JPS6223325B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a guiding device for unmanned dump trucks in a loading area.

As shown in FIG. 1, the unmanned vehicle guidance method is to automatically run an unmanned dump truck 1 along a guiding cable 4 laid on one side of a running path 3 between a loading area 2 and a dumping area (not shown). There is a side track guidance system. Especially when viewed from the perspective of off-road dump truck driving conditions, this system has the advantages of easy road preparation and low construction and maintenance costs.

However, in such a system, the loading area 2
However, there is a drawback in that the guide cable 4 is easily damaged by the loading machine 5 when loading crushed stones or the like onto the dump truck 1.

As a countermeasure against this problem, conventionally, as shown in FIG. At the same time, the sash portions 4a and 4b of the cable 4 are buried in the ground, and the dump truck 1 is driven in the direction of the arrow and stopped at a predetermined loading position in the loading area 2. There is a device designed to prevent damage to the induction cable 4 caused by 5.

However, in the conventional method described above, when running along the induction cables 4a and 4b buried underground, it is necessary to increase the induced current flowing through the induction cable 4, and for this purpose it is necessary to increase the induced current flowing through the induction cable 4. This requires various equipment such as equipment, control equipment, etc., which increases equipment costs, and the width of the running path 3 at the loading area 2 must be made considerably wider in order to allow the dump truck 1 to travel in the direction shown by the arrow. There were some shortcomings.

The present invention has been made to eliminate the above-mentioned drawbacks.The present invention has been made in order to eliminate the above-mentioned drawbacks. To provide a guiding device for an unmanned dump truck, which allows the truck to run in the state it was running before switching for a certain period of time when a switch is attached and the guiding running is switched from one side of the cable to the other cable.

Hereinafter, the present invention will be explained in detail based on one embodiment of the accompanying drawings.

In FIG. 3, the guide cable 4 is bent into a hook shape at the entrance side 2a and the exit side 2b of the loading area 2, and outside the loading area 2, it is placed outside the running path 3.
Inside the running road 3, it is laid along the running road 3. A portion 4c of the guide cable 4 extending from the outside to the inside is buried underground in the running path 3 so as not to be damaged when the dump truck 1 runs. A predetermined guidance signal F ₁ is applied to this guidance cable 4 .

The command devices 6 and 7 are installed at predetermined positions 2a ₁ and 2b ₂ on the outside of the running path 3, which are separated by a predetermined distance L from the buried portion of the guide cable 4c. These command devices 6 and 7 send detector switching command signals to the dump truck 1.
F ₂ and F ₃ are constantly transmitted and output.

On the other hand, detectors 1a, 1b, and 1c are attached to the dump truck 1, as shown in FIG.
The detectors 1a and 1b are arranged at predetermined positions on both sides of the vehicle body, and receive and detect the guidance signal _F1 from the guidance cables 4a and 4b laid outside and inside the running path 3. The detector 1c is arranged at a predetermined position on the outside of the travel path 3, and receives command signals from the command devices 6 and 7.
Detect reception of F ₂ and F ₃ . Each of these detectors 1a
~1c is equipped with a coil, for example, and receives and detects each of the signals.

Assume now that the dump truck 1 is traveling toward the loading yard 2 on the running path 3a outside the loading yard 2, as shown in FIG. At this time, the detector 1a
detects the induction signal F ₁ from the induction cable 4a portion and applies it to the detection amplifier 13 of the control device 8 shown in FIG. The detection amplifier 13 outputs a signal e ₁ corresponding to the input signal F ₁ and switches the relay switch 1 of the relay circuit 12.
Add to 5. This relay circuit 12 is equipped with relay switches 15-17, and each relay switch 15-17 is switched and controlled by control signals _e4 - _e6 from the relay switch control circuit 11 (FIGS. 5 and 6). This control circuit 11 is configured as shown in FIG.
FF ₁ is off, flip-flop circuits FF ₂ and FF ₃ are off, and signal e ₄ is output from flip-flop circuit FF ₁ . The relay switches 15 to 17 are turned on when the signals _e4 to _e6 are applied, and turned off when the signals are not applied. Therefore, signal e ₁ is applied to comparator 18 via relay switch 15.

The setting device 19 is used to set a reference value for the dump truck 1 to always travel at a constant distance from the induction cable 4, and is configured to set a reference value for the dump truck ₁ to always travel at a constant distance from the induction cable 4.
is output and added to the comparator 18.

The comparator 18 compares the input signal e ₁ and the reference signal V ₁ and outputs a deviation signal δ. This signal δ is applied to the steering control device 21 via the servo amplifier 20. The steering control device 21 performs steering control of the dump truck 1 based on this signal δ so that the deviation becomes zero.

When the dump truck 1 passes in front of the command device 6, the detector 1c receives and detects the signal _F2 . This signal F ₁ is applied to the detection amplifier 9 of the control device 8 . Detection amplifier 9 outputs a signal e ₂ corresponding to input signal F ₂ and applies it to signal controller 10 . Signal discriminator 1
0 determines whether the input signal is a command signal from the command devices 6, 7, and outputs this input signal if it is a predetermined command signal. Therefore, a command signal e ₂ is applied to the relay switch control circuit 11. This signal _e2 is applied to the flip-flop circuit _FF1 of the control circuit 11 as shown in FIG. 6, via the OR circuit _OR1 to the flip-flop circuit _FF2 , and via the delay circuit _D2 to the flip-flop circuit _FF3 . Then, the flip-flop circuits FF ₁ and FF ₂ are reset and set, respectively, and the signal e ₄ becomes 0 and e ₅ as shown in FIGS. 7a and 7b.
becomes 1. Therefore, relay switches 15, 16
can be turned off and on, respectively.

As shown in FIG. 5, the same signal V ₁ as the reference signal V 1 mentioned above is applied to the relay switch 16, and this signal _{V 1 is} applied to the comparator 18 via the relay switch 16. Therefore, the deviation signal δ of the comparator 18 becomes 0, and the steering control device 21 does not operate. That is, the dump truck 1 is
From the moment you pass, drive with the steering wheel fixed in the straight-ahead position.

The flip-flop circuit _FF3 outputs the set signal 1 after a certain time T set by the delay circuit _D2 . Further, this signal 1 is outputted as a signal e ₆ =1 and is applied to the flip-flop circuit FF ₂ via the OR circuit OR ₂ to reset the flip-flop circuit FF ₂ . Therefore, Fig. 7 b, c
As shown in FIG. 2, the signal _e5 becomes 0 and the signal _e6 becomes 1, so that the relay switch 16 is turned off and the relay switch 17 is turned on. During this delay time T, the dump truck 1 travels a predetermined distance, for example, 2L, and reaches a position _2a2 in the loading area 2, as shown by the chain line in FIG. This position _2a2 is selected at a distance L from the position of the buried portion of the guide cable 4c. That is,
Positions 2a ₁ and 2a ₂ are separated by a predetermined distance 2L, and a portion of the guide cable 4c is buried in the center of these positions. This distance L is set to such an extent that the detection coils 1a and 1b are not affected by the induction cable 4c. The delay time T of the delay circuit _D2 is such that the dump truck 1 moves from position _2a1 to position 2a.
Set the vehicle speed and distance 2L of the dump truck 1 so that the relay switch 16 is turned on while the truck travels up to a ₂ .
It is set based on.

The detector 1b detects a signal _F1 from the portion of the guiding cable 4b laid inside the dump truck 1 when it passes the position of the guiding cable 4c, and applies it to the detection amplifier 14. The detection amplifier 14 is a signal
Outputs signal e ₁ according to F ₁ . This signal e ₁ is applied to the comparator 18 via the relay switch 17 after the delay time T. The comparator 18 again compares the signal e ₁ with the reference signal V ₁ and outputs a deviation signal δ, which is applied to the steering control device 21 via the servo amplifier 20 . Thereafter, the dump truck 1 travels within the loading area 2 along the guide cable 4b and is controlled to stop at a predetermined position within the loading area 2.

In the loading yard 2, the guide cable is laid inside the running path 3. Therefore, when the loading machine 5 loads crushed stone etc. onto the dump truck 1, the guide cable is laid down by the loading machine 5. No damage will occur. After loading is completed, the dump truck 1 is controlled to start again and travels forward along the guide cable 4b.

Then, upon reaching the exit side _2b2 of the loading area 2, the detector 1c detects the switching command signal _F3 from the command unit 7. This signal F ₃ is applied to a signal discriminator 10 via a detection amplifier 9. The signal discriminator 10 outputs a signal e ₃ corresponding to the signal F ₃ and relay control circuit 11
Add to. This signal _e3 sets and resets flip-flop circuits _FF2 and _FF3 , respectively, as shown in FIG. Therefore, as shown in FIGS. 7b and 7c, the signal _e5 becomes 1 and the signal _e6 becomes 0, and the relay switch 1
6 is on and 17 is off. And the reference signal
V ₁ is applied to comparator 18 via relay switch 16. Also, the reset output of flip-flop circuit _FF3 is applied to delay circuit _D1 . This delay circuit _D1 sets the flip-flop circuit _FF1 after a certain delay time T. During this delay time T, the dump truck 1 receives the reference signal V ₁ as described above.
Traveling is controlled based on Then, after time T, the flip-flop circuit FF1 is set, and the flip-flop circuit _FF1 is set as shown in FIG.
A signal e ₄ =1 is output as shown in FIG. Further, the set output of the flip-flop circuit _FF1 is applied to the flip-flop circuit _FF2 via the OR circuit _OR2 to reset the flip-flop circuit _FF2 . Therefore, the signal _e5 becomes 0, and the relay switch 16 is turned off. On the other hand, dump truck 1
passes through the guide cable 4c portion during this time T, and the detector 1b reaches the position 2b ₁ and receives and detects the signal F ₁ from the outer guide cable 4a.

Therefore, the dump truck 1 is thereafter controlled to travel along the guide cable 4a.

In this way, the detectors 1a and 1b can be switched without being affected by the guide cable 4c at the bend.

As explained above, according to the present invention, there is no need to prevent damage to the guiding cables at the loading area and on the approach and exit sides, and the width of the running path at the loading area can be narrowed. Construction work can be made easier. Further, the overall configuration of the device is simple, and there are advantages such as lower construction costs, maintenance costs, etc.

[Brief explanation of the drawing]

FIGS. 1 and 2 are diagrams showing a conventional method for guiding dump trucks in a loading yard, and FIG. 3 is a diagram showing a state in which a guiding cable is laid in the vicinity of the loading yard of an unmanned dump truck guiding device according to the present invention. Plan view,
Fig. 4 is a diagram showing the relationship between the dump truck and the induction cable related to this device, Figs. 5 and 6 are block diagrams showing one embodiment of this device, and Fig. 7 is a diagram showing the circuit shown in Fig. 6. It is an operation explanatory diagram. 1... Dump truck, 1a to 1c... Detector, 2
...Loading area, 2a... Approach side, 2b... Exit side, 3... Running path, 4... Guidance cable, 5... Loading machine, 8... Control device, 11... Relay control circuit, 21... Steering control device.

Claims (1)

[Scope of Claims] 1. A guidance device for an unmanned dump truck using a side track guidance method in which a dump truck runs unmanned along a guide cable laid on one side of a running road, wherein the side track arrangement of the guide cable is set as described above. The guide cable is transposed from one side of the traveling path to the other side with a certain point on the traveling path as a boundary, and a predetermined command signal is output from the transposed point of the guide cable to a predetermined position on the near side in the traveling direction of the dump truck. On the other hand, on the dump truck side, controllers are placed separately opposite the positions before and after the transposition point of the guidance cable, and are arranged separately so as to control the guidance at the opposite positions of the guidance cable. first and second detectors that detect signals; a third detector that detects an output command signal of the command device when the dump truck reaches the installation position of the command device; a first control means that selectively captures the output of the second detector in accordance with the arrangement position of the guidance cable; and a second control device that controls the steering of the dump truck based on the captured guidance signal detection output. means for controlling the first control means for a predetermined period from the time when the command signal is detected by the third detector until the dump truck can cross the transposition point of the guide cable as required; third control that instructs both the outputs of the first and second detectors to be unselected, and instructs the second control means to fix and maintain the steering state before the detection of the command signal; A guidance device for an unmanned dump truck equipped with means and.