JPH04344506A - Obstacle recognizing and transmitting device for operating vehicle - Google Patents

Abstract

PURPOSE:To automatically execute an avoiding action such as the stop of the operating vehicle or the lift-up of the device, etc., by applying the information of a distance from a specified point marker to a point, where an obstacle or danger is forecasted, on a road to the operating vehicle when point information transmitted from the point marker is transmitted to the transmission/ reception part of the operating vehicle. CONSTITUTION:When the point information transmitted from a transmission/ reception part 6 of a point marker 3 is transmitted to a transmission/reception part 19 of a rotor snow remover 4, the information of the distance from the point marker 3 specified by a microcomputer 18 to the obstacle on the road is reproted through a dangerous state transmitting means 33 to the operator of the rotary snow remover 4. According to this information, the operator can execute the required anvoiding action such as the stop of the snow remover 4 or the lift-up of the device, etc., before the obstacle. Therefore, the operator can be concentrated in the original work, and the damage accident of the vehicle caused by the carelessness of the operator can be prevented beforehand.

Description

[Detailed description of the invention]

0001

[Industrial Field of Application] The present invention provides a work vehicle, such as a rotary snowplow, which is traveling on a road, with information on possible obstacles or danger points on the road, in advance of the operator or the work vehicle. This invention relates to a work vehicle obstacle recognition transmission device that conveys information to workers.

0002

2. Description of the Related Art Generally, as shown in FIG. 14, a rotary snowplow 101 includes a vehicle 102 and a snow removal device 103 attached to the front of the vehicle 102. This snow removal device 103 includes a snow removal frame 104 and a snow removal frame 104.
The plow 105 is attached to the snow removal frame 104, and the auger 106 is attached to the snow removal frame 104.
is used freely in the vertical direction, and moves up and down following the height of the road R. In addition, 107 is the snow removal frame 104
It is a sled attached to the bottom of the.

0003

However, as shown in FIG. 15, for example, when a manhole cover M is installed in the middle of a road R on which a rotary snowplow 101 travels,
If part or all of the manhole cover M is partially exposed due to damage or the like on the road R, there is a risk that the cutting edge 105A of the plow 105 may be deformed or damaged.

Further, as shown in FIG. 16, when a step R1 is formed on the road R, the plow 1
There is a risk that the cutting edge 105A of 05 may be deformed or damaged. Furthermore, as shown in FIGS. 17 and 18, the plow 105
There is a risk of deforming or damaging the cutting edge 105A.

[0005] As described above, as an accident during operation of the rotary snowplow 101, the manhole cover M and the stepped portion R1 of the road R
, the plow 105 is attached to the finger joint H1 of the bridge H, etc.
The cutting edges 105A collide with each other, leading to a decrease in snow removal efficiency or deterioration of the finished snow removal surface, and there is also a risk that an accident may occur in which the cutting edges 105A are deformed or damaged.

[0006] This is because obstacles such as manhole covers M are buried in the snow, making them difficult to see, and there is currently no effective means of detecting them in advance. This makes snow removal work difficult. Also,
As shown in FIG. 19, a large number of snow removal signs G are consecutively installed on the shoulder of a road R, and normally the rotary snowplow 101 tries to drive and remove snow as close to the road shoulder as possible. In cases where snow has already accumulated on the side of the road R, the sign G may be difficult to see, or the sign G buried in snow cannot be seen, making it difficult to confirm the road shoulder. Further, if the rotary snowplow 101 approaches the shoulder of the road too closely due to snow removal work or oncoming vehicles, there is a risk that the rotary snowplow vehicle 101 will miss the shoulder of the road R.

The present invention has been made to solve the above-mentioned problems, and its purpose is to prevent obstacles or danger from occurring on the road when a work vehicle such as a snowplow performs a predetermined task. An object of the present invention is to provide a work vehicle obstacle recognition and transmission device that can detect in advance a point where an obstacle exists and can automatically output information to an operator or a work vehicle about the presence of an obstacle.

[0008]

[Means for solving the problem] The invention according to claim 1 includes:
A point marker is installed on the side of the road where a work vehicle travels, in a position close to an obstacle or danger point on the road, and the point marker stores point information specific to the installation location of the point marker. A transmitting/receiving unit that wirelessly receives a call signal from the work vehicle and wirelessly transmits a signal of point information specific to the installation location of the point marker from the storage medium to the work vehicle. The vehicle includes a transmitting/receiving unit that wirelessly transmits a calling signal to the point marker and wirelessly receives a signal of unique point information from the point marker, and a transmitting/receiving section that wirelessly transmits a calling signal to the point marker and wirelessly receives a signal of unique point information from the point marker, and A storage medium that stores the distance to a point where an obstacle or danger is expected, and a signal from the point marker that is received by the transmitter/receiver unit to each location stored in the storage medium. A point marker determining means for identifying a point marker passed by the work vehicle by comparing it with point information of the point marker, and a point where an obstacle or danger on the road is expected from the point marker identified by the point marker determining means. The present invention is characterized in that it is provided with means for transmitting a dangerous situation to the operator or the work vehicle.

[0009] The invention as claimed in claim 2 provides a method for installing one point marker on the side of a road on which a work vehicle travels, close to a plurality of obstacles on the road or a plurality of points where danger is expected. , the storage medium of the work vehicle stores a plurality of distances from the point marker to points where obstacles or danger are expected on the road, corresponding to point information specific to the installation location of the point marker. Features.

[0010] The invention according to claim 3 provides a moving distance measuring device that measures the distance traveled by the working vehicle from the time when the transmitting/receiving section of the working vehicle receives the signal from the point marker; The actual distance traveled by the work vehicle is compared with the stored distance from the point marker stored in the storage medium of the work vehicle to the point where an obstacle or danger is expected on the road. The present invention is characterized in that it has an obstacle passage determining means that determines that the work vehicle has passed the obstacle when the actual distance is equal to or greater than the stored distance.

[0011]

[Operation] In the present invention, when the call signal transmitted from the work vehicle is received by the transmitter/receiver of the point marker, the transmitter/receiver of the point marker transmits the point information specific to the location of the point marker to the work vehicle. sent to. When the transmitting/receiving section of the work vehicle receives the signal, the point marker determining means transmits the unique point information signal of the point marker from the point marker received by the transmitting/receiving section to each point stored in the storage medium. The point marker through which the work vehicle has passed is identified by comparing it with the point information of the marker.

[0012]The dangerous state transmitting means transmits information on the distance from the point marker specified by the point marker determining means to the point where an obstacle or danger is expected on the road to the operator or the work vehicle.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An obstacle recognition and transmission system for a work vehicle according to an embodiment of the present invention will be explained below with reference to FIGS. 1 to 13. Obstacles on the road on which the rotary snowplow travels include manhole covers, road steps, finger joints on bridges, etc. FIGS. 1 and 2 show examples of finger joints on bridges.

In FIGS. 1 and 2, 1 is a bridge, and this bridge 1
A vehicle travel road 1B and sidewalks 1C, 1C located on both sides of the vehicle travel road 1B are laid on the pier 1A. An obstacle consisting of a finger joint portion 1D is formed on the vehicle travel road 1B, and crosses the road 1B.
In addition, on the left sidewalk 1C, a point marker 3 pointing toward the center of the road is placed on the top of the support post 2 at the finger joint 1D.
installed at a predetermined distance from the 4 is a rotary snowplow, which is shown traveling on the left side of the road 1B where snow has accumulated.

The above point marker 3 is located at the rotary snowplow 4
receiving transmission information having a common call code from;
This is a transmitting/receiving device that sends transmission information consisting of a point code unique to the location to the rotary snowplow 4, and its configuration will be explained in detail below. In FIG. 5, the point marker 3 includes a microcomputer 5, a transmitting/receiving section 6 having an antenna 7,
It is composed of a power supply section 8. The microcomputer 5 described above is composed of a CPU 9, a ROM 10, and a RAM 11.

[0016] The CPU 9 performs analysis error detection on the received data using a control program stored in the ROM 10.
When the common call code from the rotary snowplow 4 is confirmed, the transmission information (point code) stored in the ROM 10 is transferred to the transmitter/receiver 6, and the transmitter/receiver 6 transmits this transmission information to the rotary snowplow. Send to 4. This transmission is repeated N times.

Specifically, while the point marker 3 is receiving the common call code from the rotary snowplow 4 side, or for a certain period of time after the common call code from the rotary snowplow 4 is no longer received, the point marker 3 is The information continues to be sent to the rotary snowplow 4. The ROM 10 stores (1) a common call code from the rotary snowplow 4, (2) transmission information,
(3) A control program for the CPU 9 of the microcomputer 5 to perform control is stored. The common call code (1) is a common call code for all point markers 3. When point marker 3 receives this code,
Send your own transmission information to the transmitting/receiving section 6 for the first time. As a result, even if a vehicle other than the rotary snowplow 4 that transmits the same carrier frequency passes near the point marker 3, the point marker 3 will not operate, causing unnecessary damage to vehicles other than the intended rotary snowplow 4. The transmission of radio waves is prevented. In other words, even if another vehicle traveling back and forth transmits the same frequency as the carrier frequency transmitted by the rotary snowplow 4, the point marker 3 will not respond just by receiving the carrier frequency, so the location marker 3 will not respond. There is no need to repeatedly repeat the response and transmit interference radio waves when passing.

The transmission information (2) includes an information section consisting of a point code unique to the location of the point marker 3, a frame check sequence consisting of an error detection code generated by a specific operation sequence depending on the contents of the information section, and An encoded coded signal consisting of the above information part, a pair of flag sequences added before and after the frame check sequence, and consisting of a pattern signal that indicates the start and end of the transmitted data and synchronizes the receiving side necessary for serial transmission. It is a digital code. Note that one point code is arbitrarily assigned to one point marker 3, and there is no duplication.

[0019]The transmitting/receiving unit 6 of the point marker 3
A modulation/demodulation section 6A that performs frequency modulation of a transmission signal and frequency demodulation of a reception signal by SK modulation (frequency shift keying), and an oscillation section 6 that supplies a transmission carrier wave to the modulation/demodulation section 6A.
B, the bus 5A of the microcomputer 5, and the modem unit 6
A serial/parallel converter 6C is placed between the bus 5A of the microcomputer 5 and the modulation/demodulator 6A to serialize the received data made of serial signals, and a serial/parallel converter 6C is placed between the bus 5A of the microcomputer 5 and the modulation/demodulation section 6A to serialize the sent data made of parallel signals. Parallel/serial converter 6D and modulation/demodulation section 6
A transmitting amplifier 6E connected to A, a receiving amplifier 6F connected to the modulation/demodulation section 6A, and a transmitting amplifier 6E
a first bandpass filter 6G that is connected in series to pass only the carrier frequency band for transmission, and an amplifier 6 for reception.
A second band-pass filter 6H is connected in series to F and passes only the carrier frequency band for reception, and is connected to the first band-pass filter 6G and second band-pass filter 6H to mix the transmitted wave and the received wave and form an antenna. The hybrid transformer 6J performs impedance matching with the antenna 7, and the antenna 7 is connected to the hybrid transformer 6J.

The power supply section 8 includes a secondary battery 8A that is configured to save power and operates for a certain period of time without supplying power.
It consists of a stabilized power supply 8B supplied with power from the outside, and a charging circuit 8C connected to the stabilized power supply 8B to charge the secondary battery 8A. Normally, the stabilized power supply 8B is recharged by the charging circuit 8C. It is used while charging the next battery 8A, but depending on the installation location of the point marker 3, an external power source such as a street light 8
When battery B cannot be used, secondary battery 8A is used.

Next, the structure of the rotary snowplow 4 will be explained with reference to FIGS. 3, 4, and 6. The rotary snowplow 4 transmits transmission information consisting of a common call code to the point marker 3, receives transmission information consisting of a point code unique to that place from the point marker 3, and responds to the operator's warning based on the transmission information. performs predetermined danger avoidance actions.

In FIG. 3, the rotary snowplow 4 includes a vehicle 12 and a snowplow device 13 attached to the front of the vehicle 12 and raised and lowered by a lifting cylinder 13A. This snow removal device 13 includes a snow removal frame 14 and a snow removal frame 1.
4 and an auger 16 attached to the snow removal frame 14. Usually, the snow removal frame 14 is used in a free state in the vertical direction, and moves up and down following the height of the road R. do. Note that 17 is a sled attached to the lower part of the snow removal frame 14.

In FIGS. 4 and 6, the vehicle 12 has a hydraulic pump 12A operated by an engine and a hydraulic motor 12B driven by the hydraulic pump 12A, and the drive wheel 12C is rotated by the driving force of the hydraulic motor 12B. It is supposed to be done. Further, the rotary snowplow 4 includes a microcomputer 18 and a transmitting/receiving section 19 having an antenna 20. The microcomputer 18 includes a snow removal device elevation control circuit 21, a hydraulic pump inclined plate control device 22,
The display control unit 23, the speech synthesizer 24, the moving distance measuring device 25, and the I. C. A card interface unit 26 is connected thereto.

The above microcomputer 18 is a CP
It is composed of U30, ROM31, and RAM32. The CPU 30 analyzes the received data (error detection) using the control program stored in the ROM 31,
Transmission information such as a common call code stored in the ROM 31 is sent to the transmitting/receiving section 19 and transmitted to the point marker 3. This transmission is constantly repeated. Further, the CPU 30 includes a point marker determining means 30A and an obstacle passage determining means 30B. This point marker determination means 30A receives the signal of point information specific to the point marker 3 from the point marker 3 received by the transmitting/receiving section 19 through I. C. The point marker 3 through which the rotary snowplow 4 has passed is specified by comparing the point information of each point marker 3 stored in the card 26A.

The obstacle passage determining means 30B also calculates the actual distance traveled by the rotary snowplow 4 measured by the travel distance measuring device 25 and the I.I. C. Comparing the stored distance from the point marker 3 stored in the card 26A to the obstacle on the road, it is determined that the rotary snowplow 4 has passed the obstacle when the actual distance is greater than the stored distance. They are supposed to judge.

The ROM 31 stores (1) transmission information consisting of one type of common call code for calling all point markers 3, and (2) the following control program. The transmission information in (1) is configured in the same way as the transmission information at the point marker 3, and is a code consisting of an information part consisting of a common call code specified in one type, a frame inspection sequence, and a pair of flag sequences. It is a converted digital code.

The control programs stored in the ROM 31 include a management program for the entire device, a mileage calculation program, and an I. C. card interface program,
It consists of a display device control program and a speech synthesizer control program. The transmitting/receiving unit 19 of the rotary snowplow 4 wirelessly transmits a calling signal to the point marker 3 and also wirelessly receives a signal of unique point information (transmission information) from the point marker 3, and uses FSK modulation (frequency shift). A modulation/demodulation section 19A that performs frequency modulation of a transmission signal and frequency demodulation of a reception signal by (keying); an oscillation section 19B that supplies a transmission carrier wave to the modulation/demodulation section 19A; A serial/parallel converter 19C that parallelizes received data consisting of serial signals; and a parallel/serial converter placed between the bus 18A of the microcomputer 18 and the modulation/demodulation section 19A that serializes transmitted data consisting of parallel signals. 19D, a transmission amplifier 19E connected to the modulation/demodulation section 19A, a reception amplifier 19F connected to the modulation/demodulation section 19A, and a transmission amplifier 19E connected in series to transmit only the carrier frequency band for transmission. A first band-pass filter 19G that passes through the band-pass filter 19G, a second band-pass filter 19H that is connected in series to the receiving amplifier 19F and that passes only the receiving carrier frequency band, the first band-pass filter 19G, and the second band-pass filter 19G. The hybrid transformer 19J is connected to a filter 19H and mixes transmitted and received waves to perform impedance matching with an antenna 20, and an antenna 20 is connected to the hybrid transformer 19J.

The snow removal device elevation control circuit 21 is controlled by an operating lever 21A, and a solenoid valve 21 is connected thereto.
The lifting cylinder 13A is connected via B. The hydraulic pump inclined plate control device 22 described above is connected to the hydraulic pump 12A via an electric/hydraulic servo valve 22A. The display control unit 23 has a built-in image memory, and the I. C. Display data is written by the CPU 30 according to display information registered in the storage medium consisting of the card 26A, and furthermore, this display data is written to the display device 2.
3 is displayed graphically.

Further, the above-mentioned speech synthesis device 24 has an I. C
．． When voice data such as warnings or messages registered in the card 26A are written into a buffer by the CPU 30, they are sequentially read out and audio is outputted via the speaker 24A. Then, the display control section 23,
The display device 23A, the voice synthesizer 24, and the speaker 24A constitute a dangerous state communication means 33. That is, this dangerous state transmitting means 33 is for communicating the distance from the point marker 3 specified by the point marker determining means 30A to an obstacle on the road to the operator as a dangerous state.

The above I. C. The card interface unit 26 includes an I. C. The interface with the card 26A is performed, and the I. C. The microcomputer 18 reads the registered data of the card 26A and writes the time when the rotary snowplow 4 passes the point marker 3. As shown in FIG. C. The storage medium consisting of the card 26A stores information such as the point code of the point marker 3, the number of obstacles, the type of obstacle, and the information from the point marker 3 to obstacles on the road, corresponding to point information specific to the installation location of the point marker 3. The distance and warning details are written in advance as registered data. In addition, in the figure, "M" written in the item of obstacle type indicates a manhole cover, "D" indicates a road step,
"F" indicates a bridge finger joint, and the time written in the passage time item is determined by the I.I. C. Written to card 26A.

To explain FIG. 7, for example, at point B, the point code of point marker 3 corresponds to "0002" that specifies point B, and the number of obstacles is 3. Manhole covers M1, M2, and M3 are installed in succession. In the case of the first manhole cover M1, the distance from the point marker 3 to the obstacle is 3 m. There is a display device and a speaker as a warning device for the operator. For example, the screen shown in Figure 8 is displayed on the display device 23A, and the speaker 24A also sends out a message saying ``There is a manhole cover M1 3 meters ahead. Please raise the snow removal device.'' .”
is uttered. Note that these data can be arbitrarily rewritten by the user from another device as needed, and the I. C. The point code and time of passage of the card 26A can be used to manage work routes and daily work reports.

The moving distance measuring device 25 is connected to the rotary snowplow 4.
It measures the distance traveled by the rotary snowplow 4 from the time when the transmitter/receiver 19 receives the signal from the point marker 3.
Mileage pulse generator 2 provided on drive wheel 12C
It is configured to include a distance pulse counting section that sequentially counts pulses from 5A. Note that the mileage pulse generator 2
5A, the rotation of the drive wheel 12C causes the rotation shaft of the pulse generator to rotate, and N specified electric pulses are output per rotation.

Reference numeral 27 denotes a power supply section, which is composed of a stabilized power supply device that supplies power to the entire device. 28 is a clock,
It is backed up by a battery 29 and supplies the date to the CPU 30 of the microcomputer 18. Next, the operation of this embodiment will be explained with reference to FIGS. 9 to 11. As shown in FIG. 4, the rotary snowplow 4 traveling on the road is constantly transmitting transmission information such as a common call code from the transmitting/receiving section 19 through the antenna 20. This transmission information is carried on electromagnetic waves as two different frequencies corresponding to "0" and "1" of the digital signal. (Step S6 in FIG. 10). These two frequencies are obtained by adding and subtracting the modulation frequency fm from the transmission fundamental carrier frequency f1, one of which is (f1+fm) and the other one is (f1+fm).
One is (f1-fm).

These two frequencies are generated in the transmitter/receiver section 19 of FIG. 6 as follows. First, oscillation section 1
The transmission fundamental carrier frequency f1 transmitted from the transmitter 9B is sent to the modulator/demodulator 19A. On the other hand, transmission information stored in the ROM 31 from the microcomputer 18 (encoded digital code consisting of an information section consisting of a common call code specified in one type, a frame check sequence, and a pair of flag sequences) is transmitted as a digital signal. The signal is sent to the modulation/demodulation section 19A via the parallel/serial converter 19D. In the modulation/demodulation section 19A, the digital codes 0 and 1 are converted into two frequencies (f1+fm) and (f1-fm) based on the transmission basic carrier frequency f1 by FSK modulation.
is generated and converted into , is amplified by the amplifier 19E, and furthermore,
These two frequencies are filtered by the first bandpass filter 19G.
After passing through and removing unnecessary frequencies, it becomes an electromagnetic wave via a hybrid transformer 19J and is sent to an antenna 20.
sent to.

Then, as shown in FIG. 9, point marker 3
When receiving transmission information such as a common call code from the rotary snowplow 4 (step S1), the process proceeds to step S2, where a frame inspection sequence is generated, and whether or not the frame is correct is inspected according to a predetermined procedure (step S1). S3
), if there is no transmission error, the process advances to step S4, where a series of transmission information transmission processing is performed.

As shown in FIG. 4, in this series of transmission information transmission processing, transmission information such as the point code of the point marker 3 is transmitted from the transmitting/receiving section 6 of the point marker 3 to the rotary snowplow 4 running through the antenna 7. be done. This transmission information is carried on electromagnetic waves as two different frequencies corresponding to "0" and "1" of the digital signal. Further, as described above, this transmission information is an encoded digital code consisting of an information section consisting of a point code unique to the location of the point marker 3, a frame check sequence, and a pair of flag sequences. . Electromagnetic waves of two different frequencies are generated by the transmitter/receiver 6 in the same manner as the transmitter/receiver 19 of the rotary snowplow 4, and these two frequencies are
It is obtained by adding and subtracting the modulation frequency fm from the transmission fundamental carrier frequency f2, and one of the frequencies is (
f2+fm), and the other one is (f2-fm). This transmission is repeated N times, and when its completion is confirmed in step S5, the process returns to step S1.

On the other hand, on the rotary snowplow 4 side, upon receiving the transmission information from the point marker 3 in step S7 of FIG. 10, the process proceeds to step S8, where a frame inspection sequence is generated and the frame is checked to see if it is correct according to a predetermined procedure. If there is no transmission error, it is checked (step S9), and if there is no transmission error, the process advances to step S10, where the point code is verified, and the CPU 30 of the microcomputer 18 further uses the location-specific information of the point marker 3 transmitted in step 11. It is determined whether or not there is a location code. If it is determined that there is a point code, the process advances to step S12, and the I. C. Data registered on the card 26A is read out.

Next, the process proceeds to step S13, where a signal indicating that a point code exists is transmitted to the travel distance measuring device 25, and the distance count is reset to zero. Then, the process advances to step S14, and the time when the point marker 3 passes is set to I. C.
Written onto card 26A. Furthermore, step S1
When proceeding to step 5, warnings, messages, and distance will be displayed on the display device 23A.
will be displayed. Proceeding to step S16, the warning, message, and distance are sent to the speaker 24A via the voice synthesizer 24.
is output from.

Based on this information, as shown in FIGS. 4 and 12, the operator decelerates and stops the rotary snowplow 4 via, for example, the hydraulic pump inclined plate control device 22, and then operates the operating lever 21A. Then, the snow removal device elevation control circuit 21 is activated to raise the snow removal device 13. Next, the process proceeds to step S17, where the point marker 3 of the rotary snowplow 4 is
The relative distance from is calculated. This is done by the travel distance measuring device 25 using its distance pulse counting section to sequentially count pulses from the travel distance pulse generator 25A corresponding to the rotation of the driving wheel 12C.

In step S18, the obstacle passage determining means 30B determines whether the rotary snowplow 4 has passed an obstacle based on the distance traveled by the rotary snowplow 4 from the point marker 3 and the I. C. Comparing the distance between the point marker 3 and the obstacle stored in the card 26A, the distance traveled is determined by I.
C. When the distance is equal to or greater than the distance stored in the card 26A, it is determined that the rotary snowplow 4 has passed the obstacle.

[0041] When the rotary snowplow 4 has not passed an obstacle, the process returns to step S15, and the above-mentioned warning etc. are continued to be given to the operator. When it passes, the above-mentioned warning etc. are stopped (step S19), and the output of the sound is also stopped (
Step S20), and return to step S6. In this way, after the rotary snowplow 4 passes the obstacle, it returns to its normal running state.

According to the above configuration, the point information transmitted from the transmitting/receiving section 6 of the point marker 3 is transmitted to the rotary snowplow 4.
When the information is transmitted to the transmitting/receiving unit 19, the point marker determining means 3
Information on the distance from the point marker 3 specified by 0A to the obstacle on the road is notified to the operator of the rotary snowplow 4 via the dangerous state transmission means 33, and the operator uses this information to Necessary avoidance actions such as stopping the rotary snowplow 4 and raising the device can be performed. Therefore, the operator can concentrate on the original work, improving work efficiency and safety, and preventing damage to the work vehicle due to the operator's carelessness.

[0043] Also, the point marker 3 and the rotary snowplow 4
Since wireless communication is carried out using electromagnetic waves between
Even if the point marker 3 is buried in snow, it can be detected reliably. In this example, manhole covers, road steps, bridge finger joints, etc. are cited as obstacles on the road on which the rotary snowplow travels, but in addition to such obstacle points, weak points on the road shoulder By installing the point marker 3 at a point where danger is expected, such as when a caution sign is buried due to heavy snowfall, cautions and warnings can be issued and applied to the operator. Furthermore, it can also be applied to cases where quick obstacle avoidance operations are required in high-speed snow removal operations such as at airports or expressways.

Further, in this embodiment, the rotary snowplow 4 is taken as an example of the work vehicle, but the invention is not limited to this, and other types of snowplows and construction machinery vehicles such as backhoes can also be used. It can also be applied to Furthermore, in this embodiment, the distance from the point marker 3 to the obstacle on the road is communicated to the operator via the dangerous condition transmitting means 33 as a dangerous condition, and the operator can take necessary avoidance actions in response to this warning. Although it is supposed to be done,
A snow removal device elevation control circuit 21 and a hydraulic pump tilt plate control device 22 are connected to the microcomputer 18 via a necessary dangerous state transmission means, and automatically perform necessary avoidance operations such as stopping the rotary snow removal vehicle 4 and raising the device. You can also do this.

In this embodiment, electromagnetic waves are used as a transmission method between the point marker 3 and the rotary snowplow 4, and a frequency modulation method is used, but the method is not limited to this. Alternatively, for example, a phase modulation method can be used. Furthermore, in this embodiment, an example is shown in which one point marker is installed on the side of the road on which the rotary snowplow vehicle 4 travels, at a position close to one obstacle on the road. As shown in FIG. 13, one point marker 44 is installed on the side of the road 40 on which the rotary snowplow 4 travels, at a position close to a plurality of obstacles (manhole covers 41, 42, steps 43) on the road 40. At the same time, as shown in FIG. 7, the I. C. A plurality of distances from the point marker 43 to each obstacle on the road 40 can be stored in the card 26A in correspondence with point information specific to the installation location of the point marker 44. In this case, the operator who receives the warning from the point marker 44 only needs to raise the snow removal device 13 while passing the manhole covers 41 and 42 and the step 43.

[0046]

[Effects of the Invention] As explained above, according to the present invention,
When the point information transmitted from the point marker is transmitted to the transmitter/receiver section of the vehicle, information on the distance from the point marker identified by the point marker determination means to the point where an obstacle or danger is expected on the road is determined to be in a dangerous state. communicated to or to the operator of the work vehicle via the transmission means;
Using this information, the operator can take necessary avoidance actions, such as stopping the vehicle or raising the device, in front of the obstacle. Further, by transmitting this information to the work vehicle via the dangerous state transmitting means, necessary avoidance actions such as stopping the work vehicle and raising the device can be automatically performed. Therefore, the operator can concentrate on the original work, improving work efficiency and safety, and preventing damage to the work vehicle due to the operator's carelessness.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing a rotary snowplow and a point marker according to an embodiment of the present invention.

FIG. 2 is a front view of FIG. 1.

FIG. 3 is a side view of the rotary snowplow of FIG. 1.

4 is an explanatory diagram showing transmission and reception between a point marker and a rotary snowplow and the structure of the rotary snowplow in FIG. 1. FIG.

FIG. 5 is a block diagram showing a transmitting/receiving unit and a microcomputer of a point marker.

FIG. 6 is a block diagram showing a transmitting/receiving section and a microcomputer of the rotary snowplow.

FIG. 7: I. of FIG. C. It is a figure showing a card.

FIG. 8 is a diagram showing the display device of FIG. 6;

FIG. 9 is a diagram showing a flowchart of point markers.

FIG. 10 is a diagram showing the first half of a flowchart of a rotary snowplow.

FIG. 11 is a diagram showing the latter half of the flowchart of the rotary snowplow.

FIG. 12 is an explanatory diagram of the process from deceleration to stop of the rotary snowplow when the operator receives a warning.

FIG. 13 is a plan view showing how the rotary snowplow travels when there are multiple obstacles on the road.

FIG. 14 is a side view of a conventional rotary snowplow.

FIG. 15 is an enlarged side view of the auger in FIG. 14 traveling on a road with a manhole cover.

FIG. 16 is an enlarged side view of the auger shown in FIG. 14 traveling on a road with a stepped portion.

17 is an enlarged side view of the auger shown in FIG. 14 traveling on a road with a finger joint portion of a bridge; FIG.

18 is a plan view showing the finger joint portion of FIG. 17. FIG.

FIG. 19 is a perspective view of the rotary snowplow traveling near the shoulder of the road.

[Explanation of symbols]

1B Vehicle driving road 1D Finger joint (obstacle) 3 Point marker 4 Rotary snowplow 6 Transmitting/receiving section 19 Transmitting/receiving section 25 Travel distance measuring device 26A I. C. Card (storage medium) 30A Point marker determining means 30B Dangerous state transmitting means 33 Obstacle passage determining means

Claims (3)

[Claims] Claim 1: A point marker is installed on the side of the road on which a work vehicle travels, at a position close to an obstacle or danger point on the road, and the point marker is provided with a marker that is unique to the location where the point marker is installed. a storage medium storing point information, and a transmitting/receiving unit that wirelessly receives a call signal from the work vehicle and wirelessly transmits a signal of point information specific to the installation location of the point marker from the storage medium to the work vehicle. a transmitting/receiving unit that wirelessly transmits a call signal to the point marker and wirelessly receives a signal of unique point information from the point marker, on the work vehicle;
A storage medium that stores the distance from the point marker to a point where an obstacle or danger is expected on the road in accordance with point information specific to the location where the point marker is installed, and a point marker determining means for identifying a point marker through which the work vehicle has passed by comparing a signal of point information unique to the point marker with point information of each point marker stored in a storage medium; and a point marker determining means Obstacle recognition for a work vehicle, characterized in that it is provided with a means for transmitting a dangerous state to an operator or the work vehicle, for transmitting the distance from the point marker specified by the point marker to the obstacle on the road or the point where danger is expected. transmission device. [Claim 2] One point marker is installed on the side of the road on which the work vehicle travels, at a position close to a plurality of obstacles on the road or a plurality of points where danger is expected; Claim 1, wherein the medium stores a plurality of distances from the point marker to points where obstacles or dangers are expected on the road, corresponding to point information specific to the location where the point marker is installed. The work vehicle obstacle recognition and transmission device described above. 3. A moving distance measuring device that measures the distance traveled by the working vehicle from the time when the transmitting/receiving unit of the working vehicle receives a signal from a point marker; The actual distance traveled is compared with the stored distance from the point marker stored in the storage medium of the work vehicle to the point where an obstacle or danger is expected on the road, and the actual distance is memorized. Claim 1 further comprising an obstacle passage determining means for determining that the work vehicle has passed the obstacle when the distance is equal to or greater than the distance determined by the vehicle.
The work vehicle obstacle recognition and transmission device described above.