WO1988005938A1

WO1988005938A1 - Vehicle navigator

Info

Publication number: WO1988005938A1
Application number: PCT/JP1988/000112
Authority: WO
Inventors: Toyoichi Ono; Akira Okamoto; Yasuhiko Ichimura
Original assignee: Kabushiki Kaisha Komatsu Seisakusho
Priority date: 1987-02-06
Filing date: 1988-02-05
Publication date: 1988-08-11
Also published as: JPS63193208A; AU1244288A

Abstract

Electromagnetic waves (m1, m2, m3) for measurement sent from a main station (3) and two sub-stations (4, 5) installed on the site of work are received by a mobile station (9) mounted on a vehicle. A mobile processing means (10) detects the position of the vehicle based upon a difference in the time of receiving between the electromagnetic waves (m1, m2, m3) for measurement. A vehicle guiding unit (12) works to guide the vehicle along a predetermined running path based upon the detected position of the vehicle. The control data and the vehicle data are transmitted and received between the main station (3) and the mobile station (9), and are displayed on a mobile display means (11) and on a control display means (7). These data are used for supporting the vehicle operation. The mobile processing means (10) further has a function of automatically calculating the running path based upon the points of departure and destination.

Description

Description Vehicle driving system Technical field

The present invention relates to a driving system for a vehicle, such as a dump truck, that assists driving and unmanned traveling of a vehicle. Background technology

In general, when operating vehicles such as dump trucks and power shovels at a wide area mine, dam construction site, etc., the operating conditions vary with the minimum number of vehicles and equipment required. In order to be able to cope with site conditions, the operation of vehicles is controlled on an ad-hoc basis to improve productivity and ensure safety.

Conventionally, as a system for controlling vehicles, for example, there was a system configured as shown in Fig. 12 (Suface Mining AVM System) _a . A signal indicating the position information is transmitted from each of the signposts 101 installed at each major location.Each vehicle Ί02 A vehicle-mounted device Ί03 shows the position information Upon receiving the signal, the position of each vehicle 102 is detected, and a data signal indicating the operating status of each vehicle 102 is transmitted to each detected position. In the control office 104, these data signals are received by the central control unit 105, and the position and operation status of each vehicle Ί02 indicated by these data signals are grasped. Then, a signal indicating an operation command for optimizing the operation of each vehicle 102 is transmitted from the central device 105 to each vehicle-mounted device Ί03.

By the way, in such a conventional system, the position of the vehicle belongs to any of the small areas divided by a finite number of symposts, and thus the detection accuracy is proportional to the number of the symposts. It will be better. In addition, it is necessary to increase the number of symposts in order to make the traveling route of the vehicle flexible. For this reason, in order to ensure the flexibility of the system and to increase the accuracy of vehicle position detection to provide accurate operation support and ensure safety, the required equipment must be large-scale. There was a problem.

On the other hand, when a vehicle is to be guided automatically along a predetermined traveling route, the position of the vehicle with respect to the traveling route must be detected. For example, two-dimensional information is obtained from the traveling speed and traveling azimuth of the vehicle. There has been a method of integrating the traveling distance of a vehicle on coordinates and detecting the position of the vehicle on the coordinates.

However, in this method, the running distance and running direction of the vehicle are enslaved, for example, by integrating the detection outputs of a speed sensor and a gyro compass, so that accumulation of errors is inevitable. Met. In particular, errors in running speed due to tie-slip during vehicle running, and errors in azimuth due to offset drift of the jerk mouth compass, significantly degrade vehicle position detection. I was Therefore, the above error may be periodically eliminated by installing a signpost at a key point in the travel route, but this has the problem that the required equipment becomes large-scale. .

Therefore, the present invention has a flexible traveling route and The vehicle can be guided accurately by detecting both positions with high accuracy, and it is possible to provide accurate operation support and improve safety without requiring large-scale equipment. Its purpose is to provide a vehicle traveling system. Disclosure of the invention

According to the first aspect of the present invention, a master station and two slave stations arranged in a predetermined location at a work site, and radio waves for transmitting survey radio waves from the master station and the two slave stations, respectively. Generating means, receiving means provided in the vehicle, for receiving the respective survey radio waves transmitted from the radio wave generating means, and each surveying means received by the receiving means. Vehicle position detecting means for detecting the position of the vehicle based on the reception time difference of the radio wave for use; and a target storing a predetermined traveling route of the vehicle and a vehicle speed command on the traveling route. Road storage means; and a position of the vehicle detected by the vehicle position detection means and a travel route of the vehicle read out from the target path storage means. Calculation means for calculating the steering angle command and detection of the actual steering angle A steering angle sensor, a vehicle speed sensor for detecting an actual vehicle speed, a steering angle command calculated by the calculation means, and an actual detection by the steering angle sensor. Steering angle control means for controlling the steering angle of the vehicle based on the steering angle of the vehicle, a vehicle speed command read from the target route storage means, and a vehicle speed sensor. Vehicle speed control means for controlling the vehicle speed of the vehicle based on the actual vehicle speed. Here, the position of the vehicle is determined by the Since the detection is performed based on the reception time difference, not only can the detection be performed with high accuracy, but also the equipment required for this is small. The high-precision position of the vehicle is used to guide the vehicle accurately along the traveling path.

The apparatus further includes a central processing unit that calculates an intermediate target position on the traveling route based on the start position and the target position, and stores the start position, the target position, and the intermediate target position in the target route storage unit. Like that.

For example, the central processing unit calculates an equation of a straight line connecting the starting position and the target position, and calculates an intermediate target position from the equation at appropriate intervals on the straight line. Therefore, if the departure position and the target position are determined, the intermediate target position of the traveling route can be obtained, whereby the traveling route can be easily set.

According to a second aspect of the present invention, a master station and two slave stations arranged in a predetermined positional relationship at a work site, radio wave generating means for transmitting a survey radio wave from the master station and the two slave stations, respectively, When the main station receives a vehicle data signal transmitted from a vehicle at a work site, control display means for displaying vehicle data indicated by the vehicle data signal; and the vehicle for optimizing work of the vehicle. Central control means for transmitting from the master station a control data signal indicating control data in accordance with control data based on the data; an on-vehicle station mounted on the vehicle; the master station and two slave stations When the surveying radio wave transmitted from the vehicle is received by the vehicle station, based on the reception time difference between these surveying radio waves, When the control data signal indicating the control data transmitted from the master station is received by the vehicle-mounted station while determining the position, the control data is determined based on the control data signal. And a vehicle data processing means for transmitting from the vehicle station a vehicle data signal indicating vehicle data including the operating status of the vehicle. In this case, since the position of the vehicle is detected with high accuracy by radio surveying, the equipment required for this is small. Since the control of the vehicle is performed based on the high-precision position of the vehicle and the vehicle data, accurate operation support of the vehicle can be performed and safety can be achieved.

Further, the on-vehicle processing means has display means for displaying the control data and the vehicle data. For this reason, the vehicle can grasp the control data and vehicle data. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a block diagram schematically showing an embodiment of a vehicle traveling system according to the present invention, FIG. 2 is a diagram showing an example of a work site, and FIG. 3 is a diagram shown in FIG. A block diagram showing the configuration of the master station in detail, FIG. 4 is a block diagram showing the configuration of the slave station shown in FIG. 1 in detail, FIG. 5 is a vehicle station shown in FIG. 1, and FIG. FIG. 6 is a block diagram showing the configuration of the vehicle-mounted processing means and the vehicle-mounted display means in detail, FIG. 6 is a diagram showing a traveling route of the vehicle in the present embodiment, and FIG. 7 is a diagram of the vehicle guidance device shown in FIG. Fig. 8 is a block diagram showing the configuration in detail, and Fig. 8 is a table of the vehicle monitor on the onboard display means shown in Fig. 5. FIG. 9 is a diagram used to explain a process of calculating a steering command in the vehicle guidance system shown in FIG. 7, and FIG. 10 is a diagram illustrating a traveling route in the present embodiment. FIG. 11 is a flow chart showing a calculation process of a driving route, FIG. 11 is a graph used to explain the principle of calculation of a traveling route in the present embodiment, and FIG. 12 is a diagram for controlling a vehicle. 1 is a schematic diagram showing a conventional system of FIG. BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram schematically showing one embodiment of a vehicle traveling system according to the present invention. In this embodiment, a ground unit 1 and a loading unit 2 are provided, and the ground unit 1 is provided with a master station 3, a slave station 4 and a slave station 5 at appropriate positions on a work site as shown in FIG. The central station 3 is provided with central control means 6 and control display means 7. The on-vehicle device 2 is mounted on a work vehicle 8 running at a work site as shown in FIG. 2, and includes a vehicle shadow station 9, an on-vehicle processing unit 10, a vehicle display unit 11, and a vehicle. It is configured with guidance devices 1 and 2. The vehicle equipment 2 is mounted on each of a plurality of vehicles 8.

The master station 3 side of the ground equipment Ί is configured as shown in FIG. 3, and a signal for radio wave surveying is normally output from the control operation unit 6-の of the central control means 6. It is added to the information modulator 3 — 1 of 3. The information modulator 31 modulates the signal for lightning wave surveying into the ^! The tuning signal is applied to the spread modulator 3-2. The spread modulation section 3-2 performs secondary modulation (spread modulation) on the primary modulated signal based on the preset code added by the code generation section 3-3, and converts the spread modulated signal. Transmitter 3 — Add to 4. Transmitter 3-4 transmits this spread-spectrum modulated signal from antenna 3-5 as a survey radio wave (shown in Fig. 1).

The slave stations 4 and 5 are configured as shown in FIG. 4, and the antennas 45-交互 are alternately switched at preset intervals via the duplexer 45-2. Connected to receiver 4 5 — 3 and transmitter 4 5 — 4. When antenna 4 5-1 and receiver 4 5-3 are connected via duplexer 4 5-2, receiver 4 5-3 receives at antenna 4 5-1. The spread modulated signal corresponding to the obtained survey radio wave is added to the spread demodulation units 45-5. The spread demodulation unit 45-5 performs first-order demodulation (spread demodulation) of the spread-modulated signal based on the preset code added from the code generation unit 45_6, and outputs a spread demodulated signal. The modulated signal to be received is added to the synchronization control section 45-7. The synchronization control section 45-7 detects the synchronization of the modulated signal to be modulated and outputs the primary modulated signal having the same period as the modulated signal. The signal is added to the spread modulators 4 5-8 ′ without being interrupted.The spread modulators 4 5-8 are based on the codes added from the code generators 4 5-6 and are used for the primary modulated signal. Is secondarily modulated, and the spread modulated signal is added to the transmitter 45-5. The transmitter 45-5 transmits the spread modulated signal to the antenna 45-5 through the transmission / reception switch 45-2. As a result, the slave station 4 transmits the survey radio wave m ₂ , and the slave station 5 transmits the survey radio wave m _3. (Shown in Fig. 1) On the other hand, the on-vehicle station 9 in the on-vehicle device 2 is configured as shown in FIG. 5, and the survey radio waves mi, m ₂ and m ₃ are received by the antenna 9-1 of the on-vehicle station 9. The master station receiver 912, slave station receivers 913 and slave station receivers 914 are connected to the respective spread spectrum corresponding to the received survey radio waves m «j, m ₂ and ぴ m _3. The modulated signal is applied to the spread demodulation sections 915, 916 and 917, respectively. The spread demodulation unit 915 performs primary demodulation (spread demodulation) on the spread modulated signal corresponding to the radio wave m based on the preset code added from the code generation unit 918, and outputs the spread demodulated output. The modulated signal is applied to the phase difference detector 9-1 9 and the phase difference detector 910. Spread demodulation unit 9 one 6 the spread modulated signals corresponding to the radio wave m ₂ to 1 Tsugifuku adjusted based on the code being applied from the code generator 9 one 8, the phase difference detection section 9 to be primary modulation signal Add to nine. Spread demodulation unit 9 - 7 code generation section the spread modulated signals corresponding to the radio wave m ₃ and primary demodulating based on the code being applied from the 9-8, phase S detector 9 to be primary modulation signal Add to one ten. When the phase difference detecting unit 9 one 9 entering each target primary modulation signal from the spread demodulation unit 9 one 5 and 9 one 6, Telecommunications m ^ j and m ₂ of the reception phase difference means that survey these signals The phase difference detector ^ detects the phase difference ^ indicating the time difference and adds the signal representing the phase difference ^) to the vehicle position detector 手段 0-1 of the vehicle shade processing means 10. If you enter each of the primary modulated signal from the spread demodulation unit 9 one 5 and 9 one 7, the phase difference delta omega ₂ showing the phase difference means that the reception time difference of the surveying Telecommunications πη ·! and m ₃ of these signals Detects a signal indicating a phase difference delta ₂ of this vehicle position匱検detecting means 1 0 - is added to 1. Vehicle position detecting means Ί 0 -! 1 Each phase difference and inputs a signal indicating a delta omega _9, the phase difference delta omega · This is found to calculate the position of the vehicle 8 on the basis of the delta omega _2.

Frequency modulation, phase difference modulation, and amplitude modulation are applied to the second-order modulation, and the second-order modulation is directly spread and frequency-hopping based on pseudo-random codes. Spread spectrum modulation is applied. Such a spread spectrum communication method using spread modulation has a wide spread bandwidth and a very low power density during communication, so that it is not susceptible to interference. Further, multiplex communication is possible, which is suitable for distance measurement.

Here, the principle of the radio wave survey will be described with reference to FIG. First, it is assumed that the master station 3 and the slave stations 4 and 5 are installed at positions in known two-dimensional coordinates in advance. For example the Ί main station at the position of (0, 0), and the從局4 (a _j, b ₁₎ in the position of, and respectively Installation on the position of the slave station 5 (a _2, b ₂₎ Assuming that the position of the loading station 9 is (X, Y), the difference ΔL between the distance L «| between the master station 3 and the on-vehicle station 9 and the distance L ₂ between the car stimulating station 9 and the slave station 4 is good beauty difference delta Iota_ ₂ and the distance L ₃ between the vehicle station 9 one slave 5 and the distance L ·] can and this representing in Tsu by the following formula (1) and (2).

Δ L, = V X + y

(X-a 1 + (y-b 1) Δ then 2 χ + y

(χ-a 2) + (y — b 2)

(2) It is apparent that the phase difference and Δ ₂ correspond to AL ^ j and L ₂ in the above formulas (“and (2), respectively.

Then, the position where the mass is constant is shown for each mass as shown by the solid line in FIG. A circumferential-like delta 1_ ₂ is a position where the constant as indicated by the broken line of FIG. 2 to that shown in every ₂ to each厶. Were it to Tsu, lever delta L and delta L ₉ is Motomema detects the position of the vehicle 8 from the intersection of the curves of the solid line curve and厶corresponding to dashed lines ₂ corresponding to its the delta L _tau This is

The vehicle position detecting means 10 検出 of the vehicle-mounted processing means 1 ◦ obtains the current position (X, Υ) of the vehicle 8 in one part time as described above, and a signal indicating this position is obtained in the center. Processing device (hereinafter referred to as CPU) 1 0—Add to 2. When the signal indicating the position of the Ningyo 8 is input to the CPU 10-12, this position is stored in the recording means 1.0-3.

The vehicle display means 1 is configured as shown in Fig. 5, and is operated by operating the input unit 1 1-1.

The traveling path as shown in FIG. 6 can be manually operated, and these constant paths are stored in the vehicle shade processing means 1 Q <Ό storage means 1 Q — 3. Here, the running轻路Alpha. Is all SANYO formed by Tsu along the respective positions Alpha to? _Eta, coordinates of these positions _{A ·] ~ A n (X} A1, Y A1) ~ (X _An , Y _An ) is input from the input unit 111 and stored in the storage means 10-3. Similarly, the positions B #, B ... forming the traveling path B are also stored in the storage means 10-3.

On the other hand, the vehicle guidance device 12 is configured as shown in FIG. 7, and outputs a signal indicating the vehicle speed outputted from the vehicle speed sensor Ί2-1 and a signal outputted from the rotation sensor 12-2. Signal indicating the engine speed and the steering angle sensor 1 2 —

The signal indicating the steering angle output from 3 is applied to the vehicle control selection means 2-4. Vehicle control selection means

1 2 — 4 inputs these signals at an inter-part time, and every time they are input, the vehicle speed, engine speed, and steering angle are used as data for the stimulus processing means. 1 0 GPU 1 0 —

Transmit to 2. The CPU 10-2 stores the data indicating the vehicle speed, the number of revolutions of the engine, and the steering in the storage means Ί0-3, and updates the data storage at the interval time. .

Meanwhile, vehicle data including the position of the vehicle 8, the traveling routes A and B, the vehicle speed, the number of revolutions of the engine, and the steering angle are stored in the storage means 1Q-3. Here, when the vehicle 8 is traveling along the traveling route A, by operating the input unit 11-1 (shown in FIG. 5) of the in-vehicle display means 11, the traveling route A is operated. When the vehicle is instructed to display, the vehicle monitor 112 is placed on the driving route A as shown in FIG. 8 (a) based on the contents of the storage means 10-3. In addition to displaying the position of the vehicle 8, the vehicle speed, the number of revolutions of the engine, and the steering angle are also displayed. As shown in Fig. 8 (b), the vicinity where vehicle 8 is located on traveling route A may be partially enlarged and displayed.

On the other hand, the GPU 10-2 reads the vehicle data consisting of the traveling route A, the position of the vehicle 8, the vehicle speed, etc. displayed on the vehicle monitor 1 1-2 from the storage means 10-3, and reads this vehicle data. Is added to the information modulating section 9-11 of the on-board station 9.

Upon input of the vehicle data signal, the information modulation section 911 performs primary modulation on the vehicle data signal, and adds the primary modulated signal to the spread modulation section 911. Further, the code generation section 9-13 adds a specific code indicating the vehicle 8 to the spread modulation section 9-12. Based on this code, the spread modulation section 9-1 12 applies the second-order modulated signal to the second-order modulation, and applies the spread-modulated signal to the transmitter 9-1 14. Transmitters 9-14 transmit the spread modulated signal from antennas 9-15. As a result, from the plurality of vehicles 8, spread-spectrum modulated signals based on each code specified for each vehicle 8 are transmitted as radio waves dd,, indicating vehicle data (shown in FIG. 1). .

The ground equipment 1 receives these radio waves d ^ j to d by the antenna 3-6 (shown in Fig. 3) of the main station 3, and the receiving collar 3-7 receives the spread signals corresponding to these radio waves. The modulation signal is applied to the spread demodulation unit 3-8.The vehicle data selection unit 6-2 of the central control unit 6 controls the code generation unit 3-9, and the respective signals specified for each vehicle 8 are controlled. One of the codes is selected and the selected code is From 3-9, it is added to the spread demodulation unit 3-8. Result of this, spread demodulation unit 3 - 8 is Ί following demodulates the spread modulated signals corresponding to one of the Chi sales of each of the radio signal d ₁ ~ d _k based on the selected code, this demodulated output That is, the primary modulated signal is added to the information modulation section 3-10. The information demodulation unit 3-10 performs second-order demodulation of the primary modulated signal, and outputs one of the vehicle data signals of each vehicle 8 to the demodulation output, that is, the vehicle data selection unit 6. — Add to 2. Therefore, the vehicle data selection unit 6-2 generates each code specified for each vehicle 8 from the code generation unit 3-9, so that each vehicle 8 The vehicle data signal of each vehicle 8 can be input, and vehicle data of each vehicle 8 is collected.

Next, the vehicle data selection unit 6-2 receives the collected vehicle data signal for each vehicle 8 on site, and in addition to the state storage unit 6-3, the vehicle data signal for each vehicle 8 is collected. Stored in the field status storage section 6-3. The input unit 7-1 of the control display means 7 is, for example, a console for inputting a work site map, and this work site map is stored in the site hangup storage unit 6-3. The control monitor 7-2 reads the work site map and the vehicle data for each vehicle 8 from the site status storage unit 613, and the travel route and position of each vehicle 8 on the work site map. Display vehicle speed, etc.

On the other hand, the control operation unit 6 — of the central control means 6 stores the work site map and the vehicle data for each vehicle 8 from the site status storage unit 6 — 3 at a preset time. Read out. Then, the traffic control calculation unit 6-1 is used to optimize the work of each vehicle 8 based on the work site map and each vehicle data. Control data, for example, the position of each vehicle 8 on the work site map, the optimal operation route selection command for each vehicle 8, change information on the site map, etc., and the control data signal indicating this control data Sunlight modulation part 3 — Add to 1. However, at this time, the control operation unit 6— does not output the signal for radio surveying described above, but outputs only this control data signal. The information modulating section 3 — modulates the control data signal in the fourth order and adds the primary modulated signal to the spreading modulating section 3 — 2. The _e- spreading modulating section 3 — 2 is based on the code from the code generating section 3 — 3. Then, the primary modulated signal is secondarily modulated, and the spread modulated signal is transmitted from antenna 3-5 in addition to transmitter 3-4.

In the vehicle station 9 (shown in FIG. 5) of each vehicle 8, the spread-spectrum modulated signal is received by the main station receiver 9-2 via the antenna 911, and the spread-spectrum modulated signal is spread. Add it to the demodulation section 9-15. The spread demodulation section 915 performs second-order demodulation on the spread-modulated signal based on the code from the code generation section 918, and outputs the demodulated output, that is, the primary-modulated signal, on the information demodulation section 9-1; Add to 6. The information demodulation sections 9-116 perform second-order demodulation of the primary modulated signal, and apply the demodulated output, that is, the control data signal to the GPU 0-2 of the in-vehicle processing means # 0. The GPU 10-2 stores the control data indicated by the control data signal in the storage means 0-3. Therefore, the storage means 10-3 stores the vehicle data of the vehicle 8 described above together with the control data. Then, by operating the input unit 111 of the on-vehicle display means 11, the display of the control data is instructed. Both monitors Ί 1 and 2 display the position of each vehicle 8 on the work site map and the command for selecting the optimal operation route of each vehicle 8 based on the control data stored in the storage means 10-3. To

In this way, the surveying radio wave is transmitted from the master station and the two slave stations, and the position of the vehicle is detected based on the reception time difference of these radio waves at the on-board station, and the master station is also detected. Control data and vehicle data are exchanged between the on-board stations. For this reason, the required equipment must not be large-scale, and accurate operation support of vehicles will be provided and safety will be improved.

Next, a case will be described in which the vehicle 8 is guided along the traveling routes 経路 and た shown in FIG. First, the data shown in the following table (1) is stored in the storage means 10-3 of the on-vehicle processing means 1 ◦ by operating the input unit 111 of the on-vehicle display means 11.

table 1 > That is, each coordinate position (X _A1 , γ _A1 ) to (( _Αη , γ _Απ ) indicating the travel path A, and each coordinate position (X _M , _YB1 ), ( _XBn , _YBn ),... _Are stored in the storage means 10-3.

Thereafter, when the user operates the input unit 1 1 1 1 to instruct, for example, guidance traveling on the traveling route A, the recording unit 1 0—

From FIG. 3, data on the traveling path A shown in the above table (1) is transmitted to the first vehicle control arithmetic means 12-5 (shown in FIG. 7) of the vehicle guidance device 12.

The first vehicle control calculation means 12-5 is used to calculate each coordinate position ( _XA1 , _YA1 ) on the traveling route A indicated by the data.

^{^{^{~ (X n 'γ Αη)}}} , and cars' both position detecting means 1 0 - position of one detected Tsu by the the vehicle 8 (Χ, Υ) calculates the搮舵command based on.

Here, the process of calculating the steering command will be described with reference to FIG. First, the travel route Α is set to each coordinate position ( _XA1 ,

A1), ^ Α2 ' ^Υ Α2), ···, ( _{Α Αη} , Υ _Αη 〉), and consider the path as A ₁ A ₂ → A ₂ A 3 ^→ …… A _n _ ₁

A ^ ". The target line segment is assumed to be AA, the current position of vehicle 8 is assumed to be (Xv, YuK) ', and Position (XK-1

Υ _κ _ ₁ ), the lateral displacement s of the vehicle 8 from the path line A ^ A _ra and the attitude angle of the vehicle 8 ′ with respect to the path line AA „are given by ε = = ^(Y ni ^{^{^{- Y A2 X k - (Υ}}} Απι "Υ Κ) X Ai ~ (Y k 'V Al) X Am (Y _ Y) 2 + (xx) 2

… (3)

… Can be expressed by (4). Of et al., The steering angle command δ based on the attitude angle of 0 and your lateral displacement S of this are, et al., The following equation δ = Κ 1 ♦ ε + Κ Φ (5) It's another Κ ₁ your good beauty Κ _2: It can be expressed as a constant. ^ I.

7

The first vehicle control operation means "] 2-5 obtains the steering angle command δ of the vehicle 8 as described above, and the signal indicating the steering angle command δ and the storage means Ί 0 — _{_{( '. X a Υ Α χ}} , (X a ra)' Ru good in three these data Upsilon> signals indicative of the respective vehicle speed command corresponding to the vehicle control selection means Ί 2 -. Add to 4 vehicle control selection Means 1 2-4 add a signal indicating the steering angle command δ to the steering control means Ί 2-6, as well as the actual vehicle speed command and the actual speed detected by the vehicle speed sensor 12-1. Based on the vehicle speed, a signal indicating a governor position command is sent to the governor control means 12-7, a signal indicating a speed step command is given to the transmission control means 12-8, and a retarder A signal indicating a re-start brake pressure command is sent to control means 1 2-9, and a brake command is sent to brake control means 1 2-0. Add a signal indicative of their respective.

When the steering control means 1 2 — 6 inputs the signal indicating the steering angle command δ, the actual steering angle of the vehicle 8 detected by the steering angle sensor Ί 2 — 3 is changed to the steering angle command. Control the hydraulic oil flow of the servo valve Ί 2 — 1 に so that it follows δ. -8-Therefore, the hydraulic oil is supplied to the hydraulic cylinders 12-13 via the solenoid-operated switching valves 1-12, and the hydraulic cylinders 2-3 expand and contract, and the actual steering angle is increased. Becomes equal to the steering angle command δ. Also, when the governor control means Ί2-7 inputs the signal indicating the governor position command, the actual governor position detected by the governor sensor 12-14 follows the governor position command. The governor drive motor 12-5 is driven as described above, and the position of the governor 12-7 connected to this motor "I25" via the clutch 12-16 is adjusted. When the signal indicating the speed step command is input, the position control means 1 2-8 responds to the rotation speed of the engine 12-18 detected by the rotation sensor 12-2. The electromagnetic switching valve 12-21 is switched so that the transmission 12-9 is set to the commanded speed stage. When the signal indicating the retard brake pressure command is input, the actual value detected by the air pressure sensor The air pressure of the air servo valve 12-23 is controlled so that the air pressure follows the retard brake pressure command, and the retarder 12-24 is driven. Means Ί 2-0, upon input of the signal indicating the brake command, drives brakes 12-25 to stop rain 8, and as a result, vehicle 8 responds to the above vehicle speed commands. If it is stored in the storage means 10-3 in advance that it is necessary to activate the work equipment mounted on the vehicle 8 at a predetermined position on the traveling route 、, the vehicle control is performed. Selection means 1 2-4 Applies a signal indicating a work command at the above-mentioned predetermined position to the work machine control means 12-26. As a result, the work machine control means 12-26 drives the vessel cylinder 12-27 to cause the work machine to perform work.

Also, the obstacle recognition means 1 2 — 3 1 (for example, a TV camera) captures an image of the traveling direction of the vehicle 8, and outputs a signal indicating the captured screen to the obstacle position detection means 1 2 — 3 2 The obstacle position detection means 1 2-3 2 detects the position of the obstacle based on the imaged image when there is an obstacle, and outputs a signal indicating the position to the danger prediction means. In addition to 1 2 — 3 3. Danger prediction means 1 2 — 3 3 adds a signal indicating danger to vehicle control selection means 1 2 — 4 when this position is in the direction of travel. When this signal is input, the vehicle control selecting means 1 2-4 performs steering control for bypassing the obstacle, or performs stop control.

Next, for example, the route 8_! In the traveling route A shown in FIG. When the guiding line for generating an induced magnetic field in A ₂ is laid, each coordinate position shown in Table (1) (X Α1

According to _Α _{誘導 1} ) and χ _Α2 , _{Α Α} ), the vehicle speed command and the fact that the vehicle is to be guided by a guidance line are stored in advance in the storage means Ί 0-3. Here, vehicle 8 is

After reaching A ₁ A _? , the four pick-ups provided on the vehicle 8 by the magnetic field from the guide 敷 laid in the route Α A ₂ When signals corresponding to the magnetic field strength are generated in the pucoyl 1 2 — 37 a, 1 2 — 37 b 1 2-37 c and 37 d, these signals are generated. The second vehicle control operating means 1 2 via the pick-up amplifier 2-3 8 Added to 1-9. When these signals are input, the second vehicle control calculation means 12-39 receives the difference between the signal outputs of the pickup coils 12-37a and 12-37b, and the like. Based on the difference between the signal outputs of the pickup coil 1 2-37 c and 12-37 d, the course deviation amount and attitude angle of the vehicle 8 with respect to the guide line are detected. Then, the steering angle command is obtained based on the course deviation amount and the attitude angle, and the respective vehicle speed commands corresponding to the respective coordinate positions are read from the storage means 10-3. The respective signals indicating the steering angle command and the respective vehicle speed commands are applied to the vehicle control selecting means 12-4. When these signals are input, the vehicle control selecting means # 2-4 performs the steering control based on the steering angle command and performs the vehicle speed control based on the respective vehicle speed commands. '

In this way, the vehicle is guided along a predetermined traveling route based on the position of the vehicle detected based on the principle of electric survey, so that the traveling route has flexibility. In addition, the position of the vehicle can be detected with high accuracy, and the vehicle can be guided accurately. For example, this is effective when guiding a vehicle on a mulberry field with poor visibility.

The platform on which the driver operates the vehicle rain 8 adjusts the vehicle speed by operating the accelerator pedal 12-4 また and operates the handle 12-42. With this operation, the manual switch 1 2-4 3 is operated to switch the electromagnetic switching valve Ί 2 Ί 2.

Next, travel route A shown in Fig. 6 is converted to travel route G. The case of change will be described with reference to the flowchart of FIG.

First, by operating the input unit 111 of the in-vehicle display means 11, the departure position A of the travel route C and the target position P _n are determined by the CPU 1 of the stimulation processing means 10. Along with instructing 0 to 2, a command for the traveling route is given to GPU 10-2. When the GPU 10-2 receives this command (Step 2 01), the vehicle 8 moves to the departure position A based on the position of the vehicle 8 detected by the vehicle position detecting means 10-1. ·] Is determined (step 202). Here, if the vehicle 8 has not returned to the departure position Α · |, the CPU 10-2 waits without performing an operation for changing the traveling route. This is because, when the vehicle 8 is guided along the traveling route / (/ '), if the traveling route is changed, it is very dangerous. If the CPU 10-2 determines that the vehicle 8 has returned to the departure position [Α] in step 220, the CPU 10-2 calculates a linear equation based on the departure position A and the target position _Pn. Then, the intermediate target position is calculated in steps (1) and (2), and the starting position A, the intermediate target position, and the target position _Pn are sequentially stored in the storage means 10-3 (step 203). , 20 4, 2 0 5〉 Then, when the CPU 10-2 finishes storing the start position Α ·), the intermediate target position, and the target position P _n , this calculation ends. (Step 206).

FIG. 1 is a graph showing the principle of calculation of a traveling route, and the coordinate position ( _XΑ1 , _Υ1 ) is the starting position _の of the vehicle 8 and is known. There Well, the goal position _Ρ η is the coordinate position (Assuming that X Pn is set, the equation of the straight line connecting the position P is

If Y = a X + b (6), then

Y Pn— Y 1

a = (7)

X Pn ~ Eight A1 Pn ~ ^Y A ~ Eight A1 ^Y Pn

b (8) X Pn— ^X A1

Then, based on the above equation (6), the coordinate position of the target position ^P 1> ^P (showing four points in FIG. 11) at appropriate intervals on the straight line is calculated, and the storage means 10 — Try to memorize in 3

Therefore, when setting and changing the traveling route based on the above equation (6), the departure position and the target position of the traveling route are input by operating the input means 111. It only needs to be done. In addition, if not only the Ik line equation but also various curve methods g are prepared in advance, various curves can be obtained simply by selecting one of the curve methods g ¾ and specifying the starting position and the target position. In addition, the central control means 6 shown in FIG. 1 can be used to select an equation and specify a start position and a target position. And the designated starting position and target position are transmitted from the main station 3 to the on-board station 9 so that the driving route can be set. The travel route stored in the storage means 10-3 of the on-vehicle processing means 10 is displayed on the vehicle monitor 11-2 of the on-vehicle display means 11 and the travel route is displayed. It is of course possible to guide the vehicle 8 along the route. Industrial applicability

According to the present invention, the position of the vehicle is detected based on the principle of radio wave surveying, and the vehicle is guided and guided along the traveling path set in advance based on the detected position of the vehicle. The target route is flexible, and the position of the vehicle can be detected with high accuracy to guide the vehicle accurately.

In addition, since control data and vehicle data are exchanged between the master station and the on-board stations, accurate data can be obtained even if the required equipment is not large-scale. Operational support can be provided to improve safety.

Furthermore, by simply giving the departure position and the target position, the traveling path between the departure position and the target position is automatically performed, so that the equipment of the traveling path must be changed. As a result, it is possible to flexibly cope with the problem and to easily automate the traveling operation.

Claims

'05938 PCT / JP88 / 00112 1 2 4-Scope of Claim

(1) A master station and two slave stations arranged in a predetermined positional relationship at a work site;

電波 A radio wave generating means for transmitting survey radio waves from the master station and two slave stations, respectively,

m receiving means disposed on the vehicle, for receiving the respective survey radio waves transmitted from the radio wave generating means;

Vehicle position detecting means for detecting the position of the vehicle based on the reception time difference of each survey radio wave received by the receiving means;

A target route storage means storing a preset traveling route of the vehicle and a vehicle speed command on the traveling route;

The steering angle of the vehicle based on the position of the vehicle detected by the vehicle position detection means and the travel path of the vehicle read from the target path description I means. An operation means for operating the command;

A steering angle sensor for detecting an actual steering angle,

A vehicle speed sensor for detecting an actual vehicle speed;

A steering angle control means for controlling a steering angle of the vehicle based on a steering angle command calculated by the calculating means and an actual steering angle detected by the steering angle sensor; ,

Vehicle speed control means for controlling the vehicle speed of the vehicle based on the vehicle speed command read from the target route recording means and the actual vehicle speed detected by the Wi vehicle speed sensor;

A driving system for a vehicle, comprising: (2) The apparatus further includes a central processing unit that performs an intermediate target position of the travel route based on the starting position and the target position, and the starting position, the target position, and the intermediate target position are set to the target position. The vehicle / vehicle traveling system according to claim 1, wherein the information is stored in a target route storage means.

(3) The central processing unit calculates an equation of a straight line connecting the starting position and the target position, and performs an intermediate target position at an appropriate interval on the straight line based on the equation.

The traveling system for a vehicle according to the item (2).

(4) Main units installed at the work site in a predetermined positional relationship

Station and two slave stations,

Radio waves for surveying are sent from the master station and two slave stations.

Means for generating and transmitting radio waves,

Vehicle data signal transmitted from the vehicle at the work site

Is received by the master station, the vehicle data signal is used.

Control display means for displaying the indicated vehicle data; and

In response to the control data based on the vehicle data for optimizing the work of the vehicle, the control data indicating the control data is displayed.

Central control means for transmitting data signals from the master station;

An in-vehicle station mounted on the vehicle,

Signals sent from the master station and the two slave stations

When the waves are received by the on-board station, these survey radio waves

The position of the vehicle is obtained based on the reception time difference, and the control data signal indicating the control data transmitted from the master station.

Signal is received by the on-board station, the control data signal is

Then, the control data is determined, and the position of the vehicle and the

Vehicle data showing vehicle data consisting of vehicle operation status A traveling system for a vehicle, comprising: a vehicle-mounted processing unit for transmitting a signal from the vehicle-mounted station. (5) The vehicle traveling system according to (4), wherein the on-vehicle processing unit has a display unit for displaying the control data and the vehicle data.

(6) The vehicle is a target route storage means for storing a predetermined traveling route of the vehicle and a vehicle speed command on the traveling route.

A steering angle command for the vehicle is calculated based on the position of the vehicle obtained based on the reception time difference between the respective survey radio waves and the target route of the vehicle read from the target route storage means. Arithmetic means,

A steering angle sensor for detecting an actual steering angle,

A vehicle speed sensor that detects the actual vehicle speed;

A steering angle control means for controlling a steering angle of the vehicle based on a steering angle command calculated by the calculation means and an actual steering angle detected by the steering angle sensor; ,

Vehicle speed control means for controlling the vehicle speed of the vehicle based on a vehicle speed command read from the target road storage means and an actual vehicle speed detected by the vehicle speed sensor. The traveling system for a vehicle according to claim 4, wherein

(7) The central processing unit E that calculates the intermediate target position of the traveling 轻 s based on the starting position and the target position s is further improved, and the starting position, the target position, and the intermediate target position are stored in the target route storage. The fact that it was memorized in the means The driving system for a vehicle according to claim 4, wherein the vehicle is a vehicle.

(8) The central processing unit calculates an equation of a straight line connecting the starting point and the target point, and calculates an intermediate target position at an appropriate interval on the straight line from the equation. A vehicle traveling system according to item (7).