JP2011010028A - Vehicle operation apparatus for site of loading and transporting work - Google Patents

Vehicle operation apparatus for site of loading and transporting work Download PDF

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JP2011010028A
JP2011010028A JP2009151345A JP2009151345A JP2011010028A JP 2011010028 A JP2011010028 A JP 2011010028A JP 2009151345 A JP2009151345 A JP 2009151345A JP 2009151345 A JP2009151345 A JP 2009151345A JP 2011010028 A JP2011010028 A JP 2011010028A
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Mitsuyasu Shimamoto
充功 島本
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Caterpillar SARL
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Abstract

PROBLEM TO BE SOLVED: To provide a vehicle operation apparatus that greatly reduces waste of labor in a site of loading and transporting work and achieves efficient work.SOLUTION: The apparatus includes: wireless communication means 3 for transmitting operation instruction signals to one or more wireless operation type working machines 4 capable of making loading work and a plurality of wireless operation type transporting vehicles 5, 6 with loading parts, respectively; a plurality of sets of operation means 1, 2 that are provided with switching mechanisms 10, 20, respectively, and can select an operation instruction signal for any one of the working machine 4 and the transporting vehicles 5, 6 that are wirelessly operable, to output the signal; and a control device 3 that makes control such that switching is broken even for an operation instruction signal output selected by one set of operation means of the plurality of sets of operation means 1, 2, the other set of operation means switches to the operation instruction signal output.

Description

この発明は、例えば鉱山の採石作業現場のような積込運搬作業を要する現場において稼働する複数の車両を操作する装置に関する。   The present invention relates to an apparatus for operating a plurality of vehicles operating on a site requiring loading and carrying work such as a quarrying work site in a mine.

鉱山の採石作業現場のような積込運搬作業を要する現場では、土砂等の積み込み作業をするホイールローダ等の作業機械と、そこから土砂等を受け取り運搬するダンプトラック等の運搬車両とが稼働しており、通常、１台の作業機械に対して複数の運搬車両が割り当てられる。例えば、作業機械が１の運搬車両に積み込み作業を行っている間、既に積み込みが完了した他の運搬車両を集積場所（または荷下場所）等まで運搬させ、その後戻ってこさせる。前記１の運搬車両の積み込みが完了したら、その１の運搬車両を運搬させ、既に戻って待機していた他の運搬車両に積み込みを行う（運搬車両が３台以上でも同じ）。このようなローテーションを繰り返すことで、作業機械の作業を絶え間なく行わせて作業の効率化を図るものとしている。   At sites that require loading and transport work, such as mining quarrying sites, work machines such as wheel loaders that load earth and sand, and transport vehicles such as dump trucks that receive and transport earth and sand from there are operating. Usually, a plurality of transport vehicles are assigned to one work machine. For example, while the work machine is loading on one transport vehicle, another transport vehicle that has already been loaded is transported to a collection location (or unloading location) or the like and then returned. When the loading of the one transporting vehicle is completed, the transporting vehicle is transported and loaded on another transporting vehicle that has already returned and waited (the same is true for three or more transporting vehicles). By repeating such rotation, work of the work machine is performed continuously, thereby improving work efficiency.

そして従来、これらの作業機械や運搬車両のそれぞれには、各オペレータが乗り込み、各車両を運転していた。   Conventionally, each operator has boarded each of these work machines and transport vehicles to drive each vehicle.

特開平８−６５７５５号公報JP-A-8-65555 特開２００６−２１９８９４号公報JP 2006-219894 A

上記のようなローテーションでは、運搬を終え積込現場に戻ってきた運搬車両の待機時間が短かければ短いほど、作業効率が向上することになる。しかし、集積場所（または荷下場所）までの運搬距離は一定でないので積込現場に戻る時間も一定でなく、また前の積み込み作業も時間どおり完了するものでもないので、実際の現場では、戻ってきた運搬車両の待機時間は必ずしも短時間で済まないのが通常となっている。この待機時間の間、待機している運搬車両のオペレータは、作業機械の積み込み作業が完了するのを単に待っているだけの状態となり、そうすると、積み込みが行われている運搬車両のオペレータも待っているだけなので、その間は、２人のオペレータが単に待機をしている状態となって、結局、上記ローテーションは、必ずしも人的労力を効率的に実働させる作業とはなっていなかった。   In the rotation as described above, the shorter the waiting time of the transporting vehicle that has finished transporting and returned to the loading site, the more work efficiency is improved. However, since the transport distance to the collection site (or unloading site) is not constant, the time to return to the loading site is not constant, and the previous loading operation is not completed on time. In general, the waiting time of a transporting vehicle is not always short. During this waiting time, the waiting vehicle operator is simply waiting for the work machine loading operation to be completed, and then the loading vehicle operator who is loading is also waiting. In the meantime, the two operators are simply waiting in the meantime, and the rotation is not necessarily an operation for efficiently implementing human labor.

この発明は、従来技術の以上のような問題に鑑み創案されたもので、積込運搬作業現場における無駄な労力を大幅に低減させることができ、効率的な作業を実現化することのできる車両操作装置を提供しようとするものである。   The present invention was devised in view of the above-described problems of the prior art, and can significantly reduce wasteful labor at the loading and transporting work site and realize efficient work. An operating device is to be provided.

このため、この発明に係る積込運搬作業現場の車両操作装置は、積み込み作業の行える１以上の無線操縦式作業機械と、積み込み部を備えた複数の無線操縦式運搬車両とに、それぞれ操作指令信号を送信する無線式通信手段と、
それぞれが切り換え機構を備え、その切り換えにより、無線操縦が可能となっている作業機械及び運搬車両のうちのいずれかの操作指令信号を選択して出力することが可能な複数の操作手段と、
複数の操作手段のうち一の操作手段が選択した操作指令信号出力については、他の操作手段がその操作指令信号出力に切り換えても、その切り換えを遮断させる制御を行う制御装置と、を備えたことを特徴とする。 For this reason, the vehicle operating device at the loading and transporting work site according to the present invention provides an operation command to one or more wirelessly controlled working machines capable of performing loading work and a plurality of wirelessly controlled transporting vehicles including loading parts, respectively. Wireless communication means for transmitting signals;
A plurality of operation means each including a switching mechanism and capable of selecting and outputting an operation command signal of any one of the work machine and the transporting vehicle that can be wirelessly controlled by the switching;
For the operation command signal output selected by one of the plurality of operation means, a control device is provided that performs control to block the switching even when the other operation means switches to the operation command signal output. It is characterized by that.

ここで、無線操縦式とは、無線で操作指令信号を送信し、その操作指令信号によって作業機械や運搬車両が操縦される形式をいい、その方式は、遠隔操作として用いられる公知の種々の方式で良い（例えば、特許文献１及び２等）。このため、本発明に適用される前記作業機械と運搬車両は、操作指令信号を受信してその指令信号に基づき動作する機構を備えていることを前提とする。   Here, the wireless control type refers to a type in which an operation command signal is transmitted wirelessly and a work machine or a transporting vehicle is controlled by the operation command signal, and the method is known various methods used for remote control. (For example, Patent Documents 1 and 2). For this reason, it is assumed that the work machine and the transport vehicle applied to the present invention include a mechanism that receives an operation command signal and operates based on the command signal.

また、前記制御装置において、複数の操作手段のうち一の操作手段が選択した操作指令信号出力については、他の操作手段がその操作指令信号出力に切り換えても、その切り換えを遮断させる制御が行われるので、無線操縦される作業機械あるいは運搬車両は、先に選択されている一の操作手段のみからの操作指令信号によって操作されることになる。つまり、先に選択をした操作手段がその操作指令信号出力については優先することになり、この制御によって、複数の操作手段から同じ機械の操作をするような混乱動作を防止している。   In the control device, the operation command signal output selected by one of the plurality of operation means is controlled so that the switching is interrupted even when the other operation means switches to the operation command signal output. Therefore, the wirelessly operated work machine or transport vehicle is operated by an operation command signal from only one of the previously selected operation means. In other words, the operation means selected first has priority over the output of the operation command signal, and this control prevents a confusing operation in which the same machine is operated from a plurality of operation means.

次に、本発明に係る車両操作装置の使用例を説明する。例えば、１台の作業機械と複数台の運搬車両（便宜上ア、イ、ウの３台とするが、２台でも、あるいは４台以上でも良い）のある作業現場を想定し、その作業現場の管理事務所において、オペレータＡが操作手段ａを、オペレータＢが操作手段ｂをそれぞれ操作するものとする。オペレータＡは、操作手段ａにおいて作業機械の操作指令信号出力を選択し、その操作による信号出力を通信手段を介して作業機械に送信することで、作業機械を動作させ、運搬車両アに対して積み込み作業を行っていく。一方、オペレータＢは操作手段ｂにおいて、運搬車両イの操作指令信号出力を選択し、その操作による信号出力を通信手段を介して運搬車両イに送信することで、その運搬車両イを走行させ、積み込み場所で停止させ、前の積み込み作業が終わるまで待機させる。このときまだ、運搬車両アの積み込み作業が終わっていなければ、操作手段ｂにおいて、運搬車両ウの操作指令信号出力を選択して、運搬車両ウを同様に待機させるように操作すれば良い。   Next, a usage example of the vehicle operating device according to the present invention will be described. For example, assuming a work site with one work machine and a plurality of transport vehicles (a, b, and c for convenience, but two or four or more may be used) In the management office, the operator A operates the operation means a, and the operator B operates the operation means b. The operator A selects the operation command signal output of the work machine in the operation means a, and transmits the signal output by the operation to the work machine via the communication means, thereby operating the work machine and Carry out the loading work. On the other hand, the operator B selects the operation command signal output of the transport vehicle a in the operation means b, and transmits the signal output by the operation to the transport vehicle i through the communication means, thereby causing the transport vehicle a to travel, Stop at the loading site and wait until the previous loading operation is complete. At this time, if the loading operation of the transport vehicle has not been completed, the operation means b may select the operation command signal output of the transport vehicle c and operate the transport vehicle to similarly wait.

そして、運搬車両アの積み込み作業が終わったら、オペレータＢは操作手段ｂにおいて、運搬車両アの操作指令信号出力を選択し、その操作による信号出力を通信手段を介して運搬車両アに送信することで、運搬車両アを走行させ、集積場所（あるいは荷下場所）に向かわせる。その後、集積場所で積み込み部を空にさせたら、運搬車両アをまた積み込み現場まで戻らせる。   When the loading operation of the transport vehicle is completed, the operator B selects the operation command signal output of the transport vehicle in the operation means b, and transmits the signal output by the operation to the transport vehicle via the communication means. Then, the transporter vehicle a is driven and directed to the accumulation place (or the unloading place). After that, when the loading section is emptied at the collection place, the transport vehicle is returned to the loading site.

一方、オペレータＡは、操作手段ａの操作により、作業機械を動作させて、待機している運搬車両イに対して積み込み作業を行わせる。このとき、運搬車両イを多少移動させる必要があれば（例えば、車両の向きを変える等）、適宜、操作手段ａにおいて、運搬車両イの操作指令信号出力に切り換えれば良い。以降、オペレータＡ及びＢが、それぞれの操作手段ａ，ｂにおいて順次同様の操作をすれば、Ａ，Ｂ２人のオペレータが３以上の作業機械と運搬車両を操作して、きわめて効率的に積み込み作業が行えることになる。   On the other hand, the operator A causes the work machine to operate by operating the operation means a to perform the loading operation on the transport vehicle a that is on standby. At this time, if it is necessary to move the transport vehicle a to some extent (for example, change the direction of the vehicle), the operation means a may be appropriately switched to the operation command signal output of the transport vehicle. Thereafter, if the operators A and B sequentially perform the same operation in the respective operation means a and b, the two operators A and B operate three or more work machines and the transport vehicle, so that the loading operation is extremely efficient. Can be done.

これら一連の操作において、オペレータＡ，Ｂの一方が誤って、他方が選択している操作指令信号出力に切り換えることもあり得るが、その際は、前記制御装置の切り換え遮断の制御が働くので、他方の操作に何の支障も生じない。   In these series of operations, one of the operators A and B may be mistakenly switched to the operation command signal output selected by the other, but in that case, since the control of switching off of the control device works, The other operation is not disturbed.

なお、以上の説明では、操作手段が２の場合の説明であったが、例えば積み込み動作をする作業機械が２以上ある場合は、その数に応じて操作手段も増加させれば良い。   In the above description, the operation means is 2. However, for example, when there are two or more work machines performing a loading operation, the operation means may be increased in accordance with the number.

以上説明したように、本発明に係る積込運搬作業現場の車両操作装置によれば、２人のオペレータでも、３台以上の車両を自在に選択して操作できることになり、オペレータを少なくとも３人を擁していた従来の作業現場と異なって、無駄な労力が格段に減少し、作業効率が格段に向上するものとなる。   As described above, according to the vehicle operating device at the loading and transport work site according to the present invention, even two operators can freely select and operate three or more vehicles, and at least three operators. Unlike conventional work sites that have had a problem, wasteful labor is significantly reduced, and work efficiency is greatly improved.

本発明の実施形態例を示した装置構成図である。1 is an apparatus configuration diagram illustrating an embodiment of the present invention. 図１におけるコントローラ内部の説明図である。It is explanatory drawing inside the controller in FIG. 本発明の実施形態例を用いた作業現場における操作状態の説明図である。It is explanatory drawing of the operation state in the work site using the embodiment of this invention.

本発明に係る具体的形態の一例を図面に基づき説明する。図１は、本発明を具現化した形態例に係る装置を示した構成図であり、この例では、１台のホイールローダ（積み込み作業の行える作業機械）と２台のダンプトラック（積み込み部を備えた運搬車両）を遠隔操作する操作装置となっている。図中、1は第１操縦器（操作手段）、2は第２操縦器（操作手段）、3は通信コントローラ（無線式通信手段を備えた制御装置）、8は本形態例において、本件装置とともに用いられるモニタを各示す。なお、以下に示す形態例はあくまで本発明の一例であって、それらに本発明が限定されないことは当然である。   An example of a specific form according to the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram showing an apparatus according to an embodiment embodying the present invention. In this example, one wheel loader (a work machine capable of loading work) and two dump trucks (loading portions are provided). It is an operating device for remotely operating a transport vehicle provided. In the figure, 1 is a first controller (operating means), 2 is a second controller (operating means), 3 is a communication controller (a control device provided with wireless communication means), and 8 is the present apparatus in this embodiment. Each monitor used is shown. In addition, the form example shown below is an example of this invention to the last, Comprising: Of course, this invention is not limited to them.

第１操縦器1及び第２操縦器2は、いずれも同様の構造であり、以下共通で説明する。両操縦器1,2は、それぞれ切換スイッチ10,20、操作レバー11,21、信号制御装置（図示なし）を備えている。切換スイッチ10,20は、本形態例では、操作対象が１台のホイールローダ4と２台のダンプトラック5,6なので、その３機種のいずれかの操作指令信号を出力するかを手動で選択できる機構となっている。操作レバー11,21は、前記切換スイッチ10,20によって選択された操作指令信号出力に対応して、操作モードがホイールローダかダンプトラックのいずれかのモードに切り換わる機構が備えられる。この操作モードの切換は、切換スイッチ10,20によって選択された操作指令信号出力に基づいて信号制御装置が指令を出して制御する。また、該信号制御装置は、操作レバー11,21が操作されることにより出力される信号を、切換スイッチ10,20によって選択された機種の操作指令信号として、次に説明する通信コントローラ3に出力する。なお、本形態例の装置は、２人のオペレータによって操作されることを前提としているので、操縦器1,2は２個の構成となっているが、例えば作業機械のホイールローダを２台以上利用するような形態であれば、それに応じて操縦器の数も増加させても良いことは当然である。   The first controller 1 and the second controller 2 have the same structure, and will be described below in common. Both pilots 1 and 2 are respectively provided with changeover switches 10 and 20, operation levers 11 and 21, and a signal control device (not shown). In this embodiment, the changeover switches 10 and 20 are one wheel loader 4 and two dump trucks 5 and 6, and therefore manually select whether to output one of the three operation command signals. It is a mechanism that can. The operation levers 11 and 21 are provided with a mechanism for switching the operation mode to either the wheel loader or the dump truck in response to the operation command signal output selected by the changeover switches 10 and 20. The switching of the operation mode is controlled by the signal control device issuing a command based on the operation command signal output selected by the selector switches 10 and 20. In addition, the signal control device outputs a signal output by operating the operation levers 11 and 21 as an operation command signal for the model selected by the changeover switches 10 and 20 to the communication controller 3 described below. To do. Since the device of this embodiment is premised on being operated by two operators, the controllers 1 and 2 have two configurations. For example, two or more wheel loaders for a work machine are provided. Of course, as long as it is used, the number of pilots may be increased accordingly.

通信コントローラ3は、図２に示すように、前記両操縦器1,2から出力された操作指令信号を受ける各入力部30,31と、各入力部30,31で受けた操作指令信号を制御する制御部32と、該制御部32から出力される操作指令信号を送信する通信部33とから構成される。該通信部33は、操作対象の車両毎に送信部34〜36が設けられて、それぞれ個別の周波数が設定されるとともに、アンテナ37〜39が配置され、出力された操作指令信号を無線で対象の各車両に送信する。制御部32は、通常は各入力部30,31で受けた操作指令信号をその指令対象の個別の送信部34〜36に対してそのまま出力して送信させる制御を行うが、いずれか一方の入力部30,31で既に受けてその個別の送信部34〜36に出力している操作指令信号と同一の信号を他の入力部30,31で受けた場合、その信号を無視する制御を行う。ただし、前記操縦器1,2の切換スイッチ10,20の切り換えにより一方の入力部30,31の操作指令信号が他の車両に切り換わった場合は、その時点で信号出力を無視する制御が解除される。この制御により、いずれかの操縦器1,2で先に選択されている操作指令信号出力については、他の操縦器1,2でそれに切り換えても、その出力信号は遮断されることになる。   As shown in FIG. 2, the communication controller 3 controls the input units 30 and 31 that receive the operation command signals output from the pilots 1 and 2, and the operation command signals received by the input units 30 and 31. And a communication unit 33 that transmits an operation command signal output from the control unit 32. The communication unit 33 is provided with transmission units 34 to 36 for each vehicle to be operated, each of which is set with an individual frequency, and antennas 37 to 39 are arranged, and the output operation command signal is wirelessly targeted. To each vehicle. The control unit 32 normally performs control to output and transmit the operation command signal received at each input unit 30 and 31 as it is to the individual transmission units 34 to 36 of the command target. When the other input units 30 and 31 receive the same signal as the operation command signal already received by the units 30 and 31 and output to the individual transmission units 34 to 36, control is performed to ignore the signals. However, if the operation command signal of one input section 30, 31 is switched to another vehicle by switching the selector switches 10, 20 of the controllers 1, 2, the control to ignore the signal output at that time is released Is done. With this control, even if the operation command signal output previously selected by one of the pilots 1 and 2 is switched to that by another pilot 1 or 2, the output signal is cut off.

また、各操縦器1，2には、モニタ8がそれぞれ配置される。モニタ8には、後述する車両周囲に設置されたカメラで撮像された映像が無線により配信される。したがって、オペレータは、モニタ8に映し出された画像を見ながら、各操縦器1,2を操作する。   Further, a monitor 8 is disposed on each of the controllers 1 and 2. On the monitor 8, video captured by a camera installed around the vehicle, which will be described later, is distributed wirelessly. Therefore, the operator operates each of the controllers 1 and 2 while viewing the image displayed on the monitor 8.

以上の車両操作装置による具体的操作の状態を図３を用いて説明する。この例は、採石現場において、１台のホイールローダ4と、２台のダンプトラック（第１ダンプトラック5、第２ダンプトラック6）が操作される例である。各車両4〜6には、それぞれ遠隔操作に対応できる通信機器及びその制御機器が備えられるとともに、車両周辺を確認するために各車両周囲にカメラが設置されて、それぞれの車両周囲の映像がモニタ8に配信される。一方、本形態例の車両操作装置は、作業現場にある管理事務所に配置され、そこで２人のオペレータＸ，Ｙが、各車両4〜6から配信され、モニタ8に映し出された映像をもとに、それぞれ第１操縦器1と第２操縦器2を選択して操作している。   The state of the specific operation by the above vehicle operating device will be described with reference to FIG. In this example, one wheel loader 4 and two dump trucks (first dump truck 5 and second dump truck 6) are operated at a quarry site. Each vehicle 4-6 is equipped with a communication device and its control device that can handle remote operation, and a camera is installed around each vehicle to monitor the surroundings of the vehicles, and images around each vehicle are monitored. Delivered to 8. On the other hand, the vehicle operating device according to the present embodiment is arranged in a management office at a work site, where two operators X and Y are distributed from the vehicles 4 to 6 and display images displayed on the monitor 8. In addition, the first controller 1 and the second controller 2 are selected and operated, respectively.

まず図示の状態であるが、オペレータＸは、第１操縦器1を選択しており、まずその切換スイッチ10でホイールローダ4の指令信号出力を選択している。そして、その操作レバー11を操作することにより、通信コントローラ3の送信部34から操作指令信号を送信させて、積み込みエリア（ア）に停車する第１ダンプトラック5への積み込み操作を行っている。このとき、第１ダンプトラック5の位置を調整する必要があれば、切換スイッチ10で第１ダンプトラック5の指令信号出力を選択して同様の操作を行う。一方、オペレータＹは、第２操縦器2を選択しており、その切換スイッチ20において、既に積み込みが完了している第２ダンプトラック6の操作指令信号出力を選択して、操作レバー21を操作することにより、通信コントローラ3の送信部36から操作指令信号を送信させて、第２ダンプトラック6を荷下場所である立坑7まで走行させた後、荷台（積み込み部）を上げさせ、立坑7に採石を落とし込んでいる。   First, in the state shown in the figure, the operator X has selected the first controller 1 and first selected the command signal output of the wheel loader 4 with the changeover switch 10. Then, by operating the operation lever 11, an operation command signal is transmitted from the transmission unit 34 of the communication controller 3, and the loading operation to the first dump truck 5 stopping in the loading area (a) is performed. At this time, if it is necessary to adjust the position of the first dump truck 5, the changeover switch 10 selects the command signal output of the first dump truck 5 and performs the same operation. On the other hand, the operator Y has selected the second controller 2, and selects the operation command signal output of the second dump truck 6 that has already been loaded with the changeover switch 20 and operates the operation lever 21. As a result, an operation command signal is transmitted from the transmission unit 36 of the communication controller 3 and the second dump truck 6 is traveled to the shaft 7 as the unloading location, and then the loading platform (loading unit) is raised, The quarry is dropped.

この後、オペレータＸは、第１ダンプトラック5への積み込みを完了させたら、第１操縦器1の切換スイッチ10で第１ダンプトラック5の操作指令信号出力を選択して、第１ダンプトラック5を操作して走行エリア（イ）の停車位置まで移動させる。一方、オペレータＹは、第２操縦器2を操作して、荷台が空となった第２ダンプトラック6を走行させて走行エリア（イ）の停車位置まで移動させる。両ダンプトラック5,6が停車位置で停車したら、オペレータＸは、第１操縦器1の切換スイッチ10を第２ダンプトラック6の操作指令信号出力に切り換え、一方オペレータＹは、第２操縦器2の切換スイッチ20を第１ダンプトラック5の操作指令信号出力に切り換える。両操縦器1,2の切り換えが操作が完了すると、通信コントローラ3の制御部32は、切り換え通りの操作指令信号出力を各送信部35,36より送信させることになり、両操縦器1,2からの操作が可能となる。その後、オペレータＸは、第２ダンプトラック6を積み込みエリア（ア）まで移動させたら、第１操縦器1の切換スイッチ10でホイールローダ4の操作指令信号出力に切り換え、再度、積み込み操作を行う。一方、オペレータＹも、第１ダンプトラック5を立て坑7まで走行させ、立坑7に採石を落とし込む操作を行う。   After that, when the loading to the first dump truck 5 is completed, the operator X selects the operation command signal output of the first dump truck 5 with the change-over switch 10 of the first controller 1, and the first dump truck 5 To move to the stop position in the travel area (A). On the other hand, the operator Y operates the second controller 2 to travel the second dump truck 6 with an empty loading platform to the stop position in the travel area (A). When both dump trucks 5 and 6 stop at the stop position, the operator X switches the changeover switch 10 of the first pilot 1 to the operation command signal output of the second dump truck 6, while the operator Y is the second pilot 2 The changeover switch 20 is switched to the operation command signal output of the first dump truck 5. When the operation of switching between the pilots 1 and 2 is completed, the control unit 32 of the communication controller 3 transmits the operation command signal output according to the switching from each of the transmission units 35 and 36. Operation from is possible. After that, when the operator X moves the second dump truck 6 to the loading area (A), the operator X switches to the operation command signal output of the wheel loader 4 with the changeover switch 10 of the first controller 1, and performs the loading operation again. On the other hand, the operator Y also moves the first dump truck 5 to the shaft 7 and performs an operation of dropping quarry into the shaft 7.

このように、本形態例の車両操作装置を用いれば、３台の車両4,5,6を操作して採石作業を行うのに、２人のオペレータで足り、仮にいずれかの車両4,5,6の到達等を待つ時間が生じても、２人が同時に待機するといった非効率な時間はまったく生じない。それゆえ、人的労力の低減と作業の効率化が達成できる。また、いずれかのオペレータが、他のオペレータが既に選択して操作している車両に過誤等で切り換えても、通信コントローラ3の制御部32の制御によって、その切り換えた信号出力を遮断するので、混信による誤操作が有効に防止されるものとなる。   As described above, when the vehicle operating device of this embodiment is used, two operators are sufficient to operate the three vehicles 4, 5 and 6 to perform the quarrying work, and tentatively, any of the vehicles 4, 5 , 6, etc., there will be no inefficient time for two people to wait at the same time. Therefore, it is possible to reduce human labor and increase work efficiency. In addition, even if any operator switches to a vehicle that has already been selected and operated by another operator due to an error or the like, the control of the control unit 32 of the communication controller 3 cuts off the switched signal output. An erroneous operation due to interference is effectively prevented.

なお、本発明が以上の形態に限定されないことは上述したとおりであり、特許請求の範囲の構成を満足させる形態であれば、上記形態を適宜変更しても当然にその技術的範囲に属するものである。   It is to be noted that the present invention is not limited to the above-described form as described above, and any form that satisfies the configuration of the scope of the claims naturally belongs to the technical scope even if the form is appropriately changed. It is.

この発明は、例えば鉱山の採石作業現場のような積込運搬作業を要する現場において稼働する複数の車両を操作する場合に適用可能である。   The present invention is applicable to a case where a plurality of vehicles operating at a site requiring loading and carrying work such as a mine quarrying work site are operated.

1 第１操縦器（操作手段）
2 第２操縦器（操作手段）
3 通信コントローラ（無線式通信手段及び制御装置）
4 ホイールローダ（作業機械）
5 第１ダンプトラック（運搬車両）
6 第２ダンプトラック（運搬車両）
10、20 切換スイッチ（切り換え機構） 1 First control (operating means)
2 Second controller (operating means)
3 Communication controller (wireless communication means and control device)
4 Wheel loader (work machine)
5 First dump truck (transportation vehicle)
6 Second dump truck (transportation vehicle)
10, 20 selector switch (switching mechanism)

Claims (1)

積み込み作業の行える１以上の無線操縦式作業機械と、積み込み部を備えた複数の無線操縦式運搬車両とに、それぞれ操作指令信号を送信する無線式通信手段と、
それぞれが切り換え機構を備え、その切り換えにより、無線操縦が可能となっている作業機械及び運搬車両のうちのいずれかの操作指令信号を選択して出力することが可能な複数の操作手段と、
複数の操作手段のうち一の操作手段が選択した操作指令信号出力については、他の操作手段がその操作指令信号出力に切り換えても、その切り換えを遮断させる制御を行う制御装置と、を備えたことを特徴とする積込運搬作業現場の車両操作装置。 Wireless communication means for transmitting an operation command signal to one or more wirelessly controlled work machines capable of performing a loading operation and a plurality of wirelessly controlled transport vehicles having a loading unit;
A plurality of operation means each including a switching mechanism and capable of selecting and outputting an operation command signal of any one of the work machine and the transporting vehicle that can be wirelessly controlled by the switching;
For the operation command signal output selected by one of the plurality of operation means, a control device is provided that performs control to block the switching even when the other operation means switches to the operation command signal output. A vehicle operating device at a loading and transporting work site.
JP2009151345A 2009-06-25 2009-06-25 Vehicle operation apparatus for site of loading and transporting work Pending JP2011010028A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017163253A (en) * 2016-03-08 2017-09-14 トヨタ自動車株式会社 Remote operation system

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JPH0851673A (en) * 1994-08-09 1996-02-20 Fujita Corp Remote control method for work vehicle
JPH09200872A (en) * 1996-01-24 1997-07-31 Toshiba Corp Plant monitor and control equipment
JP2000197164A (en) * 1998-12-28 2000-07-14 Nec Corp Remote control system using remote control unit

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0851673A (en) * 1994-08-09 1996-02-20 Fujita Corp Remote control method for work vehicle
JPH09200872A (en) * 1996-01-24 1997-07-31 Toshiba Corp Plant monitor and control equipment
JP2000197164A (en) * 1998-12-28 2000-07-14 Nec Corp Remote control system using remote control unit

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017163253A (en) * 2016-03-08 2017-09-14 トヨタ自動車株式会社 Remote operation system

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