JPH0628029A - Method for detecting position of vehicle - Google Patents

Abstract

PURPOSE:To highly accurately, inexpensively and efficiently attain the positional detection of plural working vehicles in a working area by means of the smallest equipment. CONSTITUTION:The accurate positional detection of a master vehicle 2 along a traveling route 3 is controlled by bidirectional communication with a fixed station arranged on a reference position in a working area, and when the master vehicle 2 approaches a slave vehicle 4 located on an optional position in the working area to execute work, a distance measuring instrument 15 on the slave vehicle 4 measures a distance between both the vehicles 2, 4 by collimating the vehicle 2. When necessary, the measured value is compared with the working position data of the vehicle 4 to correct the position of the vehicle 4 in the working area.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle positioning method used for obtaining an accurate position of various work vehicles engaged in earthwork, construction work, etc. within a work area.

[0002]

2. Description of the Related Art Conventionally, as an earth and sand transportation system for earthwork, an unmanned traveling system is known in which a dump truck is automatically driven while recognizing its own position. In this unmanned traveling system, a preset traveling course is stored in a storage medium such as an IC card, and a large number of laser reflecting plates are installed along the traveling route of the dump truck to generate a laser beam emitted from the dump truck. The direction and distance are calculated from the reception angle of the reflection laser when the light is emitted toward the reflector, and the calculated position and the traveling route data of the storage medium are compared to confirm the traveling position of the dump truck and the position. While correcting, the dump truck is run unmanned along the stored course.

[0003]

However, in the conventional transportation system as described above, since the laser reflector has to be installed along the traveling route of the carrier, the traveling route is changed each time. Since the installation position of the laser reflection plate must be changed, the work becomes complicated and the setting of the travel route becomes troublesome.

Therefore, the present applicant has filed Japanese Patent Application No. 4-1268.
As shown in No. 24, the fixed station and the moving vehicle are each provided with an automatic tracking device, and by controlling the automatic tracking devices so as to face each other, the fixed station side constantly monitors the traveling position of the moving vehicle, By doing so, we propose an automatic transportation system that allows a moving vehicle to automatically travel along a travel route. However, in such an automatic transfer system, since the fixed station and the moving vehicle are always in a one-to-one bidirectional tracking state in which they face each other at all times, a plurality of other moving vehicles for transporting sediment exist in addition to this moving vehicle. Even if there is a backhoe, a bulltozer, a power shovel, etc. that perform work other than soil transportation, such as trench digging, soil collection, and other earthwork, the above-mentioned one-to-one relationship is used for positioning these work vehicles. It cannot be used as a fixed station in.

Therefore, it is conceivable to install a dedicated fixed station separately for self-positioning on other work vehicles as well. In this case, distance measurement for self-positioning and communication thereof are performed. In addition to making the equipment large and costly, using a large number of handsets installed in each vehicle at the same location may cause interference with radio waves, which may interfere with vehicle control. It is not suitable for positioning a large number of work vehicles because there are restrictions on the output and band of radio waves that can be used without being subject to legal restrictions. The present invention has been made in view of the above circumstances, and the positioning of a plurality of working vehicles within a work area can be efficiently performed with minimum equipment, with high accuracy and at low cost. The purpose is to provide a method.

[0006]

In order to achieve the above object, the present invention provides at least a fixed station installed at a reference position in a work area and at least a traveling movement in the work area along a predetermined movement route. One parent vehicle and a plurality of child vehicles each performing a predetermined work in the work area are provided, and the position of the parent vehicle in the work area is measured by the measuring means with reference to the fixed station. While comparing the measured position data with the predetermined moving route data, the parent vehicle is automatically driven along the predetermined moving route, and when the parent vehicle approaches the child vehicle at a predetermined distance, a measuring means is provided. Is operated to measure the current position of the child vehicle within the predetermined distance with reference to the parent vehicle. Further, the present invention is characterized in that the measured current position data of the slave vehicle is compared with predetermined work position data of the slave vehicle, and the position of the slave vehicle is corrected so that the deviation becomes zero. And

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the method of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram in the case where the method of the present invention is applied to the positioning of each work vehicle performing a residential land construction work, and FIGS. 2 and 3 are block diagrams of a control system of a fixed station, a parent vehicle and a child vehicle. In FIG. 1, 1 is a fixed station installed at a predetermined reference position overlooking the entire area to be constructed, 2
Is a work vehicle for transporting earth and sand such as a crawler dump that automatically travels along a preset traveling route (moving route) 3 between the sediment loading position P1 and the unloading position P2 for discharging the sediment in the construction work area, The work vehicle 2 automatically travels on the travel route 3 under the supervision of the fixed station 1 and constitutes a parent vehicle that serves as a reference for positioning the child vehicle 4 described later.

A plurality of child vehicles 4 are scattered in the construction area to perform a predetermined work. For example, a power shovel for loading earth or sand on a working vehicle (hereinafter referred to as a parent vehicle) 2 which is a parent vehicle, It consists of a bulltozer for collecting soil, or a backfor for digging trenches. The positions of these child vehicles 4 within the construction area can be measured with reference to the parent vehicle 2. Further, 5 is a control center installed at a predetermined place in the area to be constructed, and the control center 5 and the fixed station 1 are connected by a cable 6 for communication and power feeding.

As shown in FIGS. 1 and 2, the fixed station 1 and the parent vehicle 2 are provided with bidirectional automatic tracking devices 7 and 8, respectively. The automatic tracking devices 7 and 8 send tracking light waves toward each other and receive the light waves, so that the light receiving position on the two-dimensional light receiving element is always centered. The tracking devices 7 and 8 are operated in the horizontal and vertical directions, whereby the automatic tracking devices 7 and 8 are automatically controlled so that their front faces always face each other. Optical communication devices 9 and 10 for spatial lightwave data transmission are provided on the automatic tracking devices 7 and 8, respectively, for performing data communication between them.

As shown in FIG. 2, the automatic tracking device 7 on the fixed station 1 side uses an optical wave for measuring the distance from the fixed station 1 to the target 11 of the parent vehicle 2, that is, the current position of the parent vehicle 2. Horizontal angle measurement for measuring the deflection angle from the reference point of the automatic tracking device 7 when the rangefinder 12 and the automatic tracking device 8 of the parent vehicle 2 horizontally turn to face the automatic tracking device 7 of the fixed station 1 directly. A device 13 and a vertical angle measuring device 14 for measuring the tilt angle from the reference point of the automatic tracking device 7 when the automatic tracking device 8 tilts vertically so as to face the automatic tracking device 7 of the fixed station 1. Has been. Further, as shown in FIGS. 1 and 2, the automatic tracking device 8 on the side of the parent vehicle 2 receives the light wave sent from the light-wave distance meter 12 on the side of the fixed station 1 toward the parent vehicle 2 as shown in FIGS. A target 11 that reflects light is provided. Further, in FIG. 1 and FIG. 2, reference numeral 15 denotes a distance measuring device including an ultrasonic distance sensor provided in the child vehicle 4, and the distance measuring device 15 is provided in the light wave reflection target 16 provided in the parent vehicle 2. When the parent vehicle 2 that automatically travels along the travel route 3 approaches the child vehicle 4 that is working at a predetermined distance, the distance measuring device 15 is operated to operate the parent vehicle. Target 1 on vehicle 2
6 is collimated and the distance from the parent vehicle 2 to the child vehicle 4 is measured. Further, the target 16 has a structure that can be collimated from any direction of 360 degrees by the distance measuring device 15 of the child vehicle 4.

As shown in FIG. 2, the fixed station 1 includes a control circuit 17 including a microcomputer for managing and controlling the entire fixed station. The control circuit 17 includes an optical communication device 9, an optical distance meter 12, a data communication circuit 18, a horizontal angle measuring device 13, a vertical angle measuring device 14, and control programs for these, traveling route data of a moving vehicle, and communication. A storage circuit 19 for storing a program for correcting the position of the parent vehicle 2 based on the data and the traveling route data of the parent vehicle 2 and the calculated current position data of the parent vehicle 2 is connected, and the data communication circuit 18 is connected to the cable 6 It is connected to the control center 5 through.

As shown in FIG. 2, the parent vehicle 2 includes a main control circuit 20 including a microcomputer for managing and controlling the entire parent vehicle. The main control circuit 20 includes an optical communication device 10, a safety monitoring device 21, and a driving control circuit 2 for the parent vehicle 2.
2, and a storage circuit 23 for storing a control program for controlling them, traveling route data, and the like are respectively connected.

The safety monitoring device 21 is provided to prevent rear-end collision with the child vehicle 4 and other obstacles and to prevent the parent vehicle 2 from overturning, and includes an ultrasonic sensor and a sensor for detecting a pitching angle and a rolling angle. Composed. The operation control circuit 22 performs running / stopping, direction change, engine starting / stopping, loading / unloading control of the parent vehicle 2, and the like. The operation control circuit 22 includes the crawler drive unit 2
4, a steering unit 25, an engine start / stop operation unit 26, and a bed up / down drive unit 27 are connected to each other.

The control center 5 processes various data transmitted from the parent vehicle 2 or the child vehicle 4 as shown in FIG. 1, and processes data such as a start command for the parent vehicle 2 and the child vehicle 4. The host computer 40, which sends the data, and the monitor monitor 41 that displays the work status of the parent vehicle 2 and the child vehicle 4 and the like, and the VR display for remotely controlling the parent vehicle and the child vehicle using the VR (Virtual Reality) method. The unit 42 and the like are provided. Data communication between the child vehicles 4 and the control center 5 is performed by a transceiver (not shown) mounted on each child vehicle 4 and a relay station (not shown) installed in the site.
By.

Next, the structure of the control unit of the child vehicle shown in FIG. 3 will be described. In FIG. 3, the child vehicle 4 includes a main control circuit 28 including a microcomputer that manages and controls the entire child vehicle. The main control circuit 28 includes a distance measuring device 15, a safety monitoring device 29 similar to that of the parent vehicle 2, a positioning sensor 30 such as an optical gyro that detects the current position of the child vehicle 4, an operation control circuit 31 of the child vehicle 4, Further, a storage circuit 32 for storing a control program for controlling these and work data, etc. is connected thereto.

The operation control circuit 31 controls running / stopping, turning, engine start / stop, swivel base, boom, bucket, etc. of the child vehicle 4. The operation control circuit 31 includes a crawler drive unit. 33, a steering section 34, an engine start / stop operation section 35, and a drive section 36 such as a swivel boom and a bucket are connected to each other.

Next, the operation of this embodiment configured as described above will be described. First, the input device such as a keyboard of the control center 5 is used to input the position coordinates of the fixed station 1 and the travel route data of the parent vehicle 2 in the work area, and the data is used for the cable 6, the data communication circuit 18, and the control circuit 17. The data is stored in the memory circuit 19 via. Further, the traveling route data is transmitted to the parent vehicle 2 by the optical communication devices 9 and 10 and stored in a predetermined area of the storage circuit 23 through the main control circuit 20. Then, the automatic tracking devices 7 and 8 of the fixed station 1 and the parent vehicle 2 are set to the operation mode so that the front faces of the automatic tracking devices 7 and 8 face each other in a bidirectional tracking state.

When a start command is given from the child carrier 4 for loading sand, such as when loading of the sand onto the parent vehicle 2 waiting at the loading position P1 is completed, the main control circuit 20 starts the operation control circuit 22. The parent vehicle 2 is started by driving the crawler drive unit 24 by sending the command. Accordingly, the parent vehicle 2 automatically travels on the travel route 3 according to the route data stored in the storage circuit 23. At this time, the current traveling position of the parent vehicle 2 is the optical rangefinder 12 of the fixed station 1 with the fixed station 1 as a base point.
Measured by the horizontal angle measuring device 13 and the vertical angle measuring device 14,
It is compared with the route data stored in the storage circuit 19. When there is a deviation between the current position of the parent vehicle 2 and the corresponding travel route coordinates, the deviation data is transmitted to the operation control circuit 22 through the optical communication devices 9 and 10 and the main control circuit 20, The steering unit 25 is controlled so that the deviation becomes zero, and the traveling direction of the parent vehicle 2 is placed on the traveling route.

As the parent vehicle 2 automatically travels on the travel route 3, it stops when it reaches the unloading position P2, and the rear portion of the loading platform is directed in the discharging direction, and the up / down drive unit 27 is also provided.
Up to lift the loading platform and discharge the sand in the loading platform. When the unloading is completed, the parent vehicle 2 starts moving again on the travel route 3 toward the loading position P1. Further, when the parent vehicle 2 arrives at the loading position P1, it stops.
Hereafter, by repeating the above operation, loading of earth and sand,
Unmanned transportation and unloading can be performed automatically.

On the other hand, a working vehicle in which the parent vehicle 2 that is automatically positioned on the traveling route 3 while being accurately positioned by the fixed station 1 is performing work such as digging at a predetermined location, that is, a child vehicle 4 When the safety measuring device 29 detects the approach to the distance measuring device 15 through the main control circuit 28.
To the target 16 on the parent vehicle 2 by emitting an ultrasonic wave for distance measurement to the target 16 by operating the distance measuring device 15. Then, by receiving the ultrasonic waves or the like reflected by the target 16,
The distance from the reference parent vehicle 2 to the child vehicle 4 that is working is measured. By taking this distance data into the main control circuit 28, the current work position of the child vehicle 4 is calculated. When the calculated position data is compared with the work position data of the child vehicle 4 stored in the storage circuit 32, it is determined whether or not the child vehicle 4 is working according to the work position data. The current work position is corrected to the work position stored in the storage circuit 32. This correction is performed by driving and controlling the crawler driving unit 33 and the steering unit 34 by the motion control circuit 31.

In the earthwork work of the child vehicle 4 after the child vehicle 4 is corrected to the correct own position with reference to the parent vehicle 2, the orientation and position of the child vehicle 4 are detected by the built-in positioning sensor 30. The child vehicle 4 is operated while comparing the data and the position data with the preset work position data. Then, each time the parent vehicle 2 approaches, the self-position of the child vehicle 4 is corrected.

In this embodiment as described above, the parent vehicle is accurately positioned and controlled along the traveling route under the supervision of the two-way communication with the fixed station installed at the reference position in the construction area. When the vehicle approaches the child vehicle that is working, the distance measurement device collimates the target of the parent vehicle and measures the distance between the parent vehicle and the child vehicle. Since a large number of self-positions are set, a large number of child vehicles, including the parent vehicle, can be positioned accurately and efficiently at low cost with a single fixed station. In addition to the simplification and miniaturization, it is not necessary to install a conventional laser light reflector or the like at the working position of the child vehicle, and it becomes easy to change the working place of the child vehicle and no human labor is required. Further, since the working position of the child vehicle can be measured with the parent vehicle as a reference when the parent vehicle approaches, a fixed reference station dedicated to the child vehicle is no longer required as in the conventional case, and a large output is output to the sensor for distance measurement. This is no longer necessary and can be easily realized with a distance measuring sensor that does not require regulation. Further, the position of the child vehicle can be corrected by comparing the position data of the child vehicle measured by the distance measuring device with the predetermined work position data.

In the above embodiment, the positioning of the work vehicle engaged in the construction work is described, but the present invention is not limited to this, and a plurality of vehicles perform a predetermined work at a work site other than earthwork. Can also be applied. Further, the present invention is not limited to the configuration shown in the above embodiment, and various modifications can be made without departing from the scope described in the claims.

[0024]

As described above, according to the present invention, two-way communication with a fixed station installed at a reference position in a work area accurately controls the positioning of a parent vehicle along a predetermined traveling route. When the parent vehicle is scattered near the work area and approaches a child vehicle to be worked, the distance measurement means of the parent vehicle or the child vehicle collimates the parent vehicle or the child vehicle, and between the parent vehicle and the child vehicle. Since the distance is measured and the position of the child vehicle is corrected by comparing this survey value with preset work position data, a single fixed station is sufficient and multiple work vehicles can be installed with the minimum equipment. Can be accurately positioned at low cost and efficiently.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram in the case where the method of the present invention is applied to the positioning of each work vehicle in construction work.

FIG. 2 is a block diagram showing a configuration of a control unit of a fixed station and a parent vehicle in the present embodiment.

FIG. 3 is a block diagram showing a configuration of a control unit of the child vehicle in the present embodiment.

[Explanation of symbols]

 1 Fixed Station 2 Parent Vehicle 3 Travel Route 4 Child Vehicle 7,8 Automatic Tracking Device 9,10 Optical Communication Device 11 Target 12 Lightwave Distance Meter 13 Horizontal Angle Measuring Device 14 Vertical Angle Measuring Device 15 Distance Measuring Device 16 Target

Claims (2)

[Claims] 1. A fixed station installed at a reference position in the work area, at least one parent vehicle that travels along the predetermined movement route in the work area, and a predetermined work in each of the work areas. And a plurality of child vehicles that perform the measurement, the position of the parent vehicle in the work area is measured by the measuring unit with the fixed station as a reference, and the measured position data is compared with the predetermined movement route data. While the parent vehicle automatically travels along a predetermined moving route, the measuring means is operated when the parent vehicle approaches a predetermined distance with respect to the child vehicle, and the current position of the child vehicle within the predetermined distance. The vehicle positioning method is characterized in that is measured based on the parent vehicle. 2. The vehicle according to claim 1, wherein the measured current position data of the slave vehicle is compared with predetermined work position data of the slave vehicle, and the position of the slave vehicle is corrected so that the deviation becomes zero. Positioning method.