JPH07146707A - Method for remotely maneuvering heavy machinery vehicle - Google Patents

Abstract

PURPOSE:To provide a method for remotely maneuvering heavy machinery vehicles capable of turning control equipments inexpensive and labor seving at the time of remotely maneuvering plural heavy machinery vehicles. CONSTITUTION:While radio receivers 5 are mounted on respective radio maneuverable plural heavy machinery vehicles 1, plural radio transmitters 7 and a personal computer 11 are installed in a central operation room 6. The operation contents of a first heavy machinery vehicle are registered in the personal computer 11 of the central operation room 6 by teaching or the like, second and succeeding heavy machinery vehicles are operated based 011 the operation data of the preceding heavy machinery vehicle immediately before transmission is performed from the central operation room 6 and the operation data at the heavy machinery vehicles are registered in the personal computer 11 of the central operation room 6. Thus, the second and succeeding heavy machinery vehicles are operated and radio maneuvered corresponding to the operation data of the heavy machinery vehicle immediately before based on the operation data of the first heavy machinery vehicle.

Description

The present invention relates to a method for remotely controlling a plurality of heavy equipment vehicles such as dump trucks and motor scrapers.

[0002]

2. Description of the Related Art Conventionally, as a remote control method for heavy equipment vehicles used for work in places where there is a danger of falling such as cliffs, or where there is a harmful effect on the human body such as toxic gas or heat, a dump truck automatic driving method using a guide wire has been used. , A dump automatic traveling operation method using a gyro and a remote heavy-duty operating method using a radio control are known. As shown in FIG. 4, the dump truck automatic traveling operation method using a guide wire lays a guide wire 34 along a traveling path 33 between the loading area 31 and the soil discharging area 32, and at the same time, manned both areas 31 and 32. The operation platforms 35 and 36 are provided, and the dump truck 38a loaded with earth and sand by the hydraulic excavator 37 is guided to the earth discharging area 32 while measuring its position, and the hopper 39
This is a method of guiding the dump truck 38b discharged to the loading area 31 while measuring its position. As the guide wire, a line or a pole is used in addition to the guide wire using magnetism or light reflection. In addition, as shown in FIG. 5, the dump automatic traveling operation method using the gyro is, as shown in FIG.
This is a method of automatically traveling a dump truck 44 equipped with a gyro (not shown) on a traveling path 43 between the soil and the soil discharging area 42. In FIG. 5, 45 is a wheel loader, 46
Is a hopper, and 47 is a position correction pole for correcting the position of the dump truck 44. Furthermore, as shown in FIG. 6, the remote operation of a single heavy machine by remote control using a radio-controlled vehicle allows the operator OP to view a heavy machine vehicle 50 such as a dump truck or a monitor 51 traveling from a certain distance from a certain distance. This is a method of operating a single heavy equipment vehicle 50 by transmitting operation data by radio control.

[0003]

However, in the conventional automatic dump truck driving method using a guide wire in the remote control method for heavy-duty vehicles, fixed equipment is required in addition to the vehicle, so that the traveling route can be freely selected. Can not. Therefore, there is a problem that the main road is traveling. Further, in the dump automatic traveling driving method using the gyro, compared to the above-described dump automatic traveling driving method using the guide wire, equipment on the traveling road side is not required, so that there is a lot of room to select a route. However,
In order to follow the traveling speed, the gyro is expensive, and there is a risk that the gyro will deviate from the traveling path due to the accumulation of errors, so it is necessary to return it to the zero point as appropriate. In addition, the automatic operation of the dump truck can be performed by responding to changes in the situation of the site during automatic traveling, or by checking the distance between the wheel loader and the dump truck, checking the amount of loaded sediment and safety when checking or loading. By the time, the microprocessor and the processing technology have not been established, and there is a problem that some kind of operator control is required. Further, in the method of operating a single heavy machine by remote control using a radio control machine, one operator is generally required because of the complexity of the motion of the heavy machine vehicle. Therefore, an object of the present invention is to provide a remote control method for a heavy-duty vehicle, which makes it possible to reduce the cost of control equipment and save labor when remotely controlling a plurality of heavy-duty vehicles.

[0004]

In order to solve the above-mentioned problems, a remote control method for a heavy-duty vehicle according to the present invention provides a method for remote-controlling a plurality of heavy-duty vehicles. While equipped with a wireless receiver, a central cab is equipped with a plurality of wireless transmitters and a RAM for temporarily storing data of wireless transmitters, a computer consisting of a basic control program and a microprocessor, and the first heavy equipment vehicle. The operation contents of each vehicle are registered in the computer in the central cab by teaching or by inputting a program, and the operation data of the preceding preceding heavy vehicle is transmitted from the central cab to the second and subsequent heavy vehicles to make a difference between the heavy vehicles. Is operated according to changes in the site situation by additionally inputting correction data, and the operation data of each heavy equipment vehicle is registered in the computer in the central cab. And wherein the door.

[0005]

In the remote control method for a heavy vehicle according to the present invention,
The operation of the second and subsequent heavy equipment vehicles is carried out by radio control in accordance with the operation data of the immediately preceding preceding heavy equipment vehicles based on the operation data of the first heavy equipment vehicle. In addition, by correcting the operation data of the second and subsequent heavy equipment vehicles,
It will be possible to respond more precisely to changes in the field situation. It is preferable that each heavy-duty vehicle be equipped with a gyro and an encoder so that each heavy-duty vehicle can independently perform position detection and error correction at any time. In the case of repetitive work, errors may be accumulated, so the errors should be reset at the origin. In addition, each heavy equipment vehicle is provided with a wireless transmitter, an ultrasonic sensor, a proximity switch and a closed area to prevent contact with obstacles or between heavy equipment vehicles and to confirm the position of the other party by communicating with each other. It is preferable to increase safety. Then, if one of the vehicles stops in an emergency, all the vehicles are stopped. Further, each heavy equipment vehicle is preferably equipped with a CPU.
It is preferable to store data such as operating time, amount of work, and failure, and transmit the data to the computer in the central cab. On the other hand, it is preferable that the computer in the central cab monitor the operation status of each heavy-duty vehicle, perform an emergency stop, and collect data for each heavy-duty vehicle. Teaching of the first heavy-duty vehicle is performed by an operator boarding the vehicle or by remote control such as radio control.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of a remote control method for a heavy equipment vehicle according to the present invention. In the figure, reference numeral 1 denotes a plurality of heavy-duty vehicles such as motor scrapers that can be wirelessly steered. This heavy-duty vehicle group 1 is remotely controlled based on operation data transmitted from the central cab, as described later, and runs in a loop. Road 2
After being loaded with earth and sand by a loading machine 4 such as a hydraulic excavator that can be remotely controlled in a predetermined loading area 3, it is operated again through the traveling path 2 and is loaded into an earth discharging area (not shown). Is repeated and the operation cycle of returning to the loading area 3 through the traveling path 2 again is repeated. Each heavy equipment vehicle 1 is equipped with a CPU (not shown) and a radio transmitter / receiver 5 (see FIG. 2), and a computer in the central cab, which will be described later, stores the respective operation data and Wireless communication with the vehicle 1 is performed. Each heavy equipment vehicle 1 is equipped with a gyro and an encoder (both not shown), and the position of each heavy equipment vehicle 1 is detected independently and error correction is performed at any time. In the case of repetitive work, errors may be accumulated, so the errors are reset at the origin (for example, the loading area). Furthermore,
Each heavy-duty vehicle 1 is provided with an ultrasonic sensor, a proximity sensor, and a closed area, respectively, to prevent contact with obstacles or between the heavy-duty vehicles 1 and to confirm the position of the other party by communicating with each other. , To improve safety. And
It is provided so that all vehicles stop when one of them stops in an emergency. On the other hand, a central cab 6 is provided at a position appropriately separated from the traveling path 2 and the like. A plurality of wireless receivers / transmitters 7 that individually communicate with the transmitter 5.
And a RAM for temporarily storing data of the wireless transmitter / receiver group 7
8, basic control program 9 and microprocessor 1
Personal computer consisting of 0 11
And a plurality of monitors 1 for individually monitoring each heavy equipment vehicle 1 etc.
2 and a plurality of control devices (radio control devices) 13 for individually controlling each heavy equipment vehicle 1 via a personal computer 11 are installed.

In order to remotely control each heavy-duty vehicle 1 having the above-mentioned configuration from the central cab 6, first, a full-time operator OP _{1 in} the central cab 6 performs the above-described one cycle on the first heavy-duty vehicle 1. Control device 1 while watching monitor 12 according to the operation of
Radio control is performed using the control unit 3, and the operation data is stored in the CPU. If any inconvenience arises during the teaching of this one-cycle operation, the operator OP ₁ performs the teaching again. The operation data input to the CPU is 1
Alternatively, the operator of the second heavy equipment vehicle 1 may perform a boarding operation for teaching or input a program. And
After the operation for one cycle, the operation data of the first heavy equipment vehicle 1 is registered as the operation data 1 in the RAM 8 of the personal computer 11, as shown in FIG. Next, the second heavy equipment vehicle 1 performs the above-described one cycle operation based on the operation data 1 transmitted from the central cab 6 at a fixed time interval with the first heavy equipment vehicle 1. This second heavy equipment vehicle 1
When there is a change in the on-site situation such as an increase in the waiting time due to an increase in the loading time or a defect on the road during the operation of the operator, the operator OP ₂ looks at the monitor 12 and uses the controller 13 to set the initial interval or Correct the control data, etc. Then, after the operation of the second heavy equipment vehicle 1 for one cycle described above, the operation data is updated and registered in the RAM of the personal computer 11 to become the operation data 2. Hereinafter, the third and subsequent heavy equipment vehicles 1 are operated based on the operation data of the preceding preceding heavy equipment vehicles 1 transmitted from the central cab 6, and the operator OP ₂ corrects the operation data as necessary. Then, the corrected operation data is used as operation data 3 ...
Register to 1. In addition, when the monitoring of the second and subsequent heavy equipment vehicles 1 exceeds the capacity of the operator OP ₂ and the operation contents,
The combination of the number of monitors and the number of operators OP ₂ is adjusted appropriately.

[0008]

As described above, according to the remote control method for a heavy-duty vehicle of the present invention, the operation of the second and subsequent heavy-duty vehicles is based on the operation data of the first heavy-duty vehicle. Since it is performed by radio control in accordance with the operation data of the preceding heavy equipment vehicle immediately before, there is no need for conventional fixed equipment, control equipment can be made inexpensive, and multiple heavy equipment vehicles can be operated by a small number of operators. Can be controlled. Again 2
By correcting the operation data of heavy equipment vehicles after the first one, it will be possible to respond more finely to changes in the site situation,
Remote control of multiple heavy equipment vehicles can be performed smoothly.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a remote control method for a heavy vehicle according to the present invention.

FIG. 2 is a schematic configuration diagram of equipment used for implementing the remote control method for the heavy equipment vehicle of FIG.

FIG. 3 is a flow chart of a remote control method for the heavy equipment vehicle of FIG.

FIG. 4 is a perspective view showing a conventional automatic dump truck driving method using a guide wire.

FIG. 5 is a perspective view showing a conventional dump automatic traveling operation method using a gyro.

FIG. 6 is a perspective view showing a conventional heavy-duty machine operating method by remote control using a radio-controlled model.

[Explanation of symbols]

 1 Heavy Equipment Vehicle 5 Radio Receiver / Transmitter 6 Central Driver's Office 7 Radio Receiver / Transmitter 8 RAM 9 Basic Control Program 10 Microprocessor 11 PC

Claims (1)

[Claims] 1. When remotely controlling a plurality of heavy equipment vehicles, a wireless receiver is mounted on each of the plurality of heavy equipment vehicles that can be wirelessly steered, while a plurality of wireless transmitters and wireless transmitter groups are provided in the central cab. Installed a RAM, a basic control program and a computer to temporarily store the data of the above, register the operation contents of the first heavy equipment vehicle to the computer in the central cab by teaching or inputting the program, and the second From the central cab, the operation data of the preceding preceding heavy-duty vehicles are transmitted to the subsequent heavy-duty vehicles, and the differences between the heavy-duty vehicles are corrected. A remote control method for a heavy-duty vehicle, characterized in that operation data is registered in a computer in the central cab. [0001]