JPH0610773B2 - Carrier remote control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a remote control device for a carrier vehicle, for example, for transporting materials from a shed to a hopper.

<Prior art> In an asphalt manufacturing plant, materials such as gravel and asphalt mixture are stored in the shed by type, and if necessary, the material is transferred to a hopper separated from the shed by a power shovel by type. Supply.

Then, each material is supplied from each hopper at a predetermined ratio to an asphalt manufacturing apparatus, heated and mixed to manufacture an asphalt mixture.

<Problems to be Solved by the Invention> By the way, conventionally, when the material of each hopper is low, the driver operates the power shovel so that each material is conveyed and supplied from each shed to each hopper. Therefore, the work efficiency is low and the manufacturing cost is high because it requires personnel dedicated to the power shovel.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a carrier remote control device capable of improving work efficiency.

<Means for Solving Problems> Therefore, according to the present invention, as shown in FIG. 1, the material stored in the material storage A is directed to the supply area B which is provided apart from the material storage A. A remote control device for a carrier vehicle C that travels and supplies on the premises, wherein the carrier vehicle C travels from the material storage A to the supply area B during actual work and the carrier corresponding to the track. Setting means D for storing and setting the operation amount of the vehicle C or a predetermined arbitrary traveling locus and the operation amount corresponding to the traveling locus as the basic traveling locus and the basic operation amount, and the set basic operation amount or a correction operation for this. An operation amount calculation means F for calculating an operation amount from a value obtained by adding the corrected operation amount calculated by the amount calculation means E, and the operation amount corresponding to the operation amount based on the calculated operation amount provided in a high place G. First transmission that emits a laser beam Means H, a direction changing means I arranged at a high place G for changing the direction of the laser beam of the first transmitting means H to the carriage C, and the carriage C
The first receiving means J, which is provided on the first receiving means and comprises a receiving light receiving element for receiving the laser beam whose direction is changed by the direction changing means I.
And a second transmitting means K provided on the carrier vehicle C for emitting a signal corresponding to the actual operation amount of the carrier vehicle C and the received information of the first receiving means J, and the second transmitter means K arranged at a high place G. A second receiving means L for receiving a signal from the means K and the operation amount calculating means F based on the signal received by the first receiving means J.
And a steering means M for automatically steering the carrier C according to the operation amount calculated by
Is the current position of the carrier C and the basic traveling, which is decoded from the height between the carrier C and the height G and the direction or position of the laser beam input to the receiving light receiving element of the first receiving means J. The deviation from the basic operation amount corresponding to the locus is calculated as the correction operation amount of the traveling locus.

<Operation> In such a configuration, the setting means D corresponds to the traveling locus of the transport vehicle C during actual work, the operation amount of the transport vehicle C corresponding to the traveling locus, or a predetermined arbitrary traveling locus and the traveling locus. The operation amount to be performed is stored and set as the basic travel locus and the basic operation amount.

The operation amount calculation means F calculates the operation amount from the set basic operation amount or a value obtained by adding the correction operation amount calculated by the correction operation amount calculation means E thereto. In this case, the current position of the carrier C and the basic traveling, which are decoded from the height between the carrier C and the height G and the direction or position of the laser beam input to the receiving light receiving element of the first receiving means J. A deviation from the basic operation amount corresponding to the locus is calculated as a correction operation amount of the traveling locus. The first transmitting means H emits a laser beam corresponding to the calculated operation amount based on the calculated operation amount, and the laser beam is redirected by the direction redirecting means I toward the carrier vehicle C. The redirected laser beam is received by the first receiving means J.

The second transmission means K emits a signal corresponding to the actual operation amount of the carrier C and the reception information of the first reception means J, and this signal is received by the second reception means L.

The transport vehicle C is automatically steered by the steering means M according to the operation amount calculated based on the laser beam received by the first receiving means J.

In this way, the carrier C travels according to the signal emitted from the high place G in accordance with the traveling locus during actual work or an arbitrary traveling locus determined in advance, that is, it is remotely controlled. You can reduce the number of full-time personnel driving
The work efficiency can be improved. In particular, an operation amount corresponding to a deviation between the actual traveling locus and the basic traveling locus is calculated as the correction operating amount so that the actual traveling locus approaches the basic traveling locus, and the correction operating amount is set. Since the operation amount is calculated from the value added to the basic operation amount, the carrier vehicle C can be accurately traveled along the basic travel path. You can get certainty of driving.

<Embodiment> An embodiment of the present invention will be described below with reference to FIGS.

In FIG. 2, various control devices for remotely controlling the power shovel 1 as a transport vehicle are provided above a tower, which will be described later as a high place.

That is, the first reflecting mirror 2a mounted so as to be freely rotatable along a vertical plane about an axis extending in the horizontal direction, and the first reflecting mirror 2a.
A second reflecting mirror 2B mounted so as to be freely rotatable along a vertical plane about an axis extending in a substantially horizontal direction orthogonal to the central axis of rotation of the reflecting mirror 2a is provided.
The a and 2b are configured to be rotated by the first and second drive devices 3a and 3b. First and second reflecting mirrors 2a, 2
b, the first and second drive devices 3a, 3b constitute a direction changing means.

Further, a laser emitting device 4 for emitting a laser beam that transmits the operation amount of the power shovel 1 is provided, and the laser beam emitted from the laser emitting device 4 is the second reflecting mirror 2.
After being reflected by b, it is reflected by the first reflecting mirror 2a and input to the light receiving device 5 as the first receiving means provided on the upper part of the power shovel 1.

The laser emitting device 4 is configured to emit a laser beam in response to a signal from the laser communication device 6. The laser communication device 6 is configured to operate according to a control signal from a control device 7 including a microcomputer or the like. In addition, according to a control signal from the control device 7, the first and second
The drive devices 3a, 3b are configured to operate.

Further, at the rear of the power shovel 1, there is provided a transmitting device 8 as a second transmitting means that emits operating information of the power shovel 1 and the like by radio waves. The radio wave transmitted from the transmitter 8 is input to the receiver 9 as the second receiving means provided in the upper part of the tower, the signal is converted by the receiver 9 and transmitted to the controller 7.

On the other hand, as shown in FIG. 3, the power shovel 1 is provided with an inclination detection sensor 10 for detecting the inclination of the power shovel body, and the inclination detection sensor 10 causes the power shovel to fall or be greatly inclined. Configured to detect that.

Inside the bucket 11 of the power shovel 1, the pressure sensor 11 is configured to detect whether or not a predetermined amount of material has been introduced. A bucket angle detection sensor 13 for detecting the bucket angle in the vertical plane of the bucket 11 is provided. An arm angle detection sensor 15 that detects an arm angle in a vertical plane of an arm 14 that supports the bucket 11 is provided. The detection signals of these detection sensors 10, 12, 13, 15 are input to a control unit 16 as a control means including a microcomputer or the like, and then transmitted from the transmitter 8 to the receiver 9 of the tower.

The power shovel 1 is provided with a pair of steering wheels 17 and a pair of driving wheels 18, respectively. As shown in FIG. 5, the operating force of the steering hydraulic cylinder 19 is transmitted to each of the steering wheels 17 via the link mechanism 20. Oil is supplied to each hydraulic chamber of the operating hydraulic cylinder 19 via a servo valve 21.

The operation shaft 21a of the servo valve 21 is connected to the manual operation handle 23 via the first clutch 22, and the first clutch 22
Is configured to be switched by a signal from the control unit 16 so as to be turned on when the power shovel 1 is manually operated and turned off when the power shovel is automatically operated. As a result, the servo valve 21 is operated by the manual operation handle 23 during manual operation. Further, the operation shaft 21a is provided with a chain type first pulley 24, and the first pulley 24 is connected to a second pulley 26 via a chain belt 25. The second pulley 26 is connected to a servomotor 28 via a second clutch 27, and the second clutch 27 is configured to be switched off when the power shovel 1 is manually operated and turned on when the power shovel 1 is automatically operated. It As a result, the servo valve 21 is operated by the servo motor 28 during automatic piloting. A valve opening detection sensor 29 such as a potentiometer or an encoder that detects the opening of the servo valve 21 is provided, and a detection signal of the valve opening detection sensor 29 is input to the control unit 16. The servo motor 28 is driven by a control signal from the control unit 16 by feedback control based on the detection signal of the valve opening detection sensor 29.

The bucket 11 and the arm 14 are driven by hydraulic cylinders 30a and 30b, which are separately provided. As shown in FIG. 6, oil is supplied to the hydraulic chambers of the hydraulic cylinders 30a and 30b via electromagnetic servo valves 31, and the bucket 11 and the arm 14 are driven. Each hydraulic cylinder 30a, 30b
Each of the piston rods is provided with a stroke amount detecting sensor 32 for detecting the stroke amount of the piston rod.
It has been entered in 16. The electromagnetic servo valves 31 are switched and controlled by a control signal from the control unit 16, and the hydraulic pressure supply amount to the hydraulic chambers of the hydraulic cylinders 30a and 30b is controlled by feedback control based on the detection signals of the stroke amount detection sensors 32. The bucket 11 and the arm 14 are driven. An operation amount signal from a manual lever (not shown) for manually operating the bucket 11 and the arm 14 is input to the control unit 16 when the power shovel 1 is manually operated, while via the light receiving device 5 during automatic operation. The control section 16 is configured to switch and control the electromagnetic servo valve 31 based on these operation information signals.

Further, as shown in FIGS. 7 and 8, the light receiving device 5 provided in the power shovel 1 has a cylindrical main body 33 with an upper portion open.
Is provided, and the upper end of the cylindrical main body 33 is a substantially square light emitting plate that emits light when irradiated with a laser beam.
34 are provided. The outer surface of the light emitting plate 34 is protected by a tempered glass 35, and a light receiving element 36 for receiving a laser beam is provided at a substantially central portion of the outer surface of the tempered glass 35. The light receiving element 36 is composed of, for example, a solid-state image element in which a large number of semiconductors are regularly arranged in a matrix, and each semiconductor receives a laser beam to induce a predetermined voltage, and the light receiving element 36 receives the laser beam. The operation amount is converted into a signal and input to the control unit 16.

At the bottom of the cylindrical body 33, a light receiving camera 37 made of the same solid-state image device as the above for image analysis of the cross-shaped trajectory of the laser beam drawn through the light emitting plate 34 is provided,
The light receiving camera 37 has the light receiving element 36 at the center of the laser beam.
It is detected whether or not it is located in the central portion of the, and this detection signal is input to the control unit 16. Here, the laser beam is the first
By alternately rotating the second reflecting mirrors 2a and 2b by a small amount for a short time, irradiation is performed so as to cross in a cross shape as shown in FIG.

In addition, the excavator 1 has a hydraulic pump (not shown).
Oil pressure sensor (not shown) that detects the discharge pressure of the vehicle, an air pressure sensor (not shown) that detects the air pressure for braking, and a voltage sensor (not shown) that detects the power supply voltage of the battery, etc.
, A cooling water sensor (not shown) that detects the amount of engine cooling water, and a temperature sensor (not shown) that detects the cooling water temperature
A rotation sensor (not shown) for detecting the engine rotation speed, a fuel remaining amount sensor (not shown) for detecting the remaining fuel amount, and a vehicle speed sensor for detecting the vehicle speed are provided. The detection signal is input to the control unit 16. Further, the power shovel 1 is provided with a proximity switch (not shown) provided near the operation wheel 16 and the drive wheel 17 for detecting the approach of foreign matter and the like, and is provided at the front of the main body to detect an abnormal approach of an object such as a human being. Infrared sensors (not shown) are provided, and the detection signals of these sensors are input to the control unit 16.

The operation information detected by these various sensors is used by the control unit 16
Is converted into a radio wave signal via the transmitter 8 and transmitted to the receiver 9 provided at the upper part of the tower, and then input to the controller 7. The control device 7 determines the operation amount of the power shovel 1 based on the input driving information, and transmits this operation amount to the power shovel 1 by a laser beam.

The power shovel 1 is provided with a throttle control device (not shown) for switching and controlling the engine output in a plurality of stages (for example, five stages).
The engine output is switched by a control signal from 16.

The power shovel 1 includes a first brake device (not shown) that controls a braking force during normal operation, a second brake device (not shown) that brakes in an emergency, and a parking brake device (not shown) for parking. ), And are provided.

In addition, the power of the engine is output to the drive wheels of the power shovel 1.
An automatic transmission (not shown) for transmitting to 18 is provided, and this automatic transmission is controlled to shift to two forward gears, one reverse gear and a neutral position by a control signal from the control unit 16 or the driver's intention. Is configured.

On the other hand, the site of the asphalt mix production plant factory is formed to be almost flat, and as shown in Fig. 9, crushed stones are
The roofs 38a to 38e as a plurality of material storages for storing various materials such as gravel and asphalt by type are arranged side by side with their inlets facing downward in FIG. Further, on the site, hoppers 39a to 39e as a plurality of supply regions for storing the respective materials according to types are arranged side by side with being separated from the sheds 38a to 38e. As shown in FIG. 10, these hoppers 39a to 39e are configured to convey the material stored by a conveyor 40 provided at the lower portion to an asphalt manufacturing apparatus (not shown) at a predetermined ratio. Each hopper
Each of 39a to 39e is provided with a remaining amount sensor 41 for detecting when the remaining amount of the stored material becomes less than a predetermined amount,
These remaining amount sensors 41 are configured to issue an alarm signal to the control device 7 when the amount of material becomes less than a predetermined amount. Here, the alarm signals of the hoppers 39a to 39e use different kinds of signals so that the controller 7 can determine the alarm signal from any one of the hoppers.

Further, a tower 42 is erected at the end of the site, and the first and second reflecting mirrors 2a provided on the upper part of the tower 42,
The site directly below 2b is set as the origin (x _o , y ₀ ) of the coordinates.

Further, in FIG. 2, the first and second reflecting mirrors 2a and 2b are shown.
Rotational position detection sensors (not shown) for detecting the respective rotational positions are provided, and detection signals of these rotational position detection sensors are input to the control device 7. Thereby, the control device 7 is configured to determine the actual position of the light receiving device 5 of the power shovel 1 to which the laser beam is applied.

The control device 7 and the control unit 16 operate according to the flowcharts shown in FIGS.

Here, the control device 7 serves both as a setting means and a correction means. Further, the control device 7 and the laser beam emitting device 4 constitute a first transmitting means.

Next, the operation will be described with reference to the flowcharts shown in FIGS. In this embodiment, the operation when the material stored in one shed 38b is conveyed and supplied to one hopper 39b will be described.

First, the control pattern input stored in the RAM of the control device 7 provided at the upper part of the tower will be described. The material names (for example, crushed stone, fine sand, etc.) stored in the sheds 38a to 38e shown in FIG. The above-mentioned sheds 38a to 38e are associated with each other and stored in the RAM. The material names supplied to the hoppers 39a to 39e and the hoppers 39a to 39e are stored in the RAM in association with each other. Also, two or more hoppers 39a to 39
The priority of which hopper is to start supplying the material when the material of e becomes less than a predetermined amount at substantially the same time is set corresponding to the kind of asphalt mixture to be manufactured, and this priority is stored in the RAM. Remember. Further, the maximum travelable range of the power shovel 1 is set as shown by A in FIG. 9, and the site is subdivided into a grid within the maximum traveled range, and the grid points are divided into two-dimensional rectangular coordinates (x, y). ) Is stored in the RAM. The rectangular coordinates are the first and second reflecting mirrors 2a and 2b provided on the upper part of the tower.
The site directly below is stored as the origin.

Next, a trained driver actually manually operates the power shovel 1 to run the power shovel 1 to load the materials of the sheds 38a to 38e, and then to carry and supply the hoppers 39a to 39e. Then, the traveling locus of the power shovel 1 at this time and the basic operation amount of the power shovel 1 corresponding thereto are stored in the RAM.

That is, the operation amount of the power shovel 1 is input as a radio signal to the control device 7 via the receiving device 9, and the elevation angle (α in FIG. 2) of the input radio signal and, for example, the x-axis (or the y-axis) may be input. The operation amount corresponding to the traveling track and the traveling locus of the power shovel 1 is stored based on the input angle (β in FIG. 9) of the radio signal. At this time, the linear basic traveling locus (B in FIG. 9) for moving the power shovel 1 straight and the corresponding basic operation amount are stored at the time of storing the site coordinates in the RAM, and from this linear traveling locus From the time when the power shovel 1 changes direction to the shed 38b and the hopper 39b respectively, the lesson driving by the driver's control (hereinafter abbreviated as lesson driving)
Based on, the basic traveling locus of the power shovel 1 and the basic operation amount corresponding thereto are stored.

Specifically, at the time of the first material loading, the material in the substantially central portion of the roof 38b is scooped and loaded so that the rectangular coordinates (x
After starting to turn the steering wheel while advancing at points a, ya), proceed straight toward the warehouse 38b as shown by the solid line in FIG. Cartesian coordinates (xa,
ya) is stored in the RAM, and the valve opening degree detection sensor 29 detects the number of rotations of the steering wheel when turning to the shed 38b, the rotation direction of the steering wheel, the rotation speed, the vehicle speed, etc. as basic operation amounts. It is stored based on a signal or the like.
In addition, during the second and third loading of the material, as shown by the broken line in FIG. 9, the rectangular coordinates (xb, yb) and (xc,
The handle is turned off at point yc), and the coordinates at that time are stored in the RAM for each roof in association with the number of times the material is discharged.

In addition, the power shovel 1 moves in the maximum range y when loading materials.
From the time point of reaching the point of = c, the basic traveling locus of the power shovel 1, the basic operation amount corresponding thereto, the bucket 11 and the arm 14 are stored in the RAM of the control unit 16 provided in the power shovel 1 in the shed 39b. The operating angle of is learned and memorized based on driving. In addition, after loading materials, shed
The power shovel 1 exiting from 38b is retracted to the point of the Cartesian coordinates (x ₁ , y ₁ ) in FIG. 9, and then moved forward from that point to the hopper 39b. At this time, the power shovel 1 moves from the straight running track toward the hopper 39b.
The rectangular coordinates (xd, yd) of the point at which the traveling direction of the vehicle is changed, the number of rotations of the steering wheel, and the like are stored in the RAM of the control device 7 on the basis of the learned driving as described above. Also, the hopper 39
The operating angles of the bucket 11 and the arm 14 at the time of dropping the material loaded in the bucket 11 to b are stored in the RAM of the control device 7 based on the learning operation as described above.

The control device 7 and the control unit 16 operate the power shovel 1 based on the basic control pattern of the power shovel 1 thus obtained.

That is, the control device 7 determines in S1 of the flowchart of FIG. 12 whether or not an alarm signal is input from the hoppers 39a to 39e, and when YES, that is, when the alarm signal is input, it is stored in at least one hopper. It is determined that the amount of the material has become equal to or less than the predetermined amount, the process proceeds to S2, and otherwise returns to S1.

In S2, it is determined whether or not an alarm signal is input from only one hopper, and if YES, the process proceeds to S3.
The fact that the material of only one hopper is equal to or less than the predetermined value is stored in the RAM as F = 0. In the case of NO, it is determined that the materials of two or more hoppers have become equal to or less than a predetermined amount at substantially the same time, and the process proceeds to S4.

In S4, a priority order is set in advance in the RAM based on the alarm signal, which hopper has a preset priority as to which of the hoppers should be preferentially started to supply the material when the materials of two or more hoppers have become equal to or less than a predetermined amount at substantially the same time. After deciding the hopper to be loaded with the material according to the retrieved priority,
If the material of one or more hoppers is less than the specified value, F = 1
Is stored in the RAM.

In S6, the number of material discharges of the shed corresponding to the hopper to which the material is to be supplied is searched from the RAM, and in S7, the basic traveling path of the power shovel 1 and the corresponding basic operation amount are calculated from the RAM from the searched material discharge times. Search for. Where R
The initial value of the number of material discharges stored in the AM is set to 1, and is sequentially updated every time the discharge is completed, 1 → 2 → 3 → 1. When the number of material discharges is 1, the basic traveling locus is 9th.
The search is performed as shown by the solid line D in the figure, the basic running locus is searched for as 2 and as shown by the broken line E in FIG. 9, and the basic running locus is searched as 3 as shown by the broken line in FIG. The basic manipulated variable is searched for as shown by F.

In S8, the power shovel 1 is remotely controlled based on the retrieved basic operation amount. The control of this power shovel will be described later.

In S9, it is determined whether or not the control of the power shovel 1 is completed, for example, every predetermined time, and if NO, the process returns to S8 and YES.
In case of, proceed to S10. In S10, F stored in RAM
It is determined whether or not (flag) is 0. When F = 0, it means that the material of only one hopper is less than the predetermined amount, and it is determined that the material supply operation to the hopper is completed, and the process returns to S1. When F = 1, it is determined that the amount of material of the other hoppers is less than or equal to the predetermined amount, and the process proceeds to S11.

Then, in S11, the next hopper to which the material is to be supplied is searched based on the priority order searched in S4. S in S12
It is determined whether or not the hopper searched in 11 is the last hopper in the priority order, and if it is the last hopper, the process proceeds to S3 and F
After rewriting = 1 to F = 0, the process proceeds to S6. If it is determined that the hopper is not the last one in the priority order, the process proceeds to S6 while maintaining F = 1.

Next, the traveling control of the power shovel 1 by the laser beam will be described with reference to FIG. 9 and according to the flowchart shown in FIG. In addition, the control device 7 uses the first and second reflecting mirrors 2
The remote control of the power shovel 1 is performed by laser beam communication control in which a and 2b are rotationally controlled and a laser beam is emitted to the light receiving device 5 of the power shovel 1. The laser beam communication control will be described later. Further, the control unit 16 automatically steers the power shovel 1 based on the control signal output from the control device 7.

That is, in S21, the power shovel 1 is shifted and throttle-controlled to move straight from the rectangular coordinate (x ₁ , y ₁ ) point along the linear basic traveling locus B in FIG. In S22, the power shovel 1 turns to the shed 38b.
It is determined whether or not a predetermined coordinate to be switched toward has been reached. If NO, the process returns to S1, and if YES, the process proceeds to S3. Here, the predetermined coordinates are set to (x _a , y _a ) when the number of times of material discharge is the first as shown in FIG.
It is set to (x _b , y _b ) at the time of the third time, and is set to (x _c , y _c ) at the time of the third time and stored in the RAM as described above.

Then, {here (x _a, y _a) and} excavators 1 predetermined coordinate perform steering control in S23 when it reaches the. That is, the servo valve 28 is driven and controlled so as to reach the target value by controlling the servo motor 28 according to the target value which is the basic operation amount of the rotational speed, the rotational direction and the rotational speed of the handle stored based on the learned operation. . As a result, the steered wheels 17 change directions and the power shovel 1 advances gradually along the basic running locus shown by the solid line in FIG.
Turned to b.

At the time of this direction change, the actual traveling locus of the power shovel 1 is stored in the RAM in S24 (the ninth basic traveling locus).
It is determined whether or not there is a deviation from D) in the figure. Then, when it is determined that the actual traveling locus is deviated, in S25, the operation amount is corrected so that the actual traveling locus approaches the basic traveling locus D, and the correction operation amount is calculated to calculate the basic operation amount and the correction operation. The steering correction is performed by correcting the rotation control value of the servo motor 28 based on the amount. When it is determined that the actual traveling locus is the basic traveling locus, the steering control is continued based on the target value in S27. Here, the deviation of the traveling locus is detected as follows. That is, since the laser beam is irradiated so that the center of the laser beam is always positioned at the center of the light receiving element 36 of the light receiving device 5 provided in the power shovel 1, the first and The rectangular coordinates of the current position where the power shovel 1 actually exists can be detected from the angle of depression and horizontal angle of the second reflecting mirrors 2a and 2b and the height from the power shovel 1 to the first and second reflecting mirrors 2a and 2b. A deviation between the rectangular coordinates and the coordinates of the basic traveling locus is detected as a correction operation amount of the traveling locus.

In S27, it is determined whether or not the rotation speed of the steering wheel, that is, the rotation angle of the servo valve 21 reaches the target value. If NO, the process returns to S23, and if YES, the process advances to S28. Here, the steering control is performed by feedback control based on the detection signal of the valve opening detection sensor 29.

In S28, the power shovel 1 is moved forward similarly to S21. Then, in S29, the power shovel 1 has a rectangular coordinate y =
It is determined whether or not c (see FIG. 9) is reached. If NO, the process returns to S28, and if YES, the process proceeds to S30 to stop the power shovel 1.

In step S31, the power shovel 1 is automatically operated by the control unit 16 provided in the power shovel 1 with respect to the power shovel 1, and a switching signal is output by a laser beam so as to perform a material loading operation in the warehouse 38b. The control of the power shovel 1 by the control unit 16 will be described later.

In S32, the output of the laser beam to the power shovel 1 is stopped, and in S33, it is determined whether or not the switching signal is input from the power shovel 1 by a radio signal. If NO, the process returns to S32 and if YES, the power shovel. 1 finishes loading work, and power shovel 1 moves from shed 38b to coordinate y =
It is determined that the vehicle has exited to point c, and the laser beam output is started. The output of the laser beam may be continuously output without stopping.

Then, in S34 and S35, the power shovel 1 is moved backward to the linear traveling locus B by performing the steering control while moving backward to move backward along the target traveling locus D.

After that, in S36, the power shovel 1 is moved backward along the linear running locus to the starting coordinates (x ₁ , y ₁ ).
In S37, it is determined whether or not the power shovel 1 has retracted to the coordinates (x ₁ , y ₁ ). If NO, the process returns to S36 and YE
In the case of S, the process proceeds to S39 and the power shovel 1 is stopped.

Then, in S40, it is advanced to shift to the material supply operation to the hopper 39b. In S41, the direction of the power shovel 1 is changed to the hopper.
It is determined whether or not a predetermined coordinate (x _d , y _d ) for switching toward 39b has been reached. If NO, the process returns to S40, and if YES, the process proceeds to S42. The predetermined coordinates (x _d , y _d ) are set by the learning operation and stored in the RAM.

In S42, the servo motor is set based on the target values of the rotation speed, the rotation direction, and the rotation speed of the steering wheel stored based on the learned driving.
Servo valve 21 to control the rotation of 28 to reach the target value
Feedback control. As a result, the steering wheel 17 is changed in direction, the power shovel 1 travels along the basic travel locus G shown by the solid line in FIG. 9, and the power shovel 1 is gradually turned toward the hopper 39b.

Then, when the servo motor 28 is controlled to rotate by the target value, the power shovel 1 is controlled to move forward substantially at right angles to the hopper 39b in S43.

Then, in S44, the power shovel 1 has a rectangular coordinate Y = C _a.
If it is NO, the process returns to S43 and Y
In case of ES, proceed to S45 and stop the power shovel 1. At this time, the bucket 11 of the power shovel 1 is the hopper.
It is located above 39b. In S46, the bucket 11 and the arm are stored by the stored value stored in the RAM based on the learned driving.
14 is operated to load the material loaded in the bucket 11 into the hopper 39b.
To supply. Then, in S47, the material hopper is based on the detection signal of the pressure sensor 12 provided in the bucket 11.
It is determined whether or not the dropping to 39b is completed. If NO, the process returns to S46, and if YES, the process proceeds to S48. Specifically, when the pressure detected by the pressure sensor 12 falls below a predetermined value, it is determined that the material has been dropped.

In S48 and S49, steering control is performed while moving backward from the Cartesian coordinate Y = Ca, and the power shovel 1 is moved to the linear basic travel locus B. After that, in S50, the power shovel 1 is moved along the linear traveling locus B at the start coordinates (x ₁ ,
retreat to y ₁ ). Then, in S51, it is determined whether or not the power shovel 1 has reached the coordinates (x ₁ , y ₁ ),
If NO, the process returns to S50, and if YES, the process proceeds to S52 to stop the power shovel 1 at the starting coordinate (x ₁ , y ₁ ).

In this way, the remote control of the power shovel 1 by the laser beam communication control is performed. If another hopper urgently needs the material during the loading operation, the loading operation of the hopper may be switched during the loading operation. This remote control is performed by the power shovel 1 based on the driving information from the transmitter 8.
The operation amount such as the vehicle speed is corrected and controlled.

Next, the control unit 16 of the power shovel 1 in the shed 38b
The autopilot by will be described with reference to the flowchart shown in FIG.

That is, in S61, the control unit 16 provided in the power shovel 1 determines whether or not the switching signal from the control device 7 provided in the upper part of the tower is input. If YES, the control unit 16 causes the power shovel 1 to operate. To start autopilot.

Then, in S62, it is determined whether or not the front-rear direction of the power shovel 1 is substantially at a right angle to the entrance of the shed 38b, and if it is at a substantially right angle, the process proceeds to S67 described later. When it is determined that the power shovel 1 is not at a right angle, the process proceeds to S63 to S65, where the power shovel 1 is moved backward by a predetermined amount, steering control is performed, and then the power shovel 1 is moved forward by a predetermined amount and the power shovel 1 is stopped to move the power shovel 1 in the above direction Modify so that it is almost perpendicular to the entrance of 38b. Here, the steering control is performed by driving the servo valve 21 by the rotation control of the servo motor 28 and changing the direction of the steering wheel 17 by a predetermined amount. Further, the detection of whether or not the direction of the power shovel 1 is substantially perpendicular to the entrance of the shed 38b is carried out by detecting the locus of the laser beam received by the light receiving device 5 at the point of the coordinate Y = C on the light emitting plate 35. On the other hand, as shown in FIG. 8, it is carried out by image analysis of whether or not it is a right angle.

Then, in S66, the direction of the power shovel 1 is again the shed 38
It is determined whether or not the entrance is substantially perpendicular to the entrance of b. If NO, the process returns to S63, and if YES, the process proceeds to S67.

In S67, the bucket 11 and the arm 14 are operated based on the stored value stored in the RAM of the control unit 16 based on the learning operation.
Specifically, the bucket 11 is moved downward until the bucket 11 is close to the site surface, and the bucket 11 is rotated in a vertical plane so that the opening of the bucket 11 faces the front of the power shovel 1. When the power shovel 1 is stopped, it is detected whether or not the power shovel 1 collides with the wall of the shed 38b, and if there is a risk of collision, the control thereafter may be stopped.

Then, in S68, the power shovel 1 is advanced to move the shed 38b.
Plunge inside. In S69, it is determined whether or not the material stored in the shed 38b has been introduced into the bucket 11 by a predetermined amount based on the detection signal of the pressure sensor 12 provided in the bucket 11. If NO, the process returns to S68 and YES. In the case of, proceed to S70. Specifically, when the pressure detected by the pressure sensor 12 exceeds a predetermined value, it is determined that a predetermined amount of material has been introduced into the bucket 11.

In S70, after stopping the forward movement of the power shovel 1, S71
Then, the bucket 11 and the arm 14 are operated. Specifically, based on the learning operation, the bucket is adjusted so that the opening of the bucket 11 faces upward by the operation amount stored in the RAM of the control unit 16.
Material is loaded into the bucket 11 by rotating the arm 11 in a vertical plane and moving the arm 14 upward.

Then, in S72, the power shovel 1 is retracted to the coordinate Y = C at the exit of the shed 38b. Then, at step S73, when the power shovel 1 enters to load the material into the warehouse 38b after the coordinate Y = C, the laser beam is blocked from being irradiated on the power shovel 1 by the roof of the warehouse 38b. In step S74, a switching signal is output as a radio signal to the control device 7 provided at the upper part of the tower via the transmission device 8 in which the control device 7 automatically controls the power shovel 1 to perform the remote control described above. To do. In the area where the laser beam reaches the light receiving device 5, the material loading operation may be performed by the laser beam communication control.

Next, the laser communication control will be described with reference to FIGS. 2 and 11.
Description will be given according to the flowchart shown in FIG.

In step S81, the laser communication device 6 is operated and the laser emitting device 4 is activated.
To emit a laser beam to the second reflecting mirror 2b. As a result, the laser beam reflected by the second reflecting mirror 2b is reflected by the first reflecting mirror 2a and is emitted toward the light receiving device 5 of the power shovel 1.

In S82, the first and second drive devices 3a and 3b are alternately operated to alternately rotate the first and second reflecting mirrors 2a and 2b by a small amount. As a result, as shown in FIG. 11, the laser beam applied to the light receiving device 5 of the power shovel 1 is alternately oscillated vertically and horizontally (for example, in the X-axis and Y-axis directions) for a predetermined amount in a short time. Then, the laser beam is swung by a predetermined amount so that the laser beam crosses in a cross shape around the center portion H.

In S83, the first and second reflecting mirrors 2a and 2b are respectively rotated so that the central portion H of the laser beam is located substantially at the central portion of the light receiving element 36 of the light receiving device 5 of the power shovel 1, and the central portion H of the laser beam is generated. Is moved to detect the substantially central portion of the light receiving element 36.

In S84, it is determined whether or not the central portion H of the laser beam is located in the substantially central portion of the light receiving element 36, and if NO, S
Returning to 83, if YES, proceed to S85. Here, whether or not the central portion H of the laser beam is located substantially at the central portion of the light receiving element 36 is detected by the light receiving camera 37, and the detection signal is input to the control device 7 by a radio wave signal.

When the center portion H of the laser beam is located substantially at the center of the light receiving element 36, the movement of the center portion H of the laser beam is stopped in S85, and the operation amount of the power shovel 1 is transmitted to the light receiving element 36 in S86. To do. This operation amount is transmitted by a code signal in which the laser beam is turned on and off in a short time.

In this way, the operation amount of the power shovel 1 is transmitted to the light receiving element 36 of the power shovel 1 by the laser beam at a substantially constant time or at every predetermined operation distance. Then, the control unit 16 automatically steers the power shovel 1 based on the transmitted operation amount.

Next, the abnormality monitoring of the power shovel will be described with reference to the flowchart of FIG.

In S91, various signals from the proximity switch, the inclination detecting sensor 10, and the infrared sensor are read, and in S92, the abnormal state of the power shovel 1 is determined from the various signals. When it is determined that the vehicle is in an abnormal state, braking is started in S93 and the shift is changed in S94 to shift to neutral. As a result, the power shovel 1 is brought to an emergency stop.

As described above, the first and second reflecting mirrors 2a and 2b provided on the upper part of a single tower are driven, and the operation amount corresponding to the operation trajectory is transmitted to the power shovel 1 by the laser beam so that the power shovel 1 can be remoted. Since it is operated, the asphalt mixture manufacturing plant can be unmanned, and the work efficiency can be improved. Further, since the operation amount is transmitted by the laser beam, different operation amounts can be transmitted to the power shovel 1 at the same time. Further, since the operation amount is transmitted from the upper part of the tower to the power shovel 1 below, the operation amount can be reliably transmitted to the power shovel 1 without being disturbed by the sheds 38a to 38b.

Further, since the laser beam is vibrated minutely so as to cross in a cross shape, even if the light receiving device 5 of the power shovel 1 is suddenly deviated from the laser beam for some reason (for example, unevenness of the site) during traveling, Center H
By moving, the substantially central portion of the light receiving element 36 can be detected in a short time.

The laser beam input to the light receiving element 36 is linearly swung in one direction, and the correction operation amount is calculated according to the direction,
You may instruct the traveling direction of the power shovel 1. Also,
The power shovel 1 may be controlled by calculating the correction operation amount from the angle between the direction of the laser beam linearly swung in one direction and the reference direction. Further, a laser beam input to the light receiving element 36 is applied to a position deviated from the central portion, a correction operation amount is calculated by the deviation amount from the central portion of the light receiving element 36, and the traveling direction of the power shovel 1 is indicated. Good.

Further, in the present embodiment, the traveling locus of the power shovel 1 and the operation amount corresponding thereto are set by the learning operation, but the traveling locus and the operation amount corresponding thereto may be initialized.
Further, as shown by a broken line in FIG. 2, the power shovel 1 may be manually controlled by a manual remote control device provided on the tower, by switching to remote control by the control device. Further, the vehicle is not limited to the power shovel 1.

<Effects of the Invention> As described above, the present invention causes a carrier vehicle to travel on the basis of a signal emitted from a high place according to a traveling locus during actual work or a predetermined arbitrary traveling locus, that is,
Since the remote control is used, it is possible to reduce the number of full-time personnel who drive the transport vehicle and improve work efficiency. In particular, an operation amount corresponding to a deviation between the actual traveling locus and the basic traveling locus is calculated as the correction operating amount so that the actual traveling locus approaches the basic traveling locus, and the correction operating amount is set. Since the operation amount is calculated from the value added to the basic operation amount, the transport vehicle can be accurately traveled along the basic travel path. It has the advantage that the certainty of running can be obtained.

[Brief description of drawings]

FIG. 1 is a diagram corresponding to the claims of the present invention, FIG. 2 is a schematic diagram showing an embodiment of the present invention, FIG. 3 is a side view of the same power shovel, and FIG. 4 is a plan view of FIG. 5 is a schematic view of the steering control section of the power shovel 1, FIG. 6 is a schematic view of the bucket and arm operation section of the power shovel 1, FIG. 7 is an enlarged view of the main parts of the power shovel 1, and FIG. 7 is a plan view, FIG. 9 is a plan view of a main part of an asphalt mixture manufacturing plant, FIG. 10 is an enlarged view of a main part of FIG. 9, FIG. 11 is a view for explaining the action, and FIGS. FIG. 16 is a flowchart of each of the above. 1 ... Power shovel, 2a ... 1st reflecting mirror, 2b ... 1st reflecting mirror, 3a ... 1st drive device, 3b ... 2nd drive device, 5 ...
Light receiving device, 7 ... Control device, 8 ... Oscillating device, 9 ... Receiving device, 11 ... Bucket, 16 ... Control unit, 38b to 38e ... Shed, 39
a-39e ... Hopper

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ichiro Miyazaki 1-19-11 Kyobashi, Chuo-ku, Tokyo Inside Japan Pavement Co., Ltd. (56) Reference JP-A-60-48511 (JP, A) JP-A Sho 58-144218 (JP, A)

Claims (6)

[Claims] 1. A remote control device for a transport vehicle, which transports a material stored in a material storage to a supply area provided at a distance from the material storage by transporting the material in the site, the remote control device comprising: The basic running locus is the running locus of the guided vehicle from the storage to the supply area during actual work, and the operation amount of the guided vehicle corresponding to the running locus, or a predetermined arbitrary running locus and the operation amount corresponding to the running locus. And a setting means for storing and setting as a basic operation amount, an operation amount calculating means for calculating an operation amount from a set basic operation amount or a value obtained by adding a correction operation amount calculated by the correction operation amount calculating means thereto, A first transmitting means which is arranged at a high place and emits a laser beam corresponding to the calculated operation amount, and a laser beam which is arranged at a high place and directs the laser beam of the first transmitting means toward a carrier vehicle Those who convert A first receiving unit including a converting unit and a receiving light receiving element provided on the carrier for receiving a laser beam whose direction is changed by the direction changing unit; and an actual operation amount of the carrier and the first receiving unit provided on the carrier. The second transmitting means for emitting a signal corresponding to the reception information of the receiving means, the second receiving means arranged at a high place for receiving the signal from the second transmitting means, and the signal received by the first receiving means Based on the operation amount calculated by the operation amount calculation means, a steering means for automatically maneuvering the transport vehicle is provided, and the correction operation amount calculation means includes a height between the transport vehicle and a high place and the first operation.
A configuration in which a deviation between the current position of the carrier vehicle decoded from the direction or position of the laser beam input to the receiving light receiving element of the receiving means and the basic operation amount corresponding to the basic traveling locus is calculated as a correction operating amount of the traveling locus. A remote control device for a carrier vehicle. 2. A first reflecting mirror, wherein the direction changing means rotates about axes intersecting with each other and reflects an input laser beam, and a laser beam reflected by the first reflecting mirror. The remote control device for a guided vehicle according to claim 1, further comprising a first reflecting mirror that reflects toward the receiving means. 3. The method according to claim 2, wherein the direction changing means includes means for alternately vibrating the first reflecting mirror and the second reflecting mirror so that the laser beam crosses in a substantially cross shape. Carrier remote control device. 4. A first direction changing means for linearly oscillating the laser beam in one direction within a plane of the receiving light receiving element.
The remote control device for a guided vehicle according to claim 2, further comprising means for controlling the reflecting mirror and the second reflecting mirror. 5. The first receiving means according to claim 1, further comprising a monitoring device for monitoring whether or not a laser beam is input to the receiving light receiving element. The transport vehicle remote control device described. 6. The first transmitting means outputs an ON / OFF pulse signal corresponding to the manipulated variable when a laser beam is applied to substantially the central portion of the receiving light receiving element of the first receiving means. 7. A carrier remote control device according to any one of claims 1 to 5.