 including a guide control means 16 and a collision preventing means 17, calculates its own position on a traveling scheduled course and transmits obtained positional data. The ground monitoring station 21 can repeat signal corresponding to the transmitted data. Respective unmanned traveling bodies 11, 11' judge the dangerousness of collision by their own collision preventing means 17 based upon the obtained data. In the remote control area, a loader 1 to be an example of mobile repeater stations executes the remote control of the body 11 by its remote controller 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention uses wireless communication to prevent rear-end collisions and collisions of a plurality of unmanned self-propelled vehicles traveling on a planned course, and runs in a remote control area by remote control of a mobile communication station. At the same time, the invention relates to a wireless monitoring communication method and apparatus for an unmanned self-propelled body that provides a ground monitoring station to relay position data between the unmanned self-propelled body.

[0002]

2. Description of the Related Art Conventionally, weak radio waves have been used as a communication method for unmanned self-propelled vehicles, but since they can not reach practical use due to their short reach, it is difficult to communicate position data between unmanned self-propelled vehicles. there were. In addition, it is difficult under the current Radio Law to set up a new high-power radio station. Therefore, for the monitoring, a monitor television or the like is used, and finally, the monitoring is left to humans. However, this has the disadvantage that it is costly and the merit of unmanned operation is diminished, and that it is not possible to quickly respond to a sudden accident. Moreover, since it is monitored by humans, mistakes cannot be prevented. Therefore,
The inventors of the present invention have found that a required communication area can be secured by using a large number of specified low-power radio stations under the Radio Law, and the communication of the unmanned self-propelled body that surely precedes the unmanned self-propelled body by communication is confirmed. The present invention has been completed by developing a method and an apparatus capable of transmitting unprocessed data while transmitting position data and preventing a collision.

[0003]

The present invention was devised in view of the above circumstances, and its main problem is to transmit the position data detected by each unmanned self-propelled body for self-guidance and to use the ground wireless communication. The station relays this outside the communication area of the unmanned self-propelled vehicle via the ground wireless station in the communication area of the terrestrial wireless station or to the unmanned self-propelled vehicle in the communication area, and It is an object of the present invention to provide a wireless monitoring communication method and apparatus capable of preventing a collision on a running body and allowing a mobile communication station to operate by remote control in a remote control area. Another object of the present invention is to prevent the possibility of collision in a relative area based on the position of the unmanned self-propelled vehicle, such as when the planned traveling course intersects with the method for preventing collision. A wireless monitoring communication method for preventing a collision by stopping an unmanned self-propelled vehicle at a standby point and controlling it so that it does not start until the preceding unmanned self-propelled vehicle enters or leaves the designated area. To provide the device.

[0004]

In order to solve the above-mentioned problems, according to the invention of claim 1, a plurality of unmanned self-propelled bodies simultaneously traveling on a preset traveling course are self-propelled by position detecting devices. The position is detected, and based on the detected position data, the guidance control device guides each unmanned self-propelled body along the course to be traveled, and in the remote control area of the course to be traveled, the unmanned vehicle travels by remote control. A wireless monitoring communication method for self-propelled bodies, in which each unmanned self-propelled body can transmit its own position and receive the positions of other unmanned self-propelled bodies, and the risk of collision between the two based on mutual position data. In the remote control area of the planned course where the unmanned self-propelled vehicle is stopped or decelerated according to the risk level, the unmanned self-controlled vehicle is controlled by the remote control device installed in the mobile control station. A predetermined unmanned self-propelled body transmitted in the communication area of the ground monitoring station provided with a ground monitoring station that includes at least a part of the planned traveling course in the communication area and runs by changing the body from guidance control to remote control Technical means for receiving the position data of the above and relaying it to another ground monitoring station or another unmanned self-propelled body in the same area so that the communication area between the unmanned self-propelled bodies is substantially lengthened. Are taking. According to the invention of claim 2, in addition to the above configuration, when another preceding unmanned self-propelled vehicle is in the remote control area, the succeeding unmanned self-propelled vehicle is in front of the remote control area on the planned traveling course. Stop at the standby point set for, and if another preceding unmanned self-propelled vehicle enters or leaves the designated area from the remote control area, the unmanned self-propelled vehicle stopped at the standby point is started. , Is taken as a technical means. Also,
In the invention of claim 4, each unmanned self-propelled body is provided with a transmitting device for transmitting the detected position data of the self and a receiving device for receiving other position data transmitted by another unmanned self-propelled member. , Its own position data obtained from the position detection device,
A controller having a collision prevention means for determining the risk of collision between the unmanned self-propelled body and the position data of the other unmanned self-propelled body obtained from the receiving device and stopping or decelerating the unmanned self-propelled body in accordance with the degree of danger is provided. In the remote control area of the planned travel course, a remote control device is provided in the mobile control station to switch the unmanned self-propelled body from the guidance control to the remote control and drive it by the remote control. To the ground monitoring station, the receiving device for receiving the position data of a predetermined unmanned self-propelled body transmitted in the communication area, and other ground monitoring station in the area or other A technical measure is taken to provide a transmitting device for transmitting the received position data to the unmanned self-propelled body to substantially lengthen the communication area between the unmanned self-propelled bodies. According to the invention of claim 5, in addition to the invention of claim 4, the controller, together with the collision prevention means, receives another unmanned vehicle when the unmanned self-propelled vehicle is heading to a standby point on a planned course. When the position of the running body is within the remote control area, the self-running self-running body of itself is stopped at the waiting point, and on the waiting point,
A technique of providing fleet control means for starting an unmanned self-propelled body when other position data received from another predetermined unmanned self-propelled body enters or leaves a designated area set in advance Are taking appropriate measures.

[0005]

Next, the operation of the wireless monitoring communication method of the unmanned self-propelled body and the apparatus thereof will be described based on the functional block diagrams of FIGS. 1 and 2. This wireless monitoring communication method for unmanned self-propelled body and its device have a mobile control station 1 having a remote control device 5 having an operating lever 2 and a transmission device 4, and a position detection device 12.
A plurality of unmanned self-propelled units that can transmit their own positions with the transmission unit 14 and receive the positions of other unmanned self-propelled units 11 with the reception unit 13 and perform arithmetic processing with the controller 15 based on the position data of both units. It comprises a body 11 and a ground monitoring station 21 having a communication controller 26 with a transmitter 24 and a receiver 25. In the figure, 22 is a battery for operating the communication controller of the ground monitoring station 21, and 23 is a monitor device for monitoring the above-mentioned communicated position data, but this is not an essential configuration in the present invention. The controller 15 of each unmanned self-propelled body 11 is provided with the guidance control means 16 and the collision prevention means 17, or further with the fleet control means 18. Therefore, the unmanned self-propelled vehicle 1 that started from the start point of the scheduled course
The position detection device 12 detects the current position of the unmanned self-propelled body 11, sends the obtained position data to the controller 15 and outputs the position data by the transmission device 14, and at the same time, the guidance control means 16
Then, the above position data is compared with the pre-stored planned traveling course, and the unmanned self-propelled body 10 is guided onto the planned traveling course. On the other hand, the receiving device 13 inputs the position data transmitted from the transmitting device 14 of another unmanned self-propelled body (11 'for the sake of explanation) that precedes on the planned traveling course. Then, the collision prevention means 17 determines the risk of collision between the self-propelled body 11 and the position data of the other unmanned self-propelled body 11 ', and stops or decelerates the unmanned self-propelled body 11 according to the degree of danger. Control. When the controller 15 is provided with the fleet control device 18, the collision prevention means 1
Prior to 7, when the unmanned self-propelled body 11 heads for the waiting point on the planned course, when the position of the preceding other unmanned self-propelled body 11 'is within the remote control area, The unmanned self-propelled body 11 is stopped at the waiting point, and the other unmanned self-propelled body 1 is stopped at the waiting point.
The unmanned self-propelled body is started when other position data received from 1'enters a preset designated area or exits from the designated area. In this way, when the unmanned self-propelled body 11 enters the remote control area, a remote control signal is sent to the unmanned self-propelled body 11 via the transmission device 4 by the operation lever 2 of the remote control device 5 of the mobile control station, In the unmanned self-propelled body 11, the self-guidance by the guidance control means 16 is interrupted, and the remote control signal is received by the receiving device 13 to run in the remote control area. Then, when returning to the planned traveling course from the remote control area, the unmanned self-propelled body 11 restarts the self-guidance by the guidance control means 16 by the remote control signal and follows the planned traveling course. The position data output from the unmanned self-propelled body 11 by the transmission device is input to the reception device 13 of the succeeding unmanned self-propelled body (indicated as 11 ″ for the sake of explanation) traveling on the planned traveling course, and the controller 15 thereof. The same processing as described above is performed.
Communication of signals between 11 'and 11 "and between the mobile control station 1 and the unmanned self-propelled body 11 may be within a range where the communication area can directly communicate with each other. 21
It can be relayed via the transmitting device 24 and the receiving device 25 of the communication controller 26 provided in the.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION A preferred embodiment in which the wireless monitoring communication device for an unmanned self-propelled body according to the present invention is applied to a dump truck (off-highway truck) at a mining site will be described below with reference to FIGS. 3 and 4. ..

The wireless monitoring and communication device 1 includes an unmanned self-propelled body 1 including a dump truck that travels on a planned course.
1, a loader 1 such as a loader serving as a mobile control station provided in the remote control area, and a ground monitoring station 21 installed at predetermined intervals so that the communication area covers the planned course. .. The transmission / reception device and the remote control device provided in each have a specific low power radio station configuration under the Radio Law.

Each unmanned self-propelled body 11 has a position detection device 12
, Receiving device 13, transmitting device 14, and guidance control means 1
There is a controller 15 with 6 and a collision prevention means 17. Here, the position detection device 12 displays the position of the unmanned self-propelled body 11 in two-dimensional coordinates, assuming the X-axis and the Y-axis in the travelable area of the unmanned self-propelled body 11.

That is, in this embodiment, the position detecting device 12 includes a relative position detecting means 12A, an absolute position detecting means 12B, and
It has a starting position updating means 12C. The relative position detecting means 12A has sensors S1 and S2 for detecting the speed and the steering angle of the unmanned self-propelled body 11, and the speed (distance) and the azimuth angle of the unmanned self-propelled body 11 obtained from the sensors. Therefore, the relative position (the position on the two-dimensional coordinate) based on the start point (starting point) is calculated in real time.

Further, the absolute position detecting means 12B reflects and returns a signal (infrared ray) transmitted by the unmanned self-propelled body 11 to a predetermined position (fixed point on the two-dimensional coordinates) along the planned traveling course. A pole provided with a reflecting device is provided, and when the unmanned self-propelled body 11 passes, a sensor S3 provided on the unmanned self-propelled body 11 receives a reflected signal to determine a coordinate position. The displacement amount (entry angle and distance) of the unmanned self-propelled body 11 passing therethrough is calculated, and the position of the unmanned self-propelled body 11 is calculated based on this.

Then, the starting position updating means 12C compares the position data obtained by the relative position detecting means 12A with the position data obtained by the absolute position detecting means 12B every time the pole is passed, and the former If there is an error with the position data, the latter position data is corrected as correct position data, and the position is updated as a starting point for calculating a new relative position. The position data thus obtained is output in real time.

Next, the transmitting device 14 and the position detecting device 1 together with the unique code of the unmanned self-propelled body 11 equipped with it.
The position data detected in 2 is transmitted, and is received by the receiving device 13.

Next, the guidance control means 16 provided in the controller 15 stores the preset data of the planned traveling course 30 in the storage section 16M. The planned traveling course 30 is set as a series of segments connecting two points on the two-dimensional coordinates, and a planned traveling speed and a planned turning radius for shifting to the next segment are determined for each segment. Have been stored and these are stored.
In the case of the present embodiment, the planned traveling course 30 is composed of a course that circulates between the hopper and the face, as shown in FIG. 4, and is set so that the roads intersect before the face.

That is, in the course 30 to be traveled, the outward route 31, which is guided by the hopper from the hopper toward the face, travels along the remote control area 38 near the face, along the shape of the face or the planned face. It has a face approach preparation path 32 that is set substantially parallel. The remote control area 38 is an area in which the unmanned self-propelled body 10 travels to a loading position by remote control and loads a load by the loader 1, and is a remote control device mounted on the loader 1 near a face. 5, the remote control is performed.

That is, the unmanned self-propelled body 1 is provided on the face approaching road 32.
1 comes, the operator of the loader 1 in the remote control area 38 moves from the remote control device 5 to the transmitter 4
A mode switching signal is sent to the unmanned self-propelled body 11 via the, and the controller 15 of the unmanned self-propelled body 11 which receives this signal switches from the self-guiding control by the guidance control means 16 to the remote control.

Then, the operator of the loader 1 operates the operation lever 2 such as a joystick to transmit a control signal, and the receiving device 13 receives the control signal.
Drives to the loading position by Rimoto control.
Further, the loader 1 is provided with an emergency stop button 3, and a signal transmitted by pushing the button 3 activates an emergency stop device (not shown) provided in the unmanned self-propelled body 11. Then, the unmanned self-propelled body 11 can be brought to an emergency stop.

The loading point in the remote control area 38 is stored, and the loading course learning means (not shown) provided in the guidance control means 16 moves backward from the face entrance preparation path 32 to load the loading point. Turn into the area without difficulty and approach the face entrance preparation path 32 after loading.
Loading course 3 that returns to the return route 34 that intersects with the hopper
3 is automatically calculated and memory learning is performed.

Further, on the outward path 31 of the planned traveling course 30, a waiting point 35 is set in front of the face entrance preparation path 32, and a judging point (not shown) for judging whether or not to wait further is provided in front of it. A designated area 36 is provided on the return path 34. The standby point 35 and the designated area 36 are set at separated positions on the planned traveling course 30 where there is no risk of collision with the unmanned vehicle.

Next, the controller 15 is also controllably connected to actuators 19A and 19B for controlling the vehicle speed and steering of the unmanned self-propelled body 11. Therefore,
The guidance control means 16 stores the planned traveling course 3 stored based on the position data detected by the position detection means 12.
The deviation from 0 is calculated, and the unmanned self-propelled body 10 is guided and controlled by controlling the actuators 19A and 19B so as to follow the planned traveling course.

The collision prevention means 17 of the controller 15
Is an area calculation means 17A and a collision prevention determination means 17B
And the collision prevention control means 17C, and position data can be input from another preceding unmanned self-propelled vehicle (referred to as 11 'for convenience of description) to which the receiving device 13 is connected.

In the area calculating means 17A, as shown in FIG. 5, the emergency stop area E1 is usually in the descending order of danger (in order of decreasing distance) based on the position coordinate data of itself obtained from the position detecting device 12. Stop area E2, second deceleration area E
3 and the first deceleration area E4 are calculated. That is, the emergency stop area E1 is the unmanned self-propelled vehicle 1 that precedes within the range.
In the area where braking is immediately performed when the position data of 1'is included, the distance to the stop required at the time of braking at the currently running vehicle speed (set vehicle speed in a predetermined segment) is centered on the unmanned self-propelled body 11 itself. It is calculated as a circular area whose radius is the included length.

The normal stop area E2 is an area where normal stop control is performed in which the vehicle is decelerated to a low speed and then stopped, and a stop command is issued from the vehicle speed currently running outside the emergency stop area. At this time, it is calculated as a circular area whose radius is a length including a distance until the vehicle moves to a low speed running before stopping and stops. In the illustrated example, the normal stop area includes a fan-shaped portion in which an extra length is added to the traveling direction.

The second deceleration area E3 is an area for changing the vehicle speed of the unmanned self-propelled body 11 to a second low speed which is further decelerated from a first low speed described later, and is a predetermined angle in the traveling direction of the unmanned self-propelled body 11. Is formed in a fan shape. Further, the first deceleration area E4 is an area for decelerating the vehicle speed of the unmanned self-propelled body to a predetermined first low speed, and is formed in a similar fan shape outside the second deceleration area E3. The first and second deceleration areas E4 and E3 have fan-shaped central angles and radii determined based on the vehicle speed of the unmanned self-propelled body 11 currently traveling. The setting of the shape, type, number, etc. of this area is not limited to the above embodiment, and an optimum area may be set appropriately according to the work of the unmanned self-propelled body and operating conditions.

Next, the collision prevention determining means 17B monitors only the position coordinate data input together with the unique code of the preceding other unmanned self-propelled body 11 'obtained from the receiving device 13, and the position data is the above-mentioned each data. It is determined whether or not any of the areas E1 to E4 includes it.
If it is not included in any of the areas, the guidance control means 16 directly controls it.

When the received position data of the preceding unmanned self-propelled body 11 'is included in the first deceleration area E4, the vehicle speed of the unmanned self-propelled body 11 is set to the predetermined first low speed by the collision prevention control means 17C. The actuator 19A for controlling the vehicle speed is controlled via the guidance control device 16 so as to decelerate to 1.

When the position data is included in the second deceleration area E3, the collision prevention control means 17C similarly controls the actuator 19A to decelerate to the second low speed. When the position of the unmanned self-propelled body 11 'is included in the normal stop area E2, the collision prevention control means 17C performs deceleration for stop and then brakes so that the actuator 19A.
To control. Further, when the position of the unmanned self-propelled body 11 'is included in the emergency stop area E1, braking is immediately performed and the unmanned self-propelled body is stopped, so that a rear-end collision can be reliably prevented.

The controller 15 includes guidance control means 16
However, in the present embodiment, the fleet control means 1 is added to the above configuration.
Since 8 is added, this will be described. This fleet control means 18 has a standby control means 18A and a start control means 18B, inputs its own position data from the position detection device 12, and another preceding unmanned self-propelled body 11 'from the reception device 13. Position data from can be input.

In the standby control means 18A, the position coordinate data of the preceding other unmanned self-propelled body 11 'obtained from the receiving device 13 is stored in the area of the remote control area 38 on the planned traveling course 30. Whether or not it is included is determined when passing a determination point provided in front of the standby point 35 of the planned traveling course. Therefore, when the remote control area 38 includes the received position data of the preceding unmanned self-propelled body 11 ', the standby control means 18A causes the guidance control means 1 to operate.
The driverless vehicle 11 is controlled via 6 to stop at the waiting point 35 on the planned traveling course 30.

Next, in the start control means 18B of the fleet control means 18, the position coordinates sent from the transmission device 14 of the preceding unmanned vehicle 11 'are within the designated area 36 on the planned traveling course 30. It is determined whether or not it entered. In the present embodiment, the preceding unmanned self-propelled body 11 'runs toward the course when the operator of the loader 40 presses the restart button of the remote control device. At this time, the unmanned self-propelled body 11 waiting at the waiting point 35 inputs and monitors the position data of the preceding unmanned self-propelled body 11 '. Therefore, when it is determined that the preceding unmanned self-propelled body 11 ′ has entered the designated area 36, the unmanned self-propelled body 11 stopped at the waiting point 35 is started.

Alternatively, the transmission control means 5B determines whether or not there are any unmanned self-propelled bodies in the loading area 38, and when the loading area 38 is exited, the waiting point 3
The unmanned self-propelled body 10 stopped at 5 may be configured to start. In this case, it may be determined whether or not all of the position data received by the receiving device 3 is in the loading area 38, and it is not necessary to make a determination based on the position data of a specific unique code.

Next, the relationship between the collision prevention means 17 and the fleet control means 18 will be described. Unmanned self-propelled body 11,
The traveling is started from the start point of the traveling course 30. The unmanned self-propelled body 11 calculates the position coordinates of the unmanned self-propelled body 10 in real time by the relative position detecting means 2A by the sensors S1 and S2. Further, a pole equipped with a reflecting device is erected at a predetermined position such as near the entry side of the waiting point 35 or the designated area 38, and the absolute position detecting means 2B by the sensor S3 allows the unmanned self-propelled body at that position. The position coordinates of 10 are calculated.

Then, the starting position updating means 12C corrects the position coordinates obtained by the relative position detecting means 12A with the position coordinates obtained by the absolute position detecting means 12B, and the corrected position coordinates are set as new starting points. As relative position detecting means 12
The position coordinates are calculated at A and output as position data.

The unmanned self-propelled body 11 traveling in this way
The emergency stop area E1, the normal stop area E2, the second deceleration area E3, and the first deceleration area E4 are calculated based on the position data of the vehicle and the vehicle speed. On the other hand, the unmanned self-propelled body 11 is the receiving device 13 and is the preceding unmanned self-propelled body 11 ′.
Receives and monitors position data entered with the unique code of. In this case, the peculiar mode to be monitored is registered in the collision prevention device 4, and only the position data having the peculiar code among the signals received from the reception device 13 is input to the collision prevention device 4.

Then, it is determined whether or not the input position data of the preceding other unmanned self-propelled body 11 'is included in the area and in which one. In the case where the unmanned self-propelled body 11 itself is heading to the waiting point 35, the collision preventing means 17 is provided at a position ahead of the waiting point 35 by a predetermined distance.
The operation by the fleet control means 18 is prioritized over the operation by. Alternatively, the operation of the collision prevention means 17 may be interrupted while the fleet control means 18 is operating.

At the judgment point position before the waiting point 35 on the planned traveling course, the unmanned self-propelled body 11 is
It is determined whether or not the received position data of the preceding unmanned self-propelled body 11 ′ is included on the course reaching the remote control area 38 in front of itself and in the remote control area 38. If it is within the range, braking control is performed so that the unmanned self-propelled body 11 is stopped at the standby point 35, and if it is not within the range, the process proceeds as it is.

When waiting on the waiting point 35, the position data transmitted from the other preceding unmanned self-propelled body 11 'is monitored and the unmanned self-propelled body 11' enters the designated area 36. If it is determined that the unmanned self-propelled body 11 is stopped at the waiting point 35, the unmanned self-propelled body 11 is started. In this way, when the control by the fleet control means 18 is completed, the collision prevention means 17 again detects the distance from the preceding unmanned self-propelled body 11 'to prevent a rear-end collision. .. Similarly, the unmanned self-propelled body 10 ″ following the unmanned self-propelled body 10 is also subjected to the same processing by monitoring the position data transmitted together with the unique code of the unmanned self-propelled body 10.

In such a structure, the ground monitoring station 21
Is composed of a communication controller 26 including a transmitter 24 and a receiver 25, a battery 22 for operating the communication controller of the ground monitoring station 21, and a monitor device 23 for monitoring the communicated position data. .. Further, each ground monitoring station 21 is erected at a position where the planned traveling course 30 is divided so that a part of the communicable area thereof overlaps.

Therefore, in each ground monitoring station 21, the receiving device 25 receives the position data of the unmanned self-propelled body 11 within its communication area together with the unique code of the unmanned self-propelled body, and the transmitting device 24 succeeds it. It is configured to communicate to other unmanned self-propelled bodies. In addition, the remote control signal transmitted from the loader 1
You may relay to the predetermined unmanned self-propelled body 11 via the said ground monitoring station 21.

In this way, the unmanned self-propelled bodies 11 and 11 'which come before and after
If the communication is not sufficiently performed due to a communication obstacle or the like between the areas 11 or 11 ", the above-mentioned ground monitoring station 21
The communication controller can be used to relay signals for communication. The ground monitoring stations 21 are connected by wire or wirelessly so that the position data received by them can be exchanged with each other, and they are recorded and backed up by the battery 22. ..

Each of the ground monitoring stations 21 may be connected with a monitor device 23 such as a TV camera for monitoring the communication area of the ground monitoring station 21, and the unmanned self-propelled vehicle running in the area. The body 11 can also be monitored by the monitor device 23. When the unmanned self-propelled body 11 is to be stopped by a process other than the above processing, the emergency stop signal is output from the transmitter of the ground monitoring station 21 to the predetermined unmanned self-propelled body 11.

At this time, the ground monitoring station 21 which is monitoring
When the vehicle is located far away, the emergency stop signal may be relayed to another ground monitoring station and transmitted from the ground monitoring station 21 at a position where the unmanned self-propelled body 11 can receive the signal. Unmanned self-propelled body 11
Can receive the signal and actuate the emergency stop device of the unmanned self-propelled body 11 to make an emergency stop, as in the case of remote control of the loader 1.

[0042]

As described above, according to the wireless monitoring communication method and apparatus of the unmanned self-propelled body of the present invention, when the plurality of unmanned self-propelled bodies are traveling on the planned traveling course, the traveling planned course is changed. A ground monitoring station is installed along with a mobile monitoring station in the remote control area, and position data is sent and received between unmanned self-propelled units to prevent collisions. In addition to preventing rear-end collisions, remote control is performed manually in the remote control area by the operator of the mobile monitoring station, so the unmanned self-propelled vehicle can be operated safely and efficiently.

[Brief description of drawings]

FIG. 1 is a functional block diagram of a wireless monitoring and communication device for an unmanned self-propelled body according to the present invention.

FIG. 2 is a diagram for explaining the operation of the wireless monitoring communication device for an unmanned self-propelled body according to the present invention.

FIG. 3 is a block diagram showing a preferred embodiment of a wireless monitoring communication device for an unmanned self-propelled body according to the present invention.

FIG. 4 is an explanatory diagram showing an example of a planned traveling course.

FIG. 5 is an explanatory diagram showing each area for collision prevention.

[Explanation of symbols]

 1 loader 2 operation lever 4 transmitter 5 remote controller 11 unmanned self-propelled body 12 position detector 13 receiver 14 transmitter 15 controller 16 guidance control means 17 collision prevention means 18 fleet control means 21 ground monitoring station 23 monitoring equipment 24 transmitter 25 receiver 26 communication controller 30 planned course 35 waiting point 36 designated area E1 emergency stop area E2 normal stop area E3 first deceleration area E4 second deceleration area

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Reference number within the agency FI Technical display location G08G 1/09 Q 7103-3H (72) Inventor Tatsuya Murase 1-2-3 Kita-Aoyama, Minato-ku, Tokyo No. New KYOTOTAPER Mitsubishi Corporation (72) Inventor Shinya Hirose 1-3-2 Kita-Aoyama, Minato-ku, Tokyo No. 2-3 Shin-Kita Taplar Mitsubishi Corporation (72) Inventor Akihiro Hori 2-3-2 Marunouchi, Chiyoda-ku, Tokyo No. Nippon Steel Mining Co., Ltd.

Claims (8)

[Claims] 1. A plurality of unmanned self-propelled bodies simultaneously traveling on a preset traveling course detect their own positions by a position detection device and travel by a guidance control device based on the detected position data. It is a wireless monitoring communication method for unmanned self-propelled bodies that guides each unmanned self-propelled body along the planned course and also runs by remote control in the remote control area of the planned course. The position of the other unmanned self-propelled body can be received, the risk of collision between the two is judged from mutual position data, and the unmanned self-propelled body is stopped or decelerated according to the degree of danger. , In the remote control area of the planned driving course, the remote control device provided in the mobile control station causes the unmanned self-propelled body to change from guidance control to remote control and drive the remote control area. The planned driving course except the base area,
A ground monitoring station having a communication area covered by one or more is provided, and position data of a predetermined unmanned self-propelled vehicle transmitted in the communication area of the ground monitoring station is received to receive another ground monitoring station in the same area. Alternatively, a wireless monitoring communication method for an unmanned self-propelled body, which comprises receivably relaying to another unmanned self-propelled body to substantially lengthen a communication area between the unmanned self-propelled bodies. 2. A plurality of unmanned self-propelled bodies simultaneously traveling on a preset traveling course detect their own positions by a position detection device, and travel by an induction control device based on the detected position data. It is a wireless monitoring communication method of unmanned self-propelled bodies that are self-guided along the planned course and are remotely controlled in the remote control area.Each unmanned self-propelled body transmits its position. At the same time, the position of another unmanned self-propelled body can be received, the risk of collision between the two is judged from mutual position data, and the unmanned self-propelled body is stopped or decelerated according to the risk, and other preceding If the unmanned self-propelled vehicle is in the remote control area, stop the succeeding unmanned self-propelled vehicle at the waiting point set in front of the remote control area on the planned course, and When a self-propelled vehicle enters the designated area from the remote control area or exits the designated area, the unmanned self-propelled vehicle stopped at the waiting point is started, and in the remote control area of the planned course, the mobile control station is A remote control device is provided to change an unmanned self-propelled vehicle from guidance control to remote control to drive the vehicle, and a ground monitoring station including at least a part of a planned course in a communication area is provided, and the communication area of the ground monitoring station is provided. It receives the position data of the predetermined unmanned self-propelled body transmitted within and relays it to another ground monitoring station in the area or another unmanned self-propelled body,
A wireless monitoring communication method for an unmanned self-propelled body, characterized in that the communication area between the unmanned self-propelled bodies is substantially lengthened. 3. The radio of the unmanned self-propelled body according to claim 1, wherein communications of the unmanned self-propelled body, the mobile control station, and the ground monitoring station are each made up of a specific low-power radio station. Monitoring communication method. 4. The unmanned self-propelled body has stop means for stopping traveling when receiving a stop signal, and is capable of transmitting the stop signal from a mobile control station and / or a ground monitoring device. The wireless monitoring communication method for an unmanned self-propelled body according to claim 1 or 2. 5. A plurality of unmanned self-propelled bodies simultaneously traveling on a preset traveling course detect their own positions by respective position detection devices, and travel by the guidance control device based on the detected position data. It is a wireless monitoring communication device for unmanned self-propelled bodies that self-guides each unmanned self-propelled body along the planned course and runs by remote control in the remote control area of the planned traveling course. A transmitter for transmitting the detected position data of the self and a receiver for receiving the other position data transmitted by another unmanned self-propelled body, and the position data of the self obtained from the position detector, A controller having collision prevention means for determining the risk of collision between the unmanned self-propelled body and the position data of the other unmanned self-propelled body obtained from the receiving device and stopping or decelerating the unmanned self-propelled body according to the degree of danger. In the remote control area of the planned course, a roller is installed in the mobile control station, and the unmanned self-propelled vehicle is switched from induction control to remote control and driven by the remote control. A ground monitoring station including a communication area is provided, and the ground monitoring station receives a position data of a predetermined unmanned self-propelled vehicle transmitted in the communication area, and another ground monitoring station in the area. Alternatively, another unmanned self-propelled body is provided with a transmission device for transmitting the received position data, and the communication area between the unmanned self-propelled bodies is substantially lengthened. .. 6. A plurality of unmanned self-propelled bodies simultaneously traveling on a preset planned traveling course each detect their own position by a position detecting device, and based on the detected position data, guidance control means of the controller. It is a wireless monitoring communication device for unmanned self-propelled bodies that guides each unmanned self-propelled body along the planned run course by remote control in the remote control area of the planned run course. In addition, the transmitter includes a transmitter for transmitting the detected position data of the self and a receiver for receiving other position data transmitted by another unmanned self-propelled body. And the position data of the other unmanned self-propelled body obtained from the receiving device, the degree of risk of collision between the two is determined, and collision prevention means for stopping or decelerating the unmanned self-propelled body in accordance with the degree of danger. Then, when the unmanned self-propelled body is on the planned traveling course to the standby point and the position of another received unmanned self-propelled body is within the remote control area, the self-driven self-propelled body stops at the standby point. Then, on the waiting point, the unmanned self-propelled body is started when other position data received from another predetermined unmanned self-propelled body enters a preset designated area or when it exits the designated area. A controller with fleet control means is provided, and in the remote control area of the planned course, a remote control device with an operating lever and a transmitter is provided in the mobile control station to switch the unmanned self-propelled body from the guidance control to the remote control and remote control. Provide a ground monitoring station that is driven by control and that includes at least a part of the planned course in the communication area. A receiving device that receives the position data of the predetermined unmanned self-propelled body that has been transmitted, and a transmission device that transmits the received position data to another ground monitoring station or another unmanned self-propelled body in the same area, A wireless monitoring communication device for an unmanned self-propelled body, characterized in that the communication area between the unmanned self-propelled bodies is substantially lengthened. 7. The radio of the unmanned self-propelled body according to claim 5, wherein the communication of the unmanned self-propelled body, the mobile control station, and the ground monitoring station are each made up of a specific low-power radio station. Monitoring communication method. 8. The unmanned self-propelled body has stop means for stopping traveling when receiving a stop signal, and is capable of transmitting the stop signal from the mobile control station and / or the ground monitoring device. The wireless monitoring communication method for an unmanned self-propelled body according to claim 1 or 2.